EP2356300A1 - Motorised robot for cleaning swimming pools or the like, which operates when submerged in a fluid - Google Patents

Motorised robot for cleaning swimming pools or the like, which operates when submerged in a fluid

Info

Publication number
EP2356300A1
EP2356300A1 EP09796767A EP09796767A EP2356300A1 EP 2356300 A1 EP2356300 A1 EP 2356300A1 EP 09796767 A EP09796767 A EP 09796767A EP 09796767 A EP09796767 A EP 09796767A EP 2356300 A1 EP2356300 A1 EP 2356300A1
Authority
EP
European Patent Office
Prior art keywords
fluid
robot
stand
conduit
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09796767A
Other languages
German (de)
French (fr)
Other versions
EP2356300B1 (en
Inventor
Vincent Lavabre
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maintenance Montage Et Participations
Original Assignee
P M P S TECHNOLOGIES
Pmps Technologies
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by P M P S TECHNOLOGIES, Pmps Technologies filed Critical P M P S TECHNOLOGIES
Publication of EP2356300A1 publication Critical patent/EP2356300A1/en
Application granted granted Critical
Publication of EP2356300B1 publication Critical patent/EP2356300B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the present invention relates to motorized robot swimming pool cleaner or the like, in operation immersed in a fluid, comprising:
  • a fluid duct connecting the suction and discharge openings; means generating a flow rate of said fluid in said duct;
  • the inactive position in which the stand is retracted inside the robot, the contact surface of the displacement means then being able to be wholly in contact with said moving surface
  • the crutch has the function of allowing a change of direction of movement of the robot, when it is actuated, that is to say out of its housing to be placed in the projecting position of the contact surface of the robot with the surface of the robot. displacement; once out, the stand serves as a pivot point of the robot around it under the effect of a hold activated means of movement is the rotation of the wheels, brushes, or crawler robot; when the stand is retracted into its housing and is thus retracted into the robot below the contact surface, it no longer has effect because it is no longer in effect.
  • the stand is controlled by an electric motor type electric actuator whose control responds to a defined frequency that can be random; such a control means has the disadvantage of causing the implantation in the robot of an additional motor.
  • Such robots thus make it possible to generate through them a flow of the fluid in which they are immersed, while moving, on the horizontal and / or vertical surfaces of the pool or the like according to the robots; the flow of fluid thus generated makes it possible to filter the water in the robot, to remove the waste and the impurities, and thus to reject the water out of it after having cleaned it.
  • the flow rate of fluid through the robot is sometimes arranged so that it participates, generally by the direction of its discharge pipe, the adhesion of the robot on the moving surface, and therefore to its displacement force, especially on vertical surfaces.
  • the displacement means of such robots of the state of the art generally adopt the form of two or more motor groups displacement, controlled by one or more actuators of the electric motor type according to the selected mode of change of direction of movement of the robot , operating wheels, caterpillar tracks, or brushes each adopting a rotating roller form.
  • the three-motor robots one for each displacement group and one for generating the hydraulic flow, impose a sophisticated and expensive control electronics.
  • the two motors for the two displacement groups are used for the change of direction of the robot, by differential rotation of the groups, change of direction effected alternatively by the stand on other types of robot.
  • Two-motor robots make it possible to turn off the pump causing, thanks to an unbalance of floatation of the robot and the suppression of the contact force.
  • a lateral inclination of the robot which only bears on one side of the moving means, which causes rotation of the robot on itself under the effect of the rotation of the displacement group or groups; the reactivation of the hydraulic flow plate again the robot on the ground and it can resume a substantially straight direction of movement.
  • This type of robot reliable and reduced production cost due to the presence of only two engines, however works poorly on vertical walls.
  • the robots of the prior art have at least three motors, one for the control of the stand, one for the displacement, and one for the hydraulic flow, which increases accordingly. the cost of production and the risk of breakdown.
  • the present invention has the essential objective of overcoming these disadvantages.
  • a swimming pool robot or the like as defined above which is characterized in that it further comprises means for controlling the movement of said kickstand activated by a movement of the fluid in said fluid conduit, said means for controlling the movement of said stand between its active and inactive positions, comprising means for opposing the movement of the fluid in the fluid conduit, movable therein so as to at least partially close said conduit or the free, linked to the stand, so that, depending on the position adopted in the fluid conduit by said opposition means, the stand comes to its active or inactive position.
  • the present invention thus provides a robot comprising a crutch without the disadvantage of such a technology, thanks to a hydraulic actuator of the stand using the movement of the fluid passing through the robot.
  • the present invention makes it possible to suppress a motor for the groups of displacement, because of the change of direction of the robot by means of the stand, without having to add an engine for its operation.
  • the present invention allows improved adhesion in vertical surfaces due to the presence of a stand in replacement of the floating imbalance for the change of direction of the robot, without having to add an engine additional.
  • the present invention reduces the number of engines, and therefore the cost of these robots and increases their reliability.
  • the means of opposing the movement of the fluid in the fluid conduit make it possible to use the energy of the fluid passing through the robot to control the operation of the stand.
  • the fluid must overcome a resistance of the opposition means to control a movement of the stand between its two positions.
  • said means for opposing the movement of the fluid in the fluid conduit, movable therein and connected to the stand comprise:
  • the fluid must overcome the elastic return means when moving the movable blade means opposing the passage of fluid in the fluid conduit, to control the passage of the stand from its active position to its inactive position.
  • the elastic return means recalls the blade across the conduit and ejects the stand beyond the contact surface of the robot moving means with the displacement surface to take off locally of the latter.
  • said movable blade means are rotatably mounted in the fluid conduit. This feature optimizes the use of hydraulic energy provided by the hydraulic flow in the fluid conduit.
  • said means for opposing the movement of the fluid are arranged in a part of the fluid duct, called the discharge duct, situated between the means generating the flow of fluid in the internal duct and the discharge opening.
  • said discharge duct is perpendicular or substantially perpendicular to the contact surface of the robot's moving means.
  • This feature is useful to allow the robot a good grip in vertical moving surfaces.
  • the energy taken for the control of the crutch makes it possible to maintain this advantage.
  • the means for controlling the movement of the stand between its active and inactive positions comprise an intermediate connecting rod articulated at one of its ends on the stand and at the other of its ends on said moving blade means, and said intermediate transmission link is arranged such that the displacement of the stand is decreasing as the blade means moves from their inactive position to their active position.
  • the means for controlling the movement of the stand between its active and inactive positions comprise an intermediate transmission lever between one of the elements, chosen from the following: stand, intermediate link, moving blade means, and said elastic return means, said intermediate lever being arranged such that the force to arm the elastic return means, exerted by the fluid on the blade means, is constant or substantially constant, when they move from their inactive position to their active position.
  • Figure 1 is a top and bottom perspective view of an exemplary embodiment of a pool cleaner robot or the like.
  • FIG. 2 represents an enlarged partial view of the example of FIG.
  • FIG. 3 represents a bottom and overall perspective view of the example of FIG. 1.
  • FIG. 4 represents an enlarged detail in perspective of the example of FIG. 1, relating to the means generating a flow of fluid through the robot.
  • FIG. 5 represents an enlarged detail in perspective of the example of FIG. 1, relative to the control means of the stand in an active position of the latter.
  • FIG. 6 represents the detail of FIG. 5 relating to the control means of the stand in an inactive position thereof.
  • FIGS 7 to 9 respectively show a side view three different kinematic positions of the control means of the stand.
  • the robot shown in the figures is a motorized robot 1 pool cleaner or the like (not shown), for example any basin filled with fluid and having horizontal walls, vertical or otherwise, in operation immersed in a fluid, and comprises:
  • moving means 2 of the robot such as brushes 22 and crawlers 30, having a contact surface 3 with a submerged displacement surface of the swimming pool or the like,
  • means 4 for generating, through the robot, a circulation of the fluid in which the robot 1 is immersed, comprising:
  • the inactive position as represented in FIG. 6 or 9
  • the contact surface of the displacement means 2 then being able to be entirely in contact with the moving surface
  • said active position as shown in Figure 5 or 7, wherein the stand 9 is projecting beyond the contact surface of the displacement means 2, so that part of this contact surface, located around the stand depending on the location of the stand, can no longer be in contact with the moving surface
  • the robot 1 has an upper cover 20 as shown in Figure 1, the top cover having been removed in Figure 2 to show the inside of the robot 1 and the frame 21 of the latter.
  • the upper cover 20, the frame 21, and the displacement means 2 are of known type.
  • the displacement means 2 comprise two rotating brushes 22 at the two longitudinal ends of the robot, connected laterally at their respective ends by two longitudinal tracks as shown in FIG. 2.
  • the contact surface 3 of the robot with the surface movement of the pool is formed by the lower surface of the brushes 22, adopting substantially the shape of two rectangular surfaces extending transversely at each longitudinal end of the robot.
  • the side tracks are intended for obstacle clearance by the robot.
  • Figure 3 shows in view from below the stand 9 in the active position.
  • the suction opening 5 of the fluid through the robot 1 is visible in FIGS. 2 and 3 and is for example on the frame 21 between the two rotary brushes 22.
  • the discharge opening 6 of the aspirated fluid is on the upper part of the robot 1, through the upper cover 20 as shown in FIG.
  • the fluid duct 7 which connects these openings and which comprises means 8 for generating a flow of fluid in the duct 7, a suction duct 23 between the suction opening 5 and the generator means 8, and a discharge duct 14 between the latter and the discharge opening 6.
