EP3712358B1 - Autonomous robot with alternating suction for cleaning swimming pools - Google Patents

Autonomous robot with alternating suction for cleaning swimming pools Download PDF

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Publication number
EP3712358B1
EP3712358B1 EP19305355.0A EP19305355A EP3712358B1 EP 3712358 B1 EP3712358 B1 EP 3712358B1 EP 19305355 A EP19305355 A EP 19305355A EP 3712358 B1 EP3712358 B1 EP 3712358B1
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EP
European Patent Office
Prior art keywords
robot
suction
compartment
propulsion
pivoting
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EP19305355.0A
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German (de)
French (fr)
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EP3712358A1 (en
Inventor
Jean Bruneel
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Kokido Development Ltd
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Kokido Development Ltd
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Priority to EP19305355.0A priority Critical patent/EP3712358B1/en
Priority to US16/824,855 priority patent/US10851558B2/en
Publication of EP3712358A1 publication Critical patent/EP3712358A1/en
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners
    • E04H4/1663—Self-propelled cleaners the propulsion resulting from an intermittent interruption of the waterflow through the cleaner
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners

Definitions

  • the present invention belongs to the field of swimming pool maintenance devices, in particular swimming pool cleaning robots, and relates more particularly to an autonomous vacuum cleaning robot with alternating suction for cleaning swimming pools.
  • swimming pool robots the main function of which is the suction of debris.
  • electric robots the main function of which is the suction of debris.
  • European patent EP3283711 B1 discloses a swimming pool cleaning robot comprising an electro-hydraulic power unit / water jet pump, and a debris collection body which comprises a battery for supplying said group, the group and the battery being contained in a rotating and waterproof turret, outside the robot body.
  • the robot advantageously comprises an automatic direction reversal device comprising a pallet integral with the turret.
  • This bidirectional robot moves alternately in two substantially opposite directions, propelled by the reaction of a water jet coming from a rotating nozzle, integral with the turret, adapted to take two opposite angular positions.
  • the suction takes place independently of the direction of movement of the robot.
  • Most robots have a main suction port through which water enters the robot's debris collection body regardless of its movement.
  • Some robots are fitted with several suction ports, for example two mouths, one of which is located near the front side of the robot and the other at the rear of the robot, for repeated passage over the suction area. debris, in other words for successive aspirations, in order to refine the cleaning and collection of debris. Nevertheless, the suction power obtained with several mouths remains equivalent to that which would be obtained with a single mouth of section equal to the sum of the sections of said mouths. In addition, when the suction power is not sufficient to "lift" the heaviest debris as soon as it passes through the first suction mouth, the passage of the second mouth remains just as futile, if not barely more effective.
  • the two suction ports do not have the same utility depending on the direction of movement of the robot.
  • the suction mouth which is found at the front following the direction of movement of the robot sucks up a major part of the debris and the other mouth, at the rear, only sucks up a few debris which have remained at the bottom.
  • the efficiency of a robot with two suction mouths symmetrical with respect to a median plane of said robot is very slightly greater than that of a robot having a single suction mouth of equivalent section.
  • Pool robots are equipped with one or more suction pumps and can have one or two suction outlets.
  • a single mouth generally located in the axis of the robot, does not effectively capture debris near peripheral walls for example.
  • the solution which consists in creating a mouth at each end of the robot would solve this problem, but the simultaneous operation of these two mouths results in a lower suction flow rate at each mouth, and therefore in a loss of efficiency. Maintaining the efficiency of two mouths operated simultaneously would imply a doubling of the suction power of the pump, which would increase costs, double energy consumption, and penalize the autonomy of a battery-powered robot.
  • the proposed solution makes it possible to solve this problem without increasing power and without losing efficiency by producing a robot with two end openings in alternating operation so as to have on the active mouth all of the flow sucked by the pump.
  • the main object of the present invention is to overcome the limitations of the prior art by proposing a swimming pool robot with alternating suction, said suction being operated by a single mouth at a time depending on the direction of movement of said robot, thus improving the suction efficiency and / or reducing the energy consumption of the robot.
  • the present invention relates to a swimming pool cleaning robot comprising a body for collecting debris, a propulsion and suction system capable of moving the robot alternately in two substantially opposite directions, and a supply device, such as than a power supply battery.
  • This robot is remarkable in that the body comprises two filter compartments separated by a partition and each provided with a water inlet, said partition allowing to concentrate the total suction of the robot in one compartment and to block it in the other according to the direction of movement of the robot.
  • the propulsion and suction system and the feed device are contained in a rotating and sealed turret, external to the body of the robot, and each direction of movement of the robot is determined by an automatic orientation of the turret.
  • the propulsion and suction system comprises two motorized propellers, each of said propellers ensuring the propulsion of the robot in one of the directions of movement and the suction in one of the filter compartments.
  • the robot comprises a pivoting suction mouth integral with the turret, said mouth allowing the passage of water into one compartment and blocking the passage of water into the other compartment, so as to concentrate the total suction. of the robot in one compartment or the other depending on the direction of movement of the robot.
  • the pivoting suction mouth has a lateral opening, communicating with one compartment at a time, and an upper opening communicating with a water outlet of the robot.
