EP2235299B1 - Rollgerät zur reinigung einer unterwasserfläche mit teilweise hydraulischem antrieb - Google Patents

Rollgerät zur reinigung einer unterwasserfläche mit teilweise hydraulischem antrieb Download PDF

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Publication number
EP2235299B1
EP2235299B1 EP08869734A EP08869734A EP2235299B1 EP 2235299 B1 EP2235299 B1 EP 2235299B1 EP 08869734 A EP08869734 A EP 08869734A EP 08869734 A EP08869734 A EP 08869734A EP 2235299 B1 EP2235299 B1 EP 2235299B1
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EP
European Patent Office
Prior art keywords
liquid
rolling
hollow body
immersed
immersed surface
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EP08869734A
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English (en)
French (fr)
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EP2235299A2 (de
Inventor
Philippe Pichon
Emmanuel Mastio
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Zodiac Pool Care Europe SAS
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Zodiac Pool Care Europe SAS
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Publication of EP2235299A2 publication Critical patent/EP2235299A2/de
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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

  • a self-propelled rolling apparatus comprising electric motors for driving side tracks and front and rear rolling members formed of rollers.
  • the motorized pumping assembly is arranged vertically, generally in the center of the hollow body, and the suction created at the lower water inlet tends to press the apparatus onto the immersed surface.
  • Such a device is satisfactory and allows in particular to cross the feet of vertical or inclined walls, to go up along the vertical or inclined walls of the pool for their cleaning. He is also able to climb the steps of a submerged staircase.
  • a submerged surface-cleaning device must, in order to be able to go up along the vertical walls and / or to cross stair treads, be provided with motor driven rolling bodies. both at the front and rear of the device, and even side tracks to avoid blocking the passage of noses steps (throughout the text, the expression "nosing” refers to any convex edge of junction between a vertical wall and a horizontal wall).
  • Such a device is nevertheless relatively heavy, energy consuming and expensive to purchase and use.
  • the object of the invention is therefore generally to propose a submerged surface-cleaning apparatus which has the same advantages as the WO 0250388 , in particular which allows the cleaning of the walls sloping or vertical pools and submerged stairs, without the need for side tracks or rear drive units, with lower purchase and usage costs, better performance and lower weight.
  • the invention aims to provide a submerged surface cleaner rolling apparatus whose performance / cost ratio is improved over that of previous devices. More particularly, the invention aims to provide such a device whose cost can be substantially lowered, for equivalent performance, or even greater than those of known devices.
  • this arrangement particular allows in practice to use at least a portion of the residual hydraulic energy in the output stream to participate not only in the drive of the device, but also and especially to ensure its permanent balance with the rolling bodies before engines in contact with the submerged surface, including on the inclined or vertical walls, and ensure the passage of the device on the one hand at the foot of the vertical wall, that is to say at the junction between a bottom wall ( horizontal or slightly inclined) and a vertical wall, and on the other hand on stair steps, without risk of blockage or reversal to the rear, and ensuring effective cleaning of these areas.
  • the longitudinal component of the hydraulic reaction force makes it possible to press the rolling members before the engines in contact with a vertical wall encountered at the end of a trajectory on a horizontal bottom wall or slightly inclined , so that the front of the camera rises along the vertical wall.
  • the value of said support torque is adapted so as not to prevent the rise of the front part of the apparatus on an obstacle before-in particular a vertical wall-under the effect of each rolling member. front engine, particularly when the aircraft is traveling on a horizontal submerged surface.
  • the longitudinal component of the hydraulic reaction force when the rolling members before engines are detached from the immersed surface and no longer allow to drive the device, for example during the passage of a nosing, the longitudinal component of the hydraulic reaction force generates a bearing torque that makes it possible to tilt the device in the direction of the return of the contact of its rolling members before engines with the immersed surface. In particular, this makes it possible to guarantee the passage of stair noses in all circumstances and regardless of the size of the steps.
  • said hydraulic circuit is adapted so that the value of the longitudinal component of the hydraulic reaction force is able, on its own, to drive the apparatus forward and upwards. while its longitudinal direction forms with the horizontal an angle between 0 ° and 85 ° -particularly preferably for any angle between 0 ° and 90 ° -.
  • the term "apparent weight” refers to the resultant, oriented downwards (the apparatus being denser than the liquid and heavier than the volume of liquid that it displaces), between the weight (generated by gravity) and the strength of Archimedes. This apparent weight applies to the apparent center of gravity, which is the center of gravity between the center of gravity where the weight and the center of application of Archimedes force apply.
  • said hydraulic circuit is adapted so that the value of said support torque maintains the apparatus with its rolling members in contact with the vertical wall against this reversal torque.
  • the bearing torque created by the longitudinal component of the hydraulic reaction force makes it possible to keep each member before the engine in contact with the vertical wall, so that the apparatus is driven upwards on the one hand by each member before engine, on the other hand by said longitudinal component of the hydraulic drive force.
  • the hydraulic circuit is adapted so that the value of said support torque is greater than that of the reversal torque created by the sole apparent weight of the immersed device. in the liquid when the latter rolls on a vertical wall. In this way, the possible contribution of suction to the maintenance of the device in contact with a vertical wall is not necessary for this maintenance.
  • an apparatus according to the invention can be provided with a power drive device much lower, and therefore consumption and reduced costs. This also results in a lower overall volume and a lower weight of the apparatus which, in addition to the economy achieved, is an important advantage for the user, particularly in terms of handling, transport and storage of the apparatus. .
