EP3512397A1 - Floor cleaning robot - Google Patents

Floor cleaning robot

Info

Publication number
EP3512397A1
EP3512397A1 EP17784343.0A EP17784343A EP3512397A1 EP 3512397 A1 EP3512397 A1 EP 3512397A1 EP 17784343 A EP17784343 A EP 17784343A EP 3512397 A1 EP3512397 A1 EP 3512397A1
Authority
EP
European Patent Office
Prior art keywords
cleaning robot
projection
axis
spiral
motor
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.)
Granted
Application number
EP17784343.0A
Other languages
German (de)
French (fr)
Other versions
EP3512397B1 (en
Inventor
Lucien CHARMETTAN
Fabien David
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEB SA
Original Assignee
SEB SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SEB SA filed Critical SEB SA
Publication of EP3512397A1 publication Critical patent/EP3512397A1/en
Application granted granted Critical
Publication of EP3512397B1 publication Critical patent/EP3512397B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/16—Arrangement or disposition of cyclones or other devices with centrifugal action
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention generally relates to a floor cleaning robot, and in particular an autonomous floor cleaning robot provided with means for extracting waste.
  • An object of the present invention is to meet the drawbacks of the prior art mentioned above and in particular, first of all, to provide a compact floor cleaning robot that has good suction efficiency.
  • a first aspect of the invention relates to a floor cleaning robot, comprising:
  • a cyclonic dust separation unit comprising at least one spiral or helix-shaped duct around a spiral axis, for creating a spiral movement of a suction air flow
  • a motor-fan arranged to create the flow of suction air
  • At least one drive wheel arranged to pivot about a wheel axle, to cause a displacement of the soil cleaning robot
  • the floor cleaning robot has a cyclonic separation unit whose axis is parallel to the wheel axis, which provides good compactness, arranging the wheels and the cyclone separator in the direction of the width of the robot. This allows to clear space in the axial direction or longitudinal (front-rear direction) of the robot to accommodate a mobile bumper for example.
  • the axis of rotation of the motor is parallel to the spiral axis, but offset from the latter, which limits the aeraulic pressure losses, but allows to shift the motor-fan to accommodate for example other organs cleaning robot near the fan motor.
  • the cleaning robot comprises:
  • a projection of the motor rotation axis is arranged between a line connecting a projection of the contact points of the drive wheels with the ground and a projection of the contact point of said at least one free wheel with the ground.
  • the cleaning robot comprises:
  • a projection of the motor rotation axis is arranged between a line connecting a projection of the contact points of the driving wheels with the ground and a line connecting a projection of the points. contact of free wheels with the ground.
  • the cleaning robot comprises means for storing electrical energy
  • the electrical energy storage means are arranged between the fan motor and a bottom face of the floor cleaning robot.
  • the electrical energy storage means are typically a battery, and placing it under the fan motor allows to locate in the same place the heavier components of the engine, which facilitates the design of a stable robot.
  • it is easy to place the center of gravity of the robot between the wheels of the robot, to avoid tipping in use.
  • the share of the weight of the battery and the motor-fan is important, compared to the total weight of the cleaning robot.
  • the cleaning robot comprises:
  • the suction slot is arranged between the front face, or a vertical plane tangential to the front face, and a vertical plane comprising the wheel axle.
  • the driving wheels of the robot are arranged between the suction slot and the freewheels of the robot.
  • the suction slot and the front face are cantilevered above the floor to be cleaned.
  • the cleaning robot comprises an intermediate pipe, arranged between the cyclonic separating unit and the suction slot, and the intermediate pipe has a spiral-shaped downstream portion and connected to the cyclonic separating unit. This implementation improves cyclonic separation, by imposing as soon as possible a spiral movement to the flow of air.
  • the cleaning robot comprises:
  • suspension support on which is embarked said at least one drive wheel, the suspension support being mounted in pivot connection with respect to the chassis,
  • a projection of the pivot axis of the suspension support relative to the frame is arranged between:
  • the suspension support is a pulled arm.
  • the pivot axis is located in front of or upstream of the driving wheel (when moving forward), which improves the obstacle clearance and avoids abutment and blocking on a possible obstacle.
  • the cyclonic separation unit comprises a central suction horn, which has a symmetry of revolution along the spiral axis.
  • the horn has an axis of symmetry which is parallel to the wheel axis.
  • the wheel axle is horizontal (that is to say parallel to the floor to be cleaned).
  • the cyclonic separation unit comprises downstream of said spiral or helical conduit a central suction horn around which said spiral-shaped conduit winds at least partially, and the motor-fan is coupled to the cyclonic separation unit via the central suction horn.
  • the flow of air flows directly from the central suction horn to the motor-fan, and as their axes are parallel, there is virtually no disturbance or loss of load, which increases the efficiency of aspiration.
  • the floor cleaning robot comprises two driving wheels, each comprising an inner face, and the cyclonic separating unit and / or the motor-fan, are arranged between two vertical planes each comprising a vertical inner face of one two-wheel drive.
  • This construction is particularly compact.
  • the floor cleaning robot comprises:
  • the intermediate pipe has a spiral downstream portion and connected to the cyclonic separation unit.
  • the downstream portion of the intermediate pipe makes it possible to begin to impose a spiral shape to the suction flow, in order to effectively separate the entrained impurities with the air flow.
  • the suction flow passes successively from the suction slit to the intermediate pipe, then to the cyclonic separation unit (first the spiral pipe, then the central suction horn), then by the motor-fan to be then rejected to the outside.
  • the waste is separated from the air flow as it passes through the cyclonic separation unit.
  • the floor cleaning robot comprises a front face, the suction slot is arranged between the front face, or a vertical plane tangent to the front face, and a vertical plane comprising the spiral axis.
  • the cyclonic separation unit is arranged at the rear of the cleaning robot, in any case behind the suction slot relative to the direction of travel of the robot, which allows to clear room for the bumper.
  • the floor cleaning robot comprises a rear face, the cyclonic separation unit and / or the motor-fan and / or the wheel axle are arranged between a vertical plane passing through an edge of the suction slot. and the back side.
  • the floor cleaning robot comprises a waste collection tank comprising an inlet arranged in a wall of the spiral-shaped duct of the cyclonic separation unit.
  • the cyclonic separation unit is arranged between the intermediate pipe and the waste tank.
  • the floor cleaning robot comprises two drive wheels, each comprising an inner face, and the waste collection tank is arranged between two vertical planes each comprising a vertical inner face of one of the two drive wheels.
  • the waste collection tank is arranged between the cyclonic separation unit and the rear face.
  • a projection of the wheel axis is less than 50 mm from a projection of the spiral axis.
  • a projection of the axis of rotation of the motor is less than 30 mm from a projection of the spiral axis.
  • Another aspect of the invention relates to a floor cleaning robot comprising:
  • At least one drive wheel presenting a projection of circular shape in a wheel plane
  • a wheel motor connected to said at least one drive wheel for driving it in rotation, comprising a rotor and having a motor axis around which the rotor can rotate,
