EP1875017B1 - Robot for automatic cleaning of the floor of a swimming pool - Google Patents
Robot for automatic cleaning of the floor of a swimming pool Download PDFInfo
- Publication number
- EP1875017B1 EP1875017B1 EP06709420A EP06709420A EP1875017B1 EP 1875017 B1 EP1875017 B1 EP 1875017B1 EP 06709420 A EP06709420 A EP 06709420A EP 06709420 A EP06709420 A EP 06709420A EP 1875017 B1 EP1875017 B1 EP 1875017B1
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- European Patent Office
- Prior art keywords
- head
- axis
- robot
- robot according
- support
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
Definitions
- the present invention relates to an automatic cleaning robot the bottom of a pool filled with liquid, such as a pool, the bottom of the basin can be flat or have inclined portions.
- the invention also relates to a method of automatically cleaning the bottom of such a basin filled with liquid.
- Such a type of cleaning apparatus which is simple and inexpensive, enjoys easy maintenance and increased reliability and provides a controlled way both the movement of the device in the bottom of the basin filled with liquid , the suction and recovery of waste, and the change of direction of the device when it encounters an obstacle such as a vertical wall of the basin.
- the cleaning apparatus circulates in a more privileged manner in the vicinity of the perimeter of the basin and ensures a less thorough cleaning in the central parts.
- An object of the present invention is therefore to provide a cleaning robot that ensures a quality cleaning on the entire surface of a pool of liquid, regardless of the geometry of the basin.
- Another object of the invention is to provide a cheap cleaning robot whose manufacture and use are simplified.
- the additional mechanical device can be of a very simple design and be for example lever and cam type.
- the device for creating a static torque is combined with the propulsion device by reaction and comprises a nozzle integrated in the head and located in a plane perpendicular to said first axis, and a device for injecting liquid under pressure to direct a jet of liquid to the inlet of the nozzle parallel to the axis thereof.
- the robot is baffled intermittently, at random times, since they depend on the relative position between the support and the rotatable head, which relative position is itself modified according to the shocks between the robot and the side walls of the basin or as a function of obstacles placed at the bottom of the basin or ruptures of slopes present in the bottom of the basin.
- the robot is not limited to the course of privileged trajectories conditioned by the geometry of the basin, but proceeds to an efficient cleaning of the whole surface of the bottom of the basin , including central areas far away from the basin.
- the additional mechanism for intermittently modifying randomly or static torque or the dynamic torque as a function of predetermined angular positions of the support relative to the head may consist only of simple and passive members such as cams, levers and optionally return springs.
- the device for injecting liquid under pressure is centered on said first axis, the nozzle is symmetrical with respect to a plane passing through said first axis and the device for creating a static torque further comprises a jet deflector disposed at the outlet of the nozzle.
- the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is made integral with the jet deflector itself articulated on the head around a second axis substantially parallel to said first axis.
- the device for injecting liquid under pressure is offset with respect to said first axis and the nozzle is itself eccentric with respect to this first axis.
- the device for creating a dynamic torque comprises at least one stabilization drift constituted by a plate projecting perpendicular to the ground and situated at the rear of the robot's head.
- the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is secured to said stabilization drift itself articulated on the head around a second axis substantially parallel to said first axis.
- the device for creating a dynamic torque comprises at least one vertical master plane placed at the front of the robot's head.
- the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is secured to said stabilization drift itself articulated on the head around a second axis substantially parallel to said first axis.
- the waste storage compartment may be located below or above a bearing allowing rotation of the movable head relative to the support.
- the waste storage compartment is preferably secured to the movable head in rotation, which avoids placing the bearing bearing in a water or suction circulation circuit with the risk of increasing the volume of the waste. fouling of this bearing, and therefore does not impose either to achieve a rotating bearing sealed.
- the device for creating a vacuum in the storage compartment comprises a free space located between the device for injecting liquid under pressure and the inlet of the nozzle.
- the device for injecting liquid under pressure comprises a nozzle having an elongated slot along an axis parallel to said first axis and located in a plane containing the axis of the nozzle, opposite the flared entry of the nozzle.
- the invention is also advantageous because, by means of a modular design, it makes it easy to produce different robot embodiments from common components.
- the invention applies to the case of basins with a flat bottom as well as the case of basins whose bottom has sloping portions, such as an inverted pyramid truncated bottom.
- the pressurized water source may for example comprise a pump placed outside the basin, this pump may be constituted by the main filtration pump associated with the feed of the basin, or by an independent booster.
- the invention is however also applicable to the cleaning of a basin containing a liquid other than water.
- it is also appropriate to have a device supplying this other liquid under pressure near the pool to be cleaned.
- the cleaning apparatus according to the invention which constitutes a robot in view of its operation automatically, without human intervention, has a great simplicity and does not include any complex mechanism such as turbine, gears, valves.
- the cleaning robot according to the invention essentially comprises a head 1 movable in rotation, about an axis 4 perpendicular to the ground 100, with respect to a support 2 which does not comprise a functional element involved in the propulsion of the robot or the suction of waste, but serves as a support for movement and facilitates changes of direction of the robot.
- the support 2 comprises a support structure comprising for example a set of arms 21 arranged in a star and each carrying at their outer end a sliding member or bearing 22 such as a swivel caster.
- the steerable rollers 22 are arranged in a curve, such as a circle, located outside the curve delimiting the periphery of the head 1 mounted free to rotate about a central bearing defining the axis of rotation 4 of the head 1 relative to the support 2.
- the number of steerable rollers 22 (for example five) and the distance thereof from the axis of rotation 4 are determined so that straight segments connecting two neighboring rollers are situated outside the curve delimiting the periphery of the head 1.
- Reference 23 designates a roulette flange 22.
- the support 2 is connected to the head 1 by a central bearing comprising rolling members 40, such as balls made for example of polyacetal, trapped between a cylindrical inner ring 14 secured to the head 1 and an outer ring 41 which can also have a cylindrical profile, which is secured to the support 2 ( figure 2 ).
- rolling members 40 such as balls made for example of polyacetal
- the central bearing whose rings 14, 41 can also be made of a material such as polyacetal, can have a very simple shape, with a single row of balls 40, and defines an opening 13 of communication between the bottom 12 of the head 1 and a space located under a plate 15 secured to the lower portion of the inner ring 14 of the central bearing.
- a receptacle 7 can be removably attached to the plate 15 and can be fixed around the periphery thereof by removable fasteners 71 such as clips or latches.
- the height of the receptacle 7 is determined in such a way that a space is provided between the floor 100 and the bottom of the receptacle 7 when the robot rests on the floor 100 by means of its rollers 22.
- An opening 72 closed by a flexible valve 73 is formed in the central part of the bottom of the receptacle 7, which may be slightly set back with respect to the periphery of the receptacle 7 ( figure 2 ).
- the aspiration of the waste is effected by the opening 72 which is in the extension of the opening 13 of the bottom of the head 1, centered on the axis 4.
- a filter 70 is disposed at the upper part of the receptacle 7 and can be held by a frame 16 attached to the plate 15.
- the waste storage receptacle 7, removably mounted on the plate 15 to be easily emptied, is integral of the head 1 when the robot is operating in a pool of liquid, and thus rotates in the same way relative to the support 2 around the bearing centered on the axis 4 which is perpendicular to the ground 100 when the robot rests on its wheels 22.
- the figure 13 shows an example of a particular valve 73 which can be advantageously used in the context of the present invention.
- the shutter valve 73 of this opening 72 may comprise two parallel lateral arms 75, each having a free end fixed by an actuator member.
- the other ends of the arms 75 are attached to a central portion 76 whose surface is slightly greater than that of the opening 72 so as to cover this entire opening 72 in a sealed manner.
- central 76 attached to the arms 75 on the opposite side to the fixing points 74 is a cantilevered tongue whose free end is located between the anchoring points 74 of the lateral arms 75.
- the valve 75 of elastic material such as rubber is plated so as to close the opening 72.
- the valve In the presence of a depression created inside the receptacle 7, the valve is raised
- the central portion 76 cantilevered relative to the raised portions of the arms 75 opposite the hinge points 74 itself has a twist with respect to these raised parts of the arms. 75 and thus raises as a whole parallel to the bottom 77 of the receptacle 7, releasing the opening 72 on all sides and allowing the dirt sucked to come accumulate in the receptacle homogeneously on all sides around the opening 77.
