KR20240031351A - Autonomous cleaning robot with wet cleaning device - Google Patents

Abstract

The present invention relates to an autonomous cleaning robot (2), comprising: a main body (3) comprising a lower surface (4) and a suction opening (5) opening into the lower surface (4); A wet type comprising two mop supports (15) each mounted to be movable in translation relative to the main body (3) in the direction of translation (T), and two mops each mounted on the two mop supports (15). cleaning device (14); and two drive wheels (7) mounted on the main body (3) configured to roll on the cleaning surface and each rotatably movable about two substantially parallel rotation axes. The two mop supports 15 are located behind the rotation axis of the driving wheels 7, and the direction T of translation extends substantially parallel to the rotation axis of the two driving wheels 7.

Description

Autonomous cleaning robot with wet cleaning device

The invention relates to an autonomous cleaning device with a wet cleaning device, and more particularly to a cleaning surface which can be displaced in an independent manner on a cleaning surface, which can be for example tiles, parquet, laminate flooring, carpets or rugs. It relates to the field of robot vacuum cleaners capable of suctioning dust and debris present in a surface and possibly cleaning the cleaning surface simultaneously with the suction action.

Autonomous cleaning robots are commonly used today, which can clean the entire surface of a house without any user assistance, to the extent that the surface in question is flat, i.e. at the same level. Therefore, autonomous cleaning robots save significant time, freeing users to engage in other activities.

Document EP3257416A1 discloses an autonomous cleaning robot, which:

- a main body comprising a lower surface configured to be oriented towards the cleaning surface and a suction opening provided in the front part of the main body and opening into the lower surface of the main body;

- A wet cleaning device comprising two mop supports, each of which is movable in translation relative to the main body in the direction of translation, and two mops, each of which is removably mounted on the two mop supports. a wet cleaning device, configured to contact the cleaning surface, and

- configured to roll on the cleaning surface and comprising two drive wheels mounted on the main body, each rotatably movable about two substantially parallel rotation axes.

According to document EP3257416A1, two mop supports are respectively mounted on the front part of the main body and the rear part of the main body, and are arranged on both sides of the rotation axis of the driving wheel. Furthermore, according to document EP3257416A1, the direction of translation of the mop support portion extends parallel to the main displacement direction of the autonomous cleaning robot, that is, along the longitudinal direction of the autonomous cleaning robot.

The fact that the mop support is displaced parallel to the main direction of displacement of the wet cleaning robot means that the mops do not exert the same frictional force on the cleaning floor (e.g. due to wear or dirt on one mop that is different from the other, or significantly increases the risk of the drive wheel slipping on the cleaning surface (due to the displacement of the two mops on two different cleaning surfaces).

Additionally, such slippage may be detrimental to the autonomous navigation of the autonomous cleaning robot, whereby the autonomous cleaning robot needs to stop the ongoing cleaning operation and communicate with its docking station to reposition itself within the space (this may vary depending on the floor cleaning time). increases and reduces the cleaning performance of autonomous cleaning robots). To overcome these shortcomings, it is conceivable for the autonomous cleaning robot to be equipped with a more complex and expensive control unit (able to control the navigation of the autonomous cleaning robot by taking into account the aforementioned slippage), but this would reduce the manufacturing cost of the autonomous cleaning robot. will increase significantly.

Additionally, due to the mop supports being arranged respectively at the front and rear of the driving wheels, the support force exerted by each mop on the cleaning floor is mainly achieved by the lateral wheels arranged between the two mop supports. Because it is absorbed, it will become small, which limits the cleaning performance of the cleaning robot described in document EP3257416A1.

The present invention aims to solve these shortcomings.

The technical problem underlying the present invention consists in particular in providing an autonomous cleaning robot that is simple, economical, and compact in structure while having excellent cleaning capabilities.

To this end, the object of the present invention is an autonomous cleaning robot, which:

- a main body comprising a lower surface configured to be oriented towards the cleaning surface and a suction opening provided in the front part of the main body and opening into the lower surface of the main body;

- an intake unit at least partially received within the main body and configured to produce an air flow through the intake opening,

- A wet cleaning device comprising two mop supports, each of which is movable in translation relative to the main body in the direction of translation, and two mops, each of which is removably mounted on the two mop supports, wherein the mop is used to clean the surface and a wet cleaning device configured to contact, and

- configured to roll on the cleaning surface and comprising two drive wheels mounted on the main body, each rotatably movable about two substantially parallel rotation axes.

The two mop supports are located behind the rotation axes of the drive wheels, and the direction of translation extends substantially parallel to the rotation axes of the two drive wheels. In other words, the direction of translation extends transverse to the main displacement direction of the autonomous cleaning robot.

This arrangement of the mop supports, i.e. behind the axis of rotation of the drive wheels, makes it possible to increase the support force exerted by each mop on the cleaning surface due to the weight exerted on the wet cleaning device by the main body, This makes it possible to increase the friction of the wet cleaning device on the cleaning surface. Therefore, this arrangement of the mop support increases the scraping efficiency of the wet cleaning device on the floor and thus increases the cleaning quality of the autonomous cleaning robot.

