EP2717754B1 - Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle - Google Patents

Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle Download PDF

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Publication number
EP2717754B1
EP2717754B1 EP11727146.0A EP11727146A EP2717754B1 EP 2717754 B1 EP2717754 B1 EP 2717754B1 EP 11727146 A EP11727146 A EP 11727146A EP 2717754 B1 EP2717754 B1 EP 2717754B1
Authority
EP
European Patent Office
Prior art keywords
rear wheel
steering
wheel
front wheel
drive device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP11727146.0A
Other languages
German (de)
English (en)
Other versions
EP2717754A1 (fr
Inventor
Jürgen Walz
Christian Hofner
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.)
Alfred Kaercher SE and Co KG
Original Assignee
Alfred Kaercher SE and Co KG
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 Alfred Kaercher SE and Co KG filed Critical Alfred Kaercher SE and Co KG
Publication of EP2717754A1 publication Critical patent/EP2717754A1/fr
Application granted granted Critical
Publication of EP2717754B1 publication Critical patent/EP2717754B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools

Definitions

  • the invention relates to a self-propelled bed cleaning machine.
  • the invention further relates to a method for operating a self-propelled floor cleaning machine with a steered front wheel device, wherein a: mechanical steering rod connects the front wheel device and a steering wheel.
  • the US 7,041,029 B2 discloses a floor cleaning machine with a joystick control system.
  • a mobile floor cleaning machine is known, with a drive unit for moving the floor cleaning machine and at least one cleaning tool, wherein the at least one cleaning tool and / or the drive unit have multiple modes and the user by means of controls a certain mode is selectable.
  • a movable carriage in particular work or floor cleaning machine, with at least one pivotable impeller and / or a pivotable actuating, working or cleaning unit and at least one sensor device known.
  • the sensor device is arranged such that it is at least relatively pivotable with the at least one steerable impeller and / or the pivotable actuating, working or cleaning unit in the same pivoting direction.
  • a tillage machine which comprises a self-propelled vehicle body with a processing device. There are provided control means for a turn of the vehicle body.
  • a floor cleaning machine which has a front wheel and two rear wheels which are driven independently by two drive motors.
  • the invention has for its object to provide a self-propelled floor cleaning machine with high driving safety.
  • the inventive solution results in increased driving safety especially on wet ground and when driving uphill.
  • a high cleaning efficiency results, while ensuring that during forward travel (direction of the speed vector from the rear wheel device to the front wheel device), the steered front wheel device is guided in an unloaded area ("dry area") is.
  • the driven rear wheel device is then guided in an applied area ("wet area").
  • traction may be generally inferior as compared to the area in which the front wheel means are guided, especially if the cleaning fluid contains chemical additives such as soft soap which increase slipperiness on the floor.
  • the first electromotive drive device and the second electromotive drive device are individually controlled, that is to say independently of one another, as required. This results in an optimized adaptation to the background conditions even when cornering. It can increase the traction. This, in turn, can be adapted to the background conditions to set an optimized speed. This results in a time-effective cleaning with high driving safety.
  • the control device comprises in particular an electronic differential device for the at least one left rear wheel and the at least one right rear wheel.
  • the first electromotive drive device and / or the second electromotive drive device comprise a transverse flux motor.
  • a motor as a single-wheel drive, high efficiency can be achieved with a large torque range.
  • the front wheel device comprises one or more castors.
  • a (non-driven) swivel castor ensures a stable web guide. It can be realized in a simple way a steering.
  • control device comprises a speed limiting device, wherein a maximum speed is dependent on the steering angle.
  • a maximum speed is dependent on the steering angle.
  • increased driving safety can be achieved.
  • a time-effective cleaning of a floor area can be achieved.
  • Drive parameters of the control device for the first electromotive drive device and the second electromotive drive device may include speed and direction of rotation. It may, for example, be favorable if in a tight cornering (for example, at a steering angle of 90 °) on the inner rear wheel, a reverse direction of rotation is set in comparison to the outer rear wheel.