  • a gear train arranged between the motor and said at least one driving wheel for transmitting a movement of the rotor to said at least one drive wheel
  • the gear train comprises at least one bevel gear for positioning the motor shaft in a plane parallel to the wheel plane.
  • the engine is thus oriented upwards, in a vertical direction, which frees up space in a plane parallel to the ground. It is then possible to position organs in the free space.
  • the axis of the motor is not parallel to the axis of rotation of the drive wheel that it drives, which frees up space between the driving wheels of the cleaning robot.
  • the angle gear is of the conical gear type.
  • the bevel gear is gear type gear and worm.
  • the reduction ratio can be very important with this type of bevel gear.
  • the angle gear is of the hypoid gear type. This type of bevel gear is silent.
  • the cleaning robot comprises:
  • suspension support on which are embarked said at least one wheel, the gear train and the wheel motor, the suspension support being articulated with respect to the chassis,
  • the abutment means are formed by:
  • a nipple secured to one of the chassis and the suspension support
  • the aperture includes a first portion that forms a first stop on the pin and the drive wheel is at a first height relative to the frame, and a second portion that forms a second stop at the pin and the drive wheel is at a second height relative to to the chassis.
  • the cleaning robot comprises:
  • two wheel motors each arranged to drive one of the driving wheels in rotation, each comprising a rotor and having a motor axis around which the rotor can rotate,
  • each gear train includes a bevel gear for positioning each motor shaft in a plane parallel to the wheel plane.
  • the cleaning robot comprises:
  • At least one cyclonic separation unit at least one cyclonic separation unit, a fan motor coupled to said at least one cyclonic separation unit,
  • a waste collection tank coupled to said at least one cyclonic separation unit
  • the wheel plane is perpendicular to a floor to be cleaned.
  • the angle gear has a reduction ratio of 1: 1.
  • the bevel gear is removably mounted on a primary shaft, at the input of the gear train.
  • the motor is an electric motor with brushes.
  • the motor is a brushless electric motor, type electronic commutation.
  • FIG. 1 shows a perspective view of a floor cleaning robot according to the invention, without its outer housing, to make visible a suction slot, an intermediate pipe, a cyclonic separation unit, a recovery tank waste and a fan motor;
  • - Figure 2 shows the robot of Figure 1 at another angle, with the suction slot, the intermediate pipe, the waste container and the cyclone separation unit in transparent walls;
  • - Figure 3 shows a section of the robot of Figure 1 in a vertical plane;
  • FIG. 4 shows the robot of Figure 2 with arrows showing the path of a suction flow
  • - Figure 5 shows a side view of the cleaning robot of Figure 1;
  • FIG. 6 represents a detail of a suspension support of the cleaning robot of FIG. 1.
  • FIG. 1 represents a perspective view of the internal structure of a floor cleaning robot, which notably comprises drive wheels 10, a suction slot 40, connected to a cyclonic separation unit 20 via an intermediate pipe 45 and downstream to a motor fan 30.
  • a waste collection tank 60 is provided at the rear of the cleaning robot.
  • the floor cleaning robot comprises at least one battery 60, which supplies at least one motor 13 connected to each drive wheel 10 to rotate about the wheel axle 100 (shown by the wheel shafts for example) visible figure 2.
  • the cleaning robot can move on the floor to clean autonomously.
  • the cleaning robot comprises a rotary brush 41 visible Figure 2, arranged in the suction slot 40, to improve the collection of waste and cleaning the soil.
  • the motor fan 30 is also powered by the battery to create a suction flow. It is possible to envisage a centrifugal turbine, coupled to an electric motor, both rotating about an axis of motor rotation 300 (represented by a motor shaft), and visible in FIG. 2. The motor fan 30 is located downstream of the engine. suction circuit.
  • the suction flow travels successively in the following elements of the cleaning robot: a component A of the suction flow is present in the suction slot 40, then there is a component B of the suction flow in the intermediate pipe 45, and a component C is in the cyclone separating unit 20, in particular in a spiral-shaped conduit (wound around a spiral axis 200 of Figure 2), which has the effect of projecting the particles and solid waste outwardly and in particular to the recovery tank of waste 50, which has an inlet connected to an outer wall of the spiral-shaped conduit (arrow D of Figure 4).
  • the suction flow has a centripetal movement, to pass into a central aspiration horn 21 (visible Figures 2 and 3) located in the center of the cyclonic separation unit 20, it is the component E of the flow of suction, which finally passes into the motor-fan 30, to be expelled outwardly from above, with the two components F, which exit through two openings 31 of the motor-fan 30.
  • the spiral axis 200 is parallel to the wheel axis 100, and to the motor rotation axis 300.
  • This implementation makes it possible to arrange the cyclonic separation unit 20 and the motor-fan 30 between the drive wheels 10, and thus obtain a compact system and low volume.
  • the waste collection tank 50, the cyclonic separation unit 20 and the motor-fan 30 are arranged between the suction slot 40 and the rear of the cleaning robot, which releases the front of the robot to set up a bumper or other items.
  • the suction air circuit has a short overall length and few changes in direction. Indeed, the flow of air passes from the suction slot 40 to the cyclonic separation unit 20 via the intermediate pipe 45, which has a spiral portion just before the cyclonic separation unit 20, to start imposing a spiral path to the airflow.
  • the cleaning robot is provided with freewheels 1 1 visible in Figure 3 and Figure 5, and placed at the rear of the cleaning robot.
  • the total weight of the cleaning robot is therefore taken up by the driving wheels 10 and the free wheels 1 1.
  • the suction slot and the front end of the cleaning robot are cantilevered above the floor to be cleaned.
  • each drive wheel 10 is embedded on a suspension support 12 shown schematically by a dotted line in Figure 5 and mounted in pivot connection relative to the frame of the cleaning robot. Accordingly, the drive wheels 10 have a suspension movement as shown by the double arrow Figure 5.
  • the suspension support 12 is a drawn arm that provides easy passage over the obstacles, without abutment.
  • the axis of motor rotation 300 is shifted with respect to the spiral axis 200, as seen in FIG. 3, which makes it possible to house a battery 60 under the motor-fan 30, which has for effect of concentrating the weight of the fan motor and the battery 60 at the same place.
  • This implementation does not increase the height of the cleaning robot, because the diameter of the cyclone separating unit 20 is greater than the diameter of the motor fan 30.
  • the axis of motor rotation 300 is located between a first vertical plane passing through a point of contact between the driving wheel 10 and the ground, and a second vertical plane passing through a point of contact between the freewheel 11 and the soil.
  • a projection of the axis of motor rotation 300 is situated between a straight line passing through a projection of the points of contact of the drive wheels 10 with the ground, and another line passing through the projections of the contact points of the free wheels 1 1 with the ground. Stability is improved.
  • FIG. 6 represents a detail of the suspension support 12, which embodies the drive wheel 10, a cascade of gears, a motor 13 of a wheel, and an angle gear 14.
  • This implementation makes it possible to position the motor 13 of a wheel in a substantially vertical position, within the limit of the displacement shown in FIG.
  • the wheel motor has an axis of rotation which is contained in a plane parallel to the sidewalls of the driving wheel 10.
  • the axis of the wheel motor is contained in a plane where a projection of an outer edge of the driving wheel 10 is circular.
  • This implementation offers the possibility of housing more components between the drive wheels 10, because the wheel motors are oriented upwards.