  • the pivoting suction mouth is in the form of a hollow cylinder with a circular base, the lateral opening being made at the level of a diameter of said cylinder and the upper opening being axial and contiguous with said lateral opening.
  • the pivoting suction mouth is arranged above the partition so as to be flush with an upper edge of said partition.
  • the swivel suction mouth can be screwed onto the turret.
  • the propulsion and suction system is an electrohydraulic water jet powertrain / pump.
  • robot or the expression “swimming pool robot” designates indifferently and by extension an autonomous robot for cleaning swimming pools.
  • the figures 1 and 2 show a robot 100 according to the invention mainly comprising a body 10, formed by the assembly of an upper shell 11 and a lower shell 12, a sealed turret 20, containing an electrohydraulic powertrain / pump and its electric battery d 'supply not shown, wheels 30 and water inlets 40a and 40b provided in the bottom of the body 10.
  • Body 10 can be of any shape and size to accommodate different sizes of basins, preferably a substantially compact shape and small dimensions for convenience and unobtrusiveness.
  • the body 10 consists of two interlocking parts, the upper shell 11 and the lower shell 12, thus facilitating disassembly of the body 10 for access to the interior volume of said body.
  • the interior volume of the body 10, visible on the figure 3 for its part contains a debris collection device in the form of a filter 13 placed above a tank materialized by a lower part of said body, for example the lower shell 12.
  • the turret 20 surmounts the body 10 and essentially contains the powertrain / electro-hydraulic water jet pump and the electric supply battery, shown in broken lines on the figure. figure 3 .
  • the turret 20 is mounted on the body 10 by a rotary connection, produced here by an annular flange of the body around a receiving hole of an annular base of the turret, and is oriented according to the direction of movement of the robot 100 in accordance with the principle described in the patent EP3283711B1 .
  • turret is used here in its general sense of a rotary device placed on a vehicle to orient an organ and possibly protect it.
  • the powertrain / pump comprises an electric motor, reduction gears and a turbine whose function is to suck the water, which enters through the water inlets 40a and 40b and passes through the filter 13, and to discharge it through an ejection nozzle 21 which emerges from the turret 20 to propel the robot 100, the direction of the discharge being substantially parallel to the bottom of the swimming pool so as to promote propulsion.
  • the robot 100 can, instead of or in addition to the wheels 30, include other drive means such as rollers or caterpillars.
  • the robot 100 comprises a partition 15 of separation at the level of the body 10, dividing the internal volume of the body into two isolated compartments 14a and 14b, and a pivoting suction mouth 25, integral with the rotating turret 20.
  • the partition 15 is disposed vertically at the level of a median transverse plane of the body 10, thus dividing the body into two compartments of substantially equal volumes.
  • the partition 15 has a reduced thickness, a few millimeters, to limit the occupation of the useful volume for collecting debris.
  • the partition 15 has an upper edge flush with the pivoting suction mouth 25.
  • the pivoting suction mouth 25 is driven in rotation by the turret 20 and comprises a lateral opening 251 and an upper opening 252.
  • the lateral opening 251 is placed on one side or the other of the partition 15 according to the orientation of the turret 20, and thereby of the pivoting mouth 25, so that said mouth communicates with a compartment 14a or 14b at the same time, thus concentrating the suction at the level of a single water inlet 40a or 40b.
  • the upper opening 252 provides access to the ejection nozzle 21 of the robot.
  • the pivoting mouth 25 allows both to allow the passage of water through one compartment of the body 10 and to oppose the passage of water into the other compartment, and conversely, imposing thus the circulation of water in only one direction in the manner of a valve.
  • the side openings 251 and top 252 can be separated, as in the example of figure 3 , or contiguous with a common edge, as in the example of figure 4 , in which case their edges form a closed curve extending into the lateral and upper faces of the pivoting mouth 25.
  • the pivoting mouth 25 has a shape of a half cylinder with a flattened and hollow circular base, in which the side opening 251 is rectangular and extends along a diameter of the base, and the upper opening 252 is an axial hole in the form of a Semi circle.
  • the pivoting mouth 25 defines a cavity with a circular side wall, advantageous for the circulation of water during suction by promoting the formation of vortices converging towards the upper opening 252.
  • the pivoting mouth 25 further comprises fixing means not shown allowing its assembly with the turret 20. Such means are for example a thread made on the side face of the pivoting mouth to screw said mouth into a suitable bore of the turret.
  • the pivoting mouth 25 according to the invention can have other shapes on condition of allowing the water to be sucked into a first compartment of the body while blocking it in the second, and this alternately depending on the rotation of the turret. .
  • the pivoting mouth 25 is oriented towards the front compartment 14b, the robot 100 moving in the direction D1 indicated by the solid arrow. Consequently, the suction is concentrated only in the compartment 14b, the water enters through the front water inlet 40b, passes successively through the filter 13, the side opening 251 and the upper opening 252 of the pivoting mouth 25. , and finally emerges through the ejection nozzle 21 which is not shown. In the rear compartment 14a, the suction is blocked by the pivoting mouth 25 which closes the passage between said compartment and the partition 15.
  • figure 5 representing the prior art
  • figures 6a and 6b representing the present invention
  • the figure 7 shows schematically an alternating suction performed by the turret 20 and the pivoting mouth 25 according to the embodiment described below.
  • the figure 8 schematizes an alternating suction obtained in a double-propeller robot for bidirectional propulsion, in which the body 10 is divided into two filtering compartments by a partition 15.
  • each suction-propulsion propeller is associated with a single filtering compartment , itself associated with a single suction mouth.
  • the presence of the partition 15 makes it possible to concentrate the total suction of the robot in one compartment or in the other depending on the direction of movement of said robot.
  • the figures 9 to 14 show the partition 15 of separation and the swivel suction mouth 25 installed in a real swimming pool robot such as that of figures 1 and 2 .

