EP2992803A1 - Self-propelled floor cleaning device - Google Patents

Abstract

Automatically movable floor cleaning device (1) having a chassis (2) and a plurality of wheels (3), wherein at least one wheel (3) is drivable and the drivable wheel (3) with the chassis (2) via a wheel (3) in stock and relative to the chassis (2) movable suspension part (5) is connected. To overcome an obstacle is the wheel (3) for supporting on a substrate over which the floor cleaning device (1) is movable, under the action of a spring force exerting spring (7), and is by means of the suspension part (5) with respect Chassis (2) extendable or retractable, wherein the spring force is independent of a caused by an extension or retraction increase or decrease of the spring force changeable, in particular with increasing extension of the wheel (3) is increased.

Description

The invention relates to a Verfahrteil having a chassis and a plurality of wheels, wherein at least one wheel is driven and the drivable wheel is connected to the chassis via a wheel-supporting and movable relative to the chassis suspension part. The Verfahrteil may in particular be an automatically movable floor cleaning device.

Traversing parts of the aforementioned type are known in the art. These are, for example, automatically movable floor cleaning devices such as vacuum robots. For example, to be able to completely clean a room, it is necessary that the moving part can overcome obstacles. This applies, for example, climbing on a carpet, which stands out from the level of the rest of the ground. In particular, it is known to provide traversing parts for overcoming such obstacles with special devices. Traversing parts have been created in the prior art, for example, which have a kind of lifting device, with which the Verfahrteil can be lifted to the respective obstacle. The lifting device is activated in the presence of an obstacle, in particular as a result of monitoring the surroundings of the traveling part on obstacles.

The publication DE 202008017137 U1 describes, for example, such a movable cleaning device, which has a arranged on a base plate of the cleaning device lifting device with two Schwenkarmsätzen. The pivot arms of a Schwenkarmsatzes run parallel to each other and are opened and closed by a drive and a gearbox. When using the cleaning device on a obstacle-free surface, the pivot arms remain collapsed, the arranged on the pivot arms wheels move the floor cleaning device. As soon as the sensors of a monitoring device detect an obstacle, the The next swing arm is opened so that the swivel arms can rest on the obstacle and lift the floor cleaner above the threshold. As soon as the cleaning device has overcome the obstacle, the pivot arms are folded back so that the cleaning device returns to the initial state for level ground.

Although travel parts of this type have proven to overcome an obstacle, the lifting device shown is expensive to manufacture and thus also particularly costly. The same applies to the entire Verfahrteil, d. H. for example, a floor cleaning device.

It is therefore an object of the invention to provide an alternative Verfahrteil to overcome an obstacle, which manages with the smallest possible number of technical elements and therefore can be produced with low production costs and low costs.

To solve the above object, the invention proposes a Verfahrteil according to the preamble of claim 1, wherein the wheel for supporting on a substrate over which the Verfahrteil is movable, under the action of a spring force exerting spring and with the help of the suspension part in Reference to the chassis is retracted or extended, wherein the spring force is independent of a caused by an extension or retraction increase or decrease of the spring force is changeable, in particular with increasing extension of the wheel can be increased.

By the aforementioned embodiment, the Verfahrteil can do without a complex, separate lifting device. The wheel of the Verfahrteils also retains its previous position relative to the chassis. Costly conversions are thus eliminated.

The overcoming of an obstacle is essentially made possible by a situation-dependent increase in the contact pressure of the wheel on the ground. The mechanism according to the invention with a spring exerting a variable spring force on the wheel is particularly simple and inexpensive.