Furthermore, this arrangement of the mop support makes it possible to prevent the drive wheel from rolling over the wet area that has just been cleaned by the mop and thus to prevent the appearance of traces that could be detrimental to the quality of the cleaning carried out.

In addition, the fact that the mop support is displaced parallel to the axis of rotation of the two drive wheels, i.e. transverse to the main direction of displacement of the wet cleaning robot, and not parallel to the main direction of displacement (e.g. Risk of the drive wheels slipping on the cleaning surface when the mops do not exert the same frictional force on the cleaning floor (due to wear or dirt on one mop that is different from the other, or due to displacement of the two mops on two different cleaning surfaces). significantly limits.

Compared to an autonomous cleaning robot with a mop support that is longitudinally displaced, the lateral displacement of the mop support increases the size of the autonomous cleaning robot, optimizing the surface of the mop that can be identified by stains when the autonomous cleaning robot is displaced. Length is also limited. In fact, due to the alternating movement of the mop supports and the proximity of the drive wheels, the longitudinal dimensions of the autonomous cleaning robot (which may be detrimental to the cleaning quality of the autonomous cleaning robot) are prevented from being affected. It may be necessary to reduce the mop dimensions along or increase the dimensions of the autonomous cleaning robot to enable longitudinal displacement of large mops.

The autonomous cleaning robot that is the subject of the present invention, like most autonomous cleaning robots, is designed to effectively clean the floor when displaced in a displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and in a predetermined displacement direction. The displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined displacement direction define the main displacement direction of the autonomous cleaning robot object of the present invention. Accordingly, the front part or the rear part of the main body of the autonomous cleaning robot is identified with respect to the main displacement direction of the autonomous cleaning robot.

The autonomous cleaning robot may additionally have one or more of the following features, alone or in combination.

According to an embodiment of the invention, the suction opening is located in front of the axis of rotation of the drive wheel.

According to an embodiment of the invention, two mop supports are arranged side by side.

According to an embodiment of the invention, the axes of rotation of the two drive wheels are collinear.

According to an embodiment of the invention, the wet cleaning device is arranged within the rear part of the main body.

According to an embodiment of the invention, the mop supports are mounted movably relative to each other between a closed configuration where the two mop supports are closer together and a remote configuration where the two mop supports are spaced apart from each other.

According to an embodiment of the invention, the autonomous cleaning robot includes a translational drive mechanism configured to translate the mop support in a translational direction and preferably in an alternating movement.

According to an embodiment of the invention, the translation drive mechanism is configured to translate the mop support in the direction of translation and alternately between the closed configuration and the remote configuration.

According to an embodiment of the invention, the translational drive mechanism is located at least partially over one of the mop supports.

According to an embodiment of the invention, the translation drive mechanism is configured to displace the two mop supports in an anti-phase translation. In other words, the translation drive mechanism is configured to translate the two mop supports in alternating movements and in opposite displacement directions.

According to an embodiment of the invention, each of the mops is configured to exert a support force on the cleaning surface when the autonomous cleaning robot is placed on the cleaning surface. Advantageously, the bearing force is greater than 5 N, for example at least 9 N.

According to an embodiment of the invention, two mop supports are arranged on both sides of the central longitudinal plane of the main body. In this document, the term “central longitudinal plane” means a vertical plane parallel to the main direction of displacement and dividing the main body into two substantially equal parts.

According to an embodiment of the present invention, the autonomous cleaning robot is configured such that when the autonomous cleaning robot is placed on the cleaning surface, the rear portion of the autonomous cleaning robot lies directly on the cleaning surface with the two mops. This configuration of the autonomous cleaning robot allows the mops to directly take on at least part of the mass of the autonomous cleaning robot, thereby further increasing the support force exerted by each mop on the cleaning floor. Therefore, this configuration of the autonomous cleaning robot allows the cleaning quality of the autonomous cleaning robot to be further improved.

According to an embodiment of the present invention, the two mop supports do not intersect any vertical plane passing through the rotation axis of the wheels provided on the autonomous cleaning robot, and the two mop supports are aligned with the two wheels provided on the autonomous cleaning robot. The two mop supports are arranged relative to the main body such that they are at least partially located between two vertical planes passing respectively through the rotation axes. This configuration of the autonomous cleaning robot also allows the mop to directly take on at least part of the mass of the autonomous cleaning robot, thereby further improving the cleaning quality of the autonomous cleaning robot. In contrast, the mop support intersects a vertical plane passing through the axes of rotation of the wheels of the autonomous cleaning robot (and of, for example, the two drive wheels), or between the wheels of the autonomous cleaning robot whose rotation axes are parallel ( (e.g. between the axes of rotation of the drive wheels and the axes of rotation of the rear wheels), the force resulting from the mass of the autonomous cleaning robot will be taken up by the wheels and not by the mop support.

According to an embodiment of the invention, the autonomous cleaning robot does not have additional wheels located behind the rotation axis of the two drive wheels.