Landscapes

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

Abstract

Floor cleaning robot, comprising: - a cyclonic dust separation unit (20), comprising at least one spiral- or helix-shaped pipe around a spiral axis, for creating a spiral movement of a suction air flow, - an electric fan (30) arranged for creating the suction air flow, - at least one drive wheel (10) arranged for pivoting around a wheel axis, for causing a movement of the floor cleaning robot, characterised in that the spiral axis is parallel to the wheel axis, in that the electric fan (30) has a rotating motor axis, and in that the rotating motor axis is parallel to the spiral axis and separate from the spiral axis.

Description

ROBOT DE N ETTOYAG E DES SOLS  ROBOT OF N ETTOYAG E SOIL
La présente invention concerne de manière générale un robot de nettoyage des sols, et en particulier un robot autonome de nettoyage des sols pourvu de moyens d'aspiration des déchets. The present invention generally relates to a floor cleaning robot, and in particular an autonomous floor cleaning robot provided with means for extracting waste.
Il est connu dans l'art antérieur des dispositifs de nettoyage autonomes des sols, comme celui divulgué dans le document WO2012104596 (A1 ). Cependant, ce système présente notamment l'inconvénient d'être volumineux et donc peu compact, ce qui est un inconvénient pour un tel robot qui doit passer dans la mesure du possible sous les meubles ou entre ces derniers. De plus, l'efficacité d'aspiration d'un tel appareil est soumise à question, avec un circuit d'air qui comprend de nombreux coudes. It is known in the prior art autonomous soil cleaning devices, such as that disclosed in WO2012104596 (A1). However, this system has the particular disadvantage of being bulky and therefore not compact, which is a disadvantage for such a robot that must pass as far as possible under the furniture or between them. In addition, the suction efficiency of such a device is subject to question, with an air circuit that includes many elbows.
Un but de la présente invention est de répondre aux inconvénients de l'art antérieur mentionnés ci-dessus et en particulier, tout d'abord, de proposer un robot de nettoyage des sols compact et qui présente une bonne efficacité d'aspiration. An object of the present invention is to meet the drawbacks of the prior art mentioned above and in particular, first of all, to provide a compact floor cleaning robot that has good suction efficiency.
Pour cela un premier aspect de l'invention concerne un robot de nettoyage des sols, comprenant : For this, a first aspect of the invention relates to a floor cleaning robot, comprising:
- une unité de séparation cyclonique des poussières, comprenant au moins un conduit en forme de spirale ou d'hélice autour d'un axe de spirale, pour créer un mouvement en spirale d'un flux d'air d'aspiration,  a cyclonic dust separation unit, comprising at least one spiral or helix-shaped duct around a spiral axis, for creating a spiral movement of a suction air flow,
- un moto-ventilateur agencé pour créer le flux d'air d'aspiration,  a motor-fan arranged to create the flow of suction air,
- au moins une roue motrice agencée pour pivoter autour d'un axe de roue, pour provoquer un déplacement du robot de nettoyage des sols,  at least one drive wheel arranged to pivot about a wheel axle, to cause a displacement of the soil cleaning robot,
caractérisé en ce que l'axe de spirale est parallèle à l'axe de roue, et en ce que le moto-ventilateur présente un axe de rotation de moteur, et dans lequel l'axe de rotation de moteur est parallèle à l'axe de spirale et distinct de l'axe de spirale. Le robot de nettoyage des sols présente une unité de séparation cyclonique dont l'axe est parallèle avec l'axe de roue, ce qui offre une bonne compacité, on agence les roues et le séparateur cyclonique dans le sens de la largeur du robot. Cela permet de dégager de l'espace dans la direction axiale ou longitudinale (direction avant-arrière) du robot pour loger un pare-chocs mobile par exemple. De plus, l'axe de rotation de moteur est parallèle à l'axe de spirale, mais décalé de ce dernier, ce qui limite les pertes de charge aérauliques, mais permet de décaler le moto-ventilateur pour loger par exemple d'autres organes du robot de nettoyage à proximité du moto-ventilateur. characterized in that the spiral axis is parallel to the wheel axis, and in that the fan motor has a motor rotation axis, and wherein the motor rotation axis is parallel to the axis spiral and distinct of the spiral axis. The floor cleaning robot has a cyclonic separation unit whose axis is parallel to the wheel axis, which provides good compactness, arranging the wheels and the cyclone separator in the direction of the width of the robot. This allows to clear space in the axial direction or longitudinal (front-rear direction) of the robot to accommodate a mobile bumper for example. In addition, the axis of rotation of the motor is parallel to the spiral axis, but offset from the latter, which limits the aeraulic pressure losses, but allows to shift the motor-fan to accommodate for example other organs cleaning robot near the fan motor.
On notera que deux axes parallèles sont forcément contenus dans un même plan, et que dans ce plan, toute droite perpendiculaire à l'un de ces axes est parallèle à l'autre axe. En d'autres termes, il est possible de définir un plan qui contient l'axe de roue et l'axe de spirale, et dans ce plan, il est possible de construire une droite perpendiculaire à l'axe de roue, qui sera alors perpendiculaire à l'axe de spirale. De la même manière, il est possible de définir un plan qui contient l'axe de rotation de moteur et l'axe de spirale, et dans ce plan, il est possible de construire une droite perpendiculaire à l'axe de rotation de moteur, qui sera alors perpendiculaire à l'axe de spirale. Cependant, il n'est pas forcément possible de construire un plan qui contient l'axe de spirale et l'axe de roue et l'axe de rotation de moteur. L'invention précise simplement que les axes de roue, de rotation de moteur et de spirale sont parallèles deux à deux. Note that two parallel axes are necessarily contained in the same plane, and that in this plane, any line perpendicular to one of these axes is parallel to the other axis. In other words, it is possible to define a plane that contains the wheel axis and the spiral axis, and in this plane, it is possible to construct a straight line perpendicular to the wheel axis, which will then be perpendicular to the spiral axis. In the same way, it is possible to define a plane which contains the axis of rotation of the motor and the axis of spiral, and in this plane, it is possible to construct a line perpendicular to the axis of rotation of the motor, which will then be perpendicular to the spiral axis. However, it is not necessarily possible to construct a plane that contains the spiral axis and the wheel axis and the motor rotation axis. The invention simply states that the wheel axes, engine rotation and spiral are parallel in pairs.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- deux roues motrices, - two-wheel drive,
- au moins une roue libre à l'arrière du robot,  at least one freewheel at the rear of the robot,
et, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une projection du point de contact de ladite au moins une roue libre avec le sol. Placer l'axe de rotation de moteur entre les roues du robot de nettoyage permet de proposer un robot de nettoyage stable, car le moto-ventilateur présente un poids relativement important par rapport au poids total du robot. and, in a plane of projection parallel to the ground to be cleaned, a projection of the motor rotation axis is arranged between a line connecting a projection of the contact points of the drive wheels with the ground and a projection of the contact point of said at least one free wheel with the ground. Place the motor rotation axis between the wheels of the cleaning robot allows to propose a stable cleaning robot, because the motor-fan has a relatively large weight compared to the total weight of the robot.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- deux roues motrices,  - two-wheel drive,
- deux roues libres à l'arrière du robot, - two free wheels at the rear of the robot,
dans lequel, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une droite reliant une projection des points de contact des roues libres avec le sol. La stabilité du robot de nettoyage comprenant quatre roues / points d'appui est optimale avec cette mise en œuvre. in which, in a plane of projection parallel to the ground to be cleaned, a projection of the motor rotation axis is arranged between a line connecting a projection of the contact points of the driving wheels with the ground and a line connecting a projection of the points. contact of free wheels with the ground. The stability of the cleaning robot comprising four wheels / fulcrums is optimal with this implementation.