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
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Description

DOMAINE TECHNIQUETECHNICAL AREA

La présente invention appartient au domaine des dispositifs d'entretien de piscines, notamment des robots de nettoyage de piscines, et concerne plus particulièrement un robot aspirateur autonome à aspiration alternée pour le nettoyage de piscines.The present invention belongs to the field of swimming pool maintenance devices, in particular swimming pool cleaning robots, and relates more particularly to an autonomous vacuum cleaning robot with alternating suction for cleaning swimming pools.

ÉTAT DE L'ARTSTATE OF THE ART

Pour nettoyer les piscines et autres bassins artificiels similaires, il est connu d'utiliser des robots de nettoyage, communément appelés robots de piscine, dont la fonction principale est l'aspiration des débris. Il existe différents types de robots de piscine parmi lesquels les robots électriques.To clean swimming pools and other similar artificial ponds, it is known to use cleaning robots, commonly called swimming pool robots, the main function of which is the suction of debris. There are different types of pool robots among which are electric robots.

De nombreux robots électriques sont décrits dans l'art antérieur. Ces robots ont connu plusieurs évolutions technologiques et notamment en ce qui concerne leur mobilité, et plus particulièrement, leur orientation automatique pour un balayage intégral de la surface du fond de la piscine. Par exemple, certains robots sont bidirectionnels avec les deux directions de déplacement sensiblement désaxées de sorte à recouvrir efficacement la totalité de la surface de la piscine sans faire d'aller-retour suivant une même direction. Le document US2002104790 décrit un robot de nettoyage de piscines comportant les caractéristiques du préambule de la revendication 1.Many electric robots are described in the prior art. These robots have undergone several technological evolutions and in particular as regards their mobility, and more particularly, their automatic orientation for a complete sweeping of the surface of the bottom of the swimming pool. For example, some robots are bidirectional with the two directions of movement substantially offset so as to effectively cover the entire surface of the swimming pool without going back and forth in the same direction. The document US2002104790 describes a swimming pool cleaning robot comprising the features of the preamble of claim 1.

Le brevet européen EP3283711 B1 , au nom du demandeur, divulgue un robot de nettoyage de piscine comportant un groupe motopropulseur/pompe électrohydraulique à jet d'eau, et un corps de récupération de débris qui comporte une batterie d'alimentation dudit groupe, le groupe et la batterie étant contenus dans une tourelle rotative et étanche, extérieure au corps du robot. Le robot comporte avantageusement un dispositif d'inversion de sens automatique comportant une palette solidaire de la tourelle.European patent EP3283711 B1 , on behalf of the applicant, discloses a swimming pool cleaning robot comprising an electro-hydraulic power unit / water jet pump, and a debris collection body which comprises a battery for supplying said group, the group and the battery being contained in a rotating and waterproof turret, outside the robot body. The robot advantageously comprises an automatic direction reversal device comprising a pallet integral with the turret.

Ce robot bidirectionnel se déplace alternativement dans deux sens sensiblement opposés, propulsé par la réaction d'un jet d'eau issu d'une tuyère rotative, solidaire de la tourelle, adaptée à prendre deux positions angulaires opposées.This bidirectional robot moves alternately in two substantially opposite directions, propelled by the reaction of a water jet coming from a rotating nozzle, integral with the turret, adapted to take two opposite angular positions.

Pour ce robot, et plus généralement pour l'ensemble des robots connus, l'aspiration s'opère de façon indépendante du sens de déplacement du robot. La plupart des robots disposent d'une bouche d'aspiration principale par laquelle l'eau entre dans le corps de récupération des débris du robot quel que soit le déplacement de celui-ci.For this robot, and more generally for all of the known robots, the suction takes place independently of the direction of movement of the robot. Most robots have a main suction port through which water enters the robot's debris collection body regardless of its movement.

Certains robots sont pourvus de plusieurs bouches d'aspiration, par exemple deux bouches dont l'une est située à proximité du côté avant du robot et l'autre à l'arrière du robot, pour un passage répété au-dessus de la zone de débris, autrement dit pour des aspirations successives, en vue d'affiner le nettoyage et le ramassage des débris. Néanmoins, la puissance d'aspiration obtenue avec plusieurs bouches reste équivalente à celle qui serait obtenue avec une seule bouche de section égale à la somme des sections desdites bouches. De plus, lorsque la puissance d'aspiration ne suffit pas à « soulever » les débris les plus lourds dès le passage de la première bouche d'aspiration, le passage de la deuxième bouche demeure tout aussi vain, voire à peine plus efficace.Some robots are fitted with several suction ports, for example two mouths, one of which is located near the front side of the robot and the other at the rear of the robot, for repeated passage over the suction area. debris, in other words for successive aspirations, in order to refine the cleaning and collection of debris. Nevertheless, the suction power obtained with several mouths remains equivalent to that which would be obtained with a single mouth of section equal to the sum of the sections of said mouths. In addition, when the suction power is not sufficient to "lift" the heaviest debris as soon as it passes through the first suction mouth, the passage of the second mouth remains just as futile, if not barely more effective.

De ce fait, les deux bouches d'aspiration, comme représentées sur la figure 5 schématisant l'art antérieur, ne présentent pas la même utilité selon le sens de déplacement du robot. En effet, la bouche d'aspiration qui se retrouve à l'avant suivant le sens de déplacement du robot aspire une majeure partie des débris et l'autre bouche, à l'arrière, n'aspire que quelques débris restés au fond. Ainsi l'efficacité d'un robot avec deux bouches d'aspiration symétriques par rapport à un plan médian dudit robot est très légèrement supérieure à celle d'un robot présentant une seule bouche d'aspiration de section équivalente.As a result, the two suction ports, as shown on the figure 5 schematizing the prior art, do not have the same utility depending on the direction of movement of the robot. Indeed, the suction mouth which is found at the front following the direction of movement of the robot sucks up a major part of the debris and the other mouth, at the rear, only sucks up a few debris which have remained at the bottom. Thus the efficiency of a robot with two suction mouths symmetrical with respect to a median plane of said robot is very slightly greater than that of a robot having a single suction mouth of equivalent section.

Étant donné l'importance de l'emplacement de la bouche d'aspiration, qui doit être située à proximité du bord avant du robot pour récupérer les débris sans qu'ils ne soient dispersés par l'avancée du robot et pour capter les débris en bordure du fond du bassin, il n'est pas judicieux de réaliser une seule bouche qui serait décentrée par rapport au robot.Given the importance of the location of the suction mouth, which must be located near the front edge of the robot to collect the debris without it being dispersed by the advance of the robot and to capture the debris in edge of the bottom of the pool, it is not wise to make a single mouth that would be off-center in relation to the robot.

Pour les robots de piscine bidirectionnels avec deux bouches d'aspiration, aucune solution de l'art antérieur ne permet de concentrer automatiquement la totalité de l'aspiration sur une seule bouche d'aspiration, la plus efficace en fonction du sens de déplacement du robot.For bidirectional swimming pool robots with two suction outlets, no solution of the prior art makes it possible to automatically concentrate all of the suction on a single suction mouth, the most efficient according to the direction of movement of the robot. .