  • the generating means 8 of a flow rate of the fluid in the conduit 7 are constituted by a hydraulic pump according to any known means, comprising a pump body 25, an inlet 26 and an outlet 27 of the pump body 25.
  • the inlet 26 of the pump body 25 opens into the suction duct 5 formed by an internal space of the robot
  • the pump body 25 opens in the delivery conduit 14, the latter being, in the example shown, preferably perpendicular or substantially perpendicular to the contact surface 3 of the robot 1 with the displacement surface.
  • the discharge duct 14 is formed by the pump body 25 and the outlet 27 of the pump body corresponds to the discharge opening 6.
  • the generator means 8 of a fluid flow in the duct 7 comprise furthermore, in known manner, an electric motor 28 whose output shaft is connected to the pump turbine shaft.
  • the stand 9 in a known manner, is implanted in the robot 1 laterally in an area close to one of the caterpillars 30 or the lateral ends of the brushes, as shown in FIG. 3.
  • the stand 9 adopts preferably in the form of a rod axis perpendicular to the contact surface 3, movable in translation in a guide 29 so as to be able to adopt the two positions, active and inactive, indicated above.
  • the stand 9 is located in the implantation area of the motor 28 as shown in the figures.
  • the control means 10 for moving the stand 9 between its active and inactive positions comprise means 11 for opposing the movement of the fluid in the mobile fluid conduit 7. in such a way as to at least partially close the duct 7 or to disengage it, linked to the stand 9, so that, depending on the position adopted in the fluid duct 7 by these opposition means 11, the crutch 9 takes its active or inactive position.
  • the means 11 for opposing the movement of the fluid in the conduit 7 of fluid, mobile therein and connected to the stand 9, comprise: blade means 12 mobile, linked to the stand 9, and arranged in the conduit
  • the means 11 for opposing the movement of the fluid in the duct 7 are arranged in a portion 14 of the duct 7 fluid, said delivery conduit 14, located between the generator means 8 of the fluid flow in the inner conduit 7 and the discharge opening 6, in the example directly in the body d the pump after the turbine as shown in FIGS. 5 to 9.
  • Such positioning of the opposition means makes it possible to use the maximum discharge pressure at the turbine outlet.
  • the moving blade means 12 are preferably rotatably mounted in the fluid conduit 7, in order to minimize the effort to be exerted for the displacement of the blade means 12 by the fluid.
  • the means 10 for controlling the movement of the stand will now more particularly be described with the aid of FIGS. 5 to 9.
  • the control means 10 for the movement of the stand 9 between its active and inactive positions advantageously comprise, as for example shown in FIG. 4, an intermediate connecting rod 15 of transmission articulated at one of its ends on the stand and at the other 17, opposite, its ends, on the means 12 movable blade.
  • the intermediate transmission rod 15 is also preferably arranged such that the displacement of the stand 9 is decreasing when the blade means 12 pass from their inactive position (FIG. 7) to their active position (FIG. 9).
  • Figure 8 shows an intermediate operating state of the stand 9 between the active and inactive position thereof.
  • the blade means 12 advantageously adopt the shape of a blade having a first free end 31 curved and a second end 32 opposite to the first, articulated in rotation on the pump body. At this second end 32 of the blade is secured, by a rigid and complete connection, a rod 33 for transmitting the rotational movement generated by the blade 12 under the effect of the flow of fluid in a direction or spring 13 in the opposite direction.
  • the periphery of the blade 12 adopts a shape complementary to the cross section of the discharge pipe 14, so that when the plane of the blade 12 is perpendicular or substantially perpendicular to the longitudinal axis of the discharge pipe 14, in its inactive position, as shown in Figures 5 or 7, the blade 12 completely or almost completely obstructs this discharge pipe 14.
  • the flow of fluid starts to move in the discharge pipe 14 and pushes the blade 12 into its active position by pivoting it around its second end 32.
  • the profile of the periphery of the blade 12 will be determined further so that the blade, under the effect of the flow, can move in the discharge duct 14, in rotation in the example shown, to reach its active position in which it disappears in all or almost all of the cross section of the delivery duct 14, as shown in Figures 6 or 9, so that the flow can flow in this duct with the least possible pressure drop due to the presence of the blade 12, and thus exercise one of its functions
  • the main purpose is to filter the water in which the robot is moving.
  • the blade 12 adopts a curved rectangular shape at one of its longitudinal ends. This curvature advantageously makes it possible to firmly apply the blade 9 in the active position against the walls of the discharge duct 7, in order to avoid, if necessary, parasitic vibratory displacements of this blade 12 when it is no longer opposed to the passage of the flow.
  • the intermediate transmission rod 15 is connected by a rotary link to the transmission rod 33 according to an axis of rotation very close to the axis of rotation of the latter in order to increase the force transmitted to the stand 9, minimizing the lever between the axis of rotation of the rod 33 integral with the blade 12, and the axis of rotation of the end 17 of the intermediate rod 15.
  • the opposite end 16 of the intermediate rod 15 is connected by a rotatable link to a first end of the crutch 9, preferably in the longitudinal axis 36 of direct pushing or traction in translation thereof in its guide 29.
  • the second end 37 of the stand 9 is free and conventionally intended to come into contact with the displacement surface in its active position, shown in Figure 7 for example. As shown in FIGS.
  • the axis of rotation between the rod 33 and the end 17 of the rod 15 is substantially in the plane of the blade 12 by projection along a plane comprising the longitudinal axis of the rod 33, so that the displacement transmitted by the connecting rod 15 to the stand 9 for the return of it in the robot, is maximum when the force of the flow on the blade 12 is maximum; as the blade disappears into the conduit 14, the force exerted by the flow on it decreases, as well as the displacement of the connecting rod 15 along the axis of movement of the stand, and therefore that the displacement in translation of the stand.
  • control means 10 for moving the stand 9 between its active and inactive positions advantageously furthermore comprise an intermediate lever 18 for transmission between one of the elements, chosen from the following: crutch 9, intermediate rod 15, means 12 movable blade, and the means 13 of elastic return.
  • a first end 40 of the intermediate lever 18 is for example in bearing contact on the end surface at the end 35 of the stand 9, while the opposite end 41 of the intermediate lever 18 is linked to the means 13 of elastic return, in the example at a first end of a tension spring 13.
  • the other end 42 of the tension spring 13 is for example attached to the frame 21 of the robot 1.
  • the intermediate lever 18 is for example articulated by a pivot connection 45 on the frame at points of the lever 18 and the defined frame, in cooperation with the point 42 of attachment of the spring 13 to the frame 21, so that the effort to arm the means of elastic return 13, exerted by the fluid on the blade means 12, is constant or substantially constant, when the latter move from their inactive position to their active position.
  • the direction of the tensile force of the spring 13 should preferably, according to the invention, approach the articulation 45 of the lever 18 on the frame 21 to compensate for the increase in the force exerted by the spring on the lever 18, maintaining constant or substantially constant torque exercised by the jurisdiction on the levy r 18, in this zone of position of the blade 12.
  • All the components of the robot 1, with the exception of the electric motors and other fasteners, springing where appropriate, or the like, may be made of plastic, and in particular all the components of the control means of the stand 9.
  • the tension spring 13 may for example be made of stainless steel.
  • the arrows represent the direction of movement of the elements in the operational phase considered, namely the placing in the active position of the stand (extraction).
  • the arrows represent the direction of movement of the elements in the operational phase considered, namely the placement in the inactive position of the stand (extraction).
  • the arrows also show the direction of the flow of fluid acting on the blade 12.
  • the robot 1 is powered by an electric cable in any known manner (no represent).
  • the described invention makes it possible to obtain compact, light crutch control means that do not require the provision of any dynamic or static seal or a sealed electrical connection, which simplifies and simplifies the robot.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)

Abstract

The invention relates to a motorised robot for cleaning swimming pools, comprising: means (2) for moving the robot, having a surface (3) for making contact with a movement surface submerged in the swimming pool; means (4) for generating a circulation of fluid in the robot, comprising an opening for the suction (5) of said fluid, and an opening for the backflow (6) of the aspirated fluid; a conduit (7) of fluid connecting the suction and backflow openings; means for generating (8) a flow of said fluid in the conduit; a strut for lifting at least part of the contact surface (3) from the movement surface, said strut being mobile between a first inactive position in which the strut is retracted inside the robot and a second active position in which the strut projects past the contact surface of the movement means in such a way that part of said contact surface can no longer be in contact with the movement surface; and means for controlling (10) the movement of the strut between its active and inactive positions, said means being activated by a movement of the fluid in the fluid conduit, and comprising means (11) for opposing the movement of the fluid in the fluid conduit (7), which are mobile in said conduit in such a way as to at least partially block the conduit or release it, and connected to the strut in such a way that the strut takes on its active or inactive position according to the position adopted in the fluid conduit by the opposition means.

