EP2974640B1 - Suction robot with rotating bristle roller and cleaning method for a bristle roller of a suction robot - Google Patents

Suction robot with rotating bristle roller and cleaning method for a bristle roller of a suction robot Download PDF

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Publication number
EP2974640B1
EP2974640B1 EP15175038.7A EP15175038A EP2974640B1 EP 2974640 B1 EP2974640 B1 EP 2974640B1 EP 15175038 A EP15175038 A EP 15175038A EP 2974640 B1 EP2974640 B1 EP 2974640B1
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EP
European Patent Office
Prior art keywords
bristle roller
vacuum cleaner
roller
blade
robotic vacuum
Prior art date
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Application number
EP15175038.7A
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German (de)
French (fr)
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EP2974640B2 (en
EP2974640A1 (en
Inventor
Carina Uphoff
Markus Thamm
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Miele und Cie KG
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Miele und Cie KG
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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0455—Bearing means therefor
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0494—Height adjustment of dust-loosening tools
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0606—Nozzles with fixed, e.g. adjustably fixed brushes or the like rigidly anchored brushes, combs, lips or pads
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B17/00—Accessories for brushes
    • A46B17/06—Devices for cleaning brushes after use
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • the invention relates to a suction robot with a arranged on an underside of a housing of the vacuum robot and rotatable about a horizontal axis bristle roller.
  • the invention further relates to a method for cleaning a rotatable brush roll of such a vacuum robot.
  • Vacuum robots serve as self-propelled cleaning devices for the automated cleaning of surfaces, without them having to be pushed or guided by a user.
  • the devices are usually wireless to easily navigate through an area to be cleaned, such as inside a home, without the possibility of a drive cable getting tangled up in furniture or other obstructions.
  • His energy derives from the robot vacuum from entrained rechargeable batteries, which he - optionally independently - can recharge at a positioned inside the home charging station.
  • a rotating roller brush is provided in support of the suction fan in vacuum robots of the type mentioned. This is usually arranged on the underside of the housing of the vacuum robot in the immediate vicinity of a suction mouth of the vacuum robot. As they rotate about a horizontal axis, bristles of the bristle roll cause dirt particles that have become trapped in a carpet, for example, so that they can be more easily sucked in and absorbed by the suction mouth of the vacuum robot.
  • a problem with such bristle rollers is that threads and / or hair can rotate around them during rotation of the bristle roller, which enforce the bristles of the bristle roller and contribute less effectively to the cleaning of the substrate. So far, wound hairs or threads could only be removed manually from the bristle roller.
  • a floor nozzle for a conventional vacuum cleaner in which a rotating roller brush is arranged.
  • a blade is arranged in this floor nozzle above the brush roller, which can be lowered by pressing a foot switch on the roller brush.
  • the blade then cuts hair and threads into it smaller pieces and lifts them from the bristle roller, so that they can be absorbed.
  • DE 20 2011 110 010 U1 discloses a vacuum robot in which a rotating roller brush is arranged, and in which, above the roller brush, a blade fixed relative to the housing is arranged.
  • An inventive robotic vacuum cleaner of the type mentioned is characterized in that the axis of the roller brush is adjustable relative to the housing in height, wherein in a lower position, the brush roller is spaced from the blade and in an upper position, the brush roller in engagement with the Blade is.
  • the brush roller is mounted vertically movable to bring the brush and the blade into engagement with each other and to free the brush from hair and threads.
  • the mobility of the vacuum robot can be used to bring the brush for cleaning by driving on a suitable element in the upper position. The cleaning position can thus be taken without a separate adjustment of the brush roller or the blade is needed.
  • the axis of the roller brush is mounted in laterally arranged bearings, the bearings are in turn guided vertically displaceable in guides. In this way, the roller brush can be easily moved vertically.
  • the bristle roller is pressed by springs in a lower position.
  • the blade is formed over the substantially entire width of the roller brush.
  • the blade has obliquely downwards. Both features a good cleaning effect for the entire brush roller is achieved.
  • the roller brush rotates for a predetermined period of time at a speed which is above an operating speed of the roller brush in the suction mode.
  • a suction fan of the vacuum robot is operated during the rotation of the brush roller in the raised position.
  • FIG. 1 In the FIG. 1 is a self-propelled vacuum robot 1 shown in a schematic sectional view. The cut is made along a longitudinal axis of the vacuum robot 1 lying in the direction of travel. The vacuum robot 1 is in the representation of FIG. 1 just before a likewise reproduced charging station 30.
  • the vacuum robot 1 has a housing 2 with a bottom 3. In the front region of the housing 2, a tunnel-like recess 4 is arranged on the underside 3, in which a bristle roller unit 10 with a roller brush 11 is located. Above the bristle roller 11, a blade 20 is arranged. The brush roller 11 as well as the blade 20 transverse to the longitudinal axis and thus to the cutting plane of FIG. 1 aligned.
  • a drive system not shown here which acts on two drive wheels 5, of which in the illustrated designation of FIG. 1 only one is visible.
  • the drive wheels 5 can be driven independently of each other via drive motors, not shown here.
  • a support wheel that is either pivotable or designed as a rotatable ball in all directions. In mutually independent control of the directions of rotation and / or rotational speeds of the drive wheels 5, the vacuum robot 1 can perform in this way movements with independently adjustable rotational and translational speeds on a surface to be cleaned.
  • a suction system is arranged in the housing 2 of the vacuum robot 1, in which a suction mouth, which is located in the region of the bristle roller unit 10 in a known manner with a filter system, for example a vacuum cleaner bag, and with a suction fan motor cooperates.
  • a filter system for example a vacuum cleaner bag
  • a suction fan motor cooperates.