  • the rear wheel device is assigned a sensor device which determines wheel parameters and in particular slip-determined Radparameter detected, and the sensor device is signal-effectively connected to the control device. This makes it possible, if corresponding slip-determined parameters are detected to perform an anti-slip regulation.
  • control device comprises an anti-slip control.
  • one or more nozzles for cleaning liquid are provided, which is arranged between the front wheel device and the rear wheel device.
  • an application area can be formed, which is arranged between the front wheel device and the rear wheel device.
  • water or a water-additive mixture can be dispensed through the nozzles.
  • a loading of the floor to be cleaned with cleaning fluid takes place while driving forwards behind the front wheel device and in front of the rear wheel device.
  • the steering can be performed on the front wheel device in a non-applied area ("dry area").
  • the drive takes place in the applied area.
  • one or more roughing elements are provided, which are arranged in particular between the front wheel and the rear wheel. This can achieve effective cleaning. Cleaning liquid from a nozzle can act directly on the roughing elements and / or can be sprayed directly onto a floor.
  • a floor cleaning machine is designed as a roughing machine and in particular roughing suction machine.
  • a roughing-suction machine absorbs excess cleaning liquid after roughing.
  • a self-propelled floor cleaning machine it is fundamentally possible for a self-propelled floor cleaning machine according to the invention to be personally guided, for example by a driver. It is also possible that a self-propelled floor cleaning machine is remotely operated or designed as a cleaning robot.
  • Such a self-propelled sweeper no application of cleaning liquid is provided between the front wheel device and the rear wheel device.
  • Such a self-propelled floor cleaning machine can be operated with increased driving safety. If, for example, driving over wet foliage, an optimized operation can be realized by the individually independent controllability of the first electromotive drive device and the second electromotive drive device.
  • the invention is also based on the object to provide a method for operating a self-propelled floor cleaning machine of the type mentioned, wherein a Cleaning fluid is applied to the floor to be cleaned, and there is an application area between the front wheel device and the rear wheel device, in which optimized driving safety is achieved.
  • a first drive means which is associated with a left rear wheel
  • a second drive means which is associated with a right rear wheel, individually controlled in response to a steering angle to the front wheel means, wherein the steering angle to the steering wheel or is detected on the handlebar.
  • the method according to the invention has the advantages already explained in connection with the floor cleaning machine according to the invention.
  • steering takes place at the front wheel device outside the loading area, that is to say in a "dry area”.
  • the drive of the rear wheel device takes place in a loading area, that is to say in a "wet area”. Due to the independent, individual controllability of the first drive device and the second drive device and thus the independent control of the left rear wheel and right rear wheel can be achieved adapted to the ground especially when cornering an optimized traction.
  • a first embodiment of a self-propelled floor cleaning machine according to the invention which in FIGS. 1 and 2 is shown and is designated 10, is person-led.
  • the floor cleaning machine 10 has a body 12. On the body 12 sit a front wheel 14 and a rear wheel 16. By the front wheel 14 and the rear wheel 16, the floor cleaning machine 10 drive on a floor 18 to be cleaned.
  • the front wheel device 14 has a steering roller 20.
  • the steering roller 20 is connected to a generally designated 22 steering device.
  • the steering device 22 can be an angular position (in FIG. 2 indicated by the reference numeral 24) of the castor 20 are adjusted to a central axis 26 of the floor cleaning machine 10.
  • the steering roller 20 is aligned parallel to the central axis 26 and a corresponding steering angle is a zero angle.
  • the steering device 22 defines a steering axis 28.
  • This steering axis 28 preferably intersects the central axis 26.
  • the steering axis 28 is oriented transversely and, for example, perpendicular to the central axis 26.
  • a seat 30 is arranged for a driver.
  • a driver sitting on the seat 30 can operate a steering wheel 32 of the steering device 22.
  • the floor cleaning machine 10 comprises a steering angle sensor device 34.
  • a steering angle at the front wheel device 14 in particular an angular position of the steering roller 20 relative to the central axis 26
