EP3512397B1 - Floor cleaning robot - Google Patents

Floor cleaning robot 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
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EP
European Patent Office
Prior art keywords
cleaning robot
projection
axis
floor
floor cleaning
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EP17784343.0A
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German (de)
French (fr)
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EP3512397A1 (en
Inventor
Lucien CHARMETTAN
Fabien David
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SEB SA
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SEB SA
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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)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Electric Suction Cleaners (AREA)

Description

La présente invention concerne de manière générale un robot de nettoyage des sols, et en particulier un robot autonome de nettoyage des sols pourvu de moyens d'aspiration des déchets.The present invention generally relates to a floor cleaning robot, and in particular to an autonomous floor cleaning robot provided with waste suction means.

Il est connu dans l'art antérieur des dispositifs de nettoyage autonomes des sols, comme celui divulgué dans le document WO2012104596 (A1 ). Cependant, ce système présente notamment l'inconvénient d'être volumineux et donc peu compact, ce qui est un inconvénient pour un tel robot qui doit passer dans la mesure du possible sous les meubles ou entre ces derniers. De plus, l'efficacité d'aspiration d'un tel appareil est soumise à question, avec un circuit d'air qui comprend de nombreux coudes.Autonomous floor cleaning devices are known in the prior art, such as the one disclosed in the document WO2012104596 (A1 ). However, this system has in particular the disadvantage of being bulky and therefore not very compact, which is a disadvantage for such a robot which must pass as far as possible under the furniture or between the latter. In addition, the suction efficiency of such a device is questionable, with an air circuit that includes many elbows.

EP 3 000 372 A1 divulgue un aspirateur robot comprenant deux roues motrices, au moins une roue libre, une unité cyclonique et un moto-ventilateur. 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.

Un but de la présente invention est de répondre aux inconvénients de l'art antérieur mentionnés ci-dessus et en particulier, tout d'abord, de proposer un robot de nettoyage des sols compact et qui présente une bonne efficacité d'aspiration.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.

Pour cela un premier aspect de l'invention concerne un robot de nettoyage des sols, comprenant :

  • une unité de séparation cyclonique des poussières, comprenant au moins un conduit en forme de spirale ou d'hélice autour d'un axe de spirale, pour créer un mouvement en spirale d'un flux d'air d'aspiration,
  • un moto-ventilateur agencé pour créer le flux d'air d'aspiration,
  • au moins une roue motrice agencée pour pivoter autour d'un axe de roue, pour provoquer un déplacement du robot de nettoyage des sols, caractérisé en ce que l'axe de spirale est parallèle à l'axe de roue, et en ce que le moto-ventilateur présente un axe de rotation de moteur, et dans lequel l'axe de rotation de moteur est parallèle à l'axe de spirale et distinct de l'axe de spirale. Le robot de nettoyage des sols présente une unité de séparation cyclonique dont l'axe est parallèle avec l'axe de roue, ce qui offre une bonne compacité, on agence les roues et le séparateur cyclonique dans le sens de la largeur du robot. Cela permet de dégager de l'espace dans la direction axiale ou longitudinale (direction avant-arrière) du robot pour loger un pare-chocs mobile par exemple. De plus, l'axe de rotation de moteur est parallèle à l'axe de spirale, mais décalé de ce dernier, ce qui limite les pertes de charge aérauliques, mais permet de décaler le moto-ventilateur pour loger par exemple d'autres organes du robot de nettoyage à proximité du moto-ventilateur.
For this, a first aspect of the invention relates to a floor cleaning robot, comprising:
  • a cyclonic dust separation unit, comprising at least one duct in the form of a spiral or helix around a spiral axis, for creating a spiral movement of a suction air flow,
  • a fan motor arranged to create the suction air flow,
  • at least one drive wheel arranged to pivot around a wheel axis, to cause the floor cleaning robot to move, characterized in that the spiral axis is parallel to the wheel axis, and in that the fan motor has a motor rotation axis, and wherein the motor rotation axis is parallel to the scroll axis and distinct of the spiral axis. The floor cleaning robot has a cyclone separation unit whose axis is parallel with the wheel axis, which offers good compactness, the wheels and the cyclone separator are arranged in the direction of the width of the robot. This frees up space in the axial or longitudinal direction (front-rear direction) of the robot to accommodate a mobile bumper for example. In addition, the axis of rotation of the motor is parallel to the axis of the spiral, but offset from the latter, which limits the air pressure losses, but makes it possible to offset the motorized fan to accommodate, for example, other organs. of the cleaning robot near the fan motor.