- the head 1 which can be made of molded plastic, comprises upper and lower plates 12 and a side wall 11.
- the head 1 has a symmetrical shape and the side wall 11 defines a nozzle 18 with a convergent inlet 181 connected to a circular part centered on the axis of rotation of the head 1, and an outlet 180 ( figure 3 ).
- the nozzle 18 is thus perpendicular to the axis of rotation 4, but is not eccentric with respect to this axis of rotation.
- a balancing mass 17 constituted for example by a foam may be attached on either side of the nozzle 18 to the rear part of the head 1.
- a device 30 for injecting water under pressure is disposed in a plane containing the axis of the nozzle 18 and comprises a channel 31 extending along the axis of rotation 4, and connected by a nozzle 3 to a hose pressurized water supply which is provided with one or more rotating joints and one or more floats.
- the fact that the water supply pipe arrives in the axis of the nozzle ensures that the movements of the pipe do not disrupt the movement of the robot and in particular do not change the direction of the propulsion force. The traction exerted on the pipe is thus directly absorbed by the thrust and does not cause parasitic path deviation.
- the pressurized water injection device 30 advantageously comprises a vertical slot 33 placed in the axis of the nozzle 18 in front of the flared entry 181 of the latter to direct a jet of liquid rearwardly parallel to the nozzle. nozzle axis 18 ( figure 2 ).
- the vertical duct 31 of the injector 30 is advantageously closed at its lower part by a plug provided with a beveled portion 32 which penetrates inside the duct 31 and allows the jet exiting through the vertical slot 32 to orientate itself. more easily along the axis of the nozzle 18 with a uniform distribution of the flow in the injection slot 33.
- the injection device 30 may be made of a plastic material such as polyacetal for example.
- the injection device 30 can thus have an easy form to manufacture while producing at the inlet of the nozzle 18 a flat jet having a large driving surface which makes the suction phenomenon more efficient without impairing the propulsive force. .
- a free space is provided between the device 30 for injecting water and the flared inlet 181 of the nozzle 18 to create a venturi effect suction current to the head 1 through the opening 13 formed in the bottom 12 of this head 1.
- a flow of liquid loaded with dirt enters the robot through the central orifice 72 formed in the bottom of the receptacle 7, the flexible valve 73 being lifted under the effect of the suction created by the outlet flow of the injector 30 at the free space between the injector 30 and the inlet 181 of the nozzle 18.
- the flow of dirty liquid is sucked along the axis 4 towards the opening 13 of the head 1, but because of the presence of the filter 70, only the cleaned liquid waste that it transports is drawn into the head 1 towards the nozzle 18 by the depression created at the inlet thereof, to be ejected at the rear of the nozzle 18 together with the pressurized liquid injected by the slot 33 of the injection device 30.
- the waste and dirt are stopped by the filter 70 and accumulate in the peripheral part of the receptacle 7.
- the injector 30 and the nozzle 18 thus constitute both a propulsion device by reaction (by the reaction of the jet of water escaping from the nozzle parallel to the ground 100), which moves the robot in the bottom of the nozzle. the pool and a device for creating a depression in the head 1 allowing suction of the waste through the suction port 72, the suction produced by the ejector effect of the jet of water from the nozzle in slot shape 33 at the inlet of the nozzle 18 being particularly powerful.
- the injector 30 and the nozzle 18 also constitute a device for creating a static torque, in association with a curved plate 35 situated at the outlet 180 of the nozzle 18 and which constitutes a jet deflector ( figures 1 and 2 ). Thanks to the presence of such a jet deflector 35, creating a static torque, the head 1 of the robot can easily rotate around the axis of rotation 4 when the support 2 with wheels 22 encounters an obstacle, so that the robot can easily change direction without getting stuck on the spot.
- the head 1 itself carries in the rear a vertically disposed rudder 6.
- This fin 6 may comprise for example a first triangular portion 61 secured to the head 1 and which may be essentially placed along the longitudinal axis of the head 1 and a rear portion 62 articulated on the triangular portion 61 and forming an adjustable angle with the triangular portion 61.
- the rear portion 62 can thus act as a rudder while the front portion of the fin 6 constitutes a fixed axial plane.
- drift 6 which may have other configurations or also be split, with two fins placed on either side of the axis of the nozzle 18, allows to generate a dynamic torque that opposes the couple static rotation produced by the This results in a balance that allows the robot to move substantially in a straight line on the bottom of the pool between two obstacles.
- the dynamic balancing torque vanishes leaving only the static torque of the nozzle which then rotates the head 1 relative to the support 2 allowing the robot to change direction.
- the rotational movement is damped, however, and the robot is prevented from turning like a router and can start moving again.
- the patent document FR 2,836,945 describes other embodiments of device for creating a static torque and dynamic torque creating device that make it possible to obtain for a cleaning robot these same stabilizing effects of the damping trajectory of the rotational movements and automatic change of direction in case of stop of the robot support against an obstacle.
- the cleaning robot to ensure that the cleaning robot will eventually cover the entire bottom of a basin delimited by side walls, without favoring certain areas, such as peripheral areas, it is implemented an additional mechanism that allows intermittent rerouting of the robot randomly. This diversion is caused according to predetermined angular positions of the head 1 relative to the support 2.
- the additional mechanism acts on the static torque created within the robot to modify it in the direction of an increase, when predetermined relative angular positions of the head 1 and the support 2 are reached. Since the robot is required to change its orientation many times each time it comes into abutment against a wall of the basin, the diversions are frequent and therefore the robot can thus travel the whole of a pool to clean without confining oneself to privileged areas.
- the additional mechanism comprises a cam or roller 42 mounted on the support 2 near the outer ring 41 of the central bearing, and a cam lever 37 which is connected to the jet deflector plate 35, itself mounted pivoting about an axis 36 parallel to axis 4 of the main bearing of the robot ( figures 1 and 2 ).
- the figure 4 shows a particular example of cam lever 37 mounted on the lower plate 12 of the head 1 being articulated as the jet deflector 35 about an axis 36 and having a profiled position 370 in the form of a cam located parallel to an upper plate horizontal support 2 in the vicinity of the circular outer ring 41 of the central bearing of the robot.
- a cam 42 for example circular, is mounted on the upper horizontal plate of the support 2, in the vicinity of the outer ring 41 and can rotate freely about an axis.
- the cam 42 comes into contact with the profiled surface 370 of the cam lever 37, the latter undergoes an angular displacement about the axis 36, for example of the order of 5 to 30 °, which causes at the same time a rotation the jet deflector 35 and consequently a change in the static torque and a change of direction of movement of the robot.
- a stop 38 fixed on the lever 37 and cooperating with the flange of the lower plate 212 of the head 201 limits the angular movement of the lever 37.
- the figure 4 shows an example of cam lever 37 with perforated portions 371, 372, 373.
- This cam lever 37 is shown in phantom in a position 37A produced when the cam 42 is in position 42A also shown in dashed lines.
- the openings 371, 372, 373 are then in position 371A, 372A, 373A.
- the cam 42 arrives at the position 42B, it no longer exerts an action on the cam lever 37 which can return to its original position.
- the cleaning robot Figures 5 to 8 is very similar to the robots of Figures 1 to 4 and also has a modular design with a head 201 rotatable about an axis 204 perpendicular to the ground, with respect to a support 202 resting on the ground by rollers 222.
- a waste storage compartment 207 is attached to a plate 215 integral with the head 201 and located under an upper plate of the support 202, as in the embodiment described above.
- the various elements of the robot Figures 5 to 8 having the same function as those of the robot of Figures 1 to 4 wear the same reference numbers in terms of units or tens, but furthermore have a number of hundreds equal to 2.
- the head 201 and the upper plate 210 of the head 201 of the robot of Figures 5 to 8 corresponding to the head 1 and to the upper plate 10 of the head 1 of the robot of the Figures 1 to 4 .
- the support 202 and the receptacle 207 may be exactly identical respectively to the support 2 and to the receptacle 7 of the robot of the Figures 1 to 4 and these interchangeable elements will not be described again.