As long as the traversing part, i. H. For example, the floor cleaning device, runs on a flat, obstacle-free surface, the spring is stretched and the contact pressure generated by the weight of the wheels on the ground is sufficiently high. If, for example, the traversing part strikes a thicker carpet, the weight is distributed by this additional support point over a larger number of support points, the associated relieving of the wheels resulting in the spring pivoting the suspension part and thus retracting the wheels causes the chassis, whereby the Verfahrteil increases its previous ground clearance. This allows the Verfahrteil push on the obstacle; However, the force of the now relaxed with the pivoting of the suspension part according to their spring characteristic spring is reduced, so that in a further enlargement of the support surface on the obstacle of the contact pressure of the wheels is no longer given to the extent necessary.

Since it has been found in practice that this reduced contact pressure and the associated traction are too low to reliably overcome an obstacle, the force of the spring is now changed independently of the pivoting position of the suspension part, whereby an increase of the contact pressure is achieved so that the bike has sufficient grip and the obstacle can be reliably overcome.

As an alternative to the aforementioned mode of operation, according to which the traversing part remains essentially horizontal, the traversing part can also tilt due to the change in momentum when driving onto an obstacle. The suspension part is pivoted. The wheel under the action of the spring force is thereby moved out with respect to the chassis and the distance between the chassis and the ground increases. The spring is relieved, so that the contact pressure of the wheel is usually lower. Subsequently, the force of the spring is changed independently of the decrease in the spring force caused by the extension of the wheel, i. also independent of the degree of tilting of the Verfahrteils or the pivoting position of the suspension part.

It is envisaged that the spring force of the spring is automatically changed. This creates a traversing part which can fully automatically drive on both flat surfaces and overcome obstacles without the user having to intervene to assist the traversing part, for example because the traversing part has become trapped in front of an obstacle or consistently bypasses an obstacle, which, however, for the purpose of complete Cleaning should also be traveled.

Advantageously, the spring force is adjustable as a function of a distance detected by a sensor and corresponding to a degree of retraction or extension of the wheel, in particular a distance between the chassis and the ground. In this case, the sensor detects a distance which corresponds to the extent of the retraction or extension of the wheel relative to the chassis. For example, this may be the distance between the chassis and the ground or the distance between the chassis and the axis of rotation of the wheel. Further distances that provide information about the degree of entry or exit of the wheel are conceivable within the meaning of the invention.

It may alternatively or additionally be provided that the Verfahrteil has an obstacle detection, which initiates the change of the spring force. In this case, the spring force can be adjusted even when detecting an obstacle, without the Verfahrteil is already in contact with the obstacle. By thus taking the necessary measures to overcome the obstacle in advance, it can be prevented that the Verfahrteil ever encountered the obstacle and then only the necessary spring force is set. This advantageously saves time. If the obstacle detection, which may for example have an acoustic, optical or capacitive sensor detects an obstacle, the spring force is advantageously increased automatically, so that the necessary contact pressure of the wheel is available on the ground to reliably overcome the obstacle.

The spring force can be changed in different ways within the meaning of the invention. For example, the spring may be a gas spring, so that the spring force is particularly easy changeable via the gas pressure. Alternatively, it is also possible, for example, for the spring to be designed as a spring part acting on the basis of elastic deformation. Such a spring member is, for example, a spiral spring, which deforms during deflection - and thus increase the spring force. Such spring parts are particularly inexpensive and low maintenance.

It may further be provided that the spring has a chassis-side connection point and a wheel-side connection point, wherein a distance of the connection points for the spring force is authoritative. The spring is thus connected both to the chassis and to the wheel, in particular to the wheel-supporting suspension part. If the spring thus, for example is shortened by a pivoting movement of the suspension member and while the spring force is reduced, the spring force can be increased by changing the distance between the connection points again.

For the purposes of the invention is essential that the distance between the connection points for changing the spring force is adjustable. The distance between the connection points can basically be varied either by an adjustment of the chassis-side connection point as well as by an adjustment of the wheel-side connection point, or by both simultaneously.