According to an embodiment of the invention, an autonomous cleaning robot comprises additional wheels rotatably mounted on the main body and configured to roll over the cleaning surface, wherein all additional wheels are forward of the rotation axes of the two drive wheels. is located in

According to an embodiment of the present invention, the autonomous cleaning robot includes a power battery configured to power the autonomous cleaning robot, the power battery being located at least partially on one of the mop supports. This arrangement of the power battery makes it possible to increase the holding force that at least one of the mops exerts on the cleaning surface, and thus to further increase the scraping efficiency of the wet cleaning device on the floor, thereby improving the cleaning quality of the autonomous cleaning robot. allows to increase further.

According to an embodiment of the invention, the center of gravity of the power battery is located above one of the mop supports.

According to an embodiment of the invention, the power battery is located entirely above one of the mop supports.

According to an embodiment of the invention, the suction unit is located at least partially above one of the mop supports. This arrangement of the suction unit makes it possible to increase the holding force that at least one of the mops exerts on the cleaning surface, and thus to further increase the scraping efficiency of the wet cleaning device on the floor, thereby improving the cleaning quality of the autonomous cleaning robot. allows to increase further.

According to an embodiment of the invention, the suction unit includes a suction motor and a fan, the fan coupled to the suction motor and configured to generate an air flow through the suction opening.

According to an embodiment of the invention, the center of gravity of the suction unit is located above one of the mop supports.

According to an embodiment of the invention, the suction unit is positioned entirely above one of the mop supports.

According to an embodiment of the invention, the suction unit and the power battery are arranged on both sides of the central longitudinal plane of the main body. This arrangement of the suction unit and the power battery allows for a better distribution of the mass of the autonomous cleaning robot and thus balances the support force exerted by the two mops on the cleaning surface. Therefore, this arrangement further improves the cleaning performance of the autonomous cleaning robot.

According to an embodiment of the invention, the wet cleaning device is removably mounted relative to the main body.

According to an embodiment of the invention, the wet cleaning device is configured to be removed from the main body by a translational movement directed towards the rear portion of the main body. Accordingly, removal of the wet cleaning device can be carried out without raising the autonomous cleaning robot and thus without the risk of the user mishandling the autonomous cleaning robot and dropping it.

According to an embodiment of the invention, the wet cleaning device comprises an inner housing in which a translational drive mechanism is arranged.

According to an embodiment of the present invention, the wet cleaning device includes a first guiding means configured to cooperate with a second guiding means provided on the main body when mounting the wet cleaning device on the main body, thereby guiding the wet cleaning device in a guiding direction. Guide to:

According to an embodiment of the invention, the first guiding means comprises at least one guide rib and the second guiding means comprises at least one guide groove.

According to an embodiment of the invention, the second guiding means is provided on the lower side of the main body.

According to an embodiment of the invention, the wet cleaning device includes a first electrical connection configured to cooperate with a second electrical connection mounted on the main body when mounting the wet cleaning device on the main body with a mounting direction directed towards the front part of the main body. Includes electrical connections. This configuration of the first and second electrical connections ensures easy and automatic connection of the connections when mounting the wet cleaning device on the main body.

According to an embodiment of the present invention, the autonomous cleaning robot includes a locking mechanism configured to lock the wet cleaning device on the main body. This locking mechanism allows the wet cleaning device to limit the risk of being removed at an inappropriate time.

According to an embodiment of the invention, the locking mechanism is operable by a user and comprises a locking member, for example a locking button, provided on the main body or the wet cleaning device, the locking member being positioned on the wet cleaning device or the main body. between a locking position in which the locking member is configured to lock the wet cleaning device on the main body in cooperation with a locking element provided in and a release position in which the locking member is configured to release the locking element so that the wet cleaning device can be removed from the main body. It is mounted movably.

According to an embodiment of the present invention, the autonomous cleaning robot includes a discharge member configured to discharge the wet cleaning device away from the main body and toward a rear portion of the main body when the locking member is displaced to the release position. The presence of this discharge member makes removal of the wet cleaning device easier.

According to an embodiment of the present invention, the discharge member includes a discharge surface configured to bear against the wet cleaning device. Advantageously, the discharge member is at least partially received within a receiving cavity provided in the main body.

According to an embodiment of the present invention, the discharge member has a retracted position where the discharge face of the discharge member is recessed at or located near the insertion opening of the receiving cavity, and the discharge face of the discharge member protrudes from the receiving cavity and is positioned near the insertion opening of the receiving cavity. It can be displaced between deployment positions positioned at a distance from the insertion opening.

According to an embodiment of the present invention, the wet cleaning device is configured to displace the discharge member to the retracted position when the wet cleaning device is mounted on the main body.

According to an embodiment of the invention, the discharge member is slidably mounted relative to the main body in a sliding direction substantially parallel to the main displacement direction of the autonomous cleaning robot, that is, substantially perpendicular to the rotation axis of the two drive wheels.

According to an embodiment of the invention, the autonomous cleaning robot comprises a biasing element, for example a compression spring, configured to bias the discharge member towards the deployed position.

According to an embodiment of the invention, the locking member can be displaced in translation along a substantially vertical operating direction when the autonomous cleaning robot is placed on a horizontal surface.

According to an embodiment of the invention, the locking mechanism comprises a biasing member, for example a compression spring, configured to bias the locking member towards the locking position.

According to an embodiment of the invention, a locking member is provided on the rear portion of the main body.