On notera que deux axes parallèles sont forcément contenus dans un même plan, et que dans ce plan, toute droite perpendiculaire à l'un de ces axes est parallèle à l'autre axe. En d'autres termes, il est possible de définir un plan qui contient l'axe de roue et l'axe de spirale, et dans ce plan, il est possible de construire une droite perpendiculaire à l'axe de roue, qui sera alors perpendiculaire à l'axe de spirale. De la même manière, il est possible de définir un plan qui contient l'axe de rotation de moteur et l'axe de spirale, et dans ce plan, il est possible de construire une droite perpendiculaire à l'axe de rotation de moteur, qui sera alors perpendiculaire à l'axe de spirale. Cependant, il n'est pas forcément possible de construire un plan qui contient l'axe de spirale et l'axe de roue et l'axe de rotation de moteur. L'invention précise simplement que les axes de roue, de rotation de moteur et de spirale sont parallèles deux à deux.It will be noted that two parallel axes are necessarily contained in the same plane, and that in this plane, any straight line perpendicular to one of these axes is parallel to the other axis. In other words, it is possible to define a plane which contains the wheel axis and the spiral axis, and in this plane it is possible to construct a straight line perpendicular to the wheel axis, which will then be perpendicular to the spiral axis. In the same way, it is possible to define a plane which contains the motor rotation axis and the spiral axis, and in this plane, it is possible to construct a straight line perpendicular to the motor rotation axis, which will then be perpendicular to the spiral axis. However, it is not necessarily possible to construct a plane that contains the spiral axis and the wheel axis and the motor rotation axis. The invention simply specifies that the wheel, motor rotation and spiral axes are parallel in pairs.

Avantageusement, le robot de nettoyage comprend :

  • deux roues motrices,
  • au moins une roue libre à l'arrière du robot,
    et, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une projection du point de contact de ladite au moins une roue libre avec le sol. Placer l'axe de rotation de moteur entre les roues du robot de nettoyage permet de proposer un robot de nettoyage stable, car le moto-ventilateur présente un poids relativement important par rapport au poids total du robot.
Advantageously, the cleaning robot comprises:
  • two wheel drive,
  • at least one freewheel at the rear of the robot,
    and, in a projection plane parallel to the ground to be cleaned, a projection of the axis of rotation of the engine is arranged between a straight line connecting a projection of the points of contact of the drive wheels with the ground and a projection of the point of contact of said at least one freewheel with the ground. Place the motor rotation axis between the wheels of the cleaning robot makes it possible to offer a stable cleaning robot, because the fan motor has a relatively large weight compared to the total weight of the robot.

Avantageusement, le robot de nettoyage comprend :

  • deux roues motrices,
  • deux roues libres à l'arrière du robot,
    dans lequel, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une droite reliant une projection des points de contact des roues libres avec le sol. La stabilité du robot de nettoyage comprenant quatre roues / points d'appui est optimale avec cette mise en œuvre.
Advantageously, the cleaning robot comprises:
  • two wheel drive,
  • two freewheels at the back of the robot,
    in which, in a projection plane parallel to the ground to be cleaned, a projection of the axis of rotation of the engine is arranged between a straight line connecting a projection of the points of contact of the drive wheels with the ground and a straight line connecting a projection of the points contact of the freewheels with the ground. The stability of the cleaning robot comprising four wheels / support points is optimal with this implementation.

Avantageusement, le robot de nettoyage comprend des moyens de stockage d'énergie électrique, et les moyens de stockage d'énergie électrique sont agencés entre le moto-ventilateur et une face inférieure du robot de nettoyage des sols. Les moyens de stockage d'énergie électrique sont typiquement une batterie, et la placer sous le moto-ventilateur permet de localiser au même endroit les composants les plus lourds du moteur, ce qui facilite la conception d'un robot stable. En particulier, il est aisé de placer ainsi le centre de gravité du robot entre les roues du robot, pour éviter tout basculement en utilisation. En effet, la part du poids de la batterie et du moto-ventilateur est importante, par rapport au poids total du robot de nettoyage.Advantageously, 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.

Avantageusement, le robot de nettoyage comprend :

  • une face avant,
  • une fente d'aspiration agencée en regard d'un sol à nettoyer,
    et la fente d'aspiration est agencée entre la face avant, ou un plan vertical tangent à la face avant, et un plan vertical comprenant l'axe de roue. En particulier, les roues motrices du robot sont agencées entre la fente d'aspiration et les roues libres du robot. En conséquence, il n'y a aucune roue entre la fente d'aspiration et la face avant du robot, ce qui procure un nettoyage aisé, en limitant les contacts avec des obstacles lors d'une marche vers l'avant (s'il s'agit de déchets, ils seront aspirés avant que les roues motrices ne les touchent). En d'autres termes, la fente d'aspiration et la face avant sont en porte à faux au dessus du sol à nettoyer.
Advantageously, the cleaning robot comprises:
  • a front side,
  • a suction slot arranged opposite a floor to be cleaned,
    and the suction slot is arranged between the front face, or a vertical plane tangent to the front face, and a vertical plane including the wheel axle. In particular, the driving wheels of the robot are arranged between the suction slot and the freewheels of the robot. As a result, there are no impellers between the suction slot and the front face of the robot, which provides a easy cleaning, by limiting contact with obstacles when moving forward (if it is waste, it will be sucked up before the drive wheels touch it). In other words, the suction slot and the front face are cantilevered above the floor to be cleaned.

Avantageusement, le robot de nettoyage comprend une conduite intermédiaire, agencée entre l'unité de séparation cyclonique et la fente d'aspiration, et la conduite intermédiaire présente une portion aval en forme de spirale et connectée à l'unité de séparation cyclonique. Cette mise en œuvre améliore la séparation cyclonique, en imposant au plus tôt un mouvement de spirale au flux d'air.Advantageously, 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.