  • the invention is more particularly applicable to certain embodiments of a submerged surface cleaner rolling apparatus as indicated hereinafter.
  • only the front axle is motor, the apparatus being driven in displacement on the immersed surface only by one or more member (s) rolling (s) before engine (s), and by said longitudinal component of the hydraulic reaction force.
  • an apparatus according to the invention can be driven solely by said longitudinal component of the hydraulic reaction force and by means of its front axle engine.
  • the only motor rolling members of the apparatus according to the invention are constituted by one or more member (s) rolling (s) before engine (s), any other rolling member of the apparatus being non-motor, it that is to say freely rotatably mounted relative to the hollow body.
  • an apparatus according to the invention is preferably of the so-called unidirectional type, that is to say driven mainly in the longitudinal direction in a privileged direction of advancement in which it realizes the recovery of debris. and filtering, although nothing prevents such an apparatus can be also endowed with a possibility of displacement in the retrograde direction, for example to clear obstacles.
  • said rolling members and drive motor (s) are adapted to drive the apparatus in displacement in the longitudinal direction mainly in a preferred drive direction.
  • the invention nevertheless also applies to an apparatus of the so-called bidirectional type, that is to say capable of being driven in the longitudinal direction as well in one direction or the other and to achieve the recovery of the debris and the filtering in either of these two senses.
  • the characteristics mentioned above can be satisfied in each drive direction, or only in one of the two drive directions.
  • only the front axle that is to say the axle oriented forward with respect to the direction of travel in progress, is motor.
  • an apparatus according to the invention can have two axles opposite to each other in the longitudinal direction, each axle can be alternately driven, that is to say driven by one or several drive motor (s) in the direction of travel in which said axle is oriented forward.
  • An apparatus according to the invention can be provided with different kinds of rolling members, the number and type (wheels, transverse rollers, half rollers ...) do not matter. Nevertheless, an apparatus according to the invention may advantageously be free of side tracks. Its rolling members may advantageously consist in particular only of a front axle engine and a rear axle non-motor. In any case, the rolling members define a (theoretical) rolling plane, that is to say are adapted to present contact areas with the submerged surface which are coplanar.
  • the apparatus according to the invention comprises a front axle engine equipped with two front-wheel drive wheels, one on each side, and a non-driving rear axle, for example with a wheel or rear wheel freely mounted. pivoting about a vertical axis and freely rotatable about a horizontal axis, or two non-driving rear wheels, one on each side, the device being supported on four wheels.
  • a front axle engine equipped with two front-wheel drive wheels, one on each side, and a non-driving rear axle, for example with a wheel or rear wheel freely mounted. pivoting about a vertical axis and freely rotatable about a horizontal axis, or two non-driving rear wheels, one on each side, the device being supported on four wheels.
  • an apparatus according to the invention is guided on a surface immersed by the front axle engine and a non-driving rear axle comprising two rear wheels free in rotation, one on each side.
  • Each front wheel has a diameter preferably greater than 10 cm. Preferably, the diameter of each
  • each front wheel is between 15 cm and 30 cm.
  • At least one roller or a cleaning brush may advantageously be provided, rotatably mounted between the two wheels.
  • front-wheel drive preferably driven in the same direction of rotation as the front-wheel drive and at a higher rotational speed than that of the front-wheel drive wheels.
  • Other alternative embodiments are possible and compatible with the invention.
  • the longitudinal component of the hydraulic reaction force may be sufficient to allow the apparatus to move alone when the front axle is in contact with the engine. of a wall of the submerged surface, the speed of movement of the apparatus is determined and imposed by the rotational speed of the driving members before the engines, and not by said longitudinal component of the hydraulic reaction force.
  • the invention applies in particular advantageously to a device of the drive type by electric motor (s).
  • an apparatus comprises two independent electric motors, one being coupled to at least one rolling member disposed on one side of the apparatus, while the other is coupled to at least one rolling member disposed on the other side of the apparatus, so that the independent control of these two electric motors also makes it possible to direct the apparatus during its movements on the submerged surface.
  • the hydraulic circuit is adapted so that the stream of liquid leaving each rear outlet forms with the longitudinal direction a non-zero angle ⁇ less than 45 °, so that the said hydraulic reaction force resulting the reaction of the liquid stream exiting from each rear outlet has a component, called application component, orthogonal to said longitudinal component, said application component being oriented towards the rolling plane and of value less than that of the longitudinal component .
  • This application component tends to maintain the apparatus according to the invention, and more particularly the rear axle, in contact with the wall of the immersed surface.
  • an apparatus further comprises at least one -in particular one and only one-electric pumping motor coupled to at least one -particularly one and only one-axial pumping propeller interposed in the hydraulic circuit, and a cable powering the apparatus from a control box and a power source external to the immersed surface.
  • Such an electric pump motor does not act as a drive motor, that is to say, is not coupled to a motor drive member.
  • This electric pumping motor and pumping propeller associated constituting said motorized pumping assembly are chosen such that the hydraulic circuit delivers the hydraulic reaction force and the bearing torque as mentioned above.
  • an apparatus comprises an axial pumping propeller disposed immediately upstream of a rear outlet, this axial pumping propeller having an axis of rotation inclined with respect to the longitudinal direction at an angle ⁇ of lower value. at 5 ° to that of the angle ⁇ formed, with respect to the longitudinal direction, by the stream of liquid leaving the rear outlet.
