EP2513393B1 - Reinigungsgerät für eine unterwasseroberfläche mit rotation beim hochziehen - Google Patents

Reinigungsgerät für eine unterwasseroberfläche mit rotation beim hochziehen Download PDF

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Publication number
EP2513393B1
EP2513393B1 EP10807626.6A EP10807626A EP2513393B1 EP 2513393 B1 EP2513393 B1 EP 2513393B1 EP 10807626 A EP10807626 A EP 10807626A EP 2513393 B1 EP2513393 B1 EP 2513393B1
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EP
European Patent Office
Prior art keywords
speed
axle
movement
immersed surface
nosed
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EP10807626.6A
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English (en)
French (fr)
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EP2513393A1 (de
Inventor
Emmanuel Mastio
Philippe Blanc-Tailleur
Philippe Pichon
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Zodiac Pool Care Europe SAS
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Zodiac Pool Care Europe SAS
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Publication of EP2513393A1 publication Critical patent/EP2513393A1/de
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the invention relates to a surface-cleaning apparatus immersed in a liquid, such as that formed by the walls of a swimming pool, of the self-propelled type with electric motor (s).
  • Devices of this type very numerous and known for a long time (typically FR 2 567 552 , FR 2,584,442 ...), usually have a hollow body; one (or more) electric drive motor (s) coupled to one or more motor guiding and driving member (s) 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 pumping is provided by an onboard electric motor, and the drive is also provided by at least one onboard electric motor
  • the apparatus if the apparatus must be bidirectional, that is to say be able to perform trajectories forwards and backwards, it is generally excluded to use the electric pumping motor to drive the apparatus in motion, except to provide a pumping member such as a "vortex" or centrifugal pump (cf. for example US5,245,723 ), or articulated pallets (see for example EP 1070850 ) 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" or centrifugal pump (cf. for example US5,245,723 ), or articulated pallets (see for example EP 1070850 ) capable of providing a flow of liquid in the same direction regardless of its direction of rotation, but whose pumping performance is poor.
  • the trajectories of the apparatus are limited to two predetermined trajectories, one forwards, the other for the rear, that is to say in practice for straight trajectories or trajectories. gyration on one side only. This results in poor sweeping coverage of the immersed surface which is either not completely cleaned or is completely cleaned after a too long period of time.
  • EP 1 022 411 or US 2004/0168838
  • US 2008/236028 describes an apparatus capable of being partially driven by the hydraulic flow created, and has two opposite direction nozzle outlets alternately fed by a valve operated when the pump is stopped. With self-rotating wheels or pivoting axles, the forward and backward paths are different.
  • the object of the invention is therefore generally to provide a cleaner apparatus of the on-board electric motor type (s) which, simultaneously, is more economical in terms of manufacture and use, and has high performances, comparable to those known apparatus, in terms of quality and cleaning, and more particularly providing a complete and rapid scanning of the immersed surface, and a good suction quality for the collection of waste with satisfactory energy efficiency.
  • the invention thus aims to provide such a device that is particularly simple, reliable, compact and lightweight, but endowed with significant evolution capabilities.
  • the invention aims, in a particular embodiment, to propose such an apparatus which comprises a single onboard electric drive and pumping motor, and can be driven according to at least three different predetermined paths, in particular in a straight line, in a bend. on one side and bend on the other side.
  • 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.
  • An apparatus according to the invention can therefore be controlled according to at least three different trajectories, namely the said first and second predetermined trajectories in one direction of movement of the apparatus, and at least one other trajectory, different from the first and second trajectories, in the other direction of movement of the device.
  • each drive motor is reversible and said electrical control unit is adapted to control each drive motor in a first direction of movement of the device -particularly in a first direction of rotation of the pitching axle when the latter is a driving axle driven by such a driving motor- at a single speed, and in a second direction of movement of the apparatus -particularly in a second direction of rotation of the pitching axle when the latter is a driving axle driven by such a drive motor- according to a speed chosen from at least two distinct speeds, of which at least a first speed in which the apparatus moves in first attitude of displacement and at least a second speed in which the apparatus moves in a second pitch up attitude.
  • said electrical control unit is adapted to control each driving motor at least in the second direction of movement of the apparatus - in particular in the second direction of rotation of the pitching axle when the latter is a driving axle driven by such a drive motor- according to a speed chosen from two distinct speeds: a first slow speed and a second fast speed.
