EP2321483B1 - Rolling apparatus for cleaning a submerged surface with an orientable driving flow - Google Patents

Description

The invention relates to a submerged surface cleaner with at least partly hydraulic drive, ie an apparatus whose displacement on the immersed surface results at least in part from a hydraulic reaction force to a hydraulic jet which escapes from the cleaning apparatus, the direction of the jet determining the direction of movement of the rolling apparatus on the immersed surface.

According to a first family of cleaning robots, the pressurized hydraulic jet is generated by a motorized pumping device arranged in the rolling apparatus and also intended to ensure a flow of liquid between a liquid inlet in the apparatus and a liquid outlet. out of the apparatus through at least one filtering device.

According to another family of robotic cleaners, the hydraulic jet is generated by a motorized pumping device external to the device which sends liquid under pressure to the device.

FR 2,635,068 describes a robot adapted to move alternately in two substantially opposite directions. This robot comprises a pumping device arranged in the apparatus and adapted to convey liquid sucked to a self-rotating output nozzle mounted in the center of the apparatus and through which this liquid is expelled. This self-rotating nozzle is adapted to take two misaligned opposite angular positions which are defined by stops that retract in contact with an obstacle such as a pool wall.

This robot has several drawbacks including the need to undergo a frontal impact with an obstacle to activate the change of direction of the robot by retracting the retaining stops of the self-rotating nozzle. Therefore, this robot does not allow a change of direction in the middle of the pool in the absence of an obstacle. In addition, such a robot has a low maneuverability and does not optimize the time required for cleaning a pool. This results in particular a total absence of energy saving.

EP 1 022 411 discloses a submerged surface cleaner rolling apparatus according to the preamble of claim 1. EP 1 022 411 discloses a submerged surface cleaner rolling apparatus comprising an integrated pump motor and liquid outlets from the apparatus. This apparatus is adapted to direct at least a portion of a hydraulic flow pumped by the pump motor to two opposite outputs of the apparatus. The hydraulic flow is used to ensure the forward / backward changes of the device on the immersed surface. This apparatus has a nozzle having two opposite outlets, one towards the rear and the other towards the front, and extending parallel to the submerged surface in line with a rising channel of the sucked liquid. A movable valve arranged at the end of the riser channel and operated by a programming device directs the liquid to one of the two opposite ends of the outlet nozzle forming the two opposite outputs of the apparatus. The change of position of the valve is only possible when the pumping device is stopped so that the device can only change direction of drive under the effect of the hydraulic flow by stopping the pump and a delivery on the way to the latter. It should be noted in this regard that this document systematically equates the terms "direction" and "meaning", indicating that the device can change direction, when in reality it can only change the direction of training according to a same longitudinal direction (in the mathematical sense of the term). When the apparatus is driven in the retrograde direction, it adopts a trajectory inclined at a predetermined fixed angle relative to its longitudinal direction, which allows to travel through the immersed surface by transverse back and forth in zigzag.

Such an apparatus is therefore particularly energy-consuming since each change of direction imposes a stop of the pumping motor and a restart of the engine as soon as the valve has changed position. However, the current draw is maximum when restarting the pump. In addition, this device is unwieldy because of its method of changing direction of travel that does not allow to direct it at will on the immersed surface.

FR 2 896 005 also discloses a cleaning apparatus comprising a propulsion nozzle adapted to direct a jet of liquid into a direction opposite to the direction of movement of the robot. This nozzle is mounted rotating around an axis. The robot further comprises means for stopping the rotary nozzle and means for controlling these stop means adapted to be actuated by a hydrodynamic force created by the movement of the robot so that when the robot stops, the hydrodynamic force vanishes, which releases the nozzle of the rotation stop means and causes its rotation.

One of the disadvantages of such an apparatus lies in the fact that the rotation of the nozzle takes place only when the robot is stopped. Therefore, the rotation of the nozzle can occur only when the robot is in abutment against an obstacle, such as a wall of the pool, or when the pump is stopped. Such an apparatus therefore suffers from the same disadvantages as the apparatus described by EP 1 022 411 , namely low maneuverability and low energy consumption.

The devices of the state of the art which use part of the hydraulic output flow to drive the device and its changes of direction have unsatisfactory energy balance. In addition, these devices require an interruption of the pumping operation and / or movement to allow a change of direction and / or direction of the hydraulic flow output, which makes them unwieldy and unreactive.

Therefore, the invention aims to provide a submerged surface cleaner that has better handling than the apparatus of the prior art.

In particular, the invention aims at providing a submerged surface-cleaning apparatus whose displacement and changes of direction result at least in part from a hydraulic reaction force to a hydraulic jet which escapes from the cleaning apparatus without nevertheless, it will be necessary to interrupt the pumping and / or drive motors.

The invention also aims to provide a device whose energy expenditure is streamlined, that is to say whose energy expenditure is adjusted to the needs of the device.