Description

Robot motorisé nettoyeur de piscine ou analogue en fonctionnement immergé dans un fluide Motorized robot swimming pool cleaner or the like in operation immersed in a fluid
La présente invention se rapporte à robot motorisé nettoyeur de piscine ou analogue, en fonctionnement immergé dans un fluide, comportant :The present invention relates to motorized robot swimming pool cleaner or the like, in operation immersed in a fluid, comprising:
- des moyens de déplacement du robot, du type roue, brosse, ou chenille, comportant une surface de contact avec une surface de déplacement immergée de ladite piscine ou analogue, - des moyens pour générer, à travers le robot, une circulation du fluide dans lequel le robot est immergé, comportant :means for moving the robot, of the wheel, brush or caterpillar type, comprising a contact surface with a submerged displacement surface of said swimming pool or the like; means for generating, through the robot, a circulation of the fluid in which the robot is immersed, comprising:
- une ouverture d'aspiration dudit fluide,a suction opening of said fluid,
- une ouverture de refoulement du fluide aspiré,a discharge opening of the aspirated fluid,
- un conduit de fluide reliant les ouvertures d'aspiration et de refoulement, - des moyens générateur d'un débit dudit fluide dans ledit conduit,a fluid duct connecting the suction and discharge openings; means generating a flow rate of said fluid in said duct;
- une béquille pour décoller de la surface de déplacement, au moins une partie de ladite surface de contact des moyens de déplacement, la béquille étant mobile au moins entre les deux positions suivantes :a stand for taking off from the displacement surface, at least part of said contact surface of the displacement means, the stand being movable at least between the following two positions:
- une première position, dite position inactive, dans laquelle la béquille est rétractée à l'intérieur du robot, la surface de contact des moyens de déplacement étant alors apte à être en totalité en contact avec ladite surface de déplacement,a first position, called the inactive position, in which the stand is retracted inside the robot, the contact surface of the displacement means then being able to be wholly in contact with said moving surface,
- une deuxième position, dite position active, dans laquelle ladite béquille est saillante au-delà de la surface de contact des moyens de déplacement, en sorte qu'une partie de cette surface de contact ne puisse plus être en contact avec la surface de déplacement.a second position, called the active position, in which said stand is projecting beyond the contact surface of the displacement means, so that part of this contact surface can no longer be in contact with the moving surface; .
De tels robots sont connus de l'état de la technique. La béquille a pour fonction de permettre un changement de direction de déplacement du robot, lorsqu'elle est actionnée, c'est-à-dire sortie de son logement pour se placer en position saillante de la surface de contact du robot avec la surface de déplacement ; une fois sortie, la béquille sert de point de pivotement du robot autour d'elle sous l'effet d'un maintien activé des moyens de déplacement soit de la rotation des roues, des brosses, ou des chenilles du robot ; lorsque la béquille est rentrée dans son logement et se trouve ainsi rétractée dans le robot en deçà de la surface de contact, celle-ci n'a plus d'effet car elle n'est plus en contact avec la surface de déplacement, et le robot prend une nouvelle direction définie par sa position angulaire autour de l'axe de rotation donné par la béquille à son point de sortie, au moment de la rétractation de cette dernière lorsque la surface de contact des moyens de déplacement du robot reprend son appui complet sur la surface de déplacement de la piscine ou analogue. La béquille est commandée par un actionneur électrique de type moteur électrique dont la commande répond à une fréquence définie qui peut être aléatoire ; un tel moyen de commande présente l'inconvénient d'entraîner l'implantation dans le robot d'un moteur supplémentaire.Such robots are known from the state of the art. The crutch has the function of allowing a change of direction of movement of the robot, when it is actuated, that is to say out of its housing to be placed in the projecting position of the contact surface of the robot with the surface of the robot. displacement; once out, the stand serves as a pivot point of the robot around it under the effect of a hold activated means of movement is the rotation of the wheels, brushes, or crawler robot; when the stand is retracted into its housing and is thus retracted into the robot below the contact surface, it no longer has effect because it is no longer in effect. contact with the moving surface, and the robot takes a new direction defined by its angular position about the axis of rotation given by the stand to its point of exit, at the moment of the retraction of the latter when the contact surface of the moving means of the robot resumes full support on the moving surface of the pool or the like. The stand is controlled by an electric motor type electric actuator whose control responds to a defined frequency that can be random; such a control means has the disadvantage of causing the implantation in the robot of an additional motor.
De tels robots permettent ainsi de générer à travers eux un débit du fluide dans lequel ils sont immergés, tout en se déplaçant, sur les surfaces horizontales et/ou verticales de la piscine ou analogue selon les robots ; le débit de fluide ainsi généré permet de filtrer l'eau dans le robot, d'en retirer les déchets et les impuretés, et donc de rejeter l'eau hors de celui-ci après l'avoir nettoyé. Le débit de fluide à travers le robot est parfois agencé de telle sorte qu'il participe, en général par la direction de son conduit de refoulement, à l'adhérence du robot sur la surface de déplacement, et donc à sa force de déplacement, en particulier sur les surfaces verticales.Such robots thus make it possible to generate through them a flow of the fluid in which they are immersed, while moving, on the horizontal and / or vertical surfaces of the pool or the like according to the robots; the flow of fluid thus generated makes it possible to filter the water in the robot, to remove the waste and the impurities, and thus to reject the water out of it after having cleaned it. The flow rate of fluid through the robot is sometimes arranged so that it participates, generally by the direction of its discharge pipe, the adhesion of the robot on the moving surface, and therefore to its displacement force, especially on vertical surfaces.
Les moyens de déplacement de tels robots de l'état de la technique adoptent en général la forme de deux ou plusieurs groupes moteurs de déplacement, commandés par un ou plusieurs actionneurs du type moteur électrique selon le mode choisi de changement de direction de déplacement du robot, actionnant des roues, des chenilles, ou des brosses adoptant chacune une forme de rouleau rotatif.The displacement means of such robots of the state of the art generally adopt the form of two or more motor groups displacement, controlled by one or more actuators of the electric motor type according to the selected mode of change of direction of movement of the robot , operating wheels, caterpillar tracks, or brushes each adopting a rotating roller form.
Les robots à trois moteurs, un pour chaque groupe de déplacement et un pour générer le flux hydraulique, imposent une électronique de commande sophistiquée et onéreuse. Les deux moteurs pour les deux groupes de déplacement, respectivement, sont utilisés pour le changement de direction du robot, par rotation différentielle des groupes, changement de direction effectué de manière alternative grâce à la béquille sur d'autres types de robot.The three-motor robots, one for each displacement group and one for generating the hydraulic flow, impose a sophisticated and expensive control electronics. The two motors for the two displacement groups, respectively, are used for the change of direction of the robot, by differential rotation of the groups, change of direction effected alternatively by the stand on other types of robot.
Des robots à deux moteurs, un commun pour le ou les groupes de déplacement, et un pour le flux hydraulique, permettent de virer par arrêt de la pompe entraînant, grâce à un déséquilibre de flottaison du robot et à la suppression de la force de contact au sol donnée par le refoulement du flux, une inclinaison latérale du robot qui ne porte plus que sur un côté des moyens de déplacement, ce qui entraîne une rotation du robot sur lui-même sous l'effet de la rotation du ou des groupes de déplacement ; la réactivation du flux hydraulique plaque à nouveau le robot au sol et celui-ci peut reprendre une direction de déplacement sensiblement droite. Ce type de robot, fiable et de coût de production réduit du fait de la présence de deux moteurs seulement, fonctionne cependant mal sur parois verticales.Two-motor robots, one common for the displacement group (s), and one for the hydraulic flow, make it possible to turn off the pump causing, thanks to an unbalance of floatation of the robot and the suppression of the contact force. on the ground given by the discharge of the flow, a lateral inclination of the robot which only bears on one side of the moving means, which causes rotation of the robot on itself under the effect of the rotation of the displacement group or groups; the reactivation of the hydraulic flow plate again the robot on the ground and it can resume a substantially straight direction of movement. This type of robot, reliable and reduced production cost due to the presence of only two engines, however works poorly on vertical walls.
Comme nous l'avons vu plus haut, les robots à béquille de l'art antérieur possèdent au minimum trois moteurs, un pour la commande de la béquille, un pour le déplacement, et un pour le flux hydraulique, ce qui augmente d'autant le coût de production et le risque de panne. La présente invention a pour objectif essentiel de pallier ces inconvénients. Plus précisément, elle consiste en un robot de piscine ou analogue tel que défini plus haut, qui se caractérise en ce qu'il comprend en outre des moyens de commande du déplacement de ladite béquille activés par un mouvement du fluide dans ledit conduit de fluide, lesdits moyens de commande du déplacement de ladite béquille entre ses positions active et inactive, comportant des moyens d'opposition au mouvement du fluide dans le conduit de fluide, mobiles dans celui-ci en sorte d'obturer au moins partiellement ledit conduit ou de le dégager, liés à la béquille, de telle sorte que, selon la position adoptée dans le conduit de fluide par lesdits moyens d'opposition, la béquille prend sa position active ou inactive. La présente invention offre ainsi un robot comportant une béquille sans avoir l'inconvénient d'une telle technologie, grâce à un actionneur hydraulique de la béquille utilisant le mouvement du fluide traversant le robot. Dans les robots à trois moteurs définis plus haut, la présente invention permet de supprimer un moteur pour les groupes de déplacement, du fait du changement de direction du robot au moyen de la béquille, sans avoir à ajouter un moteur pour son fonctionnement. Dans les robots à deux moteurs définis plus haut, la présente invention permet une adhérence améliorée en surfaces verticales du fait de la présence d'une béquille en remplacement du déséquilibre de flottaison pour le changement de direction du robot, sans toutefois avoir à ajouter un moteur supplémentaire. Pour les robots à béquille, la présente invention permet de réduire le nombre de moteurs, et donc le coût de ces robots et augmente leur fiabilité. Les moyens d'opposition au mouvement du fluide dans le conduit de fluide permettent d'utiliser l'énergie du fluide traversant le robot pour commander le fonctionnement de la béquille. Le fluide doit vaincre une résistance des moyens d'opposition pour commander un déplacement de la béquille entre ses deux positions.As we have seen above, the robots of the prior art have at least three motors, one for the control of the stand, one for the displacement, and one for the hydraulic flow, which increases accordingly. the cost of production and the risk of breakdown. The present invention has the essential objective of overcoming these disadvantages. More specifically, it consists of a swimming pool robot or the like as defined above, which is characterized in that it further comprises means for controlling the movement of said kickstand activated by a movement of the fluid in said fluid conduit, said means for controlling the movement of said stand between its active and inactive positions, comprising means for opposing the movement of the fluid in the fluid conduit, movable therein so as to at least partially close said conduit or the free, linked to the stand, so that, depending on the position adopted in the fluid conduit by said opposition means, the stand comes to its active or inactive position. The present invention thus provides a robot comprising a crutch without the disadvantage of such a technology, thanks to a hydraulic actuator of the stand using the movement of the fluid passing through the robot. In the three-motor robots defined above, the present invention makes it possible to suppress a motor for the groups of displacement, because of the change of direction of the robot by means of the stand, without having to add an engine for its operation. In the two-motor robots defined above, the present invention allows improved adhesion in vertical surfaces due to the presence of a stand in replacement of the floating imbalance for the change of direction of the robot, without having to add an engine additional. For standstand robots, the present invention reduces the number of engines, and therefore the cost of these robots and increases their reliability. The means of opposing the movement of the fluid in the fluid conduit make it possible to use the energy of the fluid passing through the robot to control the operation of the stand. The fluid must overcome a resistance of the opposition means to control a movement of the stand between its two positions.