  • Other existing for the operation of the vacuum robot 1 elements such as a rechargeable battery for power, charging ports for the battery, a removal option for the vacuum cleaner bag or a control device (microcontroller) and sensors that are used for navigation and / or obstacle detection are in the figure not shown for reasons of clarity.
  • the charging station 30 serves to charge a rechargeable battery of the vacuum robot 1.
  • the vacuum robot 1 can approach the charging station 30, whereupon an energy transfer for charging the rechargeable battery via contacts or contactless, for example, inductive, can take place.
  • an energy transfer for charging the rechargeable battery via contacts or contactless, for example, inductive can take place.
  • FIG. 2 the area of the bristle roller unit 10 of the robotic vacuum cleaner 1 is shown in a partially sectioned illustration.
  • the section runs transversely through the housing 2 of the vacuum robot 1, wherein the roller brush 11 is not cut for the sake of clarity, but is reproduced in a plan view.
  • the brush roller 11 has a plurality of bristles 12, which are arranged in a plurality of rows undulating along the roller brush 11. Wavy webs 13 are likewise provided between the rows of bristles 12. These webs 13 prevent recorded hair and / or threads to work deeply into the bristles 12, from where they are difficult to remove. However, the cleaning method according to the application for the bristle roller 11 can also be carried out in the case of a roller brush without such webs.
  • the brush roller 11 is connected to a horizontal axis 14. About this axis 14, the brush roller 11 can be driven driven by an electric motor, not shown here in rotation.
  • the axis 14 is mounted on both sides in bearings 15, for example plain bearing bushings or roller bearings.
  • the bearings 15 are not fixed to the housing. 2 connected, but are guided in the vertical direction movable in guides 6.
  • the guides 6 are fixed to the housing 2 or formed as part of the housing 2. In this case, springs 16 are provided which press the bearings 15 relative to the housing 2 down.
  • the lower, in the FIG. 2 shown position is also the operating position of the roller brush 11 in the cleaning operation. In this position, the roller brush 11 is also in FIG. 1 shown.
  • the ends of the bristles 12 protrude slightly downward beyond the circumference of the drive wheels 5.
  • the illustrated vertical displaceability of the bristle roller 11 is advantageous in the cleaning operation of the vacuum robot 1, for example in the case of uneven floors.
  • a relative to the housing 2 is not vertically displaceable bristle roller there is a risk that the vacuum robot 1 is caught with its brush roller at an obstacle and can not run over this obstacle in the episode.
  • the vertically displaceable bristle roller 11 can escape in such a case upwards, so that the risk of jamming of the vacuum robot 1 is reduced.
  • the bristle roller 11 is a transversely extending over the entire width of the roller brush 11 blade 20 is arranged.
  • This blade 20 serves to clean the bristle roller 11 and in particular to remove wound hairs and / or threads.
  • the tips of the bristles 12 are spaced from the blade 20.
  • a cleaning effect begins when the blade 20 is engaged with the bristles 12 of the bristle roller 11.
  • the bristle roller 11 is brought from its lower operating position to an upper position, also called cleaning position.
  • hair or threads or the like are cut on the blade 20 and lifted off the bristles 12, whereupon they can be sucked.
  • the blade 20 is arranged obliquely for this purpose, as this in FIG. 1 is shown.
  • the direction of rotation of the roller brush 11 and the inclination are chosen so that the bristles 12 move away from the projecting edge of the inclined blade 20.
  • FIG. 3 shows the suction robot 1 of FIG. 1 in a loading position on the charging station 30.
  • a galvanic or inductive coupling between the charging station 30 and the vacuum robot 1 to charge its rechargeable batteries As already in connection with the FIG. 1 described, takes place in this situation, a galvanic or inductive coupling between the charging station 30 and the vacuum robot 1 to charge its rechargeable batteries.
  • an interaction of vacuum robot 1 and charging station 30 is used to bring the roller brush 11 in the upper cleaning position.
  • the loading station 30 on the side ramps 31, which include a forward-facing Auffahrschräge 32 and a trough 33 in the upper region.
  • the vacuum robot 1 slides with the bearings 15 of the axle 14 on the ramps 31.
  • the ramps 31 are formed correspondingly narrow for this purpose and have the distance of the bearing 15 from each other.
  • the guides 6, in which the bearings 15 are guided vertically, are designed to be open at the front, so that the vacuum robot 1 is not hindered in its onward travel, but the bearings 15 are lifted.
  • the bearings 15 rest in the wells 33 formed on top of the ramps 31, wherein the brush roller 11 is raised from the operating position to the cleaning position.
  • the bristle roller 11 rotates for a predetermined period of time while the blade 20 is engaged with the bristles 12.
  • the suction fan is operated to absorb removed from the bristle roller 11 hairs or threads. It can be provided to operate the bristle roller 11 for a short time at a speed which is above the speed usually used in operation in order to achieve a good cleaning effect and abbreviate the duration of the cleaning cycle.
  • a positive side effect of the increased speed is that separated hairs or threads but also other dirt particles that have settled in the bristle roller 11 are thrown by increased centrifugal forces from the roller brush 11.
  • the roller brush 11 In order to be able to additionally manually clean or even replace the roller brush 11, provision can be made for the roller brush 11 to be designed to be removable for a user of the vacuum robot 1. In order to prevent a risk of injury, in particular when removing or reinserting the bristle roller 11 on the blade 20, it is provided in a further development of the vacuum robot 1, the blade 20 to store pivotally. In this case, the pivoting mechanism can be particularly advantageously coupled to the springs 16 in the guide 6, such that the blade 20 is pivoted out of the grip area of a user when the roller brush 11 is removed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)

Description

Die Erfindung betrifft einen Saugroboter mit einer an einer Unterseite eines Gehäuses des Saugroboters angeordneten und um eine horizontale Achse rotierbaren Borstwalze. Die Erfindung betrifft weiterhin ein Verfahren zur Reinigung einer rotierbaren Borstwalze eines derartigen Saugroboters.The invention relates to a suction robot with a arranged on an underside of a housing of the vacuum robot and rotatable about a horizontal axis bristle roller. The invention further relates to a method for cleaning a rotatable brush roll of such a vacuum robot.