En résumé, Les robots de piscine sont équipés d'une ou plusieurs pompes aspirantes et peuvent avoir une ou deux bouches d'aspiration. Une bouche unique, généralement située dans l'axe du robot, ne permet pas de capter efficacement les débris à proximité des murs périphériques par exemple. La solution qui consiste à créer une bouche à chaque extrémité du robot permettrait de résoudre ce problème, mais le fonctionnement simultané de ces deux bouches se traduit par un débit aspiré plus faible au niveau de chaque bouche, et donc par une perte d'efficacité. La conservation de l'efficacité de deux bouches actionnées simultanément impliquerait un doublement de la puissance d'aspiration de la pompe, ce qui augmenterait les coûts, doublerait la consommation d'énergie, et pénaliserait l'autonomie d'un robot alimenté par batterie.In summary, Pool robots are equipped with one or more suction pumps and can have one or two suction outlets. A single mouth, generally located in the axis of the robot, does not effectively capture debris near peripheral walls for example. The solution which consists in creating a mouth at each end of the robot would solve this problem, but the simultaneous operation of these two mouths results in a lower suction flow rate at each mouth, and therefore in a loss of efficiency. Maintaining the efficiency of two mouths operated simultaneously would imply a doubling of the suction power of the pump, which would increase costs, double energy consumption, and penalize the autonomy of a battery-powered robot.

La solution proposée permet de résoudre ce problème sans augmentation de puissance et sans perte d'efficacité en réalisant un robot avec deux bouches d'extrémités à fonctionnement alterné de façon à disposer sur la bouche active de la totalité du débit aspiré par la pompe.The proposed solution makes it possible to solve this problem without increasing power and without losing efficiency by producing a robot with two end openings in alternating operation so as to have on the active mouth all of the flow sucked by the pump.

PRÉSENTATION DE L'INVENTIONPRESENTATION OF THE INVENTION

La présente invention a pour but principal de pallier les limitations de l'art antérieur en proposant un robot de piscine à aspiration alternée, ladite aspiration s'opérant par une seule bouche à la fois en fonction du sens de déplacement dudit robot, améliorant ainsi l'efficacité de l'aspiration et/ou diminuant la consommation énergétique du robot.The main object of the present invention is to overcome the limitations of the prior art by proposing a swimming pool robot with alternating suction, said suction being operated by a single mouth at a time depending on the direction of movement of said robot, thus improving the suction efficiency and / or reducing the energy consumption of the robot.

À cet effet, la présente invention concerne un robot de nettoyage de piscines comportant un corps de collecte de débris, un système de propulsion et d'aspiration apte à déplacer le robot alternativement suivant deux directions sensiblement opposées, et un dispositif d'alimentation, telle qu'une batterie d'alimentation. Ce robot est remarquable en ce que le corps comporte deux compartiments filtrants séparés par une cloison et pourvus chacun d'une entrée d'eau, ladite cloison permettant de concentrer l'aspiration totale du robot dans un compartiment et de la bloquer dans l'autre en fonction de la direction de déplacement du robot.To this end, the present invention relates to a swimming pool cleaning robot comprising a body for collecting debris, a propulsion and suction system capable of moving the robot alternately in two substantially opposite directions, and a supply device, such as than a power supply battery. This robot is remarkable in that the body comprises two filter compartments separated by a partition and each provided with a water inlet, said partition allowing to concentrate the total suction of the robot in one compartment and to block it in the other according to the direction of movement of the robot.

Selon un mode de réalisation avantageux, le système de propulsion et d'aspiration et le dispositif d'alimentation sont contenus dans une tourelle rotative et étanche, extérieure au corps du robot, et chaque direction de déplacement du robot est déterminée par une orientation automatique de la tourelle.According to an advantageous embodiment, the propulsion and suction system and the feed device are contained in a rotating and sealed turret, external to the body of the robot, and each direction of movement of the robot is determined by an automatic orientation of the turret.

Selon un autre mode de réalisation, le système de propulsion et d'aspiration comprend deux hélices motorisées, chacune desdites hélices assurant la propulsion du robot dans l'une des directions de déplacement et l'aspiration dans l'un des compartiments filtrants.According to another embodiment, the propulsion and suction system comprises two motorized propellers, each of said propellers ensuring the propulsion of the robot in one of the directions of movement and the suction in one of the filter compartments.

Avantageusement, le robot comporte une bouche pivotante d'aspiration solidaire de la tourelle, ladite bouche autorisant le passage de l'eau dans un compartiment et bloquant le passage de l'eau dans l'autre compartiment, de sorte à concentrer l'aspiration totale du robot dans un compartiment ou l'autre en fonction de la direction de déplacement du robot.Advantageously, the robot comprises a pivoting suction mouth integral with the turret, said mouth allowing the passage of water into one compartment and blocking the passage of water into the other compartment, so as to concentrate the total suction. of the robot in one compartment or the other depending on the direction of movement of the robot.

Plus particulièrement, la bouche pivotante d'aspiration comporte une ouverture latérale, communicant avec un compartiment à la fois, et une ouverture supérieure communicant avec une sortie d'eau du robot.More particularly, the pivoting suction mouth has a lateral opening, communicating with one compartment at a time, and an upper opening communicating with a water outlet of the robot.

Par exemple, la bouche pivotante d'aspiration est sous forme d'un cylindre creux à base circulaire, l'ouverture latérale étant réalisée au niveau d'un diamètre dudit cylindre et l'ouverture supérieure étant axiale et contiguë à ladite ouverture latérale.For example, the pivoting suction mouth is in the form of a hollow cylinder with a circular base, the lateral opening being made at the level of a diameter of said cylinder and the upper opening being axial and contiguous with said lateral opening.

De façon avantageuse, la bouche pivotante d'aspiration est disposée au-dessus de la cloison de sorte à affleurer un bord supérieur de ladite cloison.Advantageously, the pivoting suction mouth is arranged above the partition so as to be flush with an upper edge of said partition.

La bouche pivotante d'aspiration peut être fixée à la tourelle par vissage.The swivel suction mouth can be screwed onto the turret.

Selon un mode de réalisation, le système de propulsion et d'aspiration est un groupe motopropulseur/pompe électrohydraulique à jet d'eau.According to one embodiment, the propulsion and suction system is an electrohydraulic water jet powertrain / pump.

