EP3512397A1 - Floor cleaning robot - Google Patents
Floor cleaning robotInfo
- 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
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 72
- 238000000926 separation method Methods 0.000 claims abstract description 32
- 239000002699 waste material Substances 0.000 claims description 20
- 239000000725 suspension Substances 0.000 claims description 18
- 239000002689 soil Substances 0.000 claims description 10
- 238000004146 energy storage Methods 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000002910 solid waste Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1658528A FR3055790B1 (en) | 2016-09-13 | 2016-09-13 | SOIL CLEANING ROBOT |
PCT/FR2017/052426 WO2018051007A1 (en) | 2016-09-13 | 2017-09-12 | Floor cleaning robot |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3512397A1 true EP3512397A1 (en) | 2019-07-24 |
EP3512397B1 EP3512397B1 (en) | 2022-08-31 |
Family
ID=57209607
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17784343.0A Active EP3512397B1 (en) | 2016-09-13 | 2017-09-12 | Floor cleaning robot |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3512397B1 (en) |
CN (2) | CN107811580A (en) |
ES (1) | ES2927241T3 (en) |
FR (1) | FR3055790B1 (en) |
WO (1) | WO2018051007A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3055790B1 (en) * | 2016-09-13 | 2018-09-07 | Seb S.A. | SOIL CLEANING ROBOT |
CN113892868A (en) * | 2021-10-20 | 2022-01-07 | 尚科宁家(中国)科技有限公司 | Cleaning system capable of automatically walking |
Family Cites Families (10)
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 |
-
2016
- 2016-09-13 FR FR1658528A patent/FR3055790B1/en active Active
-
2017
- 2017-09-12 EP EP17784343.0A patent/EP3512397B1/en active Active
- 2017-09-12 CN CN201710817724.9A patent/CN107811580A/en active Pending
- 2017-09-12 ES ES17784343T patent/ES2927241T3/en active Active
- 2017-09-12 WO PCT/FR2017/052426 patent/WO2018051007A1/en unknown
- 2017-09-12 CN CN201721164422.8U patent/CN209421839U/en active Active
Also Published As
Publication number | Publication date |
---|---|
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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