Avantageusement, le robot de nettoyage comprend :

  • un châssis,
  • un support de suspension sur lequel est embarquée ladite au moins une roue motrice, le support de suspension étant monté en liaison pivot par rapport au châssis,
    et, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de pivotement du support de suspension par rapport au châssis est agencée entre :
    • une projection d'une face avant du robot ou d'une fente d'aspiration du robot, et
    • une projection du point de contact de ladite au moins une roue motrice avec le sol à nettoyer. En d'autres termes, le support de suspension est un bras tiré. L'axe de pivotement est situé devant, ou en amont de, la roue motrice (lors d'un déplacement vers l'avant), ce qui améliore le franchissement d'obstacle et évite de buter et bloquer sur un éventuel obstacle.
Advantageously, the cleaning robot comprises:
  • a chassis,
  • a suspension support on which said at least one drive wheel is mounted, the suspension support being mounted in a pivot connection with respect to the chassis,
    and, in a projection plane parallel to the floor to be cleaned, a projection of the pivot axis of the suspension support relative to the chassis is arranged between:
    • a projection of a front face of the robot or a suction slot of the robot, and
    • a projection of the point of contact of said at least one drive wheel with the floor to be cleaned. In other words, the hanger bracket is a trailing arm. The pivot axis is located in front of, or upstream of, the drive wheel (during forward movement), which improves obstacle clearance and avoids bumping into and blocking a possible obstacle.

Avantageusement, l'unité de séparation cyclonique comprend un cornet central d'aspiration, qui présente une symétrie de révolution selon l'axe de spirale. En d'autres termes, le cornet présente un axe de symétrie qui est parallèle à l'axe de roue.Advantageously, the cyclonic separation unit comprises a central suction horn, which has a symmetry of revolution along the axis of the spiral. In other words, the horn has an axis of symmetry which is parallel to the wheel axis.

Avantageusement, l'axe de roue est horizontal (c'est-à-dire parallèle au sol à nettoyer).Advantageously, the wheel axis is horizontal (that is to say parallel to the ground to be cleaned).

Avantageusement, l'unité de séparation cyclonique comprend en aval dudit conduit en forme de spirale ou d'hélice un cornet central d'aspiration autour duquel ledit conduit en forme de spirale s'enroule au moins partiellement, et le moto-ventilateur est accouplé à l'unité de séparation cyclonique via le cornet central d'aspiration. Le passage du flux d'air se fait directement du cornet central d'aspiration au moto-ventilateur, et comme leurs axes sont parallèles, il n'y a quasiment pas de perturbation ou perte de charge, ce qui augmente l'efficacité d'aspiration.Advantageously, 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.

Avantageusement, le robot de nettoyage des sols comprend deux roues motrices, chacune comprenant une face intérieure, et l'unité de séparation cyclonique et/ou le moto-ventilateur, sont agencés entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices. Cette construction est particulièrement compacte.Advantageously, 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.

Avantageusement, le robot de nettoyage des sols comprend :

  • une fente d'aspiration agencée en regard d'un sol à nettoyer,
  • une conduite intermédiaire, agencée entre l'unité de séparation cyclonique et la fente d'aspiration,
    et la conduite intermédiaire présente une portion aval en forme de spirale et connectée à l'unité de séparation cyclonique. La portion aval de la conduite intermédiaire permet de commencer à imposer une forme en spirale au flux d'aspiration, afin de séparer efficacement les impuretés entraînées avec le flux d'air.
Advantageously, the floor cleaning robot comprises:
  • a suction slot arranged opposite a floor to be cleaned,
  • 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. The downstream portion of the intermediate duct makes it possible to begin to impose a spiral shape on the suction flow, in order to effectively separate the impurities entrained with the air flow.

En d'autres termes, le flux d'aspiration passe successivement de la fente d'aspiration à la conduite intermédiaire, puis à l'unité de séparation cyclonique (d'abord le conduit en spirale, puis le cornet central d'aspiration), puis par le moto-ventilateur pour être ensuite rejeté vers l'extérieur. Les déchets sont séparés du flux d'air lors de son passage dans l'unité de séparation cyclonique.In other words, 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.

Avantageusement, le robot de nettoyage des sols comprend une face avant, la fente d'aspiration est agencée entre la face avant, ou un plan vertical tangent à la face avant, et un plan vertical comprenant l'axe de spirale. En d'autres termes, l'unité de séparation cyclonique est agencée plutôt à l'arrière du robot de nettoyage, en tout cas en arrière de la fente d'aspiration par rapport au sens d'avancement du robot, ce qui permet de dégager de la place pour le pare-chocs.Advantageously, 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. In other words, 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.

Avantageusement, le robot de nettoyage des sols comprend une face arrière, l'unité de séparation cyclonique et/ou le moto-ventilateur et/ou l'axe de roue sont agencés entre un plan vertical passant par un bord de la fente d'aspiration et la face arrière.Advantageously, 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.

Avantageusement, le robot de nettoyage des sols comprend un bac de récupération de déchets comprenant une entrée agencée dans une paroi du conduit en forme de spirale de l'unité de séparation cyclonique.Advantageously, 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.

Avantageusement, l'unité de séparation cyclonique est agencée entre la conduite intermédiaire et le bac de récupération de déchets.Advantageously, the cyclonic separation unit is arranged between the intermediate pipe and the waste recovery tank.

Avantageusement, le robot de nettoyage des sols comprend deux roues motrices, chacune comprenant une face intérieure, et le bac de récupération de déchets est agencé entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices.Advantageously, 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.

