EP4103030A1 - Cleaning device and cleaning robot - Google Patents
Cleaning device and cleaning robotInfo
- Publication number
- EP4103030A1 EP4103030A1 EP21701298.8A EP21701298A EP4103030A1 EP 4103030 A1 EP4103030 A1 EP 4103030A1 EP 21701298 A EP21701298 A EP 21701298A EP 4103030 A1 EP4103030 A1 EP 4103030A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cleaning
- movement
- drive
- actuating
- sweeping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 337
- 230000005540 biological transmission Effects 0.000 claims description 93
- 238000010408 sweeping Methods 0.000 claims description 39
- 239000000758 substrate Substances 0.000 claims description 8
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 230000001680 brushing effect Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 7
- 230000018109 developmental process Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Definitions
- the invention relates to a cleaning device for performing cleaning work on a floor to be cleaned and to a cleaning robot.
- cleaning robots which carry out an automated cleaning operation for cleaning a substrate, in particular a floor.
- cleaning robots have a drive unit with several rollers, so that the cleaning robot can be moved on the ground.
- a control unit is usually provided through which the cleaning operation can be carried out in an automated manner.
- this control unit can have a sensor device which detects an area around the cleaning robot and thus enables largely autonomous use.
- a cylindrical cleaning brush In order to be able to pick up foreign substances, for example dirt or dust, from the subsurface, such cleaning robots often have a cylindrical cleaning brush. This is in constant contact with the substrate during the cleaning operation and leads to the cleaning of the substrate
- the object of the present invention is to provide a cleaning device which enables an efficient cleaning operation.
- a further object of the invention is to provide a cleaning robot by means of which such an efficient cleaning operation can be carried out.
- a cleaning device for carrying out cleaning work on a floor to be cleaned with at least one cleaning element with which a cleaning movement for cleaning the substrate can be carried out and with a drive device which drives at least the cleaning movement of the at least one cleaning element, with an actuating device being provided by which the cleaning movement of the at least one cleaning element can be controlled and wherein the cleaning movement comprises a sweeping and / or wiping movement.
- the sweeping and / or wiping movement can be at least partially designed as a pivoting movement of the at least one cleaning element.
- the cleaning device is preferably part of an automatically cleaning cleaning device, in particular a cleaning robot.
- the actuating device controls a cleaning movement in which the sweeping and / or wiping movement on the surface is carried out at least partially by the pivoting movement of the at least one cleaning element.
- a cleaning movement can be carried out by the at least one cleaning element, which is modeled on a manual sweeping with a broom or Flandfeger.
- this also enables particularly thorough cleaning of the substrate.
- such a cleaning device can enable an efficient cleaning operation and thus a significant improvement in the cleaning result.
- the cleaning movement controllable by the actuating device is designed as a movement of the at least one cleaning element relative to the actuating device.
- the cleaning movement can be carried out by an adjusting movement of the at least one cleaning element, the adjusting device being arranged at least partially in a stationary manner relative to the at least one cleaning element.
- a particularly preferred embodiment of the cleaning device can provide that the cleaning movement controllable by the actuating device is designed as a cyclical cleaning movement, each cycle of the cleaning movement comprising at least one movement of the at least one cleaning element on the surface and the subsequent sweeping and / or wiping movement .
- the cleaning operation can be formed by a continuously repeating cleaning movement of the at least one cleaning element. This means that large areas can also be cleaned when the cleaning operation is carried out.
- the cleaning movement can also be designed in such a way that the cleaning element rests on the floor to be cleaned and is immobile for a period of time relative to the cleaning device.
- the cleaning element is guided over the floor to be cleaned by moving the entire cleaning device. During this time, the cleaning element rests on the floor to be cleaned, which improves the cleaning result.
- the cleaning element can convey dirt into the dirt container.
- the persistence of the cleaning element relative to the cleaning device can be part of the cyclical movement of the cleaning element.
- the at least one cleaning element has a pivot axis and the pivoting movement is provided about the pivot axis of the at least one cleaning element.
- a pivot axis can enable a simple structural design in which both a free pivoting movement of the at least one cleaning element about the pivot axis and a pivot angle limitation can be provided.
