EP3283711B1 - Autonomous pool cleaning robot - Google Patents
Autonomous pool cleaning robot Download PDFInfo
- Publication number
- EP3283711B1 EP3283711B1 EP16785257.3A EP16785257A EP3283711B1 EP 3283711 B1 EP3283711 B1 EP 3283711B1 EP 16785257 A EP16785257 A EP 16785257A EP 3283711 B1 EP3283711 B1 EP 3283711B1
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- EP
- European Patent Office
- Prior art keywords
- robot
- turret
- stop
- vane
- axis
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- 238000004140 cleaning Methods 0.000 title claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009182 swimming Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 15
- 238000001914 filtration Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 208000031968 Cadaver Diseases 0.000 description 1
- 206010011906 Death Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
- E04H4/1663—Self-propelled cleaners the propulsion resulting from an intermittent interruption of the waterflow through the cleaner
Definitions
- the present invention relates to an autonomous pool cleaning robot.
- a robot of this type, but powered by cable, is described by the fig.5A and 5B of the document FR 2 896 005 .
- a locking member of the rotation of the turret on which the cable is connected, fixed to the front of the rotating turret is activated by the movement of the robot.
- These robots are either powered by a floating battery as known from the document EP 1 122 382 A1 , or rechargeable on-board batteries out of water as known for example from the document EP 1 689 957 A1 or rechargeable in the water by induction as described in the document EP 2 669 450 A1 .
- electric robots are indeed poorly suited to battery operation because some use a programmable or programmed electronic guidance system with a gyroscope, inclination sensors, wall sensors and several motors: a motor pump for suction and one or two traction motors. This multiplication of equipment consumes energy and involves high capacity batteries.
- the system provided for in the document FR 2 896 005 A1 providing a cable electrical robot for which the movement of the robot is not able to cause the blocking of the turret systematically because this movement occurs only after the blocking of the latter so that the jet propulsion can sometimes rotate constantly and in this case the robot does not move.
- This type of device has a strong hydrodynamic resistance to displacement that would involve a powerful pump and therefore a battery of high capacity.
- the invention proposes to remedy these various drawbacks by proposing a robot powered by a battery, of simple design with a single motor and without on-board electronics, with a low hydrodynamic resistance and provided with a system promoting a reversal of the direction of movement. instant.
- the present invention proposes for this purpose a pool cleaning robot comprising, according to a first aspect of the invention, a power unit / electro-hydraulic pump with a water jet, and a waste recovery body which comprises a battery for power supply.
- a power unit / electro-hydraulic pump with a water jet and a waste recovery body which comprises a battery for power supply.
- said group, the group and the battery being contained in a rotating turret and sealed outside the body of the robot.
- the group preferably comprises an electric motor and a turbine, coupled to the electric motor by means of coupling, suction of water entering the body through a mouth under the robot and passing through a filter and discharge of this water through an ejection nozzle leading to the turret.
- the turret advantageously comprises a sealed access cap to the battery.
- the nozzle is positioned to discharge the water sucked in a direction substantially parallel to the bottom of the pool to propel the robot by means of the nozzle.
- the turret is advantageously mounted on the body of the robot by a rotary connection which comprises an annular collar on the body around a receiving hole of an annular base of the turret.
- the rotary connection comprises clawing lugs of the turret on the body.
- the suction turbine is preferably centrifugal turbine type and has an inlet at the interface between the turret and the body.
- the inlet of the turbine to the body / turret interface is provided with a horn profile.
- the motor is a power motor less than or equal to 50 W.
- the invention provides a robot comprising an automatic direction reversal device comprising a pallet secured to the turret having a first stop and second stops.
- the pallet is advantageously articulated on an axis carrying said first stop, which acts as a retractable abutment and comprises, on a side opposite to the first abutment with respect to the axis, an enlarged part which will allow the pallet to turn around the axis, to lower the pallet under the action of the hydrodynamic thrust caused by the rotation of the turret and the movement of the robot that applies to the pallet.
- the rise of the pallet is obtained either because of its robot buoyancy stopped, or turret in rotation by the force exerted between the stops under the effect of the rotary torque of the turret.
- the axis of reception of the pallet is preferably fixed in the lower part of the turret so that, when the pallet tilts towards the horizontal due to a rotational movement of the turret or a movement of the robot, the first abutment abuts against one of the second stops and so that the first stopper escapes the second stops when the pallet is in a vertical position robot and turret stopped.
- the second stops are movable, an offset of one or both stops at an angle to the body of the robot relative to the axis of displacement defined by the wheels to more or less off-axis flow of water out of the nozzle relative to the axis of displacement defined by the orientation of the wheels and to curve more or less the trajectory of the robot.
- the nozzle is advantageously eccentric on the turret so that the thrust force is exerted along an axis at an angle with a main axis of the robot defined by the orientation of the robot wheels.
- the robot comprises a circular body in the middle of which the turret is centered.
- the robot may in particular comprise three wheels pointing in parallel directions.
- the robot may comprise two wheels and a roller.
- the bottom of the robot may include at least one relief positioned in the axis of movement of the robot under the robot.
- the wheel or the front roller can also be mounted on a pivoting axle.
- the robot may comprise a floating solar panel for recharging the battery connected to the powertrain by an electric cable length slightly greater than the depth of the pool.