  • a steering angle at the front wheel device 14 in particular an angular position of the steering roller 20 relative to the central axis 26
  • the steering device comprises, for example, a mechanical steering rod which connects the steering roller 20 and the steering wheel 32.
  • the steering angle sensor device 34 then detects in particular an angular position of the steering wheel 32 or the handlebar.
  • the steering device 22 can comprise handlebars with a gearbox located therebetween.
  • a handlebar is connected to the steering wheel 32, and another handlebar is connected to the steering roller 20.
  • An intermediate gear provides for a Drehwinkeluntersburg or translation.
  • the transmission can also be connected directly to the steering wheel 32 or the steering roller 20.
  • the steering device 22 comprises a steering motor, wherein a steering position of the steering roller 20 is then driven by a motor.
  • the steering roller 20 is rotatable about an axis of rotation 36 which is transverse to the central axis 26.
  • the axis of rotation 36 is oriented perpendicular to the central axis 26.
  • the rear wheel device 16 includes (at least) one (relative to a forward drive) left rear wheel 38 and (at least) a right rear wheel 40 (Figure 2).
  • the left rear wheel 38 is seated on a shaft 42a.
  • the right rear wheel sits on a shaft 42b.
  • the shafts 42a and 42b have coaxial axes of rotation 44 which are transverse and in particular perpendicular to the central axis 26.
  • the rear wheels 38 and 40 are unguided, that is, the axes of rotation 44 are fixed relative to the central axis 26.
  • the left rear wheel 38 is assigned a first electromotive drive device 46.
  • This first electromotive drive device 46 comprises a wheel motor which directly drives the left rear wheel 38.
  • the first electromotive drive device 46 includes, for example, a transverse flux motor.
  • the right rear wheel 40 is assigned a second electromotive drive device 48. This also includes a wheel motor, which drives the right rear wheel 40 directly.
  • the second electromotive drive device 48 likewise preferably comprises a transverse flux motor.
  • the floor cleaning machine 10 comprises a control device 50.
  • the steering angle sensor device 34 is in signal-effective connection with this control device 50; It gives its signals (detected steering angle) to the control device 50 for further processing.
  • the floor cleaning machine 10 comprises corresponding operating pedals 52 for a driver and in particular an "accelerator pedal” and “brake pedal". By pressing the “accelerator pedal”, the speed can be increased and by pressing the "brake pedal” is a deceleration.
  • the corresponding pedals are in signal-effective connection with the control device 50 (in FIG. 2 indicated by the reference numeral 54). A corresponding position of these pedals effected via the control device 50, a corresponding control of the first electric motor drive means 46 and the second electric motor drive means 48. These stand in signal-effective connection with the control device 50; in FIG. 2 this is indicated by the reference numerals 56a and 56b.
  • the control device 50 supplies corresponding control signals to the first electromotive drive device 46 and the second electromotive drive device 48.
  • the corresponding control signals in particular cause an adjustment of the rotational speed and also the direction of rotation respectively on the left rear wheel 38 and the right rear wheel 40.
  • Brake pedal actuation is a deceleration and a corresponding brake is actuated.
  • the rear wheel device 16 is assigned a sensor device designated as a whole by 58, which detects wheel parameters and in particular wheel parameters which characterize a slip.
  • the sensor device 58 comprises a first part 60a, which is assigned to the left rear wheel 38, and a second part 60b, which is assigned to the right rear wheel 40.
  • the actual speed of the left rear wheel 38 and the right rear wheel 40 is determined by the sensor device 58, for example.
  • the sensor device 58 is in signal-effective connection with the control device 50. Corresponding sensor signals are transmitted to the latter for further processing.
  • the floor cleaning machine 10 is designed as a roughing machine and in particular roughing suction machine. It comprises one or more roughing elements 62, in particular roughing discs. These are arranged on a bottom 64 of the floor cleaning machine 10 facing the floor 18. A roughing element 62 is arranged rotatably between the rear wheel 16 and the front wheel 14, for example.
  • the floor cleaning machine 10 comprises a loading device 66 for cleaning liquid, via which cleaning liquid, which is in particular a mixture of water with a chemical additive, can be dispensed in an application area 68 onto the floor 18 to be cleaned.
  • cleaning liquid which is in particular a mixture of water with a chemical additive