According to an advantageous embodiment of the invention, the suspension part is a rocker, which is articulated about an axis of rotation rotatably mounted on the chassis and to which at a distance from the axis of rotation, the wheel is fixed. The wheel-side connection point of the spring is advantageously arranged on the rocker, so that in principle the spring force can already be adjusted by pivoting the rocker. The rocker as a suspension part thus takes on the one hand the function of retraction and extension of the wheel and on the other hand, the function of changing the spring force by tension and relaxation of the spring.

For the provision of the necessary contact pressure to overcome an obstacle according to the invention, either the chassis-side connection point or the wheel-side connection point can be displaced relative to the chassis or the suspension part, wherein the decisive for the acting spring force distance changed.

In the sense of the invention, provision is made in particular for the displacement of the chassis-side connection point or the wheel-side connection point to take place by means of a gear transmission. This gear transmission, for example, has a first toothed element arranged on the chassis and thus a first toothed element operatively connected second toothed element, which may also be arranged on the chassis. The first toothed element may be, for example, a toothed wheel, while the second toothed element is, for example, a linear toothed element which is tangentially in operative connection with the first toothed element, ie the toothed wheel. The first toothed element is advantageously driven by a motor, which is activated in the presence of an obstacle. Advantageously, the movement of the motor is controlled via a corresponding detection device.

The first toothed element may alternatively also be mounted, for example, on the suspension part. In this case, by an operation of the gear transmission, both a pivoting of the suspension part about its axis of rotation and a change in the spring force can be caused.

With the help of the gear transmission, the distance between the chassis side connection point and the wheel-side connection point is readjusted and adjusted a spring force, which is adapted to increase the contact pressure of the wheel on the ground so that the Verfahrteil can easily overcome an obstacle.

Advantageously, the gear transmission is connected to an electric drive. This electric drive can be, for example, a linear drive, in particular also a servo drive. The electric drive can be particularly easy to use in conjunction with the gear mechanism described, wherein the first toothed element is driven by the electric motor.

Finally, the spring according to the invention may also be a length-adjustable strut, so that the spring force is variable by a variation of the length of the strut, in particular similar to a coilover suspension.

Fig. 1

erfindungsgemäßes Verfahrteil,

Fig. 2

Schnittdarstellung eines Verfahrteils gemäß einer ersten Ausführungsform,

Fig. 3

Verfahrteil vor einem Hindernis gemäß einer ersten Ausführungsform,

Fig. 4

Verfahrteil gemäß Fig. 3 mit gespannter Feder gemäß einer ersten Ausführungsform,

Fig. 5

Verfahrteil bei Überwindung des Hindernisses gemäß einer ersten Ausführungsform,

Fig. 6

Verfahrteil bei fortgeschrittener Überwindung des Hindernisses gemäß einer ersten Ausführungsform

Fig. 7

die Schnittdarstellung eines Verfahrteils gemäß einer zweiten Ausführungsform,

Fig. 8

Verfahrteil vor einem Hindernis gemäß einer zweiten Ausführungsform,

Fig. 9

Verfahrteil gemäß Figur 8 mit gespannter Feder gemäß einer zweiten Ausführungsform,

Fig. 10

Verfahrteil bei Überwindung des Hindernisses gemäß einer zweiten Ausführungsform,

Fig. 11

Verfahrteil bei fortgeschrittener Überwindung des Hindernisses gemäß einer zweiten Ausführungsform.

In the following the invention will be explained in more detail with reference to an embodiment. Show it:

Fig. 1

Traversing part according to the invention,

Fig. 2

Sectional view of a traveling part according to a first embodiment,

Fig. 3

Verfahrteil before an obstacle according to a first embodiment,

Fig. 4

Moving part according to Fig. 3 with a tensioned spring according to a first embodiment,

Fig. 5

Verfahrteil in overcoming the obstacle according to a first embodiment,

Fig. 6

Verfahrteil in advanced overcoming the obstacle according to a first embodiment

Fig. 7

the sectional view of a Verfahrteils according to a second embodiment,

Fig. 8

Verfahrteil before an obstacle according to a second embodiment,

Fig. 9

Moving part according to FIG. 8 with tensioned spring according to a second embodiment,

Fig. 10

Verfahrteil in overcoming the obstacle according to a second embodiment,

Fig. 11

Verfahrteil in advanced overcoming the obstacle according to a second embodiment.