The invention also aims to provide such an apparatus that can use, with equal performance, or even greater, to the apparatus of the prior art, a traction motor of lower cost.

The invention also relates to a submerged surface cleaner rolling apparatus whose performance / cost ratio is improved compared to 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.

Throughout the text, the term "direction" refers to the direction in the common sense of the term and not in the mathematical sense of the term. In other words, the term "direction" here refers to the "direction oriented" in the mathematical sense of the term. Horizontal components of opposite distinct directions can define the same straight line, each direction then defining an orientation (direction) on this straight line.

• un corps creux adapté pour être entraîné en déplacement sur la surface immergée au moins dans un sens d'avancement et selon une direction principale d'avancement, dite direction longitudinale,
• des organes roulants présentant des zones de contact avec la surface immergée définissant un plan de roulage du corps creux sur la surface immergée,
• une chambre de filtration ménagée dans le corps creux et présentant :
  • au moins une entrée de liquide dans le corps creux située à la base dudit corps creux,
  • au moins une sortie de liquide hors du corps creux située à distance de la base dudit corps creux,
  • au moins un circuit hydraulique de circulation de liquide ladite au moins une entrée de liquide ladite au moins une sortie de liquide à travers au moins un dispositif de filtrage,
• au moins un dispositif motorisé de pompage, au moins partiellement interposé dans ledit circuit hydraulique, et adapté pour générer un débit de liquide entre chaque entrée de liquide et chaque sortie de liquide reliées par ledit circuit hydraulique,
• un guide-flux monté sur une sortie de liquide, dite sortie de propulsion, ledit guide-flux présentant un organe déflecteur mobile pour orienter le courant de liquide qui s'échappe par cette sortie de propulsion à travers ce guide-flux de sorte qu'il crée, par réaction, au niveau d'une sortie du guide-flux, des efforts dont la résultante, dite effort de réaction hydraulique, présente une composante d'entraînement de l'appareil parallèle au plan de roulage non nulle, dite composante horizontale,
• un actionneur d'entraînement en rotation dudit organe déflecteur mobile dudit guide-flux,
• une unité de commande dudit actionneur,

ledit actionneur étant adapté pour orienter et maintenir ledit organe déflecteur mobile dans au moins trois positions distinctes correspondant à trois composantes horizontales de directions distinctes aptes à entraîner l'appareil selon au moins trois directions distinctes, dont une au moins correspond à la direction longitudinale, et une autre est différente à la fois de la direction longitudinale et de la direction opposée à la direction longitudinale.To do this, the invention relates to a submerged surface cleaner rolling apparatus comprising:

• a hollow body adapted to be driven in displacement on the immersed surface in at least one direction of travel and in a main direction of advancement, referred to as the longitudinal direction,
• rolling members having areas of contact with the immersed surface defining a rolling plane of the hollow body on the immersed surface,
• a filtration chamber formed in the hollow body and having:
  • at least one liquid inlet in the hollow body located at the base of said hollow body,
  • at least one liquid outlet out of the hollow body located at a distance from the base of said hollow body,
  • at least one liquid circulation hydraulic circuit said at least one liquid inlet said at least one liquid outlet through at least one filtering device,
• at least one motorized pumping device, at least partially interposed in said hydraulic circuit, and adapted to generate a flow of liquid between each liquid inlet and each liquid outlet connected by said hydraulic circuit,
• a flux guide mounted on a liquid outlet, said propulsion outlet, said flux guide having a movable baffle member for directing the flow of liquid that escapes through this propulsion outlet through this guide-flow so that it creates, by reaction, at an outlet of the flux guide, forces whose resultant, called hydraulic reaction force, has a driving component of the apparatus parallel to the non-zero rolling plane, said horizontal component ,
• an actuator driving in rotation of said movable deflector member of said flux guide,
• a control unit of said actuator,

said actuator being adapted to orient and maintain said movable deflector member in at least three distinct positions corresponding to three horizontal components of distinct directions capable of driving the apparatus in at least three distinct directions, at least one of which corresponds to the longitudinal direction, and another is different from both the longitudinal direction and the opposite direction to the longitudinal direction.

An apparatus according to the invention can change direction by moving a movable baffle member of the directional flow guide. In particular, a displacement of said movable deflector member of the directional flow guide causes a change of direction of the horizontal component of the hydraulic reaction force, which causes a change of trajectory of the apparatus, which can thus rotate and be directed on the submerged surface. In practice, the movable baffle member of the flux guide is held in a first position to ensure a displacement of the apparatus in the main longitudinal direction of advancement. A displacement - especially a rotation - of the movable baffle member of the flux guide to a second position corresponding to a second direction distinct from the longitudinal direction (and not just a reversal of direction in the same direction) places the curvilinear trajectory. The apparatus follows this curvilinear trajectory as long as said movable deflector member of the flux guide is maintained in this second position. A return of said movable deflector member of the flux guide to the first position corresponding to the longitudinal direction allows the apparatus to resume a rectilinear movement on the immersed surface along the main longitudinal direction of advancement. The displacement of each movable deflector member of the flux guide thus makes it possible to orient the trajectory of the device on the immersed surface, that is to say to direct it by rotating it in one direction or the other.

