EP3283711B1 - Robot de nettoyage de piscine autonome - Google Patents

Robot de nettoyage de piscine autonome Download PDF

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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
Authority
EP
European Patent Office
Prior art keywords
robot
turret
stop
vane
axis
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.)
Active
Application number
EP16785257.3A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3283711A2 (fr
Inventor
Max Roumagnac
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kokido Development Ltd
Original Assignee
Kokido Development Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kokido Development Ltd filed Critical Kokido Development Ltd
Publication of EP3283711A2 publication Critical patent/EP3283711A2/fr
Application granted granted Critical
Publication of EP3283711B1 publication Critical patent/EP3283711B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • 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
    • 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)
EP16785257.3A 2015-10-05 2016-09-29 Robot de nettoyage de piscine autonome Active EP3283711B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1559447A FR3041982B1 (fr) 2015-10-05 2015-10-05 Robot de nettoyage de piscine autonome
PCT/FR2016/052487 WO2017060588A2 (fr) 2015-10-05 2016-09-29 Robot de nettoyage de piscine autonome

Publications (2)

Publication Number Publication Date
EP3283711A2 EP3283711A2 (fr) 2018-02-21
EP3283711B1 true EP3283711B1 (fr) 2018-08-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16785257.3A Active EP3283711B1 (fr) 2015-10-05 2016-09-29 Robot de nettoyage de piscine autonome

Country Status (7)

Country Link
US (2) US10370865B2 (zh)
EP (1) EP3283711B1 (zh)
CN (2) CN111962926B (zh)
CA (1) CA2987680C (zh)
ES (1) ES2693024T3 (zh)
FR (1) FR3041982B1 (zh)
WO (1) WO2017060588A2 (zh)

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US10982456B2 (en) * 2018-03-16 2021-04-20 Maytronic Ltd. Pool cleaning system
CN108798088B (zh) * 2018-07-31 2019-12-17 卢均楠 一种智能多向游泳池清洗机器人
EP3712358B1 (fr) 2019-03-22 2021-11-03 Kokido Development Limited Robot autonome à aspiration alternée pour le nettoyage de piscines
CN110107123A (zh) * 2019-05-05 2019-08-09 天津望圆环保科技有限公司 一种水池清洁机机械换向触壁检测机构
CN112641378B (zh) * 2019-10-11 2023-10-24 宁波市普世达泳池用品有限公司 水池清洁电动机器人
CN115898095A (zh) * 2022-08-02 2023-04-04 天津望圆智能科技股份有限公司 一种泳池清洁机的机械换向结构及泳池清洁机
CN218581276U (zh) * 2022-08-09 2023-03-07 上海荣威塑胶工业有限公司 水池清洁装置

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Also Published As

Publication number Publication date
US20190301189A1 (en) 2019-10-03
CN107923191A (zh) 2018-04-17
CN111962926B (zh) 2022-08-05
WO2017060588A3 (fr) 2017-06-01
FR3041982B1 (fr) 2017-11-24
US10895086B2 (en) 2021-01-19
US10370865B2 (en) 2019-08-06
CN107923191B (zh) 2020-07-31
CA2987680A1 (fr) 2017-04-13
CN111962926A (zh) 2020-11-20
CA2987680C (fr) 2019-04-02
US20180179772A1 (en) 2018-06-28
FR3041982A1 (fr) 2017-04-07
EP3283711A2 (fr) 2018-02-21
WO2017060588A2 (fr) 2017-04-13
ES2693024T3 (es) 2018-12-07

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