  • the axis of the helix is at least substantially parallel to the direction of the liquid stream exiting the rear outlet (which means that the angle ⁇ is of the same order of magnitude as the angle ⁇ ).
  • the length of the front part of the apparatus extending between its apparent center of gravity Ga and its forward end portion is less than 35 cm, in particular of the order of 20 cm to 30 cm. . In this way the cleaning of stairs is improved.
  • the invention also relates to a submerged surface-cleaning apparatus characterized in combination by all or some of the characteristics mentioned above or below.
  • An apparatus comprises a hollow body 1 and rolling bodies 2, 3, 4 for guiding and driving the hollow body 1 on a surface immersed in at least one privileged direction of advancement and in a main direction of advancement, said longitudinal direction, parallel to the immersed surface when the apparatus is in normal displacement of cleaning on this immersed surface.
  • This hollow body 1 is formed mainly of a concave casing delimiting a main enclosure.
  • This concave casing is for example made by molding or rotational molding.
  • This housing is preferably made of a thermoplastic material, such as polyethylene, polypropylene, polyamide, ABS, PMMA or any equivalent material.
  • a handle 7 located at the front of the device allows a user to wear, especially to extract a pool or immerse in a pool.
  • This hollow body 1 has a central chamber adapted to form a filtration chamber 8.
  • This central chamber is delimited by a lower wall extending in a substantially horizontal plane; by sidewalls extending generally in vertical planes; by a front wall extending generally in a vertical plane, orthogonal to the planes of the vertical side walls; and by a rear wall extending generally in a vertical plane orthogonal to the planes of the vertical side walls.
  • the bottom wall has an opening extending transversely to the vicinity of the front wall so that liquid can enter the central chamber through this lower transverse opening.
  • the rear wall comprises a cylindrical opening.
  • the cylindrical opening in the rear wall of the housing is longitudinally offset from the lower transverse opening in the bottom wall.
  • this cylindrical opening is arranged in the upper part of the casing so that it is also vertically offset from the transverse lower opening.
  • this hollow body 1 comprises a filtration chamber 8 having an inlet 9 of liquid situated at the base of the hollow body 1, ie in the lower part of the apparatus, an outlet 10 of liquid disposed at opposite the base of the body 1, that is to say in the upper part of the apparatus, and a hydraulic circuit adapted to ensure a flow of liquid between the inlet 9 of liquid and the outlet 10 of liquid to through a filtering device 11.
  • the transverse opening in the bottom wall of the housing forms the liquid inlet 9 of the apparatus and the cylindrical opening in the rear wall of the apparatus forms the liquid outlet of the apparatus.
  • the inlet 9 of liquid and the outlet 10 of liquid are offset longitudinally, but both centered on the same longitudinal vertical plane of the apparatus.
  • the central chamber of the hollow body 1 is adapted to receive the filtering device 11.
  • the filtering device 11 is arranged between the inlet 9 of liquid and the outlet 10 of liquid.
  • This filtering device 11 can be of any known type. It is preferably removably mounted in the hollow body 1, although the invention is applicable to an apparatus whose filtering device would be irremovable.
  • the filtering device 11 comprises a rigid armature and a filter cloth carried by this rigid armature.
  • a filtering device 11 is therefore self-supporting and can be easily manipulated by a user.
  • the apparatus also comprises a hatch 6 for access to this filter device 11.
  • This access hatch 6 forms an upper wall of the hollow body 1 and covers the latter. In the embodiment shown, this hatch 6 is formed on the top of the device so that a user of the device can easily open the hatch 6 and extract the filter device 11.
  • the access hatch 6 is articulated to the body 1 of the apparatus by hinges 23 arranged at the rear of the apparatus.
  • the rigid armature further has two ribs extending laterally on each side of the filtering device 11.
  • These ribs have shapes and dimensions shaped and conjugated to the shapes and dimensions of grooves integral with the hollow body 1.
  • These grooves integral with the hollow body 1 extend vertically along the inner faces of the vertical side walls of the hollow body 1.
  • the ribs of the filtering device 11 are therefore adapted to cooperate with the grooves of the hollow body 1 of the apparatus.
  • the extraction of the filtering device 11 results from a displacement in translation of the filtering device 11 along the grooves of the hollow body 1.
  • a user can easily remove the filtering device 11 from the hollow body 1 for example to clean it.
  • the filtering device 11 further comprises a handle 28 formed on an upper portion of the filtering device 11 so as to facilitate the handling of the filtering device 11.
  • the rolling members for guiding and driving the apparatus comprise a front axle comprising front-wheel 2, one on each side, and a rear axle comprising rear wheels 3 motives, one on each side.
  • the apparatus comprises brushes 4 arranged at the front of the apparatus. These brushes 4 are intended to ensure a brushing of the immersed surface and to move the brushed debris towards the rear of the apparatus towards the inlet 9 of liquid arranged under the apparatus.
  • the apparatus further comprises at least one electric motor for driving the front wheels 2 powered by electric power via the cable 19 connected to the body 1.
  • the apparatus comprises two driving motors 20a, 20b, a motor on each side, respectively for the independent drive of each of the front wheels 2.
  • each front wheel 2 has an internal toothing 5 cooperating with a drive gear 45 driven by the corresponding drive motor 20a, 20b via a pinion 44 rotatably connected to the corresponding motor shaft 20a, 20b and an intermediate pinion 21 driven by the pinion 44 of the motor, the drive pinion 45 and the intermediate pinion 21 being both coupled to the same shaft 22 mounted fixed rotating relative to the body 1.