Avantageusement, le robot de nettoyage comprend des moyens de stockage d'énergie électrique, et les moyens de stockage d'énergie électrique sont agencés entre le moto-ventilateur et une face inférieure du robot de nettoyage des sols. Les moyens de stockage d'énergie électrique sont typiquement une batterie, et la placer sous le moto-ventilateur permet de localiser au même endroit les composants les plus lourds du moteur, ce qui facilite la conception d'un robot stable. En particulier, il est aisé de placer ainsi le centre de gravité du robot entre les roues du robot, pour éviter tout basculement en utilisation. En effet, la part du poids de la batterie et du moto-ventilateur est importante, par rapport au poids total du robot de nettoyage. Advantageously, the cleaning robot comprises means for storing electrical energy, and the electrical energy storage means are arranged between the fan motor and a bottom face of the floor cleaning robot. The electrical energy storage means are typically a battery, and placing it under the fan motor allows to locate in the same place the heavier components of the engine, which facilitates the design of a stable robot. In particular, it is easy to place the center of gravity of the robot between the wheels of the robot, to avoid tipping in use. Indeed, the share of the weight of the battery and the motor-fan is important, compared to the total weight of the cleaning robot.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- une face avant,  - a front face,
- une fente d'aspiration agencée en regard d'un sol à nettoyer, an aspiration slot arranged facing a floor to be cleaned,
et la fente d'aspiration est agencée entre la face avant, ou un plan vertical tangent à la face avant, et un plan vertical comprenant l'axe de roue. En particulier, les roues motrices du robot sont agencées entre la fente d'aspiration et les roues libres du robot. En conséquence, il n'y a aucune roue entre la fente d'aspiration et la face avant du robot, ce qui procure un nettoyage aisé, en limitant les contacts avec des obstacles lors d'une marche vers l'avant (s'il s'agit de déchets, ils seront aspirés avant que les roues motrices ne les touchent). En d'autres termes, la fente d'aspiration et la face avant sont en porte à faux au dessus du sol à nettoyer. Avantageusement, le robot de nettoyage comprend une conduite intermédiaire, agencée entre l'unité de séparation cyclonique et la fente d'aspiration, et la conduite intermédiaire présente une portion aval en forme de spirale et connectée à l'unité de séparation cyclonique. Cette mise en œuvre améliore la séparation cyclonique, en imposant au plus tôt un mouvement de spirale au flux d'air. and the suction slot is arranged between the front face, or a vertical plane tangential to the front face, and a vertical plane comprising the wheel axle. In particular, the driving wheels of the robot are arranged between the suction slot and the freewheels of the robot. As a result, there is no wheel between the suction slot and the front of the robot, which provides a easy cleaning, limiting contact with obstacles when walking forward (if it is waste, they will be sucked before the drive wheels touch them). In other words, the suction slot and the front face are cantilevered above the floor to be cleaned. Advantageously, the cleaning robot comprises an intermediate pipe, arranged between the cyclonic separating unit and the suction slot, and the intermediate pipe has a spiral-shaped downstream portion and connected to the cyclonic separating unit. This implementation improves cyclonic separation, by imposing as soon as possible a spiral movement to the flow of air.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- un châssis,  - a chassis,
- un support de suspension sur lequel est embarquée ladite au moins une roue motrice, le support de suspension étant monté en liaison pivot par rapport au châssis,  a suspension support on which is embarked said at least one drive wheel, the suspension support being mounted in pivot connection with respect to the chassis,
et, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de pivotement du support de suspension par rapport au châssis est agencée entre : and in a plane of projection parallel to the ground to be cleaned, a projection of the pivot axis of the suspension support relative to the frame is arranged between:
- une projection d'une face avant du robot ou d'une fente d'aspiration du robot, et  a projection of a front face of the robot or a suction slot of the robot, and
- une projection du point de contact de ladite au moins une roue motrice avec le sol à nettoyer. En d'autres termes, le support de suspension est un bras tiré. L'axe de pivotement est situé devant, ou en amont de, la roue motrice (lors d'un déplacement vers l'avant), ce qui améliore le franchissement d'obstacle et évite de buter et bloquer sur un éventuel obstacle.  - A projection of the point of contact of said at least one driving wheel with the soil to be cleaned. In other words, the suspension support is a pulled arm. The pivot axis is located in front of or upstream of the driving wheel (when moving forward), which improves the obstacle clearance and avoids abutment and blocking on a possible obstacle.
Avantageusement, l'unité de séparation cyclonique comprend un cornet central d'aspiration, qui présente une symétrie de révolution selon l'axe de spirale. En d'autres termes, le cornet présente un axe de symétrie qui est parallèle à l'axe de roue. Avantageusement, l'axe de roue est horizontal (c'est-à-dire parallèle au sol à nettoyer). Advantageously, the cyclonic separation unit comprises a central suction horn, which has a symmetry of revolution along the spiral axis. In other words, the horn has an axis of symmetry which is parallel to the wheel axis. Advantageously, the wheel axle is horizontal (that is to say parallel to the floor to be cleaned).
Avantageusement, l'unité de séparation cyclonique comprend en aval dudit conduit en forme de spirale ou d'hélice un cornet central d'aspiration autour duquel ledit conduit en forme de spirale s'enroule au moins partiellement, et le moto-ventilateur est accouplé à l'unité de séparation cyclonique via le cornet central d'aspiration. Le passage du flux d'air se fait directement du cornet central d'aspiration au moto-ventilateur, et comme leurs axes sont parallèles, il n'y a quasiment pas de perturbation ou perte de charge, ce qui augmente l'efficacité d'aspiration. Advantageously, the cyclonic separation unit comprises downstream of said spiral or helical conduit a central suction horn around which said spiral-shaped conduit winds at least partially, and the motor-fan is coupled to the cyclonic separation unit via the central suction horn. The flow of air flows directly from the central suction horn to the motor-fan, and as their axes are parallel, there is virtually no disturbance or loss of load, which increases the efficiency of aspiration.
Avantageusement, le robot de nettoyage des sols comprend deux roues motrices, chacune comprenant une face intérieure, et l'unité de séparation cyclonique et/ou le moto-ventilateur, sont agencés entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices. Cette construction est particulièrement compacte. Advantageously, the floor cleaning robot comprises two driving wheels, each comprising an inner face, and the cyclonic separating unit and / or the motor-fan, are arranged between two vertical planes each comprising a vertical inner face of one two-wheel drive. This construction is particularly compact.
Avantageusement, le robot de nettoyage des sols comprend : Advantageously, the floor cleaning robot comprises:
- une fente d'aspiration agencée en regard d'un sol à nettoyer,  an aspiration slot arranged facing a floor to be cleaned,
- une conduite intermédiaire, agencée entre l'unité de séparation cyclonique et la fente d'aspiration,  an intermediate pipe, arranged between the cyclonic separation unit and the suction slot,
et la conduite intermédiaire présente une portion aval en forme de spirale et connectée à l'unité de séparation cyclonique. La portion aval de la conduite intermédiaire permet de commencer à imposer une forme en spirale au flux d'aspiration, afin de séparer efficacement les impuretés entraînées avec le flux d'air. En d'autres termes, le flux d'aspiration passe successivement de la fente d'aspiration à la conduite intermédiaire, puis à l'unité de séparation cyclonique (d'abord le conduit en spirale, puis le cornet central d'aspiration), puis par le moto-ventilateur pour être ensuite rejeté vers l'extérieur. Les déchets sont séparés du flux d'air lors de son passage dans l'unité de séparation cyclonique. Avantageusement, le robot de nettoyage des sols comprend une face avant, la fente d'aspiration est agencée entre la face avant, ou un plan vertical tangent à la face avant, et un plan vertical comprenant l'axe de spirale. En d'autres termes, l'unité de séparation cyclonique est agencée plutôt à l'arrière du robot de nettoyage, en tout cas en arrière de la fente d'aspiration par rapport au sens d'avancement du robot, ce qui permet de dégager de la place pour le pare-chocs. and the intermediate pipe has a spiral downstream portion and connected to the cyclonic separation unit. The downstream portion of the intermediate pipe makes it possible to begin to impose a spiral shape to the suction flow, in order to effectively separate the entrained impurities with the air flow. In other words, the suction flow passes successively from the suction slit to the intermediate pipe, then to the cyclonic separation unit (first the spiral pipe, then the central suction horn), then by the motor-fan to be then rejected to the outside. The waste is separated from the air flow as it passes through the cyclonic separation unit. Advantageously, the floor cleaning robot comprises a front face, the suction slot is arranged between the front face, or a vertical plane tangent to the front face, and a vertical plane comprising the spiral axis. In other words, the cyclonic separation unit is arranged at the rear of the cleaning robot, in any case behind the suction slot relative to the direction of travel of the robot, which allows to clear room for the bumper.