FIG. 1 shows an inventive Verfahrteil 1 - here a floor cleaning device - in a 3D view. The Verfahrteil 1 has a chassis 2 and two wheels arranged thereon 3. The Verfahrteil 1 is surrounded by a housing which determines the appearance of the Verfahrteils 1. The wheels 3 are each connected to a suspension part 5. Between the suspension part 5 (more precisely: a wheel-side connection point 11) and the chassis 2 (more precisely: a chassis-side connection point 10), a spring 7 is arranged.

The FIGS. 2 to 6 relate to a first embodiment of the invention, which will be explained below.

FIG. 2 shows an example of an inventive Verfahrteil 1 in a sectional view. The sectional view shows a chassis 2 in conjunction with a wheel 3. The wheel 3 is rotatably connected to a suspension part 5 about a wheel axle 4. The suspension part 5 is rotatable about an axis of rotation 13 arranged on the chassis 2 in such a way that the wheel 3 is pivotable relative to the chassis 2. Between the chassis-side connection point 10 and the wheel-side connection point 11, which is arranged on the opposite end of the wheel 3 of the suspension part 5, a spring 7 is tensioned. On the chassis 2, in the vicinity of the chassis-side connection point 10, a gear transmission 14 with a first toothed element, namely a toothed wheel 15, and a second toothed element, namely a linear toothed element 16, is arranged, for example. The gear transmission 14 is connected to a drive unit 17. The drive unit 17 may include, for example, an electric motor and a motor controller. The engine control is equipped with a sensor 8 which measures, for example, the distance 9 between a predefined plane of the sensor 8 and the ground 6. The distance 9 between the chassis 2 and the ground 6 is a result of the force acting on the wheel 3 weight of the Verfahrteils 1 and the wheel 3 out of the chassis 2 out pivoting force of the spring. 7

FIG. 3 shows a traversed with an obstacle 18 contacting part 1. The obstacle 18 may be, for example, a carpet, which clearly stands out from the underlying substrate 6. The arranged in the direction of movement in front of the wheel 3 portion of the chassis 2 is pushed onto the obstacle 18 before the wheel 3 moves against the edge of the obstacle 18. As a result, the weight of the chassis 2 is partially supported by the obstacle 18, so that the spring 7 can further swing the wheel 3 out of the chassis 2. As a result of the support of the chassis 2 on the obstacle 18 but at the same time reduces the contact pressure of the wheel 3 on the ground 6. Therefore, it is provided that the sensor 8 measures the now reduced distance 9 to the obstacle 18. An evaluation device (not shown) compares the measured distance 9 with a previously measured distance 9 and closes with a current reduction of the distance 9 on the presence of an obstacle 18. The sensor 8 may be for example an acoustic (eg ultrasonic sensor), optical or capacitive sensor , However, other types of sensors 8 are conceivable.

As in FIG. 4 shown, the spring 7 is tensioned in the event of detection of an obstacle 18, so that increases the spring force. For this purpose, the evaluation unit transmits the information about the presence of an obstacle 18 to a drive unit 17, which also includes a motor control. The drive unit 17 controls the movement of the arranged on the chassis 2 gear transmission 14. In this case, the gear 15 is rotated. The rotation of the gear 15 is transmitted to the linear toothed element 16, whereby the chassis-side connection point 10 of the spring 7 is displaced so that the spring 7 spans and the spring force increases. Alternatively, it would also be possible to shift the wheel-side connection point 11 of the spring 7, for example, by shifting the position of the wheel 3 relative to the chassis 2. Due to the tension of the spring 7, ie the increase in the spring force, the force acting on the suspension part 5 increases, which tries to pull the part of the suspension part 5 on which the wheel-side connection point 11 is located in the direction of the chassis-side connection point 10. On the axis of rotation 13 of the suspension part 5 is thereby simultaneously effected that the wheel 3 is pressed against the ground 6. Thereby, the wheel 3 exert a sufficiently large contact pressure on the ground 6, so that the chassis 2 is slightly lifted from the obstacle 18 and thereby reduce the friction losses. As a result, the chassis 2 can be pushed further over the obstacle 18 until finally the wheel 3 ascends onto the obstacle 18. this shows FIG. 5 ,