Les concepts fondamentaux de l'invention venant d'être exposés ci-dessus dans leur forme la plus élémentaire, d'autres détails et caractéristiques ressortiront plus clairement à la lecture de la description qui suit et en regard des dessins annexés, donnant à titre d'exemple non limitatif des modes de réalisations d'un robot de nettoyage de piscines conforme aux principes de l'invention.The fundamental concepts of the invention having just been explained above in their most elementary form, other details and characteristics will emerge more clearly on reading the description which follows and with reference to the appended drawings, giving by way of non-limiting example of the embodiments of a swimming pool cleaning robot in accordance with the principles of the invention.

BRÈVE DESCRIPTION DES FIGURESBRIEF DESCRIPTION OF THE FIGURES

Les figures ainsi que les éléments d'une même figure ne sont pas nécessairement à la même échelle. Sur l'ensemble des figures, les éléments identiques portent la même référence numérique.The figures as well as the elements of the same figure are not necessarily on the same scale. In all of the figures, identical elements bear the same reference numeral.

Il est ainsi illustré en :

  • Figure 1 : une vue en perspective d'un robot de piscine selon l'invention ;
  • Figure 2 : une vue de côté du robot de la figure 1 ;
  • Figure 3 : une vue de côté schématique du robot laissant transparaitre des éléments intérieurs du robot ;
  • Figure 4 : une vue en perspective d'une bouche pivotante d'aspiration selon l'invention ;
  • Figure 5 : une section longitudinale schématique d'un robot de l'art antérieur ;
  • Figure 6a : une section longitudinale schématique du corps du robot selon l'invention suivant un premier sens de déplacement ;
  • Figure 6b : une section longitudinale schématique du corps du robot suivant un deuxième sens de déplacement, opposé à celui de la figure 6a ;
  • Figure 7 : un premier aspect du robot des figures 6a et 6b ;
  • Figure 8 : un deuxième aspect du robot des figures 6a et 6b
  • Figure 9 : une vue partielle en perspective du robot selon l'invention ;
  • Figure 10 : une autre vue partielle en perspective du robot selon l'invention ;
  • Figure 11 : une vue partielle de côté du robot selon l'invention ;
  • Figure 12 : une coupe du robot de la figure 11 selon un plan transversal A-A;
  • Figure 13 : une vue partielle avant du robot selon l'invention ;
  • Figure 14 : une coupe du robot de la figure 13 selon un plan longitudinal B-B.
It is thus illustrated in:
  • Figure 1 : a perspective view of a swimming pool robot according to the invention;
  • Figure 2 : a side view of the robot from the figure 1 ;
  • Figure 3 : a schematic side view of the robot showing interior elements of the robot;
  • Figure 4 : a perspective view of a pivoting suction mouth according to the invention;
  • Figure 5 : a schematic longitudinal section of a robot of the prior art;
  • Figure 6a : a schematic longitudinal section of the body of the robot according to the invention in a first direction of movement;
  • Figure 6b : a schematic longitudinal section of the robot body following a second direction of movement, opposite to that of the figure 6a ;
  • Figure 7 : a first aspect of the robot of figures 6a and 6b ;
  • Figure 8 : a second aspect of the robot of figures 6a and 6b
  • Figure 9 : a partial perspective view of the robot according to the invention;
  • Figure 10 : another partial perspective view of the robot according to the invention;
  • Figure 11 : a partial side view of the robot according to the invention;
  • Figure 12 : a cut of the robot from the figure 11 along a transverse plane AA;
  • Figure 13 : a partial front view of the robot according to the invention;
  • Figure 14 : a cut of the robot from the figure 13 along a longitudinal plane BB.

DESCRIPTION DÉTAILLÉE DE MODES DE RÉALISATIONDETAILED DESCRIPTION OF EMBODIMENTS

La terminologie employée dans la présente description ne doit en aucun cas être interprétée de manière limitative ou restrictive. Elle est simplement employée en conjonction avec une description détaillée de certains modes de réalisation de l'invention.The terminology used in the present description should in no case be interpreted in a limiting or restrictive manner. It is simply used in conjunction with a detailed description of certain embodiments of the invention.

Dans le mode de réalisation décrit ci-après, on fait référence à un robot autonome destiné principalement au nettoyage des piscines. Cet exemple, non limitatif, est donné pour une meilleure compréhension de l'invention et n'exclut pas l'adaptation de l'invention à tout robot de nettoyage pour surfaces immergées dans un liquide ou à une tête d'aspiration équipant un autre appareil tel qu'un balai aspirateur par exemple.In the embodiment described below, reference is made to an autonomous robot intended mainly for cleaning swimming pools. This non-limiting example is given for a better understanding of the invention and does not exclude the adaptation of the invention to any cleaning robot for surfaces immersed in a liquid or to a suction head fitted to another device. such as a vacuum brush for example.

Dans la suite de la description, le terme « robot » ou l'expression « robot de piscine » désignent indifféremment et par extension un robot autonome pour le nettoyage de piscines.In the remainder of the description, the term “robot” or the expression “swimming pool robot” designates indifferently and by extension an autonomous robot for cleaning swimming pools.

Les figures 1 et 2 représentent un robot 100 selon l'invention comportant principalement un corps 10, formé de l'assemblage d'une coque supérieure 11 et d'une coque inférieure 12, une tourelle 20 étanche, contenant un groupe motopropulseur/pompe électrohydraulique et sa batterie électrique d'alimentation non représentés, des roues 30 et des entrées d'eau 40a et 40b ménagées dans le fond du corps 10.The figures 1 and 2 show a robot 100 according to the invention mainly comprising a body 10, formed by the assembly of an upper shell 11 and a lower shell 12, a sealed turret 20, containing an electrohydraulic powertrain / pump and its electric battery d 'supply not shown, wheels 30 and water inlets 40a and 40b provided in the bottom of the body 10.