  • the hollow body In each attitude of displacement, the hollow body can be stabilized with respect to its angular position around the pitching axle in all appropriate ways, in particular by dynamic balancing, by at least one stop (in contact with the submerged or integrated surface). between the hollow body and the shaft of rotation of the axle) limiting the rotation of rotation of ...
  • an apparatus comprises at least one localized contact member-in particular a shoe or a wheel-arranged to come into contact with the immersed surface in at least one plate-in particular in at least one nose plate-of the device so as to cause the device to turn on one side.
  • Such a localized contact member is active (that is to say in contact with the immersed surface) for at least one mode of movement of the apparatus, that is to say for at least one direction of movement and / or for at least one attitude of the apparatus, for example when the apparatus is in a predetermined pitch attitude, and inactive (at a distance from the immersed surface or in any case arranged so as not to influence the trajectory of the apparatus) in the other modes of movement of the apparatus, for example when the hollow body is in its normal operating position (cleaning of the immersed surface).
  • such a localized contact member may be adapted to only locally brake the hollow body by frictional contact with the surface immersed when the latter is in a predetermined pitch attitude, thus causing a gyration on one side. It may be for example a pad or a wheel locked in rotation.
  • such a localized contact member may be adapted to locally loosen the hollow body, and at least one guide member for the upstand axle -particularly a guide and motor-drive member situated in the vicinity of this body. localized contact.
  • such a localized contact member may be arranged offset laterally with respect to the nose-up axle (with respect to a median direction of the nose-up axle) to cause local braking and / or detachment of a nose member.
  • a gyration of the apparatus of a so predetermined side or on the contrary be generally centered on a median direction of the pitching axle to cause a detachment of each guide member - in particular of each guide member and motor drive, the apparatus being driven in a gyration on one side or the other (defined randomly) due to unavoidable operating imbalances due for example to the traction of the power cable.
  • said guide members of the apparatus comprise at least one non-motor member for guiding the hollow body with respect to the immersed surface, each non-motor guide member being offset in the direction of displacement with respect to the axle of pitching (that is to say, not centered on the axis of this wheeling axle).
  • each non-motor guide member located in front of the pitching axle relative to the direction of movement of the apparatus is detached from the immersed surface.
  • each non-driving guide member located in front of the pitching axle with respect to said direction of movement of the apparatus is detached from the immersed surface.
  • said electric control unit is adapted to control each driving motor at said first speed so that said first attitude of displacement corresponds to a normal attitude of unplugged movement of the apparatus in which each guide member is in contact with the immersed surface.
  • said electric control unit is adapted to control each driving motor at said first speed so that said first attitude of displacement also corresponds to a pitched attitude in which it is at least partially raised relative to the immersed surface by pivoting about the pitching axle from a pitched attitude (normal attitude of displacement, in particular for which all the guide members are in contact with the immersed surface, the taxiing plane defined by these bodies coinciding with the submerged surface), the aircraft being less pitched in said first pitched attitude than in said second nose-up attitude.
  • an apparatus comprises a localized contact member, said second localized contact member, offset laterally with respect to the pitching axle and arranged to come into contact with the immersed surface in said second plate. rotated so as to cause the apparatus to turn on one side.
  • This second localized contact member may be formed of a pad or a wheel or the like.
  • the first localized contact member is arranged to come into contact with the immersed surface only in said first plate (up or down), the second localized contact member is arranged so as to to come into contact with the immersed surface only in said second nose-up attitude, and the second localized contact member is offset laterally with respect to the nose-up axle opposite the first contact member located, so that in said second pitched attitude, the apparatus is driven in gyration on the side opposite to that towards which it is driven in gyration in said first attitude (pitched up or not upward).
  • at least one localized contact member is arranged to come into contact with the immersed surface at the rear of the pitching axle with respect to the direction of movement of the apparatus.
  • an apparatus comprises a device for pumping the liquid between each liquid inlet and each outlet of the liquid, this pumping device being active at least when the apparatus is moving in a direction, said direction before , cleaning the immersed surface, the liquid being pumped, with any debris entrained with it, in the hydraulic circuit and through the filter device from each liquid inlet located at the base of the hollow body facing the surface submerged.
  • the pivoting of the apparatus and its control according to each pitch attitude can be obtained in different ways.
