EP3100659A1 - Cleaning device for a self-propelled soil cultivation device - Google Patents
Cleaning device for a self-propelled soil cultivation device Download PDFInfo
- Publication number
- EP3100659A1 EP3100659A1 EP16168723.1A EP16168723A EP3100659A1 EP 3100659 A1 EP3100659 A1 EP 3100659A1 EP 16168723 A EP16168723 A EP 16168723A EP 3100659 A1 EP3100659 A1 EP 3100659A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cleaning
- self
- cleaning device
- soil cultivation
- propelled soil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 171
- 239000002689 soil Substances 0.000 title claims abstract description 68
- 239000004753 textile Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 5
- 238000003971 tillage Methods 0.000 description 33
- 239000000428 dust Substances 0.000 description 9
- 239000002245 particle Substances 0.000 description 9
- 229920001410 Microfiber Polymers 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003658 microfiber Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
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
- A47L11/24—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
- 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
-
- 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
- A47L11/4036—Parts or details of the surface treating 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
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the invention relates to a cleaning device for a self-propelled soil cultivation device, wherein the cleaning device is adapted to clean near-ground wall sections, which adjoin a floor surface to be cleaned.
- Self-propelled soil tillage implements are used for the autonomous cleaning and care of soil surfaces.
- the self-propelled tillage equipment available on the market achieves cleaning services that make manual cleaning of the floor surface largely superfluous.
- the problem here is that the cleaning activity of the known self-propelled tillage equipment previously limited to the areas of a floor surface, which are passable by the self-propelled tillage equipment.
- Near-ground wall sections, such. B. pedestal or strips that limit a floor surface to be cleaned are not or only very limited cleaned by self-propelled tillage equipment.
- dust and dirt particles accumulate on such ground-level wall sections, they must be continuously cleaned by hand. This contradicts the concept of an autonomous soil cleaning by self-propelled tillage equipment.
- Self-propelled tillage implements that have lateral brushes are known from the prior art.
- Self-propelled tillage implements are also able to free edge areas of a floor area to be cleaned of dust or dirt particles via these side brushes.
- These side brushes are due to their orientation on the floor surface to be cleaned but not suitable for ground level wall sections, such. B. base or strips to clean. In particular, when the ground-level wall portions form exposed end face, they are not reached and cleaned by the side brushes.
- the invention thus raises the problem of providing a cleaning device for self-propelled tillage equipment, which allows cleaning of ground-level wall sections.
- the cleaning device has a fixing element with which the cleaning device can be connected to a housing section of a self-propelled soil cultivation device, wherein a cleaning element carrier having a cleaning element is arranged on the cleaning device.
- the cleaning device is detachably connectable to a housing portion of a self-propelled soil cultivation device.
- the fixing element can be latched to the housing of the self-propelled soil cultivation device.
- An upper and a lower holding device are arranged on the fixing element, wherein the fixing element can be latched via the holding devices to a housing section of the self-propelled soil cultivation device.
- the fixing element is connected to the housing of the self-propelled soil cultivation device via an adhesive element.
- the arrangement of the cleaning device on a housing portion of a self-propelled soil cultivation device allows the autonomous cleaning of near-ground wall sections, such as sockets and strips.
- the self-propelled soil cultivation device is thereby enabled to remove soilings near the ground wall areas autonomously by the cleaning elements of the cleaning device.
- the detachable arrangement of the cleaning device on the fixing allows the retrofitting of existing self-propelled tillage equipment with such cleaning devices.
- the cleaning device comprises a pivoting element which is movably, in particular pivotally, connected to the fixing element.
- the cleaning element carrier is arranged on the pivoting element of the cleaning device.
- the pivoting element allows a movable storage, in particular a pivotable mounting, of the cleaning element carrier with respect to the fixing element.
- the pivoting element and thus also the cleaning element carrier can be pivoted with respect to the fixing element. Since the fixing element can be connected to a housing section of a self-propelled soil cultivation device, the pivoting element thus enables a pivoting movement of the cleaning agent carrier relative to a housing section of a self-propelled soil cultivation device.
- the cleaning device Since the cleaning device is arranged on the outside on a housing section of the self-propelled soil cultivation device, the cleaning device extends the external geometry of the self-propelled soil cultivation device. This basically increases the risk of the self-propelled soil tillage implement becoming stuck on obstacles on the surface to be cleaned. The risk of stalling the self-propelled soil cultivation device is particularly increased by the fact that the cleaning device projects beyond the self-propelled soil cultivation device in height. Thus, it could be at Understep of obstacles by the self-propelled soil tillage implement come to a tilting of the cleaning device to obstacles.
- the mobility of the pivoting element and the cleaning element carrier with respect to the fixing element or the housing section of the self-propelled soil cultivation device largely prevents jamming or entanglement of the cleaning device during an autonomous cleaning drive of the self-propelled soil cultivation device.
- the mobility of the pivoting element and the cleaning element carrier enables them to avoid any obstacles that might occur and thus prevent the self-propelled tillage device from becoming stuck.
- the cleaning element carrier is detachably connectable to the pivoting element.
- the cleaning element carrier which has a cleaning element, can be connected to the pivoting element via a plug connection.
- the detachable arrangement of the cleaning element carrier on the pivoting element allows a quick and easy change of the cleaning element carrier. This can be regularly replaced or cleaned by the user without much effort, without dismantling the entire cleaning device of the self-propelled harrow. In this way, the cleaning elements can be cleaned or replaced on the cleaning element carrier by the user.
- the pivoting element has a spring element, in particular a spiral spring, wherein the spring element exerts a spring force on the pivoting element, wherein the spring force counteracts a pivoting movement of the pivoting element.
- the spring element exerts a spring force on the pivoting element in the direction of a first position, in which the pivoting element essentially assumes an upright position. In the first position, the pivoting element is oriented approximately perpendicular to the floor surface to be cleaned, when the cleaning device is arranged on the self-propelled soil cultivation device.
- the spring force is designed so that it can be overcome by the driving force of the self-propelled tillage implement.
- the cleaning element carrier has textile elements as a cleaning element.
- the textile elements are fan-like or comb-like arranged on the cleaning element carrier.
- microfibre textiles are used in particular as textile elements. Due to their intrinsic material properties, these are particularly suitable for absorbing and binding dust and dirt particles. This ensures a particularly thorough cleaning of floor-level wall sections.
- the cleaning element carrier has brush elements as a cleaning element.
- at least two brush tufts are arranged on the cleaning element carrier, each having a plurality of bristle filaments.
- Brush elements are particularly suitable for removing dust and dirt particles from wall sections near the floor. In addition, coarse contamination scenarios of brush elements are adequately managed.
- a self-propelled harrow with a cleaning device wherein the cleaning device is arranged substantially on a housing portion of the self-propelled tillage device, which is largely aligned perpendicular to a cleaning floor surface.
- the cleaning device is arranged substantially laterally next to a housing section of the self-propelled soil cultivation device. The cleaning device is thereby aligned substantially in the direction of a bottom wall portion which is approximately perpendicular to a bottom surface to be cleaned.
- the lateral arrangement of the cleaning device on a housing portion of the self-propelled soil cultivation device extends its scope to ground level wall sections. This now also makes it possible to clean areas that are arranged above the floor areas that can be driven by the soil cultivator.