Avantageusement, le robot de nettoyage des sols comprend une face arrière, l'unité de séparation cyclonique et/ou le moto-ventilateur et/ou l'axe de roue sont agencés entre un plan vertical passant par un bord de la fente d'aspiration et la face arrière. Advantageously, the floor cleaning robot comprises a rear face, the cyclonic separation unit and / or the motor-fan and / or the wheel axle are arranged between a vertical plane passing through an edge of the suction slot. and the back side.
Avantageusement, le robot de nettoyage des sols comprend un bac de récupération de déchets comprenant une entrée agencée dans une paroi du conduit en forme de spirale de l'unité de séparation cyclonique. Avantageusement, l'unité de séparation cyclonique est agencée entre la conduite intermédiaire et le bac de récupération de déchets. Advantageously, the floor cleaning robot comprises a waste collection tank comprising an inlet arranged in a wall of the spiral-shaped duct of the cyclonic separation unit. Advantageously, the cyclonic separation unit is arranged between the intermediate pipe and the waste tank.
Avantageusement, le robot de nettoyage des sols comprend deux roues motrices, chacune comprenant une face intérieure, et le bac de récupération de déchets est agencé entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices. Advantageously, the floor cleaning robot comprises two drive wheels, each comprising an inner face, and the waste collection tank is arranged between two vertical planes each comprising a vertical inner face of one of the two drive wheels.
Avantageusement, le bac de récupération de déchets est agencé entre l'unité de séparation cyclonique et la face arrière. Advantageously, the waste collection tank is arranged between the cyclonic separation unit and the rear face.
En conséquence, le long de la direction axiale du robot (sa direction de mouvement vers l'avant), on passe de la face avant à la face arrière en passant successivement par la fente d'aspiration, l'axe de roues, l'unité de séparation cyclonique parallèle à l'axe de roues, le moto-ventilateur et le bac de récupération de déchets. Un tel robot est compact, et son circuit d'air est court, avec peu de coudes ou changements de direction. Avantageusement, dans un plan de projection parallèle à un sol à nettoyer, une projection de l'axe de roue est à moins de 50mm d'une projection de l'axe de spirale. Consequently, along the axial direction of the robot (its forward direction of movement), we pass from the front face to the rear face passing successively through the suction slot, the wheel axis, the cyclone separation unit parallel to the wheel axle, the fan motor and the waste container. Such a robot is compact, and its air circuit is short, with few bends or changes of direction. Advantageously, in a plane of projection parallel to a floor to be cleaned, a projection of the wheel axis is less than 50 mm from a projection of the spiral axis.
Avantageusement, dans un plan de projection vertical, une projection de l'axe de rotation du moteur est à moins de 30mm d'une projection de l'axe de spirale. Advantageously, in a vertical projection plane, a projection of the axis of rotation of the motor is less than 30 mm from a projection of the spiral axis.
Un autre aspect de l'invention concerne un robot de nettoyage de sols comprenant : Another aspect of the invention relates to a floor cleaning robot comprising:
- au moins une roue motrice présentant une projection de forme circulaire dans un plan de roue,  at least one drive wheel presenting a projection of circular shape in a wheel plane,
- un moteur de roue relié à ladite au moins une roue motrice pour l'entraîner en rotation, comprenant un rotor et présentant un axe de moteur autour duquel le rotor peut tourner en rotation,  a wheel motor connected to said at least one drive wheel for driving it in rotation, comprising a rotor and having a motor axis around which the rotor can rotate,
- un train d'engrenage agencé entre le moteur et ladite au moins une roue motrice pour transmettre un mouvement du rotor à ladite au moins une roue motrice,  a gear train arranged between the motor and said at least one driving wheel for transmitting a movement of the rotor to said at least one drive wheel,
caractérisé en ce que le train d'engrenage comprend au moins un renvoi d'angle pour pouvoir positionner l'axe de moteur dans un plan parallèle au plan de roue. Le moteur est donc orienté vers le haut, selon une direction verticale, ce qui libère de la place dans un plan parallèle au sol. Il est alors possible de positionner des organes dans l'espace libre. En d'autres termes, l'axe du moteur n'est pas parallèle à l'axe de rotation de la roue motrice qu'il entraine, ce qui permet de libérer de la place entre les roues motrices du robot de nettoyage. Avantageusement, le renvoi d'angle est du type à engrenage conique.characterized in that the gear train comprises at least one bevel gear for positioning the motor shaft in a plane parallel to the wheel plane. The engine is thus oriented upwards, in a vertical direction, which frees up space in a plane parallel to the ground. It is then possible to position organs in the free space. In other words, the axis of the motor is not parallel to the axis of rotation of the drive wheel that it drives, which frees up space between the driving wheels of the cleaning robot. Advantageously, the angle gear is of the conical gear type.
Ce type de renvoi d'angle est simple et bon marché. This type of bevel is simple and cheap.
Avantageusement, le renvoi d'angle est du type à engrenage à roue dentée et vis sans fin. Le rapport de réduction peut être très important avec ce type de renvoi d'angle. Avantageusement, le renvoi d'angle est du type à engrenage hypoïde. Ce type de renvoi d'angle est silencieux. Advantageously, the bevel gear is gear type gear and worm. The reduction ratio can be very important with this type of bevel gear. Advantageously, the angle gear is of the hypoid gear type. This type of bevel gear is silent.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- un châssis,  - a chassis,
- un support de suspension sur lequel sont embarqués ladite au moins une roue, le train d'engrenage et le moteur de roue, le support de suspension étant articulé par rapport au châssis, a suspension support on which are embarked said at least one wheel, the gear train and the wheel motor, the suspension support being articulated with respect to the chassis,
- des moyens de butée entre le support de suspension et le châssis, agencés pour limiter un débattement de ladite au moins une roue. Cette mise en œuvre procure une suspension et/ou un mouvement du robot de nettoyage par rapport au sol.  - Stop means between the suspension support and the frame, arranged to limit a movement of said at least one wheel. This implementation provides suspension and / or movement of the cleaning robot relative to the ground.
Avantageusement, les moyens de butée sont formés par : Advantageously, the abutment means are formed by:
- un téton solidaire de l'un du châssis et du support de suspension, et a nipple secured to one of the chassis and the suspension support, and
- une ouverture solidaire de l'autre du châssis et du support de suspension. L'ouverture comprend une première portion qui forme une première butée au téton et la roue motrice est à une première hauteur par rapport au châssis, et une deuxième portion qui forme une deuxième butée au téton et la roue motrice est à une deuxième hauteur par rapport au châssis. an opening secured to the other of the chassis and the suspension support. The aperture includes a first portion that forms a first stop on the pin and the drive wheel is at a first height relative to the frame, and a second portion that forms a second stop at the pin and the drive wheel is at a second height relative to to the chassis.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- deux roues motrices, - two-wheel drive,
- deux moteurs de roue chacun agencé pour entraîner une des roues motrices en rotation, chacun comprenant un rotor et présentant un axe de moteur autour duquel le rotor peut tourner en rotation,  two wheel motors each arranged to drive one of the driving wheels in rotation, each comprising a rotor and having a motor axis around which the rotor can rotate,
- deux trains d'engrenages, chacun agencé entre une des roues motrices et le moteur de roue correspondant,  two gear trains, each arranged between one of the driving wheels and the corresponding wheel motor,
dans lequel chaque train d'engrenages comprend un renvoi d'angle pour pouvoir positionner chaque axe de moteur dans un plan parallèle au plan de roue. wherein each gear train includes a bevel gear for positioning each motor shaft in a plane parallel to the wheel plane.