Selon une caractéristique avantageuse, lesdits moyens d'opposition au mouvement du fluide dans le conduit de fluide, mobiles dans celui-ci et liés à la béquille, comportent :According to an advantageous characteristic, said means for opposing the movement of the fluid in the fluid conduit, movable therein and connected to the stand, comprise:
- des moyens de lame mobile, liés à la béquille, et disposés dans ledit conduit de fluide, mobiles entre au moins les deux positions suivantes :mobile blade means, linked to the stand, and arranged in said fluid conduit, movable between at least the two following positions:
- une première position dite active, adoptée sous l'effet d'un déplacement dudit fluide dans le conduit entraînant un effacement au moins partiel des moyens de lame mobile dans le conduit, et dans laquelle ladite béquille se trouve alors dans sa position inactive rétractée dans le robot,a first so-called active position, adopted under the effect of a displacement of said fluid in the duct causing at least partial erasure of the moving blade means in the duct, and wherein said stand is then in its inactive position retracted in the robot,
- une deuxième position dite inactive, adoptée lorsque aucun fluide ne se déplace dans le conduit, entraînant sous l'effet d'un moyen de rappel élastique une position des moyens de lame mobile en travers dudit conduit de fluide, et dans laquelle ladite béquille se trouve alors saillante dans sa position active.a second so-called inactive position, adopted when no fluid moves in the duct, driving under the effect of an elastic return means a position of the moving blade means across said fluid duct, and in which said crutch is is then prominent in its active position.
Selon cette caractéristique, le fluide doit vaincre le moyen de rappel élastique lorsqu'il fait déplacer les moyens de lame mobile s'opposant au passage du fluide dans le conduit de fluide, afin de commander le passage de la béquille de sa position active à sa position inactive. Lorsque le flux de fluide à travers le robot est stoppé, le moyen de rappel élastique rappelle la lame en travers du conduit et éjecte la béquille au delà de la surface de contact des moyens de déplacement du robot avec la surface de déplacement pour la décoller localement de cette dernière.According to this characteristic, the fluid must overcome the elastic return means when moving the movable blade means opposing the passage of fluid in the fluid conduit, to control the passage of the stand from its active position to its inactive position. When the flow of fluid through the robot is stopped, the elastic return means recalls the blade across the conduit and ejects the stand beyond the contact surface of the robot moving means with the displacement surface to take off locally of the latter.
Selon une caractéristique avantageuse, lesdits moyens de lame mobile sont montés rotatifs dans le conduit de fluide. Cette caractéristique permet d'optimiser l'utilisation de l'énergie hydraulique fournie par le flux hydraulique dans le conduit de fluide.According to an advantageous characteristic, said movable blade means are rotatably mounted in the fluid conduit. This feature optimizes the use of hydraulic energy provided by the hydraulic flow in the fluid conduit.
Selon une caractéristique avantageuse, lesdits moyens d'opposition au mouvement du fluide sont disposés dans une partie du conduit de fluide, dite conduit de refoulement, située entre les moyens générateur du débit de fluide dans le conduit interne et l'ouverture de refoulement.According to an advantageous characteristic, said means for opposing the movement of the fluid are arranged in a part of the fluid duct, called the discharge duct, situated between the means generating the flow of fluid in the internal duct and the discharge opening.
Cette caractéristique permet d'optimiser l'utilisation de l'énergie hydraulique fournie par le flux hydraulique dans le conduit de fluide. Selon une caractéristique avantageuse, ledit conduit de refoulement est perpendiculaire ou sensiblement perpendiculaire à la surface de contact des moyens de déplacement du robot.This feature optimizes the use of hydraulic energy provided by the hydraulic flow in the fluid conduit. According to an advantageous characteristic, said discharge duct is perpendicular or substantially perpendicular to the contact surface of the robot's moving means.
Cette caractéristique est utile pour permettre au robot une bonne adhérence en surfaces verticales de déplacement. L'énergie prélevée pour la commande de la béquille permet de maintenir cet avantage.This feature is useful to allow the robot a good grip in vertical moving surfaces. The energy taken for the control of the crutch makes it possible to maintain this advantage.
Selon une caractéristique avantageuse, les moyens de commande du déplacement de la béquille entre ses positions active et inactive comprennent une bielle intermédiaire de transmission articulée à une de ses extrémités sur la béquille et à l'autre de ses extrémités sur lesdits moyens de lame mobile, et ladite bielle intermédiaire de transmission est agencée de telle sorte que le déplacement de la béquille soit dégressif lorsque les moyens de lame passent de leur position inactive à leur position active.According to an advantageous characteristic, the means for controlling the movement of the stand between its active and inactive positions comprise an intermediate connecting rod articulated at one of its ends on the stand and at the other of its ends on said moving blade means, and said intermediate transmission link is arranged such that the displacement of the stand is decreasing as the blade means moves from their inactive position to their active position.
Selon une caractéristique avantageuse, les moyens de commande du déplacement de la béquille entre ses positions active et inactive comprennent un levier intermédiaire de transmission entre l'un des éléments, choisi parmi les suivants : béquille, bielle intermédiaire, moyens de lame mobile, et ledit moyen de rappel élastique, ledit levier intermédiaire étant agencé de telle sorte que l'effort pour armer le moyen de rappel élastique, exercé par le fluide sur les moyens de lame, soit constant ou sensiblement constant, lorsque ces derniers se déplacent de leur position inactive à leur position active.According to an advantageous characteristic, the means for controlling the movement of the stand between its active and inactive positions comprise an intermediate transmission lever between one of the elements, chosen from the following: stand, intermediate link, moving blade means, and said elastic return means, said intermediate lever being arranged such that the force to arm the elastic return means, exerted by the fluid on the blade means, is constant or substantially constant, when they move from their inactive position to their active position.
Les caractéristiques qui précèdent permettent d'optimiser la gestion des efforts exercés par le flux hydraulique sur les moyens de commande de la béquille, en fonction de la position des moyens de lame dans le conduit, par rapport au flux hydraulique. D'autres caractéristiques et avantages apparaîtront à la lecture qui suit d'un exemple de mode de réalisation d'un robot nettoyeur de piscine selon l'invention, accompagné des dessins annexés, exemple donné à titre illustratif non limitatif.The foregoing features make it possible to optimize the management of the forces exerted by the hydraulic flow on the control means of the stand, as a function of the position of the blade means in the duct, with respect to the hydraulic flow. Other features and advantages will become apparent on reading the following of an exemplary embodiment of a robot pool cleaner according to the invention, accompanied by the accompanying drawings, an example given by way of nonlimiting illustration.
La figure 1 représente une vue en perspective de dessus et d'ensemble d'un exemple de mode de réalisation d'un robot nettoyeur de piscine ou analogue. La figure 2 représente une vue partielle agrandie de l'exemple de la figure 1.Figure 1 is a top and bottom perspective view of an exemplary embodiment of a pool cleaner robot or the like. FIG. 2 represents an enlarged partial view of the example of FIG.
La figure 3 représente une vue en perspective de dessous et d'ensemble de l'exemple de la figure 1. La figure 4 représente un détail agrandi en perspective de l'exemple de la figure 1, relatif aux moyens générateurs d'un débit de fluide à travers le robot.FIG. 3 represents a bottom and overall perspective view of the example of FIG. 1. FIG. 4 represents an enlarged detail in perspective of the example of FIG. 1, relating to the means generating a flow of fluid through the robot.
La figure 5 représente un détail agrandi en perspective de l'exemple de la figure 1, relatif aux moyens de commande de la béquille dans une position active de cette dernière.FIG. 5 represents an enlarged detail in perspective of the example of FIG. 1, relative to the control means of the stand in an active position of the latter.
La figure 6 représente le détail de la figure 5, relatif aux moyens de commande de la béquille dans une position inactive de cette dernière.FIG. 6 represents the detail of FIG. 5 relating to the control means of the stand in an inactive position thereof.