- an angle between the pivot member and a straight line spans, wherein the straight line is approximately perpendicular to the bottom surface to be cleaned the angle in a preferred embodiment has an angle between 10 and 90 degrees and in a particularly preferred embodiment an angle between 25 and 80 degrees.
- the pivoting element is tilted in relation to the approximately vertical orientation of the lateral housing portion of the self-propelled soil cultivation device in the direction of the ground-level wall sections to be cleaned. That means that pivoting element is not like the fixing element arranged approximately perpendicular to the side wall of the self-propelled soil cultivation device, but tilted at an angle in the direction of the ground-level wall sections to be cleaned.
- the angle between the straight line and the pivoting element leads to an improvement in the cleaning performance of the cleaning device.
- the tilting of the pivot member increases the dynamic support surface of the cleaning element.
- the angle increases the area of the cleaning element, which is in engagement with the ground-level wall section to be cleaned. This improves the cleaning performance of the cleaning device to a significant extent.
- both the pivoting element and the cleaning element carrier is designed so that when the cleaning device is arranged on the housing of the self-propelled soil cultivation device, the cleaning element carrier expands the self-propelled soil cultivation device in height.
- the known self-propelled tillage equipment have a height of about eight to ten centimeters. This ensures, on the one hand, that sufficient space is available within the housing for the required components of the self-propelled soil cultivation device. On the other hand, this makes it possible for the self-propelled harrow to be able to negotiate obstacles such as furniture and thus also to clean the floor beneath obstacles. Since some ground-level wall sections, such as pedestals or strips but higher than ten inches, it requires cleaning element carrier, which extend beyond the housing of a self-propelled soil cultivation implement in height. This allows the cleaning of such ground-level wall sections, which are higher than the housing of a self-propelled tillage implement.
- the cleaning device is arranged on a housing section of the self-propelled soil cultivation device, which is aligned as far as possible at right angles to a main direction of travel of the self-propelled soil cultivation device.
- the Cleaning device is arranged on a housing sections of the self-propelled soil cultivation device, that the cleaning device is aligned with ground-level wall sections, which extend substantially parallel to the main direction of travel of the self-propelled harrow. This allows the cleaning of ground-level wall sections by a self-propelled soil tillage implement based on its already existing driving strategies, such as wall tracking.
- Edge regions of a surface to be cleaned are the regions of a surface that are in the immediate vicinity of an outer boundary, in particular a wall, the bottom surface.
- FIG. 1 shows the perspective view of a self-propelled tillage implement 12 with a cleaning device 10.
- the self-propelled harrow 12 has a housing 36, with which it moves over the bottom surface to be cleaned.
- the housing 36 has a largely circular basic shape with a circumferential, approximately closed side wall 40.
- 40 sensors 42 are arranged for navigation and obstacle detection in the front portion of the side wall.
- the cleaning device 10 is arranged substantially laterally next to the side wall 40 of the self-propelled soil cultivation device 12.
- FIG. 2 shows a perspective view of a cleaning device 10, which has a fixing element 14 and a pivot member 22.
- the fixing element 14 has a clamp-like shape with an upper holding device 44 and a lower holding device 46.
- the fixing member 14 is suitable with its clip-like shape to engage around the side wall 40 of the self-propelled tillage implement 12 and engage the upper holding device 44 on the upper side and the lower holding device 46 on the underside of the self-propelled tillage implement 12.
- the upper and lower holding device 44,46 together cause a secure fixation of the cleaning device 10 on the housing 36 of the self-propelled soil cultivation device 12th
- the pivoting element 22 is movably arranged on the fixing element 14.
- the pivoting element 22 is connected via an axis 48 rotatably connected to the fixing element 14.
- the pivoting element 22 extends from the axis 48 approximately parallel to the fixing element 14 via this upwards.
- a coil spring 26 is arranged in the pivoting element 22.
- the coil spring 26 exerts a spring force on the pivot member 22.
- the spring force acts in the form of a torque on the axis 48 between the fixing element 14 and pivot element 22 on this.
- the pivoting element 22 is held by the spring force in a position in which the pivoting element 22 is aligned approximately parallel to the fixing element 14.
- FIG. 3 shows the perspective view of a cleaning device 10 with arranged cleaning element carrier 18.
- the cleaning element carrier 18 is detachably connected via a plug connection with the pivoting element 22.
- textile elements 28 are arranged as cleaning elements.
- the textile elements 28 extend over the entire height of the cleaning element carrier 18 and have a fan-like structure.
- FIG. 4 shows a side view of a cleaning device 10 with cleaning element carrier 18.
- cleaning elements 20 five brush elements 30 are arranged on the cleaning element carrier 18.
- Each of the brush elements 30 has a plurality of bristle filaments.
- the brush elements 30 are arranged on the cleaning element carrier 18 such that the bristle filaments form a largely closed active surface at their exposed end.
- FIG. 5 shows a front view of a self-propelled tillage implement 12 with a cleaning device 10.
- Side of the housing 36 of the self-propelled soil cultivation device 12, the cleaning device 10 is disposed over the fixing element 14.
- the upper holding device 44 of the fixing element 14 is engaged with the upper side of the housing 36 of the self-propelled soil cultivation device 12.
- the lower holding device 46 of the fixing 14 is engaged with the underside of the housing 36 of the self-propelled harrow 12.
- the pivoting element 22 of the cleaning device 10 is arranged on the side of Fixing element 14, which faces away from the self-propelled soil cultivation device 12, the pivoting element 22 of the cleaning device 10 is arranged.
- On the swivel element 22, a cleaning element carrier 18 is arranged, which has a cleaning element 20.
- the cleaning element carrier 18 projects beyond the housing 36 of the self-propelled soil cultivation device 12 in height.
- Parallel to the side wall 40 of the self-propelled harrow 12 extends a straight line 32 which is aligned approximately perpendicular to the floor surface to be cleaned. Between this straight line 32 and the side of the pivoting element 22 and the cleaning element support 18, which faces the self-propelled soil cultivation device 12, an angle 34 spans. This angle 34 has an angular extent of approximately 25 degrees. As a result, pivot element 22 and cleaning element carrier 18 are tilted by this angle 34 from the straight line 32 in the horizontal direction.
- FIG. 6 shows a front view of a self-propelled tillage implement 12 with a cleaning device 10.
- the side of the housing 36 of the self-propelled soil preparation device 12, a cleaning device 10 is arranged.
- the cleaning element 20 of the cleaning device 10 is engaged with a bottom wall portion 52 of a wall 54 which defines a bottom surface to be cleaned.
- the ground level Wall section 52 forms two surfaces.
- the first surface of the bottom wall portion 52 is approximately perpendicular to the surface to be cleaned and extends approximately parallel to the wall 54.
- the second surface of the bottom wall portion 52 extends approximately parallel to the surface to be cleaned and is perpendicular to the wall 54.
- the second surface of the ground Wall section 52 forms a support surface for dust and dirt particles.
- the cleaning element 20 of the cleaning device 10 is in engagement with the first and second surface of the bottom wall portion 52 by the tilting of the cleaning element carrier 18 and the pivot member 22 by an angle 34 from the straight line 32 but the cleaning device 10 is particularly suitable to to clean the second surface of the bottom wall portion 52 of dust and dirt particles.