According to an embodiment of the invention, the locking member includes a locking finger and the locking element includes a locking housing configured to cooperate with the locking finger.

According to an embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid storage container, and the wet cleaning device is configured to be fluidly connected to the cleaning liquid storage container and configured to supply cleaning liquid to a mop mounted on the mop support. and a plurality of liquid outlet orifices, wherein the liquid outlet orifices are located in front of the mop support portion.

According to an embodiment of the invention, the cleaning liquid storage container is mounted on the main body, for example in a removable manner.

According to an embodiment of the present invention, an autonomous cleaning robot includes a cleaning liquid supply circuit provided on the main body and configured to fluidly connect a liquid outlet orifice to a cleaning liquid storage container. Advantageously, the cleaning liquid supply circuit comprises a distributor housed in the main body, the distributor comprising a collection chamber extending transversely to the direction of main displacement of the autonomous cleaning robot and fluidly connected to the cleaning liquid storage container, and into the collection chamber. It includes a plurality of discharge orifices that are open and distributed along the collection chamber.

According to an embodiment of the invention, each outlet orifice is positioned opposite a respective passage orifice provided on the main body and opening into the lower face of the main body. Advantageously, each passage orifice is positioned opposite a respective liquid outlet orifice.

According to an embodiment of the invention, the liquid outlet orifice is located in the front portion of the mop. Advantageously, the liquid outlet orifice is located behind the rotation axis of the drive wheel.

According to an embodiment of the invention, the liquid outlet orifice is substantially aligned with an alignment direction extending substantially parallel to the axis of rotation of the two drive wheels, ie transverse to the direction of main displacement of the autonomous cleaning robot. This arrangement of the liquid outlet orifice allows the cleaning liquid to be distributed more homogeneously on the mop, which makes it possible to further improve the cleaning quality of the autonomous cleaning robot according to the invention.

According to an embodiment of the invention, the autonomous cleaning robot is provided with a lifting ramp extending substantially parallel to the rotational axis of the two drive wheels, i.e. transverse to the direction of main displacement of the autonomous cleaning robot and located in front of the mop support. a ramp, the lifting ramp comprising a backwards and downwardly inclined lifting surface oriented toward the cleaning surface, the lifting surface being configured to block obstacles present in front of the autonomous cleaning robot during forward displacement of the main body. It is configured to lift the rear portion of the main body when in contact with and sliding on the lifting surface. The presence of these lifting ramps allows the autonomous cleaning robot to more easily overcome the forward obstacles it encounters.

According to an embodiment of the invention, the lifting surface is configured to be inclined relative to the horizon by an inclination angle of 10 to 40° when the autonomous cleaning robot is placed on a horizontal surface. Advantageously, the tilt angle is between 20 and 30°, for example about 25°.

According to an embodiment of the invention, liquid outlet orifices are provided on the lifting ramp and distributed along the lifting ramp. Advantageously, the liquid outlet orifice opens into the lifting surface.

According to an embodiment of the invention, the lifting ramp has a length substantially corresponding to the distance between the two drive wheels.

According to an embodiment of the invention, a lifting ramp is provided on the wet cleaning device.

According to an embodiment of the present invention, an autonomous cleaning robot includes a rotating cleaning brush mounted within a main body to be rotatably movable about a brush rotation axis. Advantageously, the brush rotation axis extends substantially parallel to the rotation axis of the drive wheel. In other words, the brush rotation axis extends transversely to the main displacement direction of the autonomous cleaning robot.

According to an advantageous feature of the invention, the two drive wheels are lateral wheels of the autonomous cleaning robot.

The objects, aspects and advantages of the present invention will be better understood from the following description of specific embodiments of the present invention, presented by way of non-limiting example, with reference to the accompanying drawings.
1 is a top perspective view of an autonomous cleaning robot according to the present invention.
Figure 2 is a bottom perspective view of the autonomous cleaning robot of Figure 1.
Figure 3 is a partial bottom perspective view of the autonomous cleaning robot of Figure 1;
Figure 4 is a bottom view of the autonomous cleaning robot of Figure 1.
Figure 5 is a side view of the autonomous cleaning robot of Figure 1.
FIG. 6 is a longitudinal cross-sectional view of the autonomous cleaning robot of FIG. 1.
Figure 7 is an enlarged view of a detailed portion of Figure 6.
Figure 8 is a partial longitudinal cross-sectional view of the autonomous cleaning robot of Figure 1, showing the wet cleaning device removed from the main body of the autonomous cleaning robot.
Figure 9 is a top perspective view of the autonomous cleaning robot of Figure 1, showing the wet cleaning device removed from the main body.
Figure 10 is a front perspective view of a wet cleaning device.
Figure 11 is a partial front perspective view of a wet cleaning device.
Figure 12 is a partial bottom perspective view of the autonomous cleaning robot of Figure 1 with a wet cleaning device arranged;
Figure 13 is a top perspective view of the autonomous cleaning robot of Figure 1, showing a replacement module assembled to the main body.
Figure 14 is a partial longitudinal cross-sectional view of the autonomous cleaning robot of Figure 1, showing a replacement module assembled to the main body.

Only elements necessary for understanding the present invention are presented. For easier reading of the drawings, like elements in the drawings have the same reference numerals.