  • the loading device 66 comprises in particular a plurality of nozzles 70, via which the cleaning liquid can be dispensed into the loading area 68.
  • the nozzles 70 may be arranged in one or more rows.
  • the nozzles 70 can be arranged and designed so that the one or more roughing elements 62 (tools) are sprayed directly and from there Cleaning liquid reaches the floor 18 and / or that the bottom 18 is sprayed directly.
  • the loading area 68 is located between the front wheel device 14 and the rear wheel device 16. This means that during a cleaning run, the front wheel device 14 travels in a region not acted upon by cleaning fluid (while traveling in the "dry area") while the rear wheel device 16 is in an area acted upon by cleaning fluid the bottom 18 moves, that is in the "wet area” (possibly with chemical additives) drives.
  • the control device 50 includes an electronic differential device 72. Through this can be the different drive means 46, 48 for left rear wheel 38 and right rear wheel 40 control differently if necessary. In particular, the control takes place individually as a function of the steering angle, which is detected by the sensor device 34. When cornering, for example, depending on the steering position on the front wheel 14, the left rear wheel 38 or the right rear wheel 40 is rotated faster.
  • the first electromotive drive device 46 and the second electromotive drive device 48 are individually controlled via the differential device 72 of the control device 50, that is, controlled independently of each other.
  • the front wheel device 14 is basically tracking.
  • an anti-slip control can be realized.
  • the control device 50 includes an anti-slip control 74. This determines from signals of the sensor device 58, whether slip is present or not. If there is slippage, the speed is increased, if necessary, by appropriate control of the drive devices 46, 48.
  • the control device 50 further comprises a speed limiting device 76.
  • the traction control 74 may be part of the speed limiting device 76.
  • the speed limiting device 76 limits the speed as a function of the steering angle to a predetermined value, which can be achieved in particular when cornering by a differential control of the electric motor drive means 46 and 48.
  • a tank 78 for cleaning fluid is integrated. It may be provided that the tank 78 comprises an area for, for example, water and includes an area for chemical additives. Via the tank 78 or via a mixing area, the nozzles 70 are supplied with cleaning fluid.
  • the floor cleaning machine 10 may further include a suction device 80 through which excess liquid from the bottom 18 is absorbable.
  • the suction device 80 includes, for example, a suction bar 82, which is placed on the floor 18 during the cleaning operation. Liquid is sucked in via this suction bar 82 and taken up in a tank 84.
  • the tank 84 is a waste water tank.
  • the suction bar 82 is arranged behind the rear wheel 16, for example, with respect to a forward direction of travel.
  • the improved traction especially on slippery surfaces is improved by detection of corresponding wheel parameters by the sensor device 58.
  • an additional braking device is provided, which is formed for example by means of a friction cone in order to achieve a high braking effect.
  • the optimum speed can be achieved depending on the ground;
  • Cleaning liquid which contains especially soft soap, can make the floor 18 slippery.
  • the inventive solution ensures that the steering guidance is done by the front wheel 14 in the "dry area", that is done before the loading area 68.
  • a second embodiment of a floor cleaning machine according to the invention which in FIG. 3 is shown schematically and designated there by 86, is a sweeper.
  • This sweeper comprises one or more sweeping heads 88.
  • This sweeper 86 is in its basic training, for example in the DE 10 2004 022 359 A1 described in full.
  • the floor cleaning machine 86 comprises a front wheel device 14 and a rear wheel device 16 corresponding to the floor cleaning machine 10, wherein the rear wheel device 16 again comprises separate electromotive drive devices 46, 48 for the left rear wheel 38 and the right rear wheel 40.
  • the floor cleaning machine 86 is provided with a controller 50 corresponding to the controller 50 of the floor cleaning machine 10; like reference numerals are used for like elements.
  • left rear wheel 38 and right rear wheel 40 of the floor cleaning machine 86 are individually controlled in response to a steering angle of the front wheel 14.
  • no urging means 66 is provided between the front wheel 14 and the rear wheel 16.
  • the floor cleaning machine 86 may, for example, also be designed as a roughing machine in which a loading device is provided, wherein the loading area (with respect to a forward direction of travel) is positioned in front of the front wheel device 14 or behind the rear wheel device 16.