- FIG. 7 shows a side view of a self-propelled tillage implement 12 with a cleaning device 10.
- an obstacle 56 is arranged, which has a cavity on the underside. The cavity is so pronounced from the height that it would be traversable for the self-propelled soil cultivation device 12 without arranged cleaning device 10. That is, the housing 36 of the self-propelled soil cultivation device is in the operating condition without arranged cleaning device able to go under the obstacle.
- the self-propelled harrow 12 with arranged cleaning device 10 is disposed below the obstacle 56 and underrun this in the main driving direction 38.
- the cleaning element carrier 18 is in contact with the obstacle 56.
- the obstacle 56 exerts a force on the cleaning element carrier 18 and the pivot member 22 from which causes a pivotal movement of both components from an upright position to an inclined position.
- the height of the self-propelled tillage implement 12 is reduced with arranged cleaning device 10, so that the self-propelled tillage implement 12 is enabled to undercut the obstacle 56.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Agricultural Machines (AREA)
- Cleaning In General (AREA)
Abstract
Die Erfindung betrifft eine Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät, wobei die Reinigungseinrichtung dazu geeignet ist, bodennahe Wandabschnitte zu reinigen, die an eine zu reinigenden Bodenfläche angrenzen.The invention relates to a cleaning device for a self-propelled soil cultivation device, wherein the cleaning device is adapted to clean near-ground wall sections, which adjoin a floor surface to be cleaned.
Description
Die Erfindung betrifft eine Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät, wobei die Reinigungseinrichtung dazu geeignet ist, bodennahe Wandabschnitte zu reinigen, die an eine zu reinigenden Bodenfläche angrenzen.The invention relates to a cleaning device for a self-propelled soil cultivation device, wherein the cleaning device is adapted to clean near-ground wall sections, which adjoin a floor surface to be cleaned.
Selbstfahrende Bodenbearbeitungsgeräte, insbesondere Saug- oder Wischroboter, dienen der autonomen Reinigung und Pflege von Bodenflächen. Die am Markt befindlichen selbstfahrenden Bodenbearbeitungsgeräte erzielen dabei Reinigungsleistungen, die das manuelle Nachreinigen der Bodenfläche weitestgehend überflüssig machen. Problematisch hierbei ist aber, dass sich die Reinigungsaktivität der bekannten selbstfahrenden Bodenbearbeitungsgeräte bisher auf die Bereiche einer Bodenfläche beschränkt, die durch das selbstfahrende Bodenbearbeitungsgerät befahrbar sind. Bodennahe Wandabschnitte, wie z. B. Sockel oder Leisten, die eine zu reinigenden Bodenfläche begrenzen, werden durch selbstfahrende Bodenbearbeitungsgeräte nicht oder nur sehr eingeschränkt gereinigt. Da sich aber gerade auf solchen bodennahen Wandabschnitten Staub- und Schmutzpartikel ansammeln, müssen diese kontinuierlich manuell nachgereinigt werden. Dies widerspricht dem Konzept einer autonomen Bodenreinigung durch selbstfahrende Bodenbearbeitungsgeräte.Self-propelled soil tillage implements, in particular suction or wiping robots, are used for the autonomous cleaning and care of soil surfaces. The self-propelled tillage equipment available on the market achieves cleaning services that make manual cleaning of the floor surface largely superfluous. The problem here, however, is that the cleaning activity of the known self-propelled tillage equipment previously limited to the areas of a floor surface, which are passable by the self-propelled tillage equipment. Near-ground wall sections, such. B. pedestal or strips that limit a floor surface to be cleaned, are not or only very limited cleaned by self-propelled tillage equipment. However, since dust and dirt particles accumulate on such ground-level wall sections, they must be continuously cleaned by hand. This contradicts the concept of an autonomous soil cleaning by self-propelled tillage equipment.
Aus dem Stand der Technik bekannt sind selbstfahrende Bodenbearbeitungsgeräte, die über seitliche Bürsten verfügen. Über diese seitlichen Bürsten sind selbstfahrende Bodenbearbeitungsgeräte in der Lage auch Randbereiche einer zu reinigenden Bodenfläche von Staub- oder Schmutzpartikel zu befreien. Diese seitlichen Bürsten sind aufgrund ihrer Ausrichtung auf die zu reinigenden Bodenfläche aber nicht dazu geeignet bodennahe Wandabschnitte, wie z. B. Sockel oder Leisten, zu reinigen. Insbesondere wenn die bodennahen Wandabschnitte freiliegende Stirnfläche ausbilden, werden diese durch die seitlichen Bürsten nicht erreicht und gereinigt.Self-propelled tillage implements that have lateral brushes are known from the prior art. Self-propelled tillage implements are also able to free edge areas of a floor area to be cleaned of dust or dirt particles via these side brushes. These side brushes are due to their orientation on the floor surface to be cleaned but not suitable for ground level wall sections, such. B. base or strips to clean. In particular, when the ground-level wall portions form exposed end face, they are not reached and cleaned by the side brushes.
Der Erfindung stellt sich somit das Problem, eine Reinigungseinrichtung für selbstfahrende Bodenbearbeitungsgeräte zur Verfügung zu stellen, die eine Reinigung von bodennahen Wandabschnitten ermöglicht.The invention thus raises the problem of providing a cleaning device for self-propelled tillage equipment, which allows cleaning of ground-level wall sections.
Erfindungsgemäß wird dieses Problem durch eine Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät, ein selbstfahrendes Bodenbearbeitungsgerät mit einer Reinigungseinrichtung und durch ein Verfahren zur Steuerung eines selbstfahrenden Bodenbearbeitungsgeräts mit einer Reinigungseinrichtung gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen. Dabei ist es bevorzugt, dass die Reinigungseinrichtung ein Fixierelement aufweist, mit dem die Reinigungseinrichtung mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbindbar ist, wobei an der Reinigungseinrichtung ein Reinigungselementträger angeordnet ist, der ein Reinigungselement aufweist. Die Reinigungseinrichtung ist dabei lösbar mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbindbar. In einer bevorzugten Ausführungsform ist das Fixierelement mit dem Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts verrastbar. Am Fixierelement ist eine obere und eine untere Halteeinrichtung angeordnet, wobei das Fixierelement über die Halteeinrichtungen mit einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts verrastbar ist. In einer alternativen Ausführungsform ist das Fixierelement mit dem Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts über ein Klebeelement verbunden.According to the invention, this problem is solved by a cleaning device for a self-propelled soil cultivation device, a self-propelled soil cultivation device with a cleaning device and by a method for controlling a self-propelled soil cultivation device with a cleaning device. Advantageous embodiments and further developments of the invention will become apparent from the following subclaims. It is preferred that the cleaning device has a fixing element with which the cleaning device can be connected to a housing section of a self-propelled soil cultivation device, wherein a cleaning element carrier having a cleaning element is arranged on the cleaning device. The cleaning device is detachably connectable to a housing portion of a self-propelled soil cultivation device. In a preferred embodiment, the fixing element can be latched to the housing of the self-propelled soil cultivation device. An upper and a lower holding device are arranged on the fixing element, wherein the fixing element can be latched via the holding devices to a housing section of the self-propelled soil cultivation device. In an alternative embodiment, the fixing element is connected to the housing of the self-propelled soil cultivation device via an adhesive element.