  • the apparatus comprises two coaxial front brushes 4.
  • Each brush 4 is adapted to be rotated about an axis extending in a direction, said transverse direction, perpendicular to the longitudinal direction.
  • Each brush 4 comprises a plurality of fins 41 extending radially from a brush shaft forming the axis of rotation of the brush 4.
  • the fins 41 are for example made of rubber or a resistant plastic material.
  • the brushes 4 are preferably also rotated in the same direction as the front wheels 2, from at least one electric motor 20, 20a, 20b driving the front wheels 2 via a gear system.
  • the internal toothing of each wheel 2 before driving cooperates with a pinion 42 fixed to one end of the shaft of a brush 4 so that a rotation of the wheel 2 leads through of the toothing 5 and the pinion 42, the rotation of the shaft of the brush 4, and therefore the rotation of the brush 4, in the same direction but with a angular speed of rotation higher.
  • the brush 4 is thus caused to slide on the immersed surface and to sweep it immediately upstream of the inlet 9.
  • the rolling members consist of the front wheels 2 driving, rear wheels 3 non-driving and brushes 4 which participate somewhat in driving and guiding the apparatus on the immersed surface.
  • the longitudinal drive resulting from the rotation of the brushes 4 is negligible, that is to say that the speed of the apparatus remains the same, regardless of the rotational speed 4.
  • the invention also applies to the case of an apparatus in which at least one front driving brush or at least one front motor roller drives the apparatus longitudinally forward, that is to say acts as a rolling member before engine.
  • the rolling members 2, 3, 4 have areas intended to come into contact with the immersed surface which are coplanar and define a theoretical rolling plane 50.
  • the longitudinal direction of advancement of the apparatus is parallel to this theoretical plane of rolling.
  • the front wheels 2 preferably have a diameter greater than 10 cm and less than 50 cm, in particular between 15 cm and 30 cm -1.
  • their peripheral tread 61 is formed or coated with a non-slip material preferably compatible with all surface states of the submerged surface that can be encountered, that is to say with all the materials constituting this immersed surface. (concrete, tiles, liner, ).
  • the front wheels 2 and the brushes 4 constitute front rolling members 2, 4 which protrude forwardly relative to the other components of the apparatus, in particular the hollow body, so as to form the front end part. of the apparatus and coming first in contact with an obstacle encountered during the forward movement, for example a vertical wall as shown figure 5 .
  • the 2-wheel front wheels come in first contact with an obstacle formed by a wall 53 orthogonal to the wall, said rolling wall 52, of the submerged surface coinciding with the rolling plane 50, in a contact zone 54 which is situated in the same horizontal plane that the rotation shaft 60 of these front wheels 2.
  • said wall 53 orthogonal to the rolling wall 52 has a junction zone 55 with the latter having a radius of curvature less than the radius of curvature of the running surface 61 of the front wheels 2 (the portion 56 of the running surface 61 of the front wheels 2 extending between this contact zone 54 and the contact zone 57 of the front wheels 2 with the rolling wall 52 no longer in contact with the immersed surface).
  • An apparatus comprises a motorized liquid pumping device comprising an electric pump motor 12 having a rotary motor shaft 13 coupled to an axial pumping propeller 14 driven in rotation by the motor 12 about an axis 51.
  • motor 12 is supplied with electricity by a power cable 19 connected to the body 1 of the device and connected to the outside of the basin to a power supply box.
  • the propeller 14 is interposed in the hydraulic circuit so as to generate there a flow of liquid between the inlet 9 of liquid and the outlet 10 of liquid.
  • the liquid outlet 10 is directly opposite the pumping propeller so that the liquid flows out of the liquid outlet 10 in a direction corresponding to the flow of liquid generated by the pumping propeller, this flow having a speed oriented along the axis 51 of rotation of the propeller 14.
  • the liquid outlet 10 is located at the rear of the hollow body and is oriented so that the liquid stream flows out of the liquid outlet with a rearwardly upwardly inclined speed relative to the liquid outlet.
  • the longitudinal direction and the rolling plane 50 at an angle of inclination ⁇ greater than 0 ° is less than 90 °, preferably less than 45 °, in particular of the order of 30 °.
  • the liquid outlet 10 is formed of a section of a cylinder of revolution forming a fairing for the propeller 14 and determining the direction of the liquid stream. The orientation of the axis of this cylinder section therefore determines the value of the inclination angle ⁇ of the liquid stream at the outlet 10.
  • Other embodiments are possible, for example with deflector members for directing the liquid flow in a predetermined direction fixed or even adjustable by the user.
  • the pump propeller 14 also has an orientation for generating a liquid flow with a horizontal component to the rear.
  • the pump propeller 14 has an inclined axis of rotation making, with said longitudinal direction and with the theoretical plane of rolling, an angle ⁇ different from 0 ° and 90 °.
  • the angle ⁇ is less than 45 °, in particular is of the order of 30 °.
  • the angle of inclination ⁇ of the axis of the pumping propeller 14 corresponds at least substantially to the inclination angle ⁇ of the liquid stream directed by the rear liquid outlet.
  • the difference between these two angles ⁇ and ⁇ is less than 5 °, on one side or the other.