Le corps 10 peut présenter une forme et des dimensions quelconques pour s'adapter aux différentes tailles de bassins, de préférence, une forme sensiblement compacte et des dimensions réduites pour un aspect pratique et discret. Selon l'exemple de réalisation illustré, le corps 10 est constitué de deux parties emboitables, la coque supérieure 11 et la coque inférieure 12, facilitant ainsi un démontage du corps 10 pour un accès au volume intérieur dudit corps. Le volume intérieur du corps 10, visible sur la figure 3, contient pour sa part un dispositif de collecte des débris sous forme d'un filtre 13 placé au-dessus d'un bac matérialisé par une partie inférieure dudit corps, par exemple la coque inférieure 12.Body 10 can be of any shape and size to accommodate different sizes of basins, preferably a substantially compact shape and small dimensions for convenience and unobtrusiveness. According to the illustrated embodiment, the body 10 consists of two interlocking parts, the upper shell 11 and the lower shell 12, thus facilitating disassembly of the body 10 for access to the interior volume of said body. The interior volume of the body 10, visible on the figure 3 , for its part contains a debris collection device in the form of a filter 13 placed above a tank materialized by a lower part of said body, for example the lower shell 12.

La tourelle 20 surmonte le corps 10 et contient essentiellement le groupe motopropulseur/pompe électrohydraulique à jet d'eau et la batterie électrique d'alimentation, représentés en trait interrompu sur la figure 3. La tourelle 20 est montée sur le corps 10 par une liaison rotative, réalisée ici par une collerette annulaire du corps autour d'un trou de réception d'une embase annulaire de la tourelle, et s'oriente selon le sens de déplacement du robot 100 conformément au principe décrit dans le brevet EP3283711B1 .The turret 20 surmounts the body 10 and essentially contains the powertrain / electro-hydraulic water jet pump and the electric supply battery, shown in broken lines on the figure. figure 3 . The turret 20 is mounted on the body 10 by a rotary connection, produced here by an annular flange of the body around a receiving hole of an annular base of the turret, and is oriented according to the direction of movement of the robot 100 in accordance with the principle described in the patent EP3283711B1 .

Le terme « tourelle » est ici employé dans son acception générale de dispositif rotatif placé sur un véhicule pour orienter un organe et éventuellement le protéger.The term “turret” is used here in its general sense of a rotary device placed on a vehicle to orient an organ and possibly protect it.

Le groupe motopropulseur/pompe comporte un moteur électrique, des pignons de réduction et une turbine dont la fonction est d'aspirer l'eau, qui entre par les entrées d'eau 40a et 40b et traverse le filtre 13, et de la refouler par une tuyère d'éjection 21 qui débouche de la tourelle 20 pour propulser le robot 100, la direction du refoulement étant sensiblement parallèle au fond de la piscine de sorte à favoriser la propulsion.The powertrain / pump comprises an electric motor, reduction gears and a turbine whose function is to suck the water, which enters through the water inlets 40a and 40b and passes through the filter 13, and to discharge it through an ejection nozzle 21 which emerges from the turret 20 to propel the robot 100, the direction of the discharge being substantially parallel to the bottom of the swimming pool so as to promote propulsion.

Alternativement, le robot 100 peut, au lieu ou en complément des roues 30, comporter d'autres moyens d'entrainement tels que des rouleaux ou des chenilles.Alternatively, the robot 100 can, instead of or in addition to the wheels 30, include other drive means such as rollers or caterpillars.

Selon un aspect fondamental de l'invention et en référence à la figure 3, le robot 100 comporte une cloison 15 de séparation au niveau du corps 10, divisant le volume intérieur du corps en deux compartiments isolés 14a et 14b, et une bouche pivotante d'aspiration 25, solidaire de la tourelle 20 rotative.According to a fundamental aspect of the invention and with reference to the figure 3 , the robot 100 comprises a partition 15 of separation at the level of the body 10, dividing the internal volume of the body into two isolated compartments 14a and 14b, and a pivoting suction mouth 25, integral with the rotating turret 20.

La cloison 15 est disposée verticalement au niveau d'un plan transversal médian du corps 10, divisant ainsi le corps en deux compartiments de volumes sensiblement égaux. Avantageusement, la cloison 15 présente une épaisseur réduite, de quelques millimètres, pour limiter l'occupation du volume utile de collecte de débris. La cloison 15 présente un bord supérieur affleurant la bouche pivotante d'aspiration 25.The partition 15 is disposed vertically at the level of a median transverse plane of the body 10, thus dividing the body into two compartments of substantially equal volumes. Advantageously, the partition 15 has a reduced thickness, a few millimeters, to limit the occupation of the useful volume for collecting debris. The partition 15 has an upper edge flush with the pivoting suction mouth 25.

La bouche pivotante d'aspiration 25 est entrainée en rotation par la tourelle 20 et comporte une ouverture latérale 251 et une ouverture supérieure 252. L'ouverture latérale 251 se place d'un côté ou de l'autre de la cloison 15 suivant l'orientation de la tourelle 20, et par là-même de la bouche pivotante 25, de sorte que ladite bouche communique avec un compartiment 14a ou 14b à la fois, concentrant ainsi l'aspiration au niveau d'une seule entrée d'eau 40a ou 40b. L'ouverture supérieure 252 donne, quant à elle, accès à la tuyère d'éjection 21 du robot.The pivoting suction mouth 25 is driven in rotation by the turret 20 and comprises a lateral opening 251 and an upper opening 252. The lateral opening 251 is placed on one side or the other of the partition 15 according to the orientation of the turret 20, and thereby of the pivoting mouth 25, so that said mouth communicates with a compartment 14a or 14b at the same time, thus concentrating the suction at the level of a single water inlet 40a or 40b. The upper opening 252 provides access to the ejection nozzle 21 of the robot.

En effet, la bouche pivotante 25 permet à la fois d'autoriser le passage de l'eau au travers d'un compartiment du corps 10 et de s'opposer au passage de l'eau dans l'autre compartiment, et inversement, imposant ainsi la circulation de l'eau dans un seul sens à la manière d'un clapet.Indeed, the pivoting mouth 25 allows both to allow the passage of water through one compartment of the body 10 and to oppose the passage of water into the other compartment, and conversely, imposing thus the circulation of water in only one direction in the manner of a valve.