Die Anordnung der Reinigungseinrichtung an einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts ermöglicht die autonome Reinigung von bodennahen Wandabschnitten, wie zum Beispiel Sockel und Leisten. Das selbstfahrende Bodenbearbeitungsgerät wird dadurch in die Lage versetzt, Verschmutzungen bodennaher Wandbereiche durch die Reinigungselemente der Reinigungseinrichtung autonom zu entfernen. Zudem ermöglicht die lösbare Anordnung der Reinigungseinrichtung über das Fixierelement das Nachrüsten von bestehenden selbstfahrenden Bodenbearbeitungsgeräten mit solchen Reinigungseinrichtungen.The arrangement of the cleaning device on a housing portion of a self-propelled soil cultivation device allows the autonomous cleaning of near-ground wall sections, such as sockets and strips. The self-propelled soil cultivation device is thereby enabled to remove soilings near the ground wall areas autonomously by the cleaning elements of the cleaning device. In addition, the detachable arrangement of the cleaning device on the fixing allows the retrofitting of existing self-propelled tillage equipment with such cleaning devices.
Bevorzugt ist, dass die Reinigungseinrichtung ein Schwenkelement aufweist, das beweglich, insbesondere schwenkbeweglich, mit dem Fixierelement verbunden ist. Der Reinigungselementträger ist am Schwenkelement der Reinigungseinrichtung angeordnet. Somit ermöglicht das Schwenkelement eine bewegliche Lagerung, insbesondere eine schwenkbewegliche Lagerung, des Reinigungselementträgers in Bezug auf das Fixierelement. Mit anderen Worten kann das Schwenkelement und somit auch der Reinigungselementträger in Bezug auf das Fixierelement verschwenkt werden. Da das Fixierelement mit einem Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgeräts verbunden werden kann, ermöglicht das Schwenkelement somit eine Schwenkbewegung des Reinigungsmittelträgers in Bezug auf einen Gehäuseabschnitt eines selbstfahrenden Bodenbearbeitungsgerätes.It is preferred that the cleaning device comprises a pivoting element which is movably, in particular pivotally, connected to the fixing element. The cleaning element carrier is arranged on the pivoting element of the cleaning device. Thus, the pivoting element allows a movable storage, in particular a pivotable mounting, of the cleaning element carrier with respect to the fixing element. In other words, the pivoting element and thus also the cleaning element carrier can be pivoted with respect to the fixing element. Since the fixing element can be connected to a housing section of a self-propelled soil cultivation device, the pivoting element thus enables a pivoting movement of the cleaning agent carrier relative to a housing section of a self-propelled soil cultivation device.
Da die Reinigungseinrichtung außen an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, erweitert die Reinigungseinrichtung die äußere Geometrie des selbstfahrenden Bodenbearbeitungsgeräts. Dies erhöht grundsätzlich das Risiko eines Festfahrens des selbstfahrenden Bodenbearbeitungsgeräts an Hindernissen auf der zu reinigenden Fläche. Das Risiko eines Festfahrens des selbstfahrenden Bodenbearbeitungsgeräts wird insbesondere dadurch erhöht, dass die Reinigungseinrichtung das selbstfahrende Bodenbearbeitungsgerät auch in der Höhe überragt. Somit könnte es beim Unterfahren von Hindernissen durch das selbstfahrenden Bodenbearbeitungsgerätes zu einem Verkannten der Reinigungseinrichtung an Hindernissen kommen. Die Beweglichkeit des Schwenkelements und des Reinigungselementträgers in Bezug auf das Fixierelement bzw. den Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes verhindert weitestgehend ein Verkannten oder Verhaken der Reinigungseinrichtung während einer autonomen Reinigungsfahrt des selbstfahrenden Bodenbearbeitungsgerätes. Mit anderen Worten versetzt die Beweglichkeit des Schwenkelements und des Reinigungselementträgers diese in die Lage eventuell auftretenden Hindernissen auszuweichen und so ein Festfahren des selbstfahrenden Bodenbearbeitungsgeräts zu verhindern.Since the cleaning device is arranged on the outside on a housing section of the self-propelled soil cultivation device, the cleaning device extends the external geometry of the self-propelled soil cultivation device. This basically increases the risk of the self-propelled soil tillage implement becoming stuck on obstacles on the surface to be cleaned. The risk of stalling the self-propelled soil cultivation device is particularly increased by the fact that the cleaning device projects beyond the self-propelled soil cultivation device in height. Thus, it could be at Understep of obstacles by the self-propelled soil tillage implement come to a tilting of the cleaning device to obstacles. The mobility of the pivoting element and the cleaning element carrier with respect to the fixing element or the housing section of the self-propelled soil cultivation device largely prevents jamming or entanglement of the cleaning device during an autonomous cleaning drive of the self-propelled soil cultivation device. In other words, the mobility of the pivoting element and the cleaning element carrier enables them to avoid any obstacles that might occur and thus prevent the self-propelled tillage device from becoming stuck.
Weiterhin bevorzugt ist, dass der Reinigungselementträger lösbar mit dem Schwenkelement verbindbar ist. In einer bevorzugten Ausführungsform ist der Reinigungselementträger, der ein Reinigungselement aufweist, über eine Steckverbindung mit dem Schwenkelement verbindbar. Die lösbare Anordnung des Reinigungselementträgers auf dem Schwenkelement ermöglicht einen schnellen und einfachen Wechsel des Reinigungselementträgers. Dieser kann dadurch regelmäßig durch den Benutzer ohne großen Aufwand ausgetauscht oder gereinigt werden, ohne die gesamte Reinigungseinrichtung vom selbstfahrenden Bodenbearbeitungsgerät zu demontieren. Auf diese Weise können die Reinigungselemente auf den Reinigungselementträger durch den Benutzer gereinigt oder ausgetauscht werden. Zudem ist es möglich, Reinigungselementträger mit unterschiedlichen Reinigungselementen an der Reinigungseinrichtung anzuordnen, um optimal geeignete Reinigungselemente für die verschiedenen Reinigungsszenarien von bodennahen Wandabschnitten zur Verfügung zu stellen.It is further preferred that the cleaning element carrier is detachably connectable to the pivoting element. In a preferred embodiment, the cleaning element carrier, which has a cleaning element, can be connected to the pivoting element via a plug connection. The detachable arrangement of the cleaning element carrier on the pivoting element allows a quick and easy change of the cleaning element carrier. This can be regularly replaced or cleaned by the user without much effort, without dismantling the entire cleaning device of the self-propelled harrow. In this way, the cleaning elements can be cleaned or replaced on the cleaning element carrier by the user. In addition, it is possible to arrange cleaning element carriers with different cleaning elements on the cleaning device in order to provide optimally suitable cleaning elements for the various cleaning scenarios of floor-level wall sections.