  • This propeller 14 is rotated by the pumping motor 12, which preferably has a rotating motor shaft 13 parallel to the axis of rotation of the propeller 14.
  • the pump motor 12 is disposed under the hydraulic circuit, entirely outside this hydraulic circuit which completely bypasses the pump motor 12 from above.
  • the rotary shaft 13 of the pump motor 12 passes through an inclined lower wall delimiting the hydraulic circuit.
  • the seal is provided by an O-ring 18.
  • the filtering device 11 of the hydraulic circuit can be removed from the apparatus from the top of the apparatus as previously mentioned, without being impeded by the pump motor 12.
  • Only the pump propeller 14 (and not the pumping motor 12) is arranged in the hydraulic circuit so as to ensure the flow of liquid.
  • This pumping propeller 14 is arranged at the rear of the apparatus, close to the liquid outlet 10. In other words, the pump propeller 14 and the liquid outlet 10 form the end portion of the hydraulic circuit.
  • the figure 3 comprises a representation by arrows of the circulation of liquid in the hollow body 1 of the apparatus.
  • Liquid enters the hollow body 1 through the inlet 9 of liquid arranged under the apparatus.
  • This liquid passes into a liquid inlet column 15 to reach the filtering device 11.
  • the liquid inlet column 15 has an upper opening opening into the filtering device 11 at the upper end of a rear partition wall 16 of this intake column 15.
  • This filtering device 11 passes the liquid through the filter cloth and retains the solid debris.
  • the filtered liquid then reaches the liquid outlet 10 and is ejected at the rear of the apparatus, in the basin from which it comes.
  • the orientation of the hydraulic reaction force Fe created by this output flow, and therefore the amplitude of its longitudinal component Fel depend on the inclination ⁇ , with respect to the theoretical rolling plane 50, of the speed of the current of liquid exiting the liquid outlet 10.
  • this inclination ⁇ is between 15 ° and 45 °, for example of the order of 30 °.
  • the rolling plane 50 is the theoretical plane defined by the contact zones of the rolling members 2, 3, 4 with the submerged surface. This rolling plane 50 is horizontal when the immersed surface is flat horizontal. The rolling plane 50 is also parallel to said longitudinal direction.
  • the hydraulic reaction force Fe and thus also its longitudinal driving component Fel, are exerted at a theoretical point of application, called center of thrust C, whose position, fixed with respect to the apparatus, may be determined in a manner well known per se, in particular by design and / or analysis of the geometry of the hydraulic circuit and / or by calculation and / or by computer simulation and / or by tests carried out on an exemplary device operation.
  • the apparatus has a center of gravity G where the weight P and an application center Ca of the buoyancy of Archimedes A apply.
  • the resultant of the weight P and the buoyancy of Archimedes A is the weight apparent Pa that applies in a center, said apparent center of gravity Ga, which is the centroid of the center of gravity and the center of application Ca.
  • the apparatus is also subjected to the reaction forces R1 and R2 of the submerged surface on its wheels 2, 3.
  • the distance between the center of thrust C and the rolling plane 50 is greater than the distance dg between the apparent center of gravity Ga and the rolling plane 50.
  • the longitudinal component Fel of the hydraulic reaction force Fe induces on the apparatus a torque, said support torque, tending to press the rolling members before 2 motors and the brush 4 resting on the immersed surface.
  • the hydraulic reaction force Fe also has a component, called Fen application component, normal to the rolling plane 50 also tending to apply to the immersed surface.
  • Fen application component a component normal to the rolling plane 50 also tending to apply to the immersed surface.
  • liquid suction vacuum created at the inlet 9 of liquid application force S which also tends to maintain the device in contact with the immersed surface.
  • the support torque induced by the longitudinal component Fel of the hydraulic reaction force Fe must also not be too great, so as to allow the apparatus to pass the wall foot, that is to say allow the lifting of the front part of the apparatus under the effect of the drive M induced by the front wheels 2 when they come into contact with a vertical wall 53.
  • This contact is maintained with sufficient effort to allow the front wheels 2 to roll without sliding on the vertical wall 53, thanks to the longitudinal component Fel of the hydraulic reaction force Fe which applies the device against the vertical wall 53, the front wheels 2 coming into contact with the wall vertical 53 in a contact zone 54 which is located in the horizontal plane of the rotation shaft 60 of the front wheels 2 and in front of the latter, as shown figure 5 .
  • the device rolling on a background horizontal 52 is driven forward by the rolling members before 2 motors and by the longitudinal component Fel of the hydraulic reaction force Fe. Arriving at the foot of a vertical wall 53, the front rolling members 2 abut against this wall 53.
  • the longitudinal component Fel of the hydraulic reaction force Fe pressing the rolling members before 2 motors against the vertical wall 53 at the bottom of the wall, the rolling members before 2 motors roll without sliding on the latter, and raise the part before the device until it comes fully against the vertical wall 53, in the vertical position, that is to say with the longitudinal direction oriented vertically.
  • the apparent weight Pa of the apparatus In the vertical position, the apparent weight Pa of the apparatus generates a reversal torque tending to take off its front axle from the vertical wall.
  • the longitudinal component Fel of the hydraulic reaction force Fe must be adapted so that the value of said bearing torque generated by this longitudinal component Fel is greater than that of this total reversal torque. In this way, the front wheels 2 are held against the vertical wall 53 with sufficient force to allow the front wheels 2 to drive the aircraft forward with a drive force M.