- the sweeping and / or wiping movement of the at least one cleaning element and the pivoting movement of the at least one cleaning element are provided as superimposed movement components of the cleaning movement. This superimposition of the two movements can result in a cleaning movement which enables particularly efficient cleaning of the substrate.
- a guided movement path for the at least one cleaning element for executing the cleaning movement can be formed by the actuating device.
- Such a guided movement path can enable the cyclical cleaning movement of the at least one cleaning element to be carried out in accordance with an always the same, repeating movement pattern. This can ensure that a constant cleaning result is achieved.
- the actuating device can have at least one actuating force transmission element by which at least one actuating element can be driven, the at least one cleaning element being operatively connected to the at least one actuating element for performing the cleaning movement.
- the at least one actuating force transmission element and at least an actuating element can be a structurally simple actuating device for controlling the at least one cleaning element.
- the at least one actuating force transmission element can be designed as an internally toothed gear and the at least one actuating element as an externally toothed gear, the externally toothed gear and the internally toothed gear meshing. Since the at least one actuating force transmission element and the at least one actuating element are configured as gearwheels, a direct drive transmission from the at least one actuating force transmission element to the at least one actuating element can be provided. The meshing of the gears also enables high drive torques to be transmitted.
- the guided movement path can be formed by the at least one actuating force transmission element, preferably by the inside of the internally toothed gear, and the at least one actuating element operatively connected to the cleaning element can be guided along the movement path.
- the externally toothed actuating element rolls along the internal toothing of the at least one actuating force transmission element.
- a guide for the at least one adjusting element can be formed by the inside or the inside contour of the internally toothed gear.
- the at least one actuating force transmission element can have a stationary axis of rotation, the movement path being provided radially around the stationary axis of rotation, so that the at least one actuating element is guided along the movement path around the axis of rotation of the actuating force transmission element. That way, at least one can
- the actuating force transmission element can be arranged in a stationary manner and, in order to control the at least one actuating element, performs a rotary movement about its stationary axis of rotation.
- the at least one actuating element on the other hand, performs a relative movement radially around the stationary axis of rotation of the at least one actuating force transmission element.
- the at least one adjusting element and the at least one cleaning element can be connected to one another by the pivot axis, the pivot axis preferably being arranged centrally to the at least one adjusting element. In this way, a direct connection between the at least one adjusting element and the at least one cleaning element can be formed by the pivot axis.
- the actuating device can be designed in the form of a link control.
- the actuating force transmission element can comprise a link and a link block.
- a gate control includes a gate with at least one slot, a web and / or a groove.
- a positively driven sliding block is assigned to the backdrop, the movement of the backdrop being transmitted to the sliding block.
- the sliding block is in turn operatively connected to the cleaning element.
- the design of the gate accordingly determines the movement of the sliding block and thus also of the cleaning element.
- translatory movements and a combination of rotational and translational movements can also be implemented.
- the sweeping and / or wiping movement according to the invention can be implemented by the link control.
- the pivoting movement of the cleaning device can be implemented by the link control.
- a drive step-up device preferably a gear
- Translation of a drive force of the drive motor can be provided, the drive transmission device having at least one drive transmission through which the at least one cleaning element is accelerated when executing the sweeping and / or wiping movement, preferably when executing the pivoting movement.
- the adjusting device can be driven with a variable drive torque by such a drive transmission device.
- the drive transmission can be coordinated with the sweeping and / or wiping movement in such a way that the at least one cleaning element is controlled with an acceleration component. As a result of this acceleration, the cleaning movement can be modeled in a special way on a manual sweeping movement, so that an efficient cleaning operation can be achieved.
- the at least one drive transmission can have an uneven transmission ratio.
- the non-uniform transmission ratio can be coordinated with the cleaning movement in such a way that the at least one cleaning element can be controlled by a reducing transmission ratio when executing the sweeping and / or wiping movement, preferably the pivoting movement.
- a drive transmission can be formed by means of which the at least one cleaning element can be controlled in a simple manner with an acceleration component when the sweeping and / or wiping movement is carried out.
- the uneven transmission ratio can be formed by at least one non-circular drive element and / or at least one non-circular output element, so that a changing transmission ratio is formed at least over a rotational angle range of the at least one non-circular drive element and / or at least one non-circular output element .
- This configuration allows a particularly simple structural Design of an uneven transmission ratio can be achieved.