Les ouvertures latérale 251 et supérieure 252 peuvent être séparées, comme sur l'exemple de la figure 3, ou contigües avec un bord commun, comme sur l'exemple de la figure 4, auquel cas leurs bords forment une courbe fermée s'étendant dans les faces latérale et supérieure de la bouche pivotante 25.The side openings 251 and top 252 can be separated, as in the example of figure 3 , or contiguous with a common edge, as in the example of figure 4 , in which case their edges form a closed curve extending into the lateral and upper faces of the pivoting mouth 25.

La bouche pivotante 25, selon l'exemple de réalisation de la figure 4, présente une forme de demi cylindre à base circulaire aplati et creux, dans laquelle l'ouverture latérale 251 est rectangulaire et s'étend le long d'un diamètre de la base, et l'ouverture supérieure 252 est un trou axial sous forme de demi-cercle. Ainsi, la bouche pivotante 25 définit une cavité avec une paroi latéral circulaire, avantageuse pour la circulation de l'eau lors de l'aspiration en favorisant la formation de tourbillons convergeant vers l'ouverture supérieure 252. La bouche pivotante 25 comporte en outre des moyens de fixation non représentés permettant son assemblage avec la tourelle 20. De tels moyens sont par exemple un filetage réalisé sur la face latérale de la bouche pivotante pour visser ladite bouche dans un alésage adapté de la tourelle.The pivoting mouth 25, according to the embodiment of the figure 4 , has a shape of a half cylinder with a flattened and hollow circular base, in which the side opening 251 is rectangular and extends along a diameter of the base, and the upper opening 252 is an axial hole in the form of a Semi circle. Thus, the pivoting mouth 25 defines a cavity with a circular side wall, advantageous for the circulation of water during suction by promoting the formation of vortices converging towards the upper opening 252. The pivoting mouth 25 further comprises fixing means not shown allowing its assembly with the turret 20. Such means are for example a thread made on the side face of the pivoting mouth to screw said mouth into a suitable bore of the turret.

La bouche pivotante 25 selon l'invention peut présenter d'autres formes à condition de permettre l'aspiration de l'eau dans un premier compartiment du corps tout en la bloquant dans le second, et ce de façon alternative suivant la rotation de la tourelle.The pivoting mouth 25 according to the invention can have other shapes on condition of allowing the water to be sucked into a first compartment of the body while blocking it in the second, and this alternately depending on the rotation of the turret. .

En référence à la figure 3, la bouche pivotante 25 est orientée vers le compartiment avant 14b, le robot 100 se déplaçant suivant le sens D1 indiqué par la flèche pleine. Par conséquent, l'aspiration se concentre uniquement dans le compartiment 14b, l'eau entre par l'entrée d'eau avant 40b, traverse successivement le filtre 13, l'ouverture latérale 251 et l'ouverture supérieure 252 de la bouche pivotante 25, et ressort finalement par la tuyère d'éjection 21 qui n'est pas représentée. Dans le compartiment arrière 14a, l'aspiration est bloquée par la bouche pivotante 25 qui vient obturer le passage entre ledit compartiment et la cloison 15.With reference to the figure 3 , the pivoting mouth 25 is oriented towards the front compartment 14b, the robot 100 moving in the direction D1 indicated by the solid arrow. Consequently, the suction is concentrated only in the compartment 14b, the water enters through the front water inlet 40b, passes successively through the filter 13, the side opening 251 and the upper opening 252 of the pivoting mouth 25. , and finally emerges through the ejection nozzle 21 which is not shown. In the rear compartment 14a, the suction is blocked by the pivoting mouth 25 which closes the passage between said compartment and the partition 15.

Ainsi, toute la puissance d'aspiration est utilisée au niveau de l'entrée d'eau 14b, au lieu d'être répartie sur les deux entrées comme dans l'art antérieur. De ce fait, la dépression, ou force aspirante, obtenue au niveau de l'entrée 14b est plus importante en raison d'une réduction de la section d'aspiration.Thus, all the suction power is used at the level of the water inlet 14b, instead of being distributed over the two inlets as in the prior art. Therefore, the vacuum, or suction force, obtained at the inlet 14b is greater due to a reduction in the suction section.

Lorsque le robot 100 change de sens de déplacement et repart suivant le sens D2, le mécanisme décrit s'inverse et l'aspiration se concentre dans le compartiment 14a qui devient le compartiment avant du robot.When the robot 100 changes direction of movement and starts again in direction D2, the described mechanism is reversed and the suction is concentrated in the compartment 14a which becomes the front compartment of the robot.

La comparaison entre la figure 5, représentant l'art antérieur, et les figures 6a et 6b, représentant la présente invention, permet de comprendre l'avantage que procure une concentration de l'aspiration au niveau d'une seule entrée d'eau, aspiration alternée, par rapport à une répartition de l'aspiration sur deux entrées d'eau, aspiration alternée.The comparison between figure 5 , representing the prior art, and the figures 6a and 6b , representing the present invention, makes it possible to understand the advantage obtained by a concentration of the suction at the level of a single water inlet, alternating suction, compared to a distribution of the suction over two water inlets, alternating suction.

Dans le cas de l'aspiration simultanée, la puissance utile disponible P est partagée entre les deux entrées d'eau, qui aspirent chacune avec une puissance utile égale à P/2, à quelques pertes près.In the case of simultaneous suction, the available useful power P is shared between the two water inlets, which each suck with a useful power equal to P / 2, with a few losses.

Dans le cas de l'aspiration alternée, la puissance utile disponible P est totalement réservée à une entrée d'eau à la fois, l'aspiration par l'autre entrée étant bloquée.In the case of alternate suction, the available useful power P is totally reserved for one water inlet at a time, the suction by the other inlet being blocked.

La figure 7 schématise une aspiration alternée réalisée par la tourelle 20 et la bouche pivotante 25 selon le mode de réalisation ci-dessous décrit.The figure 7 shows schematically an alternating suction performed by the turret 20 and the pivoting mouth 25 according to the embodiment described below.