In this document, the terms “horizontal”, “vertical”, “bottom”, “top”, “top”, “bottom” used to describe an autonomous cleaning robot or main body refer to wheels on a flat, horizontal cleaning floor. It should be noted that when placed, it refers to an autonomous cleaning robot in use.

1 to 14 show an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to displace in an autonomous manner over a cleaning surface.

The autonomous cleaning robot 2 includes a main body 3, which is provided on a front portion 3.1 of the main body 3 and a lower surface 4 configured to be oriented towards the cleaning surface. It includes a suction opening (5) opening into the lower surface (4) of the body (3). Advantageously, the suction opening 5 is elongated and extends transversely to the main direction of displacement D of the autonomous cleaning robot 2 and, more particularly, at right angles.

The autonomous cleaning robot 2 includes a rotating cleaning brush 6 mounted within the main body 3 rotatably movable about a brush rotation axis extending transversely and more particularly at right angles to the main displacement direction D. It further includes. Advantageously, the brush rotation axis is substantially horizontal when the autonomous cleaning robot 2 is placed on a horizontal surface.

The autonomous cleaning robot 2 also includes a drive mechanism (not shown in the drawing) configured to rotatably drive the rotating cleaning brush 6 about the brush rotation axis.

As shown more particularly in FIGS. 2 to 4 , the autonomous cleaning robot 2 comprises two drive wheels 7 configured to roll on the cleaning surface. The two drive wheels 7 are rotatably mounted relative to the main body 3 and have parallel and advantageously collinear axes of rotation. Advantageously, the axis of rotation of the drive wheel 7 extends at right angles to the main direction of displacement D.

Two driving wheels 7 are configured to protrude from the lower surface 4 of the main body 3 and are arranged on both sides of the central longitudinal plane P of the main body 3. Advantageously, the two drive wheels 7 are arranged symmetrically with respect to the central longitudinal plane P of the main body 3 and are the lateral wheels of the autonomous cleaning robot 2 .

The two drive wheels 7 are advantageously motorized independently of each other. Accordingly, the autonomous cleaning robot 2 includes two rotational drive mechanisms ( 8) Includes. Each rotational drive mechanism 8 comprises a drive motor rotatably coupled to the respective drive wheel 7 and arranged for example within the respective lateral part of the main body 3 . Depending on the control of the two aforementioned drive motors, the main body 3 can pivot to the left, right, or move forward or even backward on its own.

According to the embodiment shown in the figures, the autonomous cleaning robot 2 is provided with additional wheels 9 which are freely rotatably mounted with respect to the main body 3 and, for example, in the front part of the main body 3 (3.1). ) and two additional wheels 9 arranged on the wheel. Advantageously, all additional wheels 9 are located in front of the rotation axis of the two drive wheels 7 , so that the autonomous cleaning robot 2 has an additional wheel located behind the rotation axis of the two drive wheels 7 . It doesn't have any wheels.

The autonomous cleaning robot (2) further includes a suction unit (11) housed within the main body (3). The suction unit 11 includes a suction motor and a fan, which fan is coupled to the suction motor and is configured to generate an air flow through the suction opening 5.

The autonomous cleaning robot 2 also has a waste collection device 12, which is arranged upstream of the suction unit 11 and through which the air flow generated by the fan is crossed when the autonomous cleaning robot 2 is operated (see Figure 6). Includes.

The autonomous cleaning robot 2 also includes a power battery 13 configured to supply power to the autonomous cleaning robot 2 . Advantageously, the power battery 13 is rechargeable and housed within the main body 3 .

As shown in particular in Figure 2, the autonomous cleaning robot 2 further comprises a wet cleaning device 14 arranged in the rear part 3.2 of the main body 3. Advantageously, the wet cleaning device 14 is arranged opposite the rotating cleaning brush 6 with respect to the axis of rotation of the drive wheel 7 .

The wet cleaning device 14 comprises two mop supports 15 arranged side by side and located behind the rotation axis of the drive wheel 7 . Advantageously, the two mop supports 15 are arranged on both sides of the central longitudinal plane P of the main body 3 and are configured to extend substantially horizontally when the main body 3 lies on a horizontal surface. .

More particularly, as shown in Figure 3, the two mop supports 15 do not intersect any vertical plane passing through the axis of rotation of the wheels provided on the autonomous cleaning robot 2, and the two mop supports 15 The two mop supports (15) are arranged with respect to the main body (3) so that they are at least partially located between two vertical planes that respectively pass through the rotation axes of the two wheels provided by the autonomous cleaning robot (2). do.

Advantageously, the power battery 13 is located at least partially and for example entirely on one of the mop supports 15 and the suction unit 11 is located at least partially and for example entirely on the other mop support 15 . It is located above. The suction unit 11 and the power battery 13 are arranged on both sides of the central longitudinal plane P of the main body 3.

Each of the two mop supports 15 has a main body 3 along the direction of translation T, which extends transversely to the main direction of displacement D of the autonomous cleaning robot 2 and advantageously at right angles. ) is mounted so that it can move in translation.

