EP2356300B1 - Motorisierter roboter zur reinigung von schwimmbecken oder dergleichen, der bei eintauchen in einem fluid arbeitet - Google Patents

Motorisierter roboter zur reinigung von schwimmbecken oder dergleichen, der bei eintauchen in einem fluid arbeitet Download PDF

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Publication number
EP2356300B1
EP2356300B1 EP09796767.3A EP09796767A EP2356300B1 EP 2356300 B1 EP2356300 B1 EP 2356300B1 EP 09796767 A EP09796767 A EP 09796767A EP 2356300 B1 EP2356300 B1 EP 2356300B1
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EP
European Patent Office
Prior art keywords
fluid
robot
conduit
strut
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.)
Not-in-force
Application number
EP09796767.3A
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English (en)
French (fr)
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EP2356300A1 (de
Inventor
Vincent Lavabre
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Maintenance Montage Et Participations
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P M P S TECHNOLOGIES
Pmps Technologies
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Publication of EP2356300A1 publication Critical patent/EP2356300A1/de
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Publication of EP2356300B1 publication Critical patent/EP2356300B1/de
Not-in-force legal-status Critical Current
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the 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. 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.
  • 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.
  • 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's 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.
  • This feature optimizes the use of hydraulic energy provided by the hydraulic flow in the fluid conduit.
  • 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.
  • the robot 1 has an upper cover 20 as shown on the figure 1 , this upper cover having been removed on the 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. figure 2 .
  • the contact surface 3 of the robot with the displacement surface of the pool is constituted 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.
  • the figure 3 shows in bottom view the stand 9 in the active position.
  • the suction opening 5 of the fluid through the robot 1 is visible on the figures 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. figure 1 .
  • 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 interior space of the robot 1 as shown in FIG. figure 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.
  • 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. figure 3 .
  • the stand 9 preferably adopts the shape 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 upper.
  • 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.
  • 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 conduit 7 of fluid, movable in the latter so as to seal at least partially the duct 7 or disengage it, linked to the stand 9, so that, depending on the position adopted in the conduit 7 of fluid by these opposition means 11, the stand 9 takes its active or inactive position.
  • the opposing means 11 to the movement of the fluid in the conduit 7 are arranged in a portion 14 of the fluid conduit 7, called the delivery conduit 14, located between the generator means 8 of the fluid flow in the conduit 7. internal and discharge opening 6, in the example directly in the pump body after the turbine as shown on the Figures 5 to 9 .
  • 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.
  • control means 10 of the movement of the stand will now more particularly be described with the help of the Figures 5 to 9 .
  • the means 10 for controlling the movement of the stand 9 between its active and inactive positions advantageously comprise, as for example shown in FIG. figure 4 , an intermediate transmission rod 15 articulated at one of its ends on the stand and the other end opposite its ends on the moving blade means.
  • the intermediate transmission rod 15 is also preferably arranged in such a way that the displacement of the stand 9 is decreasing as the blade means 12 move from their inactive position ( figure 7 ) to their active position ( figure 9 ).
  • figure 8 represents an intermediate state of operation 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 on the figures 5 or 7 , the blade 12 obstructs all or almost all of this discharge pipe 14.
  • the flow of fluid is set in motion in the discharge pipe 14 and pushes the blade 12 into its active position in the pivoting about 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 pipe 14, rotating in the example shown, to reach its active position in which it disappears in all or almost all of the cross section of the discharge pipe 14, as shown in FIGS. 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 main functions of filtering the water in which the robot moves .
  • 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 connection to the transmission rod 33 along 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, while 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 link rotating at 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, represented on the figure 7 for example.
  • 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: stand 9, intermediate link 15, means 12 of moving 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 frame defined, 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 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 conduit 7.
  • the direction of the tensile force of the spring 13 is preferably, according to the invention, to approach the articulation 45 of the lever 18 on the frame 21 in order to compensate for the increase of the force exerted by the spring on this lever 18, by keeping constant or substantially constant the torque exerted by the spring on the lever 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 placement in the active position of the stand (extraction).
  • the arrows represent the direction of movement of the elements in the operational phase considered, ie 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)

Claims (7)

