EP2513392A1 - Submerged-surface-cleaning device comprising a single reversible driving and pumping electric motor - Google Patents

Submerged-surface-cleaning device comprising a single reversible driving and pumping electric motor

Info

Publication number
EP2513392A1
EP2513392A1 EP10807624A EP10807624A EP2513392A1 EP 2513392 A1 EP2513392 A1 EP 2513392A1 EP 10807624 A EP10807624 A EP 10807624A EP 10807624 A EP10807624 A EP 10807624A EP 2513392 A1 EP2513392 A1 EP 2513392A1
Authority
EP
European Patent Office
Prior art keywords
liquid
motor
pumping
hollow body
shaft
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
EP10807624A
Other languages
German (de)
French (fr)
Other versions
EP2513392B1 (en
Inventor
Emmanuel Mastio
Philippe Blanc-Tailleur
Philippe Pichon
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.)
Zodiac Pool Care Europe SAS
Original Assignee
Zodiac Pool Care Europe SAS
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 Zodiac Pool Care Europe SAS filed Critical Zodiac Pool Care Europe SAS
Publication of EP2513392A1 publication Critical patent/EP2513392A1/en
Application granted granted Critical
Publication of EP2513392B1 publication Critical patent/EP2513392B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00Swimming or splash baths or pools
    • E04H4/12Devices or arrangements for circulating water, i.e. devices for removal of polluted water, cleaning baths or for water treatment
    • E04H4/1209Treatment of water for swimming pools
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00Swimming or splash baths or pools
    • E04H4/14Parts, details or accessories not otherwise provided for
    • E04H4/16Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654Self-propelled cleaners
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00Swimming or splash baths or pools
    • E04H4/14Parts, details or accessories not otherwise provided for
    • E04H4/16Parts, details or accessories not otherwise provided for specially adapted for cleaning