  • this pivoting can result from a torque generated by inertia during an acceleration of each motor guide member (in embodiments where the pitching axle is a driving axle comprising at least one such guide member and motor drive) and / or by a hydraulic reaction generated by at least one secondary outlet of the liquid out of the hollow body for at least one driving direction of the pumping device, the orientation and / or the amplitude of said hydraulic reaction being then adapted (s) to at least participate in pitching trim and / or increase the pitch of the aircraft.
  • said control unit is connected to the pumping device to control it so that, when each drive motor is controlled in one direction and at a speed corresponding to a pitch attitude, the control device pumping generates a flow of liquid producing, at its exit from the hollow body, a hydraulic reaction, called hydraulic pitching reaction, whose direction is not secant with the axis of the pitching axle and is oriented in the appropriate direction to at least participate in the pitching of the hollow body around the pitching axle.
  • the pumping device is reversible so as to be able to generate a liquid flow in the retrograde direction from at least one main liquid outlet, to at least one secondary liquid outlet, and the hydraulic pitching reaction. is produced when the pumping device is controlled by the electrical control unit in the retrograde direction.
  • the drive of an apparatus according to the invention can be obtained both mechanically by at least one electric motor drive connected to at least one motor guiding and driving member, at least partially hydraulically, by at least one electric hydraulic drive motor generating a hydraulic flow leaving the apparatus with a horizontal component (parallel at the rolling plane and at the immersed surface) in at least one driving direction, or even completely hydraulically in a driving direction or in two different driving directions.
  • said main output is adapted to direct the flow of liquid that escapes through this main outlet so that the current creates by reaction, efforts whose resultant, called main effort hydraulic reaction, has a drive component of the device in the forward direction parallel to the non-zero rolling plane, said horizontal component.
  • this horizontal component participates in driving the apparatus in the first direction of rotation of the motor, the apparatus being driven at least partially hydraulically.
  • the drive of the apparatus can be obtained solely by this horizontal component, hydraulically, from the drive motor coupled to each axial pumping propeller-especially a propeller unique axial pumping of the device.
  • the different control times of the apparatus in the different paths may be predetermined or randomly defined, and may be optimized depending for example on the application.
  • said electrical control unit is adapted to control each drive motor mainly in the forward direction, and to control each drive motor from time to time in the rear direction according to the first speed and from time to time in backward direction according to the second speed.
  • said electrical control unit is adapted to control at least a predetermined duration of operation of each drive motor in one direction and at a speed.
  • said electrical control unit is adapted to randomly control at least one operating time of each drive motor in one direction and at a speed.
  • the invention also relates to an apparatus characterized in combination by all or some of the characteristics mentioned above or below.
  • the apparatus according to the embodiments of the invention shown in the figures is a self-propelled submerged surface cleaner electrical type, that is to say connected only by an electric cable 3 to a control unit 4 located at the outside of the liquid.
  • 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 chassis, 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 1 carries two large coaxial front-wheel drive 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. First, they avoid inadvertent contact with a prominent portion 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 rotated in one direction, which drives the corresponding front wheel 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 one end upper rear 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 ⁇ also corresponds to the general direction of the hydraulic reaction generated by the flow of liquid at the outlet 37 in the normal direction of pumping, and towards 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 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, through which the liquid sucked by the suction resulting from the pump propeller 10 when the latter is driven in the normal direction of pumping by the motor 8.
  • the duct 28 extends generally over the entire width of the cover 12 and upwards (substantially orthogonally to the rolling plane 22) to an upper opening with a pivoting flap 31 acting as a valve.
  • the flap 31 is articulated about 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 of the duct 28 so as to receive the flow of liquid (loaded with debris) opening from the upper opening of the inlet conduit 28.
  • 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 on the figure 7 .
  • the shutter 31 acting as a valve is located at the inlet of the filter 33 which coincides with the upper opening of the inlet duct 28.
  • such a valve the function of which is to prevent, in retrograde direction, 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 inclined wall 38 of the shell 11 which delimits 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 thereof forming the lower portion of the duct 36, and this passage is itself sealed, that is to say is performed by a device 40 with seal (s) (for example press type) towing) 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 lining 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.
  • the logic command can be programmed for the control unit 4 to issue 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 delay logic that makes it possible to control the different drive directions and the different speeds according to predetermined, fixed and stored durations and / or randomly defined, for example from a pseudo variable generator. -random. Such a control unit 4 is particularly simple in its design and manufacture.