Saugroboter dienen als selbstfahrende Reinigungsgeräte der automatisierten Reinigung von Flächen, ohne dass sie von einem Benutzer geschoben oder geführt werden müssen. Die Geräte sind üblicherweise kabellos, um problemlos über einen zu reinigenden Bereich, beispielsweise innerhalb einer Wohnung, navigieren zu können, ohne dass sich ein Antriebskabel in Möbeln oder anderen Hindernissen verheddern kann. Seine Energie bezieht der Saugroboter dabei aus mitgeführten wiederaufladbaren Batterien, die er - gegebenenfalls selbstständig - an einer innerhalb der Wohnung positionierten Ladestation wieder aufladen kann.Vacuum robots serve as self-propelled cleaning devices for the automated cleaning of surfaces, without them having to be pushed or guided by a user. The devices are usually wireless to easily navigate through an area to be cleaned, such as inside a home, without the possibility of a drive cable getting tangled up in furniture or other obstructions. His energy derives from the robot vacuum from entrained rechargeable batteries, which he - optionally independently - can recharge at a positioned inside the home charging station.

Aufgrund der beschränkten Kapazität der mitgeführten wiederaufladbaren Batterien ist die Saugleistung eines Sauggebläsemotors des Saugroboters häufig weniger stark als es für die Reinigung wünschenswert wäre. Zu diesem Zweck ist unterstützend zum Sauggebläse bei Saugrobotern der eingangs genannten Art eine rotierende Borstwalze vorgesehen. Diese ist an der Unterseite des Gehäuses des Saugroboters üblicherweise in unmittelbarer Nähe zu einem Saugmund des Saugroboters angeordnet. Bei ihrer Rotation um eine horizontale Achse wirbeln Borsten der Borstwalze Schmutzpartikel, die sich beispielsweise in einem Teppich verfangen haben, auf, sodass diese leichter vom Saugmund des Saugroboters eingesaugt und damit aufgenommen werden können.Due to the limited capacity of the entrained rechargeable batteries, the suction power of a suction fan motor of the vacuum robot is often less than would be desirable for cleaning. For this purpose, a rotating roller brush is provided in support of the suction fan in vacuum robots of the type mentioned. This is usually arranged on the underside of the housing of the vacuum robot in the immediate vicinity of a suction mouth of the vacuum robot. As they rotate about a horizontal axis, bristles of the bristle roll cause dirt particles that have become trapped in a carpet, for example, so that they can be more easily sucked in and absorbed by the suction mouth of the vacuum robot.

Ein Problem bei derartigen Borstwalzen besteht darin, dass sich Fäden und/oder Haare bei Rotation der Borstwalze um diese herumwickeln können, wodurch sich die Borsten der Borstwalze zusetzen und weniger effektiv zur Reinigung des Untergrunds beitragen. Bislang konnten aufgewickelte Haare oder Fäden nur manuell aus der Borstwalze entfernt werden.A problem with such bristle rollers is that threads and / or hair can rotate around them during rotation of the bristle roller, which enforce the bristles of the bristle roller and contribute less effectively to the cleaning of the substrate. So far, wound hairs or threads could only be removed manually from the bristle roller.

Aus der Druckschrift WO 2013/060365 A1 ist eine Bodendüse für einen konventionellen Staubsauger bekannt, in der eine rotierende Borstwalze angeordnet ist. Zur Reinigung der Borstwalze von Haaren oder Fäden ist bei dieser Bodendüse oberhalb der Borstwalze eine Klinge angeordnet, die durch Betätigung eines Fußtasters auf die Borstwalze herabgesenkt werden kann. Bei rotierender Borstwalze schneidet die Klinge dann Haare und Fäden in kleinere Stücke und hebt diese von der Borstwalze ab, sodass sie aufgesaugt werden können.From the publication WO 2013/060365 A1 a floor nozzle for a conventional vacuum cleaner is known in which a rotating roller brush is arranged. For cleaning the bristle roller of hair or threads a blade is arranged in this floor nozzle above the brush roller, which can be lowered by pressing a foot switch on the roller brush. When the roller brush rotates, the blade then cuts hair and threads into it smaller pieces and lifts them from the bristle roller, so that they can be absorbed.

Die beschriebene Anordnung und Vorgehensweise eignet sich unter anderem aufgrund der manuellen Betätigung jedoch nicht für einen selbstfahrenden Saugroboter.However, the described arrangement and procedure is not suitable for a self-propelled vacuum robot, among other things due to the manual operation.

DE 20 2011 110 010 U1 offenbart einen Saugroboter in dem eine rotierende Borstwalze angeordnet ist, und in dem, oberhalb der Borstwalze eine relativ zu dem Gehäuse feststehende Klinge angeordnet ist. DE 20 2011 110 010 U1 discloses a vacuum robot in which a rotating roller brush is arranged, and in which, above the roller brush, a blade fixed relative to the housing is arranged.