Definitions

  • the invention relates to a surface-cleaning apparatus immersed in a liquid such as the walls of a swimming pool, of the self-propelled type with an electric motor.
  • Devices of this type very numerous and known for a long time (typically FR 2 567 552, FR 2 584 442 ...), generally comprise a hollow body; one (or more) electric drive motor (s) coupled to one or more drive members of said body on the immersed surface; and an electric pump motor driving a pumping member such as a propeller generating a flow of liquid between at least one liquid inlet and at least one liquid outlet and through a filtration chamber.
  • a pumping member such as a propeller generating a flow of liquid between at least one liquid inlet and at least one liquid outlet and through a filtration chamber.
  • the engine is optimized for driving the device to achieve sweeping coverage as fast and complete as possible, it can not be simultaneously for pumping debris and filtration.
  • an optimized training involves left and right turns, stops and even reversals of drive direction.
  • the alterations of the operation of the engine to satisfy these trajectory constraints necessarily reduce the efficiency of the pumping member and / or the hydraulic circuit (by inducing losses of charge), and some - in particular a pumping in the direction of discharge in the filtering device- are a priori unacceptable except to specific and complex (pumping unit generating a flow in the same direction regardless of the drive direction of the motor).
  • the device if the device must be bidirectional, it is that is, to be able to make trajectories forwards and backwards, it is excluded to use the same electric motor for pumping and to drive the apparatus in motion, except to provide a pumping member such as a vortex pump or centrifugal pump (see for example US 5,245,723), or articulated pallets (see eg EP 1 070 850), capable of providing a flow of liquid in the same direction regardless of its direction of rotation, but whose pumping performance is poor.
  • a pumping member such as a vortex pump or centrifugal pump (see for example US 5,245,723), or articulated pallets (see eg EP 1 070 850), capable of providing a flow of liquid in the same direction regardless of its direction of rotation, but whose pumping performance is poor.
  • EP 1 022 411 discloses an apparatus capable of being partially driven by the hydraulic flow created, and has two nozzle outlets of opposite directions fed alternately by a valve operated when the pump is stopped.
  • Devices of this type are, however, relatively complex, expensive, and unreliable, particularly with regard to the control valve tilting (or more generally for the change of direction of the hydraulic flow) which requires a logic of operation and / or minus an onboard actuator and / or a specific mechanism likely to lock up.
  • the object of the invention is therefore generally to propose an on-board electric motor-type cleaner which, simultaneously, is more economical in terms of manufacture and use, and has high performances, comparable to those of known apparatuses, in terms of quality and cleaning, and more specifically providing a complete and quick scan of the immersed surface, and good suction quality for waste collection with satisfactory energy efficiency.
  • the invention also aims at providing such an apparatus that is particularly simple, reliable, compact and lightweight, but endowed with significant evolution capabilities, in particular that can be driven in a straight line, or in a turn on one side or the other. other.
  • the invention also aims at providing such a device whose electrical control unit is particularly simple and economical and can be entirely located outside the liquid.
  • the invention thus relates to a surface cleaner apparatus immersed in a liquid comprising:
  • a filtration chamber formed in said hollow body and having:
  • each pumping member arranged to generate a flow of liquid between each liquid inlet and each liquid outlet, each pumping member being formed of an axial pumping propeller with a unidirectional pitch creating a flow of liquid oriented generally according to its rotation axis,
  • a single reversible electric motor carried by said hollow body and comprising a motor shaft connected mechanically, to move them simultaneously with:
  • each pumping propeller in a first direction of rotation of the motor shaft in which each motor unit is driven in a first direction, said before, and each pumping propeller generates the flow of liquid in the normal direction from each liquid inlet to each liquid outlet in order to ensure the cleaning of the immersed surface and the filtration of the solid residues by the filtering device,
  • an apparatus having the combination of features of the invention can be simplified to the extreme, in particular can be devoid of any other actuator or electric motor that the single electric motor that it comprises, may be free of logic circuit or embedded control automation, while actually having high performance in terms of pumping, and cover and speed of scanning.
  • the apparatus can be driven in the first direction of rotation of the motor shaft in the first direction for the majority of the time when it carries out predetermined trajectories, for example substantially in a straight line, and in the rear direction corresponding to the second direction of rotation.
  • each pumping propeller is adapted, in the second direction of rotation of the motor shaft, to generate a non-zero flow of liquid in the retrograde direction from each liquid outlet in the discharge direction to each liquid inlet. preferably without reaching each liquid inlet.
  • the electric control unit is adapted to control the electric motor mainly in the first direction and shorter durations in the second direction.
  • the filtering device comprises at least one anti-backflow valve arranged upstream of the filtering device with respect to the flow of liquid in the normal direction of liquid pumping, each valve being arranged to preventing, in the retrograde direction, the delivery of the liquid out of the filtering device and out of the hollow body (in particular the discharge via each inlet of the liquid situated at the base of the hollow body and through which the liquid enters the hollow body in the normal direction pumping).
  • the filtering device has at least one inlet arranged upstream with respect to the flow of liquid in the normal direction of liquid pumping, and at least one valve is arranged at each input upstream of the device. filtering.
  • an apparatus according to the invention is also advantageously characterized in that the engine comprises a body mounted in a longitudinal plane with the motor shaft inclined upwards and backwards by an angle greater than 0 ° and lower at 90 ° relative to the horizontal, in particular between 30 ° and 75 ° for example of the order of 50 °.
  • An apparatus according to the invention is also advantageously characterized in that it comprises a pumping helix coupled to an upper rear end of the driving shaft opening on one side of the engine body, and in that another front end The lower end of the motor shaft opens on the other side of the motor body and is coupled to a bevel gear driving two coaxial front half axles forming a single front drive axle.
  • an apparatus comprises a single axial pumping propeller directly mounted on one end of the motor shaft acting as a rotation shaft for this propeller.
  • the electronic components of the device are all incorporated in the electrical control unit which is located outside the liquid (not on board) and is connected to the hollow body and the motor by a cable.
  • the hollow body may therefore be free of any specific electrical or electronic circuit.
  • the electrical control unit of an apparatus according to the invention can be simplified to the extreme.
  • the electrical control unit is adapted to supply the motor according to a value of the rotation speed of the motor shaft chosen in a plurality of absolute discrete values of the speed of rotation. of the tree, especially according to the direction of movement, two values: a fast, a slow.
  • an apparatus according to the invention is free of movable mechanical member (that is to say, driven in movement relative to the hollow body) cleaning such as a brush or a doctor blade, so that it is simplified to the extreme.
  • the invention also relates to an apparatus characterized in combination by all or some of the characteristics mentioned above or below.
  • FIGS. 1 to 4 are diagrammatic perspective views from different angles (respectively three quarter upper front, three quarter upper rear, three quarter lower front and three quarter rear lower) of an apparatus according to one embodiment of the invention. ,
  • FIGS. 5 and 6 are schematic exploded perspective views from two different angles (respectively three-quarter front lower and three-quarter upper rear) of the apparatus according to the invention of FIGS. 1 to 4,
  • FIG. 7 is a schematic sectional view through a vertical longitudinal plane along the line VII-VII of FIG. 1, showing the apparatus according to the invention driven in the normal forward direction of cleaning,
  • FIG. 8 is a diagrammatic sectional view along the line VII-VII of FIG. 1, showing the apparatus according to the invention driven in a rearward direction with a pitched attitude;
  • FIG. 9 is a diagrammatic view in a rearward section along the line IX-IX of FIG. 7,
  • FIG. 10 is a diagrammatic cross-sectional view along line X-X of FIG. 7,
  • FIGS. 1a to 11c are schematic views of the profile of the apparatus according to the invention of FIGS. 1 to 4 respectively with a normal attitude of displacement, with a first pitched attitude and with a second pitched attitude,
  • FIGS. 12a to 12c are diagrammatic views from below of FIGS. 1a to 11c, respectively with a normal attitude of displacement, with a first pitched attitude and with a second pitched attitude.
  • the apparatus according to the invention shown in the figures is a self-propelled submerged surface cleaner of electrical type, that is to say connected only by an electric cable 3 to a control unit 4 located outside the liquid. .
  • the apparatus is described with a displacement attitude on a submerged surface (inclination in a plane containing the direction of displacement and orthogonal to the immersed surface) assumed to be horizontal. It goes without saying that the apparatus according to the invention can just as easily move on non-horizontal surfaces, in particular inclined or vertical surfaces.
  • This apparatus comprises a hollow body 1 formed of different walls of rigid synthetic material assembled to each other, on the one hand to delimit a filter chamber 2, on the other hand to form receiving frame and carrying guiding members 5, 6 and drive, a single electric motor 8 having a drive shaft 9, a mechanical transmission between the motor shaft 9 of the electric motor 8 and at least one guiding and driving member, said motor member, and a propeller 10 axial pumping.
  • the hollow body 1 has a lower rear shell 11 forming a frame, completed by a hood 12 upper front removable from the shell 11.
  • the hood 12 is provided with a front transverse handle 47 for handling and carry the device.
  • the hull 11 carries two large coaxial front and coaxial front wheels 5 of the same diameter.
  • the 5-wheel drive has the largest possible diameter that does not increase the vertical size of the device.
  • the diameter of the front wheels corresponds at least to the height (dimension in the normal direction to the rolling plane 22 to the immersed surface) overall of the apparatus according to the invention.
  • the diameter of the front wheels is between 250 mm and 300 mm in particular is of the order of 275 mm.
  • These large wheels 5 prove to provide decisive and unexpected advantages. Firstly, they prevent any inadvertent contact of a prominent part of the hollow body on the immersed surface, and thus allow some protection of this immersed surface during operation of the apparatus. Conversely, they provide a certain protection of the hollow body itself vis-à-vis shocks from external objects that come only in contact with the large wheels 5. Also, they provide improved traction of the device from of the same electric motor. They are also particularly advantageous in the context of an apparatus having at least one pitched attitude in at least one driving direction, insofar as they facilitate considerably this upset.
  • the front wheels 5 are coupled via a mechanical transmission to the motor shaft 9 of the electric motor 8, and are therefore rotated by the latter. They thus form a front axle 7 engine. Each front wheel 5 is guided in rotation on the shell 11 about a transverse axis 13 defining the axis of the front axle 7. Each front wheel 5 has an internal ring gear 14 for receiving a pinion 15 mounted at the end. a driving half-shaft 16 coupled to a central bridge 17 comprising a pinion 18 rotated by a worm 19 at a lower front end of the drive shaft 9.
  • the pinion 18 is rotated in one direction, and each pinion 15 is also driven by rotation in one direction, which causes the corresponding front wheel 5 in one direction.
  • the motor 8 makes it possible to drive the front-wheel-drive wheels in either of the two directions of rotation, forwards and backwards.
  • the shell 11 also carries a rear wheel 6 free to rotate (non-driving) about a transverse axis 21.
  • This wheel 6 constitutes a rolling guide member which, in the example shown, is not motor, it is that is to say, does not exert the drive function and is not directional, that is to say that its axis 21 is fixed and parallel to the axis 13 of the drive axle 5.
  • Both wheels before 5 and the rear wheel 6 define the same plane, said rolling plane 22, corresponding to the immersed surface when the device is in normal cleaning movement on the latter, all the wheels 5, 6 being in contact with the immersed surface .
  • the single electric motor 8 functions not only as a driving motor for the drive wheels, but also as a pumping motor driving the propeller 10 in rotation about its axis.
  • the motor shaft 9 of the motor 8 passes longitudinally through the body of the motor and opens axially protruding from both sides of the motor body, that is to say with a lower front end 20 driving the wheels 5 as indicated above, and with an upper rear end 23 to which the pump propeller 10 is directly coupled rotatably.
  • the hull 11 carries the electric motor 8 in an inclined position relative to the rolling plane 22, that is to say with the drive shaft 9 (which opens axially from both sides of the engine body) inclined at a different angle ⁇ 0 ° and 90 ° relative to the rolling plane 22.
  • the drive shaft 9 is not orthogonal to the rolling plane 22.
  • the angle of inclination is between 30 ° and 75 ° by example of the order of 50 °.
  • the angle a is also the angle of inclination of the axis of the propeller 10, and the direction 24 of the hydraulic flow generated by the latter.
  • the angle a also corresponds to the general direction of the hydraulic reaction generated by the flow of liquid at the outlet 37 in normal pumping direction, and to the filter 33 in the retrograde direction.
  • Such an inclination has many advantages, and in particular makes it possible to confer on the apparatus according to the invention a great compactness, and to exploit the hydraulic reaction force resulting from the flow of liquid generated by the propeller 10, particularly its component parallel to the rolling plane 22, for driving the device in the normal direction.
  • the shell 11 also has a lower opening 25 extending transversely substantially over the entire width and slightly offset forwardly relative to the vertical transverse plane (orthogonal to the rolling plane 22) containing the axis 13 of the axle 7 engine .
  • This opening 25 forms a liquid inlet at the base of the hollow body in normal pumping direction for cleaning the immersed surface.
  • This opening 25 preferably has a flap 26 extending along its rear edge and on the sides to facilitate the suction of debris.
  • the opening 25 also preferably has a rib 29 extending along its downwardly projecting front edge to create a turbulent effect at the rear of this rib 29 tending to loosen debris from the surface. immersed and accelerate the flow of the liquid entering the opening 25.
  • the opening 25 is adapted to receive a lower end
  • the assembly constitutes a liquid inlet at the base of the hollow body 1, by which the liquid sucked by the suction resulting from the pumping propeller 10 when the latter is driven in the normal direction of pumping by the motor 8.
  • the conduit 28 extends generally over the entire width of the hood
  • the cover 12 is adapted to be able to receive and carry a filter 33 extending at the rear duct 28 so as to receive the flow of liquid (loaded with debris) opening out of the upper opening 28 of the inlet conduit.
  • This filter 33 is formed of rigid filtering walls, and is in liquid communication at its upper rear portion 34 with an inlet 35 of a duct 36 receiving the axial pumping propeller 10, this duct 36 extending generally in the direction 24 pumping the liquid, in the rearward extension upwardly of the drive shaft 9, to an outlet 37 of liquid out of the hollow body 1 through which the liquid escapes globally in the direction 24 when the propeller 10 is driven by the motor 8 in the normal direction of pumping.
  • the liquid path in the normal direction of pumping in the liquid circulation hydraulic circuit thus formed between the liquid inlet 25 and the liquid outlet 37 through the filter 33 is shown schematically by arrows in FIG. 31 acting as a valve is located at the inlet of the filter 33 which coincides with the upper opening of the inlet conduit 28.
  • a valve the function of which is to prevent, in the sense retrograde, any discharge of liquid out of the hollow body via the inlet 25, could be incorporated within the same conduit 28 input.
  • the motor 8 is carried under a lower wall 38 inclined tightly of the shell 11 which defines the filter chamber 2 receiving the filter 33.
  • the upper end 23 of the drive shaft 9 passes through the sealed wall 38 in a portion 39 of the it forms the lower part of the duct 36, and this passage is itself sealed, that is to say is carried out by a device 40 with seal (s) sealing (for example of the stuffing box) ensuring the sealing between the rotating motor shaft 9 and the wall 38.
  • the main outlet 37 of the liquid from the hollow body 1 is provided with a protective grid 41 guiding the flow generated in the normal direction of pumping and preventing the passage of debris in the direction of the discharge towards the interior of the hollow body 1 when the propeller 10 is driven in retrograde direction contrary to the normal direction of pumping.
  • the control unit 4 is preferably located outside the liquid and adapted to supply, by the cable 3, a power supply voltage to the motor 8. This supply voltage makes it possible, according to its polarity, to control the motor 8 in a direction or in the other and at different speeds of rotation.
  • Such a control unit 4 may be formed of a power supply connected to the mains and comprising a pulse width modulation control logic driving a circuit forming a voltage source (based on at least one switching transistor).
  • the control unit 4 comprises an inversion circuit for delivering a supply voltage to the motor 8 whose polarity can be changed (positive polarity for driving in the forward direction, negative polarity for driving in the backward direction), and whose The average value can be modified by means of the pulse width modulation logic so as to take one of several distinct values corresponding respectively to several driving speeds of the motor 8, and therefore to several speeds of movement of the apparatus.
  • the sign + designates a displacement in the forward direction; the sign - designates a displacement in the backward direction.
  • the logic The control unit can be programmed so that the control unit 4 delivers a voltage whose average value can take, in absolute value, a value chosen from three predetermined values corresponding to these three speeds.
  • the control unit 4 may advantageously incorporate a timing logic that makes it possible to control the different drive directions and the different speeds in predetermined, fixed and memorized durations and / or randomly defined, for example from a pseudo-random variable generator. .
  • a control unit 4 is particularly simple in its design and manufacture.
  • the front wheels 5 are driven in rotation in the direction before moving the apparatus (FIGS. 7 and 11a, the wheel 6 being at the rear of the engine).
  • the driving axle in contact with the immersed surface).
  • the axial pumping propeller 10 is driven in the normal direction of pumping the liquid from the opening 25 at the base of the hollow body 1 to the outlet 37 through which the liquid escapes.
  • the flap 31 is open and the debris sucked by the opening 25 with the liquid is retained in the filter 33.
  • the motor 8 is controlled at a predetermined speed so that the apparatus is driven in forward motion at a predetermined speed + V, referred to as normal speed, as fast as possible in order to optimize cleaning.
  • a predetermined speed + V referred to as normal speed
  • the normal speed + V corresponds to the maximum speed of rotation of the motor 8.
  • the front wheels 5 are driven in rotation in the rear direction of movement of the apparatus (FIG. 8, the wheel 6 then being in front of the driving axle 7 with respect to this direction of rotation. displacement).
  • the axial pumping propeller 10 is driven in the opposite direction to its normal pumping direction and generates a non-zero flow of liquid in the retrograde direction from the outlet 37 to the inside of the hollow body 1.
  • the propeller 10 is an axial pumping propeller with a unidirectional and preferably fixed pitch (having blades fixed rigidly on a rotor, extending radially with respect to the latter and having a pitch in one direction) generating a flow rate liquid oriented generally along its axis of rotation (the propeller 10 is not centrifugal type) in one direction or the other in the direction of rotation of the helix about its axis.
  • the propeller 10 is optimized to generate an optimal flow when it is rotated about its axis in the normal direction of pumping. But when she is driven in rotation about its axis in the opposite direction to this normal direction of pumping, the propeller 10 generates a non-zero flow of liquid in the retrograde direction.
  • the flap 31 is automatically in the closed position (because of the gravity and / or under the effect of the flow in retrograde direction), preventing any discharge of debris into the duct 28, so that the debris remains confined inside the filter 33.
  • the flow in retrograde direction can be evacuated by the unavoidable leaks of the apparatus (the latter may be free of orifice and specific discharge valve of the flow in retrograde direction ), or by one or more specific orifice (s) valve (s) formed (s) in the shell 11 for this purpose, for example a lateral orifice (variant not shown).
  • the apparatus is designed so that it can be swirled on one side (for example to the left with respect to its direction of movement) for a first speed of the motor 8 corresponding to a first speed -VI displacement of the apparatus in the rear direction and at a first attitude, pitched up or not upward, of the apparatus, and in gyration on the other side (for example to the right with respect to its direction of movement) for a second speed of the motor 8 corresponding to a second speed -V2 of movement of the device in the rear direction and a second nose-up attitude of the aircraft, this second speed -V2 being different, notably faster, than the first speed -VI.
  • the increase in speed of movement in the rear direction generates an acceleration which induces a moment of inertia tending to increase the pitching of the apparatus.
  • the general balancing of the apparatus can be adapted to obtain the more or less pitched or unplated plates desired, according to the different speeds corresponding.
  • the pumping device may also, in a variant not shown, participate in the setting up trim (s) up (s).
  • the pumping propeller 10 is a directly coupled unidirectional pitch propeller rotatably connected to the upper rear end 23 of the drive shaft 9.
  • An unidirectional pitch axial pumping propeller comprises blades extending generally radially and having a pitch which is preferably fixed, which could however be variable, but which, in any event, does not change direction, that is to say is always oriented in a single direction direction, so that the direction of the liquid flow generated by the rotation of the helix depends on the direction of rotation of the latter.
  • the propeller 10 When the propeller 10 is rotated in the normal direction of pumping (corresponding to the cleaning of the surface immersed), it pumps the liquid from each liquid inlet at the base of the hollow body to each main liquid outlet. When the propeller 10 is rotated in the retrograde direction, it pumps the liquid in the discharge direction from each main liquid outlet.
  • the axial pumping propeller 10 driven in the retrograde direction generates a flow of liquid that can escape from the hollow body by at least one liquid outlet, called the secondary outlet (not shown).
  • the flow of liquid escaping through at least one such secondary outlet is oriented such that this current creates by reaction, forces whose resultant, called secondary hydraulic reaction force, generates a rotation torque of the apparatus by pivoting the hollow body around the axle 7.
  • This pair of pitching around the axis 13 of the axle 7 engine tends to pitch the device, that is to say, to lift the wheel 6.
  • a hydraulic reaction secondary force exerts a pivoting torque of the device around the axis 13 of the axle 7 motor in the direction of increasing the pitching device.
  • the direction of the fluid flow generated in the retrograde direction and outgoing by such a secondary outlet is not secant with the axis 13 of the axle 7 engine, and is oriented in the appropriate direction to at least participate in the pitching of the hollow body around the pitching axle.
  • Such a participation of the flow of liquid in the retrograde direction at the pitching of the apparatus is however not necessary, and, in the embodiment represented by way of example, the obtaining of each pitched attitude results solely from motor torque on the drive axle and the overall balancing of the device.
  • Modifications of trajectory can be obtained according to the attitude, more or less pitched or not, that is to say according to the inclination of the hollow body 1 about the axis 13 of the axle 7 engine relative to the immersed surface, for example (variant not shown) because the horizontal component (parallel to the immersed surface) of the forward hydraulic resistance is unbalanced and causes a gyration on one side of the apparatus.
  • the shell 11 may have flaps or ribs whose hydraulic effect is dependent on the tilting inclination of the device.
  • they can be obtained by a lateral shift of a guiding and driving member and / or brushing, or according to a spontaneous pivoting of a wheel following the change of direction of movement.
  • changes in trajectory can be obtained by different configurations of the guiding and driving members in contact with the immersed surface and / or by laterally offset braking members coming or not in contact with the immersed surface, according to the pitched attitude of the aircraft.
  • the shell 11 has a portion 42 of wall extending forwardly from the opening 25, over its entire width, substantially marrying the contour of the front wheels 5.
  • This portion 42 wall is provided with two pads 43, 44, each pad being arranged so as to come into contact with the immersed surface to locally brake and / or take off the hollow body 1 if the apparatus takes a predetermined pitched attitude specific for each pad 43, 44, the wheel 6 being detached from said immersed surface.
  • a first fixed pad 43 is disposed on one side, for example on the right as shown, secured to the front portion 42 of the shell 11 and projects radially outwardly from this portion 42 so as to to come into contact with the immersed surface when the apparatus is in a first nose-up attitude shown in FIG. 11b, for the first -VI slow speed of displacement in the rear direction corresponding to the first slow speed of rotation of the engine 8.
  • the second pad 44 is not in contact with the immersed surface and the apparatus is swirled on one side (to the left relative to the direction of movement in the example shown) in the rear direction because of the friction of the first pad 43 on the immersed surface and / or detachment of the front right wheel.
  • the first shoe 43 is arranged at the front of the drive axle, and comes, in the first pitched attitude, in contact with the immersed surface at the rear of the driving axle relative to the direction of displacement (backward direction).
  • the second fixed pad 44 is disposed on the other side, for example on the left as shown, secured to the front portion 42 of the shell 11 and protrudes radially outwardly from this portion 42 of way to come into contact with the immersed surface when the aircraft is in a second nose-up attitude shown in FIG. 11c, of greater inclination than the first nose-up attitude.
  • This second nose-up attitude is obtained for the second fast speed -V2 of displacement in the rear direction corresponding to the second fast speed of rotation of the engine 8.
  • the first pad 43 is no longer in contact with the immersed surface.
  • the apparatus is rotated on the other side (to the right in the example shown) in the rear direction because of the friction of the second pad 44 on the immersed surface and / or the detachment of the wheel 5 front left .
  • the second shoe 44 is also arranged at the front of the driving axle, and comes, in the second nose-up attitude, in contact with the immersed surface at the rear of the driving axle relative to the direction of displacement (backward direction ).
  • the first pad 43 is arranged to come into contact with the immersed surface only in said first nose-up attitude
  • the second pad 44 is arranged to come into contact with the immersed surface only in said second nose-up attitude.
  • the first runner 43 is not in contact with the submerged surface.
  • the pads 43, 44 are distant of the immersed surface, and therefore inactive.
  • a shoe 43, 44 capable of causing a detachment of a driving wheel causes rapid gyration of the apparatus by localized arrest.
  • a pad 43, 44 able to rub on the immersed surface without causing a detachment of a wheel 5 motor generates a slower gyration of the device by localized braking.
  • an apparatus comprises at least one pad 43, 44 arranged to come into contact with the immersed surface in at least one pitched attitude of the apparatus so as to cause the apparatus to turn side.
  • Such pad is inactive (away from the immersed surface) when the hollow body is in its normal operating position (cleaning the immersed surface) and can be adapted to only locally brake the hollow body by frictional contact with the immersed surface when the latter is in a predetermined pitch attitude, thus causing a gyration on one side.
  • a pad may be adapted to locally loosen the hollow body, and at least one guide member for the up-and-down axle -in particular a guide and motor-drive member located near the pad.
  • such a shoe may be arranged offset laterally with respect to the pitching axle (with respect to a median direction of the pitching axle) in order to cause local braking or detachment of a guiding member-in particular a motor guiding and driving member, and thus a gyration of the apparatus on a predetermined side; or, alternatively, not shown, on the contrary be generally centered on a median direction of the pitching axle to cause detachment of each guide member - in particular of each guide member and motor drive, the apparatus being driven gyration on one side or the other (defined randomly) due to unavoidable operating imbalances due for example to the traction of the power cable.
  • the control unit 4 is extremely simple in its design and implementation. It is adapted so that the apparatus is mainly driven forward in a straight line.
  • Engine 8 is interrupted from time to time and controlled in reverse at the first slow speed (corresponding to the -VI moving speed) from time to time and at the second fast speed (corresponding to the -V2 moving speed) from time to time.
  • the different control times of the motor 8: Tl in the forward direction at high speed + V, T2 in the backward direction at slow speed -VI, T3 in the reverse direction at normal high speed -V2, and T4 in the interruptions of the motor 8, are defined randomly (by a random generator, that is to say a pseudo-random variable generator) and / or in a predetermined manner.
  • these durations can be defined so as to limit the entanglement of the cable 3, that is to say by ensuring that the accumulations of the periods of gyration on the left are similar to the accumulations of the times of gyration on the right.
  • T1 is between 10s and 1 min, for example of the order of 20s; T2 and T3 are both less than T1, for example between 3s and 15s, in particular between 5s and 8s; and T4 is less than each of the durations T1, T2, and T3, is between 0.5s and 5s, in particular is of the order of 2s.
  • each pitch attitude of the device does not require a particularly complex operating logic in that it can be obtained by simply balancing the device in production.
  • the presence of the pads 43, 44 facilitates this control, each of these pads 43, 44 acting as limit stop pivoting in each pitched attitude.
  • this control can remain relatively imprecise to the extent that the period of pitch up attitude of the device are low, this configuration of displacement does not correspond to the normal cleaning configuration.
  • the apparatus according to the invention is extremely simple to design and manufacture, and therefore very economical, but nevertheless very powerful. Indeed, with a single electric motor 8 and a control unit 4 reduced to its more simple expression, all the most complex functionalities of an electrical device are obtained.
  • the apparatus according to the invention is also particularly light, easy to handle, ergonomic and particularly aesthetic. It consumes very little energy and is respectful of the environment. It has a long life and excellent reliability especially given the small number of parts it incorporates.
  • the invention may be the subject of numerous variants with respect to the preferred embodiment shown in the figures and described above.
  • the invention is equally applicable to an apparatus provided with guide and drive members for motors or non-motors other than wheels (tracks, brushes, etc.).
  • the device may have several liquid inlets, several liquid outlets, or even several pumping propellers driven by the same engine.
  • the motor 8 may be driven in a discrete plurality of speeds which may comprise more different speeds than in the example described above.
  • the shoes 43, 44 may be replaced or supplemented by a shoe generally centered on a median axle direction (not laterally offset) causing, in a predetermined pitch attitude of the apparatus, a detachment of the two drive wheels, and a random gyration of the device due to the inevitable imbalances of the latter (for example due to the necessarily off-axis traction of the power cable).
  • the apparatus according to the invention is advantageously free of an actuator and an onboard logic and / or electronic circuit.
  • the device may include if necessary electronic components and / or onboard actuators.
  • the control unit could be embedded, including for example with a built-in storage battery acting as a source of electrical energy, the device being completely autonomous.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Motor Power Transmission Devices (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Toys (AREA)
  • Cleaning In General (AREA)

Abstract

The invention relates to a device for cleaning a surface submerged in a liquid, comprising: a hollow body; guiding and driving members (5, 6); a filtration chamber in the hollow body; at least one liquid inlet; at least one outlet for discharging liquid from the hollow body; at least one axial pumping impeller (10); and a single reversible electric motor (8), the drive shaft of which is mechanically connected to at least one motor member and to each pumping impeller simultaneously in order to drive same. In a first drive shaft (9) direction of rotation, each motor member is driven forwards and each pumping impeller generates a flow of liquid in the normal direction, thereby cleaning the submerged surface. In a second drive shaft (9) direction of rotation, each motor member is driven backwards, opposite the aforementioned forward direction.