- the head 201 of Figures 5 to 7 presents variants of embodiment with respect to the head 1 of Figures 1 to 3 .
- the device 230 for injecting liquid under pressure which, moreover, may be identical to the device 30 previously described, is offset, like the nozzle 203 for connection to a water supply pipe.
- the side wall 211 of the head 201 may have a whistle shape with a portion 218 constituting the eccentric nozzle ( figure 7 ).
- the head 201 may have an upper plate 210 symmetrical with respect to a plane containing the axis 204 and a lower plate 212 having a cutaway on the side not comprising the nozzle 218.
- a steerable drift 206 is mounted on the head 201 by being articulated about an axis 236 parallel to the axis 204 of the main ball bearing 240.
- This drift 206 may be flat or may also include a portion rear curved or articulated as part 62 of the embodiment of the figure 1 .
- nozzle 218 is made eccentrically with respect to the axis 204 of rotation of the head 201 relative to the support 202 defines a device for creating a static torque during the ejection of a jet d pressurized water through this nozzle 218 without even having to use a jet deflector. This static torque then remains constant.
- the fact that the drift 206 is articulated around an axis 236 makes it possible to modify the dynamic torque.
- an additional mechanism 237, 242 is thus used, which may be similar to that previously described with reference to FIG. figure 4 , with a cam 242 mounted on a horizontal plate of the support 202 in a zone located in the vicinity of the outer ring 241 of the bearing, and a cam lever 237 mounted on the lower plate 212 of the head 201 being articulated around a axis 236.
- the cam lever 237 cooperating with the cam 242 is however connected by a connecting rod 234 to the swivel 206 and can control the rotation thereof about the axis 236 (itself secured to the head 201 ), while in the case of the robots of Figures 1 to 4 , the cam lever 37 controls the rotation of the jet deflector 35 around an axis 36.
- the axis 236 can itself serve as a connecting rod between the cam lever 237 and the drift 206, so that the rod 234 can then be removed.
- the axis 236 is mounted on the head 201 by means of bearing rings integral with this head 201.
- the robot of the second embodiment thus acts by an additional mechanism 237, 241, 234 to intermittently modify the dynamic torque as a function of predetermined angular positions of the support 202 relative to the head 201, while the static torque defined by the eccentricity of the nozzle 218 remains constant. However, there is intermittently randomly, as in the first embodiment in which it acts on the static torque, a break in the balance between static torque and dynamic torque.
- a double acting cam lever 237 having a shape symmetrical with respect to a vertical plane passing through the axis 236 and thus able to act, whatever the direction of rotation of the head 201 relative to the support 202.
- the support 302 with arms 321 at the ends of which are fixed rollers 322 can be very similar to the supports 2 and 202 described above.
- the support 302 is, however, arranged at the bottom of the robot with a head 301 whose upper part 310 is constituted by a removable cover and which itself constitutes a waste storage compartment.
- the lid 310 of the head 301 has a nozzle 303 for connection to a pressurized water inlet pipe.
- the nozzle 303 is eccentric with respect to the axis 304 of rotation of the head 301 with respect to the support 302.
- the lid 310 carries at its rear part two stabilizing fins 306A, 306B which can be fixed.
- the head 301 is, when the lid 310 is removed, like a whistle-shaped casing ( figure 11 ) with a bottom 312 provided with a central opening surrounded by a cylindrical stack 314A, a side wall 311 and an eccentric nozzle 308 whose convergent inlet 381 is located opposite a device 330 for injecting water under pressure which may be similar to the injection device 30 described above.
- the pressurized water injection device 330 is located at a distance from the inlet 381 of the nozzle 308 to create a depression for sucking in the head 301, through the lower central opening 313, the inner ring 314 of the central bearing with double bearings 340 and the chimney 314A, the water loaded with dirt ( figure 10 ).
- a filter 307 separates a first compartment into which the stack 314A opens a second compartment comprising the injection device 330 and the nozzle 308.
- the water drawn through the opening 313 passes through the filter 307 in the second compartment to to be ejected by the nozzle 308 while the dirt remains in the first compartment of the head 301.
- the static torque is created by the jet of pressurized water supplied by the injection device 330 and ejected through the nozzle 308.
- a complementary device 335 of jet deflection may optionally be mounted at the outlet of the nozzle 308 .
- a dynamic torque is created during the movements of the robot by the stabilization drifts 306A, 306B and a vertical master plane 305 placed at the front of the head 301 of the robot and articulated thereon about a vertical axis 336 parallel to the axis 304 of rotation of the head 301.
- an additional mechanical device is provided for intermittently modifying the equilibrium between the static torque and the dynamic torque as a function of predetermined angular positions of the support 302 with respect to the head 301.
- the additional mechanism comprises a cam 341 surrounding the outer ring of the central bearing which is integral with the support 302, and a lever 337 parallel to the cam 341 and hinged about the axis 336 of rotation of the vertical director plane 305.
- a lever end 337 is made integral with the vertical front plane 305 while the other end of the lever 337 is provided with a wheel 342 which cooperates with the cam 341 for certain relative angular positions of the support 302 and the head 301.
- lever 337 is not actuated by the cam 341 whose elongated portion is not opposite the wheel 342.
- the wheel 342 is shown in contact with the cam 341 and under the action of this cam 341, the lever 337 can temporarily modify the orientation of the master plane before 305 and thereby change the balance between static torque and dynamic torque so as to cause a trap of the robot.
- levers 37 or 237 of the first two embodiments could cooperate with a cam similar to the cam 341 and centered on the axis of rotation of the robot head relative to the support, rather than with a roller 42 or 242.
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Abstract
Description
La présente invention a pour objet un robot de nettoyage automatique du fond d'un bassin rempli de liquide, tel qu'une piscine, le fond du bassin pouvant être plat ou présenter des parties inclinées. L'invention concerne également un procédé de nettoyage automatique du fond d'un tel bassin rempli de liquide.The present invention relates to an automatic cleaning robot the bottom of a pool filled with liquid, such as a pool, the bottom of the basin can be flat or have inclined portions. The invention also relates to a method of automatically cleaning the bottom of such a basin filled with liquid.
On connaît déjà différents types de robots de nettoyage du fond d'une piscine qui procèdent par aspiration des déchets qui se sont déposés dans le fond de la piscine.Various types of cleaning robots are already known from the bottom of a swimming pool which proceed by suction of the waste that has been deposited in the bottom of the pool.
On connaît ainsi des robots de nettoyage de type électrique ou fonctionnant à partir du système d'aspiration déjà installé dans une piscine.There are thus known cleaning robots of the electric type or operating from the suction system already installed in a swimming pool.
De tels robots de nettoyage sont généralement d'une réalisation assez complexe, sont onéreux et ne présentent pas une fiabilité maximale.Such cleaning robots are generally quite complex, are expensive and do not have maximum reliability.
On a également déjà proposé dans le document de brevet
Un tel type d'appareil de nettoyage, qui est simple et bon marché, bénéficie d'une maintenance aisée et d'une fiabilité accrue et assure de façon contrôlée à la fois le déplacement de l'appareil dans le fond du bassin rempli de liquide, l'aspiration et la récupération des déchets, et le changement de direction de l'appareil lorsque celui-ci rencontre un obstacle tel qu'une paroi verticale du bassin.Such a type of cleaning apparatus, which is simple and inexpensive, enjoys easy maintenance and increased reliability and provides a controlled way both the movement of the device in the bottom of the basin filled with liquid , the suction and recovery of waste, and the change of direction of the device when it encounters an obstacle such as a vertical wall of the basin.
Le fonctionnement des appareils de nettoyage décrits dans le document
Il arrive cependant, pour certaines géométries de bassins, que l'appareil de nettoyage circule de façon plus privilégiée au voisinage du pourtour du bassin et assure un nettoyage moins poussé dans les parties centrales.However, for some basin geometries, the cleaning apparatus circulates in a more privileged manner in the vicinity of the perimeter of the basin and ensures a less thorough cleaning in the central parts.
Un but de la présente invention est donc de proposer un robot de nettoyage qui garantisse un nettoyage de qualité sur l'ensemble de la surface d'un bassin de liquide, quelle que soit la géométrie du bassin.An object of the present invention is therefore to provide a cleaning robot that ensures a quality cleaning on the entire surface of a pool of liquid, regardless of the geometry of the basin.