  • the front wheels 5 are driven in rotation in the direction before movement of the apparatus ( figures 7 and 11a , and figure 14 , the wheel 6 being at the rear of 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 ( figures 8 and 15 , the wheel 6 then being in front of the axle 7 motor relative to this direction of movement).
  • the axial pumping propeller 10 is driven in the opposite direction to its normal pumping direction and generates a non-zero flow rate of retrograde liquid from the outlet 37 to the inside of the hollow body 1.
  • the propeller 10 is an axial pumping propeller with unidirectional and preferably fixed pitch (having blades fixed rigidly on a rotor, extending radially with respect to the latter by having a pitch in one direction) generating a flow of liquid oriented generally along its axis of rotation (the propeller 10 is not centrifugal type) in one direction or the other according to the direction of rotation of the helix around 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 it is rotated about its axis in the opposite direction to this normal pumping direction, 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 side port (variant not shown).
  • the changes in the trajectory of the aircraft during its movements in the backward direction can be obtained in any appropriate way, in particular from a modification of of the hollow body 1 with respect to the axle 7 about the axis 13 (in a plane orthogonal to the immersed surface and containing the direction of displacement).
  • the apparatus is designed so as to be able to 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 -V1 displacement of the apparatus in the rearward direction and at a first pitch, nose-up (first embodiment shown) or not pitched (second embodiment shown), of the apparatus, and in gyration on the other side (for example towards the right relative 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 pitched attitude of the apparatus.
  • 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 propeller 10 of pumping is a unidirectional pitch propeller directly coupled rotatably coupled to the upper rear end 23 of the drive shaft 9.
  • a 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 case, does not change direction, that is to say is always oriented in one direction, so that the direction of the flow of liquid generated by the rotation of the propeller depends on the direction of rotation of the latter.
  • the propeller 10 When the propeller 10 is rotated in the normal pumping direction (corresponding to the cleaning of the immersed surface), 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, efforts 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.
  • 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 right direction .
  • 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 matching the contour of the front wheels 5.
  • This portion 42 of wall is provided with two pads 43, 44, each pad being arranged so as to being able 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 predetermined pitch attitude for each pad 43, 44, the caster 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 pitched attitude represented figure 11b for the first slow speed -V1 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 gyrated on one side (to the left relative to the direction of movement in the example shown) in the rear direction due to the friction of the first pad 43 on the immersed surface and / or the detachment of the front right wheel 5.
  • the first shoe 43 is arranged at the front of the driving axle, and comes, in the first nose-up attitude, into contact with the immersed surface at the rear of the driving axle relative to the direction of displacement (rearward 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 submerged surface when the apparatus is in a second pitched attitude represented figure 11c , of greater inclination than the first pitched 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.
  • 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 travel (rearward 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 capable of rubbing on the immersed surface without causing a detachment of a driving wheel 5 generates a slower gyration of the apparatus by localized braking.
  • the pads 43, 44 are replaced by rollers 63, 64.
  • the first pad 43 is replaced by a caster 63 mounted freely pivoting about a horizontal transverse axis in an oblong slide 65 formed in a pivoting arm 66.
  • the wheel 63 can move in translation along the oblong slide 65.
  • the pivoting arm 66 is freely pivotable about a transverse axis 71 horizontal with respect to the shell 11 forming a frame.
  • the pivoting arm 66 has two parallel wings 66a, 66b forming the receiving scape of the wheel 63 which has a central shaft 67, each wing 66a, 66b having an oblong slot 65a, 65b, the two oblong slots 65a, 65b parallel, facing and of the same dimensions constituting the oblong slide 65 in which the shaft 67 of the wheel 63 is guided.
  • the shaft 67 of the wheel 63 has ends engaged in each oblong slot 65a, 65b.
  • the apparatus When the apparatus is driven in the forward direction, the apparatus is in normal attitude of unplugged movement and the wheel 63 is in abutment with the rear end 70 of the slide 65, and is simply rolled normally, freely and effortlessly resistant in contact with the immersed surface.
  • the second shoe 44 of the first embodiment is replaced, in the second embodiment, by a caster 64 freely pivotable about a horizontal transverse axis, which causes a detachment of the front left wheel 5 because the apparatus is driven. in the rear direction at the second speed -V2 and is in its second plate, which is a pitched attitude.