- the at least one non-circular drive element and / or at least one non-circular output element enables an exact adaptation of the transmission ratio to the cleaning movement to be performed.
- the changing transmission ratio is matched to the cleaning movement in such a way that the at least one cleaning element when executing the sweeping and / or wiping movement, preferably the pivoting movement, by a reducing transmission ratio between the at least one non-circular drive element and / or the at least one non-circular output element can be controlled. Because of this decreasing transmission ratio, the at least one cleaning element can be controlled with an acceleration component when executing the sweeping and / or wiping movement, preferably when executing the pivoting movement.
- the drive ratio device can have several drive ratios, preferably three drive ratios, each drive ratio having a non-uniform transmission ratio. By providing several drive ratios with different non-uniform transmission ratios, a large range of different transmission ratios can be covered by the drive transmission device. In this way, an exact adaptation of the required drive ratios to the cleaning movement can be provided.
- the uneven transmission ratios of the respective drive transmissions are provided out of phase with one another, so that the at least one cleaning element is out of phase with each other when executing the sweeping and / or wiping movement, preferably the pivoting movement can be controlled by a decreasing transmission ratio, so that the at least one cleaning element is further accelerated by each of the drive transmission ratios.
- the phase-shifted drive ratios accelerate the at least one cleaning element, the sweeping and / or wiping movement initially being carried out slowly after the at least one cleaning element has been placed on the ground and then being accelerated very quickly by the phase-shifted reduction in gear ratios.
- the cleaning element can be pivoted about the pivot axis, it can also be provided that the pivoting movement results in an additional acceleration of the cleaning element. In this way, the sweeping and / or wiping movement can be modeled in a special way on a manual sweeping movement.
- the drive ratios can be formed by at least one non-circular drive element and / or at least one non-circular output element, the drive elements and output elements of the respective drive ratios preferably being in engagement at the same time.
- the curves described by the cleaning section can cause uneven torque in some or all of the elements of the drive device. Particularly at higher frequencies, it can therefore be advantageous to provide compensating elements which compensate for the translatory and rotational pulses and energies, so that only small torques and pulses are passed on to the cleaning device.
- the compensating elements can be designed to carry out the movements causing the uneven torque in the opposite direction or orientation. Alternatively, energy can also be temporarily stored, for example by means of a spring.
- the at least one cleaning element can have an elongated base body with a cleaning section, wherein at least the cleaning section can be designed as a cleaning brush, cleaning broom, cleaning wiper, cleaning lip or the like.
- a cleaning brush, a cleaning broom, a cleaning wiper, a cleaning lip or the like can be arranged on the cleaning section.
- the elongated cleaning element can thereby form a wide cleaning area, so that even larger surface areas can be cleaned in a time-efficient manner by the cleaning device.
- a cleaning robot for performing a cleaning operation on a floor to be cleaned, with a housing, with a drive unit for moving the cleaning robot on the ground, the drive unit having a plurality of rollers arranged on an underside of the housing, and with a control unit , by means of which the cleaning operation for cleaning the subsurface can be controlled, at least one cleaning device according to one of the previously described embodiments being provided, by means of which a cleaning movement for cleaning the subsurface can be carried out.
- a particularly efficient and thorough cleaning operation can be carried out by means of such a cleaning robot, since the cleaning movement which can be carried out by the cleaning device is modeled on a manual sweeping with a Flandfeger.
- the cleaning movement controllable by the cleaning device comprises a sweeping and / or wiping movement which is carried out at least partially by a pivoting movement of the at least one cleaning element.
- a collecting container for receiving foreign substances is provided, which is associated with a receiving section of the cleaning device, wherein at least the receiving section of the collecting container can be lowered onto the ground by an adjusting mechanism and the lowering movement of the collecting container and the sweeping and / or wiping movement of the cleaning element are coordinated with one another.
- the lowering movement of the receiving section is adapted to the cyclical cleaning movement, foreign matter can be picked up by the collecting container when the at least one cleaning element executes the sweeping and / or wiping movement.
- the receiving section of the collecting container is in a raised position with respect to the ground when the at least one cleaning element is not performing a sweeping and / or wiping movement.
- the cleaning operation can also be carried out when the cleaning robot is moving forward.