Avantageusement, le bac de récupération de déchets est agencé entre l'unité de séparation cyclonique et la face arrière.Advantageously, the waste recovery tank is arranged between the cyclonic separation unit and the rear face.

En conséquence, le long de la direction axiale du robot (sa direction de mouvement vers l'avant), on passe de la face avant à la face arrière en passant successivement par la fente d'aspiration, l'axe de roues, l'unité de séparation cyclonique parallèle à l'axe de roues, le moto-ventilateur et le bac de récupération de déchets. Un tel robot est compact, et son circuit d'air est court, avec peu de coudes ou changements de direction.As a result, along the axial direction of the robot (its direction of forward movement), one passes from the front face to the rear face passing successively through the suction slot, the wheel axis, the cyclonic separation unit parallel to the axle of the wheels, the fan motor and the waste recovery tank. Such a robot is compact, and its air circuit is short, with few bends or changes of direction.

Avantageusement, dans un plan de projection parallèle à un sol à nettoyer, une projection de l'axe de roue est à moins de 50mm d'une projection de l'axe de spirale.Advantageously, in a projection plane parallel to a floor to be cleaned, a projection of the wheel axis is less than 50mm from a projection of the spiral axis.

Avantageusement, dans un plan de projection vertical, une projection de l'axe de rotation du moteur est à moins de 30mm d'une projection de l'axe de spirale.Advantageously, in a vertical projection plane, a projection of the axis of rotation of the motor is less than 30mm from a projection of the axis of the spiral.

Un autre aspect de l'invention concerne un robot de nettoyage de sols comprenant :

  • au moins une roue motrice présentant une projection de forme circulaire dans un plan de roue,
  • un moteur de roue relié à ladite au moins une roue motrice pour l'entraîner en rotation, comprenant un rotor et présentant un axe de moteur autour duquel le rotor peut tourner en rotation,
  • un train d'engrenage agencé entre le moteur et ladite au moins une roue motrice pour transmettre un mouvement du rotor à ladite au moins une roue motrice,
    caractérisé en ce que le train d'engrenage comprend au moins un renvoi d'angle pour pouvoir positionner l'axe de moteur dans un plan parallèle au plan de roue. Le moteur est donc orienté vers le haut, selon une direction verticale, ce qui libère de la place dans un plan parallèle au sol. Il est alors possible de positionner des organes dans l'espace libre. En d'autres termes, l'axe du moteur n'est pas parallèle à l'axe de rotation de la roue motrice qu'il entraine, ce qui permet de libérer de la place entre les roues motrices du robot de nettoyage.
Another aspect of the invention relates to a floor cleaning robot comprising:
  • at least one drive wheel having a circular shaped projection in a wheel plane,
  • a wheel motor connected to said at least one drive wheel to drive it in rotation, comprising a rotor and having a motor axis around which the rotor can turn in rotation,
  • a gear train arranged between the motor and said at least one driving wheel to transmit a movement of the rotor to said at least one driving wheel,
    characterized in that the gear train comprises at least one bevel gear to be able to position the motor shaft in a plane parallel to the wheel plane. The motor is therefore oriented upwards, in a vertical direction, which frees up space in a plane parallel to the ground. It is then possible to position organs in the free space. In other words, the axis of the motor is not parallel to the axis of rotation of the drive wheel that it drives, which frees up space between the drive wheels of the cleaning robot.

Avantageusement, le renvoi d'angle est du type à engrenage conique. Ce type de renvoi d'angle est simple et bon marché.Advantageously, the angle transmission is of the bevel gear type. This type of bevel gear is simple and inexpensive.

Avantageusement, le renvoi d'angle est du type à engrenage à roue dentée et vis sans fin. Le rapport de réduction peut être très important avec ce type de renvoi d'angle.Advantageously, 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.

Avantageusement, le renvoi d'angle est du type à engrenage hypoïde. Ce type de renvoi d'angle est silencieux.Advantageously, the angle transmission is of the hypoid gear type. This type of angle transmission is silent.

Avantageusement, le robot de nettoyage comprend :

  • un châssis,
  • un support de suspension sur lequel sont embarqués ladite au moins une roue, le train d'engrenage et le moteur de roue, le support de suspension étant articulé par rapport au châssis,
  • des moyens de butée entre le support de suspension et le châssis, agencés pour limiter un débattement de ladite au moins une roue. Cette mise en œuvre procure une suspension et/ou un mouvement du robot de nettoyage par rapport au sol.
Advantageously, the cleaning robot comprises:
  • a chassis,
  • a suspension support on which said at least one wheel, the gear train and the wheel motor are mounted, the suspension support being articulated with respect to the chassis,
  • abutment means between the suspension support and the chassis, arranged to limit movement of said at least one wheel. This implementation provides suspension and/or movement of the cleaning robot relative to the floor.

Avantageusement, les moyens de butée sont formés par :

  • un téton solidaire de l'un du châssis et du support de suspension, et
  • une ouverture solidaire de l'autre du châssis et du support de suspension. L'ouverture comprend une première portion qui forme une première butée au téton et la roue motrice est à une première hauteur par rapport au châssis, et une deuxième portion qui forme une deuxième butée au téton et la roue motrice est à une deuxième hauteur par rapport au châssis.
Advantageously, the abutment means are formed by:
  • a stud integral with one of the frame and the suspension support, and
  • an opening integral with the other of the frame and the suspension support. The opening comprises a first portion which forms a first abutment at the pin and the drive wheel is at a first height relative to the chassis, and a second portion which forms a second abutment at the pin and the drive wheel is at a second height relative to the chassis.