Description

APPAREIL NETTOYEUR DE SURFACE IMMERGÉE À MOTEUR ÉLECTRIQUE UNIQUE RÉVERSIBLE D'ENTRAÎNEMENT ET DE POMPAGE  SUBSEQUENT SURFACE CLEANING APPARATUS WITH UNIQUE REVERSIBLE DRIVING AND PUMPING ELECTRIC MOTOR
L'invention concerne un appareil nettoyeur de surface immergée dans un liquide telle que les parois d'une piscine, du type automoteur à moteur électrique.  The invention relates to a surface-cleaning apparatus immersed in a liquid such as the walls of a swimming pool, of the self-propelled type with an electric motor.
Les appareils de ce type, très nombreux et connus de longue date (cf. typiquement FR 2 567 552, FR 2 584 442...), comportent en général un corps creux ; un (ou plusieurs) moteur(s) électrique(s) d'entraînement accouplé(s) à un ou plusieurs organe(s) d'entraînement dudit corps sur la surface immergée ; et un moteur électrique de pompage entraînant un organe de pompage tel qu'une hélice générant un débit de liquide entre au moins une entrée de liquide et au moins une sortie de liquide et à travers une chambre de filtration.  Devices of this type, very numerous and known for a long time (typically FR 2 567 552, FR 2 584 442 ...), generally comprise a hollow body; one (or more) electric drive motor (s) coupled to one or more drive members of said body on the immersed surface; and an electric pump motor driving a pumping member such as a propeller generating a flow of liquid between at least one liquid inlet and at least one liquid outlet and through a filtration chamber.
Ces appareils donnent satisfaction mais sont relativement lourds, et coûteux en fabrication et à l'usage, notamment en termes de consommation électrique.  These devices are satisfactory but are relatively heavy, and expensive in manufacturing and use, especially in terms of power consumption.
On a déjà proposé des appareils à moteur électrique unique servant simultanément à générer l'entraînement de l'appareil et le pompage du liquide. Ces appareils simplifiés souffrent cependant de performances médiocres, notamment en termes d'efficacité de nettoyage (rapidité et/ou qualité du balayage de la totalité de la surface et/ou capacité de pompage des débris).  It has already been proposed devices with a single electric motor serving simultaneously to generate the drive of the device and the pumping of the liquid. These simplified devices, however, suffer from poor performance, especially in terms of cleaning efficiency (speed and / or quality of scanning of the entire surface and / or pumping capacity of the debris).
En effet si le moteur est optimisé pour l'entraînement de l'appareil pour réaliser une couverture de balayage aussi rapide et complète que possible, il ne peut l'être simultanément pour le pompage des débris et leur filtration. En particulier, un entraînement optimisé suppose des virages à gauche et à droite, des arrêts, voire des inversions de sens d'entraînement. Les altérations du fonctionnement du moteur pour satisfaire ces contraintes de trajectoires diminuent nécessairement l'efficacité de l'organe de pompage et/ou du circuit hydraulique (en induisant des pertes de charges), et certaines -notamment un pompage en sens de refoulement dans le dispositif de filtrage- sont a priori inacceptables sauf à prévoir des dispositions spécifiques et complexes (organe de pompage générant un débit dans le même sens quel que soit le sens d'entraînement du moteur). Indeed, if the engine is optimized for driving the device to achieve sweeping coverage as fast and complete as possible, it can not be simultaneously for pumping debris and filtration. In particular, an optimized training involves left and right turns, stops and even reversals of drive direction. The alterations of the operation of the engine to satisfy these trajectory constraints necessarily reduce the efficiency of the pumping member and / or the hydraulic circuit (by inducing losses of charge), and some - in particular a pumping in the direction of discharge in the filtering device- are a priori unacceptable except to specific and complex (pumping unit generating a flow in the same direction regardless of the drive direction of the motor).
En particulier, jusqu'à maintenant, dans les appareils antérieurs dans lesquelles le pompage est assuré par un moteur électrique embarqué, et l'entraînement est également assuré par au moins un moteur électrique embarqué, si l'appareil doit être bidirectionnel, c'est-à-dire pouvoir effectuer des trajectoires vers l'avant et vers l'arrière, on exclut d'utiliser le même moteur électrique pour le pompage et pour entraîner l'appareil en déplacement, sauf à prévoir un organe de pompage tel qu'une pompe « vortex » ou centrifuge (cf. par exemple US 5,245,723), ou à palettes articulées (cf. par exemple EP 1 070 850), susceptible de fournir un débit de liquide dans le même sens quel que soit son sens de rotation, mais dont les performances de pompage sont médiocres.  In particular, until now, in the previous devices in which the pumping is provided by an onboard electric motor, and the drive is also provided by at least one onboard electric motor, if the device must be bidirectional, it is that is, to be able to make trajectories forwards and backwards, it is excluded to use the same electric motor for pumping and to drive the apparatus in motion, except to provide a pumping member such as a vortex pump or centrifugal pump (see for example US 5,245,723), or articulated pallets (see eg EP 1 070 850), capable of providing a flow of liquid in the same direction regardless of its direction of rotation, but whose pumping performance is poor.
Dans une autre catégorie d'appareil, il est prévu que l'entraînement de l'appareil soit au moins pour partie réalisé à partir de la réaction hydraulique induite par le flux généré par le pompage. Ainsi, par exemple, EP 1 022 411 (ou US 2004/0168838) décrit un appareil susceptible d'être partiellement entraîné par le flux hydraulique créé, et présente deux sorties de tuyères de sens opposés alimentées alternativement par un clapet manœuvré lorsque la pompe est arrêtée. Les appareils de ce type sont cependant relativement complexes, coûteux, et peu fiables, notamment en ce qui concerne la commande de basculement du clapet (ou plus généralement pour le changement de direction du flux hydraulique) qui nécessite une logique de fonctionnement et/ou au moins un actionneur embarqué et/ou un mécanisme spécifique susceptible de se bloquer.  In another category of apparatus, it is expected that the drive of the apparatus is at least partly made from the hydraulic reaction induced by the flux generated by the pump. Thus, for example, EP 1 022 411 (or US 2004/0168838) discloses an apparatus capable of being partially driven by the hydraulic flow created, and has two nozzle outlets of opposite directions fed alternately by a valve operated when the pump is stopped. Devices of this type are, however, relatively complex, expensive, and unreliable, particularly with regard to the control valve tilting (or more generally for the change of direction of the hydraulic flow) which requires a logic of operation and / or minus an onboard actuator and / or a specific mechanism likely to lock up.
L'invention vise donc de façon générale à proposer un appareil nettoyeur du type à moteur électrique embarqué qui, simultanément, soit plus économique en termes de fabrication et d'utilisation, et présente des performances élevées, comparables à celles des appareils connus, en termes de qualité et de nettoyage, et plus particulièrement procurant un balayage complet et rapide de la surface immergée, et une bonne qualité d'aspiration pour la collecte des déchets avec un rendement énergétique satisfaisant. The object of the invention is therefore generally to propose an on-board electric motor-type cleaner which, simultaneously, is more economical in terms of manufacture and use, and has high performances, comparable to those of known apparatuses, in terms of quality and cleaning, and more specifically providing a complete and quick scan of the immersed surface, and good suction quality for waste collection with satisfactory energy efficiency.
L'invention vise également à proposer un tel appareil qui soit particulièrement simple, fiable, compact et léger, mais doué de capacités d'évolution importantes, notamment qui peut être entraîné en ligne droite, ou en virage d'un côté ou de l'autre.  The invention also aims at providing such an apparatus that is particularly simple, reliable, compact and lightweight, but endowed with significant evolution capabilities, in particular that can be driven in a straight line, or in a turn on one side or the other. other.
L'invention vise également à proposer un tel appareil dont l'unité de commande électrique est particulièrement simple et économique et peut être entièrement située hors du liquide.  The invention also aims at providing such a device whose electrical control unit is particularly simple and economical and can be entirely located outside the liquid.
L'invention concerne donc un appareil nettoyeur de surface immergée dans un liquide comprenant :  The invention thus relates to a surface cleaner apparatus immersed in a liquid comprising:
- un corps creux,  - a hollow body,
- des organes de guidage et d'entraînement dudit corps sur la surface immergée, - Guide and drive members of said body on the immersed surface,
- une chambre de filtration ménagée dans ledit corps creux et présentant : a filtration chamber formed in said hollow body and having:
- au moins une entrée de liquide dans le corps creux,  at least one liquid inlet in the hollow body,
- au moins une sortie de liquide hors du corps creux,  at least one liquid outlet out of the hollow body,
- un circuit hydraulique de circulation de liquide entre chaque entrée de liquide et chaque sortie de liquide à travers un dispositif de filtrage,  a hydraulic circuit for circulating liquid between each liquid inlet and each liquid outlet through a filtering device,
- au moins un organe de pompage agencé pour générer un débit de liquide entre chaque entrée de liquide et chaque sortie de liquide, chaque organe de pompage étant formé d'une hélice de pompage axial à pas unidirectionnel créant un flux de liquide orienté globalement selon son axe de rotation,  at least one pumping member arranged to generate a flow of liquid between each liquid inlet and each liquid outlet, each pumping member being formed of an axial pumping propeller with a unidirectional pitch creating a flow of liquid oriented generally according to its rotation axis,
- un unique moteur électrique réversible porté par ledit corps creux et comprenant un arbre moteur relié mécaniquement, pour les mouvoir, simultanément à :  a single reversible electric motor carried by said hollow body and comprising a motor shaft connected mechanically, to move them simultaneously with:
- au moins l'un desdits organes de guidage et d'entraînement, dit organe moteur,  at least one of said guiding and driving members, said driving member,
- chaque hélice de pompage,  - each pump propeller,
- une unité de commande électrique reliée au moteur pour l'alimenter et le commander : - dans un premier sens de rotation de l'arbre moteur dans lequel chaque organe moteur est entraîné dans un premier sens, dit avant, et chaque hélice de pompage génère le débit de liquide en sens normal depuis chaque entrée de liquide vers chaque sortie de liquide de façon à assurer le nettoyage de la surface immergée et la filtration des résidus solides par le dispositif de filtrage, - an electric control unit connected to the motor to power and control it: in a first direction of rotation of the motor shaft in which each motor unit is driven in a first direction, said before, and each pumping propeller generates the flow of liquid in the normal direction from each liquid inlet to each liquid outlet in order to ensure the cleaning of the immersed surface and the filtration of the solid residues by the filtering device,
- dans un deuxième sens de rotation de l'arbre moteur dans lequel chaque organe moteur est entraîné dans un deuxième sens, dit arrière, opposé au premier sens.  - In a second direction of rotation of the motor shaft in which each motor member is driven in a second direction, said back, opposite to the first direction.
Contrairement à tous les enseignements de l'état de la technique, un appareil présentant la combinaison de caractéristiques de l'invention peut être simplifié à l'extrême, en particulier peut être exempt de tout autre actionneur ou moteur électrique que le moteur électrique unique qu'il comporte, peut être exempt de circuit logique ou automatisme de pilotage embarqué, tout en présentant en réalité des performances élevées en termes de pompage, et de couverture et de rapidité de balayage. En effet, l'appareil peut être entraîné en sens avant dans le premier sens de rotation de l'arbre moteur la majorité du temps où il effectue des trajectoires prédéterminées, par exemple sensiblement en ligne droite, et en sens arrière correspondant au deuxième sens de rotation de l'arbre moteur de temps à autre, lorsque le besoin s'en fait sentir (par exemple pour sortir d'une situation de blocage ou après détection d'une paroi verticale) ou à des instants prédéterminés ou aléatoires pendant une faible durée. Les inventeurs ont en effet constaté avec surprise qu'en sens arrière, il s'avère que la rotation de l'arbre moteur dans le deuxième sens de rotation n'est en réalité pas réellement nuisible statistiquement au nettoyage de la surface immergée, même si un débit de liquide en sens rétrograde peut éventuellement être généré. À l'inverse, les périodes de fonctionnement en sens arrière peuvent être exploitées pour entraîner une giration de l'appareil au moins d'un côté de façon extrêmement simple et économique. Avantageusement et selon l'invention chaque hélice de pompage est adaptée pour, dans le deuxième sens de rotation de l'arbre moteur, générer un débit non nul de liquide en sens rétrograde depuis chaque sortie de liquide en direction de refoulement vers chaque entrée de liquide de préférence sans atteindre chaque entrée de liquide. Cela étant, il est facile de prévoir dans un appareil selon l'invention des dispositions qui permettent de minimiser voire d'empêcher le refoulement des débris par chaque entrée de liquide en sens rétrograde. Contrary to all the teachings of the state of the art, an apparatus having the combination of features of the invention can be simplified to the extreme, in particular can be devoid of any other actuator or electric motor that the single electric motor that it comprises, may be free of logic circuit or embedded control automation, while actually having high performance in terms of pumping, and cover and speed of scanning. Indeed, the apparatus can be driven in the first direction of rotation of the motor shaft in the first direction for the majority of the time when it carries out predetermined trajectories, for example substantially in a straight line, and in the rear direction corresponding to the second direction of rotation. rotation of the motor shaft from time to time, when the need arises (for example to exit a blocking situation or after detection of a vertical wall) or at predetermined or random instants for a short time . The inventors have indeed observed with surprise that in the backward direction, it turns out that the rotation of the motor shaft in the second direction of rotation is actually not really harmful statistically to the cleaning of the submerged surface, even if a flow of liquid in the retrograde direction can optionally be generated. Conversely, the periods of operation in the rear direction can be exploited to cause the apparatus to turn at least on one side in an extremely simple and economical manner. Advantageously and according to the invention each pumping propeller is adapted, in the second direction of rotation of the motor shaft, to generate a non-zero flow of liquid in the retrograde direction from each liquid outlet in the discharge direction to each liquid inlet. preferably without reaching each liquid inlet. However, it is easy to provide in an apparatus according to the invention provisions that minimize or even prevent the deposition of debris by each liquid inlet in the retrograde direction.
Tout d'abord, il suffit de prévoir que les durées d'entraînement dans le deuxième sens de rotation soient très faibles par rapport aux durées d'entraînement dans le premier sens de rotation.  First, it is sufficient to provide that the driving times in the second direction of rotation are very small compared to the driving times in the first direction of rotation.
Ainsi, avantageusement et selon l'invention l'unité de commande électrique est adaptée pour commander le moteur électrique principalement dans le premier sens et selon des durées plus courtes dans le deuxième sens.  Thus, advantageously and according to the invention the electric control unit is adapted to control the electric motor mainly in the first direction and shorter durations in the second direction.
Par ailleurs, avantageusement et selon l'invention le dispositif de filtrage comporte au moins un clapet anti-refoulement disposé à l'amont du dispositif de filtrage par rapport au flux de liquide dans le sens normal de pompage du liquide, chaque clapet étant agencé pour empêcher, en sens rétrograde, le refoulement du liquide hors du dispositif de filtrage et hors du corps creux (notamment le refoulement via chaque entrée du liquide située à la base du corps creux et par laquelle le liquide entre dans le corps creux dans le sens normal de pompage). Plus particulièrement, avantageusement et selon l'invention, le dispositif de filtrage présente au moins une entrée disposée en amont par rapport au flux de liquide dans le sens normal de pompage du liquide, et au moins un clapet est agencé à chaque entrée amont du dispositif de filtrage.  Furthermore, advantageously and according to the invention, the filtering device comprises at least one anti-backflow valve arranged upstream of the filtering device with respect to the flow of liquid in the normal direction of liquid pumping, each valve being arranged to preventing, in the retrograde direction, the delivery of the liquid out of the filtering device and out of the hollow body (in particular the discharge via each inlet of the liquid situated at the base of the hollow body and through which the liquid enters the hollow body in the normal direction pumping). More particularly, advantageously and according to the invention, the filtering device has at least one inlet arranged upstream with respect to the flow of liquid in the normal direction of liquid pumping, and at least one valve is arranged at each input upstream of the device. filtering.
