EP3512397B1 - Bodenreinigungsroboter - Google Patents

Bodenreinigungsroboter Download PDF

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Publication number
EP3512397B1
EP3512397B1 EP17784343.0A EP17784343A EP3512397B1 EP 3512397 B1 EP3512397 B1 EP 3512397B1 EP 17784343 A EP17784343 A EP 17784343A EP 3512397 B1 EP3512397 B1 EP 3512397B1
Authority
EP
European Patent Office
Prior art keywords
cleaning robot
projection
axis
floor
floor cleaning
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
EP17784343.0A
Other languages
English (en)
French (fr)
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EP3512397A1 (de
Inventor
Lucien CHARMETTAN
Fabien David
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.)
SEB SA
Original Assignee
SEB SA
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Filing date
Publication date
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Publication of EP3512397A1 publication Critical patent/EP3512397A1/de
Application granted granted Critical
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/16—Arrangement or disposition of cyclones or other devices with centrifugal action
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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

Definitions

  • the present invention generally relates to a floor cleaning robot, and in particular to an autonomous floor cleaning robot provided with waste suction means.
  • EP 3 000 372 A1 discloses a robot vacuum cleaner comprising two driving wheels, at least one free wheel, a cyclonic unit and a fan motor.
  • An object of the present invention is to respond to the drawbacks of the prior art mentioned above and in particular, first of all, to provide a compact floor cleaning robot which has good suction efficiency.
  • the cleaning robot comprises means for storing electrical energy, and the means for storing electrical energy are arranged between the motorized fan and an underside of the floor cleaning robot.
  • the electrical energy storage means are typically a battery, and placing it under the motorized fan makes it possible to locate the heaviest components of the motor in the same place, which facilitates the design of a stable robot. In particular, it is easy to place the center of gravity of the robot between the wheels of the robot in this way, to avoid any tilting in use. Indeed, the share of the weight of the battery and the fan motor is significant, compared to the total weight of the cleaning robot.
  • the cleaning robot comprises an intermediate pipe, arranged between the cyclonic separation unit and the suction slot, and the intermediate pipe has a downstream portion in the form of a spiral and connected to the cyclonic separation unit.
  • This implementation improves the cyclonic separation, by imposing a spiral movement on the air flow as soon as possible.
  • the cyclonic separation unit comprises a central suction horn, which has a symmetry of revolution along the axis of the spiral.
  • the horn has an axis of symmetry which is parallel to the wheel axis.
  • the wheel axis is horizontal (that is to say parallel to the ground to be cleaned).
  • the cyclonic separation unit comprises downstream of said spiral-shaped or propeller-shaped duct a central suction horn around which said spiral-shaped duct winds at least partially, and the motor-driven fan is coupled to the cyclone separation unit via the central suction horn.
  • the passage of the air flow is done directly from the central suction horn to the fan motor, and as their axes are parallel, there is almost no disturbance or loss of pressure, which increases the efficiency of suction.
  • the floor cleaning robot comprises two drive wheels, each comprising an inner face, and the cyclonic separation unit and/or the motorized fan are arranged between two vertical planes each comprising a vertical inner face of one two-wheel drive.
  • This construction is particularly compact.
  • the suction flow passes successively from the suction slot to the intermediate pipe, then to the cyclonic separation unit (first the spiral pipe, then the central suction horn), then by the motorized fan to be then rejected towards the outside.
  • the waste is separated from the air stream as it passes through the cyclonic separation unit.
  • the floor cleaning robot comprises a front face, the suction slot is arranged between the front face, or a vertical plane tangent to the front face, and a vertical plane comprising the axis of the spiral.
  • the cyclonic separation unit is arranged rather at the rear of the cleaning robot, in any case behind the suction slot with respect to the direction of advancement of the robot, which makes it possible to clear room for the bumper.
  • the floor cleaning robot comprises a rear face, the cyclonic separation unit and/or the motor-driven fan and/or the wheel axle are arranged between a vertical plane passing through an edge of the suction slot and the back side.
  • the floor cleaning robot comprises a waste recovery tank comprising an inlet arranged in a wall of the spiral-shaped duct of the cyclonic separation unit.
  • the cyclonic separation unit is arranged between the intermediate pipe and the waste recovery tank.
  • the floor cleaning robot comprises two drive wheels, each comprising an inner face, and the waste collection tray is arranged between two vertical planes each comprising a vertical inner face of one of the two drive wheels.
  • the waste recovery tank is arranged between the cyclonic separation unit and the rear face.
  • a projection of the wheel axis is less than 50mm from a projection of the spiral axis.
  • a projection of the axis of rotation of the motor is less than 30mm from a projection of the axis of the spiral.
  • the angle transmission is of the bevel gear type.
  • This type of bevel gear is simple and inexpensive.
  • the bevel transmission is of the gear type with toothed wheel and endless screw.
  • the reduction ratio can be very high with this type of angle transmission.