- a first aspect of the robot 1 of the present invention is to comprise a power unit / pump 31, 34, 35 electro-hydraulic jet water and its battery 32 contained in a rotating turret 3 and sealed, external to the body 2 of the robot which for its part contains the debris collection device in the form of a filter 21 above a tray provided with a water inlet opening 24 under the robot.
- the group comprises an electric motor 31, reduction gears 34 and a turbine 35 whose function is to suck the water that enters through the mouth 24 and passes through the filter 21 and discharge by an ejection nozzle 36 coming out of the turret 3.
- This design has the advantage of not reducing the useful volume of debris collection in the main body the robot by the presence of a battery or a motor and locate the electrical connections between the battery and the group only in the turret which avoids using rotating electrical connections.
- the turret comprises a waterproof cap 33 screwed or clipped.
- the powertrain / pump thus collects the debris through the filter 21 in the main body and discharges the water sucked in a direction substantially parallel to the bottom of the pool to propel the robot through the nozzle 36.
- the turret 3 is mounted on the body 2 of the robot by a rotary connection here made by an annular flange 25 on the body 2 around a receiving hole of an annular base 37 of the turret.
- this rotary connection may simply comprise clipping lugs 38 snapping under the annular flange 25 which allows a standard exchange of the turret by the user without requiring disconnection of a frequent source electrical connection sealing problems.
- an inlet 39 of the suction turbine 35 of centrifugal type turbine and the invention allows for a hydraulic short circuit between the turbine and the propellent nozzle 36 at the turbine outlet.
- the inlet 39 is here provided with a horn profile 39a favoring the suction
- the turret has easy access to the battery by the plug 33 which allows charging and replacement by the user is to increase the autonomy with the use of an additional battery or to change a battery at the end of life.
- This optimization of the design makes it possible to realize energy-saving robots with a limited power motor of 50 W against 150 to 200 W for the known electric robots, a battery of limited capacity and a reduced cost compared to the robots with battery known to date which causes a reduction in the weight of the powertrain / pump to 2 Kg against 6 to 10 kg for traditional robots.
- the robot has a circular body in the middle of which the turret 3 is centered.
- the robot comprises three wheels pointing in parallel directions a front wheel 22 in the direction of displacement materialized in figure 2 and two rear wheels 23.
- the wheels are here positioned at 120 ° on the body.
- the nozzle 36 is slightly off-set with respect to a straight line passing through the front wheel 22 and the center of the turret 3 to give the robot a lateral thrust component which will be explained later.
- the output axis of the nozzle is eccentric with respect to the axis of rotation of the turret.
- the robot is provided with an automatic direction reversing device comprising a pallet 5 integral with the turret and studs 41, 42 on the body of the robot, as shown in particular in FIG. figure 2 .
- the inversion device is designed to be lightweight, offer little resistance to robot advancement and be low inertia. This device is designed to release the rotation of the turret and block it in an opposite direction as soon as the movement of the robot stops to prevent any blockage of the latter against a wall.
- the device is designed so that the locking of the rotation of the turret is implemented by the rotation of the turret itself and not by the moving the robot which leads to a very reliable self-locking system.
- the locking device comprises a lateral pallet 5 articulated on an axis 53 and carrying a first stop 52 which acts as a retractable stop.
- the pallet On one side opposite to the first stop 52 relative to the axis 53, the pallet comprises an enlarged portion 50 and possibly curved which will allow the pallet to turn about the axis 53, or, because of its buoyancy bring up the enlarged part 50 of the pallet to the stop of the robot, or moving robot, down under the action of the hydrodynamic thrust caused by the movement of the robot that is applied to the pallet.
- the enlarged portion behaves like a lever moving the first stop 52 about the axis 53.
- the axis of reception of the pallet is fixed in the lower part of the turret so that, when the pallet tilts towards the horizontal because of a rotary displacement of the turret or a movement of the robot, the first stop 52 comes into abutment against one of a pair of second stops 41, 42 represented top views to figures 2 , 5 and 6B and aside to Figures 7A, 7B .
- the turret provided with the power unit / pump is subjected to a force in rotation by the permanent torque created by the eccentric discharge of the nozzle 36.
- the pallet In front of an obstacle such as the wall M, the pallet rises, the first stop escapes a second stop and the turret starts to turn.
- the hydrodynamic thrust created by the rotation of the turret 3 acts on the pallet 5 which tilts towards the horizontal position which positions the first stop 52 in an interference position with the second stop 41, 42 secured to the body of the robot the contact between the two abutments provoking the stopping of the rotation.
- the displacement of the group is then substantially in the axis of the wheels and the robot moves in a first direction.
- the lever effect on the pallet 5 caused by the rotation is then replaced instantly by the one related to the displacement which maintains the blocking of the stops.
- the change of trajectory of the robot is ensured by shifting of the robot during the rotation of the turret, robot in contact with a wall according to the example of offset of the Figure 6A .
- the propulsion jet passes through a position perpendicular to the axis of the wheels which causes the shifting of at least one wheel of the robot.
- an offset of one or both stops at an angle ⁇ on the body of the robot relative to the axis of displacement defined by the wheels makes it possible to more or less offset the flow of water leaving the nozzle relative to the axis of displacement defined by the orientation of the wheels and to curve more or less the trajectory of the robot to adapt it to particular shaped pools and avoid repetitive courses.
- the misalignment of the nozzle with respect to the direction of the wheels also makes it possible to reduce the displacement speed at equivalent suction power for greater efficiency of the robot.