II est à noter que de courtes périodes pendant lesquelles le débit de liquide est reflué en sens rétrograde dans le dispositif de filtrage, non seulement ne nuisent pas à l'efficacité de l'appareil selon l'invention, mais au contraire tendent à en améliorer le fonctionnement en décolmatant les parois filtrantes. Par ailleurs, un appareil selon l'invention est aussi avantageusement caractérisé en ce que le moteur comprend un corps monté selon un plan longitudinal avec l'arbre moteur incliné vers le haut et vers l'arrière d'un angle supérieur à 0° et inférieur à 90° par rapport à l'horizontale, notamment compris entre 30° et 75° par exemple de l'ordre de 50°. It should be noted that short periods during which the flow of liquid is refluxed in the retrograde direction in the filtering device, not only do not affect the efficiency of the apparatus according to the invention, but on the contrary tend to improve the operation by unclogging the filter walls. Moreover, an apparatus according to the invention is also advantageously characterized in that the engine comprises a body mounted in a longitudinal plane with the motor shaft inclined upwards and backwards by an angle greater than 0 ° and lower at 90 ° relative to the horizontal, in particular between 30 ° and 75 ° for example of the order of 50 °.
Un appareil selon l'invention est également avantageusement caractérisé en ce qu'il comporte une hélice de pompage accouplée à une extrémité arrière supérieure de l'arbre moteur débouchant d'un côté du corps du moteur, et en ce qu'une autre extrémité avant inférieure de l'arbre moteur débouche de l'autre côté du corps du moteur et est accouplée à un renvoi d'angle entraînant deux demi essieux avant coaxiaux formant un essieu moteur unique avant.  An apparatus according to the invention is also advantageously characterized in that it comprises a pumping helix coupled to an upper rear end of the driving shaft opening on one side of the engine body, and in that another front end The lower end of the motor shaft opens on the other side of the motor body and is coupled to a bevel gear driving two coaxial front half axles forming a single front drive axle.
Avantageusement un appareil selon l'invention comprend une unique hélice de pompage axial directement montée sur une extrémité de l'arbre moteur faisant office d'arbre de rotation pour cette hélice.  Advantageously, an apparatus according to the invention comprises a single axial pumping propeller directly mounted on one end of the motor shaft acting as a rotation shaft for this propeller.
Avantageusement et selon l'invention, l'ensemble des composants électroniques de l'appareil sont tous incorporés dans l'unité de commande électrique qui est située hors du liquide (non embarquée) et est reliée au corps creux et au moteur par un câble. Dans cette variante de réalisation, le corps creux peut donc être exempt de tout circuit électrique ou électronique spécifique. L'unité de commande électrique d'un appareil selon l'invention peut être simplifiée à l'extrême. Ainsi, en particulier, avantageusement et selon l'invention, l'unité de commande électrique est adaptée pour alimenter le moteur selon une valeur de la vitesse de rotation de l'arbre moteur choisie dans une pluralité de valeurs discrètes absolues de la vitesse de rotation de l'arbre, notamment selon pour le sens arrière de déplacement, deux valeurs : une rapide, une lente.  Advantageously and according to the invention, all the electronic components of the device are all incorporated in the electrical control unit which is located outside the liquid (not on board) and is connected to the hollow body and the motor by a cable. In this variant embodiment, the hollow body may therefore be free of any specific electrical or electronic circuit. The electrical control unit of an apparatus according to the invention can be simplified to the extreme. Thus, in particular, advantageously and according to the invention, the electrical control unit is adapted to supply the motor according to a value of the rotation speed of the motor shaft chosen in a plurality of absolute discrete values of the speed of rotation. of the tree, especially according to the direction of movement, two values: a fast, a slow.
En outre, de préférence, un appareil selon l'invention est exempt d'organe mécanique mobile (c'est-à-dire entraîné en mouvement par rapport au corps creux) de nettoyage tel qu'une brosse ou une racle, de sorte qu'il est simplifié à l'extrême. L'invention concerne également un appareil caractérisé en combinaison par tout ou partie des caractéristiques mentionnées ci-dessus ou ci-après. In addition, preferably, an apparatus according to the invention is free of movable mechanical member (that is to say, driven in movement relative to the hollow body) cleaning such as a brush or a doctor blade, so that it is simplified to the extreme. The invention also relates to an apparatus characterized in combination by all or some of the characteristics mentioned above or below.
D'autres buts, caractéristiques et avantages de l'invention apparaîtront à la lecture de la description suivante donnée à titre non limitatif et qui se réfère aux figures annexées dans lesquelles :  Other objects, features and advantages of the invention will appear on reading the following non-limiting description which refers to the appended figures in which:
- les figures 1 à 4 sont des vues schématiques en perspective selon différents angles (respectivement trois quart supérieur avant, trois quart supérieur arrière, trois quart inférieur avant et trois quart inférieur arrière) d'un appareil selon un mode de réalisation de l'invention,  FIGS. 1 to 4 are diagrammatic perspective views from different angles (respectively three quarter upper front, three quarter upper rear, three quarter lower front and three quarter rear lower) of an apparatus according to one embodiment of the invention. ,
- les figures 5 et 6 sont des vues schématiques en perspective éclatée selon deux angles différents (respectivement trois quart inférieur avant et trois quart supérieur arrière) de l'appareil selon l'invention des figures 1 à 4,  FIGS. 5 and 6 are schematic exploded perspective views from two different angles (respectively three-quarter front lower and three-quarter upper rear) of the apparatus according to the invention of FIGS. 1 to 4,
- la figure 7 est une vue schématique en coupe par un plan longitudinal vertical selon la ligne VII- VII de la figure 1, représentant l'appareil selon l'invention entraîné en sens avant normal de nettoyage,  FIG. 7 is a schematic sectional view through a vertical longitudinal plane along the line VII-VII of FIG. 1, showing the apparatus according to the invention driven in the normal forward direction of cleaning,
- la figure 8 est vue schématique en coupe selon la ligne VII- VII de la figure 1, représentant l'appareil selon l'invention entraîné en sens arrière avec une assiette cabrée,  FIG. 8 is a diagrammatic sectional view along the line VII-VII of FIG. 1, showing the apparatus according to the invention driven in a rearward direction with a pitched attitude;
- la figure 9 est une vue schématique en coupe vers l'arrière selon la ligne IX-IX de la figure 7,  FIG. 9 is a diagrammatic view in a rearward section along the line IX-IX of FIG. 7,
- la figure 10 est une vue schématique en coupe vers l'avant selon la ligne X-X de la figure 7,  FIG. 10 is a diagrammatic cross-sectional view along line X-X of FIG. 7,
- les figures l ia à 11c sont des vues schématiques de profil de l'appareil selon l'invention des figures 1 à 4 respectivement avec une assiette normale de déplacement, avec une première assiette cabrée et avec une deuxième assiette cabrée,  FIGS. 1a to 11c are schematic views of the profile of the apparatus according to the invention of FIGS. 1 to 4 respectively with a normal attitude of displacement, with a first pitched attitude and with a second pitched attitude,
- les figures 12a à 12c sont des vues schématiques de dessous des figures l ia à 11c, respectivement avec une assiette normale de déplacement, avec une première assiette cabrée et avec une deuxième assiette cabrée. L'appareil selon l'invention représenté sur les figures est un appareil nettoyeur de surface immergée automoteur de type électrique, c'est-à-dire relié uniquement par un câble électrique 3 à une unité 4 de commande située à l'extérieur du liquide. Dans tout le texte, sauf indication contraire, l'appareil est décrit avec une assiette de déplacement sur une surface immergée (inclinaison dans un plan contenant la direction de déplacement et orthogonal à la surface immergée) supposée être horizontale. Il va de soi que l'appareil selon l'invention peut tout aussi bien se déplacer sur des surfaces non horizontales, notamment inclinées ou verticales. FIGS. 12a to 12c are diagrammatic views from below of FIGS. 1a to 11c, respectively with a normal attitude of displacement, with a first pitched attitude and with a second pitched attitude. The apparatus according to the invention shown in the figures is a self-propelled submerged surface cleaner of electrical type, that is to say connected only by an electric cable 3 to a control unit 4 located outside the liquid. . Throughout the text, unless otherwise indicated, the apparatus is described with a displacement attitude on a submerged surface (inclination in a plane containing the direction of displacement and orthogonal to the immersed surface) assumed to be horizontal. It goes without saying that the apparatus according to the invention can just as easily move on non-horizontal surfaces, in particular inclined or vertical surfaces.
Cet appareil comprend un corps creux 1 formé de différentes parois en matière synthétique rigide assemblées les unes aux autres permettant d'une part de délimiter une chambre de filtration 2, d'autre part de former châssis recevant et portant des organes 5, 6 de guidage et d'entraînement, un moteur 8 électrique unique présentant un arbre moteur 9, une transmission mécanique entre l'arbre moteur 9 du moteur 8 électrique et au moins un organe de guidage et d'entraînement, dit organe 5 moteur, et une hélice 10 de pompage axial.  This apparatus comprises a hollow body 1 formed of different walls of rigid synthetic material assembled to each other, on the one hand to delimit a filter chamber 2, on the other hand to form receiving frame and carrying guiding members 5, 6 and drive, a single electric motor 8 having a drive shaft 9, a mechanical transmission between the motor shaft 9 of the electric motor 8 and at least one guiding and driving member, said motor member, and a propeller 10 axial pumping.
Dans le mode de réalisation représenté, le corps creux 1 présente une coque inférieure arrière 11 formant châssis, complétée par un capot 12 supérieur avant démontable par rapport à la coque 11. Le capot 12 est doté d'une poignée 47 transversale avant permettant de manipuler et transporter l'appareil.  In the embodiment shown, the hollow body 1 has a lower rear shell 11 forming a frame, completed by a hood 12 upper front removable from the shell 11. The hood 12 is provided with a front transverse handle 47 for handling and carry the device.
La coque 11 porte deux grandes roues 5 latérales avant motrices coaxiales et de même diamètre. Les roues 5 motrices présentent le plus grand diamètre possible qui n'augmente pas l'encombrement vertical de l'appareil. Autrement dit, le diamètre des roues 5 avant correspond au moins à la hauteur (dimension selon la direction normale au plan de roulage 22 à la surface immergée) hors tout de l'appareil selon l'invention. Par exemple, le diamètre des roues 5 avant est compris entre 250mm et 300mm notamment est de l'ordre de 275 mm.  The hull 11 carries two large coaxial front and coaxial front wheels 5 of the same diameter. The 5-wheel drive has the largest possible diameter that does not increase the vertical size of the device. In other words, the diameter of the front wheels corresponds at least to the height (dimension in the normal direction to the rolling plane 22 to the immersed surface) overall of the apparatus according to the invention. For example, the diameter of the front wheels is between 250 mm and 300 mm in particular is of the order of 275 mm.
Ces roues 5 de grandes dimensions s'avèrent procurer des avantages déterminants et inattendus. Tout d'abord, elles évitent tout contact intempestif d'une partie proéminente du corps creux sur la surface immergée, et permettent ainsi une certaine protection de cette surface immergée au cours du fonctionnement de l'appareil. Réciproquement, elles assurent une certaine protection du corps creux lui-même vis-à-vis des chocs de la part d'objets extérieurs qui viennent uniquement au contact des grandes roues 5. Également, elles assurent une motricité améliorée de l'appareil à partir d'un même moteur électrique. Elles sont en outre particulièrement avantageuses dans le cadre d'un appareil présentant au moins une assiette cabrée dans au moins un sens d'entraînement, dans la mesure où elles facilitent considérablement ce cabrage. Elles limitent les risques de blocage sur les irrégularités (notamment les creux et/ou les reliefs) de la surface immergée de petites dimensions, et présentent des zones de contact multiples et de diverses orientations (dessus, devant, dessous) avec la surface immergée. En procurant un guidage et un entraînement particulièrement performants et efficaces, elles permettent de réduire les performances et caractéristiques des autres organes de guidage nécessaires (simple roulette 6 dans les exemples représentés), voire de s'en affranchir (variante non représentée). Elles permettent également de réaliser une transmission aussi directe que possible (sans étage de renvoi intermédiaire) entre l'arbre moteur et chaque roue 5 qui peut être dotée, à cet effet, d'une couronne dentée interne dotée de nombreuses dents, réalisant une grande réduction en un seul étage. Elles sont particulièrement avantageuses en combinaison avec un moteur 8 d'axe incliné comme décrit ci-après. These large wheels 5 prove to provide decisive and unexpected advantages. Firstly, they prevent any inadvertent contact of a prominent part of the hollow body on the immersed surface, and thus allow some protection of this immersed surface during operation of the apparatus. Conversely, they provide a certain protection of the hollow body itself vis-à-vis shocks from external objects that come only in contact with the large wheels 5. Also, they provide improved traction of the device from of the same electric motor. They are also particularly advantageous in the context of an apparatus having at least one pitched attitude in at least one driving direction, insofar as they facilitate considerably this upset. They limit the risk of blockage on the irregularities (in particular the hollows and / or the reliefs) of the immersed surface of small dimensions, and have multiple contact zones and various orientations (top, front, bottom) with the submerged surface. By providing guidance and training particularly effective and efficient, they reduce the performance and characteristics of other necessary guide members (simple wheel 6 in the examples shown), or even to emancipate itself (variant not shown). They also make it possible to achieve as direct a transmission as possible (without intermediate return stage) between the motor shaft and each wheel 5 which can be provided, for this purpose, with an internal ring gear having many teeth, making a large reduction in one floor. They are particularly advantageous in combination with a motor 8 inclined axis as described below.
Les roues 5 avant sont accouplées via une transmission mécanique à l'arbre moteur 9 du moteur électrique 8, et sont donc entraînées en rotation par ce dernier. Elles forment ainsi un essieu avant 7 moteur. Chaque roue 5 avant est guidée en rotation sur la coque 11 autour d'un axe transversal 13 définissant l'axe de l'essieu avant 7. Chaque roue 5 avant présente une couronne interne dentée 14 permettant de recevoir un pignon 15 monté en bout d'un demi arbre 16 d'entraînement accouplé à un pont central 17 comprenant un pignon 18 entraîné en rotation par une vis sans fin 19 d'une extrémité 20 inférieure avant de l'arbre moteur 9. Ainsi, lorsque l'arbre moteur 9 est entraîné en rotation dans un sens par le moteur 8, le pignon 18 est entraîné en rotation dans un sens, et chaque pignon 15 est également entraîné en rotation dans un sens, ce qui entraîne la roue 5 avant correspondante dans un sens. Lorsque l'arbre moteur 9 est entraîné en rotation dans l'autre sens, les pignons 18 et 15 sont entraînés en rotation dans l'autre sens, ainsi que les roues 5 avant. De la sorte, le moteur 8 permet d'entraîner les roues 5 avant motrices dans l'un ou l'autre des deux sens de rotation, vers l'avant et vers l'arrière. The front wheels 5 are coupled via a mechanical transmission to the motor shaft 9 of the electric motor 8, and are therefore rotated by the latter. They thus form a front axle 7 engine. Each front wheel 5 is guided in rotation on the shell 11 about a transverse axis 13 defining the axis of the front axle 7. Each front wheel 5 has an internal ring gear 14 for receiving a pinion 15 mounted at the end. a driving half-shaft 16 coupled to a central bridge 17 comprising a pinion 18 rotated by a worm 19 at a lower front end of the drive shaft 9. Thus, when the drive shaft 9 is driven in rotation in one direction by the motor 8, the pinion 18 is rotated in one direction, and each pinion 15 is also driven by rotation in one direction, which causes the corresponding front wheel 5 in one direction. When the drive shaft 9 is rotated in the other direction, the pinions 18 and 15 are rotated in the other direction, as are the front wheels. In this way, the motor 8 makes it possible to drive the front-wheel-drive wheels in either of the two directions of rotation, forwards and backwards.