Un autre but de l'invention est de réaliser un robot de nettoyage bon marché dont la fabrication et l'utilisation soient simplifiées.Another object of the invention is to provide a cheap cleaning robot whose manufacture and use are simplified.
Ces buts sont atteints, conformément à l'invention, grâce à un robot de nettoyage automatique du fond d'un bassin rempli de liquide, comprenant :
- une tête mobile en rotation autour d'un premier axe perpendiculaire au sol par rapport à un support muni d'éléments de roulement ou de glissement ou d'un palier fluide hydrostatique,
- un dispositif de création d'un couple statique sur la tête mobile en rotation,
- un dispositif de création d'un couple dynamique sur la tête mobile en rotation de manière à équilibrer le couple statique lorsque le robot est en mouvement dans le liquide et à permettre une rotation amortie de la tête par rapport au support lorsque celui-ci est immobilisé par un obstacle,
- un dispositif de propulsion par réaction disposé dans ladite tête pour provoquer un déplacement dans une direction perpendiculaire audit premier axe,
- un compartiment de stockage de déchets muni d'une ouverture, d'un filtre et d'un dispositif de création d'une dépression pour aspirer dans le compartiment de stockage, par l'ouverture d'aspiration, des déchets ou corps étrangers présents dans le liquide, caractérisé en ce qu'il comprend en outre un dispositif mécanique additionnel pour modifier par intermittence soit le couple statique, soit le couple dynamique en fonction de positions angulaires prédéterminées du support par rapport à la tête.
- a head movable in rotation about a first axis perpendicular to the ground relative to a support provided with rolling or sliding elements or a hydrostatic fluid bearing,
- a device for creating a static torque on the moving head in rotation,
- a device for creating a dynamic torque on the moving head in rotation so as to balance the static torque when the robot is moving in the liquid and to allow a damped rotation of the head relative to the support when the latter is immobilized by an obstacle,
- a jet propulsion device disposed in said head for causing a displacement in a direction perpendicular to said first axis;
- a waste storage compartment provided with an opening, a filter and a device for creating a vacuum to suck in the storage compartment, through the suction opening, waste or foreign bodies present in the the liquid, characterized in that it further comprises an additional mechanical device for intermittently modifying either the static torque or the dynamic torque as a function of predetermined angular positions of the support relative to the head.
Le dispositif mécanique additionnel peut être d'une conception très simple et être par exemple du type à levier et came.The additional mechanical device can be of a very simple design and be for example lever and cam type.
Avantageusement, le dispositif de création d'un couple statique est combiné au dispositif de propulsion par réaction et comprend une tuyère intégrée dans la tête et située dans un plan perpendiculaire audit premier axe, et un dispositif d'injection de liquide sous pression pour diriger un jet de liquide vers l'entrée de la tuyère parallèlement à l'axe de celle-ci.Advantageously, the device for creating a static torque is combined with the propulsion device by reaction and comprises a nozzle integrated in the head and located in a plane perpendicular to said first axis, and a device for injecting liquid under pressure to direct a jet of liquid to the inlet of the nozzle parallel to the axis thereof.
Grâce au dispositif mécanique additionnel, le robot est dérouté par intermittences, à des instants aléatoires, puisqu'ils dépendent de la position relative entre le support et la tête mobile en rotation, laquelle position relative est elle-même modifiée en fonction des chocs entre le robot et les parois latérales du bassin ou en fonction d'obstacles placés au fond du bassin ou de ruptures de pentes présentes dans le fond du bassin.Thanks to the additional mechanical device, the robot is baffled intermittently, at random times, since they depend on the relative position between the support and the rotatable head, which relative position is itself modified according to the shocks between the robot and the side walls of the basin or as a function of obstacles placed at the bottom of the basin or ruptures of slopes present in the bottom of the basin.
Grâce au fait que la trajectoire du robot est perturbée par intermittences par un élément aléatoire, le robot ne se limite pas au parcours de trajectoires privilégiées conditionnées par la géométrie du bassin, mais procède bien à un nettoyage efficace de toute la surface du fond du bassin, y compris les zones centrales éloignées du pourtour du bassin.Thanks to the fact that the trajectory of the robot is disturbed intermittently by a random element, the robot is not limited to the course of privileged trajectories conditioned by the geometry of the basin, but proceeds to an efficient cleaning of the whole surface of the bottom of the basin , including central areas far away from the basin.
Par ailleurs, cette efficacité accrue est réalisée sans complexité accrue du système et en particulier sans mise en oeuvre de composants onéreux ou fragiles tels que des turbines, engrenages ou organes moteurs, le mécanisme additionnel permettant de modifier par intermittence de façon aléatoire soit le couple statique, soit le couple dynamique en fonction de positions angulaires prédéterminées du support par rapport à la tête pouvant n'être constitué que d'organes simples et passifs tels que des cames, leviers et le cas échéant des ressorts de rappel.Furthermore, this increased efficiency is achieved without increased complexity of the system and in particular without the use of expensive or fragile components such as turbines, gears or drive members, the additional mechanism for intermittently modifying randomly or static torque or the dynamic torque as a function of predetermined angular positions of the support relative to the head may consist only of simple and passive members such as cams, levers and optionally return springs.
Divers modes de réalisation de l'invention sont possibles.Various embodiments of the invention are possible.
Selon un premier mode de réalisation, le dispositif d'injection de liquide sous pression est centré sur ledit premier axe, la tuyère est symétrique par rapport à un plan passant par ledit premier axe et le dispositif de création d'un couple statique comprend en outre un déviateur de jet disposé à la sortie de la tuyère.According to a first embodiment, the device for injecting liquid under pressure is centered on said first axis, the nozzle is symmetrical with respect to a plane passing through said first axis and the device for creating a static torque further comprises a jet deflector disposed at the outlet of the nozzle.
Dans ce cas, le dispositif mécanique additionnel peut comprendre un système du type à levier et came dont un élément est monté sur le support et l'autre élément est rendu solidaire du déviateur de jet lui-même articulé sur la tête autour d'un deuxième axe essentiellement parallèle audit premier axe.In this case, the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is made integral with the jet deflector itself articulated on the head around a second axis substantially parallel to said first axis.
Selon un autre mode de réalisation, le dispositif d'injection de liquide sous pression est décalé par rapport audit premier axe et la tuyère est elle-même excentrée par rapport à ce premier axe.According to another embodiment, the device for injecting liquid under pressure is offset with respect to said first axis and the nozzle is itself eccentric with respect to this first axis.
Selon une variante de réalisation, le dispositif de création d'un couple dynamique comprend au moins une dérive de stabilisation constituée par une plaque en saillie perpendiculaire au sol et située à l'arrière de la tête du robot.According to an alternative embodiment, the device for creating a dynamic torque comprises at least one stabilization drift constituted by a plate projecting perpendicular to the ground and situated at the rear of the robot's head.
Dans ce cas, le dispositif mécanique additionnel peut comprendre un système du type à levier et came dont un élément est monté sur le support et l'autre élément est rendu solidaire de ladite dérive de stabilisation elle-même articulée sur la tête autour d'un deuxième axe essentiellement parallèle audit premier axe.In this case, the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is secured to said stabilization drift itself articulated on the head around a second axis substantially parallel to said first axis.
Selon une autre variante de réalisation, le dispositif de création d'un couple dynamique comprend au moins un plan directeur vertical placé à l'avant de la tête du robot.According to another variant embodiment, the device for creating a dynamic torque comprises at least one vertical master plane placed at the front of the robot's head.
Dans ce cas, le dispositif mécanique additionnel peut comprendre un système du type à levier et came dont un élément est monté sur le support et l'autre élément est rendu solidaire de ladite dérive de stabilisation elle-même articulée sur la tête autour d'un deuxième axe essentiellement parallèle audit premier axe.In this case, the additional mechanical device may comprise a lever-type and cam-type system of which one element is mounted on the support and the other element is secured to said stabilization drift itself articulated on the head around a second axis substantially parallel to said first axis.
Le compartiment de stockage de déchets peut être situé au-dessous ou au-dessus d'un palier permettant la rotation de la tête mobile par rapport au support.The waste storage compartment may be located below or above a bearing allowing rotation of the movable head relative to the support.