- the cyclical lowering of the receiving section prevents the foreign matter on the ground from being pushed in front of the collecting container when the cleaning robot moves forwards. This effect would occur in the case of a permanently lowered receiving section, since this, mostly provided with a rubber lip, rests on the ground. In this case, it would not be possible to clean the surface when the cleaning robot moves forward.
- the cleaning section can consist of different elements, the elements working together in a suitable manner for cleaning a surface.
- These elements can include a brush, a wet cleaning element, a suction device and / or a rubber lip for wiping off the liquid.
- the wet element can also be moistened from the inside.
- FIG. 1 shows a schematic view of a cleaning robot with a cleaning device in a view from below;
- FIG. 2 shows a schematic view of the cleaning device according to FIG. 1;
- Fig. 3 is a sectional view of a first translation stage of a
- Fig. 4 is a sectional view of a second translation stage of
- Fig. 5 is a sectional view of a third translation stage of the
- FIG. 6 is a sectional view of a drive transmission stage of FIG
- Fig. 7 is a sectional view of an actuator of the
- FIG. 1 shows a schematic view of a cleaning robot 10.
- This cleaning robot 10 is provided for carrying out a cleaning operation on a surface to be cleaned.
- the cleaning robot 10 is provided such that it can be moved on the ground and can pick up foreign substances, such as for example dirt or dust, from the ground during the movement.
- such a cleaning robot 10 can carry out the cleaning operation in an automated or autonomous manner, that is to say without the action of a user.
- the cleaning robot 10 has a housing 11 in which a drive unit 12 is arranged.
- the drive unit 12 includes several Rollers 13 which at least partially protrude from an underside 14 of the housing 11.
- the rollers 13 are driven by one or more motors 16, so that a movement of the cleaning robot 10 on the ground is possible.
- the forward direction of travel of the cleaning robot 10 is indicated by the arrow F in FIG.
- Such a cleaning robot 10 can also include a control device, not shown in detail, which controls the cleaning operation, in particular controls it in an automated manner.
- a sensor device can be provided on the housing 11, by means of which a surrounding area can be detected by sensors. In this way, the cleaning robot 10 can carry out the cleaning operation autonomously within a detectable surrounding area.
- a cleaning device 20 with cleaning element 22, which will be discussed in more detail below, and a collecting container 21 assigned to the cleaning device 20 are provided on the underside 14 of the cleaning robot 10.
- This collecting container 21 has a receiving section 39 which is assigned to the cleaning device 20 for receiving the foreign matter.
- the collecting container 21, or at least the receiving section 39 of the collecting container 21 can be lowered onto the ground by an adjusting mechanism (not shown in detail).
- the cleaning element 22 is only shown schematically in the present figure.
- the extension of the cleaning element 22 depends on the design of the cleaning device, here the cleaning robot 10.
- the cleaning element like the receiving opening of the collecting container, preferably extends from one edge to the opposite edge, so that cleaning is possible over the width of the cleaning robot 10 .
- FIG. 2 shows a schematic detailed view of the cleaning device 20.
- the cleaning device 20 has a cleaning element 22, by means of which a cleaning movement for cleaning the substrate can be carried out. To carry out this cleaning movement, the cleaning element 22 is driven by a drive device 23.
- An adjusting device 24 is provided between the cleaning element 22 and the drive device 23, by means of which the cleaning element 22 can be controlled to carry out the cleaning movement.
- the cleaning element 22 When the cleaning robot 10 is not in use or during a travel movement in which the cleaning element 22 is not performing any cleaning movement, the cleaning element 22 is arranged in a starting position raised relative to the ground.
- the cleaning element 22 is actuated by the actuating device 24, the actuating device 24 being driven by the drive device 23.
- the cleaning movement is formed by a movement of the cleaning element 22 from the initial position to the surface, a sweeping and / or wiping movement on the surface following the movement and a subsequent return movement to the initial position.
- the individual movement sections are in particular carried out in direct succession.
- the actuating device 24 is designed in such a way that at least individual movement segments are interrupted for a period of time.
- the direction of movement of the sweeping and / or wiping movement is directed towards the collecting container 21.
- the cleaning element 22 can be conveyed into the collecting container 21 by the cleaning element 22.