Les figures 7 à 9 représentent respectivement en vue de côté trois positions cinématiques différentes des moyens de commande de la béquille. Le robot représenté sur les figures est un robot 1 motorisé nettoyeur de piscine ou analogue (non représentée), par exemple tout bassin rempli de fluide et comportant des parois horizontales, verticales ou autres, en fonctionnement immergé dans un fluide, et comporte :Figures 7 to 9 respectively show a side view three different kinematic positions of the control means of the stand. The robot shown in the figures is a motorized robot 1 pool cleaner or the like (not shown), for example any basin filled with fluid and having horizontal walls, vertical or otherwise, in operation immersed in a fluid, and comprises:
- des moyens de déplacement 2 du robot, du type brosses 22 et chenilles 30, comportant une surface 3 de contact avec une surface de déplacement immergée de la piscine ou analogue,moving means 2 of the robot, such as brushes 22 and crawlers 30, having a contact surface 3 with a submerged displacement surface of the swimming pool or the like,
- des moyens 4 pour générer, à travers le robot, une circulation du fluide dans lequel le robot 1 est immergé, comportant :means 4 for generating, through the robot, a circulation of the fluid in which the robot 1 is immersed, comprising:
- une ouverture d'aspiration 5 du fluide, - une ouverture de refoulement 6 du fluide aspiré,a suction opening 5 of the fluid, a discharge opening 6 of the aspirated fluid,
- un conduit 7 de fluide reliant les ouvertures d'aspiration et de refoulement,a conduit 7 of fluid connecting the suction and discharge openings,
- des moyens générateur 8 d'un débit du fluide dans le conduit,generator means 8 for a flow of the fluid in the conduit,
- une béquille 9 pour décoller de la surface de déplacement, au moins une partie de la surface de contact des moyens de déplacement 2, la béquille 9 étant mobile au moins entre les deux positions suivantes :- A stand 9 to take off from the moving surface, at least a portion of the contact surface of the displacement means 2, the stand 9 is movable at least between the following two positions:
- une première position, dite position inactive, comme représenté sur la figure 6 ou 9, dans laquelle la béquille 9 est rétractée à l'intérieur du robot 1, la surface de contact des moyens de déplacement 2 étant alors apte à être en totalité en contact avec la surface de déplacement, - une deuxième position, dite position active, comme représenté sur la figure 5 ou 7, dans laquelle la béquille 9 est saillante au-delà de la surface de contact des moyens de déplacement 2, en sorte qu'une partie de cette surface de contact, située autour de la béquille en fonction de l'emplacement de celle-ci, ne puisse plus être en contact avec la surface de déplacement,a first position, called the inactive position, as represented in FIG. 6 or 9, in which the stand 9 is retracted inside the robot 1, the contact surface of the displacement means 2 then being able to be entirely in contact with the moving surface, - a second position, said active position, as shown in Figure 5 or 7, wherein the stand 9 is projecting beyond the contact surface of the displacement means 2, so that part of this contact surface, located around the stand depending on the location of the stand, can no longer be in contact with the moving surface,
- des moyens de commande 10 du déplacement de la béquille 9 activés par un mouvement du fluide dans le conduit 7 de fluide. Le robot 1 comporte un capot supérieur 20 comme montré sur la figure 1, ce capot supérieur ayant été retiré sur la figure 2 afin de montrer l'intérieur du robot 1 et le châssis 21 de ce dernier.- Control means 10 of the movement of the stand 9 activated by a movement of the fluid in the conduit 7 of fluid. The robot 1 has an upper cover 20 as shown in Figure 1, the top cover having been removed in Figure 2 to show the inside of the robot 1 and the frame 21 of the latter.
Le capot supérieur 20, le châssis 21, et les moyens de déplacement 2 sont de type connu. Dans l'exemple représenté, les moyens de déplacement 2 comprennent deux brosses 22 rotatives aux deux extrémités longitudinales du robot, reliés latéralement à leurs extrémités respectives par deux chenilles longitudinales comme représenté sur la figure 2. La surface de contact 3 du robot avec la surface de déplacement de la piscine est constituée par la surface inférieure des brosses 22, adoptant sensiblement la forme de deux surfaces rectangulaires d'extension transversale à chaque extrémité longitudinale du robot. Les chenilles latérales sont prévues pour le franchissement d'obstacles par le robot.The upper cover 20, the frame 21, and the displacement means 2 are of known type. In the example shown, the displacement means 2 comprise two rotating brushes 22 at the two longitudinal ends of the robot, connected laterally at their respective ends by two longitudinal tracks as shown in FIG. 2. The contact surface 3 of the robot with the surface movement of the pool is formed by the lower surface of the brushes 22, adopting substantially the shape of two rectangular surfaces extending transversely at each longitudinal end of the robot. The side tracks are intended for obstacle clearance by the robot.
La figure 3 montre en vue de dessous la béquille 9 en position active.Figure 3 shows in view from below the stand 9 in the active position.
L'ouverture d'aspiration 5 du fluide à travers le robot 1 est visible sur les figures 2 et 3 et se trouve par exemple sur le châssis 21 entre les deux brosses rotatives 22.The suction opening 5 of the fluid through the robot 1 is visible in FIGS. 2 and 3 and is for example on the frame 21 between the two rotary brushes 22.
L'ouverture de refoulement 6 du fluide aspiré se fait sur la partie supérieure du robot 1, à travers le capot supérieur 20 comme représenté sur la figure 1.The discharge opening 6 of the aspirated fluid is on the upper part of the robot 1, through the upper cover 20 as shown in FIG.
Entre l'ouverture d'aspiration 5 et l'ouverture de refoulement 6, se trouve le conduit 7 de fluide qui relie ces ouvertures et qui comporte des moyens générateur 8 d'un débit du fluide dans le conduit 7, un conduit d'aspiration 23 entre l'ouverture d'aspiration 5 et les moyens générateur 8, et un conduit de refoulement 14 entre ces derniers et l'ouverture de refoulement 6.Between the suction opening 5 and the discharge opening 6, there is the fluid duct 7 which connects these openings and which comprises means 8 for generating a flow of fluid in the duct 7, a suction duct 23 between the suction opening 5 and the generator means 8, and a discharge duct 14 between the latter and the discharge opening 6.
Les moyens générateur 8 d'un débit du fluide dans le conduit 7, sont constitués par une pompe hydraulique selon tous moyens connus, comportant un corps de pompe 25, une entrée 26 et une sortie 27 du corps 25 de pompe. L'entrée 26 du corps de pompe 25 s'ouvre dans le conduit d'aspiration 5 formé par un espace intérieur du robotThe generating means 8 of a flow rate of the fluid in the conduit 7 are constituted by a hydraulic pump according to any known means, comprising a pump body 25, an inlet 26 and an outlet 27 of the pump body 25. The inlet 26 of the pump body 25 opens into the suction duct 5 formed by an internal space of the robot
1 comme représenté sur la figure 2, dans lequel l'eau aspirée est filtrée, et la sortie 27 du corps de pompe 25 s'ouvre dans le conduit de refoulement 14, ce dernier étant, dans l'exemple représenté, avantageusement perpendiculaire ou sensiblement perpendiculaire à la surface de contact 3 du robot 1 avec la surface de déplacement. Dans l'exemple, le conduit de refoulement 14 est formé par le corps de pompe 25 et la sortie 27 du corps de pompe correspond à l'ouverture de refoulement 6. Les moyens générateur 8 d'un débit du fluide dans le conduit 7 comprennent en outre de manière connue un moteur électrique 28 dont l'arbre de sortie est connecté à l'arbre de turbine de pompe.1 as shown in FIG. 2, in which the sucked water is filtered, and the outlet 27 the pump body 25 opens in the delivery conduit 14, the latter being, in the example shown, preferably perpendicular or substantially perpendicular to the contact surface 3 of the robot 1 with the displacement surface. In the example, the discharge duct 14 is formed by the pump body 25 and the outlet 27 of the pump body corresponds to the discharge opening 6. The generator means 8 of a fluid flow in the duct 7 comprise furthermore, in known manner, an electric motor 28 whose output shaft is connected to the pump turbine shaft.
La béquille 9, de manière connue, est implantée dans le robot 1 latéralement dans une zone proche de l'une des chenilles 30 ou des extrémités latérales des brosses, comme représenté sur la figure 3. Dans l'exemple représenté, la béquille 9 adopte de préférence la forme d'une tige d'axe perpendiculaire à la surface de contact 3, mobile en translation dans un guide 29 en sorte de pouvoir adopter les deux positions, active et inactive, indiquées plus haut. Dans l'exemple, la béquille 9 est implantée dans la zone d'implantation du moteur 28 comme représenté sur les figures. La béquille 9 sortie, en position active, soulève un côté du robot 1 et décolle du sol une chenille 30 et un seul côté des deux brosses 22, l'autre côté de celles-ci prenant appui sur la surface de déplacement ; les brosses 22 continuant à tourner, le robot 1 se déplace en rotation autour de la béquille 9 qui prend appui sur la surface de déplacement en position active. De manière préférentielle, comme représenté sur les figures 5 ou 7, les moyens de commande 10 du déplacement de la béquille 9 entre ses positions active et inactive, comportent des moyens d'opposition 11 au mouvement du fluide dans le conduit 7 de fluide, mobiles dans celui-ci en sorte d'obturer au moins partiellement le conduit 7 ou de le dégager, liés à la béquille 9, de telle sorte que, selon la position adoptée dans le conduit 7 de fluide par ces moyens d'opposition 11, la béquille 9 prend sa position active ou inactive.The stand 9, in a known manner, is implanted in the robot 1 laterally in an area close to one of the caterpillars 30 or the lateral ends of the brushes, as shown in FIG. 3. In the example represented, the stand 9 adopts preferably in the form of a rod axis perpendicular to the contact surface 3, movable in translation in a guide 29 so as to be able to adopt the two positions, active and inactive, indicated above. In the example, the stand 9 is located in the implantation area of the motor 28 as shown in the figures. The kickstand 9, in the active position, lifts one side of the robot 1 and off the ground a track 30 and one side of the two brushes 22, the other side thereof bearing on the moving surface; the brushes 22 continuing to rotate, the robot 1 moves in rotation around the stand 9 which bears on the moving surface in the active position. Preferably, as shown in FIGS. 5 or 7, the control means 10 for moving the stand 9 between its active and inactive positions comprise means 11 for opposing the movement of the fluid in the mobile fluid conduit 7. in such a way as to at least partially close the duct 7 or to disengage it, linked to the stand 9, so that, depending on the position adopted in the fluid duct 7 by these opposition means 11, the crutch 9 takes its active or inactive position.