En fonctionnement, le compartiment de stockage de déchets est de préférence rendu solidaire de la tête mobile en rotation, ce qui évite de placer le roulement de palier dans un circuit de circulation d'eau ou d'aspiration avec les risques d'accroissement de l'encrassement de ce roulement, et n'impose donc pas non plus de réaliser un palier tournant étanche.In operation, the waste storage compartment is preferably secured to the movable head in rotation, which avoids placing the bearing bearing in a water or suction circulation circuit with the risk of increasing the volume of the waste. fouling of this bearing, and therefore does not impose either to achieve a rotating bearing sealed.
Selon une caractéristique particulière, le dispositif de création d'une dépression dans le compartiment de stockage comprend un espace libre situé entre le dispositif d'injection de liquide sous pression et l'entrée de la tuyère.According to a particular characteristic, the device for creating a vacuum in the storage compartment comprises a free space located between the device for injecting liquid under pressure and the inlet of the nozzle.
Dans le cas d'une tuyère excentrée, celle-ci est avantageusement intégrée dans la tête en étant définie par un carter en forme de sifflet.In the case of an eccentric nozzle, it is advantageously integrated into the head being defined by a whistle-shaped casing.
Selon une autre caractéristique particulière, le dispositif d'injection de liquide sous pression comprend une buse présentant une fente allongée selon un axe parallèle audit premier axe et située dans un plan contenant l'axe de la tuyère, en regard de l'entrée évasée de la tuyère.According to another particular characteristic, the device for injecting liquid under pressure comprises a nozzle having an elongated slot along an axis parallel to said first axis and located in a plane containing the axis of the nozzle, opposite the flared entry of the nozzle.
L'invention est par ailleurs avantageuse du fait que, par une conception modulaire, elle permet de réaliser facilement différents modes de réalisation de robot à partir de composants communs.The invention is also advantageous because, by means of a modular design, it makes it easy to produce different robot embodiments from common components.
D'autres caractéristiques et avantages de l'invention ressortiront de la description suivante de modes particuliers de réalisation, donnés à titre d'exemples, en référence aux dessins annexés, sur lesquels :
- la
figure 1 est une vue en perspective d'un premier exemple de réalisation d'un robot de nettoyage automatique d'une piscine, conformément à l'invention, - la
figure 2 est une vue en coupe verticale partielle du robot de lafigure 1 , montrant un mécanisme additionnel de modification du couple statique créé dans le robot, - la
figure 3 est une vue en coupe de la tête du robot de lafigure 1 , selon la figure III-III de lafigure 2 , - la
figure 4 est une vue de dessus montrant un exemple de mécanisme additionnel de modification du couple statique créé dans le robot, - la
figure 5 est une vue en perspective d'un deuxième exemple de réalisation d'un robot de nettoyage automatique d'une piscine, conformément à l'invention, - la
figure 6 est une vue en coupe verticale partielle du robot de lafigure 5 , montrant un mécanisme additionnel de modification du couple dynamique créé dans le robot, - la
figure 7 est une vue en coupe de la tête du robot de lafigure 5 , selon la ligne VII-VII de lafigure 6 , - la
figure 8 est une vue de dessus montrant un exemple de mécanisme additionnel de modification du couple dynamique créé dans le robot, - la
figure 9 est une vue en perspective d'un troisième exemple de réalisation d'un robot de nettoyage automatique d'une piscine, conformément à l'invention, - la
figure 10 est une vue en coupe verticale partielle du robot de lafigure 9 montrant un mécanisme additionnel de modification du couple dynamique créé dans le robot, - la
figure 11 est une vue de dessus du carter de la tête du robot de lafigure 9 , le couvercle de la tête ayant été ôté, - la
figure 12 est une vue en perspective de dessous du support et de la tête du robot de lafigure 9 , le couvercle de la tête ayant été ôté, et - la
figure 13 est une vue de dessus du fond d'un réceptacle muni d'un exemple particulier de clapet pouvant être appliqué à un robot selon l'invention.
- the
figure 1 is a perspective view of a first embodiment of an automatic pool cleaning robot, according to the invention, - the
figure 2 is a partial vertical sectional view of the robot of thefigure 1 , showing an additional mechanism for modifying the static torque created in the robot, - the
figure 3 is a sectional view of the robot's head from thefigure 1 , according to Figure III-III of thefigure 2 , - the
figure 4 is a view from above showing an example of an additional mechanism for modifying the static torque created in the robot, - the
figure 5 is a perspective view of a second embodiment of an automatic pool cleaning robot, according to the invention, - the
figure 6 is a partial vertical sectional view of the robot of thefigure 5 , showing an additional mechanism for modifying the dynamic torque created in the robot, - the
figure 7 is a sectional view of the robot's head from thefigure 5 , according to line VII-VII of thefigure 6 , - the
figure 8 is a view from above showing an example of an additional mechanism for modifying the dynamic torque created in the robot, - the
figure 9 is a perspective view of a third embodiment of an automatic pool cleaning robot, according to the invention, - the
figure 10 is a partial vertical sectional view of the robot of thefigure 9 showing an additional mechanism for modifying the dynamic torque created in the robot, - the
figure 11 is a top view of the housing of the robot's head from thefigure 9 with the lid of the head removed, - the
figure 12 is a perspective view from below of the support and the robot head of thefigure 9 with the lid of the head removed, and - the
figure 13 is a top view of the bottom of a receptacle provided with a particular example of a valve that can be applied to a robot according to the invention.
On décrira d'abord en référence aux
L'invention s'applique au cas de bassins présentant un fond plat aussi bien qu'au cas de bassins dont le fond présente des parties pentues, comme par exemple un fond en forme de tronc de pyramide inversé.The invention applies to the case of basins with a flat bottom as well as the case of basins whose bottom has sloping portions, such as an inverted pyramid truncated bottom.
On considèrera dans la suite de la description le cas d'une piscine remplie d'eau à côté de laquelle est disponible une source d'eau sous pression. La source d'eau sous pression peut comprendre par exemple une pompe placée à l'extérieur du bassin, cette pompe pouvant être constituée par la pompe principale de filtration associée à l'alimentation du bassin, ou encore par un surpresseur indépendant.It will be considered in the following description the case of a pool filled with water beside which is available a source of water under pressure. The pressurized water source may for example comprise a pump placed outside the basin, this pump may be constituted by the main filtration pump associated with the feed of the basin, or by an independent booster.
L'invention est toutefois également applicable au nettoyage d'un bassin contenant un autre liquide que de l'eau. Dans ce cas, il convient de la même manière de disposer d'un dispositif fournissant cet autre liquide sous pression à proximité du bassin à nettoyer.The invention is however also applicable to the cleaning of a basin containing a liquid other than water. In this case, it is also appropriate to have a device supplying this other liquid under pressure near the pool to be cleaned.
L'appareil de nettoyage selon l'invention, qui constitue un robot compte tenu de son fonctionnement de façon automatique, sans intervention humaine, présente une grande simplicité et ne comporte aucun mécanisme complexe tel que turbine, engrenages, valves.The cleaning apparatus according to the invention, which constitutes a robot in view of its operation automatically, without human intervention, has a great simplicity and does not include any complex mechanism such as turbine, gears, valves.
Le robot nettoyeur selon l'invention comprend essentiellement une tête 1 mobile en rotation, autour d'un axe 4 perpendiculaire au sol 100, par rapport à un support 2 qui ne comporte pas d'organe fonctionnel intervenant dans la propulsion du robot ou l'aspiration des déchets, mais sert de support de déplacement et facilite les changements de direction du robot.The cleaning robot according to the invention essentially comprises a
Le support 2 comprend une structure de support comprenant par exemple un ensemble de bras 21 disposés en étoile et portant chacun à leur extrémité externe un organe de glissement ou de roulement 22 tel qu'une roulette orientable.The
Les roulettes orientables 22 sont disposées selon une courbe, telle qu'un cercle, située à l'extérieur de la courbe délimitant la périphérie de la tête 1 montée libre en rotation autour d'un palier central définissant l'axe de rotation 4 de la tête 1 par rapport au support 2. Le nombre de roulettes orientables 22 (par exemple cinq) et l'éloignement de celles-ci par rapport à l'axe de rotation 4 sont déterminés de telle sorte que des segments de droite reliant deux roulettes voisines soient situés à l'extérieur de la courbe délimitant la périphérie de la tête 1.The
La référence 23 désigne un flasque de roulette 22.