Alternativement, la figure 8 schématise une aspiration alternée obtenue dans un robot à double hélice pour une propulsion bidirectionnelle, dans lequel le corps 10 est divisé en deux compartiments filtrants par une cloison 15. Selon cette conception, chaque hélice d'aspiration-propulsion est associée à un seul compartiment filtrant, lui-même associé à une seule bouche d'aspiration. Ainsi, la présence de la cloison 15 de séparation permet de concentrer l'aspiration totale du robot dans un compartiment ou dans l'autre en fonction du sens de déplacement dudit robot.Alternatively, the figure 8 schematizes an alternating suction obtained in a double-propeller robot for bidirectional propulsion, in which the body 10 is divided into two filtering compartments by a partition 15. According to this design, each suction-propulsion propeller is associated with a single filtering compartment , itself associated with a single suction mouth. Thus, the presence of the partition 15 makes it possible to concentrate the total suction of the robot in one compartment or in the other depending on the direction of movement of said robot.

Les figures 9 à 14 représentent la cloison 15 de séparation et la bouche pivotante d'aspiration 25 installées dans un robot de piscine réel tel que celui des figures 1 et 2.The figures 9 to 14 show the partition 15 of separation and the swivel suction mouth 25 installed in a real swimming pool robot such as that of figures 1 and 2 .

Compte tenu de l'invention, il apparait clairement que des modifications mineures peuvent être appliquées au robot, et plus particulièrement à la cloison de séparation et/ou à la bouche pivotante d'aspiration, sans pour autant sortir du cadre de l'invention dont l'objet principal est l'aspiration alternée.In view of the invention, it clearly appears that minor modifications can be applied to the robot, and more particularly to the partition wall and / or to the pivoting suction mouth, without however departing from the scope of the invention, including the main object is the alternating aspiration.

Claims (10)

  1. Robot (100) for cleaning swimming pools, comprising a debris-collection body (10) and a propulsion and suction system able to move the robot in alternation in two substantially opposite directions D1 and D2, the body (10) comprising two filtering compartments (14a, 14b) separated by a partition (15) and each provided with a water inlet (40a, 40b), characterised in that said partition makes it possible to concentrate the total suction of the robot in one compartment and to block it in the other according to the direction of movement of the robot.
  2. Robot (100) according to claim 1, wherein the propulsion and suction system is contained in a waterproof rotary turret (20) external to the body (10) of the robot and wherein each direction of movement of the robot is determined by an automatic orientation of the turret.
  3. Robot according to claim 1, wherein the propulsion and suction system comprises two motorised propellers, each of said propellers providing the propulsion of the robot in one of the movement directions and the suction in one of the filtering compartments.
  4. Robot (100) according to claim 2, comprising a pivoting suction orifice (25) integral with the turret (20), said orifice allowing the passage of water in one compartment and blocking the passage of water in the other compartment, so as to concentrate the total suction of the robot in one compartment or the other according to the direction of movement of the robot.
  5. Robot (100) according to claim 4, wherein the pivoting suction orifice (25) comprises a lateral opening (251), communicating with one compartment (14a, 14b) at a time, and a top opening (252) communicating with a water outlet of the robot.
  6. Robot (100) according to claim 5, wherein the pivoting suction orifice is in the form of a hollow cylinder with a circular base, the lateral opening (251) being produced on a diameter of said cylinder and the top opening (252) being axial and contiguous with said lateral opening.
  7. Robot (100) according to any of claims 4 to 6, wherein the pivoting suction orifice (25) is disposed above the partition (15) so as to fit flush with a top edge of said partition.
  8. Robot (100) according to any of claims 4 to 7, wherein the pivoting suction orifice (25) is fixed to the turret (20) by screwing.
  9. Robot (100) according to any of the preceding claims, wherein the propulsion and suction system is a unit consisting of propulsion motor and electrohydraulic waterjet pump.
  10. Robot (100) according to any of the preceding claims, further comprising an on-board power-supply battery.
EP19305355.0A 2019-03-22 2019-03-22 Autonomous robot with alternating suction for cleaning swimming pools Active EP3712358B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19305355.0A EP3712358B1 (en) 2019-03-22 2019-03-22 Autonomous robot with alternating suction for cleaning swimming pools
US16/824,855 US10851558B2 (en) 2019-03-22 2020-03-20 Autonomous alternating-suction robot for cleaning swimming pools

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19305355.0A EP3712358B1 (en) 2019-03-22 2019-03-22 Autonomous robot with alternating suction for cleaning swimming pools

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EP3712358A1 EP3712358A1 (en) 2020-09-23
EP3712358B1 true EP3712358B1 (en) 2021-11-03

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4107346A4 (en) 2020-02-19 2024-02-21 Pavel Sebor Automatic pool cleaner
USD969428S1 (en) * 2021-11-08 2022-11-08 Hangzhou Kongyu Swimming Pool Co., Ltd. Pool cleaner
CN115182628A (en) * 2022-08-05 2022-10-14 智橙动力(北京)科技有限公司 Method for detecting blockage of swimming pool cleaning robot and swimming pool cleaning robot

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Publication number Priority date Publication date Assignee Title
US5337434A (en) * 1993-04-12 1994-08-16 Aqua Products, Inc. Directional control means for robotic swimming pool cleaners
US5351355A (en) * 1993-05-26 1994-10-04 Paul Chiniara Swimming pool cleaner
US6627074B2 (en) * 2001-01-30 2003-09-30 Filter Specialists, Inc. Filter element for swimming pool cleaner
FR2869058B1 (en) * 2004-04-14 2012-04-27 Zodiac Pool Care Europe IMMERED SURFACE CLEANING APPARATUS WITH ANTI RETURN INPUT DUCT.
EP2835478B1 (en) * 2014-01-07 2016-04-13 Aquatron Robotic Technology Ltd. Swimming pool cleaner
FR3041982B1 (en) * 2015-10-05 2017-11-24 Max Roumagnac AUTONOMOUS SWIMMING POOL CLEANING ROBOT

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US10851558B2 (en) 2020-12-01
US20200299987A1 (en) 2020-09-24
EP3712358A1 (en) 2020-09-23

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