La coque 11 porte également une roulette 6 arrière libre en rotation (non motrice) autour d'un axe transversal 21. Cette roulette 6 constitue un organe de guidage roulant qui, dans l'exemple représenté, n'est pas moteur, c'est-à-dire n'exerce pas la fonction d'entraînement et n'est pas directionnel, c'est-à-dire que son axe 21 est fixe et parallèle à l'axe 13 de l'essieu moteur 5. Les deux roues avant 5 et la roulette 6 arrière définissent un même plan, dit plan de roulage 22, correspondant à la surface immergée lorsque l'appareil est en déplacement normal de nettoyage sur cette dernière, toutes les roues 5, 6 étant au contact de la surface immergée.  The shell 11 also carries a rear wheel 6 free to rotate (non-driving) about a transverse axis 21. This wheel 6 constitutes a rolling guide member which, in the example shown, is not motor, it is that is to say, does not exert the drive function and is not directional, that is to say that its axis 21 is fixed and parallel to the axis 13 of the drive axle 5. Both wheels before 5 and the rear wheel 6 define the same plane, said rolling plane 22, corresponding to the immersed surface when the device is in normal cleaning movement on the latter, all the wheels 5, 6 being in contact with the immersed surface .
Le moteur électrique 8 unique fait office non seulement de moteur d'entraînement des roues 5 motrices, mais également de moteur de pompage entraînant l'hélice 10 en rotation autour de son axe. Pour ce faire, l'arbre moteur 9 du moteur 8 traverse longitudinalement le corps du moteur et débouche axialement en saillie des deux côtés du corps du moteur, c'est-à-dire avec une extrémité inférieure avant 20 entraînant les roues 5 comme indiqué ci-dessus, et avec une extrémité supérieure arrière 23 à laquelle l'hélice 10 de pompage est directement accouplée solidaire en rotation.  The single electric motor 8 functions not only as a driving motor for the drive wheels, but also as a pumping motor driving the propeller 10 in rotation about its axis. To do this, the motor shaft 9 of the motor 8 passes longitudinally through the body of the motor and opens axially protruding from both sides of the motor body, that is to say with a lower front end 20 driving the wheels 5 as indicated above, and with an upper rear end 23 to which the pump propeller 10 is directly coupled rotatably.
La coque 11 porte le moteur électrique 8 en position inclinée par rapport au plan de roulage 22, c'est-à-dire avec l'arbre moteur 9 (qui débouche axialement des deux côtés du corps du moteur) incliné selon un angle a différent de 0° et de 90° par rapport au plan de roulage 22. En particulier, l'arbre moteur 9 n'est pas orthogonal au plan de roulage 22. L'angle a d'inclinaison est compris entre 30° et 75° par exemple de l'ordre de 50°. L'angle a est aussi l'angle d'inclinaison de l'axe de l'hélice 10, et de la direction 24 du flux hydraulique généré par cette dernière. L'angle a correspond également à la direction générale de la réaction hydraulique générée par le flux de liquide à la sortie 37 en sens normal de pompage, et vers le filtre 33 en sens rétrograde. The hull 11 carries the electric motor 8 in an inclined position relative to the rolling plane 22, that is to say with the drive shaft 9 (which opens axially from both sides of the engine body) inclined at a different angle α 0 ° and 90 ° relative to the rolling plane 22. In particular, the drive shaft 9 is not orthogonal to the rolling plane 22. The angle of inclination is between 30 ° and 75 ° by example of the order of 50 °. The angle a is also the angle of inclination of the axis of the propeller 10, and the direction 24 of the hydraulic flow generated by the latter. The angle a also corresponds to the general direction of the hydraulic reaction generated by the flow of liquid at the outlet 37 in normal pumping direction, and to the filter 33 in the retrograde direction.
Une telle inclinaison présente de nombreux avantages, et en particulier permet de conférer à l'appareil selon l'invention une grande compacité, et d'exploiter l'effort de réaction hydraulique résultant du débit de liquide généré par l'hélice 10, notamment sa composante parallèle au plan de roulage 22, pour l'entraînement de l'appareil en sens normal.  Such an inclination has many advantages, and in particular makes it possible to confer on the apparatus according to the invention a great compactness, and to exploit the hydraulic reaction force resulting from the flow of liquid generated by the propeller 10, particularly its component parallel to the rolling plane 22, for driving the device in the normal direction.
La coque 11 présente également une ouverture 25 inférieure s'étendant transversalement sensiblement sur toute la largeur et légèrement décalée vers l'avant par rapport au plan transversal vertical (orthogonal au plan de roulage 22) contenant l'axe 13 de l'essieu 7 moteur. Cette ouverture 25 forme une entrée de liquide à la base du corps creux en sens normal de pompage pour le nettoyage de la surface immergée.  The shell 11 also has a lower opening 25 extending transversely substantially over the entire width and slightly offset forwardly relative to the vertical transverse plane (orthogonal to the rolling plane 22) containing the axis 13 of the axle 7 engine . This opening 25 forms a liquid inlet at the base of the hollow body in normal pumping direction for cleaning the immersed surface.
Cette ouverture 25 présente de préférence une bavette 26 s'étendant le long de son bord arrière et sur les côtés pour faciliter l'aspiration des débris. L'ouverture 25 présente également de préférence une nervure 29 s'étendant dans le long de son bord avant, en saillie vers le bas, pour créer un effet de turbulences à l'arrière de cette nervure 29 tendant à décoller les débris de la surface immergée et à accélérer le flux du liquide pénétrant dans l'ouverture 25.  This opening 25 preferably has a flap 26 extending along its rear edge and on the sides to facilitate the suction of debris. The opening 25 also preferably has a rib 29 extending along its downwardly projecting front edge to create a turbulent effect at the rear of this rib 29 tending to loosen debris from the surface. immersed and accelerate the flow of the liquid entering the opening 25.
L'ouverture 25 est adaptée pour recevoir une extrémité inférieure The opening 25 is adapted to receive a lower end
27 d'un conduit d'entrée 28 solidaire du capot 12. L'ensemble constitue une entrée de liquide à la base du corps creux 1, par laquelle le liquide aspiré par l'aspiration résultant de l'hélice 10 de pompage lorsque cette dernière est entraînée en sens normal de pompage par le moteur 8. 27 of an inlet duct 28 secured to the cover 12. The assembly constitutes a liquid inlet at the base of the hollow body 1, by which the liquid sucked by the suction resulting from the pumping propeller 10 when the latter is driven in the normal direction of pumping by the motor 8.
Le conduit 28 s'étend globalement sur toute la largeur du capot The conduit 28 extends generally over the entire width of the hood
12 et vers le haut (sensiblement orthogonalement au plan de roulage 22) jusqu'à une ouverture 30 supérieure dotée d'un volet 31 pivotant faisant office de clapet. Le volet 31 est articulé autour d'un axe 32 transversal horizontal situé à l'avant de l'ouverture 30. Le capot 12 est adapté pour pouvoir recevoir et porter un filtre 33 s'étendant à l'arrière du conduit 28 de façon à recevoir le débit de liquide (chargé de débris) débouchant de l'ouverture 30 supérieure du conduit 28 d'entrée. Ce filtre 33 est formé de parois filtrantes rigides, et est en communication de liquide à sa portion arrière supérieure 34 avec une entrée 35 d'un conduit 36 recevant l'hélice 10 de pompage axial, ce conduit 36 s'étendant globalement selon la direction 24 de pompage du liquide, dans le prolongement vers l'arrière vers le haut de l'arbre moteur 9, jusqu'à une sortie 37 de liquide hors du corps creux 1 par laquelle le liquide s'échappe globalement selon la direction 24 lorsque l'hélice 10 est entraînée par le moteur 8 dans le sens normal du pompage. Le trajet de liquide en sens normal de pompage dans le circuit hydraulique de circulation de liquide ainsi formé entre l'entrée 25 de liquide et la sortie 37 de liquide à travers le filtre 33 est représenté schématiquement par des flèches sur la figure 7. Le volet 31 faisant office de clapet est situé au niveau de l'entrée du filtre 33 qui coïncide avec l'ouverture 30 supérieure du conduit d'entrée 28. En variante non représentée, un tel clapet, dont la fonction est d'empêcher, en sens rétrograde, tout refoulement de liquide hors du corps creux via l'entrée 25, pourrait être incorporé au sein même du conduit 28 d'entrée. 12 and upwards (substantially orthogonal to the rolling plane 22) to an upper opening with a pivoting flap 31 acting as a valve. The flap 31 is articulated around a horizontal transverse axis 32 located at the front of the opening 30. The cover 12 is adapted to be able to receive and carry a filter 33 extending at the rear duct 28 so as to receive the flow of liquid (loaded with debris) opening out of the upper opening 28 of the inlet conduit. This filter 33 is formed of rigid filtering walls, and is in liquid communication at its upper rear portion 34 with an inlet 35 of a duct 36 receiving the axial pumping propeller 10, this duct 36 extending generally in the direction 24 pumping the liquid, in the rearward extension upwardly of the drive shaft 9, to an outlet 37 of liquid out of the hollow body 1 through which the liquid escapes globally in the direction 24 when the propeller 10 is driven by the motor 8 in the normal direction of pumping. The liquid path in the normal direction of pumping in the liquid circulation hydraulic circuit thus formed between the liquid inlet 25 and the liquid outlet 37 through the filter 33 is shown schematically by arrows in FIG. 31 acting as a valve is located at the inlet of the filter 33 which coincides with the upper opening of the inlet conduit 28. In a variant not shown, such a valve, the function of which is to prevent, in the sense retrograde, any discharge of liquid out of the hollow body via the inlet 25, could be incorporated within the same conduit 28 input.
Le moteur 8 est porté sous une paroi inférieure 38 inclinée étanche de la coque 11 qui délimite la chambre 2 de filtration recevant le filtre 33. L'extrémité supérieure 23 de l'arbre moteur 9 traverse la paroi étanche 38 dans une portion 39 de celle-ci formant la partie inférieure du conduit 36, et cette traversée est elle-même étanche, c'est-à-dire est réalisée par un dispositif 40 à joint(s) d'étanchéité (par exemple du type presse étoupe) assurant l'étanchéité entre l'arbre moteur 9 rotatif et la paroi 38.  The motor 8 is carried under a lower wall 38 inclined tightly of the shell 11 which defines the filter chamber 2 receiving the filter 33. The upper end 23 of the drive shaft 9 passes through the sealed wall 38 in a portion 39 of the it forms the lower part of the duct 36, and this passage is itself sealed, that is to say is carried out by a device 40 with seal (s) sealing (for example of the stuffing box) ensuring the sealing between the rotating motor shaft 9 and the wall 38.
La sortie 37 principale du liquide hors du corps creux 1 est dotée d'une grille de protection 41 guidant le flux généré en sens normal de pompage et empêchant le passage de débris dans le sens du refoulement vers l'intérieur du corps creux 1 lorsque l'hélice 10 est entraînée en sens rétrograde contraire au sens normal de pompage. L'unité de commande 4 est de préférence située hors du liquide et adaptée pour fournir, par le câble 3, une tension d'alimentation au moteur 8. Cette tension d'alimentation permet, selon sa polarité, de commander le moteur 8 dans un sens ou dans l'autre et selon des vitesses de rotation différentes. Une telle unité de commande 4 peut être formée d'une alimentation électrique branchée sur le secteur et comprenant une logique de commande de modulation de largeur d'impulsions pilotant un circuit formant une source de tension (à base d'au moins un transistor en commutation) dont la sortie est hachée à haute fréquence avec une largeur d'impulsions variable selon le signal délivré par la logique de commande. L'unité de commande 4 comprend un circuit d'inversion permettant de délivrer une tension d'alimentation du moteur 8 dont la polarité peut être changée (polarité positive pour entraînement en sens avant ; polarité négative pour entraînement en sens arrière), et dont la valeur moyenne peut être modifiée grâce à la logique de modulation de largeur d'impulsions de façon à prendre une valeur parmi plusieurs valeurs distinctes correspondant respectivement à plusieurs vitesses d'entraînement du moteur 8, et donc à plusieurs vitesses de déplacement de l'appareil. Le signe + désigne un déplacement en sens avant ; le signe - désigne un déplacement en sens arrière. Dans l'exemple, si l'on souhaite que l'appareil puisse se déplacer à une vitesse normale +V prédéterminée en sens avant, à une première vitesse -VI en sens arrière ou à une deuxième vitesse -V2 en sens arrière, la logique de commande peut être programmée pour que l'unité de commande 4 délivre une tension dont la valeur moyenne peut prendre, en valeur absolue, une valeur choisie parmi trois valeurs prédéterminées correspondant à ces trois vitesses. The main outlet 37 of the liquid from the hollow body 1 is provided with a protective grid 41 guiding the flow generated in the normal direction of pumping and preventing the passage of debris in the direction of the discharge towards the interior of the hollow body 1 when the propeller 10 is driven in retrograde direction contrary to the normal direction of pumping. The control unit 4 is preferably located outside the liquid and adapted to supply, by the cable 3, a power supply voltage to the motor 8. This supply voltage makes it possible, according to its polarity, to control the motor 8 in a direction or in the other and at different speeds of rotation. Such a control unit 4 may be formed of a power supply connected to the mains and comprising a pulse width modulation control logic driving a circuit forming a voltage source (based on at least one switching transistor). ) whose output is chopped at high frequency with a variable pulse width according to the signal delivered by the control logic. The control unit 4 comprises an inversion circuit for delivering a supply voltage to the motor 8 whose polarity can be changed (positive polarity for driving in the forward direction, negative polarity for driving in the backward direction), and whose The average value can be modified by means of the pulse width modulation logic so as to take one of several distinct values corresponding respectively to several driving speeds of the motor 8, and therefore to several speeds of movement of the apparatus. The sign + designates a displacement in the forward direction; the sign - designates a displacement in the backward direction. In the example, if it is desired for the apparatus to be able to move at a predetermined normal speed + V in the forward direction, at a first speed -VI in the reverse direction or at a second speed -V2 in the reverse direction, the logic The control unit can be programmed so that the control unit 4 delivers a voltage whose average value can take, in absolute value, a value chosen from three predetermined values corresponding to these three speeds.
L'unité de commande 4 peut incorporer avantageusement une logique de temporisation permettant de commander les différents sens d'entraînement et les différentes vitesses selon des durées prédéterminées, fixes et mémorisées et/ou définies aléatoirement à partir par exemple d'un générateur de variable pseudoaléatoire. Une telle unité de commande 4 est particulièrement simple dans sa conception et sa fabrication. Dans un premier sens de rotation du moteur 8 et de son arbre 9, les roues 5 avant motrices sont entraînées en rotation dans le sens avant de déplacement de l'appareil (figures 7 et l ia, la roulette 6 étant à l'arrière de l'essieu moteur au contact de la surface immergée). Dans ce premier sens de rotation, l'hélice 10 de pompage axial est entraînée en sens normal de pompage du liquide depuis l'ouverture 25 à la base du corps creux 1 jusqu'à la sortie 37 par laquelle le liquide s'échappe. Le volet 31 est ouvert et les débris aspirés par l'ouverture 25 avec le liquide sont retenus dans le filtre 33. The control unit 4 may advantageously incorporate a timing logic that makes it possible to control the different drive directions and the different speeds in predetermined, fixed and memorized durations and / or randomly defined, for example from a pseudo-random variable generator. . Such a control unit 4 is particularly simple in its design and manufacture. In a first direction of rotation of the motor 8 and its shaft 9, the front wheels 5 are driven in rotation in the direction before moving the apparatus (FIGS. 7 and 11a, the wheel 6 being at the rear of the engine). the driving axle in contact with the immersed surface). In this first direction of rotation, the axial pumping propeller 10 is driven in the normal direction of pumping the liquid from the opening 25 at the base of the hollow body 1 to the outlet 37 through which the liquid escapes. The flap 31 is open and the debris sucked by the opening 25 with the liquid is retained in the filter 33.
Dans ce premier sens de rotation, le moteur 8 est commandé à une vitesse prédéterminée de sorte que l'appareil est entraîné en déplacement en sens avant à une vitesse prédéterminée +V, dite vitesse normale, aussi rapide que possible afin d'optimiser le nettoyage. De préférence, la vitesse normale +V correspond à la vitesse maximum de rotation du moteur 8. Lorsque l'appareil est ainsi entraîné en sens avant, sa trajectoire est normalement droite orthogonale à l'axe 13 de l'essieu 7, les deux roues 5 avant étant parallèles l'une à l'autre et orthogonales à l'axe 13, et la roulette 6 étant en contact avec la surface immergée.  In this first direction of rotation, the motor 8 is controlled at a predetermined speed so that the apparatus is driven in forward motion at a predetermined speed + V, referred to as normal speed, as fast as possible in order to optimize cleaning. . Preferably, the normal speed + V corresponds to the maximum speed of rotation of the motor 8. When the apparatus is thus driven in the forward direction, its trajectory is normally straight orthogonal to the axis 13 of the axle 7, the two wheels 5 before being parallel to each other and orthogonal to the axis 13, and the wheel 6 being in contact with the immersed surface.