  • a braking portion is advantageously provided integral with the shell 11 to brake and lock in rotation the wheel 63 abuts the front end 69 of the slide 65.
  • the rollers 63, 64 are toothed so as to minimize their sliding with respect to the immersed surface and, as regards the first wheel 63, vis-à-vis the shell 11 (braking portion) .
  • a rack 68 conjugate teeth of the first wheel 63 is provided integral with the shell 11 to impose a rotation (the first wheel 63 meshing on the rack 68) and a translational movement of the wheel 63 in the oblong slide 65 in the rear direction of movement, and rotational lock the wheel 63 when the latter abuts the front end 69 of the oblong slide 65.
  • the rack 68 is preferably arranged integral with the shell 11 so as to cause a pivot to the lower arm 66 and a downward displacement, relative to the shell 11, the wheel 63 when the latter reaches the front end 69 of the slide 65, so as to cause detachment of the wheel 5 adjacent roulette 63.
  • 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.
  • the motor 8 is interrupted from time to time and controlled in the reverse direction at the first slow speed (corresponding to the travel speed -V1) from time to time and at the second fast speed (corresponding to the travel speed -V2) of from time to time.
  • the different control periods of the motor 8: T1 in the forward direction at high speed + V, T2 in the backward direction at slow speed -V1, T3 in the reverse direction at normal high speed -V2, and T4 for 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 or wheels 63, 64 facilitates this control, each of these pads 43, 44, where the wheel 64 acting stop limiting the 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 simplest expression, all the most complex functionalities of an electrical appliance 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 contained including 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 guiding and driving members for engines or non-motors other than wheels. (caterpillars, brushes ).
  • 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 pads 43, 44 or wheels 63, 64 may be replaced or supplemented by any other combination of localized braking member (s) and / or localized detachment.
  • it can be provided at least one braking member and / or the delamination, by friction and / or rolling, generally centered on a median axis of the axle (not laterally offset), for example a detachment member driving, in a predetermined pitch attitude of the aircraft, a detachment of the two driving wheels, and a random gyration of the aircraft due to 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)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Cleaning Or Drying Semiconductors (AREA)

Claims (15)

  1. Selbstfahrendes Reinigungsgerät für eine Oberfläche, eingetaucht in eine Flüssigkeit, umfassend:
    - einen hohlen Körper (1),
    - Elemente (5, 6) zur Führung des hohlen Körpers auf der Unterwasseroberfläche, umfassend mindestens eine Achse (7), ausgestattet mit mindestens einem rollenden Element (5),
    - eine Filterkammer (2), die in dem hohlen Körper angeordnet ist und Folgendes aufweist:
    - mindestens einen Eingang (25) von Flüssigkeit in den hohlen Körper,
    - mindestens einen Ausgang (37) von Flüssigkeit aus dem hohlen Körper,
    - einen hydraulischen Kreislauf zum Umlauf von Flüssigkeit zwischen jedem Eingang von Flüssigkeit und jedem Ausgang von Flüssigkeit über eine Filtervorrichtung (33),
    - mindestens einen elektrischen Antriebsmotor (8), der von dem hohlen Körper getragen wird und ausgelegt ist, um einen Antrieb des hohlen Körpers durch Verschiebung auf der Unterwasseroberfläche zu erzeugen,
    - eine elektrische Steuereinheit (4), die mit jedem Antriebsmotor (8) verbunden ist, um ihn zu versorgen und ihn in mindestens einer Antriebsrichtung zu steuern,
    dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) in mindestens einer Verschieberichtung des Geräts und mit einer Geschwindigkeit zu steuern, ausgewählt aus:
    - mindestens einer ersten Geschwindigkeit, bei der sich das Gerät in einem ersten Verschiebungsbereich mit Bezug auf die Unterwasseroberfläche befindet und sich in der Verschiebungsrichtung gemäß einem ersten vorbestimmten Weg verschiebt,
    - mindestens einer zweiten, schnelleren Geschwindigkeit, in der sich das Gerät in einem zweiten hochgezogenen Verschiebungsbereich befindet, in dem es mindestens teilweise mit Bezug auf die Unterwasseroberfläche durch Schwenkung um eine Achse, genannt Nickachse (7), ausgehend vom ersten Verschiebungsbereich, angehoben ist, wodurch das Gerät in der Verschiebungsrichtung gemäß einem zweiten vorbestimmten Weg verschoben wird, der dem zweiten hochgezogenen Bereich eigen ist, verschieden vom ersten Weg.