- the front wheel of the robot can be replaced by a roller 22a offering a greater contact area with the bottom of the basin to limit the lateral sliding of the robot during the rotation of the turret.
- brushes 61 on either side of the mouth 24 suction of waste.
- Embossments 60, 60 'made according to the example by ribs on the bottom of the body 2 form a kind of sliding pads positioned in the axis of the displacement to limit, as shown in FIG. figure 9 the contact area between the bottom of the robot and the bottom of the pool at a stop of change of slope and remove the risk of blockage on this stop.
- the wheel or the front roller can be mounted on a pivoting axle
- lateral deflectors can be fixed on the main body of the robot to provide resistance to lateral movement of the robot and reduce the shifting
- Charging the battery can be done by a floating solar panel connected to the powertrain by an electric cable length slightly greater than the depth of the pool. A battery charge control that starts the robot as soon as the charge is optimal.
- the motor can drive the turbine by magnetic coupling instead of a gear train.
- the invention is not limited to the example shown and in particular the pallet automatic direction reversal device 5 and stops can be applied to other types of robots such as hydraulic robots.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Description
La présente invention concerne un robot de nettoyage de piscine autonome.The present invention relates to an autonomous pool cleaning robot.
pour le nettoyage des piscines et autres bassins, il existe des robots hydrauliques qui fonctionnent avec l'énergie du groupe de filtration de la piscine. Ces robots sont raccordés par un tuyau flottant de 8 à 12 m soit au refoulement soit à l'aspiration de la pompe de la filtration.for the cleaning of swimming pools and other basins, there are hydraulic robots that work with the energy of the filtration group of the pool. These robots are connected by a floating pipe of 8 to 12 m either at the discharge or at the suction of the filtration pump.
Ces robots ne fonctionnement correctement que si l'installation de filtration est d'une puissance suffisante. Ils réduisent les performances de la filtration d'origine et la manipulation puis le rangement des tuyaux est peu pratique.These robots only work properly if the filtration system is of sufficient power. They reduce the performance of the original filtration and the handling and storage of pipes is impractical.
Pour éviter ces inconvénients il est apparu des robots électriques indépendants de la filtration et alimentés par un câble électrique flottant. L'avantage principal de ce type de robot, livré avec un transformateur basse tension de sécurité, est leur facilité d'installation puisqu'ils se raccordent sur une prise électrique standard. Ces robots autonomes présentent l'avantage de fonctionner immédiatement et sans réglages ce qui constitue un argument de vente certain.To avoid these drawbacks it appeared electric robots independent of the filtration and powered by a floating electrical cable. The main advantage of this type of robot, delivered with a low-voltage safety transformer, is their ease of installation since they are connected to a standard electrical outlet. These autonomous robots have the advantage of working immediately and without adjustments which constitutes a certain selling point.
Un robot de ce type, mais alimenté par câble, est décrit par les
Un des principaux aléas rencontrés sur les robots électriques en général est l'emmêlement du câble, phénomène qui peut toutefois être limité par une programmation des trajectoires du robot ce qui requiert toutefois des moteurs de traction avec une électronique de commande sophistiquée et/ou par un raccord tournant reliant le câble électrique au robot ou à l'alimentation électrique du robot.One of the main hazards encountered on electric robots in general is the entanglement of the cable, a phenomenon which can, however, be limited by a programming of the robot paths, which nevertheless requires traction motors with sophisticated control electronics and / or rotating connection connecting the electric cable to the robot or to the robot's power supply.
Les inconvénients de ce type de robot sont la manipulation du câble flottant généralement de 8 à 18 m selon la taille de la piscine et l'appréhension de certains usagers vis à vis de l'usage de l'électricité dans l'eau.The disadvantages of this type of robot are the handling of the floating cable generally 8 to 18 m depending on the size of the pool and the apprehension of some users with respect to the use of electricity in the water.
Pour remédier à ces inconvénients se développent des robots sans fils fonctionnant sur batterie.To overcome these drawbacks develop wireless robots running on battery.
Ces robots sont soit alimentés par une batterie flottante comme connu du document
Ces robots sont souvent des adaptations de modèles électriques à câble et leur coût est supérieur à celui des modèles de base dont ils sont issus.These robots are often adaptations of electrical models to cable and their cost is higher than that of the basic models from which they come.
En outre, les robots électriques sont en effet peu adaptés à un fonctionnement sur batterie du fait que certains utilisent un système électronique de guidage programmable ou programmé avec un gyroscope, des capteurs d'inclinaison, des détecteurs de parois et plusieurs moteurs: un moteur pompe pour l'aspiration et un ou deux moteurs de traction. Cette multiplication des équipements est consommatrice d'énergie et implique des batteries de forte capacité.In addition, electric robots are indeed poorly suited to battery operation because some use a programmable or programmed electronic guidance system with a gyroscope, inclination sensors, wall sensors and several motors: a motor pump for suction and one or two traction motors. This multiplication of equipment consumes energy and involves high capacity batteries.
D'autres robots de conception plus simple utilisent un seul moteur avec une propulsion par jet d'eau dont le sens est inversé par une minuterie comme par exemple connu des documents
Pour pallier à ce problème, le système prévu dans le document
Un autre principe connu du document précité
Cette conception conduit à un appareil volumineux puisque le jet rotatif est entièrement englobé dans cette cloche.This design leads to a bulky apparatus since the rotating jet is entirely embedded in this bell.