  1. Motorisierter Reinigungsroboter (1) für ein Hallenbad oder dergleichen in einge-tauchtem Betrieb in einer Flüssigkeit, welcher aufweist:
    - Fortbewegungsmittel (2) des Roboters (1) vom Typ Rad, Bürste oder Raupe, welche eine Kontaktfläche (3), die in Kontakt mit einer eingetauchten Fortbewegungsfläche des Hallenbads oder dergleichen ist, aufweist,
    - Mittel (4) zum Erzeugen einer Zirkulation der Flüssigkeit, in welcher der Roboter eingetaucht ist, quer durch den Roboter, welche aufweisen:
    -- eine Ansaugöffnung (5) zum Ansaugen der Flüssigkeit,
    -- eine Austrittsöffnung (6) zum Austritt der angesaugten Flüssigkeit,
    -- ein Flüssigkeitskanal (7), welcher die Ansaugöffnung (5) und die Austrittsöffnung (6) verbindet,
    -- Erzeugermittel (8) für einen Durchfluss der Flüssigkeit in dem Kanal (7),
    - einen Ständer (9) zum Loslösen mindestens eines Teils der Kontaktfläche der Fortbewegungsmittel (2) von der Fortbewegungsfläche, wobei der Ständer (9) mindestens zwischen den zwei folgenden Positionen beweglich ist:
    -- einer ersten Position, als sogenannte inaktive Position, in welcher der Ständer (9) in das Innere des Roboters (1) eingezogen ist, wobei die Kontaktfläche (3) der Fortbewegungsmittel (2) nun fähig ist, in ihrer Gesamtheit in Kontakt mit der Fortbewegungsfläche zu sein,
    -- einer zweiten Position, als sogenannte aktive Position, in welcher der Ständer (9) über die Kontaktfläche der Fortbewegungsmittel (2) hinaus vorstehend ist, so dass ein Teil dieser Kontaktfläche (3) nicht mehr in Kontakt mit der Fortbewegungsfläche sein kann,
    dadurch gekennzeichnet,
    dass der Roboter (1) außerdem Steuerungsmittel (10) für die Bewegung des Ständers (9) umfasst, welche durch eine Flüssigkeitsbewegung in dem Flüssigkeitskanal (7) aktivierbar sind, wobei die Steuerungsmittel (10) für die Bewegung des Ständers (9) zwischen seiner aktiven und inaktiven Position Widerstandsmittel (11) gegen die Flüssigkeitsbewegung in dem Flüssigkeitskanal (7) aufweisen, welche in diesem beweglich sind, um den Kanal (7) mindestens teilweise zu verschließen oder freizulegen, welche mit dem Ständer (9) verbunden sind, so dass gemäß der durch die Widerstandsmittel (11) angenommenen Position in dem Flüssigkeitskanal (7) der Ständer (9) seine aktive oder inaktive Position einnimmt.
  2. Roboter (1) nach Anspruch 1,
    dadurch gekennzeichnet,
    dass die Widerstandsmittel (11) gegen die Flüssigkeitsbewegung in dem Flüssigkeitskanal (7), welche beweglich in diesem sind und welche mit dem Ständer (9) verbunden sind, aufweisen:
    - bewegliche Abtrennmittel (12), welche mit dem Ständer (9) verbunden sind, und welche in dem Flüssigkeitskanal (7) angeordnet sind, wobei diese zwischen mindestens zwei der folgenden Positionen beweglich sind:
    -- einer ersten, sogenannten aktiven Position, welche unter der Einwirkung einer Fortbewegung der Flüssigkeit in dem Kanal (7) eingenommen ist, wobei dies ein mindestens teilweises Zurückziehen der beweglichen Abtrennmittel (12) in dem Kanal (7) nach sich zieht, und in welcher sich der Ständer (9) nun in seiner inaktiven, in den Roboter (1) eingezogenen Position, befindet,
    -- einer zweiten, sogenannten inaktiven Position, welche eingenommen ist, wenn sich keine Flüssigkeit in dem Kanal (7) fortbewegt, wobei dies unter Einwirkung eines elastischen Rückstellmittels (13) eine Position der beweglichen Abtrennmittel (12) quer zu dem Kanal (7) nach sich zieht, und in welcher der Ständer (9) sich nun vorstehend in seiner aktiven Position befindet.