In addition, this change of direction does not require an interruption of the pumping device so that an apparatus according to the invention has improved handling compared to the apparatus of the prior art.

In addition, the movable baffle member of the flux guide is driven in displacement - in particular in rotation - by an actuator controlled by a control unit. Therefore, an apparatus according to the invention can change direction in any point of a pool to be cleaned, which allows the establishment of cleaning programs specific to each type of pool to clean. In particular, a basin that has an atypical shape nooks can be easily cleaned by an apparatus according to the invention since it allows any type of change of direction. The apparatus of the invention has three preferred trajectories, each trajectory corresponding to a direction of the horizontal component of the hydraulic reaction force defined by the position of the movable deflector member of the flux guide-notably the guide-flow around it. of its axis of rotation-. Since the three directions are distinct, at least two paths are intersecting so that the apparatus can be moved along any path defined as a sum of displacement along each of the preferred trajectories. invention, said flux guide is a tubular directional flow guide rotatably mounted on the propulsion outlet about an axis of rotation, and this tubular guide-flow has at least one deflecting wall not perpendicular to the opening plane of said propulsion outlet on which he is mounted, so that the liquid stream escaping through the propulsion outlet can be deflected by the deflecting wall. And said actuator is adapted to rotate said guide-flow as a whole around said axis of rotation. In this variant, said movable baffle member is therefore formed of the tubular flow-guide itself as a whole.

• dans une première direction correspondant à une première orientation, dite orientation nominale, du flux issu de ladite sortie de propulsion pour une première valeur de débit, dite débit nominal, du flux émis par le dispositif motorisé de pompage,
• dans au moins une deuxième direction correspondant à une deuxième orientation, distincte de l'orientation nominale, du flux issu de ladite sortie de propulsion pour au moins une deuxième valeur de débit du flux émis par le dispositif motorisé de pompage, distincte du débit nominal.

According to a second variant embodiment which can be combined with the preceding one, said flux guide comprises, as a movable baffle member, at least one deflector fin mounted movably inside the guide-flow so as to extend:

• in a first direction corresponding to a first orientation, referred to as the nominal orientation, of the flow coming from said propulsion output for a first flow value, called nominal flow, of the flow emitted by the motorized pumping device,
• in at least a second direction corresponding to a second orientation, distinct from the nominal orientation, of the flux coming from said propulsion output for at least a second flow rate value of the flow emitted by the motorized pumping device, distinct from the nominal flow rate.

Advantageously, said first direction corresponds to the longitudinal direction toward the rear of the apparatus, so that the latter is driven in the main longitudinal direction forward forward by the hydraulic component of the flow oriented in this first direction.

In a particularly advantageous embodiment of this second variant, said deflecting fin is articulated around an axis of rotation inside the guide-flow, and resiliently biased into a first non-aligned position with the orientation of the flow in the flux guide, the assembly being adapted so that the orientation of the fin relative to its axis of articulation is dependent on the value of the flow rate of the flow in the flux guide. When the pumping device emits the flow with the nominal flow, said fin is aligned with the general orientation of the flow guide, the apparatus is driven in its main direction of advancement. When the flow rate in the flux guide is different from the nominal flow, the hydrodynamic forces on the fin are modified so that it is no longer aligned with the general orientation of the flux guide. For example, when the flow is less than the nominal flow, the vane is resiliently biased near the inner wall of the flux guide, and when the flow is greater than the flow rate. nominal, the fin is moved beyond its alignment position with the orientation of the guide-flow, against its elastic return (the inner wall of the guide-flow can be provided with a deflector fixed blade facing the deflecting movable wing to cause this additional pivoting of the deflecting fin against the elastic return means in case of increased flow beyond the nominal flow). In this second variant, said drive actuator is formed of the combination of the pumping device and the elastic return means of the deflecting fin.

Advantageously, the actuator is adapted to orient and maintain the movable deflector member of the guide-flow in any position-in particular to orient and maintain said guide-flow in any position around the axis of rotation-of so that the corresponding horizontal component can present any direction - in particular around the axis of rotation -.