  • the angle transmission is of the hypoid gear type. This type of angle transmission is silent.
  • the wheel plane is perpendicular to a floor to be cleaned.
  • the angle transmission has a reduction ratio of 1:1.
  • the angle transmission is removably mounted on a primary shaft, at the input of the gear train.
  • the motor is a brushed electric motor.
  • the motor is a brushless electric motor, of the electronically commutated type.
  • the figure 1 shows a perspective view of the internal structure of a floor cleaning robot, which notably comprises driving wheels 10, a suction slot 40, connected to a cyclonic separation unit 20 by an intermediate pipe 45 and downstream to a fan motor 30.
  • a waste collection tray 60 is provided at the rear of the cleaning robot.
  • the floor cleaning robot comprises at least one battery 60, which powers at least one motor 13 linked to each drive wheel 10 to make them rotate around the wheel axis 100 (materialized by the wheel shafts for example) visible figure 2 .
  • the cleaning robot can move on the floor to be cleaned independently.
  • the cleaning robot comprises a rotating brush 41 visible figure 2 , arranged in the suction slot 40, to improve waste collection and floor cleaning.
  • the fan motor 30 is also powered by the battery to create a suction flow. It is possible to envisage a centrifugal turbine, coupled to an electric motor, both rotating around an axis of rotation of the motor 300 (materialized by a motor shaft), and visible figure 2 .
  • the fan motor 30 is located downstream of the suction circuit.
  • the suction flow passes successively through the following elements of the cleaning robot: a component A of the suction flow is present in the suction slot 40, then, there is a component B of the suction flow in the intermediate pipe 45, and a component C is in the cyclonic separation unit 20, particularly in a spiral-shaped duct (wound around a spiral axis 200 of the figure 2 ), which has the effect of projecting the particles and solid waste outwards and in particular towards the waste recovery tank 50, which has an inlet connected to an outer wall of the spiral-shaped conduit (arrow D of the figure 4 ).
  • the suction flow has a centripetal movement, to pass through a central suction horn 21 (visible figure 2 and 3 ) located in the center of the cyclonic separation unit 20, it is the component E of the suction flow, which finally passes into the motor-driven fan 30, to be expelled to the outside from the top, with the two components F, which come out through two openings 31 of the fan motor 30.
  • the spiral axis 200 is parallel to the wheel axis 100, and to the axis of rotation of the motor 300.
  • This implementation makes it possible to arrange the cyclonic separation unit 20 and the motorized fan 30 between the driving wheels 10, and a compact and low-volume system is thus obtained.
  • the waste recovery tank 50, the cyclonic separation unit 20 and the motorized fan 30 are arranged between the suction slot 40 and the rear of the cleaning robot, which frees the front of the robot to install a bumper or other elements.
  • the latter has a short total length and few changes of direction. Indeed, the air flow passes from the suction slot 40 to the cyclonic separation unit 20 through the intermediate pipe 45, which has a spiral portion just before the cyclonic separation unit 20, to begin to impose a spiral path to the airflow.
  • the cleaning robot is provided with freewheels 11 visible picture 3 and figure 5 , and placed at the back of the cleaning robot.
  • the total weight of the cleaning robot is therefore taken up by the drive wheels 10 and the freewheels 11.
  • the suction slot and the front end of the cleaning robot are cantilevered above the floor to be cleaned. .
  • each drive wheel 10 is mounted on a suspension support 12 shown schematically by a dotted line on the figure 5 and mounted in pivot connection with respect to the chassis of the cleaning robot. Accordingly, the driving wheels 10 have a suspension movement as represented by the double arrow figure 5 .
  • the suspension support 12 is therefore a trailing arm which provides easy passage over obstacles, without bumping.
  • motor rotation axis 300 is offset from scroll axis 200, as seen in Fig. picture 3 , which makes it possible to house under the fan motor 30 a battery 60, which has the effect of concentrating the weight of the fan motor and of the battery 60 in the same place.
  • This implementation does not increase the height of the cleaning robot, because the diameter of the cyclonic separation unit 20 is greater than the diameter of the fan motor 30.
  • the motor rotation axis 300 is located between a first vertical plane passing through a point of contact between the driving wheel 10 and the ground, and a second vertical plane passing through a point of contact between the freewheel 11 and floor.
  • a projection of the axis of rotation of the engine 300 is located between a straight line passing through a projection of the points of contact of the drive wheels 10 with the ground, and another line passing through the projections of the points of contact of the freewheels 11 with the ground. Stability is improved.
  • the figure 6 shows a detail of the suspension support 12, which embeds the drive wheel 10, a cascade of pinions, a wheel motor 13, and a bevel gear 14.
  • This implementation makes it possible to position the wheel motor 13 in a substantially vertical position, within the limit of the travel shown figure 5 .
  • the wheel motor has an axis of rotation which is contained in a plane parallel to the sides of the driving wheel 10.
  • the axis of the wheel motor is contained in a plane where a projection of an outer edge of drive wheel 10 is circular.
  • This implementation offers the possibility of accommodating more components between the driving wheels 10, because the wheel motors are oriented upwards.