  • the value of said support torque is greater than that of the reversal torque created by the sole apparent weight Pa of the apparatus immersed in the liquid when the latter rolls on a vertical wall.
  • the value of the support torque must also not be too great for one hand, not to prevent the passage of the wall foot as described above, and, secondly, not to cause she alone a detachment inadvertent rear axle when the aircraft is traveling on a vertical wall or on a horizontal wall or other.
  • a first parameter consists of a design of the shape of the end portion of the hydraulic circuit inducing a corresponding appropriate position of the center of thrust C, in particular optimal values of the distance of and the difference between the distances of and dg.
  • Another parameter consists in adjusting the value of the amplitude of the longitudinal component Fel of the hydraulic reaction force Fe. This amplitude value itself depends, on the one hand, on the flow of liquid ejected by the rear outlet 10. liquid, on the other hand the inclination ⁇ of the flow with respect to the longitudinal direction and the rolling plane 50.
  • a non-zero inclination ⁇ also has the advantage of generating a Fen application component which plates the apparatus against the vertical wall.
  • the flow rate is influenced by the power of the pumping motor, the pumping performance of the propeller, and the hydrodynamic performance of the outlet 10.
  • Control of the apparatus when it arrives in water line is of no importance in the context of the present invention and can be achieved in any manner well known per se.
  • the longitudinal component Fel of the hydraulic reaction force Fe must be adapted to be able, by itself, to move the apparatus forward and upward while it is immersed, that each member 2 driving the front engine is detached from the immersed surface, and that the device rests with the base of the hollow body in contact on a step nose.
  • said longitudinal component Fel of the hydraulic reaction force Fe must be adapted to be able to move the device forward and upward while the longitudinal direction forms with the horizontal an angle ⁇ between 0 ° and 85 ° -.
  • said longitudinal component Fel must alone be able to move the device forward and up for any angle ⁇ between 0 ° and 90 ° (the drive wheels 2 being peeled from the immersed surface).
  • the device can cross the stairs, as shown figure 6 , with minimal expenditure of energy.
  • a first step when the device encounters a first step, its front portion lifts in the same manner as at the foot of the wall as explained above (device A1 figure 6 ).
  • the front wheels 2 pass the tread until the bottom wall of the base of the hollow body immediately behind the front wheels 2 comes into contact with the tread (apparatus A2 figure 6 ).
  • the front wheels 2 then peel off the wall of the immersed surface and are no longer operational to drive the device.
  • the drive of the apparatus by the single longitudinal component Fel of the hydraulic reaction force Fe must be sufficient so that said corresponding bearing torque causes a tilting of the apparatus, its front part falling on the underlying step (A4 device figure 6 ). It should be noted that, in view of the bearing torque, this tilting occurs even before the apparent center of gravity Ga does not exceed the vertical of the step nosing. The front wheels 2 then come into contact with the submerged surface and continue driving the apparatus.
  • the position of the aircraft from which the front wheels 2 pass the nosing and detach from the submerged surface is where the inclination ⁇ of its longitudinal direction relative to the horizontal is maximum ( ⁇ max).
  • the apparatus according to the invention must be adapted so that, in this position and with this maximum inclination ⁇ max, the longitudinal component Fel of the hydraulic reaction force Fe alone ensures that it is driven forward and high. In practice with the majority of the standard steps of swimming pool stairs, this maximum inclination ⁇ max is between 70 ° and 85 °.
  • the length of the front part of the apparatus extending between its apparent center of gravity Ga and its front end part (which is that of the front wheels 2) must be less than the length a walk.
  • the standard length of a step is between 25 cm and 35 cm
  • the length of the front portion of the apparatus extending between its apparent center of gravity Ga and its front end portion is less than 35cm - especially of the order of 20 cm to 30cm -.
  • the front wheels 2 come into contact with the horizontal part of the step before going up above the subsequent stair nosing. This condition is however not necessary to allow the advancement and the crossing of the staircase by the apparatus.
  • the electric motors may have reduced performance, and the electrical energy consumed in total is minimized.
  • the suction performance and the drive are improved.
  • the invention makes it possible to design the apparatus with a low height resulting in low hydraulic drag.
  • an apparatus according to the invention made with an overall height of 250mm, equipped with an electric pump motor of 80 W of power makes it possible to produce a liquid flow rate of the order of 18 m 3 / h.
  • the total power consumed for the operation of this apparatus driven at an average speed of the order of 10 m / min is of the order of 85 W.
  • an earlier apparatus conforms, for example, to WO 0250388 equipped with the same pumping motor and having the same overall height produces a flow rate of the order of 15 m 3 / h.
  • the total power consumed for the operation of this prior device driven at the same average speed is of the order of 105 W.
  • the invention can be the object of many variants and applications.
  • the design and design of the device, including its hydraulic circuit are subject to infinite variants.
  • the invention applies to a bidirectional apparatus capable of retrograde movement during normal cleaning operation.