Avantageusement, le robot de nettoyage comprend :

  • deux roues motrices,
  • deux moteurs de roue chacun agencé pour entraîner une des roues motrices en rotation, chacun comprenant un rotor et présentant un axe de moteur autour duquel le rotor peut tourner en rotation,
  • deux trains d'engrenages, chacun agencé entre une des roues motrices et le moteur de roue correspondant,
    dans lequel chaque train d'engrenages comprend un renvoi d'angle pour pouvoir positionner chaque axe de moteur dans un plan parallèle au plan de roue.
Advantageously, the cleaning robot comprises:
  • two wheel drive,
  • two wheel motors each arranged to drive one of the driving wheels in rotation, each comprising a rotor and having a motor axis around which the rotor can turn in rotation,
  • two gear trains, each arranged between one of the driving wheels and the corresponding wheel motor,
    wherein each gear train includes a bevel gear to be able to position each motor axis in a plane parallel to the wheel plane.

Avantageusement, le robot de nettoyage comprend :

  • au moins une unité de séparation cyclonique,
  • un moto-ventilateur accouplé à ladite au moins une unité de séparation cyclonique,
  • un bac de récupération de déchets, accouplé à ladite au moins une unité de séparation cyclonique,
    dans lequel une portion de ladite au moins une unité de séparation cyclonique, et/ou une portion du moto-ventilateur, et/ou une portion du bac de récupération de déchets est agencée entre les moteurs de roue.
Advantageously, the cleaning robot comprises:
  • at least one cyclone separation unit,
  • a fan motor coupled to said at least one cyclonic separation unit,
  • a waste recovery tank, coupled to said at least one cyclonic separation unit,
    wherein a portion of said at least one cyclonic separation unit, and/or a portion of the motor-driven fan, and/or a portion of the waste recovery tank is arranged between the wheel motors.

Avantageusement, le plan de roue est perpendiculaire à un sol à nettoyer.Advantageously, the wheel plane is perpendicular to a floor to be cleaned.

Avantageusement, le renvoi d'angle présente un rapport de réduction de 1:1.Advantageously, the angle transmission has a reduction ratio of 1:1.

Avantageusement, le renvoi d'angle est monté de manière amovible sur un arbre primaire, en entrée du train d'engrenage.Advantageously, the angle transmission is removably mounted on a primary shaft, at the input of the gear train.

Avantageusement, le moteur est un moteur électrique à balais.Advantageously, the motor is a brushed electric motor.

Alternativement, le moteur est un moteur électrique sans balais, de type à commutation électronique.Alternatively, the motor is a brushless electric motor, of the electronically commutated type.

D'autres caractéristiques et avantages de la présente invention apparaîtront plus clairement à la lecture de la description détaillée qui suit d'un mode de réalisation de l'invention donné à titre d'exemple nullement limitatif et illustré par les dessins annexés, dans lesquels :

  • la figure 1 représente une vue en perspective d'un robot de nettoyage des sols selon l'invention, sans son boîtier externe, pour rendre visibles une fente d'aspiration, une conduite intermédiaire, une unité de séparation cyclonique, un bac de récupération des déchets et un moto-ventilateur ;
  • la figure 2 représente le robot de la figure 1 sous un autre angle, avec la fente d'aspiration, la conduite intermédiaire, le bac de récupération des déchets et l'unité de séparation cyclonique en parois transparentes ;
  • la figure 3 représente une coupe du robot de la figure 1 selon un plan vertical ;
  • la figure 4 représente le robot de la figure 2 avec des flèches montrant le cheminement d'un flux d'aspiration ;
  • la figure 5 représente une vue de côté du robot de nettoyage de la figure 1 ;
  • la figure 6 représente un détail d'un support de suspension du robot de nettoyage de la figure 1.
Other characteristics and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the appended drawings, in which:
  • the figure 1 shows a perspective view of a floor cleaning robot according to the invention, without its outer casing, to make visible a suction slot, an intermediate pipe, a cyclonic separation unit, a waste collection tray and a fan motor;
  • the picture 2 represents the robot of the figure 1 from another angle, with the suction slot, the intermediate pipe, the waste collection tank and the cyclonic separation unit in transparent walls;
  • the picture 3 represents a section of the robot from the figure 1 along a vertical plane;
  • the figure 4 represents the robot of the figure 2 with arrows showing the path of a suction flow;
  • the figure 5 shows a side view of the cleaning robot from the figure 1 ;
  • the figure 6 shows a detail of a suspension support of the cleaning robot of the figure 1 .

La figure 1 représente une vue en perspective de la structure interne d'un robot de nettoyage des sols, qui comprend notamment des roues motrices 10, une fente d'aspiration 40, reliée à une unité de séparation cyclonique 20 par une conduite intermédiaire 45 et en aval à un moto-ventilateur 30. Un bac de récupération de déchets 60 est prévu à l'arrière du robot de nettoyage.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.