- this cleaning movement is carried out as a cyclically repeating cleaning movement during the cleaning operation. In this way, the cleaning robot 10 can be moved along a travel path and by the cyclically repeating cleaning movement of the Cleaning element 22 continuously absorb foreign matter along the travel path.
- the actuating device 24 has an actuating force transmission element 26 and an actuating element 27, the actuating force transmission element 26 being operatively connected to the drive device 23 and the actuating element 27 being operatively connected to the cleaning element 22.
- the actuating device 24 is illustrated in a sectional view according to section VII-VII in FIG.
- the actuating force transmission element 26 is designed as an internally toothed gear 29 and the actuating element 27 as an externally toothed gear 28.
- the externally toothed gear 28 is guided within the internally toothed gear 29 and the gears mesh with one another to transmit the drive.
- the actuating force transmission element 26 is designed as an externally toothed gear and the actuating element 27 as an internally toothed gear.
- the actuating force transmission element 26 in particular the inner contour of the internally toothed gear 29, forms a movement path 31 for the actuating element 27, in particular for the externally toothed gear 28.
- This movement path 31 is illustrated in FIG.
- the actuating force transmission element 26 thereby forms a guide for the actuating element 27.
- the cleaning element 22 is operatively connected to the actuating element 27 by a pivot axis 33, so that the cleaning movement occurs through the movement of the actuating element 27 along the movement path 31 of the cleaning element 22 is controlled.
- the pivot axis 32 provides that the cleaning element 22 is essentially aligned with the ground in accordance with the force of gravity during the execution of the cleaning movement with a cleaning section 34, in particular a cleaning brush, a cleaning broom, a cleaning wiper, a cleaning lip or the like. This means that the cleaning element 22 does not perform a complete rotation of its own about the pivot axis 33 when the actuating element 27 is moved along the movement path 31 or when the cleaning movement is carried out.
- the actuating device 24 is driven by the drive device 23.
- the drive device 23 has a drive motor 36 and a drive transmission device 37.
- Drive step-up device 37 a drive step-up of a drive speed output by the drive motor 36 is provided for driving the actuating device 24.
- the drive transmission device 37 is designed as a gear transmission.
- the drive transmission device 37 has three drive transmissions 41, 42, 43, each drive transmission 41, 42, 43 being formed by a drive element 46 and an output element 47.
- the drive elements 46 and the output elements 47 are designed as externally toothed gears. It is provided that the drive elements 46 and the output elements 47 of the individual drive ratios 41, 42, 43 are in engagement at the same time.
- FIGS. 3 to 5 illustrate the three drive ratios 41, 42, 43 each in a sectional view.
- FIG. 3 shows the first drive transmission 41 according to section III-III in FIG. 2
- FIG. 4 shows the second drive transmission 42 according to section IV-IV in FIG. 2
- FIG. 5 shows the third drive transmission 43 according to section VV in FIG.
- the drive transmissions 41, 42, 43 of the drive transmission device 37 each have an uneven transmission ratio.
- the non-uniform transmission ratios are formed in that the drive elements 46 and the output elements 47 are not round. This means that the drive elements 46 and the output elements 47 have an asymmetrical cross section, as is illustrated in FIGS. 3 to 5.
- the non-uniform transmission ratios are consequently formed in that a changing transmission ratio is provided over the angle of rotation of each drive element 46 and / or output element 47.
- the non-uniform transmission ratio of the drive transmissions 41, 42, 43 is matched to the cleaning movement carried out by the cleaning element 22.
- the uneven transmission ratios of the drive transmissions 41, 42, 43 i.e. the angles of rotation of the drive elements 46 and / or output elements 47, are adapted to the cleaning movement in such a way that a decreasing transmission ratio is provided when the cleaning element 22 is placed on the ground is and executes the sweeping and / or wiping movement.
- This reduction in the transmission ratio results in an increase in the output speed of the output elements 47 compared to the input speed of the drive elements 46, or an increase in the angular speed of the output elements 47, so that the cleaning element 22 is controlled via the actuating device 24 at an increased drive speed.
- the drive force of the drive motor 36 translated by the drive ratios 41, 42, 43 is transmitted via a fourth drive ratio 44 to the actuating device 24, which is shown in FIG. 6 in a sectional view according to the section VI-VI in FIG.
- the fourth drive transmission 44 is formed by a round or symmetrical drive element 48 and a round or symmetrical output element 49.