Le support 2 est relié à la tête 1 par un palier central comprenant des organes de roulement 40, tels que des billes réalisées par exemple en polyacétal, emprisonnés entre une bague interne 14 cylindrique solidaire de la tête 1 et une bague externe 41 qui peut également présenter un profil cylindrique, qui est solidaire du support 2 (
Le palier central, dont les bagues 14, 41 peuvent également être réalisées en un matériau tel que le polyacétal, peut présenter une forme très simple, avec une seule rangée de billes 40, et définit une ouverture 13 de communication entre le fond 12 de la tête 1 et un espace situé sous une plaque 15 solidaire de la partie inférieure de la bague interne 14 du palier central.The central bearing, whose rings 14, 41 can also be made of a material such as polyacetal, can have a very simple shape, with a single row of
Un réceptacle 7 peut être rapporté de façon amovible sur la plaque 15 et peut être fixé sur le pourtour de celle-ci par des organes de fixation amovible 71 tels que des clips ou verrous. La hauteur du réceptacle 7 est déterminée de telle manière qu'un espace soit ménagé entre le sol 100 et le fond du réceptacle 7 lorsque le robot repose sur le sol 100 par ses roulettes 22.A
Une ouverture 72 obturée par un clapet souple 73 est formée dans la partie centrale du fond du réceptacle 7, qui peut être légèrement en retrait par rapport à la périphérie du réceptacle 7 (
L'aspiration des déchets s'opère par l'ouverture 72 qui est dans le prolongement de l'ouverture 13 du fond de la tête 1, centrée sur l'axe 4. Un filtre 70 est disposé à la partie supérieure du réceptacle 7 et peut être maintenu par un cadre 16 rapporté sur la plaque 15.The aspiration of the waste is effected by the
Le réceptacle 7 de stockage des déchets, monté de façon amovible sur la plaque 15 pour pouvoir être vidé facilement, est solidaire de la tête 1 lorsque le robot est en fonction dans un bassin de liquide, et tourne donc de la même façon par rapport au support 2 autour du palier centré sur l'axe 4 qui est perpendiculaire au sol 100 lorsque le robot repose sur ses roulettes 22.The
La
Si l'on considère le fond 77 d'un réceptacle 7, vu de dessus, avec une ouverture 72, le clapet 73 d'obturation de cette ouverture 72 peut comprendre deux bras latéraux parallèles 75 ayant chacun une extrémité libre fixée par un organe de fixation 74 au fond 77 du réceptacle 7. Les autres extrémités des bras 75 sont rattachées à une partie centrale 76 dont la surface est légèrement supérieure à celle de l'ouverture 72 de manière à pouvoir recouvrir de façon étanche toute cette ouverture 72. La partie centrale 76 rattachée aux bras 75 du côté opposé aux points de fixation 74 constitue une languette en porte-à-faux dont l'extrémité libre est située entre les points d'ancrage 74 des bras latéraux 75. En l'absence de dépression à l'intérieur du réceptacle 7, le clapet 75 en matière élastique telle que du caoutchouc est plaqué de manière à obturer l'ouverture 72. En présence d'une dépression créée à l'intérieur du réceptacle 7, le clapet se soulève en pivotant autour des points d'articulation 74. La partie centrale 76 en porte-à-faux par rapport aux parties soulevées des bras 75 opposées aux points d'articulation 74 présente elle-même une torsion par rapport à ces parties soulevées des bras 75 et se soulève ainsi dans son ensemble parallèlement au fond 77 du réceptacle 7, dégageant l'ouverture 72 sur tous les côtés et permettant aux saletés aspirées de venir s'accumuler dans le réceptacle de façon homogène de tous les côtés autour de l'ouverture 77.If we consider the bottom 77 of a
On décrira maintenant de façon plus détaillée la tête 1 du robot des
La tête 1, qui peut être réalisée en matière plastique moulée, comprend des plaques supérieure 10 et inférieure 12 ainsi qu'une paroi latérale 11. Dans le mode de réalisation des
Un dispositif 30 d'injection d'eau sous pression est disposé dans un plan contenant l'axe de la tuyère 18 et comprend un canal 31 s'étendant selon l'axe de rotation 4, et raccordé par un embout 3 à un tuyau souple d'alimentation en eau sous pression qui est muni d'un ou plusieurs joints tournants et d'un ou plusieurs flotteurs. Le fait que le tuyau d'alimentation en eau arrive dans l'axe de la tuyère garantit que les mouvements du tuyau ne perturbent pas le mouvement du robot et notamment ne modifient pas la direction de la force de propulsion. La traction exercée sur le tuyau est ainsi directement absorbée par la poussée et n'entraîne pas de déviation parasite de trajectoire.A
Le dispositif 30 d'injection d'eau sous pression 30 comprend avantageusement une fente verticale 33 placée dans l'axe de la tuyère 18 devant l'entrée évasée 181 de celle-ci pour diriger un jet de liquide vers l'arrière parallèlement à l'axe de la tuyère 18 (
Le dispositif d'injection 30 peut ainsi présenter une forme aisée à fabriquer tout en produisant à l'entrée de la tuyère 18 un jet plat ayant une grande surface d'entraînement qui rend le phénomène d'aspiration plus efficace sans nuire à la force propulsive.The
Un espace libre est ménagé entre le dispositif 30 d'injection d'eau et l'entrée évasée 181 de la tuyère 18 pour créer par effet venturi un courant d'aspiration vers la tête 1 à travers l'ouverture 13 ménagée dans le fond 12 de cette tête 1.A free space is provided between the
Un flux de liquide chargé de saletés pénètre dans le robot à travers l'orifice central 72 ménagé dans le fond du réceptacle 7, le clapet souple 73 étant soulevé sous l'effet de l'aspiration créée par le flux de sortie de l'injecteur 30 au niveau de l'espace libre situé entre l'injecteur 30 et l'entrée 181 de la tuyère 18. Le flux de liquide sale est aspiré selon l'axe 4 vers l'ouverture 13 de la tête 1, mais du fait de la présence du filtre 70, seul le liquide nettoyé des déchets qu'il transporte est attiré dans la tête 1 vers la tuyère 18 par la dépression créée à l'entrée de celle-ci, pour être éjecté à l'arrière de la tuyère 18 en même temps que le liquide sous pression injecté par la fente 33 du dispositif d'injection 30.A flow of liquid loaded with dirt enters the robot through the
Les déchets et saletés sont arrêtés par le filtre 70 et viennent s'accumuler dans la partie périphérique du réceptacle 7.The waste and dirt are stopped by the filter 70 and accumulate in the peripheral part of the
L'injecteur 30 et la tuyère 18 constituent ainsi à la fois un dispositif de propulsion par réaction (par la réaction du jet d'eau s'échappant de la tuyère parallèlement au sol 100), qui assure le déplacement du robot dans le fond de la piscine et un dispositif de création d'une dépression dans la tête 1 permettant une aspiration des déchets par l'orifice d'aspiration 72, l'aspiration produite par l'effet d'éjecteur du jet d'eau issu de la buse en forme de fente 33 à l'entrée de la tuyère 18 étant particulièrement puissante.The
L'injecteur 30 et la tuyère 18 constituent en outre un dispositif de création d'un couple statique, en association avec une plaque courbe 35 située à la sortie 180 de la tuyère 18 et qui constitue un déviateur de jet (
La tête 1 porte elle-même à l'arrière une dérive 6 disposée verticalement. Cette dérive 6 peut comprendre par exemple une première partie triangulaire 61 solidaire de la tête 1 et qui peut être essentiellement placée selon l'axe longitudinal de la tête 1 et une partie arrière 62 articulée sur la partie triangulaire 61 et formant un angle réglable avec la partie triangulaire 61. La partie arrière 62 peut ainsi jouer le rôle de gouvernail tandis que la partie avant de la dérive 6 constitue un plan axial fixe.The
La présence de la dérive 6, qui peut présenter d'autres configurations ou également être dédoublée, avec deux dérives placées de part et d'autre de l'axe de la tuyère 18, permet de générer un couple dynamique qui s'oppose au couple statique de rotation produit par la déviation du jet de la tuyère 18. II en résulte un équilibre qui permet au robot de se déplacer sensiblement en ligne droite sur le fond de la piscine entre deux obstacles.The presence of the drift 6, which may have other configurations or also be split, with two fins placed on either side of the axis of the
Lorsque le robot s'immobilise contre un obstacle, le couple d'équilibrage dynamique s'annule ne laissant que le couple statique de la tuyère qui fait alors tourner la tête 1 par rapport au support 2 permettant au robot de changer de direction. Le mouvement de rotation est cependant amorti et le robot est empêché de tourner sur place comme une toupie et peut repartir dans un mouvement de translation.When the robot stops against an obstacle, the dynamic balancing torque vanishes leaving only the static torque of the nozzle which then rotates the