Le robot de nettoyage des sols comprend au moins une batterie 60, qui alimente au moins un moteur 13 lié à chaque roue motrice 10 pour les faire pivoter autour de l'axe de roue 100 (matérialisé par les arbres de roue par exemple) visible figure 2. Ainsi, le robot de nettoyage peut se déplacer sur le sol à nettoyer de manière autonome.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 . Thus, the cleaning robot can move on the floor to be cleaned independently.

Avantageusement, le robot de nettoyage comprend une brosse rotative 41 visible figure 2, agencée dans la fente d'aspiration 40, pour améliorer la collecte des déchets et le nettoyage du sol.Advantageously, the cleaning robot comprises a rotating brush 41 visible figure 2 , arranged in the suction slot 40, to improve waste collection and floor cleaning.

Le moto-ventilateur 30 est également alimenté par la batterie pour créer un flux d'aspiration. On peut envisager une turbine centrifuge, accouplée à un moteur électrique, tous deux tournant autour d'un axe de rotation de moteur 300 (matérialisé par un arbre de moteur), et visible figure 2. Le moto-ventilateur 30 se situe en aval du circuit d'aspiration.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.

En effet, comme visible figure 4, le flux d'aspiration chemine successivement dans les éléments suivants du robot de nettoyage : une composante A du flux d'aspiration est présente dans la fente d'aspiration 40, ensuite, on trouve une composante B du flux d'aspiration dans la conduite intermédiaire 45, et une composante C se trouve dans l'unité de séparation cyclonique 20, en particulier dans un conduit en forme de spirale (enroulée autour d'un axe de spirale 200 de la figure 2), ce qui a pour effet de projeter les particules et déchets solides vers l'extérieur et en particulier vers le bac de récupération de déchets 50, qui présente une entrée connectée à une paroi extérieure du conduit en forme de spirale (flèche D de la figure 4).Indeed, as seen figure 4 , 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 ).

Ensuite, le flux d'aspiration a un mouvement centripète, pour passer dans un cornet central d'aspiration 21 (visible figures 2 et 3) situé au centre de l'unité de séparation cyclonique 20, c'est la composante E du flux d'aspiration, qui passe enfin dans le moto-ventilateur 30, pour être expulsé vers l'extérieur par le haut, avec les deux composantes F, qui sortent par deux ouvertures 31 du moto-ventilateur 30.Then, 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.

Comme on le voit figures 2 et 3, l'axe de spirale 200 est parallèle à l'axe de roue 100, et à l'axe de rotation de moteur 300. Cette mise en œuvre permet d'agencer l'unité de séparation cyclonique 20 et le moto-ventilateur 30 entre les roues motrices 10, et on obtient ainsi un système compact et de faible volume. En particulier, le bac de récupération de déchets 50, l'unité de séparation cyclonique 20 et le moto-ventilateur 30 sont agencés entre la fente d'aspiration 40 et l'arrière du robot de nettoyage, ce qui libère l'avant du robot pour mettre en place un pare-chocs ou d'autres éléments.As one can see figure 2 and 3 , 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. In particular, 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.

De plus, au niveau du circuit d'air d'aspiration, celui-ci présente une faible longueur totale et peu de changements de direction. En effet, le flux d'air passe de la fente d'aspiration 40 à l'unité de séparation cyclonique 20 par la conduite intermédiaire 45, qui présente une portion en spirale juste avant l'unité de séparation cyclonique 20, pour commencer à imposer une trajectoire en spirale au flux d'air.In addition, at the level of the suction air circuit, 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.

De plus, au niveau du cornet central d'aspiration 21, comme l'axe (confondu avec l'axe de spirale 200 de la portion de conduit en spirale de l'unité de séparation cyclonique 20) de ce dernier est parallèle à l'axe de rotation de moteur 300, alors le flux d'air entre ces composants est peu dévié, ce qui limite les pertes de charge.In addition, at the level of the central suction horn 21, as the axis (merged with the spiral axis 200 of the spiral duct portion of the cyclonic separation unit 20) of the latter is parallel to the axis of rotation of the motor 300, then the flow of air between these components is slightly deviated, which limits pressure drops.

Par ailleurs, le robot de nettoyage est pourvu de roues libres 11 visibles figure 3 et figure 5, et placées à l'arrière du robot de nettoyage. Le poids total du robot de nettoyage est donc repris par les roues motrices 10 et les roues libres 11. En conséquence, la fente d'aspiration et l'extrémité avant du robot de nettoyage sont en porte à faux, au dessus du sol à nettoyer.Furthermore, 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. As a result, the suction slot and the front end of the cleaning robot are cantilevered above the floor to be cleaned. .

En l'absence de points de contacts avec le sol au niveau de l'extrémité avant et de la fente d'aspiration (en d'autres termes, il n'y a pas de roues à cet endroit), l'avancement et le travail du robot de nettoyage sont facilités, car les roues motrices ne rencontrent les obstacles qu'une fois que la fente d'aspiration les a déjà dépassés. Si cet obstacle est un déchet, il sera aspiré, et le robot de nettoyage pourra continuer son trajet.In the absence of ground contact points at the front end and the suction slot (in other words, there are no wheels there), the forward and work of the cleaning robot is made easier, because the drive wheels only encounter obstacles after the suction slot has already passed them. If this obstacle is waste, it will be vacuumed, and the cleaning robot can continue its journey.