Landscapes

  • Electric Suction Cleaners (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Claims (15)

  1. Machine de nettoyage de sol autopropulsée, comprenant
    - un dispositif formant roue avant (14),
    - un dispositif de direction (22) comprenant une barre de direction mécanique, laquelle est associée au dispositif formant roue avant (14) et laquelle relie le dispositif formant roue avant (14) et un volant (32),
    - un dispositif de détection d'angle de direction (34), par l'intermédiaire duquel un angle de direction sur le dispositif formant roue avant (14) peut être détecté et lequel détecte une position angulaire du volant (32) ou de la barre de direction,
    - un dispositif formant roues arrières (16) comprenant au moins une roue arrière gauche (38) et au moins une roue arrière droite (40),
    - un dispositif d'application de liquide de nettoyage (66), par l'intermédiaire duquel un liquide de nettoyage peut être émis sur un sol (18), comprenant une zone d'application (68), laquelle est agencée entre le dispositif formant roue avant (14) et le dispositif formant roues arrières (16),
    - un premier dispositif d'entraînement électromoteur (46), lequel est associé à au moins l'une des roues arrières gauches (38),
    - un deuxième dispositif d'entraînement électromoteur (48), lequel est associé à au moins l'une des roues arrières droites (40), et
    - un dispositif de commande (50), lequel est relié au dispositif de détection d'angle de direction (34), au premier dispositif d'entraînement électromoteur (46) et au deuxième dispositif d'entraînement électromoteur (48) à des fins de transmission de signaux, le premier dispositif d'entraînement électromoteur (46) et le deuxième dispositif d'entraînement électromoteur (48) pouvant être commandés chacun individuellement en fonction de signaux du dispositif de détection d'angle de direction (34) .
  2. Machine de nettoyage de sols autopropulsée selon la revendication 1, caractérisée en ce que le dispositif de commande (50) comporte un dispositif différentiel électronique (72) pour au moins l'une des roues arrières gauches (38) et pour au moins l'une des roues arrières droites (40).
  3. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif formant roue avant (14) comporte une ou plusieurs roues pivotantes (20).
  4. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif de commande (50) comporte un dispositif de limitation de vitesse (76) selon lequel une vitesse maximale dépend de l'angle de direction.
  5. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée en ce que des paramètres de commande du dispositif de commande (50) pour le premier dispositif d'entraînement électromoteur (46) et le deuxième dispositif de commande électromoteur (48) incluent la vitesse de rotation et le sens de rotation.
  6. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée en ce qu'au dispositif formant roues arrières (16) est associé un dispositif de détection (58), lequel détecte des paramètres de roue et en particulier des paramètres de roue définis par un glissement, et en ce que le dispositif de détection (58) est relié au dispositif de commande (50) à des fins de transmission de signaux, et en particulier en ce que le dispositif de commande (50) comporte un dispositif de régulation anti-patinage (74).
  7. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée par une ou plusieurs buses (70) pour le liquide de nettoyage, lesquelles sont agencées entre le dispositif formant roue avant (14) et le dispositif formant roues arrières (16).
  8. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée par une application de liquide de nettoyage sur le sol (18) en marche avant derrière le dispositif formant roue avant (14) et devant le dispositif formant roues arrières (16).
  9. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée par un ou plusieurs éléments de frottement (62), lesquels sont agencés en particulier entre le dispositif formant roue avant (14) et le dispositif formant roues arrières (16).
  10. Machine de nettoyage de sols autopropulsée selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle est réalisée sous la forme d'une machine de frottement et en particulier sous la forme d'une machine de frottement et d'aspiration et/ou caractérisée par un guidage de personnes.