  3. Roboter (1) nach Anspruch 2,
    dadurch gekennzeichnet,
    dass die beweglichen Abtrennmittel (12) in dem Flüssigkeitskanal (7) drehbar montiert sind.
  4. Roboter (1) nach einem der Ansprüche 1 bis 3,
    dadurch gekennzeichnet,
    dass die Widerstandsmittel (11) gegen die Flüssigkeitsbewegung in einem Bereich (14) des Flüssigkeitskanals (7), dem sogenannten Verdrängungskanal (14), angeordnet sind, welcher sich zwischen den Erzeugermitteln (8) des Durchflusses der Flüssigkeit im Kanalinneren und der Verdrängungsöffnung (6) befindet.
  5. Roboter (1) nach einem der Ansprüche 1 bis 4,
    dadurch gekennzeichnet,
    dass der Verdrängungskanal (14) senkrecht oder in etwa senkrecht zu der Kontaktfläche (3) der Fortbewegungsmittel (2) des Roboters ist.
  6. Roboter (1) nach Anspruch 3 oder einem der Ansprüche 4 oder 5 in Kombination mit dem Anspruch 3,
    dadurch gekennzeichnet,
    dass die Steuerungsmittel (10) für die Bewegung des Ständers (9) zwischen seiner aktiven und inaktiven Position eine Übertragungszwischenstange (15) aufweisen, welche an einem Endpunkt (16) von ihren Endpunkten durch ein Gelenk mit dem Ständer (9) verbunden ist und an dem anderen Endpunkt (17) von ihren Endpunkten durch ein Gelenk mit den beweglichen Abtrennmitteln (12) verbunden ist und
    dass die Übertragungszwischenstange (15) so eingerichtet ist, dass die Bewegung de Ständers (9) degressiv sein kann, wenn die Abtrennmittel (12) von ihrer inaktiven Position in ihre aktive Position übergehen.
  7. Roboter (1) nach Anspruch 2 oder einem der Ansprüche 3 bis 6 in Kombination mit dem Anspruch 2,
    dadurch gekennzeichnet,
    dass die Steuerungsmittel (10) für die Bewegung des Ständers (9) zwischen seiner aktiven und inaktiven Position einen Zwischenhebel (18) zur Ausrichtung eines unter den nachfolgend ausgesuchten Elementen aufweist: Ständer (9), Zwischenstange (15), bewegliche Abtrennmittel (12) und den elastischen Rückstellmitteln (13) und
    dass der Zwischenhebel (18) so eingerichtet ist, dass die Anstrengung zum Spannen der elastischen Rückstellmittel (13), ausgeübt durch die Flüssigkeit über die Abtrennmittel (12), konstant oder in etwa konstant sein kann, wenn sich diese letzteren von ihrer inaktiven Position in ihre aktive Position fortbewegen.
EP09796767.3A 2008-11-14 2009-11-10 Motorisierter roboter zur reinigung von schwimmbecken oder dergleichen, der bei eintauchen in einem fluid arbeitet Not-in-force EP2356300B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0806347A FR2938578B1 (fr) 2008-11-14 2008-11-14 Robot motorise nettoyeur de piscine ou analogue en fonctionnement immerge dans un fluide
PCT/FR2009/052168 WO2010055259A1 (fr) 2008-11-14 2009-11-10 Robot motorisé nettoyeur de piscine ou analogue en fonctionnement immergé dans un fluide

Publications (2)

Publication Number Publication Date
EP2356300A1 EP2356300A1 (de) 2011-08-17
EP2356300B1 true EP2356300B1 (de) 2015-07-29

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EP09796767.3A Not-in-force EP2356300B1 (de) 2008-11-14 2009-11-10 Motorisierter roboter zur reinigung von schwimmbecken oder dergleichen, der bei eintauchen in einem fluid arbeitet

Country Status (4)

Country Link
US (1) US8402586B2 (de)
EP (1) EP2356300B1 (de)
FR (1) FR2938578B1 (de)
WO (1) WO2010055259A1 (de)

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US8402586B2 (en) 2013-03-26
EP2356300A1 (de) 2011-08-17
FR2938578A1 (fr) 2010-05-21
US20110258789A1 (en) 2011-10-27
WO2010055259A1 (fr) 2010-05-20

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