Landscapes

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

Claims (14)

  1. Bodenreinigungsroboter, umfassend:
    - eine zyklonische Staubtrenneinheit (20), umfassend mindestens ein spiralenoder schraubenförmiges Rohr um eine Spiralenachse (200), um eine Spiralenbewegung eines Ansaugluftstroms zu erzeugen,
    - einen Motorventilator (30), der eingerichtet ist, um den Ansaugluftstrom zu erzeugen,
    - mindestens ein Antriebsrad (10), das eingerichtet ist, um um eine Radachse (100) zu schwenken, um eine Verschiebung des Bodenreinigungsroboters zu bewirken, wobei die Spiralenachse (200) parallel zur Radachse (100) ist, der Motorventilator (30) eine Motordrehachse (300) aufweist und die Motordrehachse (300) parallel zur Spiralenachse (200) ist und sich von der Spiralenachse (200) unterscheidet, wobei der Bodenreinigungsroboter weiter umfasst:
    - zwei Antriebsräder (10),
    - mindestens ein freies Rad (11) an der Hinterseite des Roboters,
    dadurch gekennzeichnet, dass in einer Projektionsebene parallel zum zu reinigenden Boden eine Projektion der Motordrehachse zwischen einer Gerade, die eine Projektion der Kontaktpunkte der Antriebsräder mit dem Boden verbindet, und einer Projektion des Kontaktpunkts des mindestens einen freien Rads mit dem Boden eingerichtet ist.
  2. Bodenreinigungsroboter nach Anspruch 1, umfassend:
    - zwei Antriebsräder (10),
    - zwei freie Räder (11) an der Hinterseite des Roboters,
    wobei in einer Projektionsebene parallel zum zu reinigenden Boden eine Projektion der Motordrehachse zwischen einer Gerade, die eine Projektion der Kontaktpunkte der Antriebsräder mit dem Boden verbindet, und einer Gerade, die eine Projektion der Kontaktpunkte der freien Räder mit dem Boden verbindet, eingerichtet ist.
  3. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, umfassend Mittel zum Speichern elektrischer Energie, wobei die Mittel zum Speichern elektrischer Energie zwischen dem Motorventilator und einer unteren Seite des Bodenreinigungsroboters eingerichtet sind.
  4. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, umfassend:
    - eine Vorderseite,
    - einen Ansaugspalt (40), der einem zu reinigenden Boden zugewandt eingerichtet ist, wobei der Ansaugspalt (40) zwischen der Vorderseite oder einer vertikalen Ebene tangential zur Vorderseite und einer vertikalen Ebene, die die Radachse (100) umfasst, eingerichtet ist.
  5. Bodenreinigungsroboter nach dem vorstehenden Anspruch, umfassend eine mittlere Leitung (45), die zwischen der zyklonischen Trenneinheit (20) und dem Ansaugspalt (40) eingerichtet ist,
    wobei die mittlere Leitung (45) einen nachgelagerten Abschnitt aufweist, der spiralenförmig und mit der zyklonischen Trenneinheit (20) verbunden ist.
  6. Bodenreinigungsroboter nach einem der Ansprüche 4 oder 5, umfassend eine Hinterseite, wobei die zyklonische Trenneinheit (20) und/oder der Motorventilator (30) und/oder die Radachse (100) zwischen einer vertikalen Ebene, die durch einen Rand des Ansaugspalts (40) verläuft, und der Hinterseite eingerichtet sind.
  7. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, umfassend:
    - ein Gehäuse,
    - eine Federungshalterung (12), auf der das mindestens eine Antriebsrad untergebracht ist, wobei die Federungshalterung in schwenkender Verbindung in Bezug auf das Gehäuse montiert ist,
    wobei in einer Projektionsebene parallel zum zu reinigenden Boden eine Projektion der Schwenkachse der Federungshalterung in Bezug auf das Gehäuse eingerichtet ist zwischen:
    - einer Projektion einer Vorderseite des Roboters oder eines Ansaugspalts des Roboters, und
    - einer Projektion des Kontaktpunkts des mindestens einen Antriebsrads mit dem zu reinigenden Boden.
  8. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, umfassend einen Abfallsammelbehälter (50), der einen Eingang umfasst, der in einer spiralenförmig Rohrwand der zyklonischen Trenneinheit (20) eingerichtet ist.
  9. Bodenreinigungsroboter nach dem vorstehenden Anspruch in seiner Abhängigkeit von Anspruch 6, wobei die zyklonische Trenneinheit (20) zwischen der mittleren Leitung (45) und dem Abfallsammelbehälter (50) eingerichtet ist.
  10. Bodenreinigungsroboter nach dem vorstehenden Anspruch, umfassend zwei Antriebsräder (10), die jeweils eine Innenseite umfassen, und wobei der Abfallsammelbehälter (50) zwischen zwei vertikalen Ebenen eingerichtet ist, die jeweils eine vertikale Innenseite eines der zwei Antriebsräder (10) umfassen.
  11. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, wobei die zyklonische Trenneinheit (20) dem spiralen- oder schraubenförmigen Rohr nachgelagert ein zentrales Ansaughorn (21) umfasst, um das sich das spiralenförmige Rohr mindestens teilweise wickelt, und wobei der Motorventilator (30) über das zentrale Ansaughorn (21) mit der zyklonischen Trenneinheit (20) gekoppelt ist.
  12. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, umfassend zwei Antriebsräder (10), die jeweils eine Innenseite umfassen, und wobei die zyklonische Trenneinheit (20) und/oder der Motorventilator (30) zwischen zwei vertikalen Ebenen eingerichtet sind, die jeweils eine vertikale Innenseite eines der zwei Antriebsräder (10) umfassen.
  13. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, wobei in einer Projektionsebene parallel zu einem zu reinigenden Boden eine Projektion der Radachse (100) mindestens 50mm von einer Projektion der Spiralenachse (200) beabstandet ist.
  14. Bodenreinigungsroboter nach einem der vorstehenden Ansprüche, wobei in einer vertikalen Projektionsebene eine Projektion der Motordrehachse (300) mindestens 30 mm von einer Projektion der Spiralenachse (200) beabstandet ist.
EP17784343.0A 2016-09-13 2017-09-12 Bodenreinigungsroboter Active EP3512397B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1658528A FR3055790B1 (fr) 2016-09-13 2016-09-13 Robot de nettoyage des sols
PCT/FR2017/052426 WO2018051007A1 (fr) 2016-09-13 2017-09-12 Robot de nettoyage des sols