Advantageously, the mop supports 15 are movable relative to each other between a closed configuration in which the two mop supports 15 are closer together and a remote configuration in which the two mop supports 15 are positioned at a distance from each other. It is installed properly.

The wet cleaning device 14 also includes a translation drive mechanism 16 configured to translate the mop support 15 in the direction of translation T and alternately between the closed and remote configurations. do. Accordingly, the translation drive mechanism 16 is configured to translate the two mop supports 15 in opposite phases. Advantageously, the translational drive mechanism 16 is located at least partially above the mop support 15 .

According to the embodiment shown in the figures, the translation drive mechanism 16 comprises a drive motor 16.1, a crankshaft 16.2 rotationally coupled to the drive motor 16.1 and configured to be rotationally driven by the drive motor 16.1. , and two connecting rods 16.3 each comprising a first end portion hingedly mounted on the crankshaft 16.2 and a second end portion hingedly articulated on the respective mop support 15. ) includes.

The wet cleaning device 14 further includes two mops 17 each removably mounted on two mop supports 15 . The mop 17 is configured to come into contact with the cleaning surface and, more particularly, to exert a holding force on the cleaning surface when the autonomous cleaning robot 2 is placed on the cleaning surface. The bearing force may be, for example, 9 N or more.

Advantageously, the autonomous cleaning robot 2 is such that when the autonomous cleaning robot 2 is placed on the cleaning surface, the rear part of the autonomous cleaning robot 2 is placed directly on the cleaning surface with the two mops 17 . It is configured like this.

More particularly as shown in Figures 8 to 12, the wet cleaning device 14 is removably mounted relative to the main body 3, the main body 3 being such that the wet cleaning device 14 is at least partially It includes a receiving housing 18 accommodated therein. The wet cleaning device 14 is advantageously configured to be removed from the main body 3 by means of a translational movement directed towards the rear part of the main body 3 .

According to the embodiment shown in the figures, the wet cleaning device 14 comprises a support body 19 which more particularly includes a support plate comprising a lower surface on which the mop support 15 is movably mounted. 19.1), and a protective cowl (19.2) fixed to the upper surface of the support plate (19.1). The support plate 19.1 and the protective cowl 19.2 form an inner housing 19.3 in which the translation drive mechanism 16 is arranged. The support body 19 further comprises a lateral wall 19.4 extending upwardly from the support plate 19.1 and configured to at least partially cover the receiving housing 18 .

9 to 13, the wet cleaning device 14 is operated during mounting of the wet cleaning device 14 on the main body 3 and during removal of the wet cleaning device 14 from the main body 3. and first guiding means configured to cooperate with the second guiding means provided on the main body 3, thereby guiding the wet cleaning device 14 in a guiding direction substantially perpendicular to the main displacement direction D. do. The first guiding means may comprise two guiding lips 21, for example a T-shaped guiding lip provided on the upper surface of the support plate 19.1, and the second guiding means, for example on the main body. It may include two guide grooves 22, such as the T-shaped guide groove provided on the lower surface 4 of (3).

According to the embodiment shown in the figures, the wet cleaning device 14 is positioned on the main body 3 while mounting the wet cleaning device 14 on the main body 3 with a mounting direction directed towards the front part of the main body 3. It further comprises a first electrical connection (23), such as a male or female connection, configured to cooperate with a second electrical connection (24), such as a female or male connection, mounted on (3).

The autonomous cleaning robot 2 also includes a locking mechanism configured to lock the wet cleaning device 14 on the main body 3 . The locking mechanism comprises a locking member 25 that can be actuated by the user and is provided in the rear part of the main body 3 and for example on the rear face of the main body 3 .

The locking member (25) has a locking position where the locking member (25) is configured to lock the wet cleaning device (14) on the main body (3) in cooperation with the locking element (26) provided on the wet cleaning device (14); The locking member 25 is mounted movably between release positions configured to release the locking element 26 to allow the wet cleaning device 14 to be removed from the main body 3 . The locking member 25 may for example comprise a locking finger and the locking element 26 may for example comprise a locking housing configured to receive the locking finger.

Advantageously, the locking member 25 is mounted movable in translation relative to the main body 3 along a substantially vertical operating direction when the autonomous cleaning robot 2 is placed on a horizontal surface.

According to the embodiment shown in the figures, the locking mechanism comprises a biasing member 27, for example a compression spring, configured to bias the locking member 25 towards the locking position.

According to the embodiment shown in the figures, the autonomous cleaning robot 2 also moves the wet cleaning device 14 away from the main body 3 and moves the main body 3 when the locking member 25 is displaced to the release position. ) and a discharge member 28 configured to discharge toward the rear portion. Advantageously, the discharge member 28 is partially received within a receiving cavity 29 provided in the main body 3 and has a discharge face 28.1 configured to bear against the wet cleaning device 14.

The discharge member 28 is disposed in a sliding direction parallel to the main displacement direction D of the autonomous cleaning robot 2 and the discharge face 28.1 of the discharge member 28 is depressed at the insertion opening of the receiving cavity 29. or a retracted position located close thereto (see FIG. 7 ) and a deployed position where the discharge face 28.1 of the discharge member 28 protrudes from the receiving cavity 29 and is located at a distance from the insertion opening of the receiving cavity 29. (see Fig. 12), it is mounted to be slidable with respect to the main body 3. Advantageously, the wet cleaning device 14 is configured to displace the discharge member 28 to the retracted position when the wet cleaning device 14 is mounted on the main body 3.