Ce type d'appareil présente une forte résistance hydrodynamique au déplacement qui impliquerait une pompe puissante et donc une batterie de forte capacité.This type of device has a strong hydrodynamic resistance to displacement that would involve a powerful pump and therefore a battery of high capacity.
L'invention se propose de remédier à ces différents inconvénients en proposant un robot alimenté par une batterie, de conception simple avec un seul moteur et sans électronique embarquée, avec une faible résistance hydrodynamique et pourvu d'un système favorisant une inversion du sens de déplacement instantanée.The invention proposes to remedy these various drawbacks by proposing a robot powered by a battery, of simple design with a single motor and without on-board electronics, with a low hydrodynamic resistance and provided with a system promoting a reversal of the direction of movement. instant.
La présente invention propose dans ce but un robot de nettoyage de piscine comportant selon un premier aspect de l'invention un groupe motopropulseur/pompe électro-hydraulique à jet d'eau, et un corps de récupération de déchets qui comporte une batterie d'alimentation dudit groupe, le groupe et la batterie étant contenus dans une tourelle rotative et étanche, extérieure au corps du robot.The present invention proposes for this purpose a pool cleaning robot comprising, according to a first aspect of the invention, a power unit / electro-hydraulic pump with a water jet, and a waste recovery body which comprises a battery for power supply. said group, the group and the battery being contained in a rotating turret and sealed outside the body of the robot.
Le groupe comporte préférablement un moteur électrique et une turbine, couplée au moteur électrique par des moyens de couplage, d'aspiration d'eau entrant dans le corps par une bouche sous le robot et passant au travers d'un filtre et de refoulement de cet eau par une tuyère d'éjection débouchant de la tourelle.The group preferably comprises an electric motor and a turbine, coupled to the electric motor by means of coupling, suction of water entering the body through a mouth under the robot and passing through a filter and discharge of this water through an ejection nozzle leading to the turret.
La tourelle comporte avantageusement un bouchon étanche d'accès à la batterie.The turret advantageously comprises a sealed access cap to the battery.
Selon un mode de réalisation avantageux, la tuyère est positionnée pour refouler l'eau aspirée dans une direction sensiblement parallèle au fond de la piscine pour propulser le robot au moyen de la tuyère.According to an advantageous embodiment, the nozzle is positioned to discharge the water sucked in a direction substantially parallel to the bottom of the pool to propel the robot by means of the nozzle.
La tourelle est avantageusement montée sur le corps du robot par une liaison rotative qui comporte une collerette annulaire sur le corps autour d'un trou de réception d'une embase annulaire de la tourelle.The turret is advantageously mounted on the body of the robot by a rotary connection which comprises an annular collar on the body around a receiving hole of an annular base of the turret.
Selon un mode de réalisation particulier, la liaison rotative comporte des ergots de clipsage de la tourelle sur le corps.According to a particular embodiment, the rotary connection comprises clawing lugs of the turret on the body.
La turbine d'aspiration est préférablement de type turbine centrifuge et comporte une entrée à l'interface entre la tourelle et le corps.The suction turbine is preferably centrifugal turbine type and has an inlet at the interface between the turret and the body.
Selon un mode de réalisation particulier, l'entrée de la turbine à l'interface corps/tourelle est munie d'un profil en cornet.According to a particular embodiment, the inlet of the turbine to the body / turret interface is provided with a horn profile.
Selon un mode de réalisation particulièrement avantageux, le moteur est un moteur de puissance inférieure ou égale à 50 W.According to a particularly advantageous embodiment, the motor is a power motor less than or equal to 50 W.
Selon un second aspect de l'invention, l'invention prévoit un robot comportant un dispositif d'inversion de sens automatique comportant une palette solidaire de la tourelle comportant une première butée et des secondes butées.According to a second aspect of the invention, the invention provides a robot comprising an automatic direction reversal device comprising a pallet secured to the turret having a first stop and second stops.
La palette est avantageusement articulée sur un axe, porteuse de ladite première butée, qui joue le rôle de butée escamotable et comporte, d'un côté opposé à la première butée par rapport à l'axe, une partie élargie qui va permettre à la palette de tourner autour de l'axe, pour faire redescendre la palette sous l'action de la poussée hydrodynamique causée par la rotation de la tourelle puis le déplacement du robot qui s'applique sur la palette.The pallet is advantageously articulated on an axis carrying said first stop, which acts as a retractable abutment and comprises, on a side opposite to the first abutment with respect to the axis, an enlarged part which will allow the pallet to turn around the axis, to lower the pallet under the action of the hydrodynamic thrust caused by the rotation of the turret and the movement of the robot that applies to the pallet.
La remontée de la palette est obtenue soit, du fait de sa flottabilité robot arrêté, soit tourelle en rotation par l'effort exercé entre les butées sous l'effet du couple rotatif de la tourelle.The rise of the pallet is obtained either because of its robot buoyancy stopped, or turret in rotation by the force exerted between the stops under the effect of the rotary torque of the turret.