Avantageusement, le robot de nettoyage comprend : Advantageously, the cleaning robot comprises:
- au moins une unité de séparation cyclonique, - un moto-ventilateur accouplé à ladite au moins une unité de séparation cyclonique, at least one cyclonic separation unit, a fan motor coupled to said at least one cyclonic separation unit,
- un bac de récupération de déchets, accouplé à ladite au moins une unité de séparation cyclonique,  a waste collection tank, coupled to said at least one cyclonic separation unit,
dans lequel une portion de ladite au moins une unité de séparation cyclonique, et/ou une portion du moto-ventilateur, et/ou une portion du bac de récupération de déchets est agencée entre les moteurs de roue. wherein a portion of said at least one cyclonic separation unit, and / or a portion of the motor fan, and / or a portion of the waste collection tank is arranged between the wheel motors.
Avantageusement, le plan de roue est perpendiculaire à un sol à nettoyer. Avantageusement, le renvoi d'angle présente un rapport de réduction de 1 :1 . Advantageously, the wheel plane is perpendicular to a floor to be cleaned. Advantageously, the angle gear has a reduction ratio of 1: 1.
Avantageusement, le renvoi d'angle est monté de manière amovible sur un arbre primaire, en entrée du train d'engrenage. Advantageously, the bevel gear is removably mounted on a primary shaft, at the input of the gear train.
Avantageusement, le moteur est un moteur électrique à balais. Alternativement, le moteur est un moteur électrique sans balais, de type à commutation électronique. Advantageously, the motor is an electric motor with brushes. Alternatively, the motor is a brushless electric motor, type electronic commutation.
D'autres caractéristiques et avantages de la présente invention apparaîtront plus clairement à la lecture de la description détaillée qui suit d'un mode de réalisation de l'invention donné à titre d'exemple nullement limitatif et illustré par les dessins annexés, dans lesquels : Other features and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the appended drawings, in which:
- la figure 1 représente une vue en perspective d'un robot de nettoyage des sols selon l'invention, sans son boîtier externe, pour rendre visibles une fente d'aspiration, une conduite intermédiaire, une unité de séparation cyclonique, un bac de récupération des déchets et un moto- ventilateur ; - Figure 1 shows a perspective view of a floor cleaning robot according to the invention, without its outer housing, to make visible a suction slot, an intermediate pipe, a cyclonic separation unit, a recovery tank waste and a fan motor;
- la figure 2 représente le robot de la figure 1 sous un autre angle, avec la fente d'aspiration, la conduite intermédiaire, le bac de récupération des déchets et l'unité de séparation cyclonique en parois transparentes ; - la figure 3 représente une coupe du robot de la figure 1 selon un plan vertical ; - Figure 2 shows the robot of Figure 1 at another angle, with the suction slot, the intermediate pipe, the waste container and the cyclone separation unit in transparent walls; - Figure 3 shows a section of the robot of Figure 1 in a vertical plane;
- la figure 4 représente le robot de la figure 2 avec des flèches montrant le cheminement d'un flux d'aspiration ; - la figure 5 représente une vue de côté du robot de nettoyage de la figure 1 ; - Figure 4 shows the robot of Figure 2 with arrows showing the path of a suction flow; - Figure 5 shows a side view of the cleaning robot of Figure 1;
- la figure 6 représente un détail d'un support de suspension du robot de nettoyage de la figure 1 . FIG. 6 represents a detail of a suspension support of the cleaning robot of FIG. 1.
La figure 1 représente une vue en perspective de la structure interne d'un robot de nettoyage des sols, qui comprend notamment des roues motrices 10, une fente d'aspiration 40, reliée à une unité de séparation cyclonique 20 par une conduite intermédiaire 45 et en aval à un moto- ventilateur 30. Un bac de récupération de déchets 60 est prévu à l'arrière du robot de nettoyage. Le robot de nettoyage des sols comprend au moins une batterie 60, qui alimente au moins un moteur 13 lié à chaque roue motrice 10 pour les faire pivoter autour de l'axe de roue 100 (matérialisé par les arbres de roue par exemple) visible figure 2. Ainsi, le robot de nettoyage peut se déplacer sur le sol à nettoyer de manière autonome. Avantageusement, le robot de nettoyage comprend une brosse rotative 41 visible figure 2, agencée dans la fente d'aspiration 40, pour améliorer la collecte des déchets et le nettoyage du sol. FIG. 1 represents a perspective view of the internal structure of a floor cleaning robot, which notably comprises drive wheels 10, a suction slot 40, connected to a cyclonic separation unit 20 via an intermediate pipe 45 and downstream to a motor fan 30. A waste collection tank 60 is provided at the rear of the cleaning robot. The floor cleaning robot comprises at least one battery 60, which supplies at least one motor 13 connected to each drive wheel 10 to rotate about the wheel axle 100 (shown by the wheel shafts for example) visible figure 2. Thus, the cleaning robot can move on the floor to clean autonomously. Advantageously, the cleaning robot comprises a rotary brush 41 visible Figure 2, arranged in the suction slot 40, to improve the collection of waste and cleaning the soil.
Le moto-ventilateur 30 est également alimenté par la batterie pour créer un flux d'aspiration. On peut envisager une turbine centrifuge, accouplée à un moteur électrique, tous deux tournant autour d'un axe de rotation de moteur 300 (matérialisé par un arbre de moteur), et visible figure 2. Le moto-ventilateur 30 se situe en aval du circuit d'aspiration. The motor fan 30 is also powered by the battery to create a suction flow. It is possible to envisage a centrifugal turbine, coupled to an electric motor, both rotating about an axis of motor rotation 300 (represented by a motor shaft), and visible in FIG. 2. The motor fan 30 is located downstream of the engine. suction circuit.
En effet, comme visible figure 4, le flux d'aspiration chemine successivement dans les éléments suivants du robot de nettoyage : une composante A du flux d'aspiration est présente dans la fente d'aspiration 40, ensuite, on trouve une composante B du flux d'aspiration dans la conduite intermédiaire 45, et une composante C se trouve dans l'unité de séparation cyclonique 20, en particulier dans un conduit en forme de spirale (enroulée autour d'un axe de spirale 200 de la figure 2), ce qui a pour effet de projeter les particules et déchets solides vers l'extérieur et en particulier vers le bac de récupération de déchets 50, qui présente une entrée connectée à une paroi extérieure du conduit en forme de spirale (flèche D de la figure 4). Indeed, as shown in FIG. 4, the suction flow travels successively in the following elements of the cleaning robot: a component A of the suction flow is present in the suction slot 40, then there is a component B of the suction flow in the intermediate pipe 45, and a component C is in the cyclone separating unit 20, in particular in a spiral-shaped conduit (wound around a spiral axis 200 of Figure 2), which has the effect of projecting the particles and solid waste outwardly and in particular to the recovery tank of waste 50, which has an inlet connected to an outer wall of the spiral-shaped conduit (arrow D of Figure 4).
Ensuite, le flux d'aspiration a un mouvement centripète, pour passer dans un cornet central d'aspiration 21 (visible figures 2 et 3) situé au centre de l'unité de séparation cyclonique 20, c'est la composante E du flux d'aspiration, qui passe enfin dans le moto-ventilateur 30, pour être expulsé vers l'extérieur par le haut, avec les deux composantes F, qui sortent par deux ouvertures 31 du moto-ventilateur 30. Comme on le voit figures 2 et 3, l'axe de spirale 200 est parallèle à l'axe de roue 100, et à l'axe de rotation de moteur 300. Cette mise en œuvre permet d'agencer l'unité de séparation cyclonique 20 et le moto-ventilateur 30 entre les roues motrices 10, et on obtient ainsi un système compact et de faible volume. En particulier, le bac de récupération de déchets 50, l'unité de séparation cyclonique 20 et le moto-ventilateur 30 sont agencés entre la fente d'aspiration 40 et l'arrière du robot de nettoyage, ce qui libère l'avant du robot pour mettre en place un pare-chocs ou d'autres éléments. Then, the suction flow has a centripetal movement, to pass into a central aspiration horn 21 (visible Figures 2 and 3) located in the center of the cyclonic separation unit 20, it is the component E of the flow of suction, which finally passes into the motor-fan 30, to be expelled outwardly from above, with the two components F, which exit through two openings 31 of the motor-fan 30. As can be seen in FIGS. 2 and 3 , the spiral axis 200 is parallel to the wheel axis 100, and to the motor rotation axis 300. This implementation makes it possible to arrange the cyclonic separation unit 20 and the motor-fan 30 between the drive wheels 10, and thus obtain a compact system and low volume. In particular, the waste collection tank 50, the cyclonic separation unit 20 and the motor-fan 30 are arranged between the suction slot 40 and the rear of the cleaning robot, which releases the front of the robot to set up a bumper or other items.