Publications (2)

Publication Number Publication Date
EP3512397A1 EP3512397A1 (de) 2019-07-24
EP3512397B1 true EP3512397B1 (de) 2022-08-31

Family

ID=57209607

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17784343.0A Active EP3512397B1 (de) 2016-09-13 2017-09-12 Bodenreinigungsroboter

Country Status (5)

Country Link
EP (1) EP3512397B1 (de)
CN (2) CN107811580A (de)
ES (1) ES2927241T3 (de)
FR (1) FR3055790B1 (de)
WO (1) WO2018051007A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055790B1 (fr) * 2016-09-13 2018-09-07 Seb S.A. Robot de nettoyage des sols
CN113892868A (zh) * 2021-10-20 2022-01-07 尚科宁家(中国)科技有限公司 一种自动行走的清洁系统

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000049933A1 (en) * 1999-02-24 2000-08-31 Lg Electronics Inc. Cyclone dust collector in vacuum cleaner
CN100358461C (zh) * 2003-05-13 2008-01-02 乐金电子(天津)电器有限公司 旋风式真空吸尘器
GB2417674B (en) * 2004-09-02 2007-12-19 Techtronic Ind Co Ltd Suction cleaners
AU2008238968B2 (en) * 2007-04-12 2011-04-28 Lg Electronics Inc. Dust separating apparatus of vacuum cleaner
CN101784219B (zh) * 2007-07-19 2012-06-06 Lg电子株式会社 真空吸尘器的灰尘分离设备
GB2487775B (en) 2011-02-04 2013-03-27 Dyson Technology Ltd Autonomous vacuum cleaner
EP2581015B1 (de) * 2011-10-12 2015-01-21 Black & Decker Inc. Staubsauger
KR101622713B1 (ko) * 2014-09-24 2016-05-19 엘지전자 주식회사 로봇 청소기
WO2016100878A1 (en) * 2014-12-19 2016-06-23 Techtronic Industries Co. Ltd. Autonomous vacuum
FR3055790B1 (fr) * 2016-09-13 2018-09-07 Seb S.A. Robot de nettoyage des sols

Also Published As

Publication number Publication date
CN209421839U (zh) 2019-09-24
WO2018051007A1 (fr) 2018-03-22
FR3055790A1 (fr) 2018-03-16
ES2927241T3 (es) 2022-11-03
EP3512397A1 (de) 2019-07-24
CN107811580A (zh) 2018-03-20
FR3055790B1 (fr) 2018-09-07

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