L'axe de réception de la palette est préférablement fixé en partie inférieure de la tourelle de sorte que, lorsque la palette s'incline vers l'horizontale du fait d'un déplacement rotatif de la tourelle ou d'un déplacement du robot, la première butée vienne en butée contre l'une des secondes butées et de sorte que la première butée échappe les secondes butées lorsque la palette est en position verticale robot et tourelle à l'arrêt.The axis of reception of the pallet is preferably fixed in the lower part of the turret so that, when the pallet tilts towards the horizontal due to a rotational movement of the turret or a movement of the robot, the first abutment abuts against one of the second stops and so that the first stopper escapes the second stops when the pallet is in a vertical position robot and turret stopped.
Selon un mode de réalisation particulier, les secondes butées sont mobiles, un décalage de l'une ou des deux butées selon un angle sur le corps du robot par rapport à l'axe de déplacement défini par les roues permettant de plus ou moins désaxer le flux d'eau sortant de la tuyère par rapport à l'axe de déplacement défini par l'orientation des roues et d'incurver plus ou moins la trajectoire du robot.According to a particular embodiment, the second stops are movable, an offset of one or both stops at an angle to the body of the robot relative to the axis of displacement defined by the wheels to more or less off-axis flow of water out of the nozzle relative to the axis of displacement defined by the orientation of the wheels and to curve more or less the trajectory of the robot.
La tuyère est avantageusement excentrée sur la tourelle de sorte que la force de poussée s'exerce selon un axe faisant un angle avec un axe principal du robot défini par l'orientation des roues du robot.The nozzle is advantageously eccentric on the turret so that the thrust force is exerted along an axis at an angle with a main axis of the robot defined by the orientation of the robot wheels.
Selon un mode de réalisation particulier, le robot comporte un corps circulaire au milieu duquel la tourelle est centrée.According to a particular embodiment, the robot comprises a circular body in the middle of which the turret is centered.
Le robot peut notamment comporter trois roues pointant dans des directions parallèles.The robot may in particular comprise three wheels pointing in parallel directions.
Alternativement, le robot peut comporter deux roues et un rouleau.Alternatively, the robot may comprise two wheels and a roller.
Pour éviter de bloquer le robot sur une rupture de pente du fond du bassin, le fond du robot peut comporter au moins un relief positionné dans l'axe du déplacement du robot sous le robot.To avoid blocking the robot on a slope break of the bottom of the basin, the bottom of the robot may include at least one relief positioned in the axis of movement of the robot under the robot.
La roue ou le rouleau avant peuvent aussi être montés sur un essieu pivotant.The wheel or the front roller can also be mounted on a pivoting axle.
Selon un mode de réalisation particulier, le robot peut comporter un panneau solaire flottant de recharge de la batterie relié au groupe motopropulseur par un câble électrique de longueur légèrement supérieure à la profondeur de la piscine.According to a particular embodiment, the robot may comprise a floating solar panel for recharging the battery connected to the powertrain by an electric cable length slightly greater than the depth of the pool.
D'autres caractéristiques et avantages de l'invention seront apparents à la lecture de la description qui suit d'un exemple non limitatif de réalisation de l'invention en référence aux dessins qui représentent:
- en
figure 1 : une vue de côté coupe d'un robot selon un premier aspect de l'invention; - en
figure 2 : une vue de dessus du robot de lafigure 1 ; - en
figure 3 : une vue en perspective d'une tourelle de robot selon l'invention; - en
figure 4 : la tourelle de lafigure 3 en vue de dessous; - en
figure 5 : une vue en perspective de dessus d'un corps de robot selon un mode de réalisation particulier; - aux
figures 6A, 6B : des vues de dessus de déplacement d'un robot selon l'invention; - aux
figures 7A, 7B : des vues de côté d'une tourelle selon un mode de réalisation dd l'invention selon deux phases de fonctionnement; - en
figure 8 : une vue de dessous d'une variante de robot de l'invention; - en
figure 9 : une vue de côté d'un mode de réalisation de robot de l'invention sur un fond de piscine à rupture de pente.
- in
figure 1 : a sectional side view of a robot according to a first aspect of the invention; - in
figure 2 : a top view of the robot of thefigure 1 ; - in
figure 3 : a perspective view of a robot turret according to the invention; - in
figure 4 : the turret of thefigure 3 in view from below; - in
figure 5 : a perspective view from above of a robot body according to a particular embodiment; - to the
Figures 6A, 6B : top views of displacement of a robot according to the invention; - to the
Figures 7A, 7B : side views of a turret according to an embodiment of the invention according to two phases of operation; - in
figure 8 : a bottom view of a robot variant of the invention; - in
figure 9 : a side view of a robot embodiment of the invention on a sloping pool bottom.
Selon la
Le groupe comporte un moteur électrique 31, des pignons de réduction 34 et une turbine 35 dont la fonction est d'aspirer l'eau qui entre par la bouche 24 et passe au travers du filtre 21 et de la refouler par une tuyère d'éjection 36 débouchant de la tourelle 3.The group comprises an
Cette conception a pour avantage de ne pas réduire le volume utile de collecte des débris dans le corps principal du robot par la présence d'une batterie ou d'un moteur et de localiser les liaisons électriques entre la batterie et le groupe uniquement dans la tourelle ce qui évite d'utiliser des raccords électriques tournants.This design has the advantage of not reducing the useful volume of debris collection in the main body the robot by the presence of a battery or a motor and locate the electrical connections between the battery and the group only in the turret which avoids using rotating electrical connections.