Es ist daher eine Aufgabe der vorliegenden Erfindung, einen Saugroboter der eingangs genannten Art zu schaffen, bei dem die rotierende Borstwalze automatisiert gereinigt wird, wobei insbesondere aufgewickelte Haare und/oder Fäden entfernt werden. Es ist eine weitere Aufgabe, ein effektives Reinigungsverfahren für eine Borstwalze eines derartigen Saugroboters anzugeben.It is therefore an object of the present invention to provide a vacuum robot of the type mentioned, in which the rotating roller brush is cleaned automatically, in particular wound hair and / or threads are removed. It is another object to provide an effective cleaning method for a brush roll of such a vacuum robot.

Diese Aufgabe wird gelöst durch einen Saugroboter bzw. ein Verfahren mit den jeweiligen Merkmalen der unabhängigen Ansprüchen. Vorteilhafte Ausgestaltungen und Weiterbildungen des Saugroboters und des Verfahrens sind in den abhängigen Ansprüchen angegeben.This object is achieved by a vacuum robot or a method having the respective features of the independent claims. Advantageous embodiments and further developments of the vacuum robot and the method are specified in the dependent claims.

Ein erfindungsgemäßer Saugroboter der eingangs genannten Art zeichnet sich dadurch aus, dass die Achse der Borstwalze relativ zu dem Gehäuse in ihrer Höhe verstellbar ist, wobei in einer unteren Position die Borstwalze von der Klinge beabstandet ist und in einer oberen Position die Borstwalze im Eingriff mit der Klinge ist. Erfindungsgemäß ist somit nicht die Klinge, sondern die Borstwalze vertikal beweglich gelagert, um die Borstwalze und die Klinge miteinander in Eingriff zu bringen und die Borstwalze von Haaren und Fäden zu befreien. Vorteilhaft kann dann die Bewegungsfähigkeit des Saugroboters genutzt werden, um die Borstwalze zur Reinigung durch Auffahren auf ein geeignetes Element in die obere Position zu bringen. Die Reinigungsposition kann somit eingenommen werden, ohne dass ein separates Verstellorgan für die Borstwalze bzw. die Klinge benötigt wird.An inventive robotic vacuum cleaner of the type mentioned is characterized in that the axis of the roller brush is adjustable relative to the housing in height, wherein in a lower position, the brush roller is spaced from the blade and in an upper position, the brush roller in engagement with the Blade is. According to the invention, therefore, not the blade, but the brush roller is mounted vertically movable to bring the brush and the blade into engagement with each other and to free the brush from hair and threads. Advantageously, then the mobility of the vacuum robot can be used to bring the brush for cleaning by driving on a suitable element in the upper position. The cleaning position can thus be taken without a separate adjustment of the brush roller or the blade is needed.

Bei einer vorteilhaften Ausgestaltung des Saugroboters ist die Achse der Borstwalze in seitlich angeordneten Lagern gelagert, wobei die Lager ihrerseits in Führungen vertikal verschiebbar geführt sind. Auf diese Weise kann die Borstwalze konstruktiv einfach vertikal verschoben werden. Bevorzugt wird die Borstwalze durch Federn in eine untere Position gedrückt.In an advantageous embodiment of the vacuum robot, the axis of the roller brush is mounted in laterally arranged bearings, the bearings are in turn guided vertically displaceable in guides. In this way, the roller brush can be easily moved vertically. Preferably, the bristle roller is pressed by springs in a lower position.

Bei einer vorteilhaften Ausgestaltung des Saugroboters ist die Klinge über die im Wesentlichen gesamte Breite der Borstwalze ausgebildet. Bevorzugt weist die Klinge schräg nach unten. Durch beide Merkmale wird eine gute Reinigungswirkung für die gesamte Borstwalze erzielt.In an advantageous embodiment of the vacuum robot, the blade is formed over the substantially entire width of the roller brush. Preferably, the blade has obliquely downwards. Both features a good cleaning effect for the entire brush roller is achieved.

Ein erfindungsgemäßes Verfahren zum Reinigen einer Borstwalze eines Saugroboters weist die folgenden Schritte auf:

  • Es wird eine Ladestation durch den Saugroboter angefahren, wobei die Borstwalze durch ein Auffahren des Saugroboters auf einer Auffahrrampe relativ zu einem Gehäuse des Saugroboters angehoben wird und in Eingriff mit einer oberhalb der Borstwalze im Gehäuse des Saugroboters angeordneten Klinge gebracht wird. Dann wird die Borstwalze zu ihrer Reinigung und insbesondere zum Entfernen von Haaren und/oder Fäden rotiert, während sie im Eingriff mit der Klinge ist. Es ergeben sich die im Zusammenhang mit dem Saugroboter genannten Vorteile. Durch das Zusammenspiel von Saugroboter und Ladestation wird die Borstwalze in die obere Reinigungsposition gebracht, ohne dass dafür zusätzliche Verstellorgane am Saugroboter erforderlich sind.
A method according to the invention for cleaning a roller brush of a vacuum robot comprises the following steps:
  • A loading station is approached by the vacuum robot, wherein the roller brush is lifted by driving up the vacuum robot on a ramp relative to a housing of the vacuum robot and is brought into engagement with a blade arranged above the roller in the housing of the vacuum robot. Then, the brush roll is rotated to clean it, and in particular to remove hair and / or filaments while it is engaged with the blade. This results in the advantages mentioned in connection with the vacuum robot. Through the interaction of vacuum robot and charging station, the roller brush is brought into the upper cleaning position, without the need for additional adjustment of the vacuum robot are required.