De plus, au niveau du circuit d'air d'aspiration, celui-ci présente une faible longueur totale et peu de changements de direction. En effet, le flux d'air passe de la fente d'aspiration 40 à l'unité de séparation cyclonique 20 par la conduite intermédiaire 45, qui présente une portion en spirale juste avant l'unité de séparation cyclonique 20, pour commencer à imposer une trajectoire en spirale au flux d'air. In addition, at the level of the suction air circuit, it has a short overall length and few changes in direction. Indeed, the flow of air passes from the suction slot 40 to the cyclonic separation unit 20 via the intermediate pipe 45, which has a spiral portion just before the cyclonic separation unit 20, to start imposing a spiral path to the airflow.
De plus, au niveau du cornet central d'aspiration 21 , comme l'axe (confondu avec l'axe de spirale 200 de la portion de conduit en spirale de l'unité de séparation cyclonique 20) de ce dernier est parallèle à l'axe de rotation de moteur 300, alors le flux d'air entre ces composants est peu dévié, ce qui limite les pertes de charge. In addition, at the central suction horn 21, as the axis (coincides with the spiral axis 200 of the spiral duct portion of the cyclonic separation unit 20) of the latter is parallel to the axis of motor rotation 300, so the air flow between these components is little deviated, which limits the pressure drops.
Par ailleurs, le robot de nettoyage est pourvu de roues libres 1 1 visibles figure 3 et figure 5, et placées à l'arrière du robot de nettoyage. Le poids total du robot de nettoyage est donc repris par les roues motrices 10 et les roues libres 1 1 . En conséquence, la fente d'aspiration et l'extrémité avant du robot de nettoyage sont en porte à faux, au dessus du sol à nettoyer. Furthermore, the cleaning robot is provided with freewheels 1 1 visible in Figure 3 and Figure 5, and placed at the rear of the cleaning robot. The total weight of the cleaning robot is therefore taken up by the driving wheels 10 and the free wheels 1 1. As a result, the suction slot and the front end of the cleaning robot are cantilevered above the floor to be cleaned.
En l'absence de points de contacts avec le sol au niveau de l'extrémité avant et de la fente d'aspiration (en d'autres termes, il n'y a pas de roues à cet endroit), l'avancement et le travail du robot de nettoyage sont facilités, car les roues motrices ne rencontrent les obstacles qu'une fois que la fente d'aspiration les a déjà dépassés. Si cet obstacle est un déchet, il sera aspiré, et le robot de nettoyage pourra continuer son trajet. De plus, chaque roue motrice 10 est embarquée sur un support de suspension 12 schématisé par un trait pointillé sur la figure 5 et monté en liaison pivot par rapport au châssis du robot de nettoyage. En conséquence, les roues motrices 10 ont un mouvement de suspension comme représenté par la double flèche figure 5. Le support de suspension 12 est donc un bras tiré qui procure un passage aisé sur les obstacles, sans buter. In the absence of ground contact points at the front end and the suction slot (in other words, there are no wheels at this location), advancement and Robot cleaning work is facilitated because the drive wheels only encounter obstacles once the suction slot has already passed them. If this obstacle is a waste, it will be sucked, and the cleaning robot will continue its journey. In addition, each drive wheel 10 is embedded on a suspension support 12 shown schematically by a dotted line in Figure 5 and mounted in pivot connection relative to the frame of the cleaning robot. Accordingly, the drive wheels 10 have a suspension movement as shown by the double arrow Figure 5. The suspension support 12 is a drawn arm that provides easy passage over the obstacles, without abutment.
De plus, l'axe de rotation de moteur 300 est décalé par rapport à l'axe de spirale 200, comme on le voit sur la figure 3, ce qui permet de loger sous le moto-ventilateur 30 une batterie 60, ce qui a pour effet de concentrer le poids du moto-ventilateur et de la batterie 60 au même endroit. Cette mise en œuvre n'augmente pas la hauteur du robot de nettoyage, car le diamètre de l'unité de séparation cyclonique 20 est supérieur au diamètre du moto- ventilateur 30. En conséquence, l'axe de rotation de moteur 300 est situé entre un premier plan vertical passant par un point de contact entre la roue motrice 10 et le sol, et un deuxième plan vertical passant par un point de contact entre la roue libre 1 1 et le sol. En d'autres termes, si on effectue une projection dans un plan de projection parallèle au sol, un projection de l'axe de rotation de moteur 300 est situé entre une droite passant par une projection des points de contact des roues motrices 10 avec le sol, et une autre droite passant par les projections des points de contacts des roues libres 1 1 avec le sol. La stabilité est améliorée. In addition, the axis of motor rotation 300 is shifted with respect to the spiral axis 200, as seen in FIG. 3, which makes it possible to house a battery 60 under the motor-fan 30, which has for effect of concentrating the weight of the fan motor and the battery 60 at the same place. This implementation does not increase the height of the cleaning robot, because the diameter of the cyclone separating unit 20 is greater than the diameter of the motor fan 30. Accordingly, the axis of motor rotation 300 is located between a first vertical plane passing through a point of contact between the driving wheel 10 and the ground, and a second vertical plane passing through a point of contact between the freewheel 11 and the soil. In other words, if a projection is made in a plane of projection parallel to the ground, a projection of the axis of motor rotation 300 is situated between a straight line passing through a projection of the points of contact of the drive wheels 10 with the ground, and another line passing through the projections of the contact points of the free wheels 1 1 with the ground. Stability is improved.
La figure 6 représente un détail du support de suspension 12, qui embarque la roue motrice 10, une cascade de pignons, un moteur 13 de roue, et un renvoi d'angle 14. FIG. 6 represents a detail of the suspension support 12, which embodies the drive wheel 10, a cascade of gears, a motor 13 of a wheel, and an angle gear 14.
Cette mise en œuvre permet de positionner le moteur 13 de roue dans une position sensiblement verticale, dans la limite du débattement représenté figure 5. This implementation makes it possible to position the motor 13 of a wheel in a substantially vertical position, within the limit of the displacement shown in FIG.
En d'autres termes, le moteur de roue présente un axe de rotation qui est contenu dans un plan parallèle aux flancs de la roue motrice 10. Autrement dit, l'axe du moteur de roue est contenu dans un plan où une projection d'une arête extérieure de la roue motrice 10 est circulaire. In other words, the wheel motor has an axis of rotation which is contained in a plane parallel to the sidewalls of the driving wheel 10. In other words, the axis of the wheel motor is contained in a plane where a projection of an outer edge of the driving wheel 10 is circular.
Cette mise en œuvre offre la possibilité de loger plus de composants entre les roues motrices 10, car les moteurs de roue sont orientés vers le haut. This implementation offers the possibility of housing more components between the drive wheels 10, because the wheel motors are oriented upwards.
On comprendra que diverses modifications et/ou améliorations évidentes pour l'homme du métier peuvent être apportées aux différents modes de réalisation de l'invention décrits dans la présente description sans sortir du cadre de l'invention défini par les revendications annexées. En particulier, il est fait référence à des axes parallèles entre eux. En fonction du domaine de l'invention et du mode de réalisation des pièces (moulage plastique, assemblages avec du jeu), on peut considérer qu'un défaut de parallélisme entre les axes peut aller jusqu'à 10% inclus et rester dans le champ de la présente invention. Par exemple, si l'axe de rotation de moteur 300 et l'axe de spirale sont tous les deux définis sur dix centimètres, et qu'il existe un défaut de parallélisme de un centimètre entre ces deux axes, on pourra toujours considérer ces axes parallèles dans le contexte de l'invention, car les effets techniques de compacité et de faible perturbation du flux d'aspiration seront toujours obtenus. It will be understood that various modifications and / or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to parallel axes between them. According to the field of the invention and the embodiment of the parts (molding plastic, assemblies with play), it can be considered that a lack of parallelism between the axes can be up to 10% inclusive and remain within the scope of the present invention. For example, if the axis of motor rotation 300 and the spiral axis are both defined over ten centimeters, and there is a parallelism defect of one centimeter between these two axes, we can always consider these axes. parallel in the context of the invention, because the technical effects of compactness and low disturbance of the suction flow will still be obtained.