Le document de brevet
Conformément à l'invention, pour garantir que le robot nettoyeur finira par parcourir l'ensemble du fond d'un bassin délimité par des parois latérales, sans privilégier certaines zones, telles que les zones périphériques, il est mis en oeuvre un mécanisme additionnel qui permet de dérouter par intermittence le robot de façon aléatoire. Ce déroutement est provoqué en fonction de positions angulaires prédéterminées de la tête 1 par rapport au support 2.According to the invention, to ensure that the cleaning robot will eventually cover the entire bottom of a basin delimited by side walls, without favoring certain areas, such as peripheral areas, it is implemented an additional mechanism that allows intermittent rerouting of the robot randomly. This diversion is caused according to predetermined angular positions of the
Dans le mode de réalisation des
Dans le mode de réalisation des
La
Une came 42, par exemple circulaire, est montée sur la plaque supérieure horizontale du support 2, au voisinage de la bague extérieure 41 et peut tourner librement autour d'un axe. Lorsque la came 42 vient en contact avec la surface profilée 370 du levier-came 37, ce dernier subit un déplacement angulaire autour de l'axe 36, par exemple de l'ordre de 5 à 30°, qui provoque en même temps une rotation du déviateur de jet 35 et par suite une modification du couple statique et un changement de direction de déplacement du robot. Une butée 38 fixée sur le levier 37 et coopérant avec le rebord de la plaque inférieure 212 de la tête 201 permet de limiter le débattement angulaire du levier 37.A
La
On décrira maintenant un deuxième mode de réalisation de l'invention en référence aux
Le robot de nettoyage des
Les divers éléments du robot des
On ne décrira donc pas à nouveau les parties communes entre ces deux modes de réalisation, mais seulement les variantes de réalisation.We will not describe again the common parts between these two embodiments, but only the variants.
Dans le mode de réalisation des
En revanche, la tête 201 des
Ainsi, dans la tête 201, le dispositif 230 d'injection de liquide sous pression qui, par ailleurs, peut être identique au dispositif 30 précédemment décrit, est décalé, comme l'ajutage 203 de raccordement à un tuyau d'amenée d'eau sous pression, par rapport à l'axe 204 et la tuyère 218 est elle-même excentrée par rapport à l'axe 204. De façon plus particulière, la paroi latérale 211 de la tête 201 peut présenter une forme de sifflet avec une partie 218 constituant la tuyère excentrée (
Une autre différence du robot des
Le fait même que la tuyère 218 soit réalisée de façon excentrée par rapport à l'axe 204 de rotation de la tête 201 par rapport au support 202 définit un dispositif de création d'un couple statique lors de l'éjection d'un jet d'eau sous pression à travers cette tuyère 218, sans même qu'il soit nécessaire de mettre en oeuvre un déviateur de jet. Ce couple statique reste alors constant.The very fact that the
En revanche, le fait que la dérive 206 soit articulée autour d'un axe 236 permet de modifier le couple dynamique.On the other hand, the fact that the
Dans le mode de réalisation des
Dans le cas du robot représenté sur les
Le robot du deuxième mode de réalisation agit ainsi par un mécanisme additionnel 237, 241, 234 pour modifier par intermittence le couple dynamique en fonction de positions angulaires prédéterminées du support 202 par rapport à la tête 201, alors que le couple statique défini par l'excentrement de la tuyère 218 reste constant. Il y a bien toutefois de façon aléatoire par intermittence, comme dans le premier mode de réalisation dans lequel on agit sur le couple statique, une rupture de l'équilibre entre couple statique et couple dynamique.The robot of the second embodiment thus acts by an
Dans le mode de réalisation des
A titre de variante, on peut également mettre en oeuvre un levier-came 237 à double effet présentant une forme symétrique par rapport à un plan vertical passant par l'axe 236 et pouvant ainsi agir, quel que soit le sens de rotation de la tête 201 par rapport au support 202.Alternatively, it is also possible to implement a double
Il est naturellement possible de combiner les différents modes de réalisation entre eux et par exemple un déviateur de jet pourrait également être utilisé dans le cas d'une tête à tuyère excentrée, comme dans le cas du mode de réalisation des
On décrira maintenant en référence aux
Selon ce mode de réalisation, le support 302 avec des bras 321 aux extrémités desquelles sont fixées des roulettes 322 peut être très semblable aux supports 2 et 202 précédemment décrits. Dans le cas de ce mode de réalisation, le support 302 est toutefois disposé à la partie inférieure du robot avec une tête 301 dont la partie supérieure 310 est constituée par un couvercle amovible et qui constitue elle-même un compartiment de stockage des déchets.According to this embodiment, the
Le couvercle 310 de la tête 301 présente un ajutage 303 de raccordement à un tuyau d'arrivée d'eau sous pression. L'ajutage 303 est excentré par rapport à l'axe 304 de rotation de la tête 301 par rapport au support 302.The
Le couvercle 310 porte à sa partie arrière deux dérives de stabilisation 306A, 306B qui peuvent être fixes.The
La tête 301 se présente, lorsque le couvercle 310 est ôté, comme un carter en forme de sifflet (
Le couple statique est créé par le jet d'eau sous pression amené par le dispositif 330 d'injection et éjecté à travers la tuyère 308. Un dispositif complémentaire 335 de déviation de jet peut le cas échéant être monté à la sortie de la tuyère 308.The static torque is created by the jet of pressurized water supplied by the
Un couple dynamique est créé lors des déplacements du robot par les dérives de stabilisation 306A, 306B et un plan directeur vertical 305 placé à l'avant de la tête 301 du robot et articulé sur celle-ci autour d'un axe vertical 336 parallèle à l'axe 304 de rotation de la tête 301.A dynamic torque is created during the movements of the robot by the stabilization drifts 306A, 306B and a
Comme dans le cas des modes de réalisation précédemment décrits, conformément à l'invention, un dispositif mécanique additionnel est prévu pour modifier par intermittence l'équilibre entre le couple statique et le couple dynamique en fonction de positions angulaires prédéterminées du support 302 par rapport à la tête 301.As in the case of the embodiments described above, according to the invention, an additional mechanical device is provided for intermittently modifying the equilibrium between the static torque and the dynamic torque as a function of predetermined angular positions of the
Si l'on considère plus particulièrement les
Sur la
Naturellement, les caractéristiques des différents modes de réalisation décrits peuvent être combinées entre elles. Ainsi, à titre d'exemple, les leviers 37 ou 237 des deux premiers modes de réalisation pourraient coopérer avec une came analogue à la came 341 et centrée sur l'axe de rotation de la tête du robot par rapport au support, plutôt qu'avec un galet 42 ou 242.Naturally, the characteristics of the various embodiments described can be combined with each other. Thus, for example, the
Claims (18)
- A robot for automatic cleaning of the bottom of a pool filled with liquid, comprising:- a head (1; 201; 301) free to rotate about a first axis (4; 204; 304) perpendicular to the ground relatively to a support (2; 202; 302) provided with roller (22; 222; 322) or slider elements or a hydrostatic fluid bearing,- a device (30, 18, 35; 230, 218; 330, 308) for generating a static torque on the rotary mobile head (1; 201; 301),- a device (6; 206; 305, 306A, 306B) for generating a dynamic torque on the rotary mobile head (1; 201; 301) so as to balance the static torque when the robot is moving in the liquid and to allow damped rotation of the head (1; 201; 301) relatively to the support (2; 202; 302) when the latter is blocked by an obstacle,- a reaction propulsion device (30, 18; 230, 218; 330, 308) arranged in said head (1; 201; 301) for causing a displacement in a direction perpendicular to said first axis (4; 204; 304),- a compartment (7; 207) for storing rubbish provided with an opening (72; 313), a filter (70; 307) and a device (30; 230; 330) for creating a vacuum for sucking rubbish and foreign objects present in the liquid into the storage compartment (7; 207; 301) through the suction opening (72; 313), characterized in that it further comprises an additional mechanical device (37, 42, 41; 237, 242, 241; 337, 342, 341) for intermittently modifying either the static torque or the dynamic torque as a function of predetermined angular positions of the support (2; 202; 302) relatively to the head (1; 201; 301).