In einer bevorzugten Ausführungsform weist das Schwenkelement ein Federelement, insbesondere eine Spiralfeder, auf, wobei das Federelement eine Federkraft auf das Schwenkelement ausübt, wobei die Federkraft einer Schwenkbewegung des Schwenkelementes entgegenwirkt. Das Federelement übt eine Federkraft auf das Schwenkelement in Richtung einer ersten Position aus, in der das Schwenkelement im Wesentlichen eine aufrechte Position einnimmt. In der ersten Position ist das Schwenkelement annähernd senkrecht zu der zu reinigenden Bodenfläche ausgerichtet, bei Anordnung der Reinigungseinrichtung am selbstfahrenden Bodenbearbeitungsgerät. Die Federkraft ist dabei so ausgelegt, dass sie von der Antriebskraft des selbstfahrenden Bodenbearbeitungsgerätes überwunden werden kann. Dies gewährleistet, dass bei einem Verhaken des Schwenkelements an einem Hindernis auf der zu reinigenden Bodenfläche sich dieses entgegen der Federkraft des Federelements in eine annähernd waagerechte zweite Position verschwenken lässt. Ein Festfahren des selbstfahrenden Bodenbearbeitungsgerätes wird dadurch vermieden. Sobald das selbstfahrende Bodenbearbeitungsgerät das Hindernis passiert hat, bewirkt die Federkraft des Federelements ein Zurückschwenken des Schwenkelements aus der zweiten Position in die erste, annähernd aufrechte Position.In a preferred embodiment, the pivoting element has a spring element, in particular a spiral spring, wherein the spring element exerts a spring force on the pivoting element, wherein the spring force counteracts a pivoting movement of the pivoting element. The spring element exerts a spring force on the pivoting element in the direction of a first position, in which the pivoting element essentially assumes an upright position. In the first position, the pivoting element is oriented approximately perpendicular to the floor surface to be cleaned, when the cleaning device is arranged on the self-propelled soil cultivation device. The spring force is designed so that it can be overcome by the driving force of the self-propelled tillage implement. This ensures that when a hooking of the pivot member to an obstacle on the floor surface to be cleaned, this can be pivoted against the spring force of the spring element in an approximately horizontal second position. A seizing of the self-propelled soil cultivation device is thereby avoided. Once the self-propelled soil tillage implement has passed the obstacle, the spring force causes the spring element pivoting back of the pivoting member from the second position to the first, approximately upright position.
Es ist bevorzugt, dass der Reinigungselementträger als Reinigungselement Textilelemente aufweist. Die Textilelemente sind dabei fächer- oder kammartig am Reinigungselementträger angeordnet. In einer bevorzugten Ausführungsform werden als Textilelemente insbesondere Microfaser-Textilien eingesetzt. Diese eignen sich aufgrund ihrer immanenten Materialeigenschaften besonders zur Aufnahme und Bindung von Staub- und Schmutzpartikel. Dies gewährleistet eine besonders gründliche Reinigung von bodennahen Wandabschnitten.It is preferred that the cleaning element carrier has textile elements as a cleaning element. The textile elements are fan-like or comb-like arranged on the cleaning element carrier. In a preferred embodiment, microfibre textiles are used in particular as textile elements. Due to their intrinsic material properties, these are particularly suitable for absorbing and binding dust and dirt particles. This ensures a particularly thorough cleaning of floor-level wall sections.
Zusätzlich ist es bevorzugt, dass der Reinigungselementträger als Reinigungselement Bürstenelemente aufweist. Dabei sind mindestens zwei Bürstenbüschel am Reinigungselementträger angeordnet, die jeweils eine Vielzahl an Borstenfilamenten aufweisen. Bürstenelemente eignen sich insbesondere zur Entfernung von Staub- und Schmutzpartikeln von bodennahen Wandabschnitten. Zudem werden auch gröbere Verschmutzungsszenarien von Bürstenelementen adäquat bewältigt.In addition, it is preferred that the cleaning element carrier has brush elements as a cleaning element. In this case, at least two brush tufts are arranged on the cleaning element carrier, each having a plurality of bristle filaments. Brush elements are particularly suitable for removing dust and dirt particles from wall sections near the floor. In addition, coarse contamination scenarios of brush elements are adequately managed.
Ein selbstfahrendes Bodenbearbeitungsgerät mit einer Reinigungsvorrichtung gemäß einer der im Vorangegangenen angeführten Ausführungsformen, wobei die Reinigungseinrichtung im Wesentlichen an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der weitestgehend senkrecht zu einer zur reinigenden Bodenfläche ausgerichtet ist. Mit anderen Worten ist die Reinigungseinrichtung im Wesentlichen seitlich neben einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet. Die Reinigungseinrichtung ist dadurch im Wesentlichen in Richtung eines bodennahen Wandabschnittes ausgerichtet, der annähernd senkrecht zu einer zu reinigenden Bodenfläche steht.A self-propelled harrow with a cleaning device according to one of the above-mentioned embodiments, wherein the cleaning device is arranged substantially on a housing portion of the self-propelled tillage device, which is largely aligned perpendicular to a cleaning floor surface. In other words, the cleaning device is arranged substantially laterally next to a housing section of the self-propelled soil cultivation device. The cleaning device is thereby aligned substantially in the direction of a bottom wall portion which is approximately perpendicular to a bottom surface to be cleaned.
Die seitliche Anordnung der Reinigungseinrichtung an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes erweitert dessen Wirkungsbereich auf bodennahe Wandabschnitte. Dies ermöglicht nun auch die Reinigung von Bereichen, die oberhalb der für das Bodenbearbeitungsgerät befahrbaren Bodenbereiche angeordnet sind.The lateral arrangement of the cleaning device on a housing portion of the self-propelled soil cultivation device extends its scope to ground level wall sections. This now also makes it possible to clean areas that are arranged above the floor areas that can be driven by the soil cultivator.
Es ist zudem bevorzugt, dass sich zwischen dem Schwenkelement und einer Geraden ein Winkel aufspannt, wobei die Gerade annähernd senkrecht zu der zu reinigenden Bodenfläche steht, wobei der Winkel in einer bevorzugten Ausführungsform ein Winkelmaß zwischen 10 und 90 Grad aufweist und in einer besonders bevorzugten Ausführungsform ein Winkelmaß zwischen 25 und 80 Grad aufweist. Mit anderen Worten ist das Schwenkelement in Bezug auf die annähernd senkrechte Ausrichtung des seitlichen Gehäuseabschnittes des selbstfahrenden Bodenbearbeitungsgerätes in Richtung der zu reinigenden bodennahen Wandabschnitte gekippt. Das heißt, dass Schwenkelement ist nicht wie das Fixierelement annähernd senkrecht an der Seitenwand des selbstfahrenden Bodenbearbeitungsgerätes angeordnet, sondern um einen Winkel in Richtung der zu reinigenden bodennahen Wandabschnitte gekippt. In einer alternativen Ausführungsform ist es aber auch denkbar, das Schwenkelement ohne einen Winkel, das heißt weitestgehend senkrecht, am seitlichen Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgerätes anzuordnen.It is also preferred that an angle between the pivot member and a straight line spans, wherein the straight line is approximately perpendicular to the bottom surface to be cleaned, the angle in a preferred embodiment has an angle between 10 and 90 degrees and in a particularly preferred embodiment an angle between 25 and 80 degrees. In other words, the pivoting element is tilted in relation to the approximately vertical orientation of the lateral housing portion of the self-propelled soil cultivation device in the direction of the ground-level wall sections to be cleaned. That means that pivoting element is not like the fixing element arranged approximately perpendicular to the side wall of the self-propelled soil cultivation device, but tilted at an angle in the direction of the ground-level wall sections to be cleaned. In an alternative embodiment, however, it is also conceivable to arrange the pivoting element without an angle, that is, for the most part perpendicularly, on the lateral housing section of the self-propelled soil cultivation device.