According to an advantageous embodiment, the flux guide can be moved and held in position at any point around the axis of rotation. The flux guide can rotate 360 ° about its axis of rotation so that the output flow can be oriented 360 ° about the axis of rotation of the flux guide. An apparatus according to the invention can therefore rotate 360 ° at any point on the surface immersed to reach any other point of the immersed surface in a straight line (in the case of a basin of convex shape in the mathematical sense of the term). An apparatus according to this advantageous embodiment is therefore particularly manageable. This maneuverability allows an apparatus according to the invention to ensure the cleaning of surfaces which have tormented shapes such as swimming pool surfaces imitating lagoons, and in general the surfaces of freeform swimming pools. In addition, an apparatus according to this advantageous embodiment is particularly suitable for complex cleaning programs that require frequent changes of direction, especially over short distances. An apparatus according to the invention is also particularly suitable for cleaning swimming pools having simple shapes, in particular rectangular swimming pools, allowing a methodical and optimized movement of the apparatus on the surface of the swimming pool. The movement of the flux guide can be continuous around its axis of rotation so that the output flow can also be oriented continuously 360 ° around the axis of rotation of the flux guide.

To obtain the maximum effects of the hydraulic reaction force, advantageously and according to the invention, said flux guide projects from the upper walls of the apparatus opposite to the rolling plane so that the flow of liquid which escapes from the guide-flow can propagate freely without meeting organs of the device.

The shape of the flux guide and its arrangement on the propulsion outlet may be of any type adapted to allow the orientation of the flow of liquid that escapes through this propulsion outlet through this guide-flow so that it creates a hydraulic reaction force which has a non-zero horizontal component.

Advantageously, the flux guide has at least one wall that is not perpendicular to the plane of opening of said propulsion outlet on which it is mounted so that the stream of liquid that escapes through this propulsion outlet can be deflected by this wall. In addition, the flux guide being pivotable about its axis of rotation, this wall not perpendicular to the opening plane of the propulsion outlet is also pivotable about the axis rotation of the guide-flow, which allows to deflect the hydraulic output flow in all directions, the direction of the deviation depending on the position of this wall.

Advantageously, the flux guide is bent. According to one embodiment, the flux guide has a lower portion which extends in the axis of the opening plane of the propulsion outlet and an upper portion which extends along an axis inclined with respect to the axis. the plane of opening of the propulsion outlet, these two portions being connected by an intermediate portion bent. The propulsion outlet may for example have a circular opening and the lower portion of the flux guide have a cylindrical shape of circular cross section of the same dimension as the circular opening of the propulsion outlet and the same axis of symmetry. The propulsion outlet can be arranged at one of the longitudinal ends of the device or anywhere between these ends, especially in the center of the upper walls of the device. Nevertheless, advantageously and according to the invention, the propulsion outlet on which is mounted the flux guide is shifted rearwardly in the longitudinal direction of each liquid inlet with which it is in communication via a hydraulic circuit.

Advantageously, the axis of rotation of the flux guide forms with the rolling plane an angle of between 30 ° and 150 °.

According to an advantageous embodiment of the invention, the flux guide has a shape adapted so that the flow of liquid that escapes through said rear outlet through this guide-flow can, in addition, create by reaction a reaction force. hydraulic which has a vertical component of the device down non-zero. This non-zero vertical component of the hydraulic reaction force contributes to keeping the plated apparatus against the immersed surface.

According to an advantageous embodiment of the invention, the apparatus comprises at least one electric motor for driving at least one rolling member, called a motor rolling member, so as to form an additional drive device capable of driving, by means of this (these) organ (s) rolling (s) engine (s), the hollow body moving on the immersed surface.

The electric drive motor can be used constantly concomitantly with the hydraulic drive or only as additional drive means specific to certain specific situations. For example, each electric drive motor driving members can be turned on only when the device meets a vertical wall to help him climb the wall. In particular, according to an advantageous embodiment, a driving wheel member is a wheel arranged on a lateral side of the apparatus which comprises a ring gear internally adapted to be engaged by a pinion, said wheel pinion driven in rotation by a electric drive motor. The wheel pinion may or may not be integral with the drive shaft of the electric motor. Preferably, the apparatus comprises a disengagement mechanism for driving the drive wheel by the electric motor only when the apparatus encounters a wall or any other specific situation. This disengagement mechanism is advantageously controlled by a control unit.

A device equipped with a rear liquid outlet associated with wheels that can be operated on command from a control unit - especially front wheels - can present many programs specific to many situations commonly encountered during the normal evolution of a cleaner in a pool, such as a pool. In particular, when such an apparatus encounters a vertical wall at the end of a trajectory on a horizontal or substantially horizontal wall, the front wheels of the apparatus are pressed against this vertical wall because of the horizontal component of the force hydraulic reaction, so that the front of the unit rises along the vertical wall. To facilitate this rise, the additional electric drive motors can be geared to the wheels. Therefore, the drive wheels associated with the hydraulic flow allow the ascension of the device along the vertical wall.

An apparatus according to the invention also makes it possible to manage, in a particularly efficient manner, the step nosing passages, that is to say the connected edges of junction between a vertical wall and a horizontal wall. Of the In the same way as for the meeting of a vertical wall, the horizontal component of the hydraulic jet ensures the veneering of the motor rolling members against the walls, so that the apparatus rises against the vertical wall. When the driving wheel components are detached from the vertical wall and therefore no longer allow the device to be driven, the hydraulic drive provides the power necessary to enable the device to pivot towards the direction of the return of the contact of its rolling members. with the horizontal wall forming the stair nosing.