De plus, chaque roue motrice 10 est embarquée sur un support de suspension 12 schématisé par un trait pointillé sur la figure 5 et monté en liaison pivot par rapport au châssis du robot de nettoyage. En conséquence, les roues motrices 10 ont un mouvement de suspension comme représenté par la double flèche figure 5.In addition, 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 .

Le support de suspension 12 est donc un bras tiré qui procure un passage aisé sur les obstacles, sans buter.The suspension support 12 is therefore a trailing arm which provides easy passage over obstacles, without bumping.

De plus, l'axe de rotation de moteur 300 est décalé par rapport à l'axe de spirale 200, comme on le voit sur la figure 3, ce qui permet de loger sous le moto-ventilateur 30 une batterie 60, ce qui a pour effet de concentrer le poids du moto-ventilateur et de la batterie 60 au même endroit. Cette mise en œuvre n'augmente pas la hauteur du robot de nettoyage, car le diamètre de l'unité de séparation cyclonique 20 est supérieur au diamètre du moto-ventilateur 30.Additionally, 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.

En conséquence, l'axe de rotation de moteur 300 est situé entre un premier plan vertical passant par un point de contact entre la roue motrice 10 et le sol, et un deuxième plan vertical passant par un point de contact entre la roue libre 11 et le sol.Accordingly, 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.

En d'autres termes, si on effectue une projection dans un plan de projection parallèle au sol, un projection de l'axe de rotation de moteur 300 est situé entre une droite passant par une projection des points de contact des roues motrices 10 avec le sol, et une autre droite passant par les projections des points de contacts des roues libres 11 avec le sol. La stabilité est améliorée.In other words, if a projection is made in a projection plane parallel to the ground, 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.

La figure 6 représente un détail du support de suspension 12, qui embarque la roue motrice 10, une cascade de pignons, un moteur 13 de roue, et un renvoi d'angle 14.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.

Cette mise en œuvre permet de positionner le moteur 13 de roue dans une position sensiblement verticale, dans la limite du débattement représenté figure 5.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 .

En d'autres termes, le moteur de roue présente un axe de rotation qui est contenu dans un plan parallèle aux flancs de la roue motrice 10. Autrement dit, l'axe du moteur de roue est contenu dans un plan où une projection d'une arête extérieure de la roue motrice 10 est circulaire.In other words, the wheel motor has an axis of rotation which is contained in a plane parallel to the sides of the driving wheel 10. In other words, the axis of the wheel motor is contained in a plane where a projection of an outer edge of drive wheel 10 is circular.

Cette mise en œuvre offre la possibilité de loger plus de composants entre les roues motrices 10, car les moteurs de roue sont orientés vers le haut.This implementation offers the possibility of accommodating more components between the driving wheels 10, because the wheel motors are oriented upwards.

Dans la présente description, il est fait référence à des axes parallèles entre eux. En fonction du domaine de l'invention et du mode de réalisation des pièces (moulage plastique, assemblages avec du jeu), on peut considérer qu'un défaut de parallélisme entre les axes peut aller jusqu'à 10% inclus et rester dans le champ de la présente invention. Par exemple, si l'axe de rotation de moteur 300 et l'axe de spirale sont tous les deux définis sur dix centimètres, et qu'il existe un défaut de parallélisme de un centimètre entre ces deux axes, on pourra toujours considérer ces axes parallèles dans le contexte de l'invention, car les effets techniques de compacité et de faible perturbation du flux d'aspiration seront toujours obtenus.In the present description, reference is made to axes parallel to each other. Depending on the field of the invention and the embodiment of the parts (molding plastic, assemblies with play), it can be considered that a lack of parallelism between the axes can go up to 10% inclusive and remain within the scope of the present invention. For example, if the motor rotation axis 300 and the spiral axis are both defined over ten centimeters, and there is a lack of parallelism of one centimeter between these two axes, these axes can always be considered parallels in the context of the invention, because the technical effects of compactness and low disturbance of the suction flow will always be obtained.

Claims (14)