Der Winkel zwischen der Geraden und dem Schwenkelement führt zu einer Verbesserung der Reinigungsleistung der Reinigungseinrichtung. Insbesondere wenn bodennahe Wandabschnitte horizontale Auflagefläche ausbilden, auf denen sich Staub- und Schmutzpartikel ablegen, vergrößert die Verkippung des Schwenkelements die dynamische Auflagefläche des Reinigungselementes. Mit anderen Worten vergrößert der Winkel die Fläche des Reinigungselementes, die sich im Eingriff mit dem zu reinigenden bodennahen Wandabschnitt befindet. Dies verbessert die Reinigungsleistung der Reinigungseinrichtung im signifikanten Umfang.The angle between the straight line and the pivoting element leads to an improvement in the cleaning performance of the cleaning device. In particular, when near-ground wall portions form horizontal support surface on which deposit dust and dirt particles, the tilting of the pivot member increases the dynamic support surface of the cleaning element. In other words, the angle increases the area of the cleaning element, which is in engagement with the ground-level wall section to be cleaned. This improves the cleaning performance of the cleaning device to a significant extent.
Weiterhin bevorzugt ist, dass der Reinigungselementträger der Reinigungseinrichtung das Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts in der Höhe überragt. Dazu ist sowohl das Schwenkelement als auch der Reinigungselementträger so ausgebildet, dass wenn die Reinigungseinrichtung am Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der Reinigungselementträger das selbstfahrende Bodenbearbeitungsgerät in der Höhe erweitert. In einer alternativen Ausführungsform ist es aber auch denkbar, eine Reinigungseinrichtung vorzusehen, deren Reinigungselementträger das Gehäuse des selbstfahrenden Bodenbearbeitungsgeräts in der Höhe nicht überragt. Dies ist insbesondere dann vorteilhaft, wenn das selbstfahrenden Bodenbearbeitungsgerät selbst eine Höhe von 10 Zentimetern überschreitet.It is further preferred that the cleaning element carrier of the cleaning device projects beyond the housing of the self-propelled soil cultivation device in height. For this purpose, both the pivoting element and the cleaning element carrier is designed so that when the cleaning device is arranged on the housing of the self-propelled soil cultivation device, the cleaning element carrier expands the self-propelled soil cultivation device in height. In an alternative embodiment, however, it is also conceivable to provide a cleaning device whose cleaning element carrier does not protrude beyond the housing of the self-propelled soil cultivation device in height. This is particularly advantageous when the self-propelled harrow itself exceeds a height of 10 centimeters.
Die bekannten selbstfahrenden Bodenbearbeitungsgeräte weisen eine Bauhöhe von circa acht bis zehn Zentimetern auf. Dies gewährleistet zum einem, dass für die erforderlichen Komponenten des selbstfahrenden Bodenbearbeitungsgerätes genügend Bauraum innerhalb des Gehäuses zur Verfügung steht. Zum anderen wird dadurch ermöglicht, dass das selbstfahrende Bodenbearbeitungsgerät in der Lage ist, Hindernisse wie Möbel zu unterfahren und so auch die Bodenfläche unterhalb von Hindernissen zu reinigen. Da manche bodennahe Wandabschnitte, wie Sockel oder Leisten aber höher als zehn Zentimeter sind, bedarf es Reinigungselementträger, welche das Gehäuse eines selbstfahrenden Bodenbearbeitungsgerätes in der Höhe überragen. Dies ermöglicht die Reinigung auch von solchen bodennahen Wandabschnitten, die höher als das Gehäuse eines selbstfahrenden Bodenbearbeitungsgerätes sind.The known self-propelled tillage equipment have a height of about eight to ten centimeters. This ensures, on the one hand, that sufficient space is available within the housing for the required components of the self-propelled soil cultivation device. On the other hand, this makes it possible for the self-propelled harrow to be able to negotiate obstacles such as furniture and thus also to clean the floor beneath obstacles. Since some ground-level wall sections, such as pedestals or strips but higher than ten inches, it requires cleaning element carrier, which extend beyond the housing of a self-propelled soil cultivation implement in height. This allows the cleaning of such ground-level wall sections, which are higher than the housing of a self-propelled tillage implement.
Es ist zudem bevorzugt, dass die Reinigungseinrichtung an einem Gehäuseabschnitt des selbstfahrenden Bodenbearbeitungsgeräts angeordnet ist, der weitestgehend rechtwinklig zu einer Hauptfahrrichtung des selbstfahrenden Bodenbearbeitungsgeräts ausgerichtet ist. Die Reinigungseinrichtung ist dabei so an einem Gehäuseabschnitte des selbstfahrenden Bodenbearbeitungsgeräts angeordnet, dass die Reinigungseinrichtung auf bodennahe Wandabschnitte ausgerichtet ist, die im Wesentlichen parallel zur Hauptfahrrichtung des selbstfahrenden Bodenbearbeitungsgeräts verlaufen. Dies ermöglicht die Reinigung von bodennahen Wandabschnitten durch ein selbstfahrendes Bodenbearbeitungsgerät auf Basis dessen bereits vorhandener Fahrstrategien, wie beispielsweise die Wandverfolgung.It is also preferred that the cleaning device is arranged on a housing section of the self-propelled soil cultivation device, which is aligned as far as possible at right angles to a main direction of travel of the self-propelled soil cultivation device. The Cleaning device is arranged on a housing sections of the self-propelled soil cultivation device, that the cleaning device is aligned with ground-level wall sections, which extend substantially parallel to the main direction of travel of the self-propelled harrow. This allows the cleaning of ground-level wall sections by a self-propelled soil tillage implement based on its already existing driving strategies, such as wall tracking.
Ein Verfahren zur Steuerung eines selbstfahrenden Bodenbearbeitungsgeräts mit einer Reinigungseinrichtung gemäß einer der im Vorangegangenen angeführten Ausführungsformen, weist folgende Schritte auf:
- Erkennen der Randbereiche einer zu reinigenden Fläche; und
- Abfahren der Randbereiche einer zu reinigenden Fläche, wobei das Reinigungselement der Reinigungseinrichtung in Kontakt mit den bodennahen Wandbereichen, insbesondere Leisten und Sockel, der zu reinigenden Fläche steht; und
- Erneutes Abfahren der Randbereiche einer zu reinigenden Fläche.
- Detecting the edge areas of a surface to be cleaned; and
- Traversing the edge regions of a surface to be cleaned, wherein the cleaning element of the cleaning device is in contact with the floor-near wall regions, in particular moldings and bases, of the surface to be cleaned; and
- Renewing the edges of a surface to be cleaned.