De manière préférentielle, comme représenté sur les figures 4 à 9, les moyens d'opposition 11 au mouvement du fluide dans le conduit 7 de fluide, mobiles dans celui-ci et liés à la béquille 9, comportent : - des moyens 12 de lame mobile, liés à la béquille 9, et disposés dans le conduitPreferably, as shown in FIGS. 4 to 9, the means 11 for opposing the movement of the fluid in the conduit 7 of fluid, mobile therein and connected to the stand 9, comprise: blade means 12 mobile, linked to the stand 9, and arranged in the conduit
7 de fluide, mobiles entre au moins les deux positions suivantes :7 fluid, moving between at least the two following positions:
- une première position dite active, adoptée sous l'effet d'un déplacement du fluide dans le conduit 7 entraînant un effacement au moins partiel des moyens 12 de lame mobile dans ce conduit 7, et dans laquelle la béquille 9 se trouve alors dans sa position inactive rétractée dans le robot, position représentée sur les figures 6 ou 9, - une deuxième position dite inactive, adoptée lorsque aucun fluide ne se déplace dans le conduit 7, entraînant sous l'effet d'un moyen 13 de rappel élastique une position des moyens 12 de lame mobile en travers du conduit 7 de fluide, et dans laquelle la béquille 9 se trouve alors saillante dans sa position active, position représentée sur les figures 5 ou 7. De manière préférentielle, les moyens d'opposition 11 au mouvement du fluide dans le conduit 7 sont disposés dans une partie 14 du conduit 7 de fluide, dite conduit de refoulement 14, située entre les moyens générateur 8 du débit de fluide dans le conduit 7 interne et l'ouverture 6 de refoulement, dans l'exemple directement dans le corps de pompe après la turbine comme représenté sur les figures 5 à 9. Un tel positionnement des moyens d'opposition permet d'utiliser la pression de refoulement maximale en sortie de turbine.- a first so-called active position, adopted under the effect of a displacement of the fluid in the conduit 7 causing at least partial erasure of the means 12 movable blade in the conduit 7, and wherein the stand 9 is then in its inactive position retracted in the robot, position shown in Figures 6 or 9 a second so-called inactive position, adopted when no fluid moves in the duct 7, driving under the effect of a means 13 of elastic return a position of the blade means 12 movable across the conduit 7 of fluid, and in which the stand 9 is then protruding in its active position, position shown in FIGS. 5 or 7. Preferably, the means 11 for opposing the movement of the fluid in the duct 7 are arranged in a portion 14 of the duct 7 fluid, said delivery conduit 14, located between the generator means 8 of the fluid flow in the inner conduit 7 and the discharge opening 6, in the example directly in the body d the pump after the turbine as shown in FIGS. 5 to 9. Such positioning of the opposition means makes it possible to use the maximum discharge pressure at the turbine outlet.
Les moyens 12 de lame mobile sont de préférence montés rotatifs dans le conduit 7 de fluide, en vue de minimiser l'effort à exercer pour le déplacement des moyens de lame 12 par le fluide. Les moyens de commande 10 du déplacement de la béquille vont maintenant plus particulièrement être décrits avec l'aide des figures 5 à 9.The moving blade means 12 are preferably rotatably mounted in the fluid conduit 7, in order to minimize the effort to be exerted for the displacement of the blade means 12 by the fluid. The means 10 for controlling the movement of the stand will now more particularly be described with the aid of FIGS. 5 to 9.
Les moyens de commande 10 du déplacement de la béquille 9 entre ses positions active et inactive comprennent avantageusement, comme par exemple représenté sur la figure 4, une bielle intermédiaire 15 de transmission articulée à une 16 de ses extrémités sur la béquille et à l'autre 17, opposée, de ses extrémités, sur les moyens 12 de lame mobile. La bielle intermédiaire 15 de transmission est en outre préférentiellement agencée de telle sorte que le déplacement de la béquille 9 soit dégressif lorsque les moyens 12 de lame passent de leur position inactive (figure 7) à leur position active (figure 9). II est à noter que la figure 8 représente un état intermédiaire de fonctionnement de la béquille 9 entre la position active et inactive de celle-ci.The control means 10 for the movement of the stand 9 between its active and inactive positions advantageously comprise, as for example shown in FIG. 4, an intermediate connecting rod 15 of transmission articulated at one of its ends on the stand and at the other 17, opposite, its ends, on the means 12 movable blade. The intermediate transmission rod 15 is also preferably arranged such that the displacement of the stand 9 is decreasing when the blade means 12 pass from their inactive position (FIG. 7) to their active position (FIG. 9). It should be noted that Figure 8 shows an intermediate operating state of the stand 9 between the active and inactive position thereof.
Les moyens de lame 12 adoptent avantageusement la forme d'une lame comportant une première extrémité libre 31 courbe et une deuxième extrémité 32 opposée à la première, articulée en rotation sur le corps de pompe. À cette deuxième extrémité 32 de la lame est rendu solidaire, par une liaison rigide et complète, une tige 33 de transmission du mouvement de rotation généré par la lame 12 sous l'effet du flux de fluide dans un sens ou du ressort 13 de rappel dans le sens opposé. La périphérie de la lame 12 adopte une forme complémentaire de la section transversale du conduit de refoulement 14, de telle sorte que, lorsque le plan de la lame 12 se trouve perpendiculaire ou sensiblement perpendiculaire à l'axe longitudinal du conduit de refoulement 14, dans sa position inactive, comme représenté sur les figures 5 ou 7, la lame 12 obstrue en totalité ou quasi totalité ce conduit de refoulement 14. Ainsi, lorsque la pompe hydraulique est actionnée, le flux de fluide se met en mouvement dans le conduit de refoulement 14 et repousse la lame 12 dans sa position active en la faisant pivoter autour de sa deuxième extrémité 32. Le profil de la périphérie de la lame 12 sera déterminé en outre de façon que cette lame, sous l'effet du flux, puisse se déplacer dans le conduit de refoulement 14, en rotation dans l'exemple représenté, pour atteindre sa position active dans laquelle elle s'efface en totalité ou quasi totalité de la section transversale du conduit de refoulement 14, comme représenté sur les figures 6 ou 9, afin que le flux puisse s'écouler dans ce conduit avec le moins de perte de charge possible du fait de la présence de la lame 12, et ainsi exercer une de ses fonctions principales consistant à filtrer l'eau dans laquelle le robot se déplace. Dans l'exemple, la lame 12 adopte une forme rectangulaire courbe à une de ses extrémités longitudinales. Cette courbure permet avantageusement d'appliquer fermement la lame 9 en position active contre les parois du conduit 7 de refoulement, afin d'éviter, le cas échéant, des déplacements parasites vibratoires de cette lame 12 lorsqu'elle ne s'oppose plus au passage du flux.The blade means 12 advantageously adopt the shape of a blade having a first free end 31 curved and a second end 32 opposite to the first, articulated in rotation on the pump body. At this second end 32 of the blade is secured, by a rigid and complete connection, a rod 33 for transmitting the rotational movement generated by the blade 12 under the effect of the flow of fluid in a direction or spring 13 in the opposite direction. The periphery of the blade 12 adopts a shape complementary to the cross section of the discharge pipe 14, so that when the plane of the blade 12 is perpendicular or substantially perpendicular to the longitudinal axis of the discharge pipe 14, in its inactive position, as shown in Figures 5 or 7, the blade 12 completely or almost completely obstructs this discharge pipe 14. Thus, when the hydraulic pump is actuated, the flow of fluid starts to move in the discharge pipe 14 and pushes the blade 12 into its active position by pivoting it around its second end 32. The profile of the periphery of the blade 12 will be determined further so that the blade, under the effect of the flow, can move in the discharge duct 14, in rotation in the example shown, to reach its active position in which it disappears in all or almost all of the cross section of the delivery duct 14, as shown in Figures 6 or 9, so that the flow can flow in this duct with the least possible pressure drop due to the presence of the blade 12, and thus exercise one of its functions The main purpose is to filter the water in which the robot is moving. In the example, the blade 12 adopts a curved rectangular shape at one of its longitudinal ends. This curvature advantageously makes it possible to firmly apply the blade 9 in the active position against the walls of the discharge duct 7, in order to avoid, if necessary, parasitic vibratory displacements of this blade 12 when it is no longer opposed to the passage of the flow.