In einer vorteilhaften Ausgestaltung des Verfahrens rotiert die Borstwalze für eine vorgegebene Zeitdauer mit einer Drehzahl, die über einer Betriebsdrehzahl der Borstwalze im Saugbetrieb liegt. So wird eine effektive Reinigung in kurzer Zeit möglich. Bevorzugt wird während des Rotierens der Borstwalze in der angehobenen Position ein Sauggebläse des Saugroboters betrieben.In an advantageous embodiment of the method, the roller brush rotates for a predetermined period of time at a speed which is above an operating speed of the roller brush in the suction mode. This makes effective cleaning possible in a short time. Preferably, a suction fan of the vacuum robot is operated during the rotation of the brush roller in the raised position.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels mithilfe von Figuren näher erläutert. Die Figuren zeigen:

Figur 1
eine Schnittdarstellung eines Saugroboters mit zugehöriger Ladestation;
Figur 2
eine Schnittansicht des Saugroboters 1 im Bereich seiner Borstwalze.
Figur 3
der Saugroboter aus Figur 1 in einer Ladeposition auf der Ladestation.
The invention will be explained in more detail using an exemplary embodiment with reference to figures. The figures show:
FIG. 1
a sectional view of a vacuum robot with associated charging station;
FIG. 2
a sectional view of the vacuum robot 1 in the region of its bristle roller.
FIG. 3
the vacuum robot off FIG. 1 in a loading position on the charging station.

In der Figur 1 ist ein selbstfahrender Saugroboter 1 in einer schematischen Schnittdarstellung dargestellt. Der Schnitt ist entlang einer in Fahrtrichtung liegenden Längsachse des Saugroboters 1 ausgeführt. Der Saugroboter 1 befindet sich in der Darstellung der Figur 1 kurz vor einer ebenfalls wiedergegebenen Ladestation 30.In the FIG. 1 is a self-propelled vacuum robot 1 shown in a schematic sectional view. The cut is made along a longitudinal axis of the vacuum robot 1 lying in the direction of travel. The vacuum robot 1 is in the representation of FIG. 1 just before a likewise reproduced charging station 30.

Der Saugroboter 1 weist ein Gehäuse 2 mit einer Unterseite 3 auf. Im vorderen Bereich des Gehäuses 2 ist an der Unterseite 3 eine tunnelähnliche Aussparung 4 angeordnet, in der sich eine Borstwalzeneinheit 10 mit einer Borstwalze 11 befindet. Oberhalb der Borstwalze 11 ist eine Klinge 20 angeordnet. Die Borstwalze 11 ist ebenso wie die Klinge 20 quer zur Längsachse und damit zur Schnittebene der Figur 1 ausgerichtet.The vacuum robot 1 has a housing 2 with a bottom 3. In the front region of the housing 2, a tunnel-like recess 4 is arranged on the underside 3, in which a bristle roller unit 10 with a roller brush 11 is located. Above the bristle roller 11, a blade 20 is arranged. The brush roller 11 as well as the blade 20 transverse to the longitudinal axis and thus to the cutting plane of FIG. 1 aligned.

Im Gehäuse des Saugroboters 1 ist ein hier nicht dargestelltes Antriebssystem angeordnet, das auf zwei Antriebsräder 5 wirkt, von denen in der dargestellten Bezeichnung der Figur 1 nur eines sichtbar ist. Die Antriebsräder 5 können unabhängig voneinander über hier nicht dargestellte Antriebsmotoren angetrieben werden. Weiter ist im hinteren Bereich des Saugroboters 1 ein Stützrad vorgesehen, dass entweder verschwenkbar oder als eine in alle Richtungen drehbare Kugel ausgebildet ist. Bei voneinander unabhängiger Ansteuerung der Drehrichtungen und/oder Drehgeschwindigkeiten der Antriebsräder 5 kann der Saugroboter 1 auf diese Weise Bewegungen mit unabhängig voneinander einstellbaren Rotations- und Translationsgeschwindigkeiten auf einer zu reinigenden Fläche ausführen.In the housing of the vacuum robot 1, a drive system not shown here is arranged, which acts on two drive wheels 5, of which in the illustrated designation of FIG. 1 only one is visible. The drive wheels 5 can be driven independently of each other via drive motors, not shown here. Next is in the back of the Suction robot 1 provided a support wheel that is either pivotable or designed as a rotatable ball in all directions. In mutually independent control of the directions of rotation and / or rotational speeds of the drive wheels 5, the vacuum robot 1 can perform in this way movements with independently adjustable rotational and translational speeds on a surface to be cleaned.

Weiterhin ist in dem Gehäuse 2 des Saugroboters 1 ein Saugsystem angeordnet, bei dem ein Saugmund, der sich im Bereich der Borstwalzeneinheit 10 befindet in bekannter Weise mit einem Filtersystem, zum Beispiel einem Staubsaugerbeutel, und mit einem Sauggebläsemotor zusammen wirkt. Weitere für den Betrieb des Saugroboters 1 vorhandene Elemente, beispielsweise eine wiederaufladbare Batterie zur Stromversorgung, Ladeanschlüsse für die Batterie, eine Entnahmemöglichkeit für den Staubsaugerbeutel oder eine Steuereinrichtung (Mikrocontroller) sowie Sensoren, die zur Navigation und/oder Hinderniserkennung verwendet werden, sind in der Figur aus Gründen der Übersichtlichkeit nicht wiedergegeben.Furthermore, a suction system is arranged in the housing 2 of the vacuum robot 1, in which a suction mouth, which is located in the region of the bristle roller unit 10 in a known manner with a filter system, for example a vacuum cleaner bag, and with a suction fan motor cooperates. Other existing for the operation of the vacuum robot 1 elements, such as a rechargeable battery for power, charging ports for the battery, a removal option for the vacuum cleaner bag or a control device (microcontroller) and sensors that are used for navigation and / or obstacle detection are in the figure not shown for reasons of clarity.