- the drive element 48 and the output element 49 are each designed as an externally toothed gear.
- the cleaning device 20 When the cleaning device 20 is used in the cleaning robot 10, it is assigned to the collecting container 21, as shown in FIG.
- the collecting container 21 can execute the lowering movement that can be controlled by the actuating mechanism. It is provided that the lowering movement of the collecting container 21 and the sweeping and / or wiping movement of the cleaning element 22 are coordinated with one another, so that the collecting container 21 is arranged in a position lowered to the ground for picking up the foreign matter by the cleaning device 20 when the Cleaning element 22 executes the sweeping and / or wiping movement and in a raised position with respect to the ground when the at least one cleaning element 22 is not performing a sweeping and / or wiping movement.
- the lowering movement can also take place cyclically, the cycle of lowering the collecting container 21 being coordinated with the cyclical cleaning movement of the cleaning device 20.
- the sweeping and / or wiping movement desired according to the invention can be implemented by means of a coupling gear, in particular coupling gear in the form of a Chebyshev lambda mechanism being possible here.
- a coupling gear in particular coupling gear in the form of a Chebyshev lambda mechanism being possible here.
- An alternative coupling mechanism is shown in FIG. 8.
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
- Electric Suction Cleaners (AREA)
- Cleaning In General (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020103880.1A DE102020103880A1 (en) | 2020-02-14 | 2020-02-14 | Cleaning device and cleaning robot |
PCT/EP2021/051191 WO2021160392A1 (en) | 2020-02-14 | 2021-01-20 | Cleaning device and cleaning robot |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4103030A1 true EP4103030A1 (en) | 2022-12-21 |
Family
ID=74205858
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21701298.8A Pending EP4103030A1 (en) | 2020-02-14 | 2021-01-20 | Cleaning device and cleaning robot |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230084234A1 (en) |
EP (1) | EP4103030A1 (en) |
CN (1) | CN114980788B (en) |
DE (1) | DE102020103880A1 (en) |
WO (1) | WO2021160392A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022207385B3 (en) | 2022-07-19 | 2023-11-09 | BSH Hausgeräte GmbH | Wiping device for a floor cleaner |
DE102022207383B3 (en) | 2022-07-19 | 2023-11-09 | BSH Hausgeräte GmbH | Wiping device for a floor cleaner |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20050012047A (en) * | 2003-07-24 | 2005-01-31 | 삼성광주전자 주식회사 | Robot cleaner having a rotating damp cloth |
JP4201747B2 (en) * | 2004-07-29 | 2008-12-24 | 三洋電機株式会社 | Self-propelled vacuum cleaner |
CN105407776B (en) * | 2013-07-23 | 2019-01-01 | 阿尔弗雷德·卡赫欧洲两合公司 | Floor-cleaning machine and method for adjusting positioning of the cleaning roller on floor-cleaning machine |
DE102016111811A1 (en) * | 2016-06-28 | 2017-12-28 | Vorwerk & Co. Interholding Gmbh | Wet cleaning device with a cleaning roller |
CN110710932A (en) * | 2018-07-13 | 2020-01-21 | 上海楠木机器人科技有限公司 | Lifting mechanism, cleaning robot with same and working method thereof |
CN110192813A (en) * | 2019-06-06 | 2019-09-03 | 河南理工大学 | A kind of multifunctional lavatory cleaning device |
CN110251003B (en) * | 2019-07-11 | 2021-01-05 | 天津海欣联华高科技发展有限公司 | Active multifunctional cleaning robot |
-
2020
- 2020-02-14 DE DE102020103880.1A patent/DE102020103880A1/en active Pending
-
2021
- 2021-01-20 WO PCT/EP2021/051191 patent/WO2021160392A1/en unknown
- 2021-01-20 CN CN202180009924.6A patent/CN114980788B/en active Active
- 2021-01-20 EP EP21701298.8A patent/EP4103030A1/en active Pending
- 2021-01-20 US US17/799,281 patent/US20230084234A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
CN114980788B (en) | 2023-12-26 |
WO2021160392A1 (en) | 2021-08-19 |
DE102020103880A1 (en) | 2021-08-19 |
CN114980788A (en) | 2022-08-30 |
US20230084234A1 (en) | 2023-03-16 |
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