- The robot according to claim 1, characterized in that the additional mechanical device is a system of the lever and cam type (37, 42, 41; 237, 242, 241; 337, 342, 341).
- The robot according to claim 1 or claim 2, characterized in that the device for generating a static torque is combined with the reaction propulsion device and comprises a jet nozzle (18; 218; 308) integrated into the head (1; 201; 301) and located in a plane perpendicular to said first axis (4; 204; 304), and a device (30; 230; 330) for injecting pressurized liquid in order to direct a liquid jet towards the inlet (181; 281; 381) of the jet nozzle (18; 218; 308) parallel to the axis of the latter.
- The robot according to claim 3, characterized in that the device (30) for injecting pressurized liquid is centred on said first axis (4), in that the jet nozzle (18) is symmetrical relatively to a plane passing through said first axis (4) and in that the device for generating a static torque further comprises a jet deflector (35) positioned at the outlet of the jet nozzle (18).
- The robot according to claim 3, characterized in that the device (230; 330) for injecting pressurized liquid is shifted relatively to said first axis (204; 304) and in that the jet nozzle (218; 308) is itself excentered relatively to said first axis (204; 304).
- The robot according to any of claims 1 to 5, characterized in that the device for creating a dynamic torque comprises at least one stabilization fin (6; 206; 306A, 306B) formed by a protruding plate perpendicular to the ground and located at the rear of the head (1; 201; 301) of the robot.
- The robot according to any of claims 1 to 6, characterized in that the device for generating a dynamic torque comprises at least one vertical directive plane (305) placed at the front of the head (301) of the robot.
- The robot according to claim 3, characterized in that said device for creating a vacuum in the storage compartment (7; 207) comprises a free space located between the device (30; 230; 330) for injecting a pressurized liquid and the inlet (181; 281; 381) of the jet nozzle (18; 218; 308).
- The robot according to claim 5, characterized in that the jet nozzle (218; 308) excentered and integrated into the head (201; 301) is defined by a whistle-shaped case.
- The robot according to any of claims 1 to 9, characterized in that the compartment (7; 207) for storing rubbish is located below a bearing (40; 240) by which the mobile head (1; 201) may be rotated relatively to the support (2; 202).
- The robot according to any of claims 1 to 9, characterized in that the compartment (301) for storing rubbish is located above a bearing (340) by which the mobile head (301) may be rotated relatively to the support (302).
- The robot according to claims 2 and 4, characterized in that the additional mechanical device comprises a system of the lever and cam type, a component of which (42) is mounted on the support (2) and the other component (37) is made integral with the jet deflector (35) itself jointed on the head (1) around a second axis (36) essentially parallel to said first axis (4).
- The robot according to claims 2, 5 and 6, characterized in that the additional mechanical device comprises a system of the lever and cam type, one component (242) of which is mounted on the support (202) and the other component (237) is made integral with said stabilization fin (206) itself jointed on the head (201) around a second axis (236) essentially parallel to said first axis (204).
- The robot according to claims 2, 5 and 7, characterized in that the additional mechanical device comprises a system of the lever and cam type, one component (341) of which is mounted on the support (302) and the other component (337) is made integral with said directive plane (305) itself jointed on the head (301) around a second axis (336) essentially parallel to said first axis (304).
- The robot according to any of claims 1 to 14, characterized in that the additional mechanical device comprises a system of the lever and cam type associated with a return spring.
- The robot according to claim 3, characterized in that the device (30; 230; 330) for injecting pressurized liquid comprises a jet tip having an elongated slot (33; 233) along an axis parallel to said first axis (4; 204; 304) and located in a plane containing the axis of the jet nozzle (18; 218; 308), facing the flared inlet (181; 281; 381) of the jet nozzle.
- The robot according to any of claims 1 to 16, characterized in that the compartment (7; 207; 301) for storing rubbish is made integral with the head (1, 201; 301), in the operating position of the robot.
- The robot according to any of claims 1 to 17, characterized in that the storage compartment (7) comprises a suction opening (72) provided with an elastic valve (73) comprising two parallel side arms (75) each having a free end attached on the bottom (77) of the storage compartment (7) and another end attached to a central cantilever portion, the free end of which is located between the points (74) for anchoring the side arms (75) on the bottom (77).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0500632A FR2881161B1 (en) | 2005-01-21 | 2005-01-21 | ROBOT FOR AUTOMOTIC CLEANING OF THE BOTTOM OF A SWIMMING POOL |
PCT/FR2006/050035 WO2006077352A1 (en) | 2005-01-21 | 2006-01-20 | Robot for automatic cleaning of the floor of a swimming pool |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1875017A1 EP1875017A1 (en) | 2008-01-09 |
EP1875017B1 true EP1875017B1 (en) | 2009-06-03 |
Family
ID=34953676
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06709420A Not-in-force EP1875017B1 (en) | 2005-01-21 | 2006-01-20 | Robot for automatic cleaning of the floor of a swimming pool |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1875017B1 (en) |
AT (1) | ATE433027T1 (en) |
DE (1) | DE602006007125D1 (en) |
FR (1) | FR2881161B1 (en) |
WO (1) | WO2006077352A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4296454A1 (en) * | 2022-06-20 | 2023-12-27 | Shenzhen Aiper Intelligent Co., Ltd | Robot swimming pool cleaner with reversing adjustment mechanism |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2927106B1 (en) * | 2008-02-01 | 2010-03-26 | Claude Brenot | ROBOT FOR AUTOMATIC CLEANING OF THE BOTTOM OF A BASIN. |
FR3026128B1 (en) | 2014-09-22 | 2017-06-23 | Claude Brenot | ROBOT CLEANING THE WALLS OF A SWIMMING POOL |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2586054B1 (en) * | 1985-08-06 | 1987-12-04 | Roumagnac Max | APPARATUS FOR AUTOMATIC CLEANING, PARTICULARLY FROM THE BOTTOM OF A POOL |
US4939806A (en) * | 1988-01-07 | 1990-07-10 | Liberty Pool Products S.A. | Pool cleaner |
US5930856A (en) * | 1997-04-08 | 1999-08-03 | Baracuda International Corp. | Automatic swimming pool cleaners and associated components |
FR2836945B1 (en) * | 2002-03-06 | 2004-09-03 | Claude Brenot | APPARATUS FOR AUTOMATIC CLEANING OF THE BOTTOM OF A LIQUID FILLED BASIN |
-
2005
- 2005-01-21 FR FR0500632A patent/FR2881161B1/en not_active Expired - Fee Related
-
2006
- 2006-01-20 EP EP06709420A patent/EP1875017B1/en not_active Not-in-force
- 2006-01-20 WO PCT/FR2006/050035 patent/WO2006077352A1/en active Application Filing
- 2006-01-20 AT AT06709420T patent/ATE433027T1/en not_active IP Right Cessation
- 2006-01-20 DE DE602006007125T patent/DE602006007125D1/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4296454A1 (en) * | 2022-06-20 | 2023-12-27 | Shenzhen Aiper Intelligent Co., Ltd | Robot swimming pool cleaner with reversing adjustment mechanism |
Also Published As
Publication number | Publication date |
---|---|
DE602006007125D1 (en) | 2009-07-16 |
FR2881161A1 (en) | 2006-07-28 |
ATE433027T1 (en) | 2009-06-15 |
EP1875017A1 (en) | 2008-01-09 |
FR2881161B1 (en) | 2007-04-13 |
WO2006077352A1 (en) | 2006-07-27 |
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