Advantageously, an apparatus comprises a front axle carrying at least one driving member mounted relative to the hollow body rotating about a transverse axis.

Advantageously, the front axle carries two motor rolling members mounted respectively at each end of the axle, each motor rolling member being rotated by an electric drive motor.

The electric motors of the apparatus may be powered by a power supply external to the apparatus by means of an electric cable or by a power supply internal to the apparatus such as accumulators of electrical energy.

According to an advantageous variant of the invention, the electric motors are powered by a battery embedded in the apparatus.

Such a battery can supply both an electric drive motor and the drive actuator in rotation of the flow guide of an apparatus according to the invention.

Advantageously, the pumping device comprises an electric pump motor comprising a rotary motor shaft coupled to an axial pumping propeller interposed in a hydraulic circuit whose axis of rotation is inclined with respect to the longitudinal direction and distinct from the axis of rotation. said flow guide.

Advantageously, the control unit is programmable so as to allow a parameterization of the control of the driving actuator in displacement of each movable baffle member-in particular in rotation of the flux guide-specific to each surface to be cleaned by the apparatus.

• la figure 1 est une vue schématique en perspective d'un appareil selon un mode de réalisation de l'invention,
• la figure 2 est une vue schématique de profil de l'appareil de la figure 1,
• la figure 3 est une vue schématique en coupe par un plan longitudinal vertical de l'appareil de la figure 1,
• la figure 4 est une vue schématique en perspective d'un appareil selon un autre mode de réalisation de l'invention,
• la figure 5 est une vue schématique en perspective d'un mécanisme d'entraînement additionnel de l'appareil sur la surface immergée,
• la figure 6 est une vue schématique de dessus d'une trajectoire possible suivie par un appareil selon l'invention,
• la figure 7 est une vue schématique en coupe d'un appareil selon l'invention en cours de déplacement sur une surface immergée.

Other objects, features and advantages of the invention will become apparent on reading the following description given solely by way of nonlimiting example and which refers to the appended figures, in which:

• the figure 1 is a schematic perspective view of an apparatus according to one embodiment of the invention,
• the figure 2 is a schematic profile view of the device from the figure 1 ,
• the figure 3 is a schematic sectional view through a vertical longitudinal plane of the apparatus of the figure 1 ,
• the figure 4 is a schematic perspective view of an apparatus according to another embodiment of the invention,
• the figure 5 is a schematic perspective view of an additional drive mechanism of the apparatus on the immersed surface,
• the figure 6 is a schematic view from above of a possible trajectory followed by an apparatus according to the invention,
• the figure 7 is a schematic sectional view of an apparatus according to the invention being moved on a submerged surface.

Figures, scales and proportions are not strictly adhered to for the purpose of illustration and clarity.

Throughout the following detailed description with reference to the figures, unless indicated otherwise, each part of the cleaning apparatus is described as it is arranged when the apparatus is in normal displacement on a horizontal immersed surface in a preferred sense of advancement.

An apparatus according to the invention comprises a hollow body 1 and rolling bodies for guiding the hollow body 1 on a surface immersed in the least a privileged direction of advancement and in a main direction of advancement, said longitudinal direction, parallel to the immersed surface.

This hollow body 1 is formed according to an embodiment of mainly 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, ABS, PMMA or any equivalent material.

This hollow body 1 has a central chamber adapted to receive a filtration chamber. According to the embodiment of the figure 1 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. In addition, the hollow body 1 comprises a rear upper wall 90 contiguous to the rear wall and partially joined to the 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 upper rear wall 90 comprises a circular opening. This opening in the upper rear wall of the housing is longitudinally offset from the lower transverse opening in the bottom wall. This opening is vertically offset from the lower transverse opening.

As shown in particular on the figure 3 this hollow body 1 comprises a filtration chamber 8 having an inlet 9 of liquid located at the base of the hollow body 1, ie in the lower part of the apparatus, a liquid outlet, called an outlet 10 propulsion, located opposite the base of the body 1, and a hydraulic circuit adapted to ensure a flow of liquid between the inlet 9 of liquid and the liquid outlet through a filter device 11.

The transverse opening in the lower wall of the The casing forms the fluid inlet 9 of the apparatus and the opening in the rear upper wall 90 of the apparatus forms the propulsion outlet of the apparatus.

The filtering device 11 is arranged between the liquid inlet 9 and the propulsion outlet 10. This filtering device 11 can be of any known type. For example, the filtering device 11 comprises a rigid armature and a filter cloth carried by this rigid armature. Such 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 which, once closed, extends the upper rear wall 90 of the hollow body 1. 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.