Comme représenté de manière plus particulièrement visible sur les figures 7 à 9, la bielle intermédiaire 15 de transmission est connectée par une liaison rotative à la tige de transmission 33 selon un axe de rotation très proche de l'axe de rotation de cette dernière afin d'augmenter l'effort transmis à la béquille 9, en minimisant le levier entre l'axe de rotation de la tige 33 solidaire de la lame 12, et l'axe de rotation de l'extrémité 17 de la bielle intermédiaire 15. L'extrémité 16 opposée de la bielle intermédiaire 15 est connectée par une liaison rotative à une première 35 extrémité de la béquille 9, de préférence dans l'axe longitudinal 36 direct de poussée ou de traction en translation de celle-ci dans son guide 29. La deuxième extrémité 37 de la béquille 9 est libre et destinée de manière conventionnelle à entrer en contact avec la surface de déplacement dans sa position active, représentée sur la figure 7 par exemple. Comme représenté sur les figures 7 à 9, qui montrent plus particulièrement la cinématique des moyens 10 de commande de la béquille 9, afin d'optimiser l'utilisation de l'énergie fournie par le fluide pour le déplacement de la béquille, on constate que, de préférence, l'axe de rotation entre la tige 33 et l'extrémité 17 de la bielle 15 se trouve sensiblement dans le plan de la lame 12 par projection suivant un plan comprenant l'axe longitudinal de la tige 33, afin que le déplacement transmis par la bielle 15 à la béquille 9 pour la rentrée de celle-ci dans le robot, soit maximal lorsque l'effort du flux sur la lame 12 est maximal ; au fur et à mesure que la lame s'efface dans le conduit 14, l'effort exercé par le flux sur celle-ci décroît, ainsi que le déplacement de la bielle 15 suivant l'axe de déplacement de la béquille, et donc que le déplacement en translation de la béquille.As shown more particularly in FIGS. 7 to 9, the intermediate transmission rod 15 is connected by a rotary link to the transmission rod 33 according to an axis of rotation very close to the axis of rotation of the latter in order to increase the force transmitted to the stand 9, minimizing the lever between the axis of rotation of the rod 33 integral with the blade 12, and the axis of rotation of the end 17 of the intermediate rod 15. The opposite end 16 of the intermediate rod 15 is connected by a rotatable link to a first end of the crutch 9, preferably in the longitudinal axis 36 of direct pushing or traction in translation thereof in its guide 29. The second end 37 of the stand 9 is free and conventionally intended to come into contact with the displacement surface in its active position, shown in Figure 7 for example. As shown in FIGS. 7 to 9, which more particularly show the kinematics of the means 10 for controlling the stand 9, in order to optimize the use of the energy supplied by the fluid for moving the stand, it can be seen that preferably, the axis of rotation between the rod 33 and the end 17 of the rod 15 is substantially in the plane of the blade 12 by projection along a plane comprising the longitudinal axis of the rod 33, so that the displacement transmitted by the connecting rod 15 to the stand 9 for the return of it in the robot, is maximum when the force of the flow on the blade 12 is maximum; as the blade disappears into the conduit 14, the force exerted by the flow on it decreases, as well as the displacement of the connecting rod 15 along the axis of movement of the stand, and therefore that the displacement in translation of the stand.
Comme représenté de manière plus particulièrement visible sur les figures 7 à 9, les moyens de commande 10 du déplacement de la béquille 9 entre ses positions active et inactive comprennent avantageusement en outre un levier intermédiaire 18 de transmission entre l'un des éléments, choisi parmi les suivants : béquille 9, bielle intermédiaire 15, moyens 12 de lame mobile, et le moyen 13 de rappel élastique. Dans l'exemple représenté, une première extrémité 40 du levier intermédiaire 18 est par exemple en contact d'appui sur la surface de bout à l'extrémité 35 de la béquille 9, tandis que l'autre extrémité 41 opposée du levier intermédiaire 18 est liée au moyen 13 de rappel élastique, dans l'exemple à une première extrémité d'un ressort de traction 13. L'autre extrémité 42 du ressort de traction 13 est par exemple attachée au châssis 21 du robot 1. Le levier intermédiaire 18 est par exemple articulé par une liaison pivot 45 sur le châssis en des points du levier 18 et du châssis définis, en coopération avec le point 42 d'attache du ressort 13 au châssis 21, de telle sorte que l'effort pour armer le moyen de rappel élastique 13, exercé par le fluide sur les moyens de lame 12, soit constant ou sensiblement constant, lorsque ces derniers se déplacent de leur position inactive à leur position active.As more particularly shown in FIGS. 7 to 9, the control means 10 for moving the stand 9 between its active and inactive positions advantageously furthermore comprise an intermediate lever 18 for transmission between one of the elements, chosen from the following: crutch 9, intermediate rod 15, means 12 movable blade, and the means 13 of elastic return. In the example shown, a first end 40 of the intermediate lever 18 is for example in bearing contact on the end surface at the end 35 of the stand 9, while the opposite end 41 of the intermediate lever 18 is linked to the means 13 of elastic return, in the example at a first end of a tension spring 13. The other end 42 of the tension spring 13 is for example attached to the frame 21 of the robot 1. The intermediate lever 18 is for example articulated by a pivot connection 45 on the frame at points of the lever 18 and the defined frame, in cooperation with the point 42 of attachment of the spring 13 to the frame 21, so that the effort to arm the means of elastic return 13, exerted by the fluid on the blade means 12, is constant or substantially constant, when the latter move from their inactive position to their active position.
En effet, lorsque le moyen de lame 12 passe d'une position d'obstruction du conduit 14 à une position d'effacement dans ce conduit, les efforts exercés sur la lame par le fluide sont décroissants pour être réduits à un effort résiduel (défini par la courbure de la lame) lorsque la lame est en position active effacée, soit sensiblement dans la direction des lignes de courant du fluide s 'écoulant dans le conduit. Dans ces conditions, il est opportun que le levier intermédiaire 18 permette d'optimiser cette prise d'énergie sur le flux, avec l'énergie nécessaire pour l'armement du ressort de traction 13 dans l'exemple, soit son extension, qui est exercée et serait normalement croissante tout au long de l'extension du ressort, soit tout au long du déplacement de la lame 12 de sa position inactive (figure 7) lorsque le flux est stoppé à sa position active (figure 9) après que le flux ait été rétabli dans le conduit 7. Lorsque la lame 12 arrive dans la zone de sa position active (figure 9), soit dans sa position d'effacement en fin d'ouverture du conduit, la direction de la force de traction du ressort 13 doit de préférence, selon l'invention, se rapprocher de l'articulation 45 du levier 18 sur le châssis 21 afin de compenser l'augmentation de l'effort exercé par le ressort sur ce levier 18, en maintenant constant ou sensiblement constant le couple exercé par le ressort sur le levier 18, dans cette zone de position de la lame 12.Indeed, when the blade means 12 passes from a position of obstruction of the leads 14 to an erasure position in this conduit, the forces exerted on the blade by the fluid are decreasing to be reduced to a residual force (defined by the curvature of the blade) when the blade is in the erased active position, or substantially in the direction of the flow lines of the fluid flowing in the conduit. Under these conditions, it is appropriate for the intermediate lever 18 to optimize this energy intake on the flow, with the energy required to arm the traction spring 13 in the example, ie its extension, which is exerted and would normally increase throughout the extension of the spring, or throughout the movement of the blade 12 from its inactive position (Figure 7) when the flow is stopped at its active position (Figure 9) after the flow has been restored in the duct 7. When the blade 12 arrives in the zone of its active position (FIG. 9), or in its erasing position at the end of opening of the duct, the direction of the tensile force of the spring 13 should preferably, according to the invention, approach the articulation 45 of the lever 18 on the frame 21 to compensate for the increase in the force exerted by the spring on the lever 18, maintaining constant or substantially constant torque exercised by the jurisdiction on the levy r 18, in this zone of position of the blade 12.
Il est à noter que dans l'exemple représenté, tous les axes de rotation des divers éléments décrits ci-dessus et composant les moyens de commandes 10 sont parallèles, et par exemple, perpendiculaires au plan de la feuille où sont représentées les figures 7 à 9.It should be noted that in the example shown, all the axes of rotation of the various elements described above and constituting the control means 10 are parallel, and for example, perpendicular to the plane of the sheet in which FIGS. 9.
L'ensemble des composants du robot 1, à l'exception des moteurs électriques et autre visserie, ressort le cas échéant, ou analogue, peut être réalisé en matière plastique, et en particulier tous les composants des moyens de commande de la béquille 9. Le ressort de traction 13 peut par exemple être réalisé en acier inoxydable. Sur la figure 5, les flèches représentent le sens de déplacement des éléments dans la phase opérationnelle considérée, soit le placement en position active de la béquille (extraction).All the components of the robot 1, with the exception of the electric motors and other fasteners, springing where appropriate, or the like, may be made of plastic, and in particular all the components of the control means of the stand 9. The tension spring 13 may for example be made of stainless steel. In FIG. 5, the arrows represent the direction of movement of the elements in the operational phase considered, namely the placing in the active position of the stand (extraction).
Sur la figure 6, les flèches représentent le sens de déplacement des éléments dans la phase opérationnelle considérée, soit le placement en position inactive de la béquille (extraction). Les flèches montrent en outre le sens du flux de fluide agissant sur la lame 12.In FIG. 6, the arrows represent the direction of movement of the elements in the operational phase considered, namely the placement in the inactive position of the stand (extraction). The arrows also show the direction of the flow of fluid acting on the blade 12.
Le robot 1 est alimenté par un câble électrique de toute manière connue (non représenté).The robot 1 is powered by an electric cable in any known manner (no represent).
L'invention décrite permet d'obtenir des moyens de commandes de la béquille compacts, légers, qui ne demandent l'apport d'aucune étanchéité dynamique ou statique ni liaison électrique étanche, ce qui allège et simplifie le robot. The described invention makes it possible to obtain compact, light crutch control means that do not require the provision of any dynamic or static seal or a sealed electrical connection, which simplifies and simplifies the robot.