Claims (14)

  1. Fahrendes Reinigungsgerät für untergetauchte Flächen, umfassend:
    - einen hohlen Körper (1),
    - fahrende Organe (2, 3, 4), die Kontaktzonen mit der untergetauchten Fläche aufweisen und eine Fahrebene (50) des hohlen Körpers (1) auf der untergetauchten Fläche definieren,
    - wenigstens einen Antriebsmotor (20) wenigstens eines fahrenden Organs, bezeichnet als fahrendes Antriebsorgan (2), derart, dass eine Antriebsvorrichtung gebildet wird, die geeignet ist, mittels dieses fahrenden Antriebsorgans / dieser fahrenden Antriebsorgane, den hohlen Körper (1) in Verschiebung auf der untergetauchten Fläche wenigstens in einer Vorschubrichtung und gemäß einer Hauptvorschubrichtung, bezeichnet als Längsrichtung, anzutreiben,
    - eine vordere Achse, die wenigstens ein vorderes fahrendes Organ (2) trägt, das im Verhältnis zu dem genannten hohlen Körper (1) rotierend um eine transversale Welle (60) angebracht ist, wobei jedes vordere fahrende Organ (2) eine symmetrische äußere Revolutionsfläche derart um diese transversale Welle (60) aufweist, dass es auf der untergetauchten Fläche fährt, wobei sich wenigstens ein vorderes fahrendes Organ (2) im Verhältnis zum hohlen Körper (1) derart nach vorne erstreckt, dass es als Erstes gegen jedes Hindernis zum Anschlag kommt, das das Gerät im Verlauf seiner Verschiebung nach vorne trifft,
    - einen hydraulischen Schaltkreis, umfassend:
    • wenigstens einen sich an der Basis des genannten hohlen Körpers (1) befindenden Flüssigkeitseingang (9) in dem hohlen Körper,
    • wenigstens einen sich entfernt von der Basis des genannten hohlen Körpers (1) befindenden Flüssigkeitsausgang (10) außerhalb des hohlen Körpers (1),
    • eine in dem genannten hohlen Körper (1) ausgesparte Filterkammer (8),
    • eine motorisierte Pumpstruktur (12, 13, 14), die angepasst ist, um eine Flüssigkeitszirkulation zwischen jedem Eingang (9) und jedem Ausgang (10) durch eine Filtervorrichtung (11) zu gewährleisten, die in der Filterkammer (8) untergebracht ist,
    - wenigstens ein vorderes fahrendes Organ der vorderen Achse ein vorderes fahrendes Antriebsorgan (2) ist, das wenigstens an einen Antriebsmotor (20) gekoppelt ist, um von diesem in Rotation angetrieben zu werden, dadurch gekennzeichnet, dass
    - der genannte hydraulische Schaltkreis wenigstens einen Flüssigkeitsausgang (10) umfasst, der nach hinten ausgerichtet ist, bezeichnet als hinterer Ausgang,
    - der genannte hydraulische Schaltkreis geeignet ist, um einen Flüssigkeitsstrom herzustellen, der aus jedem hinteren Ausgang (10) mit einer Geschwindigkeitslängskomponente derart austritt, dass per Reaktion Kräfte hergestellt werden, von der die resultierende Kraft, bezeichnet als hydraulische Reaktionskraft, eine Antriebslängskomponente des Geräts nach vorn ungleich Null mit einem geeigneten Wert aufweist, um allein das Gerät nach vorn und nach oben verschieben zu können, während es untergetaucht ist, während jedes vordere fahrende Antriebsorgan (2) von der untergetauchten Fläche gelöst ist und während das Gerät mit der Basis des hohlen Körpers kontaktierend auf einer Funktionsnase ruht,
    - wobei die genannte Längskomponente der genannten hydraulischen Reaktionskraft, die aus der Reaktion des Flüssigkeitsstroms resultiert, der aus jedem hinteren Ausgang (10) austritt, auf ein Zentrum angewendet wird, bezeichnet als Schubzentrum, das sich entfernt von der Fahrebene (50) befindet, die größer ist als die Entfernung zwischen der genannten Fahrebene und dem Zentrum, bezeichnet als offensichtliches Schwerkraftzentrum (Ga), auf das die resultierende Kraft des Gewichts und der Archimedeskraft derart angewendet wird, dass ein Stützmoment jedes vorderen fahrenden Organs (2) auf einer untergetauchten Fläche parallel zur Fahrebene hergestellt wird.
  2. Gerät gemäß Anspruch 1, dadurch gekennzeichnet, dass der genannte hydraulische Schaltkreis angepasst ist, damit der Wert der Längskomponente der hydraulischen Reaktionskraft allein geeignet ist, das Gerät nach vorn anzutreiben, während seine Längsrichtung mit der Horizontalen einen zwischen 0° und 85° inbegriffenen Winkel (γ) bildet.
  3. Gerät gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass das offensichtliche Gewicht des untergetauchten Geräts in der Flüssigkeit ist, wenn dieses auf einer vertikalen Wand (53) fährt, die ein Umkippmoment bildet, das zur Loslösung des Geräts von einer vertikalen Wand (53) gegen die Anwendungskraft des Geräts auf die untergetauchte Fläche tendiert, die durch das Ansaugen von Flüssigkeit in jeden Flüssigkeitseingang (9) hergestellt wird, wobei der genannte hydraulische Schaltkreis angepasst ist, damit der Wert des genannten Stützmoments das Gerät beim Auftreffen mit diesem Umkippmoment mit seinen fahrenden Organen (2, 3) mit der vertikalen Wand (53) in Kontakt hält.
  4. Gerät gemäß Anspruch 3, dadurch gekennzeichnet, dass der hydraulische Schaltkreis angepasst ist, damit der Wert des genannten Stützmoments größer ist als der des Umkippmoments, das allein durch das offensichtliche Gewicht des untergetauchten Geräts in der Flüssigkeit hergestellt wird, wenn dies auf einer vertikalen Wand (53) fährt.