An apparatus according to one embodiment of the invention further comprises a directional flow guide 91 rotatably mounted on the propulsion outlet. The flux guide 91 has a shape adapted to direct the flow of liquid that escapes through this outlet 10 and then through the guide-flow so that it creates by reaction at the outlet 92 of the guide -flux, efforts whose resultant, called hydraulic reaction force, has a driving component of the apparatus parallel to the plane 50 of rolling non-zero, said horizontal component. The liquid exits the apparatus through outlet 92 of the flow guide after leaving the hollow body 1 through the propulsion outlet 10 and having been deflected by the flow guide 91 so that it has a non-zero horizontal component. The flow guide 91 is rotatably mounted on the propulsion outlet 10 so that the axis 52 of rotation of the flow guide 91 coincides with the axis normal to the opening plane of the propulsion outlet. On the figure 3 the axis 52 thus defines both the axis normal to the opening plane of the propulsion outlet 10 and the axis of rotation of the flow guide 91.

According to the embodiment of the figures and as shown especially on the figure 3 the flow guide 91 is bent. The angle β formed by the bend, that is to say the angle between the axis 52 normal to the opening plane of the propulsion outlet 10 and the axis 53 normal to the opening plane of the outlet 92 of the flux guide, is preferably between 30 ° and 60 °. This angle β depends in particular on the angle α formed between the axis 52 normal to the plane of opening of the propulsion outlet 10 and the plane 50 of rolling, since the flow guide 91 must have a shape suitable for the liquid escaping from the flux guide 91 has a non-zero horizontal component. This rolling plane 50 is horizontal when the immersed surface is flat horizontal.

The liquid flows out of the apparatus through the flux guide 91 with a speed V oriented along the normal axis 53 of the opening plane of the outlet 92 of the flux guide 91 and having a horizontal component which induces by reaction a hydraulic reaction force Fe which has a horizontal driving component Feℓ directed in the opposite direction and which drives the apparatus moving on the immersed surface.

An apparatus according to the embodiment of the invention further comprises an actuator 95 for driving the flow guide 91 in rotation about its axis 52 of rotation. According to a preferred embodiment, this actuator is adapted to orient and maintain the flux guide 91 in any position around the axis 52 of rotation so that the horizontal component can have any direction around the 52 axis of rotation and thus drive the device in any direction. This actuator 95 is an electric actuator of known type and is not described here in detail.

This actuator 95 is according to the embodiment of the invention controlled by a control unit 96 adapted to control the rotation of the flux guide 91 about its axis 52 of rotation. Such a control unit may present specific control programs prerecorded in a memory associated with the control unit 96 and / or receive signals from a transmitter external to the apparatus, such as a remote control operated by a control unit. user who stands next to the pool to be cleaned or equivalent means. The control unit 96 may also receive information from detection devices at least one setpoint signal representative of at least one predetermined state of the apparatus. This setpoint signal detection device comprises, for example, front or rear wall sensors such that their activations reveal that the apparatus is in a state of blocking front or rear against a wall. The control unit 96 can then, according to a pre-recorded program, control the pivoting of the flux guide 91 about its axis 52 of rotation at a predetermined angle to allow the apparatus to deviate from the detected wall.

A front wall or rear wall sensor can be of any known type. For example, such a sensor may be a contact sensor.

The control unit 96 can, according to a particular embodiment, control the power of the electric motor 12 of the pumping device and / or the power of the electric motors 20a, 20b driving the front wheels 2, in the case of a motor. apparatus comprising such an additional drive device.

In the embodiment of the figure 1 in particular, the rolling members for guiding the apparatus comprise a front axle comprising front wheels 2, one on each side, and a rear axle comprising rear wheels 3, one on each side.

According to another embodiment shown on the figure 4 , the rolling members for guiding the apparatus comprise a front axle comprising front wheels 2, one on each side, and a rear wheel 33. This rear wheel 33 is preferably aligned vertically with the flow guide 91.

In addition, preferably and as shown in the figures, 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.

These brushes 4 can be of all types. According to one embodiment of the invention, 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 direction longitudinal. 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.

According to a preferred embodiment of the invention, the apparatus comprises an additional device for driving the apparatus onto the immersed surface. To do this, the apparatus comprises front-wheel-drive wheels 2 and the drive device comprises, for example, an electric motor 20 for driving these front 2-wheelers. Preferably and as represented on the figure 5 the apparatus comprises two drive motors 20a, 20b, one on each side, respectively for the independent drive of each of the two front wheels. To do this and according to one embodiment, each electric motor 20a, 20b comprises a motor shaft comprising a motor gear 44. This pinion 44 motor is geared in an intermediate pinion 21, integral with an intermediate shaft 22. This intermediate shaft 22 comprises at the end of the shaft opposite to the intermediate pinion 21, a wheel pinion 45 geared in a ring gear peripheral 5 internally secured to a wheel 2 before. The wheel pinion 45, the intermediate pinion 21, the intermediate shaft 22 and each pinion 44 engine form a transmission adapted to transmit to the wheels 2 a torque for moving the device on the immersed surface. The structure of this transmission is such that each electric motor 20a, 20b drives a motor shaft in rotation in a direction opposite to the direction of rotation of the wheels 2.