Dans l'autre sens de rotation du moteur 8, les roues 5 avant motrices sont entraînées en rotation en sens arrière de déplacement de l'appareil (figure 8, la roulette 6 étant alors devant l'essieu 7 moteur par rapport à ce sens de déplacement). Dans ce deuxième sens de rotation, l'hélice 10 de pompage axial est entraînée en sens contraire à son sens normal de pompage et génère un débit non nul de liquide en sens rétrograde depuis la sortie 37 vers l'intérieur du corps creux 1. En effet, l'hélice 10 est une hélice de pompage axial à pas unidirectionnel et de préférence fixe (présentant des pales fixées rigidement sur un rotor, s'étendant radialement par rapport à ce dernier en présentant un pas dans un seul sens) générant un débit de liquide orienté globalement selon son axe de rotation (l'hélice 10 n'étant donc pas de type centrifuge) dans un sens ou dans l'autre selon le sens de rotation de l'hélice autour de son axe. L'hélice 10 est optimisée pour générer un débit optimal lorsqu'elle est entraînée en rotation autour de son axe dans le sens normal de pompage. Mais lorsqu'elle est entraînée en rotation autour de son axe en sens contraire à ce sens normal de pompage, l'hélice 10 génère un débit non nul de liquide en sens rétrograde. In the other direction of rotation of the motor 8, the front wheels 5 are driven in rotation in the rear direction of movement of the apparatus (FIG. 8, the wheel 6 then being in front of the driving axle 7 with respect to this direction of rotation. displacement). In this second direction of rotation, the axial pumping propeller 10 is driven in the opposite direction to its normal pumping direction and generates a non-zero flow of liquid in the retrograde direction from the outlet 37 to the inside of the hollow body 1. Indeed, the propeller 10 is an axial pumping propeller with a unidirectional and preferably fixed pitch (having blades fixed rigidly on a rotor, extending radially with respect to the latter and having a pitch in one direction) generating a flow rate liquid oriented generally along its axis of rotation (the propeller 10 is not centrifugal type) in one direction or the other in the direction of rotation of the helix about its axis. The propeller 10 is optimized to generate an optimal flow when it is rotated about its axis in the normal direction of pumping. But when she is driven in rotation about its axis in the opposite direction to this normal direction of pumping, the propeller 10 generates a non-zero flow of liquid in the retrograde direction.
Et, contrairement à tous les préjugés en la matière, non seulement ce débit rétrograde n'est en réalité pas nuisible au fonctionnement général de l'appareil, mais au contraire, il est particulièrement avantageux et permet notamment :  And, contrary to all the prejudices on the subject, not only is this retrograde flow rate actually not harmful to the general operation of the apparatus, but on the contrary, it is particularly advantageous and allows in particular:
- d'exercer une réaction hydraulique pouvant participer au cabrage de l'appareil entraînant des modifications de trajectoire de l'appareil lors de ses déplacements en sens arrière, en giration d'un côté ou de l'autre,  - To exert a hydraulic reaction that can participate in the pitching of the device causing changes in the trajectory of the aircraft during its movements in the backward direction, turning on one side or the other,
- de générer éventuellement des flux hydrauliques orientés latéralement participant directement par réaction aux modifications de trajectoire de l'appareil, en giration d'un côté ou de l'autre,  to generate, if necessary, laterally oriented hydraulic flows that are directly involved by reaction to changes in the trajectory of the apparatus, turning on one side or the other,
- d'obtenir un décolmatage périodique des parois du filtre 33, au bénéfice d'une plus grande longévité de fonctionnement de l'appareil et d'une optimisation du volume fonctionnel du filtre 33.  - To obtain a periodic unclogging of the walls of the filter 33, in favor of a longer service life of the apparatus and an optimization of the functional volume of the filter 33.
Dans ce deuxième sens de rotation du moteur 8, le volet 31 est automatiquement en position fermée (du fait de la gravité et/ou sous l'effet du flux en sens rétrograde), empêchant tout refoulement de débris dans le conduit 28, de sorte que les débris restent confinés à l'intérieur du filtre 33. Le flux en sens rétrograde peut être évacué par les fuites inévitables de l'appareil (ce dernier pouvant être exempt d'orifice et de clapet d'évacuation spécifique du flux en sens rétrograde), ou par un ou plusieurs orifice(s) spécifique(s) à clapet(s) ménagé(s) dans la coque 11 à cet effet, par exemple un orifice latéral (variante non représentée).  In this second direction of rotation of the motor 8, the flap 31 is automatically in the closed position (because of the gravity and / or under the effect of the flow in retrograde direction), preventing any discharge of debris into the duct 28, so that the debris remains confined inside the filter 33. The flow in retrograde direction can be evacuated by the unavoidable leaks of the apparatus (the latter may be free of orifice and specific discharge valve of the flow in retrograde direction ), or by one or more specific orifice (s) valve (s) formed (s) in the shell 11 for this purpose, for example a lateral orifice (variant not shown).
Les modifications de trajectoire de l'appareil lors de ses déplacements en sens arrière (par rapport à sa trajectoire en sens avant qui est dans l'exemple en ligne droite) peuvent être obtenues de toutes façons appropriées à partir d'une modification d'assiette du corps creux 1 par rapport à l'essieu 7 autour de l'axe 13 (dans un plan orthogonal à la surface immergée et contenant la direction de déplacement). De préférence, l'appareil est conçu de façon à pouvoir être entraîné en giration d'un côté (par exemple vers la gauche par rapport à son sens de déplacement) pour une première vitesse du moteur 8 correspondant à une première vitesse -VI de déplacement de l'appareil en sens arrière et à une première assiette, cabrée ou non cabrée, de l'appareil, et en giration de l'autre côté (par exemple vers la droite par rapport à son sens de déplacement) pour une deuxième vitesse du moteur 8 correspondant à une deuxième vitesse -V2 de déplacement de l'appareil en sens arrière et à une deuxième assiette cabrée de l'appareil, cette deuxième vitesse -V2 étant différente, notamment plus rapide, que la première vitesse -VI. De la sorte, on obtient de façon extrêmement simple un appareil qui, en sens avant, se déplace en ligne droite, et en sens arrière, selon la vitesse de rotation du moteur 8, se déplace en tournant à gauche ou en tournant à droite. Dès lors, toutes les trajectoires utiles d'un appareil nettoyeur sont obtenues, ce qui facilite grandement la couverture de nettoyage et la rapidité du nettoyage de la surface immergée. The changes in the trajectory of the aircraft during its movements in the backward direction (with respect to its forward trajectory, which is in the example in a straight line) can be obtained anyway appropriate from a modification of attitude. of the hollow body 1 relative to the axle 7 about the axis 13 (in a plane orthogonal to the immersed surface and containing the direction of displacement). Preferably, the apparatus is designed so that it can be swirled on one side (for example to the left with respect to its direction of movement) for a first speed of the motor 8 corresponding to a first speed -VI displacement of the apparatus in the rear direction and at a first attitude, pitched up or not upward, of the apparatus, and in gyration on the other side (for example to the right with respect to its direction of movement) for a second speed of the motor 8 corresponding to a second speed -V2 of movement of the device in the rear direction and a second nose-up attitude of the aircraft, this second speed -V2 being different, notably faster, than the first speed -VI. In this way, it is extremely simple to obtain an apparatus which, in the forward direction, moves in a straight line, and in the rear direction, according to the rotational speed of the motor 8, moves by turning to the left or turning to the right. Consequently, all the useful trajectories of a cleaning apparatus are obtained, which greatly facilitates the cleaning cover and the speed of the cleaning of the immersed surface.
L'augmentation de vitesse de déplacement en sens arrière génère une accélération qui induit un couple d'inertie tendant à augmenter le cabrage l'appareil. L'équilibrage général de l'appareil peut être adapté pour obtenir les assiettes plus ou moins cabrées ou non cabrée souhaitées, en fonction des différentes vitesses correspondantes.  The increase in speed of movement in the rear direction generates an acceleration which induces a moment of inertia tending to increase the pitching of the apparatus. The general balancing of the apparatus can be adapted to obtain the more or less pitched or unplated plates desired, according to the different speeds corresponding.
Le dispositif de pompage peut aussi, en variante non représentée, participer à la mise en assiette(s) cabrée(s). À ce titre, il est à noter que l'hélice 10 de pompage est une hélice à pas unidirectionnel directement accouplée solidaire en rotation de l'extrémité supérieure arrière 23 de l'arbre moteur 9. Une hélice de pompage axial à pas unidirectionnel comprend des pales s'étendant globalement radialement et présentant un pas qui est de préférence fixe, qui pourrait être cependant variable, mais qui, en tout état de cause, ne change pas de sens, c'est-à-dire est toujours orienté dans un seul sens, de sorte que le sens du flux de liquide généré par la rotation de l'hélice dépend du sens de rotation de cette dernière. Lorsque l'hélice 10 est entraînée en rotation en sens normal de pompage (correspondant au nettoyage de la surface immergée), elle pompe le liquide depuis chaque entrée de liquide à la base du corps creux jusqu'à chaque sortie principale de liquide. Lorsque l'hélice 10 est entraînée en rotation en sens rétrograde, elle pompe le liquide dans le sens du refoulement depuis chaque sortie principale de liquide. The pumping device may also, in a variant not shown, participate in the setting up trim (s) up (s). As such, it should be noted that the pumping propeller 10 is a directly coupled unidirectional pitch propeller rotatably connected to the upper rear end 23 of the drive shaft 9. An unidirectional pitch axial pumping propeller comprises blades extending generally radially and having a pitch which is preferably fixed, which could however be variable, but which, in any event, does not change direction, that is to say is always oriented in a single direction direction, so that the direction of the liquid flow generated by the rotation of the helix depends on the direction of rotation of the latter. When the propeller 10 is rotated in the normal direction of pumping (corresponding to the cleaning of the surface immersed), it pumps the liquid from each liquid inlet at the base of the hollow body to each main liquid outlet. When the propeller 10 is rotated in the retrograde direction, it pumps the liquid in the discharge direction from each main liquid outlet.
L'hélice 10 de pompage axial entraînée en sens rétrograde génère un débit de liquide pouvant s'échapper hors du corps creux par au moins une sortie de liquide, dite sortie secondaire (non représentée). Le débit de liquide s 'échappant par au moins une telle sortie secondaire est orienté de telle sorte que ce courant crée par réaction, des efforts dont la résultante, dite effort secondaire de réaction hydraulique, génère un couple de cabrage de l'appareil par pivotement du corps creux autour de l'essieu 7. Ce couple de cabrage autour de l'axe 13 de l'essieu 7 moteur tend à cabrer l'appareil, c'est-à-dire à soulever la roulette 6. Ainsi, un tel effort secondaire de réaction hydraulique exerce un couple de pivotement de l'appareil autour de l'axe 13 de l'essieu 7 moteur dans le sens de l'augmentation du cabrage l'appareil. Pour ce faire, il faut et il suffit que la direction du flux de liquide généré en sens rétrograde et sortant par une telle sortie secondaire ne soit pas sécante avec l'axe 13 de l'essieu 7 moteur, et soit orientée dans le sens approprié pour au moins participer au cabrage du corps creux autour de l'essieu de cabrage. Une telle participation du débit de liquide en sens rétrograde à la mise en cabrage de l'appareil n'est cependant pas nécessaire, et, dans le mode de réalisation représenté à titre d'exemple, l'obtention de chaque assiette cabrée résulte uniquement du couple moteur sur l'essieu moteur et de l'équilibrage général de l'appareil.  The axial pumping propeller 10 driven in the retrograde direction generates a flow of liquid that can escape from the hollow body by at least one liquid outlet, called the secondary outlet (not shown). The flow of liquid escaping through at least one such secondary outlet is oriented such that this current creates by reaction, forces whose resultant, called secondary hydraulic reaction force, generates a rotation torque of the apparatus by pivoting the hollow body around the axle 7. This pair of pitching around the axis 13 of the axle 7 engine tends to pitch the device, that is to say, to lift the wheel 6. Thus, such a hydraulic reaction secondary force exerts a pivoting torque of the device around the axis 13 of the axle 7 motor in the direction of increasing the pitching device. To do this, it is necessary and sufficient that the direction of the fluid flow generated in the retrograde direction and outgoing by such a secondary outlet is not secant with the axis 13 of the axle 7 engine, and is oriented in the appropriate direction to at least participate in the pitching of the hollow body around the pitching axle. Such a participation of the flow of liquid in the retrograde direction at the pitching of the apparatus is however not necessary, and, in the embodiment represented by way of example, the obtaining of each pitched attitude results solely from motor torque on the drive axle and the overall balancing of the device.
Des modifications de trajectoire peuvent être obtenues en fonction de l'assiette, plus ou moins cabrée ou non, c'est-à-dire en fonction de l'inclinaison du corps creux 1 autour de l'axe 13 de l'essieu 7 moteur par rapport à la surface immergée, par exemple (variante non représentée) du fait que la composante horizontale (parallèle à la surface immergée) de la résistance hydraulique d'avancement en sens arrière est déséquilibrée et entraîne une giration d'un côté de l'appareil. Pour ce faire, la coque 11 peut présenter des volets ou nervures dont l'effet hydraulique est dépendant de l'inclinaison de cabrage de l'appareil. Modifications of trajectory can be obtained according to the attitude, more or less pitched or not, that is to say according to the inclination of the hollow body 1 about the axis 13 of the axle 7 engine relative to the immersed surface, for example (variant not shown) because the horizontal component (parallel to the immersed surface) of the forward hydraulic resistance is unbalanced and causes a gyration on one side of the apparatus. For this make, the shell 11 may have flaps or ribs whose hydraulic effect is dependent on the tilting inclination of the device.
Selon une autre variante non représentée, elles peuvent être obtenues par un décalage latéral d'un organe de guidage et d'entraînement et/ou de brossage, ou encore selon un pivotement spontané d'une roulette suite au changement de sens de déplacement.  According to another variant not shown, they can be obtained by a lateral shift of a guiding and driving member and / or brushing, or according to a spontaneous pivoting of a wheel following the change of direction of movement.
En variante ou en combinaison, des modifications de trajectoire peuvent être obtenues par différentes configurations des organes de guidage et d'entraînement en contact avec la surface immergée et/ou par des organes freinant décalés latéralement venant ou non en contact avec la surface immergée, selon l'assiette cabrée de l'appareil.  As a variant or in combination, changes in trajectory can be obtained by different configurations of the guiding and driving members in contact with the immersed surface and / or by laterally offset braking members coming or not in contact with the immersed surface, according to the pitched attitude of the aircraft.
Dans la variante préférentielle représentée, la coque 11 présente une portion 42 de paroi s'étendant vers l'avant à partir de l'ouverture 25, sur toute sa largeur, en épousant sensiblement le contour des roues avant 5. Cette portion 42 de paroi est dotée de deux patins 43, 44, chaque patin étant agencé de façon à pouvoir venir au contact de la surface immergée pour freiner localement et/ou décoller le corps creux 1 si l'appareil prend une assiette cabrée prédéterminée spécifique pour chaque patin 43, 44, la roulette 6 étant décollée de ladite surface immergée.  In the preferred embodiment shown, the shell 11 has a portion 42 of wall extending forwardly from the opening 25, over its entire width, substantially marrying the contour of the front wheels 5. This portion 42 wall is provided with two pads 43, 44, each pad being arranged so as to come into contact with the immersed surface to locally brake and / or take off the hollow body 1 if the apparatus takes a predetermined pitched attitude specific for each pad 43, 44, the wheel 6 being detached from said immersed surface.