  2. Gerät nach Anspruch 1, dadurch gekennzeichnet, dass jeder Antriebsmotor (8) umkehrbar ist, und dadurch, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) in einer ersten Verschiebungsrichtung mit einer einzigen Geschwindigkeit in einer zweiten Verschiebungsrichtung mit einer Geschwindigkeit zu steuern, ausgewählt aus mindestens zwei verschiedenen Geschwindigkeiten, darunter mindestens einer ersten Geschwindigkeit, bei der sich das Gerät in einer erstem Verschiebungsbereich verschiebt, und mindestens einer zweiten Geschwindigkeit, bei der sich das Gerät in einem zweiten hochgezogenen Verschiebungsbereich verschiebt.
  3. Gerät nach Anspruch 2, dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) mindestens in der zweiten Verschiebungsrichtung mit einer Geschwindigkeit zu steuern, ausgewählt aus zwei verschiedenen Geschwindigkeiten: einer ersten langsamen Geschwindigkeit und einer zweiten schnellen Geschwindigkeit.
  4. Gerät nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass es mindestens ein lokalisiertes Kontaktelement (43, 44, 64) umfasst, das angeordnet ist, um mit der Unterwasseroberfläche in mindestens einem Bereich des Geräts in Kontakt zu kommen, um eine Rotation des Geräts von einer Seite hervorzurufen.
  5. Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) mit der ersten Geschwindigkeit derart zu steuern, dass der erste Verschiebungsbereich einem normalen, nicht hochgezogenen Verschiebungsbereich des Geräts entspricht, in dem jedes Führungselement (5, 6) mit der Unterwasseroberfläche in Kontakt steht.
  6. Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) mit der ersten Geschwindigkeit derart zu steuern, dass der erste Verschiebungsbereich einem ersten hochgezogenen Bereich entspricht, in dem er mindestens teilweise mit Bezug auf die Unterwasseroberfläche durch Schwenkung um die Nickachse (7) ausgehend von einem nicht hochgezogenen Bereich angehoben ist, wobei das Gerät im ersten hochgezogenen Bereich weniger als im zweiten hochgezogenen Bereich hochgezogen ist.
  7. Gerät nach Anspruch 6, dadurch gekennzeichnet, dass es ein erstes lokalisiertes Kontaktelement (43) umfasst, das seitlich mit Bezug auf die Nickachse (7) versetzt und angeordnet ist, um mit der Unterwasseroberfläche in dem ersten Bereich in Kontakt zu kommen, um eine Rotation des Geräts von einer Seite hervorzurufen.
  8. Gerät nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass es ein zweites lokalisiertes Kontaktelement (44, 64) umfasst, das seitlich mit Bezug auf die Nickachse (7) versetzt und angeordnet ist, um mit der Unterwasseroberfläche in dem zweiten hochgezogenen Bereich in Kontakt zu kommen, um eine Rotation des Geräts von einer Seite hervorzurufen.
  9. Gerät nach Anspruch 7 und 8, dadurch gekennzeichnet, dass das erste lokalisierte Kontaktelement (43) angeordnet ist, um mit der Unterwasseroberfläche nur in dem ersten Bereich in Kontakt zu kommen, , das zweite lokalisierte Kontaktelement (44, 64) angeordnet ist, um mit der Unterwasseroberfläche nur in dem zweiten hochgezogenen Bereich in Kontakt zu kommen, zweite lokalisierte Kontaktelement (44, 64) seitlich mit Bezug auf die Nickachse (7) gegenüber dem ersten lokalisierten Kontaktelement (43) versetzt ist, so dass in dem zweiten hochgezogenen Bereich das Gerät in Rotation von der Seite versetzt wird, die derjenigen, in die es in dem ersten Bereich in Rotation versetzt wird, gegenüber liegt.