According to a preferred embodiment, the peripheral crown 5 with internal teeth of each wheel 2 before driving cooperates with a pinion 42 of brush attached to one end of the shaft of a brush 4 so that a rotation of the wheel 2 drives via the ring 5 with internal teeth and the pinion 42 brush, the rotation of the shaft of the brush 4, and therefore the rotation of the brush 4.

The front wheels 2 preferably have a diameter of between 100 mm and 500 mm, in particular between 150 mm and 250 mm. According to the embodiment of the figures, the front wheels 2 have a diameter of the order of 200 mm. In this way, these front wheels 2 facilitate crossing obstacles and have improved motor skills. Advantageously, their peripheral tread is formed or coated with a non-slip material.

The front wheels 2 and the brushes 4 constitute front driving members 2, 4 which extend projecting forwardly with respect to the other components of the apparatus, in particular the hollow body, so as to form the end part. before the apparatus and coming first in contact with an obstacle encountered during the forward movement, for example a vertical wall.

An apparatus according to one embodiment of the invention comprises a motorized liquid pumping device comprising an electric pumping motor 12 having a rotating motor shaft 13 coupled to an axial pumping propeller 14 driven in rotation by the motor 12 around a motor. axis 51. 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 propulsion. The propulsion outlet 10 is directly opposite the pumping propeller so that the liquid flows out of the propulsion outlet 10 in a direction corresponding to the liquid flow generated by the pumping propeller, this flow being speed oriented along the axis 51 of rotation of the propeller 14. This liquid is then deflected by the guide-stream 91.

The figure 7 represents a submerged surface and an apparatus according to one embodiment of the invention comprising a 360 ° steerable flow guide. In position A, the aircraft initiates a turn on its left by pivoting the guide-flow inward of the desired turn so that the hydraulic reaction force can rotate the aircraft. The position of the guide-flow can be maintained in the same orientation throughout the turn or be more rotated relative to the longitudinal direction according to the curve of the desired turn. In position B, the flux guide is oriented in the longitudinal direction so that the horizontal component of the hydraulic reaction force extends longitudinally towards the rear of the apparatus, which causes the apparatus to move according to the longitudinal direction. a straight straight line. In position C, the flux guide is rotated so that the device can initiate a right turn.

An apparatus according to the invention can thus be controlled according to any specific program so that it has great maneuverability, which not only improves the cleaning of the submerged surfaces, but also to optimize the trajectories and thus reduce the resources required for electrical energy.

The invention may be the subject of numerous variants with respect to the preferred embodiment shown in the figures and described above. In particular, it is possible to provide the mounting of at least one deflecting fin hinged about a transverse axis inside the guide-flow 91, this fin being biased resiliently, for example by a tension spring interposed between fin and the inner wall of the guide-flow 91. At least one deflector blade can be fixedly mounted inside the inner wall of the guide-flow 91 facing the fin and opposite the tension spring. In this way, the angular position of the deflecting fin in the flux guide 91 depends on the value of the flow rate of the flow delivered by the pumping device, which itself depends on the speed of rotation of the pump 12. it is therefore possible to provide that for a nominal value of the flow rate, the deflecting fin is aligned with the nominal direction 53 of the flow guide 91, that for a value of the flow less than the nominal value of the flow, the deflecting fin is biased by the tension spring towards the inner wall of the flux guide 91, generating a horizontal directional component driving the apparatus in rotation in one direction, and for a flow value greater than the nominal value of the flow, the deflecting fin is driven, under the effect of the deflecting fixed blade, past the nominal alignment position against the tension spring so as to generate a horizontal directional component driving the apparatus another direction of rotation. In this variant embodiment, which can be combined with the previous one, the actuator consists of the pump itself and the tension spring. Thus, it is possible to provide an apparatus that contains only one motor, or more precisely in which it is not necessary to provide a specific motor to achieve the actuator for directing the device.

Other alternative embodiments are possible.

Claims (14)

1. Rolling apparatus for cleaning a submerged surface, comprising:

   - a hollow body (1) designed to be driven in movement over the submerged surface at least in one sense of forward travel and in one main direction of forward travel, known as the longitudinal direction,

   - rolling members (2, 3, 4) that have regions of contact with the submerged surface defining a rolling plane (50) for the hollow body (1) on the submerged surface,

   - a filtration chamber that is formed in the hollow body and has:

   · at least one inlet (9) for liquid into the hollow body (1), said inlet being situated at the base of said hollow body (1),

   · at least one outlet for liquid out of the hollow body (1), said outlet being situated at a distance from the base of said hollow body (1),

   · at least one hydraulic circuit for liquid to flow between said at least one liquid inlet (9) and said at least one liquid outlet through at least one filtering device (11),