Pour accéder à la batterie et la changer par exemple, la tourelle comporte un bouchon étanche 33 vissé ou clipsé.To access the battery and change it for example, the turret comprises a
Le groupe motopropulseur/pompe collecte donc les débris par l'intermédiaire du filtre 21 dans le corps principal et refoule l'eau aspirée dans une direction sensiblement parallèle au fond de la piscine pour propulser le robot au travers de la tuyère 36.The powertrain / pump thus collects the debris through the
La tourelle 3 est montée sur le corps 2 du robot par une liaison rotative ici réalisée par une collerette annulaire 25 sur le corps 2 autour d'un trou de réception d'une embase annulaire 37 de la tourelle. Comme représenté en
Selon la
La tourelle comporte un accès facile à la batterie par le bouchon 33 ce qui permet sa recharge et son remplacement par l'utilisateur soit pour augmenter l'autonomie avec l'utilisation d'une batterie supplémentaire soit pour changer une batterie en fin de vie.The turret has easy access to the battery by the
Cette optimisation de la conception permet de réaliser des robots économes en énergie avec un moteur de puissance limitée de 50 W contre 150 à 200 W pour les robots électriques connus, une batterie de capacité limitée et d'un coût réduit par rapport aux robots à batterie connus à ce jour ce qui occasionne une réduction du poids du dispositif motopropulseur/pompe à 2 Kg contre 6 à 10 kg pour les robots traditionnels.This optimization of the design makes it possible to realize energy-saving robots with a limited power motor of 50 W against 150 to 200 W for the known electric robots, a battery of limited capacity and a reduced cost compared to the robots with battery known to date which causes a reduction in the weight of the powertrain / pump to 2 Kg against 6 to 10 kg for traditional robots.
Selon la
La tuyère 36 est légèrement désaxée par rapport à une droite passant par la roue avant 22 et le centre de la tourelle 3 pour donner au robot une composante de poussée latérale qui sera explicitée plus loin. De même l'axe de sortie de la tuyère est excentré par rapport à l'axe de rotation de la tourelle.The
Selon un second aspect de l'invention le robot est muni d'un dispositif d'inversion de sens automatique comportant une palette 5 solidaire de la tourelle et des plots 41, 42 sur le corps du robot comme représenté notamment en
Le dispositif d'inversion est conçu pour être léger, offrir peu de résistance à l'avancement du robot et être de faible inertie. Ce dispositif est conçu pour libérer la rotation de la tourelle puis la bloquer dans une direction opposée dès l'arrêt du déplacement du robot pour éviter tout blocage de ce dernier contre une paroi.The inversion device is designed to be lightweight, offer little resistance to robot advancement and be low inertia. This device is designed to release the rotation of the turret and block it in an opposite direction as soon as the movement of the robot stops to prevent any blockage of the latter against a wall.
Pour ce faire, le dispositif est conçu pour que le blocage de la rotation de la tourelle soit mis en oeuvre par la rotation de la tourelle elle même et non par le déplacement du robot ce qui conduit à un système auto bloquant très fiable.To do this, the device is designed so that the locking of the rotation of the turret is implemented by the rotation of the turret itself and not by the moving the robot which leads to a very reliable self-locking system.
Selon les
D'un côté opposé à la première butée 52 par rapport à l'axe 53, la palette comporte une partie élargie 50 et éventuellement incurvée qui va permettre à la palette de tourner autour de l'axe 53, soit, du fait de sa flottabilité faire remonter la partie élargie 50 de la palette à l'arrêt du robot, soit robot en mouvement, redescendre sous l'action de la poussée hydrodynamique causée par le déplacement du robot qui s'applique sur la palette. La partie élargie se comporte comme un levier déplaçant la première butée 52 autour de l'axe 53.On one side opposite to the
L'axe de réception de la palette est fixé en partie inférieure de la tourelle de sorte que, lorsque la palette s'incline vers l'horizontale du fait d'un déplacement rotatif de la tourelle ou d'un déplacement du robot, la première butée 52 vienne en butée contre l'une d'une paire de secondes butées 41, 42 représentées vues de dessus aux
Par contre la première butée et l'axe sont positionnés de sorte que la première butée échappe les secondes butées lorsque la palette est en position verticale robot et tourelle à l'arrêt.By against the first stop and the axis are positioned so that the first stop escapes the second stops when the pallet is in the robot vertical position and turret stopped.
Comme représenté en
En face d'un obstacle tel que le mur M, la palette remonte, la première butée échappe une seconde butée et la tourelle se met à tourner.In front of an obstacle such as the wall M, the pallet rises, the first stop escapes a second stop and the turret starts to turn.