Claims

REVEN D ICATIONS REVEN D ICATIONS
1 . Robot de nettoyage des sols, comprenant : 1. Floor cleaning robot, comprising:
- une unité de séparation cyclonique (20) des poussières, comprenant au moins un conduit en forme de spirale ou d'hélice autour d'un axe de spirale a cyclone separation unit (20) for the dusts, comprising at least one spiral or helical conduit around a spiral axis
(200), pour créer un mouvement en spirale d'un flux d'air d'aspiration,(200) to create a spiral movement of a suction air flow,
- un moto-ventilateur (30) agencé pour créer le flux d'air d'aspiration, a fan motor (30) arranged to create the suction air flow,
- au moins une roue motrice (10) agencée pour pivoter autour d'un axe de roue (100), pour provoquer un déplacement du robot de nettoyage des sols, caractérisé en ce que l'axe de spirale (200) est parallèle à l'axe de roue (100), en ce que le moto-ventilateur (30) présente un axe de rotation de moteur (300), et en ce que l'axe de rotation de moteur (300) est parallèle à l'axe de spirale (200) et distinct de l'axe de spirale (200).  at least one drive wheel (10) arranged to pivot about a wheel axle (100), to cause movement of the floor cleaning robot, characterized in that the spiral axis (200) is parallel to the wheel axle (100), in that the fan motor (30) has a motor rotation axis (300), and that the motor rotation axis (300) is parallel to the motor axis (300); spiral (200) and distinct from the spiral axis (200).
2. Robot de nettoyage des sols selon la revendication précédente, comprenant : 2. Floor cleaning robot according to the preceding claim, comprising:
- deux roues motrices (10),  - two driving wheels (10),
- au moins une roue libre (1 1 ) à l'arrière du robot,  at least one free wheel (1 1) at the rear of the robot,
dans lequel, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une projection du point de contact de ladite au moins une roue libre avec le sol. in which, in a plane of projection parallel to the ground to be cleaned, a projection of the axis of rotation of the motor is arranged between a line connecting a projection of the contact points of the drive wheels with the ground and a projection of the contact point of said at least one free wheel with the ground.
3. Robot de nettoyage des sols selon la revendication 1 , comprenant : The floor cleaning robot of claim 1, comprising:
- deux roues motrices (10),  - two driving wheels (10),
- deux roues libres (1 1 ) à l'arrière du robot, - two free wheels (1 1) at the rear of the robot,
dans lequel, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de rotation de moteur est agencée entre une droite reliant une projection des points de contact des roues motrices avec le sol et une droite reliant une projection des points de contact des roues libres avec le sol. in which, in a plane of projection parallel to the ground to be cleaned, a projection of the axis of rotation of the motor is arranged between a straight line connecting a projection of the points of contact of the drive wheels with the ground and a right connecting a projection of the points of contact of the free wheels with the ground.
4. Robot de nettoyage des sols selon l'une des revendications précédentes, comprenant des moyens de stockage d'énergie électrique, dans lequel les moyens de stockage d'énergie électrique sont agencés entre le moto-ventilateur et une face inférieure du robot de nettoyage des sols. 4. Floor cleaning robot according to one of the preceding claims, comprising means for storing electrical energy, wherein the electrical energy storage means are arranged between the motor fan and a bottom face of the cleaning robot. soil.
5. Robot de nettoyage des sols selon l'une des revendications précédentes, comprenant : The floor cleaning robot according to one of the preceding claims, comprising:
- une face avant,  - a front face,
- une fente d'aspiration (40) agencée en regard d'un sol à nettoyer, dans lequel la fente d'aspiration (40) est agencée entre la face avant, ou un plan vertical tangent à la face avant, et un plan vertical comprenant l'axe de roue (100). - a suction slot (40) arranged facing a floor to be cleaned, wherein the suction slot (40) is arranged between the front face, or a vertical plane tangential to the front face, and a vertical plane comprising the wheel axle (100).
6. Robot de nettoyage des sols selon la revendication précédente, comprenant une conduite intermédiaire (45), agencée entre l'unité de séparation cyclonique (20) et la fente d'aspiration (40), 6. Soil cleaning robot according to the preceding claim, comprising an intermediate pipe (45), arranged between the cyclonic separation unit (20) and the suction slot (40),
dans lequel la conduite intermédiaire (45) présente une portion aval en forme de spirale et connectée à l'unité de séparation cyclonique (20). wherein the intermediate pipe (45) has a spiral downstream portion and connected to the cyclonic separating unit (20).
7. Robot de nettoyage des sols selon l'une des revendications 5 ou 6, comprenant une face arrière, dans lequel l'unité de séparation cyclonique (20) et/ou le moto-ventilateur (30) et/ou l'axe de roue (100) sont agencés entre un plan vertical passant par un bord de la fente d'aspiration (40) et la face arrière. Floor cleaning robot according to one of claims 5 or 6, comprising a rear face, in which the cyclone separating unit (20) and / or the motor fan (30) and / or the wheel (100) are arranged between a vertical plane passing through an edge of the suction slot (40) and the rear face.
8. Robot de nettoyage des sols selon l'une des revendications précédentes, comprenant : 8. Floor cleaning robot according to one of the preceding claims, comprising:
- un châssis,  - a chassis,
- un support de suspension (12) sur lequel est embarquée ladite au moins une roue motrice, le support de suspension étant monté en liaison pivot par rapport au châssis,  a suspension support (12) on which said at least one drive wheel is embedded, the suspension support being mounted in pivot connection with respect to the chassis,
dans lequel, dans un plan de projection parallèle au sol à nettoyer, une projection de l'axe de pivotement du support de suspension par rapport au châssis est agencée entre : in which, in a plane of projection parallel to the ground to be cleaned, a projection of the pivot axis of the suspension support relative to the chassis is arranged between:
- une projection d'une face avant du robot ou d'une fente d'aspiration du robot, et  a projection of a front face of the robot or a suction slot of the robot, and
- une projection du point de contact de ladite au moins une roue motrice avec le sol à nettoyer. - A projection of the point of contact of said at least one driving wheel with the soil to be cleaned.
9. Robot de nettoyage des sols selon l'une des revendications précédentes, comprenant un bac de récupération de déchets (50) comprenant une entrée agencée dans une paroi du conduit en forme de spirale de l'unité de séparation cyclonique (20). 9. Floor cleaning robot according to one of the preceding claims, comprising a waste collection tank (50) comprising an inlet arranged in a wall of the spiral duct of the cyclonic separating unit (20).
10. Robot de nettoyage des sols selon la revendication précédente dans sa dépendance à la revendication 6, dans lequel l'unité de séparation cyclonique (20) est agencée entre la conduite intermédiaire (45) et le bac de récupération de déchets (50). 10. Floor cleaning robot according to the preceding claim in its dependence on claim 6, wherein the cyclonic separating unit (20) is arranged between the intermediate pipe (45) and the waste tank (50).
1 1 . Robot de nettoyage des sols selon la revendication précédente, comprenant deux roues motrices (10), chacune comprenant une face intérieure, et dans lequel le bac de récupération de déchets (50) est agencé entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices (10). 1 1. Soil cleaning robot according to the preceding claim, comprising two driving wheels (10), each comprising an inner face, and wherein the waste collection tank (50) is arranged between two vertical planes each comprising a vertical inner face of the one of the two drive wheels (10).
12. Robot de nettoyage des sols selon l'une des revendications précédentes, dans lequel l'unité de séparation cyclonique (20) comprend en aval dudit conduit en forme de spirale ou d'hélice un cornet central d'aspiration (21 ) autour duquel ledit conduit en forme de spirale s'enroule au moins partiellement, et dans lequel le moto-ventilateur (30) est accouplé à l'unité de séparation cyclonique (20) via le cornet central d'aspiration (21 ). 12. Floor cleaning robot according to one of the preceding claims, wherein the cyclonic separating unit (20) comprises downstream of said spiral or helical conduit a central suction horn (21) around which said spiral-shaped duct is at least partially wound, and wherein the fan motor (30) is coupled to the cyclone separating unit (20) via the central suction horn (21).
13. Robot de nettoyage des sols selon l'une des revendications précédentes, comprenant deux roues motrices (10), chacune comprenant une face intérieure, et dans lequel l'unité de séparation cyclonique (20) et/ou le moto-ventilateur (30), sont agencés entre deux plans verticaux comprenant chacun une face intérieure verticale de l'une des deux roues motrices (10). The floor cleaning robot according to one of the preceding claims, comprising two drive wheels (10), each comprising an inner face, and wherein the cyclone separating unit (20) and / or the fan motor (30). ), are arranged between two vertical planes each comprising a vertical inner face of one of the two drive wheels (10).
14. Robot de nettoyage des sols selon l'une des revendications précédentes, dans lequel, dans un plan de projection parallèle à un sol à nettoyer, une projection de l'axe de roue (100) est à moins de 50mm d'une projection de l'axe de spirale (200). 14. Floor cleaning robot according to one of the preceding claims, wherein, in a plane of parallel projection to a floor to be cleaned, a projection of the wheel axis (100) is less than 50mm from a projection of the spiral axis (200).
15. Robot de nettoyage des sols selon l'une des revendications précédentes, dans lequel, dans un plan de projection vertical, une projection de l'axe de rotation du moteur (300) est à moins de 30mm d'une projection de l'axe de spirale (200). 15. Floor cleaning robot according to one of the preceding claims, wherein, in a vertical projection plane, a projection of the axis of rotation of the motor (300) is less than 30mm from a projection of the spiral axis (200).
EP17784343.0A 2016-09-13 2017-09-12 Floor cleaning robot Active EP3512397B1 (en)

Applications Claiming Priority (2)

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

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

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ES (1) ES2927241T3 (en)
FR (1) FR3055790B1 (en)
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Publication number Priority date Publication date Assignee Title
FR3055790B1 (en) * 2016-09-13 2018-09-07 Seb S.A. SOIL CLEANING ROBOT
CN113892868A (en) * 2021-10-20 2022-01-07 尚科宁家(中国)科技有限公司 Cleaning system capable of automatically walking

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Publication number Priority date Publication date Assignee Title
DE60045814D1 (en) * 1999-02-24 2011-05-19 Lg Electronics Inc VACUUM CLEANER WITH CYCLONE.AUMINATOR
CN100358461C (en) * 2003-05-13 2008-01-02 乐金电子(天津)电器有限公司 Cyclone vacuum cleaner
GB2417674B (en) * 2004-09-02 2007-12-19 Techtronic Ind Co Ltd Suction cleaners
WO2008127003A1 (en) * 2007-04-12 2008-10-23 Lg Electronics Inc. Dust separating apparatus of vacuum cleaner
CN101784219B (en) * 2007-07-19 2012-06-06 Lg电子株式会社 Dust separation apparatus of vacuum cleaner
GB2487775B (en) 2011-02-04 2013-03-27 Dyson Technology Ltd Autonomous vacuum cleaner
EP2581015B1 (en) * 2011-10-12 2015-01-21 Black & Decker Inc. A vacuum cleaner
KR101622713B1 (en) * 2014-09-24 2016-05-19 엘지전자 주식회사 Robot cleaner
WO2016100878A1 (en) * 2014-12-19 2016-06-23 Techtronic Industries Co. Ltd. Autonomous vacuum
FR3055790B1 (en) * 2016-09-13 2018-09-07 Seb S.A. SOIL CLEANING ROBOT

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EP3512397B1 (en) 2022-08-31
ES2927241T3 (en) 2022-11-03
FR3055790B1 (en) 2018-09-07
WO2018051007A1 (en) 2018-03-22
CN107811580A (en) 2018-03-20
FR3055790A1 (en) 2018-03-16
CN209421839U (en) 2019-09-24

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