  10. Gerät nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass:
    - die Führungselemente (5, 6) mindestens ein nicht motorgetriebenes Führungselement (6) des hohlen Körpers mit Bezug auf die Unterwasseroberfläche umfassen, wobei jedes nicht motorgetriebene Führungselement (6) gemäß der Verschiebungsrichtung mit Bezug auf die Nickachse (7) verschoben wird,
    - die Nickachse (7) eine vordere Achse ist, wobei jedes nicht motorgetriebene Führungselement (6) mit Bezug auf die vordere Nickachse (7) gegen die hintere Seite angeordnet ist,
    und dadurch, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) steuern zu können:
    - in einer ersten Verschiebungsrichtung nach vorne mit Bezug auf die Unterwasseroberfläche und, unabhängig von der Geschwindigkeit, in einem normalen, nicht hochgezogenen Verschiebungsbereich, in der alle Führungselemente (5, 6) mit der Unterwasseroberfläche in Kontakt stehen,
    - in einer zweiten Verschiebungsrichtung nach hinten mit Bezug auf die Unterwasseroberfläche, und gemäß der Geschwindigkeit, in einem Verschiebungsbereich, ausgewählt aus einem ersten Verschiebungsbereich, und einem zweiten hochgezogenen Verschiebungsbereich, in dem mindestens ein nicht motorgetriebenes Führungselement (6), angeordnet vor der Nickachse (7) mit Bezug auf die Verschiebungsrichtung nach hinten des Geräts, von der Unterwasseroberfläche abgelöst wird.
  11. Gerät nach Anspruch 10, dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) in der Richtung nach vorne bei einer vorbestimmten Geschwindigkeit zu steuern, und in der Richtung nach hintern bei einer Geschwindigkeit, ausgewählt aus der ersten langsamen Geschwindigkeit, bei der sich das Gerät im ersten Verschiebungsbereich befindet, und der zweiten schnellen Geschwindigkeit, bei der sich das Gerät im zweiten hochgezogenen Verschiebungsbereich befindet.
  12. Gerät nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass es eine Vorrichtung (8, 10) zum Pumpen der Flüssigkeit zwischen jedem Flüssigkeitseingang und jedem Flüssigkeitsausgang umfasst, und dadurch , dass die Steuereinheit (4) mit der Pumpvorrichtung (8, 10) verbunden ist, um sie so zu steuern, dass, wenn jeder Antriebsmotor (8) in einer Richtung und mit einer Geschwindigkeit gesteuert wird, die einem hochgezogenen Bereich entspricht, die Pumpvorrichtung (8, 10) einen Flüssigkeitsstrom erzeugt, der eine hydraulische Reaktion hervorruft, deren Richtung die Achse der motorgetriebenen Nickachse (13) nicht schneidet und so ausgerichtet ist, dass sie mindestens am Hochziehen des hohlen Körpers um die Nickachse (7) beteiligt ist.
  13. Gerät nach Anspruch 10 und 12, dadurch gekennzeichnet, dass die Pumpvorrichtung (8, 10) Folgendes umfasst:
    - mindestens eine axiale Pumphelix (10) mit unidirektionaler Steigung, die einen Flüssigkeitsstrom erzeugt, der im Ganzen gemäß ihrer Rotationsachse ausgerichtet und in den hydraulischen Kreislauf eingefügt ist,
    - mindestens einen umkehrbaren elektrischen Pumpmotor (8), getragen von dem hohlen Körper (1) und umfassend eine motorgetriebene Welle (9), die mit jeder Pumphelix (10) mechanisch verbunden ist, um sie in Rotation zu versetzen,
    - und dadurch, dass mindestens eine Pumphelix (10) angeordnet ist, um Folgendes zu erzeugen:
    - in einer ersten Rotationsrichtung einen Flüssigkeitsdurchsatz im hydraulischen Kreislauf, der durch mindestens einen Ausgang, genannt Hauptausgang, der Flüssigkeit austritt,
    - in einer zweiten Rotationsrichtung einen Flüssigkeitsdurchsatz im hydraulischen Kreislauf in der rückläufigen Richtung aus jedem Hauptausgang und austretend durch mindestens einen anderen Flüssigkeitsausgang, genannt sekundärer Ausgang, der ausgelegt ist, um den Flüssigkeitsstrom, der aus diesem sekundären Ausgang austritt, so auszurichten, dass der Strom durch Reaktion Kräfte erzeugt, deren Resultante, genannt sekundäre Kraft der hydraulischen Reaktion, eine Komponente zum Antrieb des Geräts in der Richtung nach hinten, parallel zur Rollebene, die nicht null ist, genannt horizontale Komponente, und ein Hochziehrehmoment des Geräts um die Neigungsachse (7) aufweist.