  11. Balayeuse autopropulsée, comprenant un dispositif formant roue avant (14), un dispositif de direction (22) comprenant une barre de direction mécanique, laquelle est associée au dispositif formant roue avant (14) et laquelle relie le dispositif formant roue avant (14) et un volant (32), un dispositif de détection d'angle de direction (34), par l'intermédiaire duquel un angle de direction sur le dispositif formant roue avant (14) peut être détecté et lequel détecte une position angulaire du volant (32) ou de la barre de direction, un dispositif formant roues arrières (16) comprenant au moins une roue arrière gauche (38) et au moins une roue arrière droite (40), un premier dispositif d'entraînement électromoteur (46), lequel est associé à au moins l'une des roues arrières gauches (38), un deuxième dispositif d'entraînement électromoteur (48), lequel est associé à au moins l'une des roues arrières droites (40), et un dispositif de commande (50), lequel est relié au dispositif de détection d'angle de direction (34), au premier dispositif d'entraînement électromoteur (46) et au deuxième dispositif d'entraînement électromoteur (48) à des fins de transmission de signaux, le premier dispositif d'entraînement électromoteur (46) et le deuxième dispositif d'entraînement électromoteur (48) pouvant être commandés chacun individuellement en fonction de signaux du dispositif de détection d'angle de direction (34).
  12. Procédé permettant de faire fonctionner une machine de nettoyage de sols autopropulsée comprenant un dispositif formant roue avant dirigé, une barre de direction mécanique reliant le dispositif formant roue avant et un volant, et un dispositif formant roues arrières entraîné, un liquide de nettoyage étant appliqué sur un sol à nettoyer et une zone d'application se situant entre le dispositif formant roue avant et le dispositif formant roues arrières, caractérisé en ce qu'un premier dispositif d'entraînement, lequel est associé à une roue arrière gauche, et un deuxième dispositif d'entraînement, lequel est associé à une roue arrière droite, sont commandés individuellement en fonction d'un angle de direction sur le dispositif formant roue avant, l'angle de direction étant détecté sur le volant ou sur la barre de direction.
  13. Procédé permettant de faire fonctionner une balayeuse autopropulsée comprenant un dispositif formant roue avant dirigé, une barre de direction mécanique reliant le dispositif formant roue avant et un volant, et un dispositif formant roues arrières entraîné, caractérisé en ce qu'un premier dispositif d'entraînement, lequel est associé à une roue arrière gauche, et un deuxième dispositif d'entraînement, lequel est associé à une roue arrière droite, sont commandés individuellement en fonction d'un angle de direction sur le dispositif formant roue avant, l'angle de direction étant détecté sur la roue de direction ou sur la barre de direction.
  14. Procédé selon la revendication 12 ou 13, caractérisé en ce que le dispositif formant roues arrières est entraîné de façon électromotrice, un dispositif de différentiel électronique étant utilisé pour le premier dispositif d'entraînement et le deuxième dispositif d'entraînement.
  15. Procédé selon l'une quelconque des revendications 12 à 14, caractérisé en ce que le premier dispositif d'entraînement et le deuxième dispositif d'entraînement sont commandés en ce qui concerne la vitesse de rotation et le sens de rotation, et en particulier en ce qu'une vitesse maximale est prédéfinie en fonction de l'angle de direction.
EP11727146.0A 2011-06-10 2011-06-10 Machine de nettoyage du sol autotractée et procédé d'utilisation d'une telle Not-in-force EP2717754B1 (fr)

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PCT/EP2011/059681 WO2012167836A1 (fr) 2011-06-10 2011-06-10 Machine de nettoyage de sol autoportée et procédé d'utilisation d'une machine de nettoyage de sol autoportée

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EP2717754B1 true EP2717754B1 (fr) 2018-03-14

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DE102013113794A1 (de) 2013-12-10 2015-06-11 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungsmaschine und Verfahren zum Betreiben einer Bodenreinigungsmaschine
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FR2701436B1 (fr) 1993-02-16 1995-03-31 Auxelic Chaîne de traction électrique avec essieu moteur à effet différentiel électrique.
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WO2012167836A1 (fr) 2012-12-13
US20140090664A1 (en) 2014-04-03

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