As shown more particularly in FIG. 7 , the autonomous cleaning robot 2 comprises a biasing element 31 , for example a compression spring, configured to bias the discharge member 28 to the deployed position.

The autonomous cleaning robot 2 also comprises a cleaning liquid storage container 32 which is mounted on the main body 3 , for example in a removable manner. Advantageously, the cleaning liquid storage container 32 and the waste collection device 12 overlap and are secured to each other. Accordingly, the autonomous cleaning robot 2 may comprise a removable storage container, comprising, for example, a first compartment forming the cleaning liquid storage container 32 and a second compartment forming the waste collection device 12. You can. Nevertheless, according to embodiments of the invention, the cleaning liquid storage container 32 may be provided directly on the wet cleaning device 14 and thus separate from the waste collection device 12 .

The wet cleaning device (14) includes a plurality of liquid outlet orifices (33) configured to be fluidly connected to a cleaning liquid storage container (32) and configured to supply cleaning liquid to a mop (17) mounted on the mop support (15). ) further includes.

According to the embodiment shown in the figure, the liquid outlet orifices 33 are aligned in an alignment direction extending perpendicular to the main displacement direction D of the autonomous cleaning robot 2 and are regularly spaced apart from each other. Advantageously, the liquid outlet orifice 33 is located in the front part of the mop support 15 and, for example, in the front part of the mop 17 and is configured to face the cleaning surface.

The autonomous cleaning robot 2 also includes a cleaning liquid supply circuit provided on the main body 3 and configured to fluidly connect the liquid outlet orifice 33 to the cleaning liquid storage container 32.

Advantageously, the cleaning liquid supply circuit comprises a distribution portion 35 (see Figure 7) housed within the main body 3. The distribution section 35 is provided on a lower surface of the distribution section, a collection chamber extending transversely to the main displacement direction of the autonomous cleaning robot 2 and fluidly connected to the cleaning liquid storage container 32, and the collection chamber It is open inwardly and includes a plurality of outlet orifices (not shown in the drawing) distributed along the collection chamber. Advantageously, each discharge orifice is located opposite to a respective passage orifice (37) (see Figure 12) provided on the main body (3) and opening into the lower face (4) of the main body (3), Each passage orifice 37 is positioned opposite to a respective liquid outlet orifice 33.

According to the embodiment shown in the figure, the autonomous cleaning robot 2 is provided with a lifting ramp ( 38). The lifting ramp 38 can for example have a length substantially corresponding to the distance between the two drive wheels 7 . Advantageously, a lifting ramp 38 is provided on the wet cleaning device 14 and is for example fixed to the body of the support 19 .

The lifting ramp 38 comprises a lifting surface 38.1 oriented towards the cleaning surface and inclined backwards and downwards. Advantageously, the lifting surface 38.1 is substantially flat. The lifting surface 38.1 is more particularly in contact with the lifting surface 38.1 when an obstacle present in front of the autonomous cleaning robot 2 during the forward displacement of the main body 3 comes into contact with the lifting surface 38.1 and slides on the lifting surface 38.1. , configured to lift the rear portion 3.2 of the main body 3.

Advantageously, the lifting surface 38.1 is configured to be inclined relative to the horizon by an inclination angle of 10 to 40°, for example about 25°, when the autonomous cleaning robot is placed on a horizontal surface.

According to the embodiment shown in the figures, liquid outlet orifices 33 are provided on the lifting ramp 38 and distributed along the lifting ramp 38 . Advantageously, the liquid outlet orifice 33 opens into the lifting surface 38.1.

13 and 14 , the autonomous cleaning robot also has a replacement module 41 configured to be mounted on the main body 3 instead of the wet cleaning device 14, especially when wet cleaning of the cleaning surface is not required. Includes. The replacement module 41 does not have a mop and can be installed in the main body instead of the wet cleaning device 14, for example when suctioning of soft floors such as carpets is required or when wet cleaning of hard floors is not required. .

Advantageously, the replacement module 41 has guiding means 41.1 identical to the guiding lip 21 provided on the wet cleaning device 14, and also has plate supports 19.1 and lateral walls 19.4 of the support body 19. It includes a bottom wall 41.2 and a rear wall 41.3, respectively similar to .

According to an embodiment of the invention, the replacement module 41 is comprised of a module support configured to be mounted on the main body 3 instead of the wet cleaning device 14 and at least one driven mop, i.e. mounted non-movably with respect to the module support. You can provide a mop that can be used. This replacement module 41 allows the user to clean the floor, which can be wet or dry depending on the user's needs.

According to another embodiment of the invention, the replacement module 41 may be equipped with a floor treatment element, other than a mop, configured to effect a mechanical, chemical, thermal, or radiative treatment of the floor.

Of course, the invention is not limited to the described and illustrated embodiments, which are provided by way of example only. Modifications can still be made without departing from the scope of protection of the present invention, especially with regard to the construction of various elements or by replacing them with equivalent techniques.