According to FIG. 6 has moved the Verfahrteil 1 so far that the wheel 3 is in direct contact with the obstacle 18. The spring 7 is further tensioned and thus maintains the contact pressure of the wheel 3 on the ground 6 or on the obstacle 18, so that the Verfahrteil 1 overcome the edge between the ground 6 and obstacle 18 and can reach the obstacle 18.

As soon as the displacement part 1 is located on the obstacle 18, the sensor 8 can detect, for example, the changing distance 9, whereupon the evaluation unit advantageously causes the drive unit 17 to rotate the gear transmission 14 in the opposite direction, so that the distance 12 between the chassis side Connection point 10 and the wheel-side connection point 11 is reduced again. This will cause the deflection of the Reduced spring 7, so that the spring force decreases and the wheel 3 with the help of the suspension part 5 can retract with respect to the chassis 2 again.

The FIGS. 7 to 11 relate to a second embodiment of the invention. The essential differences of this second embodiment to the first embodiment will be explained below.

FIG. 7 shows a Verfahrteil 1 according to a second embodiment. The Verfahrteil 1 has a chassis 2 with a wheel 3, which is connected to a suspension axis 5 rotatably connected to a suspension part 5. The suspension part 5 is rotatable about an axis of rotation 13 arranged on the chassis 2 in such a way that the wheel 3 is pivotable relative to the chassis 2. Between the chassis-side connection point 10 and the wheel-side connection point 11, which is arranged on the opposite end of the wheel 3 of the suspension part 5, a spring 7 is tensioned. On the chassis 2, a gear transmission 14 with a first toothed element, namely a gear 15, and a second toothed element, namely a linear toothed element 16, is arranged. The gear transmission 14 is connected to a drive unit 17. On the chassis 2, a sensor 8 is also arranged, which can measure, for example, the distance 9 to a lying under the chassis 2 substrate 6. The sensor 8 is disposed further inwardly of the chassis 2 relative to the traveling part 1 according to the first embodiment, ie the sensor 8 is closer to the wheel 2 and lags behind a front region of the chassis 2.

FIG. 8 shows the Verfahrteil 1 at an obstacle 18. A leading in the direction of travel of the Verfahrteils 1 front portion of the chassis 2 is in contact with the obstacle 18. The Verfahrteil 1 abuts with the wheel 3 against the edge of the obstacle 18. In this case, the Verfahrteil 1 is tilted and starts with the front in the direction of travel portion of the chassis 2 on the obstacle 18. By this tilting the wheel 3 under the action of the spring force of Spring 7 is extended by means of the suspension part 5 with respect to the chassis 2, so that the distance between the sensor 8 and the base 6 increases. This enlarged distance 9 is measured by the sensor 8, wherein an evaluation device (not shown) compares the measured distance with a present in the absence of an obstacle 18 reference distance and closes at a current increase in the distance on the presence of an obstacle 18. The sensor 8 may be, for example, an acoustic, optical or capacitive sensor. There are also other types of sensors 8 conceivable.