Ein solches Verfahren gewährleistet, dass sämtliche bodennahen Wandabschnitte einer zu reinigenden Fläche von Staub- und Schmutzpartikeln befreit werden. Der Verfahrensschritt eines erneuten Abfahrens der Randbereiche stellt dabei sicher, dass auch die Staub- oder Schmutzpartikel aufgenommen werden, die beim ersten Abfahren der Randbereiche durch die Reinigungseinrichtung von den bodennahen Wandabschnitten auf die zu reinigenden Fläche verschoben wurden. Randbereiche einer zu reinigenden Fläche sind dabei die Bereiche einer Fläche, die sich in unmittelbare Nähe zu einer äußeren Begrenzung, insbesondere einer Wand, der Bodenfläche befinden.Such a method ensures that all ground-level wall sections of a surface to be cleaned of dust and dirt particles are freed. The step of re-running the edge regions ensures that the dust or dirt particles are absorbed, which were moved by the cleaning device from the ground-level wall portions on the surface to be cleaned during the first shutdown of the edge regions. Edge regions of a surface to be cleaned are the regions of a surface that are in the immediate vicinity of an outer boundary, in particular a wall, the bottom surface.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigen:
- Figur 1
- Perspektivische Darstellung eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
- Figur 2
- perspektivische Darstellung einer Reinigungseinrichtung ohne Reinigungselementträger;
- Figur 3
- Perspektivische Darstellung einer Reinigungseinrichtung mit Reinigungselementträger mit Textilelement;
- Figur 4
- Seitenansicht einer Reinigungseinrichtung mit Reinigungselementträger mit Bürstenelementen;
- Figur 5
- Frontansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
- Figur 6
- Frontansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung;
- Figur 7
- Seitenansicht eines selbstfahrenden Bodenbearbeitungsgerätes mit einer Reinigungseinrichtung.
- FIG. 1
- Perspective view of a self-propelled tillage implement with a cleaning device;
- FIG. 2
- perspective view of a cleaning device without cleaning element carrier;
- FIG. 3
- Perspective view of a cleaning device with cleaning element carrier with textile element;
- FIG. 4
- Side view of a cleaning device with cleaning element carrier with brush elements;
- FIG. 5
- Front view of a self-propelled tillage implement with a cleaning device;
- FIG. 6
- Front view of a self-propelled tillage implement with a cleaning device;
- FIG. 7
- Side view of a self-propelled soil cultivation device with a cleaning device.
Annähernd auf Höhe der unteren Halteeinrichtung 46 des Fixierelements 14 ist das Schwenkelement 22 beweglich am Fixierelement 14 angeordnet. Das Schwenkelement 22 ist dabei über eine Achse 48 drehbeweglich mit dem Fixierelement 14 verbunden. Dabei erstreckt sich das Schwenkelement 22 ausgehend von der Achse 48 annähernd parallel zum Fixierelement 14 über dieses nach oben hinaus. Im Bereich der Achse 48 ist im Schwenkelement 22 eine Spiralfeder 26 angeordnet. Die Spiralfeder 26 übt eine Federkraft auf das Schwenkelement 22 aus. Die Federkraft wirkt in Form eines Drehmomentes an der Achse 48 zwischen Fixierelement 14 und Schwenkelement 22 auf dieses ein. Das Schwenkelement 22 wird durch die Federkraft in einer Position gehalten, in der das Schwenkelement 22 annähernd parallel zum Fixierelement 14 ausgerichtet ist.Almost at the level of the
Parallel zur Seitenwand 40 des selbstfahrenden Bodenbearbeitungsgeräts 12 verläuft eine Gerade 32, die annähernd senkrecht zu der zu reinigenden Bodenfläche ausgerichtet ist. Zwischen dieser Geraden 32 und der Seite des Schwenkelementes 22 bzw. des Reinigungselementträgers 18, die dem selbstfahrenden Bodenbearbeitungsgerät 12 zugewandt ist, spannt sich ein Winkel 34 auf. Dieser Winkel 34 weist ein Winkelmaß von annähernd 25 Grad auf. In der Folge sind Schwenkelement 22 und Reinigungselementträger 18 um diesen Winkel 34 aus der Geraden 32 in horizontale Richtung verkippt.Parallel to the
- 1010
- Reinigungseinrichtungcleaning device
- 1212
- selbstfahrendes Bodenbearbeitungsgerätself-propelled tillage implement
- 1414
- Fixierelementfixing
- 1616
- Gehäuseabschnitthousing section
- 1818
- ReinigungselementträgerCleaning element carrier
- 2020
- Reinigungselementcleaning element
- 2222
- Schwenkelementpivoting element
- 2424
- Federelementspring element
- 2626
- Spiralfederspiral spring
- 2828
- Textilelementetextile items
- 3030
- Bürstenelementebrush elements
- 3232
- GeradeJust
- 3434
- Winkelangle
- 3636
- Gehäusecasing
- 3838
- HauptfahrrichtungMain direction of travel
- 4040
- SeitenwandSide wall
- 4242
- Sensorensensors
- 4444
- obere Halteeinrichtungupper holding device
- 4646
- untere Halteinrichtunglower holding device
- 4848
- Achseaxis
- 5252
- bodennaher Wandabschnittnear-ground wall section
- 5454
- Wandwall
- 5656
- Hindernisobstacle
Claims (11)
dadurch gekennzeichnet,
dass die Reinigungseinrichtung (10) ein Fixierelement (14) aufweist, mit dem die Reinigungseinrichtung (10) mit einem Gehäuseabschnitt (16) eines selbstfahrenden Bodenbearbeitungsgeräts (12) verbindbar ist, wobei an der Reinigungseinrichtung (10) ein Reinigungselementträger (18) angeordnet ist, der ein Reinigungselement (20) aufweist.Cleaning device (10) for a self-propelled soil cultivation device (12), wherein the cleaning device (10) is adapted to clean near-ground wall portions (52) adjacent to a floor surface to be cleaned,
characterized,
in that the cleaning device (10) has a fixing element (14) with which the cleaning device (10) can be connected to a housing section (16) of a self-propelled soil cultivation device (12), wherein a cleaning element carrier (18) is arranged on the cleaning device (10), having a cleaning element (20).
dadurch gekennzeichnet,
dass die Reinigungseinrichtung (10) ein Schwenkelement (22) aufweist, das beweglich, insbesondere schwenkbeweglich, mit dem Fixierelement (14) verbunden ist.Cleaning device (10) according to claim 1,
characterized,
in that the cleaning device (10) has a pivoting element (22) which is movably, in particular pivotally, connected to the fixing element (14).
dadurch gekennzeichnet,
dass der Reinigungselementträger (18) lösbar mit dem Schwenkelement (22) verbindbar ist.Cleaning device (10) according to one of the preceding claims,
characterized,
that the cleaning element carrier (18) is releasably connected to the pivoting element (22).
dadurch gekennzeichnet,
dass das Schwenkelement (22) ein Federelement (24), insbesondere eine Spiralfeder (26), aufweist, wobei das Federelement (24) eine Federkraft auf das Schwenkelement (22) ausübt, wobei die Federkraft einer Schwenkbewegung des Schwenkelementes (22) entgegenwirkt.Cleaning device (10) according to one of the preceding claims,
characterized,
in that the pivoting element (22) has a spring element (24), in particular a spiral spring (26), wherein the spring element (24) exerts a spring force on the pivoting element (22), the spring force counteracting a pivoting movement of the pivoting element (22).