Claims (18)

As an autonomous cleaning robot (2):
- a main body comprising a lower surface (4) configured to be oriented towards the cleaning surface, and a suction opening (5) provided in the front part of the main body (3) and opening into the lower surface (4) of the main body (3). main body (3),
- a suction unit (11) received at least partially within the main body (3) and configured to generate an air flow through the suction opening (5),
- Two mop supports (15) each mounted to be movable in a translational motion with respect to the main body (3) in the direction of translation (T), and two mop supports (15) each removably mounted on the two mop supports (15). A wet cleaning device (14) comprising two mops (17), wherein the mops (17) are configured to contact the cleaning surface, and
- an autonomous cleaning robot ( In 2),
The two mop supports (15) are located behind the rotation axis of the driving wheels (7), and the direction of translation (T) extends substantially parallel to the rotation axis of the two driving wheels (7). An autonomous cleaning robot (2), characterized in that: According to paragraph 1,
The mop supports (15) are mounted to be movable relative to each other between a closed configuration where the two mop supports (15) are close to each other and a remote configuration where the two mop supports (15) are spaced apart from each other. (2). According to claim 1 or 2,
The autonomous cleaning robot (2), wherein the two mop supports (15) are arranged on both sides of the central longitudinal plane (P) of the main body (3). According to any one of claims 1 to 3,
The autonomous cleaning robot is configured so that when the autonomous cleaning robot (2) is placed on the cleaning surface, the rear part of the autonomous cleaning robot (2) lies directly on the cleaning surface with the two mops (17). (2). According to any one of claims 1 to 4,
So that the two mop supports 15 do not intersect any vertical plane passing through the rotation axis of the wheel provided on the autonomous cleaning robot 2, and the two mop supports 15 are aligned with the autonomous cleaning robot 2. An autonomous cleaning robot ( 2). According to any one of claims 1 to 5,
an autonomous cleaning robot (2) comprising a power battery (13) configured to supply power to the autonomous cleaning robot (2), wherein the power battery (13) is located at least partially on one of the mop supports (15). ). According to any one of claims 1 to 6,
The suction unit (11) is located at least partially on one of the mop supports (15). According to any one of claims 1 to 7,
An autonomous cleaning robot (2), wherein the wet cleaning device (14) is removably mounted with respect to the main body (3). According to clause 8,
The wet cleaning device (14) is configured to be removed from the main body (3) by a translational movement directed towards the rear part of the main body (3). According to clause 9,
The wet cleaning device (14) comprises first guiding means configured to cooperate with second guiding means provided on the main body (3) while mounting the wet cleaning device (14) on the main body (3), An autonomous cleaning robot (2) that guides the wet cleaning device (14) in a guidance direction accordingly. According to any one of claims 8 to 10,
The wet cleaning device 14 is mounted on the main body 3 while mounting the wet cleaning device 14 on the main body 3 in a mounting direction directed toward the front part of the main body 3. Autonomous cleaning robot (2), comprising a first electrical connection (23) configured to cooperate with an mounted second electrical connection (24). According to any one of claims 8 to 11,
An autonomous cleaning robot (2), comprising a locking mechanism configured to lock the wet cleaning device (14) on the main body (3). According to clause 12,
The locking mechanism can be operated by a user and includes a locking member 25 provided on the main body 3 or the wet cleaning device 14, wherein the locking member 25 is configured to operate the wet cleaning device 14. (14) or a locking position in which the locking member (25) is configured to lock the wet cleaning device (14) on the main body (3) in cooperation with a locking element (26) provided on the main body (3); An autonomous cleaning robot, wherein the locking member (25) is mounted to be movable between release positions configured to release the locking element (26) to remove the wet cleaning device (14) from the main body (3). (2). According to clause 13,
The locking member (25) is capable of being displaced in translation along a substantially vertical operating direction when the autonomous cleaning robot (2) is placed on a horizontal surface. According to any one of claims 1 to 14,
The autonomous cleaning robot (2) includes a cleaning liquid storage container (32), and the wet cleaning device (14) is configured to be fluidly connected to the cleaning liquid storage container (32) and direct cleaning liquid to the mop support. An autonomous cleaning robot comprising a plurality of liquid outlet orifices (33) configured to supply a mop (17) mounted on (15), wherein the liquid outlet orifices (33) are located in front of the mop support (15). (2). According to any one of claims 1 to 15,
a lifting ramp (38) extending substantially parallel to the axis of rotation of the two drive wheels and positioned in front of the mop support (15), the lifting ramp (38) being oriented towards the cleaning surface and facing backwards. and a downwardly inclined lifting surface (38.1), wherein obstacles present in front of the autonomous cleaning robot (2) during the forward displacement of the main body (3) are prevented by the lifting surface (38.1). ), configured to lift the rear part of the main body (3) when in contact with and sliding on the lifting surface (38.1). According to claims 15 and 16,
The liquid outlet orifice (33) is provided on the lifting ramp (38) and distributed along the lifting ramp (38). According to any one of claims 1 to 17,
An autonomous cleaning robot (2), comprising a rotating cleaning brush (6) mounted within the main body (3) to be rotatably movable about the brush rotation axis.

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