Die Ladestation 30 dient unter anderem der Aufladung einer wiederaufladbaren Batterie des Saugroboters 1. Zu diesem Zweck kann der Saugroboter 1 die Ladestation 30 anfahren, worauf hin ein Energieübertrag zum Aufladen der wiederaufladbaren Batterie über Kontakte oder auch kontaktlos, beispielsweise induktiv, erfolgen kann. Die weitere, im Rahmen des anmeldungsgemäßen Verfahrens relevante Funktionalität der Ladestation 30 wird im Zusammenhang mit der Figur 3 näher beschrieben.Among other things, the charging station 30 serves to charge a rechargeable battery of the vacuum robot 1. For this purpose, the vacuum robot 1 can approach the charging station 30, whereupon an energy transfer for charging the rechargeable battery via contacts or contactless, for example, inductive, can take place. The further, in the context of the application according to the method relevant functionality of the charging station 30 is in connection with the FIG. 3 described in more detail.

In Figur 2 ist der Bereich der Borstwalzeneinheit 10 des Saugroboters 1 in einer teilgeschnittenen Darstellung wiedergegeben. Der Schnitt verläuft quer durch das Gehäuse 2 des Saugroboters 1, wobei die Borstwalze 11 der besseren Darstellung halber nicht geschnitten, sondern in einer Aufsicht wiedergegeben ist.In FIG. 2 the area of the bristle roller unit 10 of the robotic vacuum cleaner 1 is shown in a partially sectioned illustration. The section runs transversely through the housing 2 of the vacuum robot 1, wherein the roller brush 11 is not cut for the sake of clarity, but is reproduced in a plan view.

Die Borstwalze 11 weist eine Mehrzahl von Borsten 12 auf, die in mehreren Reihen wellenförmig entlang der Borstwalze 11 angeordnet sind. Zwischen den Reihen der Borsten 12 sind ebenfalls wellenförmig verlaufende Stege 13 vorgesehen. Diese Stege 13 verhindern, dass aufgenommene Haare und/oder Fäden sich tief in die Borsten 12 einarbeiten, von wo sie nur schwierig zu entfernen sind. Das anmeldungsgemäße Reinigungsverfahren für die Borstwalze 11 ist jedoch auch bei einer Borstwalze ohne derartige Stege durchführbar.The brush roller 11 has a plurality of bristles 12, which are arranged in a plurality of rows undulating along the roller brush 11. Wavy webs 13 are likewise provided between the rows of bristles 12. These webs 13 prevent recorded hair and / or threads to work deeply into the bristles 12, from where they are difficult to remove. However, the cleaning method according to the application for the bristle roller 11 can also be carried out in the case of a roller brush without such webs.

Die Borstwalze 11 ist mit einer horizontalen Achse 14 verbunden. Über diese Achse 14 kann die Borstwalze 11 angetrieben von einem hier nicht dargestellten Elektromotor in Rotation versetzt werden. Die Achse 14 ist zu beiden Seiten in Lagern 15, beispielsweise Gleitlagerbuchsen oder Wälzlagern gelagert. Die Lager 15 sind nicht fest mit dem Gehäuse 2 verbunden, sondern sind in vertikaler Richtung bewegbar in Führungen 6 geführt. Die Führungen 6 sind am Gehäuse 2 festgelegt oder als Teil des Gehäuses 2 ausgebildet. Dabei sind Federn 16 vorgesehen, die die Lager 15 relativ zum Gehäuse 2 nach unten drücken.The brush roller 11 is connected to a horizontal axis 14. About this axis 14, the brush roller 11 can be driven driven by an electric motor, not shown here in rotation. The axis 14 is mounted on both sides in bearings 15, for example plain bearing bushings or roller bearings. The bearings 15 are not fixed to the housing. 2 connected, but are guided in the vertical direction movable in guides 6. The guides 6 are fixed to the housing 2 or formed as part of the housing 2. In this case, springs 16 are provided which press the bearings 15 relative to the housing 2 down.

Die untere, in der Figur 2 dargestellte Position ist auch die Betriebsposition der Borstwalze 11 im Reinigungsbetrieb. In dieser Position ist die Borstwalze 11 auch in Figur 1 dargestellt. Die Enden der Borsten 12 ragen dabei geringfügig nach unten über den Umfang der Antriebsräder 5 hinaus.The lower, in the FIG. 2 shown position is also the operating position of the roller brush 11 in the cleaning operation. In this position, the roller brush 11 is also in FIG. 1 shown. The ends of the bristles 12 protrude slightly downward beyond the circumference of the drive wheels 5.

Die dargestellte vertikale Verschiebbarkeit der Borstwalze 11 ist im Reinigungsbetrieb des Saugroboters 1 zum Beispiel bei Bodenunebenheiten vorteilhaft. Bei einer relativ zum Gehäuse 2 nicht vertikal verschiebbaren Borstwalze besteht die Gefahr, dass der Saugroboter 1 sich mit seiner Borstwalze an einem Hindernis verfängt und in der Folge dieses Hindernis nicht überfahren kann. Die vertikal verschiebbare Borstwalze 11 kann in einem solchen Fall nach oben ausweichen, sodass die Gefahr des Festfahrens des Saugroboters 1 verringert ist.The illustrated vertical displaceability of the bristle roller 11 is advantageous in the cleaning operation of the vacuum robot 1, for example in the case of uneven floors. In a relative to the housing 2 is not vertically displaceable bristle roller there is a risk that the vacuum robot 1 is caught with its brush roller at an obstacle and can not run over this obstacle in the episode. The vertically displaceable bristle roller 11 can escape in such a case upwards, so that the risk of jamming of the vacuum robot 1 is reduced.