  1. Floor cleaning robot, comprising:
    - a cyclonic dust separation unit (20), comprising at least one spiral- or helix-shaped pipe around a spiral axis (200), for creating a spiral movement of a suction air flow,
    - an electric fan (30) arranged for creating the suction air flow,
    - at least one drive wheel (10) arranged for pivoting around a wheel axis (100), for causing a movement of the floor cleaning robot, wherein the spiral axis (200) is parallel to the wheel axis (100), the electric fan (30) has a rotating motor axis (300), and the rotating motor axis (300) is parallel to the spiral axis (200) and separate from the spiral axis (200), the floor cleaning robot further comprises:
    - two drive wheels (10),
    - at least one free wheel (11) behind the robot,
    characterised in that, in a projection plane parallel to the floor to be cleaned, a projection of the rotating motor axis is arranged between a straight line connecting a projection of the contact points of the drive wheels with the floor and a projection of the contact point of said at least one free wheel with the floor.
  2. Floor cleaning robot according to claim 1, comprising:
    - two drive wheels (10),
    - two free wheels (11) behind the robot,
    wherein, in a projection plane parallel to the floor to be cleaned, a projection of the rotating motor axis is arranged between a straight line connecting a projection of the contact points of the drive wheels with the floor and a straight line connecting a projection of the contact points of the free wheels with the floor.
  3. Floor cleaning robot according to one of the preceding claims, comprising means for storing electric energy, wherein the electric energy storage means are arranged between the electric fan and a lower face of the floor cleaning robot.
  4. Floor cleaning robot according to one of the preceding claims, comprising:
    - a front face,
    - a suction slot (40) arranged facing a floor to be cleaned, wherein the suction slot (40) is arranged between the front face, or a vertical plane tangential to the front face, and a vertical plane comprising the wheel axis (100).
  5. Floor cleaning robot according to the preceding claim, comprising an intermediate pipe (45), arranged between the cyclonic separation unit (20) and the suction slot (40),
    wherein the intermediate pipe (45) has a spiral-shaped downstream portion and connected to the cyclonic separation unit (20).
  6. Floor cleaning robot according to one of claims 4 or 5, comprising a rear face, wherein the cyclonic separation unit (20) and/or the electric fan (30) and/or the wheel axis (100) are arranged between a vertical plane passing through an edge of the suction slot (40) and the rear face.
  7. Floor cleaning robot according to one of the preceding claims, comprising:
    - a chassis,
    - a suspension support (12) on which is embedded said at least one drive wheel, the suspension support being mounted, pivotingly connected with respect to the chassis,
    wherein, in a projection plane parallel to the floor to be cleaned, a projection of the pivot axis of the suspension support with respect to the chassis is arranged between:
    - a projection of a front face of the robot or of a suction slot of the robot, and
    - a projection of the contact point of said at least one drive wheel with the floor to be cleaned.
  8. Floor cleaning robot according to one of the preceding claims, comprising a waste collection tray (50) comprising an inlet arranged in a wall of the spiral-shaped pipe of the cyclonic separation unit (20).
  9. Floor cleaning robot according to the preceding claim, dependent on claim 6, wherein the cyclonic separation unit (20) is arranged between the intermediate pipe (45) and the waste collection tray (50).
  10. Floor cleaning robot according to the preceding claim, comprising two drive wheels (10), each comprising an inner face, and wherein the waste collection tray (50) is arranged between two vertical planes, each comprising a vertical inner face of one of the two drive wheels (10).
  11. Floor cleaning robot according to one of the preceding claims, wherein the cyclonic separation unit (20) comprises, downstream from said spiral- or helix-shaped pipe, a central suction cone (21) around which said spiral-shaped pipe is wound at least partially, and wherein the electric fan (30) is coupled with the cyclonic separation unit (20) via the central suction cone (21).
  12. Floor cleaning robot according to one of the preceding claims, comprising two drive wheels (10), each comprising an inner face, and wherein the cyclonic separation unit (20) and/or the electric fan (30), are arranged between two vertical planes, each comprising a vertical inner face of one of the two drive wheels (10).
  13. Floor cleaning robot according to one of the preceding claims, wherein, in a projection plane parallel to a floor to be cleaned, a projection of the wheel axis (100) is at least 50mm from a projection of the spiral axis (200).
  14. Floor cleaning robot according to one of the preceding claims, wherein, in a vertical projection plane, a projection of the rotating motor axis (300) is at least 30mm from a projection of the spiral axis (200).
EP17784343.0A 2016-09-13 2017-09-12 Floor cleaning robot Active EP3512397B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1658528A FR3055790B1 (en) 2016-09-13 2016-09-13 SOIL CLEANING ROBOT
PCT/FR2017/052426 WO2018051007A1 (en) 2016-09-13 2017-09-12 Floor cleaning robot

Publications (2)

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

Family

ID=57209607

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17784343.0A Active EP3512397B1 (en) 2016-09-13 2017-09-12 Floor cleaning robot

Country Status (5)

Country Link
EP (1) EP3512397B1 (en)
CN (2) CN209421839U (en)
ES (1) ES2927241T3 (en)
FR (1) FR3055790B1 (en)
WO (1) WO2018051007A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3055790B1 (en) * 2016-09-13 2018-09-07 Seb S.A. SOIL CLEANING ROBOT
CN113892868A (en) * 2021-10-20 2022-01-07 尚科宁家(中国)科技有限公司 Cleaning system capable of automatically walking

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2697800A (en) * 1999-02-24 2000-09-14 Lg Electronics Inc. Cyclone dust collector in vacuum cleaner
CN100358461C (en) * 2003-05-13 2008-01-02 乐金电子(天津)电器有限公司 Cyclone vacuum cleaner
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
EP2170144B1 (en) * 2007-07-19 2016-03-16 LG Electronics Inc. Dust separation apparatus of vacuum cleaner
GB2487775B (en) 2011-02-04 2013-03-27 Dyson Technology Ltd Autonomous vacuum cleaner
EP2581015B1 (en) * 2011-10-12 2015-01-21 Black & Decker Inc. A vacuum cleaner
KR101622713B1 (en) * 2014-09-24 2016-05-19 엘지전자 주식회사 Robot cleaner
WO2016100878A1 (en) * 2014-12-19 2016-06-23 Techtronic Industries Co. Ltd. Autonomous vacuum
FR3055790B1 (en) * 2016-09-13 2018-09-07 Seb S.A. SOIL CLEANING ROBOT

Also Published As

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

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