En l'absence d'obstacle selon la
Comme vu plus haut, quand le robot se déplace la palette est poussée depuis la position de la
Quand le robot est à l'arrêt, l'absence de flux d'eau permet à la palette de densité inférieure à la densité de l'eau de remonter vers la position verticale de la
Dès le début de cette rotation, et avant que le déplacement ne reprenne, la poussée hydrodynamique créée par la rotation de la tourelle 3 agit sur la palette 5 qui bascule vers la position horizontale ce qui positionne la première butée 52 dans une position d'interférence avec la seconde butée 41, 42 solidaire du corps du robot le contact entre les deux butées provocant l'arrêt de la rotation. Dans cette position, le refoulement du groupe est alors sensiblement dans l'axe des roues et le robot se déplace dans une première direction. L'effet de levier sur la palette 5 provoqué par la rotation est alors remplacé instantanément par celui lié au déplacement qui maintient le blocage des butées.From the beginning of this rotation, and before the movement resumes, the hydrodynamic thrust created by the rotation of the
Quand le robot rencontre un obstacle, une paroi ou autre la poussée hydrodynamique disparait et le couple de rotation de la tourelle crée, par l'intermédiaire du contact entre la première butée 52 et de l'une des secondes butées 41, 42, un effet de levier F dû à la distance d entre l'axe 53 et le bout de la butée 52 qui fait basculer la palette vers l'avant comme représenté par la flèche en
La rotation du groupe s'arrête au contact de la seconde butée , le refoulement se trouve alors dans l'axe des roues et le robot se déplace alors dans une direction sensiblement opposée à la première (marche avant/marche arrière).The rotation of the group stops in contact with the second stop, the discharge is then in the axis of the wheels and the robot then moves in a direction substantially opposite to the first (forward / reverse).
Dans le cas où le robot comporte trois roues dont les axes sont fixes et parallèles le changement de trajectoire du robot est assuré par ripage du robot lors de la rotation de la tourelle, robot au contact d'une paroi selon l'exemple de décalage de la
Par ailleurs selon l'exemple de la
Au lieu de rainures il est possible de réaliser plusieurs points de positionnement des secondes butées comme des logements pour ces butées à la surface supérieure du corps 2.Instead of grooves it is possible to realize several positioning points of the second stops as housing for these stops on the upper surface of the
Le désaxage de la tuyère par rapport à la direction des roues permet aussi de réduire la vitesse de déplacement à puissance d'aspiration équivalente pour une plus grande efficacité du robot.The misalignment of the nozzle with respect to the direction of the wheels also makes it possible to reduce the displacement speed at equivalent suction power for greater efficiency of the robot.
Selon un mode de réalisation particulier de la
Sur cette figure sont représentés des balais 61 de part et d'autre de la bouche 24 d'aspiration des déchets.In this figure are represented
Des reliefs 60, 60' réalisés selon l'exemple par des nervures sur le fond du corps 2 forment une sorte de patins glisseurs positionnés dans l'axe du déplacement pour permettent de limiter, comme représenté en
Selon des réalisations complémentaires ou alternatives, la roue ou le rouleau avant peuvent être montés sur un essieu pivotant, des déflecteurs latéraux peuvent être fixés sur le corps principal du robot pour offrir une résistance au déplacement latéral du robot et réduire le ripage, la recharge de la batterie peut s'effectuer par un panneau solaire flottant relié au groupe motopropulseur par un câble électrique de longueur légèrement supérieure à la profondeur de la piscine. Une régulation de charge de la batterie faisant démarrer le robot dès que la charge est optimale.According to complementary or alternative embodiments, the wheel or the front roller can be mounted on a pivoting axle, lateral deflectors can be fixed on the main body of the robot to provide resistance to lateral movement of the robot and reduce the shifting, Charging the battery can be done by a floating solar panel connected to the powertrain by an electric cable length slightly greater than the depth of the pool. A battery charge control that starts the robot as soon as the charge is optimal.
Pour éliminer les risques liés à un défaut d'étanchéité le moteur peut entrainer la turbine par couplage magnétique au lieu d'un train de pignons.To eliminate the risks related to a leakage impediment, the motor can drive the turbine by magnetic coupling instead of a gear train.
L'invention n'est pas limitée à l'exemple représenté et notamment le dispositif d'inversion de sens automatique à palette 5 et butées peut s'appliquer à d'autres types de robots comme les robots hydrauliques.The invention is not limited to the example shown and in particular the pallet automatic
Claims (20)
- Swimming-pool cleaning robot (1) comprising a water-jet electro-hydraulic propulsion unit/pump (31, 34, 35) and a waste-collecting body (2), characterized in that it comprises a power supply battery (32) for said unit, the unit and the battery being contained in a leaktight rotary turret (3) outside the body (2) of the robot.
- Robot (1) according to Claim 1, wherein the unit comprises an electric motor (31) and a turbine (35), coupled to the electric motor by coupling means (34), for sucking in water that enters the body through a mouth (24) under the robot and passes through a filter (21), and for delivering this water through an ejection nozzle (36) that leads out of the turret (3).
- Robot (1) according to Claim 1 or 2, wherein the turret comprises a leaktight closure (33) for accessing the battery.
- Robot (1) according to Claim 2, wherein the nozzle is positioned so as to deliver the sucked-in water in a direction substantially parallel to the bottom of the swimming pool in order for the robot to be propelled by means of the nozzle (36).
- Robot (1) according to any one of the preceding claims, wherein the turret (3) is mounted on the body (2) of the robot by way of a rotary connection which comprises an annular collar (25) on the body (2) around a hole for receiving an annular base (37) of the turret.
- Robot (1) according to Claim 5, wherein the rotary connection comprises protuberances (38) for clip-fastening the turret to the body.
- Robot (1) according to Claim 2 or 4, wherein the suction turbine (35) is of the centrifugal turbine type and comprises an inlet to the interface between the turret and the body.
- Robot (1) according to Claim 7, wherein the inlet (39) is provided here with a funnel-like profile (39a).
- Robot (1) according to any one of the preceding claims, wherein the motor is a motor with a power of less than or equal to 50 W.
- Robot (1) according to any one of the preceding claims, comprising an automatic direction reversal device comprising a vane (5) secured to the turret and comprising a first stop (52) and second stops (41, 42).