Oberhalb der Borstwalze 11 ist eine quer sich über die gesamte Breite der Borstwalze 11 erstreckende Klinge 20 angeordnet. Diese Klinge 20 dient der Reinigung der Borstwalze 11 und insbesondere einem Entfernen von aufgewickelten Haaren und/oder Fäden. In der in den Figuren 1 und 2 dargestellten Betriebsposition der Borstwalze 11 sind die Spitzen der Borsten 12 von der Klinge 20 beabstandet. Eine Reinigungswirkung setzt ein, wenn die Klinge 20 mit den Borsten 12 der Borstwalze 11 im Eingriff ist. Zu diesem Zweck wird die Borstwalze 11 aus ihrer unteren Betriebsposition in eine obere Position, auch Reinigungsposition genannt, gebracht. Insbesondere bei sich drehender Borstwalze 11 in der Reinigungsposition werden Haare bzw. Fäden oder ähnliches an der Klinge 20 aufgeschnitten und von den Borsten 12 abgehoben, woraufhin sie eingesaugt werden können. Bevorzugt ist die Klinge 20 zu diesem Zweck schräg angeordnet, wie dieses in Figur 1 dargestellt ist. Die Drehrichtung der Borstwalze 11 bzw. die Schrägstellung werden so gewählt, dass sich die Borsten 12 von der vorstehenden Kante der schräg stehenden Klinge 20 wegbewegen.Above the bristle roller 11 is a transversely extending over the entire width of the roller brush 11 blade 20 is arranged. This blade 20 serves to clean the bristle roller 11 and in particular to remove wound hairs and / or threads. In the in the FIGS. 1 and 2 shown operating position of the roller brush 11, the tips of the bristles 12 are spaced from the blade 20. A cleaning effect begins when the blade 20 is engaged with the bristles 12 of the bristle roller 11. For this purpose, the bristle roller 11 is brought from its lower operating position to an upper position, also called cleaning position. In particular, with rotating roller brush 11 in the cleaning position, hair or threads or the like are cut on the blade 20 and lifted off the bristles 12, whereupon they can be sucked. Preferably, the blade 20 is arranged obliquely for this purpose, as this in FIG. 1 is shown. The direction of rotation of the roller brush 11 and the inclination are chosen so that the bristles 12 move away from the projecting edge of the inclined blade 20.

Ein anmeldungsgemäßes Reinigungsverfahren für die Borstwalze 11 wird im Zusammenhang mit Figur 3 nachfolgend erläutert.An application according to the cleaning method for the roller brush 11 is in connection with FIG. 3 explained below.

Figur 3 zeigt den Saugroboter 1 der Figur 1 in einer Ladeposition auf der Ladestation 30. Wie bereits im Zusammenhang mit der Figur 1 beschrieben, erfolgt in dieser Situation eine galvanische oder induktive Kopplung zwischen der Ladestation 30 und dem Saugroboter 1, um dessen wiederaufladbare Batterien zu laden. FIG. 3 shows the suction robot 1 of FIG. 1 in a loading position on the charging station 30. As already in connection with the FIG. 1 described, takes place in this situation, a galvanic or inductive coupling between the charging station 30 and the vacuum robot 1 to charge its rechargeable batteries.

Unabhängig von der Ladefunktion an der Ladestation 30 wird ein Zusammenspiel von Saugroboter 1 und Ladestation 30 anmeldungsgemäß dazu verwendet, die Borstwalze 11 in die obere Reinigungsposition zu bringen. Zu diesem Zweck weist die Ladestation 30 seitlich Auffahrrampen 31 auf, die eine nach vorne weisende Auffahrschräge 32 und im oberen Bereich eine Mulde 33 umfassen. Beim Auffahren des Saugroboters 1 auf die Ladestation 30 schiebt sich der Saugroboter 1 mit den Lagern 15 der Achse 14 auf die Auffahrrampen 31 auf. Die Auffahrrampen 31 sind zu diesem Zweck entsprechend schmal ausgebildet und weisen den Abstand der Lager 15 voneinander auf. Die Führungen 6, in denen die Lager 15 vertikal geführt sind, sind nach vorne offen ausgebildet, sodass der Saugroboter 1 nicht in seiner Weiterfahrt behindert wird, sich aber die Lager 15 anheben.Regardless of the charging function at the charging station 30 an interaction of vacuum robot 1 and charging station 30 according to the application is used to bring the roller brush 11 in the upper cleaning position. For this purpose, the loading station 30 on the side ramps 31, which include a forward-facing Auffahrschräge 32 and a trough 33 in the upper region. When driving the vacuum robot 1 on the loading station 30, the vacuum robot 1 slides with the bearings 15 of the axle 14 on the ramps 31. The ramps 31 are formed correspondingly narrow for this purpose and have the distance of the bearing 15 from each other. The guides 6, in which the bearings 15 are guided vertically, are designed to be open at the front, so that the vacuum robot 1 is not hindered in its onward travel, but the bearings 15 are lifted.