   - at least one motorized pumping device (12, 13, 14) that is interposed at least partially in said hydraulic circuit and is designed to generate a liquid flow between each liquid inlet (9) and each liquid outlet (10) that are connected by said hydraulic circuit,

   - a flow guide (91) mounted on a liquid outlet, known as the propulsion outlet (10), said flow guide (91) having a movable deflecting member for orienting the current of liquid that escapes via this propulsion outlet (10) through this flow guide (91) such that it creates by reaction, at one outlet (92) of the flow guide, forces, the resultant of which, known as the hydraulic reaction force, has a non-zero component driving the apparatus parallel to the rolling plane, known as the horizontal component,

   - a drive actuator (95) for said movable deflecting member of said flow guide (91),

   - a control unit (96) for said actuator (95), characterized in that said actuator (95) is designed to orient and keep said movable deflecting member in at least three distinct positions that correspond to three horizontal components with distinct directions that are able to drive the apparatus in at least three distinct directions, at least one of which corresponds to the longitudinal direction, and another of which is different from both the longitudinal direction and the opposite direction to the longitudinal direction.
2. Apparatus according to Claim 1, characterized in that said flow guide (91) is a tubular directional flow guide (91) that is mounted on the propulsion outlet (10) so as to rotate about an axis of rotation (52), in that said flow guide (91) has at least one deflecting wall that is not perpendicular to the opening plane of said propulsion outlet (10) on which it is mounted, such that the current of liquid which escapes via this propulsion outlet (10) can be diverted by this deflecting wall, and in that said actuator (95) is designed to drive said flow guide (91) in rotation in its entirety about said axis of rotation (52).
3. Apparatus according to Claim 2, characterized in that said axis of rotation (52) forms an angle (α) of between 30° and 150° with said rolling plane (50).
4. Apparatus according to one of Claims 1 to 3, characterized in that said flow guide (91) is bent.
5. Apparatus according to one of Claims 1 to 4, characterized in that said flow guide (91) comprises at least one deflecting fin (25) mounted movably inside the flow guide (91) so as to extend:

   - in a first direction corresponding to a first orientation, known as the nominal orientation, of the flow emerging from said propulsion outlet (10) for a first flow rate value, known as the nominal flow rate, of the flow output by the motorized pumping device,

   - in at least one second direction corresponding to a second orientation, distinct from the nominal orientation, of the flow emerging from said propulsion outlet (10) for at least one second flow rate value, distinct from the nominal flow rate, of the flow output by the motorized pumping device.
6. Apparatus according to Claim 1, characterized in that said actuator (95) is designed to orient and keep said deflecting member of said flow guide (91) in any position such that the corresponding horizontal component can exhibit any direction.
7. Apparatus according to one of Claims 1 to 6, characterized in that said propulsion outlet (10) on which the flow guide (91) is mounted is offset towards the rear in the longitudinal direction from each liquid inlet with which it is in communication via a hydraulic circuit, and in that said flow guide (91) protrudes from the upper walls of the apparatus that are on the opposite side from the rolling plane (50), such that the current of liquid that escapes from the flow guide (91) can propagate freely without encountering members of the apparatus.
8. Apparatus according to one of Claims 1 to 7, characterized in that said control unit (96) is programmable so as to allow a specific configuration of the control of the actuator (95) for each surface to be cleaned by the apparatus.
9. Apparatus according to one of Claims 1 to 8, characterized in that said flow guide (91) has a shape that is designed such that the current of liquid that escapes from the apparatus via the outlet (92) of said flow guide (91) can also create by reaction a hydraulic reaction force that has a non-zero vertical downward component for the apparatus.
10. Apparatus according to one of Claims 1 to 9, characterized in that it comprises at least one electric motor (20) for driving at least one rolling member (2), known as the driving rolling member, so as to form an additional drive device that is able to drive the hollow body (1) in movement over the submerged surface by way of this/these driving rolling member(s).
11. Apparatus according to Claim 10, characterized in that it comprises a front axle that bears at least one driving rolling member (2) that is mounted with respect to the hollow body (1) so as to rotate about a transverse axis.
12. Apparatus according to Claim 11, characterized in that the front axle bears two driving rolling members (2) that are mounted respectively at each of the ends of the axle, each driving rolling member (2) being driven in rotation by an electric drive motor (20a, 20b).
13. Apparatus according to one of Claims 10 to 12, characterized in that each electric motor (20a, 20b) is powered by a battery fitted in the apparatus.
14. Apparatus according to one of Claims 1 to 13, characterized in that said pumping device (12, 13, 14) comprises an electric pumping motor (12) that comprises a rotary drive shaft (13) coupled to an axial pumping screw (14) which is interposed in a hydraulic circuit and the axis of rotation of which is inclined with respect to the longitudinal direction and distinct from the axis of rotation (52) of said flow guide (91).

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