- Robot (1) according to Claim 10, wherein the vane (5) is articulated on a pin (53), bears said first stop (52), which acts as a retractable stop, and comprises, on a side remote from the first stop (52) with respect to the pin (53), a widened part (50) which allows the vane to turn about the pin (53) so as to cause the vane to descend again under the action of the hydrodynamic thrust that is brought about by the rotation of the turret and then by the movement of the robot and is applied to the vane.
- Robot (1) according to Claim 11, wherein the pin for receiving the vane is fixed in the lower part of the turret such that, when the vane is inclined towards the horizontal on account of a rotary movement of the turret or a movement of the robot, the first stop (52) comes into abutment against one of the second stops (41, 42) and such that the first stop is away from the second stops when the vane is in a vertical position with the robot and turret at a standstill.
- Robot (1) according to Claim 10, 11 or 12, wherein the second stops (41, 42) are movable, an offset of one or both stops by an angle (β) on the body of the robot with respect to the axis of movement defined by the wheels making it possible to skew the flow of water exiting the nozzle to a greater or lesser extent with respect to the axis of movement defined by the orientation of the wheels and to bend the trajectory of the robot to a greater or lesser extent.
- Robot (1) according to any one of Claims 2, 4, 7 or 8, wherein the nozzle (36) is off-centre on the turret such that the thrust force is exerted along an axis (D1) that forms an angle (α) with a main axis (D) of the robot defined by the orientation of the wheels of the robot.
- Robot according to any one of the preceding claims, comprising a circular body (2) in the middle of which the turret (3) is centred.
- Robot (1) according to any one of the preceding claims, comprising three wheels (22, 23) that point in parallel directions.
- Robot (1) according to any one of Claims 1 to 15, comprising two wheels (23) and a roller (22a).
- Robot (1) according to any one of Claims 1 to 15, comprising at least one relief (60, 60') that is positioned under the robot on the axis of movement of the robot.
- Robot (1) according to Claim 16 or 17, wherein the front roller or wheel is mounted on a pivoting axle.
- Robot (1) according to any one of the preceding claims, comprising a floating solar panel for recharging the battery, said solar panel being connected to the propulsion unit by an electric cable with a length slightly greater than the depth of the swimming pool.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1559447A FR3041982B1 (en) | 2015-10-05 | 2015-10-05 | AUTONOMOUS SWIMMING POOL CLEANING ROBOT |
PCT/FR2016/052487 WO2017060588A2 (en) | 2015-10-05 | 2016-09-29 | Autonomous pool cleaning robot |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3283711A2 EP3283711A2 (en) | 2018-02-21 |
EP3283711B1 true EP3283711B1 (en) | 2018-08-29 |
Family
ID=55236519
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16785257.3A Active EP3283711B1 (en) | 2015-10-05 | 2016-09-29 | Autonomous pool cleaning robot |
Country Status (7)
Country | Link |
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US (2) | US10370865B2 (en) |
EP (1) | EP3283711B1 (en) |
CN (2) | CN107923191B (en) |
CA (1) | CA2987680C (en) |
ES (1) | ES2693024T3 (en) |
FR (1) | FR3041982B1 (en) |
WO (1) | WO2017060588A2 (en) |
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CN112641378B (en) * | 2019-10-11 | 2023-10-24 | 宁波市普世达泳池用品有限公司 | Pool cleaning electric robot |
CN115898095A (en) * | 2022-08-02 | 2023-04-04 | 天津望圆智能科技股份有限公司 | Mechanical reversing structure of swimming pool cleaning machine and swimming pool cleaning machine |
CN218581276U (en) * | 2022-08-09 | 2023-03-07 | 上海荣威塑胶工业有限公司 | Pool cleaning device |
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-
2016
- 2016-09-29 WO PCT/FR2016/052487 patent/WO2017060588A2/en active Application Filing
- 2016-09-29 CN CN201680048771.5A patent/CN107923191B/en active Active
- 2016-09-29 CA CA2987680A patent/CA2987680C/en active Active
- 2016-09-29 US US15/577,117 patent/US10370865B2/en active Active
- 2016-09-29 ES ES16785257.3T patent/ES2693024T3/en active Active
- 2016-09-29 CN CN202010648889.XA patent/CN111962926B/en active Active
- 2016-09-29 EP EP16785257.3A patent/EP3283711B1/en active Active
-
2019
- 2019-06-19 US US16/445,771 patent/US10895086B2/en active Active
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WO2017060588A2 (en) | 2017-04-13 |
CN107923191A (en) | 2018-04-17 |
CN107923191B (en) | 2020-07-31 |
US20180179772A1 (en) | 2018-06-28 |
CN111962926B (en) | 2022-08-05 |
US10895086B2 (en) | 2021-01-19 |
US20190301189A1 (en) | 2019-10-03 |
WO2017060588A3 (en) | 2017-06-01 |
ES2693024T3 (en) | 2018-12-07 |
EP3283711A2 (en) | 2018-02-21 |
CN111962926A (en) | 2020-11-20 |
CA2987680A1 (en) | 2017-04-13 |
FR3041982B1 (en) | 2017-11-24 |
FR3041982A1 (en) | 2017-04-07 |
CA2987680C (en) | 2019-04-02 |
US10370865B2 (en) | 2019-08-06 |
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