  5. Gerät gemäß Anspruch 1 bis 4, dadurch gekennzeichnet, dass nur die vordere Achse eine Antriebsachse ist, wobei das Gerät in Verschiebung auf der untergetauchten Fläche nur durch ein oder mehrere vordere(s) fahrende(s) Antriebsorgan(e) (2) angetrieben wird,
  6. Gerät gemäß Anspruch 1 bis 5, dadurch gekennzeichnet, dass die genannten fahrenden Antriebsorgane (2) geeignet sind, um das Gerät gemäß der Längsrichtung in einer privilegierten Antriebsrichtung in Verschiebung anzutreiben.
  7. Gerät gemäß Anspruch 1 bis 6, dadurch gekennzeichnet, dass es wenigstens einen elektrischen Antriebsmotor (20) und ein Stromversorgungskabel des Geräts ausgehend von einer Stromquelle außerhalb der untergetauchten Fläche umfasst.
  8. Gerät gemäß Anspruch 1 bis 7, dadurch gekennzeichnet, dass der hydraulische Schaltkreis angepasst ist, damit der Flüssigkeitsstrom, der aus jedem hinteren Ausgang (10) heraustritt, mit der Längsrichtung einen Winkel (β) ungleich Null, kleiner als 45° derart bildet, dass die genannte hydraulische Reaktionskraft, die aus der Reaktion des Flüssigkeitsstroms resultiert, der aus jedem hinteren Ausgang (10) austritt, eine Komponente aufweist, bezeichnet als Anwendungskomponente, die orthogonal zu der genannten Längskomponente verläuft, wobei die genannte Anwendungskomponente zu der Fahrebene (50) und dem Ebenenwert ausgerichtet ist, der geringer ist als der der länglichen Komponente.
  9. Gerät gemäß Anspruch 1 bis 8, dadurch gekennzeichnet, dass es wenigstens einen elektrischen Pumpmotor (12), der an wenigstens eine axiale Pumpschraube (14) angekoppelt ist, die in dem hydraulischen Schaltkreis zwischengeschaltet ist, und ein Stromversorgungskabel des Geräts ausgehend von einer Stromquelle außerhalb der untergetauchten Fläche, umfasst.
  10. Gerät gemäß Anspruch 8 und 9, dadurch gekennzeichnet, dass es eine axiale Pumpschraube (14) umfasst, die unmittelbar oberhalb eines hinteren Ausgangs (10) angeordnet ist, wobei diese axiale Pumpschraube (14) eine Rotationsachse aufweist, die im Verhältnis zur Längsrichtung gemäß einem Winkel (α) mit einem Wert kleiner als 5° des gebildeten Winkels (β) im Verhältnis zur Längsrichtung durch den Flüssigkeitsstrom geneigt ist, der aus dem hinteren Ausgang (10) austritt.
  11. Gerät gemäß Anspruch 1 bis 10, dadurch gekennzeichnet, dass die vordere Achse zwei vordere Antriebsräder (2) - eins auf jeder Seite - umfasst.
  12. Gerät gemäß Anspruch 11, dadurch gekennzeichnet, dass jedes vordere Antriebsrad (2) einen Durchmesser größer als 10 cm - der insbesondere zwischen 15 cm und 30 cm inbegriffen ist - aufweist.
  13. Gerät gemäß Anspruch 1 bis 12, dadurch gekennzeichnet, dass es von der vorderen Antriebsachse und von einer hinteren Achse ohne Antrieb, die zwei hintere Räder (3) in freier Rotation - eines auf jeder Seite - umfasst, auf einer untergetauchten Fläche angetrieben und geführt wird.
  14. Gerät gemäß Anspruch 1 bis 13, dadurch gekennzeichnet, dass die Länge des vorderen Teils des Geräts, die sich zwischen seinem offensichtlichen Schwerpunktzentrum (Ga) und seinem vorderen Endteil erstreckt, kleiner ist als 35 cm - insbesondere in der Größenordnung von 20 cm bis 30 cm -.
EP08869734A 2007-12-21 2008-12-17 Rollgerät zur reinigung einer unterwasserfläche mit teilweise hydraulischem antrieb Active EP2235299B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0708997A FR2925552B1 (fr) 2007-12-21 2007-12-21 Appareil roulant nettoyeur de surface immergee a entrainement partiellement hydraulique
PCT/FR2008/052341 WO2009087326A2 (fr) 2007-12-21 2008-12-17 Appareil roulant nettoyeur de surface immergee a entrainement partiellement hydraulique

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EP2235299A2 EP2235299A2 (de) 2010-10-06
EP2235299B1 true EP2235299B1 (de) 2011-06-22

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US (1) US8397330B2 (de)
EP (1) EP2235299B1 (de)
AT (1) ATE513963T1 (de)
ES (1) ES2368475T3 (de)
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WO (1) WO2009087326A2 (de)

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Publication number Publication date
FR2925552A1 (fr) 2009-06-26
ATE513963T1 (de) 2011-07-15
WO2009087326A2 (fr) 2009-07-16
US8397330B2 (en) 2013-03-19
FR2925552B1 (fr) 2010-01-22
ES2368475T3 (es) 2011-11-17
US20110016646A1 (en) 2011-01-27
WO2009087326A3 (fr) 2009-09-24
EP2235299A2 (de) 2010-10-06

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