Un premier patin 43, fixe, est disposé d'un côté, par exemple à droite comme représenté, solidaire de la portion 42 avant de la coque 11 et s'étend en saillie radialement vers l'extérieur à partir de cette portion 42 de façon à venir au contact de la surface immergée lorsque l'appareil est en une première assiette cabrée représentée figure 11b, pour la première vitesse -VI lente de déplacement en sens arrière correspondant à la première vitesse lente de rotation du moteur 8. Dans cette première assiette cabrée, le deuxième patin 44 n'est pas au contact de la surface immergée et l'appareil est entraîné en giration d'un côté (vers la gauche par rapport au sens de déplacement dans l'exemple représenté) en sens arrière du fait du frottement du premier patin 43 sur la surface immergée et/ou du décollement de la roue 5 avant droite. Le premier patin 43 est agencé à l'avant de l'essieu moteur, et vient, dans la première assiette cabrée, au contact de la surface immergée à l'arrière de l'essieu moteur par rapport au sens de déplacement (sens arrière). A first fixed pad 43 is disposed on one side, for example on the right as shown, secured to the front portion 42 of the shell 11 and projects radially outwardly from this portion 42 so as to to come into contact with the immersed surface when the apparatus is in a first nose-up attitude shown in FIG. 11b, for the first -VI slow speed of displacement in the rear direction corresponding to the first slow speed of rotation of the engine 8. In this first attitude up, the second pad 44 is not in contact with the immersed surface and the apparatus is swirled on one side (to the left relative to the direction of movement in the example shown) in the rear direction because of the friction of the first pad 43 on the immersed surface and / or detachment of the front right wheel. The first shoe 43 is arranged at the front of the drive axle, and comes, in the first pitched attitude, in contact with the immersed surface at the rear of the driving axle relative to the direction of displacement (backward direction).
Le deuxième patin 44, fixe, est disposé de l'autre côté, par exemple à gauche comme représenté, solidaire de la portion 42 avant de la coque 11 et s'étend en saillie radialement vers l'extérieur à partir de cette portion 42 de façon à venir au contact de la surface immergée lorsque l'appareil est en une deuxième assiette cabrée représentée figure 11c, de plus forte inclinaison que la première assiette cabrée. Cette deuxième assiette cabrée est obtenue pour la deuxième vitesse -V2 rapide de déplacement en sens arrière correspondant à la deuxième vitesse rapide de rotation du moteur 8. Dans cette deuxième assiette cabrée, le premier patin 43 n'est plus au contact de la surface immergée, et l'appareil est entraîné en giration de l'autre côté (vers la droite dans l'exemple représenté) en sens arrière du fait du frottement du deuxième patin 44 sur la surface immergée et/ou du décollement de la roue 5 avant gauche. Le deuxième patin 44 est aussi agencé à l'avant de l'essieu moteur, et vient, dans la deuxième assiette cabrée, au contact de la surface immergée à l'arrière de l'essieu moteur par rapport au sens de déplacement (sens arrière).  The second fixed pad 44 is disposed on the other side, for example on the left as shown, secured to the front portion 42 of the shell 11 and protrudes radially outwardly from this portion 42 of way to come into contact with the immersed surface when the aircraft is in a second nose-up attitude shown in FIG. 11c, of greater inclination than the first nose-up attitude. This second nose-up attitude is obtained for the second fast speed -V2 of displacement in the rear direction corresponding to the second fast speed of rotation of the engine 8. In this second nose-up attitude, the first pad 43 is no longer in contact with the immersed surface. , and the apparatus is rotated on the other side (to the right in the example shown) in the rear direction because of the friction of the second pad 44 on the immersed surface and / or the detachment of the wheel 5 front left . The second shoe 44 is also arranged at the front of the driving axle, and comes, in the second nose-up attitude, in contact with the immersed surface at the rear of the driving axle relative to the direction of displacement (backward direction ).
Le premier patin 43 est agencé de façon à venir au contact de la surface immergée uniquement dans ladite première assiette cabrée, et le deuxième patin 44 est agencé de façon à venir au contact de la surface immergée uniquement dans ladite deuxième assiette cabrée. En particulier, dans la première assiette cabrée, le deuxième patin 44 n'est pas au contact de la surface immergée. Dans la deuxième assiette cabrée, le premier patin 43 n'est pas au contact de la surface immergée. Dans l'assiette normale de déplacement de l'appareil dans laquelle il n'est pas cabré, toutes les roues 5, 6 étant au contact de la surface immergée, par exemple lors des déplacements en sens avant, les patins 43, 44 sont distants de la surface immergée, et donc inactifs.  The first pad 43 is arranged to come into contact with the immersed surface only in said first nose-up attitude, and the second pad 44 is arranged to come into contact with the immersed surface only in said second nose-up attitude. In particular, in the first pitched attitude, the second pad 44 is not in contact with the immersed surface. In the second pitched attitude, the first runner 43 is not in contact with the submerged surface. In the normal attitude of movement of the apparatus in which it is not pitched up, all the wheels 5, 6 being in contact with the immersed surface, for example when moving in the forward direction, the pads 43, 44 are distant of the immersed surface, and therefore inactive.
Un patin 43, 44 apte à entraîner un décollement d'une roue 5 motrice entraîne une giration rapide de l'appareil par arrêt localisé. Un patin 43, 44 apte à frotter sur la surface immergée sans entraîner un décollement d'une roue 5 motrice génère une giration plus lente de l'appareil par freinage localisé. Ces deux variantes sont envisageables dans un appareil selon l'invention, et peuvent être combinées (au moins un patin de freinage étant prévu pour uniquement frotter sur la surface immergée et freiner localement dans une assiette de l'appareil ; au moins un autre patin de décollement entraînant un décollement d'une roue dans une autre assiette de l'appareil). A shoe 43, 44 capable of causing a detachment of a driving wheel causes rapid gyration of the apparatus by localized arrest. A pad 43, 44 able to rub on the immersed surface without causing a detachment of a wheel 5 motor generates a slower gyration of the device by localized braking. These two variants can be envisaged in an apparatus according to the invention, and can be combined (at least one braking pad being provided for only rubbing on the immersed surface and braking locally in a plate of the apparatus; at least one other pad of detachment causing a detachment of a wheel in another attitude of the aircraft).
Ainsi, un appareil selon l'invention comprend au moins un patin 43, 44 agencé de façon à venir au contact de la surface immergée dans au moins une assiette cabrée de l'appareil de façon à entraîner une giration de l'appareil d'un côté. Un tel patin est inactif (à distance de la surface immergée) lorsque le corps creux est dans son assiette normale de fonctionnement (nettoyage de la surface immergée) et peut être adapté pour uniquement freiner localement le corps creux par contact de frottement avec la surface immergée lorsque ce dernier est dans une assiette cabrée prédéterminée, entraînant ainsi une giration d'un côté. En variante un tel patin peut être adapté pour décoller localement le corps creux, et au moins un organe de guidage de l'essieu de cabrage -notamment un organe de guidage et d'entraînement moteur- situé à proximité du patin. En outre un tel patin peut être agencé décalé latéralement par rapport à l'essieu de cabrage (par rapport à une direction médiane de l'essieu de cabrage) pour entraîner un freinage local ou un décollement d'un organe de guidage -notamment d'un organe de guidage et d'entraînement moteur-, et donc une giration de l'appareil d'un côté ainsi prédéterminé ; ou, en variante non représentée, être au contraire globalement centré sur une direction médiane de l'essieu de cabrage pour entraîner un décollement de chaque organe de guidage -notamment de chaque organe de guidage et d'entraînement moteur-, l'appareil étant entraîné en giration d'un côté ou de l'autre (défini de façon aléatoire) du fait de déséquilibres inévitables de fonctionnement dus par exemple à la traction du câble d'alimentation.  Thus, an apparatus according to the invention comprises at least one pad 43, 44 arranged to come into contact with the immersed surface in at least one pitched attitude of the apparatus so as to cause the apparatus to turn side. Such pad is inactive (away from the immersed surface) when the hollow body is in its normal operating position (cleaning the immersed surface) and can be adapted to only locally brake the hollow body by frictional contact with the immersed surface when the latter is in a predetermined pitch attitude, thus causing a gyration on one side. As a variant, such a pad may be adapted to locally loosen the hollow body, and at least one guide member for the up-and-down axle -in particular a guide and motor-drive member located near the pad. In addition, such a shoe may be arranged offset laterally with respect to the pitching axle (with respect to a median direction of the pitching axle) in order to cause local braking or detachment of a guiding member-in particular a motor guiding and driving member, and thus a gyration of the apparatus on a predetermined side; or, alternatively, not shown, on the contrary be generally centered on a median direction of the pitching axle to cause detachment of each guide member - in particular of each guide member and motor drive, the apparatus being driven gyration on one side or the other (defined randomly) due to unavoidable operating imbalances due for example to the traction of the power cable.
L'unité 4 de commande est extrêmement simple dans sa conception et sa réalisation. Elle est adaptée pour que l'appareil soit principalement entraîné en sens avant en ligne droite. Le moteur 8 est interrompu de temps en temps et commandé en sens arrière à la première vitesse lente (correspondant à la vitesse de déplacement -VI) de temps en temps et à la deuxième vitesse rapide (correspondant à la vitesse de déplacement -V2) de temps en temps. Les différentes durées de commande du moteur 8 : Tl en sens avant à vitesse rapide +V, T2 en sens arrière à vitesse lente -VI, T3 en sens arrière à vitesse normale rapide -V2, et T4 des interruptions du moteur 8, sont définies aléatoirement (par un générateur de hasard, c'est-à-dire un générateur de variable pseudo aléatoire) et/ou de façon prédéterminée. De préférence, ces durées peuvent être définies de façon à limiter l'emmêlement du câble 3, c'est-à-dire en assurant que les cumuls des durées de giration à gauche soient similaires aux cumuls des durées de giration à droite. The control unit 4 is extremely simple in its design and implementation. It is adapted so that the apparatus is mainly driven forward in a straight line. Engine 8 is interrupted from time to time and controlled in reverse at the first slow speed (corresponding to the -VI moving speed) from time to time and at the second fast speed (corresponding to the -V2 moving speed) from time to time. The different control times of the motor 8: Tl in the forward direction at high speed + V, T2 in the backward direction at slow speed -VI, T3 in the reverse direction at normal high speed -V2, and T4 in the interruptions of the motor 8, are defined randomly (by a random generator, that is to say a pseudo-random variable generator) and / or in a predetermined manner. Preferably, these durations can be defined so as to limit the entanglement of the cable 3, that is to say by ensuring that the accumulations of the periods of gyration on the left are similar to the accumulations of the times of gyration on the right.
Par exemple, Tl est comprise entre 10s et 1 min, par exemple de l'ordre de 20s ; T2 et T3 sont toutes deux inférieures à Tl, par exemple comprises entre 3s et 15s, notamment varient entre 5s et 8s ; et T4 est inférieure à chacune des durées Tl, T2, et T3, est comprise entre 0,5s et 5s, notamment est de l'ordre de 2s. La valeur V correspond à la vitesse maximale du moteur 8 (aucune modulation de largeur d'impulsions de la tension délivrée par l'unité de commande 4), VI correspond à 50 % de la vitesse maximale du moteur (V1=0,5V), et V2 correspond à 80 % de la vitesse maximale du moteur (V2=0,8V). D'autres valeurs sont bien sûr possibles.  For example, T1 is between 10s and 1 min, for example of the order of 20s; T2 and T3 are both less than T1, for example between 3s and 15s, in particular between 5s and 8s; and T4 is less than each of the durations T1, T2, and T3, is between 0.5s and 5s, in particular is of the order of 2s. The value V corresponds to the maximum speed of the motor 8 (no modulation of the pulse width of the voltage delivered by the control unit 4), VI corresponds to 50% of the maximum speed of the motor (V1 = 0.5V) , and V2 is 80% of the maximum engine speed (V2 = 0.8V). Other values are of course possible.
Il est à noter que le contrôle de chaque assiette cabrée de l'appareil ne nécessite pas une logique de fonctionnement particulièrement complexe dans la mesure où il peut être obtenu par simple équilibrage de l'appareil en fabrication. En outre, la présence des patins 43, 44 facilite ce contrôle, chacun de ces patins 43, 44 faisant office de butée limitant le pivotement dans chaque assiette cabrée. De surcroît, ce contrôle peut rester relativement imprécis dans la mesure où les durées de mise en assiette cabrée de l'appareil sont faibles, cette configuration de déplacement ne correspondant pas à la configuration normale de nettoyage.  It should be noted that the control of each pitch attitude of the device does not require a particularly complex operating logic in that it can be obtained by simply balancing the device in production. In addition, the presence of the pads 43, 44 facilitates this control, each of these pads 43, 44 acting as limit stop pivoting in each pitched attitude. In addition, this control can remain relatively imprecise to the extent that the period of pitch up attitude of the device are low, this configuration of displacement does not correspond to the normal cleaning configuration.
L'appareil selon l'invention est extrêmement simple de conception et de fabrication, et donc très économique, mais néanmoins très performant. En effet, avec un seul moteur 8 électrique et une unité 4 de commande réduite à sa plus simple expression, toutes les fonctionnalités les plus complexes d'un appareil électrique sont obtenues. L'appareil selon l'invention est en outre particulièrement léger, facile à manipuler, ergonomique et particulièrement esthétique. Il consomme très peu d'énergie et est respectueux de l'environnement. Il présente une grande longévité et une excellente fiabilité compte tenu notamment du faible nombre de pièces qu'il incorpore. The apparatus according to the invention is extremely simple to design and manufacture, and therefore very economical, but nevertheless very powerful. Indeed, with a single electric motor 8 and a control unit 4 reduced to its more simple expression, all the most complex functionalities of an electrical device are obtained. The apparatus according to the invention is also particularly light, easy to handle, ergonomic and particularly aesthetic. It consumes very little energy and is respectful of the environment. It has a long life and excellent reliability especially given the small number of parts it incorporates.
L'invention peut faire l'objet de nombreuses variantes de réalisation par rapport au mode de réalisation préférentiel représenté sur les figures et décrit ci-dessus. En particulier, l'invention s'applique aussi bien à un appareil doté d'organes de guidage et d'entraînement moteurs ou non moteurs autres que des roues (chenilles, brosses...). Également, l'appareil peut présenter plusieurs entrées de liquide, plusieurs sorties de liquide, voire plusieurs hélices de pompage entraînées par le même moteur. C'est cependant un avantage d'un appareil selon l'invention que de pouvoir présenter une seule entrée 25 de liquide, une seule sortie 37 de liquide, un seul circuit hydraulique et une seule hélice 10 de pompage axial directement accouplée à l'arbre 9 moteur du moteur électrique 8. Le moteur 8 peut être entraîné selon une pluralité discrète de vitesses pouvant comprendre plus de vitesses différentes que dans l'exemple décrit ci-dessus. Les patins 43, 44 peuvent être remplacés ou complétés par un patin globalement centré sur une direction médiane de l'essieu (non décalé latéralement) entraînant, dans une assiette cabrée prédéterminée de l'appareil, un décollement des deux roues 5 motrices, et une giration aléatoire de l'appareil due aux déséquilibres inévitables de ce dernier (par exemple du fait de la traction nécessairement désaxée du câble d'alimentation).  The invention may be the subject of numerous variants with respect to the preferred embodiment shown in the figures and described above. In particular, the invention is equally applicable to an apparatus provided with guide and drive members for motors or non-motors other than wheels (tracks, brushes, etc.). Also, the device may have several liquid inlets, several liquid outlets, or even several pumping propellers driven by the same engine. However, it is an advantage of an apparatus according to the invention to be able to present a single liquid inlet 25, a single liquid outlet 37, a single hydraulic circuit and a single axial pumping propeller 10 directly coupled to the shaft The motor 8 may be driven in a discrete plurality of speeds which may comprise more different speeds than in the example described above. The shoes 43, 44 may be replaced or supplemented by a shoe generally centered on a median axle direction (not laterally offset) causing, in a predetermined pitch attitude of the apparatus, a detachment of the two drive wheels, and a random gyration of the device due to the inevitable imbalances of the latter (for example due to the necessarily off-axis traction of the power cable).
L'appareil selon l'invention est avantageusement exempt d'actionneur et de circuit logique et/ou électronique embarqués. En variantes, rien n'empêche de prévoir que l'appareil puisse comporter si nécessaire des composants électroniques et/ou actionneurs embarqués. Par exemple, l'unité de commande pourrait être embarquée, y compris par exemple avec une batterie d'accumulateurs embarqués faisant office de source d'énergie électrique, l'appareil étant totalement autonome.  The apparatus according to the invention is advantageously free of an actuator and an onboard logic and / or electronic circuit. In variants, nothing prevents to provide that the device may include if necessary electronic components and / or onboard actuators. For example, the control unit could be embedded, including for example with a built-in storage battery acting as a source of electrical energy, the device being completely autonomous.