  14. Gerät nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, dass
    - die Führungselemente (5, 6) eine einzige Achse, genannte motorgetriebene Nickachse (13), umfassen, ausgestattet mit mindestens einem rollenden Element (5), genannt motorgetriebenes Element (5), in Rotation versetzt,
    - mindestens einen Antriebsmotor (8), genannt mechanischer Antriebsmotor (8), eine motorgetriebene Welle (9) umfasst, die mechanisch mit der motorgetriebenen Nickachse (13) verbunden ist, um damit jedes motorgetriebene Element (5) anzutreiben,
    - die elektrische Steuereinheit (4) mit jedem mechanischen Antriebsmotor (8) verbunden ist, um ihn zu versorgen und ihn in mindestens einer Rotationsrichtung der motorgetriebenen Welle (9) zu steuern.
    - die elektrische Steuereinheit (4) ausgelegt ist, um jeden mechanischen Antriebsmotor (8) in mindestens einer Drehrichtung der motorgetriebenen Welle (9) zu steuern, die einer Verschiebungsrichtung des Geräts entspricht, und in der jedes motorgetriebene Element (5) in einer Richtung und mit einer Geschwindigkeit angetrieben wird, ausgewählt aus Folgendem:
    - mindestens einer ersten Geschwindigkeit, bei der sich das Gerät in einem ersten Verschiebungsbereich mit Bezug auf die Unterwasseroberfläche befindet und sich in der Verschiebungsrichtung gemäß einem ersten vorbestimmten Weg verschiebt,
    - mindestens einer zweiten, schnelleren Geschwindigkeit, in der sich das Gerät in einem zweiten hochgezogenen Verschiebungsbereich befindet, in der es mindestens teilweise mit Bezug auf die Unterwasseroberfläche durch Schwenkung um die motorgetriebene Nickachse (13), ausgehend vom ersten Verschiebungsbereich, angehoben ist, wodurch das Gerät in der Verschiebungsrichtung gemäß einem zweiten vorbestimmten Weg verschoben wird, der dem zweiten hochgezogenen Bereich eigen ist, verschieden vom ersten Weg.
  15. Gerät nach einem der Ansprüche 1 bis 14, dadurch gekennzeichnet, dass die elektrische Steuereinheit (4) ausgelegt ist, um jeden Antriebsmotor (8) hauptsächlich in die Richtung nach vorne zu steuern, und um jeden Antriebsmotor (8) von Zeit zu Zeit in die Richtung nach hinten zu steuern, gemäß der ersten Geschwindigkeit, und von Zeit zu Zeit in die Richtung nach hinten, gemäß der zweiten Geschwindigkeit.
EP10807626.6A 2009-12-18 2010-12-17 Reinigungsgerät für eine unterwasseroberfläche mit rotation beim hochziehen Active EP2513393B1 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FR0906141A FR2954380B1 (fr) 2009-12-18 2009-12-18 Appareil nettoyeur de surface immergee a giration par cabrage
US30052010P 2010-02-02 2010-02-02
FR1001640A FR2954382B1 (fr) 2009-12-18 2010-04-16 Appareil nettoyeur de surface immergee a giration par cabrage
US35668710P 2010-06-21 2010-06-21
PCT/FR2010/052800 WO2011073598A1 (fr) 2009-12-18 2010-12-17 Appareil nettoyeur de surface immergée à giration par cabrage

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EP2513393B1 true EP2513393B1 (de) 2014-05-21

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EP (1) EP2513393B1 (de)
AU (1) AU2010332550B2 (de)
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AU2010332550A1 (en) 2012-08-02
CA2784818A1 (fr) 2011-06-23
FR2954380B1 (fr) 2015-03-20
FR2954382A1 (fr) 2011-06-24
EP2513393A1 (de) 2012-10-24
US8393036B2 (en) 2013-03-12
WO2011073598A1 (fr) 2011-06-23
FR2954382B1 (fr) 2011-12-23
US20110154586A1 (en) 2011-06-30
FR2954380A1 (fr) 2011-06-24
CA2784818C (fr) 2017-06-20
AU2010332550B2 (en) 2016-02-25

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