dadurch gekennzeichnet,
dass der Reinigungselementträger (18) als Reinigungselement (20) Textilelemente (28) aufweist.Cleaning device (10) according to one of the preceding claims,
characterized,
that the cleaning element carrier (18) as a cleaning member (20) comprises textile elements (28).
dadurch gekennzeichnet,
dass der Reinigungselementträger (18) als Reinigungselement (20) Bürstenelemente (30) aufweist.Cleaning device (10) according to one of the preceding claims,
characterized,
that the cleaning element carrier (18) as a cleaning member (20) brush elements (30).
dadurch gekennzeichnet,
dass die Reinigungseinrichtung (10) im Wesentlichen an einem Gehäuseabschnitt (16) des selbstfahrenden Bodenbearbeitungsgeräts (12) angeordnet ist, der weitestgehend senkrecht zu einer zur reinigenden Bodenfläche ausgerichtet ist.Self-propelled soil cultivation device (12) with a cleaning device (10) according to one of the preceding claims,
characterized,
in that the cleaning device (10) is arranged essentially on a housing section (16) of the self-propelled soil cultivation device (12), which is largely aligned perpendicular to a floor surface to be cleaned.
dadurch gekennzeichnet,
dass sich zwischen dem Schwenkelement (22) und einer Geraden (32) ein Winkel (34) aufspannt, wobei die Gerade (32) annähernd senkrecht zu der zu reinigenden Bodenfläche steht, wobei der Winkel (34) in einer bevorzugten Ausführungsform ein Winkelmaß zwischen 10 und 90 Grad aufweist und in einer besonders bevorzugten Ausführungsform ein Winkelmaß zwischen 25 und 80 Grad aufweist.Self-propelled soil cultivation device (12) with a cleaning device (10) according to one of the preceding claims,
characterized,
in that an angle (34) spans between the pivoting element (22) and a straight line (32), wherein the straight line (32) is approximately perpendicular to the bottom surface to be cleaned, the angle (34) in a preferred embodiment being an angle between 10 and 90 degrees, and in a particularly preferred embodiment has an angular dimension between 25 and 80 degrees.
dadurch gekennzeichnet,
dass der Reinigungselementträger (18) der Reinigungseinrichtung (10) das Gehäuse (36) des selbstfahrenden Bodenbearbeitungsgeräts (12) in der Höhe überragt.Self-propelled soil cultivation device (12) with a cleaning device (10) according to one of the preceding claims,
characterized,
that the cleaning element carrier (18) of the cleaning device (10) the housing (36) of the self-propelled soil cultivation device (12) protrudes in height.
dadurch gekennzeichnet,
dass die Reinigungseinrichtung (10) bevorzugt an einem Gehäuseabschnitt (16) des selbstfahrenden Bodenbearbeitungsgeräts (12) angeordnet ist, der weitestgehend rechtwinklig zu einer Hauptfahrrichtung des selbstfahrenden Bodenbearbeitungsgeräts ausgerichtet ist.Self-propelled soil cultivation device (12) with a cleaning device (10) according to one of the preceding claims,
characterized,
in that the cleaning device (10) is preferably arranged on a housing section (16) of the self-propelled soil cultivation device (12), which is largely aligned at right angles to a main travel direction of the self-propelled soil cultivation device.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015108823.1A DE102015108823A1 (en) | 2015-06-03 | 2015-06-03 | Cleaning device for a self-propelled soil cultivation device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3100659A1 true EP3100659A1 (en) | 2016-12-07 |
EP3100659B1 EP3100659B1 (en) | 2020-11-25 |
Family
ID=55919747
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16168723.1A Active EP3100659B1 (en) | 2015-06-03 | 2016-05-09 | Cleaning device for a self-propelled soil cultivation device |
Country Status (3)
Country | Link |
---|---|
US (1) | US10357137B2 (en) |
EP (1) | EP3100659B1 (en) |
DE (1) | DE102015108823A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108283470A (en) * | 2017-01-09 | 2018-07-17 | 德国福维克控股公司 | self-propelled cleaning device |
CN110680253A (en) * | 2019-09-25 | 2020-01-14 | 深圳乐动机器人有限公司 | Robot edge cleaning method and robot |
US11793373B2 (en) | 2019-08-08 | 2023-10-24 | Sharkninja Operating Llc | Robotic cleaner with air jet assembly |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017100301A1 (en) * | 2017-01-09 | 2018-07-12 | Vorwerk & Co. Interholding Gmbh | Self-propelled cleaning device |
CN107981782B (en) * | 2017-12-27 | 2022-09-23 | 美智纵横科技有限责任公司 | Floor sweeping robot |
CN109199242B (en) * | 2018-09-13 | 2024-06-18 | 深圳市无限动力发展有限公司 | Signal assembly and robot sweeps floor |
CN112545376B (en) * | 2020-11-11 | 2022-04-08 | 重庆工程职业技术学院 | Cleaning robot |
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GB2432301A (en) * | 2005-11-21 | 2007-05-23 | Sharp Kk | Vacuum cleaner |
US20080276407A1 (en) * | 2007-05-09 | 2008-11-13 | Irobot Corporation | Compact Autonomous Coverage Robot |
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Publication number | Priority date | Publication date | Assignee | Title |
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KR101907161B1 (en) * | 2011-10-06 | 2018-10-15 | 삼성전자주식회사 | Robot cleaner |
JP2013233305A (en) * | 2012-05-09 | 2013-11-21 | Mitsubishi Electric Corp | Self-propelled vacuum cleaner |
-
2015
- 2015-06-03 DE DE102015108823.1A patent/DE102015108823A1/en not_active Withdrawn
-
2016
- 2016-05-09 EP EP16168723.1A patent/EP3100659B1/en active Active
- 2016-06-02 US US15/170,995 patent/US10357137B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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GB2432301A (en) * | 2005-11-21 | 2007-05-23 | Sharp Kk | Vacuum cleaner |
US20080276407A1 (en) * | 2007-05-09 | 2008-11-13 | Irobot Corporation | Compact Autonomous Coverage Robot |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108283470A (en) * | 2017-01-09 | 2018-07-17 | 德国福维克控股公司 | self-propelled cleaning device |
EP3351157A1 (en) * | 2017-01-09 | 2018-07-25 | Vorwerk & Co. Interholding GmbH | Automatically moving cleaning device |
CN108283470B (en) * | 2017-01-09 | 2021-08-10 | 德国福维克控股公司 | Self-propelled cleaning device |
US11793373B2 (en) | 2019-08-08 | 2023-10-24 | Sharkninja Operating Llc | Robotic cleaner with air jet assembly |
CN110680253A (en) * | 2019-09-25 | 2020-01-14 | 深圳乐动机器人有限公司 | Robot edge cleaning method and robot |
Also Published As
Publication number | Publication date |
---|---|
EP3100659B1 (en) | 2020-11-25 |
DE102015108823A1 (en) | 2016-12-08 |
US10357137B2 (en) | 2019-07-23 |
US20160353955A1 (en) | 2016-12-08 |
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