Claims

REVENDICATIONS
1/ - Appareil nettoyeur de surface immergée dans un liquide comprenant :  1 / - Apparatus for cleaning a surface immersed in a liquid, comprising:
- un corps creux (1),  a hollow body (1),
- des organes (5, 6) de guidage et d'entraînement dudit corps sur la surface immergée,  - members (5, 6) for guiding and driving said body on the immersed surface,
- une chambre (2) de filtration ménagée dans ledit corps creux et présentant :  a filtration chamber (2) formed in said hollow body and having:
- au moins une entrée (25) de liquide dans le corps creux,  at least one inlet (25) of liquid in the hollow body,
- au moins une sortie (37) de liquide hors du corps creux,  at least one outlet (37) of liquid from the hollow body,
- un circuit hydraulique de circulation de liquide entre chaque entrée de liquide et chaque sortie de liquide à travers un dispositif (33) de filtrage, a hydraulic circuit for circulating liquid between each liquid inlet and each liquid outlet through a filtering device (33);
- au moins un organe (10) de pompage agencé pour générer un débit de liquide entre chaque entrée de liquide et chaque sortie de liquide, chaque organe de pompage étant formé d'une hélice (10) de pompage axial à pas unidirectionnel créant un flux de liquide orienté globalement selon son axe de rotation, at least one pumping member (10) arranged to generate a flow of liquid between each liquid inlet and each liquid outlet, each pumping member being formed of an axial pumping propeller (10) with a unidirectional pitch creating a flow of liquid oriented globally along its axis of rotation,
- un unique moteur (8) électrique réversible porté par ledit corps creux et comprenant un arbre (9) moteur relié mécaniquement, pour les mouvoir, simultanément à :  a single reversible electric motor (8) carried by said hollow body and comprising a motor shaft (9) mechanically connected to move them simultaneously with:
- au moins l'un desdits organes de guidage et d'entraînement, dit organe (5) moteur,  at least one of said guiding and driving members, said motor member (5),
- chaque hélice (10) de pompage,  each propeller (10) for pumping,
- une unité (4) de commande électrique reliée au moteur pour l'alimenter et le commander :  an electric control unit (4) connected to the motor for powering and controlling it:
- dans un premier sens de rotation de l'arbre (9) moteur dans lequel chaque organe (5) moteur est entraîné dans un premier sens, dit avant, et chaque hélice (10) de pompage génère le débit de liquide en sens normal depuis chaque entrée de liquide vers chaque sortie de liquide de façon à assurer le nettoyage de la surface immergée et la filtration des résidus solides par le dispositif (33) de filtrage, - dans un deuxième sens de rotation de l'arbre (9) moteur dans lequel chaque organe (5) moteur est entraîné dans un deuxième sens, dit arrière, opposé au premier sens. in a first direction of rotation of the motor shaft (9) in which each motor member (5) is driven in a first direction, said forward, and each pumping propeller (10) generates the liquid flow in the normal direction from each liquid inlet to each liquid outlet so as to ensure the cleaning of the immersed surface and the filtration of the solid residues by the filtering device (33), - In a second direction of rotation of the shaft (9) motor in which each member (5) motor is driven in a second direction, said back, opposite to the first direction.
21 - Appareil selon la revendication 1, caractérisé en ce que chaque hélice (10) de pompage est adaptée pour, dans le deuxième sens de rotation de l'arbre (9) moteur, générer un débit non nul de liquide en sens rétrograde depuis chaque sortie de liquide en direction de refoulement vers chaque entrée de liquide.  21 - Apparatus according to claim 1, characterized in that each propeller (10) pumping is adapted for, in the second direction of rotation of the shaft (9) motor, generate a non-zero flow of liquid in the retrograde direction from each liquid outlet in discharge direction to each liquid inlet.
3/ - Appareil selon la revendication 2, caractérisé en ce que le dispositif (33) de filtrage comporte au moins un clapet (31) anti-refoulement disposé à l'amont du dispositif de filtrage par rapport au flux de liquide dans le sens normal de pompage du liquide, chaque clapet (31) étant agencé pour empêcher, en sens rétrograde, le refoulement du liquide hors du dispositif (33) de filtrage et hors du corps creux.  3 / - Apparatus according to claim 2, characterized in that the filtering device (33) comprises at least one anti-discharge valve (31) arranged upstream of the filtering device with respect to the flow of liquid in the normal direction. pumping the liquid, each valve (31) being arranged to prevent, in the retrograde direction, the discharge of the liquid from the filtering device (33) and out of the hollow body.
4/ - Appareil selon la revendication 3, caractérisé en ce que le dispositif (33) de filtrage présente au moins une entrée (30) disposée en amont par rapport au flux de liquide dans le sens normal de pompage du liquide, et en ce qu'au moins un clapet (31) est agencé à chaque entrée amont du dispositif de filtrage.  4 / - Apparatus according to claim 3, characterized in that the filtering device (33) has at least one inlet (30) arranged upstream with respect to the flow of liquid in the normal direction of liquid pumping, and in that at least one valve (31) is arranged at each upstream input of the filtering device.
5/ - Appareil selon l'une des revendications 1 à 4, caractérisé en ce que le moteur (8) comprend un corps monté selon un plan longitudinal avec l'arbre (9) moteur incliné vers le haut et vers l'arrière d'un angle supérieur à 0° et inférieur à 90° par rapport au plan de roulage (22) défini par les organes (5, 6) de guidage et d'entraînement.  5 / - Apparatus according to one of claims 1 to 4, characterized in that the motor (8) comprises a body mounted in a longitudinal plane with the shaft (9) motor inclined upwards and backwards of an angle greater than 0 ° and less than 90 ° with respect to the rolling plane (22) defined by the guiding and driving members (5, 6).
6/ - Appareil selon la revendication 5, caractérisé en ce qu'il comporte une hélice (10) de pompage accouplée à une extrémité arrière supérieure de l'arbre (9) moteur débouchant d'un côté du corps du moteur, et en ce qu'une autre extrémité avant inférieure de l'arbre (9) moteur débouche de l'autre côté du corps du moteur et est accouplée à un renvoi d'angle entraînant deux demi arbres (16) avant coaxiaux pour un essieu moteur (13) avant unique. 7/ - Appareil selon l'une des revendications 1 à 6, caractérisé en ce qu'il comprend une unique hélice (10) de pompage axial directement montée sur une extrémité de l'arbre (9) moteur faisant office d'arbre de rotation pour cette hélice (10). 6 / - Apparatus according to claim 5, characterized in that it comprises a pumping propeller (10) coupled to an upper rear end of the motor shaft (9) opening on one side of the engine body, and in that that another lower front end of the motor shaft (9) opens on the other side of the motor body and is coupled to an angle gear driving two coaxial front half-shafts (16) for a driving axle (13). before single. 7 / - Apparatus according to one of claims 1 to 6, characterized in that it comprises a single axial pumping propeller (10) directly mounted on one end of the shaft (9) motor rotating shaft office for this propeller (10).
8/ - Appareil selon l'une des revendications 1 à 7, caractérisé en ce que l'unité (4) de commande électrique est adaptée pour alimenter le moteur (8) selon une valeur de la vitesse de rotation de l'arbre moteur (9) choisie dans une pluralité de valeurs discrètes absolues de la vitesse de rotation de l'arbre.  8 / - Apparatus according to one of claims 1 to 7, characterized in that the electrical control unit (4) is adapted to supply the motor (8) with a value of the speed of rotation of the motor shaft ( 9) selected from a plurality of absolute discrete values of the rotational speed of the shaft.
91 - Appareil selon la revendication 8, caractérisé en ce que la dite pluralité de valeurs comprend, pour le sens arrière de déplacement, deux valeurs : une rapide, une lente.  91 - Apparatus according to claim 8, characterized in that said plurality of values comprises, for the backward direction of movement, two values: a fast, a slow.
10/ - Appareil selon l'une des revendications 1 à 9 caractérisé en ce que l'unité (4) de commande électrique est adaptée pour commander le moteur (8) électrique principalement dans le premier sens et selon des durées plus courtes dans le deuxième sens.  10 / - Apparatus according to one of claims 1 to 9 characterized in that the unit (4) of electrical control is adapted to control the motor (8) electric mainly in the first direction and in shorter durations in the second meaning.
11/ - Appareil selon l'une des revendications 1 à 10, caractérisé en ce que l'ensemble de ses composants électroniques sont incorporés dans l'unité (4) de commande électrique qui est située hors du liquide et reliée au corps creux et au moteur par un câble (3).  11 / - Apparatus according to one of claims 1 to 10, characterized in that all of its electronic components are incorporated in the unit (4) of electrical control which is located outside the liquid and connected to the hollow body and to the motor by a cable (3).
EP10807624.1A 2009-12-18 2010-12-17 Submerged-surface-cleaning device comprising a single reversible driving and pumping electric motor Active EP2513392B1 (en)

Applications Claiming Priority (3)

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FR0906137A FR2954377B1 (en) 2009-12-18 2009-12-18 SUBMERSIBLE SURFACE CLEANING APPARATUS WITH UNIQUE ELECTRIC REVERSIBLE DRIVING AND PUMPING MOTOR
US30053410P 2010-02-02 2010-02-02
PCT/FR2010/052798 WO2011073597A1 (en) 2009-12-18 2010-12-17 Submerged-surface-cleaning device comprising a single reversible driving and pumping electric motor

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EP2513392B1 EP2513392B1 (en) 2013-09-18

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EP (1) EP2513392B1 (en)
AU (1) AU2010332549C1 (en)
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FR2954377B1 (en) 2009-12-18 2015-03-13 Zodiac Pool Care Europe SUBMERSIBLE SURFACE CLEANING APPARATUS WITH UNIQUE ELECTRIC REVERSIBLE DRIVING AND PUMPING MOTOR

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9267300B2 (en) 2009-12-18 2016-02-23 Zodiac Pool Care Europe Apparatus for cleaning an immersed surface having a single reversible electric driving and pumping motor

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US20110154585A1 (en) 2011-06-30
US20140251884A1 (en) 2014-09-11
WO2011073597A1 (en) 2011-06-23
AU2010332549C1 (en) 2016-05-12
US9267300B2 (en) 2016-02-23
CA2784806C (en) 2017-06-13
CA2784806A1 (en) 2011-06-23
ES2432435T3 (en) 2013-12-03
AU2010332549A1 (en) 2012-08-02
FR2954377A1 (en) 2011-06-24
FR2954377B1 (en) 2015-03-13
EP2513392B1 (en) 2013-09-18
US8763187B2 (en) 2014-07-01
AU2010332549B2 (en) 2016-02-04

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