Claims

R E V E N D I C A T I O N S
1. Robot (1) motorisé nettoyeur de piscine ou analogue en fonctionnement immergé dans un fluide, comportant : - des moyens de déplacement (2) du robot, du type roue, brosse, ou chenille, comportant une surface (3) de contact avec une surface de déplacement immergée de ladite piscine ou analogue,1. Robot (1) motorized swimming pool cleaner or the like in operation immersed in a fluid, comprising: - moving means (2) of the robot, of the wheel, brush, or caterpillar type, having a contact surface (3) with a submerged displacement surface of said pool or the like,
- des moyens (4) pour générer, à travers le robot, une circulation du fluide dans lequel le robot est immergé, comportant : - une ouverture d'aspiration (5) dudit fluide,means (4) for generating, through the robot, a circulation of the fluid in which the robot is immersed, comprising: a suction opening (5) for said fluid,
- une ouverture de refoulement (6) du fluide aspiré,a discharge opening (6) of the aspirated fluid,
- un conduit (7) de fluide reliant les ouvertures d'aspiration et de refoulement,a conduit (7) of fluid connecting the suction and discharge openings,
- des moyens générateur (8) d'un débit dudit fluide dans ledit conduit,generator means (8) for a flow of said fluid in said conduit,
- une béquille (9) pour décoller de la surface de déplacement, au moins une partie de ladite surface de contact des moyens de déplacement, ladite béquille étant mobile au moins entre les deux positions suivantes :a stand (9) for taking off from the displacement surface, at least a part of said contact surface of the displacement means, said stand being movable at least between the two following positions:
- une première position, dite position inactive, dans laquelle ladite béquille est rétractée à l'intérieur du robot, ladite surface de contact des moyens de déplacement étant alors apte à être en totalité en contact avec ladite surface de déplacement, - une deuxième position, dite position active, dans laquelle ladite béquille est saillante au-delà de ladite surface de contact des moyens de déplacement, en sorte qu'une partie de cette surface de contact ne puisse plus être en contact avec la surface de déplacement, caractérisé en ce que ledit robot comprend en outre des moyens de commande (10) du déplacement de ladite béquille activés par un mouvement du fluide dans ledit conduit de fluide, lesdits moyens de commande (10) du déplacement de ladite béquille (9) entre ses positions active et inactive, comportant des moyens d'opposition (11) au mouvement du fluide dans le conduit (7) de fluide, mobiles dans celui-ci en sorte d'obturer au moins partiellement ledit conduit ou de le dégager, liés à la béquille, de telle sorte que, selon la position adoptée dans le conduit de fluide par lesdits moyens d'opposition, la béquille prend sa position active ou inactive. a first position, called an inactive position, in which said stand is retracted inside the robot, said contact surface of the displacement means then being able to be in full contact with said moving surface, a second position, said active position, in which said stand is projecting beyond said contact surface of the displacement means, so that part of this contact surface can no longer be in contact with the moving surface, characterized in that said robot further comprises control means (10) for the movement of said kickstand activated by a movement of the fluid in said fluid conduit, said control means (10) for moving said stand (9) between its active and inactive positions; , comprising means (11) for opposing the movement of the fluid in the fluid conduit (7), movable therein so as to at least partially seal said fluid or induced to disengage, linked to the stand, so that, depending on the position adopted in the fluid conduit by said means of opposition, the stand comes to its active or inactive position.
2. Robot (1) suivant la revendication 1, caractérisé en ce que lesdits moyens d'opposition (11) au mouvement du fluide dans le conduit (7) de fluide, mobiles dans celui-ci et liés à la béquille (9), comportent :2. Robot (1) according to claim 1, characterized in that said means (11) for opposing the movement of the fluid in the conduit (7) fluid, movable therein and connected to the stand (9), include:
- des moyens (12) de lame mobile, liés à la béquille, et disposés dans ledit conduit de fluide, mobiles entre au moins les deux positions suivantes :- Means (12) movable blade, connected to the stand, and disposed in said fluid conduit, movable between at least the two following positions:
- une première position dite active, adoptée sous l'effet d'un déplacement dudit fluide dans le conduit entraînant un effacement au moins partiel des moyens de lame mobile dans le conduit, et dans laquelle ladite béquille se trouve alors dans sa position inactive rétractée dans le robot, - une deuxième position dite inactive, adoptée lorsque aucun fluide ne se déplace dans le conduit, entraînant sous l'effet d'un moyen (13) de rappel élastique une position des moyens de lame mobile en travers dudit conduit de fluide, et dans laquelle ladite béquille se trouve alors saillante dans sa position active.a first so-called active position, adopted under the effect of a displacement of said fluid in the duct causing at least partial erasure of the moving blade means in the duct, and wherein said stand is then in its inactive position retracted in the robot, a second so-called inactive position, adopted when no fluid moves in the duct, driving under the effect of a means (13) of elastic return a position of the moving blade means across said fluid duct, and wherein said stand is then protruding in its active position.
3. Robot (1) suivant la revendication 2, caractérisé en ce que lesdits moyens3. Robot (1) according to claim 2, characterized in that said means
(12) de lame mobile sont montés rotatifs dans le conduit (7) de fluide.(12) movable blade are rotatably mounted in the conduit (7) fluid.
4. Robot (1) suivant l'une quelconque des revendications 1 à 3, caractérisé en ce que lesdits moyens d'opposition (11) au mouvement du fluide sont disposés dans une partie (14) du conduit (7) de fluide, dite conduit de refoulement (14), située entre les moyens générateur (8) du débit de fluide dans le conduit interne et l'ouverture (6) de refoulement.4. Robot (1) according to any one of claims 1 to 3, characterized in that said means of opposition (11) to the movement of the fluid are arranged in a portion (14) of the conduit (7) of fluid, called discharge duct (14), located between the generator means (8) of the fluid flow in the inner duct and the discharge opening (6).
5. Robot (1) suivant l'une quelconque des revendications 1 à 4, caractérisé en ce que ledit conduit de refoulement (14) est perpendiculaire ou sensiblement perpendiculaire à la surface de contact (3) des moyens de déplacement (2) du robot.5. Robot (1) according to any one of claims 1 to 4, characterized in that said discharge conduit (14) is perpendicular or substantially perpendicular to the contact surface (3) of the moving means (2) of the robot .
6. Robot (1) suivant la revendication 3, ou l'une quelconque des revendications 4 ou 5 prise en combinaison avec la revendication 3, caractérisé en ce que les moyens de commande (10) du déplacement de la béquille (9) entre ses positions active et inactive comprennent une bielle intermédiaire (15) de transmission articulée à une (16) de ses extrémités sur la béquille et à l'autre (17) de ses extrémités sur lesdits moyens (12) de lame mobile, et en ce que ladite bielle intermédiaire (15) de transmission est agencée de telle sorte que le déplacement de la béquille (9) soit dégressif lorsque les moyens (12) de lame passent de leur position inactive à leur position active.6. Robot (1) according to claim 3, or any one of claims 4 or 5 taken in combination with claim 3, characterized in that the control means (10) of the movement of the stand (9) between its active and inactive positions comprise an intermediate link (15) of transmission articulated to one (16) of its ends on the stand and to the other (17) of its ends on said means (12) movable blade, and in that said intermediate connecting rod (15) transmission is arranged such that the displacement of the stand (9) is decreasing when the blade means (12) pass from their inactive position to their active position.
7. Robot (1) suivant la revendication 2, ou l'une quelconque des revendications7. Robot (1) according to claim 2, or any one of the claims
3 à 6 prise en combinaison avec la revendication 2, caractérisé en ce que les moyens de commande (10) du déplacement de la béquille (9) entre ses positions active et inactive comprennent un levier intermédiaire (18) de transmission entre l'un des éléments, choisi parmi les suivants : béquille (9), bielle intermédiaire (15), moyens (12) de lame mobile, et ledit moyen (13) de rappel élastique, et en ce que ledit levier intermédiaire (18) est agencé de telle sorte que l'effort pour armer le moyen de rappel élastique (13), exercé par le fluide sur les moyens de lame (12), soit constant ou sensiblement constant, lorsque ces derniers se déplacent de leur position inactive à leur position active. 3 to 6 taken in combination with claim 2, characterized in that the control means (10) of the movement of the stand (9) between its active and inactive positions comprise an intermediate lever (18) for transmission between one of the elements, chosen from among the following: crutch (9), intermediate rod (15), moving blade means (12), and said elastic return means (13), and in that said intermediate lever (18) is arranged such that so that the effort to arm the elastic return means (13), exerted by the fluid on the blade means (12), is constant or substantially constant, when the latter move from their inactive position to their active position.
EP09796767.3A 2008-11-14 2009-11-10 Motorised robot for cleaning swimming pools or the like, which operates when submerged in a fluid Not-in-force EP2356300B1 (en)

Applications Claiming Priority (2)

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FR0806347A FR2938578B1 (en) 2008-11-14 2008-11-14 MOTORIZED ROBOT SWIMMING POOL CLEANER OR SIMILAR IN IMMERSION OPERATION IN A FLUID
PCT/FR2009/052168 WO2010055259A1 (en) 2008-11-14 2009-11-10 Motorised robot for cleaning swimming pools or the like, which operates when submerged in a fluid

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EP2356300B1 EP2356300B1 (en) 2015-07-29

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US8402586B2 (en) 2013-03-26
FR2938578B1 (en) 2016-02-26
EP2356300B1 (en) 2015-07-29
US20110258789A1 (en) 2011-10-27
WO2010055259A1 (en) 2010-05-20

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