In der Ladeposition des Saugroboters 1 auf der Ladestation 30 ruhen die Lager 15 in den oben auf den Auffahrrampen 31 ausgebildeten Mulden 33, wobei die Borstwalze 11 von der Betriebsposition in die Reinigungsposition angehoben ist. In dieser Position rotiert die Borstwalze 11 für eine vorgebbare Zeitdauer während die Klinge 20 im Eingriff mit den Borsten 12 ist. Gleichzeitig wird das Sauggebläse betrieben, um von der Borstwalze 11 entfernte Haare oder Fäden aufzusaugen. Dabei kann vorgesehen sein, die Borstwalze 11 kurzzeitig mit einer Drehzahl zu betreiben, die über der im Betrieb üblicherweise verwendeten Drehzahl liegt, um eine gute Reinigungswirkung zu erzielen und die Zeitdauer des Reinigungszyklus abzukürzen. Ein positiver Nebeneffekt der erhöhten Drehzahl ist, dass aufgetrennte Haare oder Fäden aber auch andere Schmutzpartikel, die sich in der Borstwalze 11 festgesetzt haben, durch erhöhte Fliehkräfte aus der Borstwalze 11 geschleudert werden.In the loading position of the vacuum robot 1 on the loading station 30, the bearings 15 rest in the wells 33 formed on top of the ramps 31, wherein the brush roller 11 is raised from the operating position to the cleaning position. In this position, the bristle roller 11 rotates for a predetermined period of time while the blade 20 is engaged with the bristles 12. At the same time the suction fan is operated to absorb removed from the bristle roller 11 hairs or threads. It can be provided to operate the bristle roller 11 for a short time at a speed which is above the speed usually used in operation in order to achieve a good cleaning effect and abbreviate the duration of the cleaning cycle. A positive side effect of the increased speed is that separated hairs or threads but also other dirt particles that have settled in the bristle roller 11 are thrown by increased centrifugal forces from the roller brush 11.

Um die Borstwalze 11 zusätzlich manuell reinigen oder auch austauschen zu können, kann vorgesehen sein, die Borstwalze 11 für einen Benutzer des Saugroboters 1 entnehmbar zu gestalten. Um eine Verletzungsgefahr insbesondere beim Entnehmen oder Wiedereinsetzen der Borstwalze 11 an der Klinge 20 zu verhindern, ist in einer Weiterbildung des Saugroboters 1 vorgesehen, die Klinge 20 schwenkbar zu lagern. Dabei kann besonders vorteilhaft der Schwenkmechanismus mit den Federn 16 in der Führung 6 gekoppelt sein, derart, dass die Klinge 20 aus dem Griffbereich eines Benutzers geschwenkt ist, wenn die Borstwalze 11 entnommen ist.In order to be able to additionally manually clean or even replace the roller brush 11, provision can be made for the roller brush 11 to be designed to be removable for a user of the vacuum robot 1. In order to prevent a risk of injury, in particular when removing or reinserting the bristle roller 11 on the blade 20, it is provided in a further development of the vacuum robot 1, the blade 20 to store pivotally. In this case, the pivoting mechanism can be particularly advantageously coupled to the springs 16 in the guide 6, such that the blade 20 is pivoted out of the grip area of a user when the roller brush 11 is removed.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

11
Saugroboterrobotic vacuum
22
Gehäusecasing
33
Unterseitebottom
44
Aussparungrecess
55
Antriebsraddrive wheel
66
Führungguide
1010
BorstwalzeneinheitBristle roller unit
1111
Borstwalzebristle roller
1212
Borstebristle
1313
Stegweb
1414
Achseaxis
1515
Lagercamp
1616
Federfeather
2020
Klingeblade
3030
Ladestationcharging station
3131
Auffahrramperamp
3232
AuffahrschrägeAuffahrschräge
3333
Muldetrough

Claims (8)

  1. Robotic vacuum cleaner (1) comprising a bristle roller (11) that is arranged on an underside (3) of a housing (2) of the robotic vacuum cleaner (1) and is rotatable about a horizontal shaft (14), characterised in that a blade (20) that is fixed relative to the housing (2) is arranged above the bristle roller (11), and in that the height of the shaft (14) of the bristle roller (11) is adjustable relative to the housing (2), the bristle roller (11) being spaced apart from the blade (20) in a lower position and the bristle roller (11) being engaged with the blade (20) in an upper position.
  2. Robotic vacuum cleaner (1) according to claim 1, wherein the shaft (14) of the bristle roller (11) is mounted in laterally arranged bearings (15), the bearings (15) in turn being guided in a vertically displaceable manner in guides (6).
  3. Robotic vacuum cleaner (1) according to either claim 1 or claim 2, wherein the bristle roller (11) is pushed into a lower position by means of springs (16).
  4. Robotic vacuum cleaner (1) according to any of claims 1 to 3, wherein the blade (20) is designed to extend across substantially the entire width of the bristle roller (11).
  5. Robotic vacuum cleaner (1) according to any of claims 1 to 4, wherein the blade (20) points obliquely downwards.
  6. Method for cleaning a bristle roller (11) of a robotic vacuum cleaner (1) comprising the following steps:
    - - the robotic vacuum cleaner (1) travelling to a charging station (30), wherein the bristle roller (11) is raised relative to a housing (2) of the robotic vacuum cleaner (1) by means of the robotic vacuum cleaner (1) travelling up an access ramp (31) of the charging station (30) and is brought into engagement with a blade (20) arranged above the bristle roller (11) in the housing (2) of the robotic vacuum cleaner (1); and
    - rotating the bristle roller (11) in order to clean the bristle roller (11) and in particular in order to remove hairs and/or threads while the bristle roller (11) is engaged with the blade (20).
  7. Method according to claim 6, wherein the bristle roller (11) is rotated for a predetermined length of time at a rotational speed that is higher than an operating rotational speed of the bristle roller (11) during vacuuming operation.
  8. Method according to either claim 6 or claim 7, wherein a suction fan of the robotic vacuum cleaner (1) is operated while the bristle roller (11) is rotating in the raised position.
EP15175038.7A 2014-07-17 2015-07-02 Suction robot with rotating bristle roller and cleaning method for a bristle roller of a suction robot Active EP2974640B2 (en)

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DE102014110025.5A DE102014110025A1 (en) 2014-07-17 2014-07-17 Vacuum robot with rotating roller brush and cleaning process for a roller brush of a vacuum robot

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EP2974640B2 (en) 2020-02-12
DE102014110025A1 (en) 2016-01-21
US20160015233A1 (en) 2016-01-21
EP2974640A1 (en) 2016-01-20

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