As in FIG. 9 shown, the spring 7 is tensioned in the event of detection of an obstacle 18, so that increases the spring force. A suitable mechanism has been previously described with respect to the first embodiment ( FIG. 4 ) explained. Due to the tension of the spring 7, the force acting on the suspension part 5 increases, which attempts to pull the part of the suspension part 5, on which the wheel-side connection point 11 is located, in the direction of the chassis-side connection point 10. On the axis of rotation 13 of the suspension part 5 is thereby simultaneously effected that the wheel 3 is pressed against the ground 6. This allows the wheel 3 exert a sufficiently large contact pressure on the ground 6, so that the chassis 2 can be pushed further over the obstacle 18. this shows FIG. 10 ,

According to FIG. 11 has finally moved the Verfahrteil 1 so far that the wheel 3 is in direct contact with the obstacle 18. The spring 7 is further tensioned and maintains the contact pressure of the wheel 3 on the ground 6 or on the obstacle 18, so that the traversing part 1 can overcome the edge between the base 6 and the obstacle 18 and reach the obstacle 18. Once the Verfahrteil 1 is completely on the obstacle 18, the chassis 2 tilts back to its horizontal rising position (not shown). The sensor 8 then detects, for example, the changing distance 9, whereupon the evaluation unit advantageously causes the drive unit 17 to rotate the gear transmission 14 in the opposite direction, so that the distance 12 between the chassis-side connection point 10 and the wheel-side connection point 11 is reduced again. As a result, the deflection of the spring 7 is reduced, so that the spring force decreases and the wheel 3 can retract again with respect to the chassis 2 with the aid of the suspension part 5.

LIST OF REFERENCE NUMBERS

1

Verfahrteil

2

chassis

3

bikes

4

wheel axle

5

suspension part

6

underground

7

feather

8th

sensor

9

distance

10

Chassis-side connection point

11

Radseitiger connection point

12

distance

13

axis of rotation

14

gear transmission

15

gear

16

Linear tooth element

17

drive unit

18

obstacle

Claims (10)

Verfahrteil (1), in particular automatically movable floor cleaning device having a chassis (2) and a plurality of wheels (3), wherein at least one wheel (3) is drivable and the drivable wheel (3) with the chassis (2) via a the wheel (3) is hinged and relative to the chassis (2) movable suspension part (5) is connected,
characterized,
in that the wheel (3) is supported on a base (6) by which the traveling part (1) is movable under the action of a spring force (7) and with the aid of the suspension part (5) with respect to the chassis ( 2) is retractable or retractable,
wherein the spring force is independent of a caused by an extension or retraction increase or decrease of the spring force changeable, in particular with increasing extension of the wheel (3) is increased. Traversing part (1) according to claim 1, characterized in that the spring force is automatically changed. Traversing part (1) according to claim 1 or 2, characterized in that the spring force as a function of a detected by a sensor (8), a measure of the extension or extension corresponding distance (9), in particular a distance (9) between the chassis (2) and subsoil (6), is adjustable. Verfahrteil (1) according to one of claims 1 to 3, characterized in that the spring (7) is a gas pressure spring. Traversing part (1) according to one of claims 1 to 3, characterized in that the spring (7) is designed as a spring member acting on the basis of elastic deformation. Traversing part (1) according to one of the preceding claims, characterized in that the spring (7) has a chassis-side connection point (10) and a wheel-side connection point (11), wherein a distance (12) of the connection points (10,11) for the spring force is authoritative. Traversing part (1) according to claim 6, characterized in that the distance of the connection points (10,11) is adjustable to change the spring force. Traversing part (1) according to one of the preceding claims, characterized in that the suspension part (5) is a rocker, which is articulated about an axis of rotation (13) rotatably on the chassis (2) and at which at a distance from the axis of rotation (13) the wheel (3) is attached. Traversing part (1) according to one of claims 6 to 8, characterized in that the wheel-side connection point (11) is arranged on the rocker. Traversing part (1) according to one of claims 6 to 9, characterized in that a connection point (10,11) for changing the spring force relative to the chassis (2) and / or the suspension part (5) by changing a decisive for the acting spring force Distance (12) of the connection points (10,11) is displaceable.

Images