Autonomous cleaning robot equipped with wet cleaning device

Abstract

An autonomous cleaning robot includes: a main body (3); a cleaning device (16) mounted for translational movement relative to the body (3) between an active position and an inactive position; and a translational drive mechanism (24) configured to translate the cleaning device (16) in a translational direction (T) and comprising: a drive element (25) having a central axis (A), provided with a first threaded drive portion (26) and mounted for rotational movement about the central axis (A) relative to the body (3); a drive member (27) secured to the cleaning device (16) and comprising a second threaded drive portion (28) configured to cooperate with the first threaded drive portion (26); and a movement transmission mechanism (36) configured to drive the drive element (25) in rotation about the central axis (A).

Description

Technical Field

[0001] The present invention relates to the field of autonomous cleaning devices equipped with a wet cleaning device, and more particularly to the field of robotic vacuum cleaners that can move autonomously on a surface to be cleaned and allow the suction of dust and waste present on the surface to be cleaned, and, if necessary, allow the cleaning of the surface to be cleaned while performing a suction operation, which surface to be cleaned may be, for example, a tiled floor, a parquet floor, a laminate, a rug or a carpet. Background Art

[0002] Today, autonomous cleaning robots have become a common utility that allows the cleaning of the entire surface of a house without any user assistance, provided that these surfaces are flat, that is to say at the same level. Thus, they save a significant amount of time for the user to engage in other activities.

[0003] Document FR3122561 discloses an autonomous cleaning robot that includes:

[0004] a body that includes a lower surface configured to be oriented towards the surface to be cleaned and a suction opening leading to the lower surface of the body;

[0005] a suction unit that is at least partially housed in the body and that is configured to generate an air flow through the suction opening;

[0006] a wet cleaning device that is mounted to translate between an active position and an inactive position relative to the body along a translation direction that is substantially vertical when the autonomous cleaning robot is resting on a horizontal surface, in the active position, the wet cleaning device being configured to be in contact with the surface to be cleaned, in the inactive position, the wet cleaning device being configured to be located at a distance from the surface to be cleaned; and

[0007] a translation drive mechanism that is configured to displace the wet cleaning device along the translation direction between the active position and the inactive position.

[0008] According to document FR3122561, the translation drive mechanism includes:

[0009] a plurality of drive studs spaced apart from each other, each drive stud extending along a respective extension axis that is substantially parallel to the translation direction and being mounted to rotate relative to the body about its extension axis, each drive stud including a threaded drive portion that is configured to cooperate with a respective complementary threaded drive portion provided on the wet cleaning device; and

[0010] A mobile drive mechanism, which particularly includes a drive belt mechanically coupled to each of the drive studs. The mobile drive mechanism is configured to drive the drive studs to rotate simultaneously, i.e., synchronously, in a first rotation direction to displace the wet cleaning device towards the active position, and is configured to drive the drive studs to rotate simultaneously, i.e., synchronously, in a second rotation direction opposite to the first rotation direction to displace the wet cleaning device towards the inactive position.

[0011] This configuration of the translation drive mechanism, more specifically this configuration of the drive studs, ensures optimal translational guidance of the wet cleaning device when it is displaced between the active position and the inactive position, because the wet cleaning device is guided by rotationally synchronized drive studs, and thus allows precise control of the position occupied by the wet cleaning device when it occupies the active position and the inactive position.

[0012] However, in order to ensure the synchronous rotation of the drive studs and thus ensure optimal translational guidance of the wet cleaning device between the active position and the inactive position, the translation drive mechanism should be manufactured precisely. Therefore, and also due to the large number of components constituting the translation drive mechanism, the assembly cost and thus the manufacturing cost of the autonomous cleaning robot are relatively high.

[0013] Furthermore, in order to maximize the space available in the main body for other components of the autonomous cleaning robot, such as a cleaning liquid reservoir, a waste collection device, or a movement system capable of moving a cleaning element, such as a mop equipped with a wet cleaning device, it is advantageous to make the translation drive mechanism described in document FR3122561 more compact. Summary of the Invention

[0014] The present invention aims to overcome these drawbacks.

[0015] The technical problem on which the present invention is based lies particularly in providing an autonomous cleaning robot that is simple in structure, economical, reliable and compact, while having enhanced cleaning performance.

[0016] To this end, the present invention relates to an autonomous cleaning robot, which includes:

[0017] A main body, the main body including a lower surface configured to face the surface to be cleaned and a suction port leading to the lower surface of the main body;

[0018] A suction unit, the suction unit being at least partially housed in the main body, and the suction unit being configured to generate an air flow through the suction port;

[0019] A cleaning device, such as a wet cleaning device, is mounted to translate between an active position and an inactive position relative to the main body along a translation direction that is substantially vertical when the autonomous cleaning robot is resting on a horizontal surface. In the active position, the cleaning device is configured to contact the surface to be cleaned. In the inactive position, the cleaning device is configured to be located at a distance from the surface to be cleaned; and

[0020] A translation drive mechanism configured to displace the cleaning device along the translation direction between the active position and the inactive position.

[0021] The translation drive mechanism includes:

[0022] A single drive element having a central axis extending substantially parallel to the translation direction. The drive element is provided with a first threaded drive portion and is mounted to rotate relative to the main body about the central axis;

[0023] A single drive member fixed to and translating integrally with the cleaning device. The drive member includes a second threaded drive portion configured to cooperate with the first threaded drive portion; and

[0024] A mobile transmission mechanism mechanically coupled to the drive element and configured to drive the drive element to rotate in a first rotation direction to displace the cleaning device towards the active position, and configured to drive the drive element to rotate in a second rotation direction opposite to the first rotation direction to displace the cleaning device towards the inactive position; and

[0025] The autonomous cleaning robot further includes a guiding device configured to guide the cleaning device to translate along the translation direction when the cleaning device is displaced between the active position and the inactive position.

[0026] The presence of a single drive element and a single drive member allows for a significant simplification of the structure of the translation drive mechanism and thus reduces the manufacturing cost of the autonomous cleaning robot according to the present invention, while imparting further increased reliability.

[0027] Furthermore, the presence of the guiding device ensures optimal translational guidance of the cleaning device when it is displaced between the active position and the inactive position, without the need to manufacture all components constituting the translation drive mechanism with high precision. However, when the cleaning device is in the active position, this translational guidance of the cleaning device particularly ensures an optimal positioning of the cleaning device relative to the surface to be cleaned, which ensures an optimal cleaning of the surface to be cleaned.

[0028] Therefore, the autonomous cleaning robot according to the present invention has a simple, economical, reliable and compact structure, while having enhanced cleaning performance.

[0029] The autonomous cleaning robot that is the subject of the present invention is designed, like most autonomous cleaning robots, to effectively clean the floor when it is displaced along a displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and along a predetermined displacement direction. The displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined displacement direction define the main displacement direction of the autonomous cleaning robot that is the subject of the present invention. Therefore, the front part or the rear part of the main body of the autonomous cleaning robot is identified relative to the main displacement direction of the autonomous cleaning robot.

[0030] The autonomous cleaning robot may also have one or more of the following features, which may be used alone or in combination.

[0031] According to an embodiment of the present invention, the guiding device is discrete from the translation driving mechanism.

[0032] According to an embodiment of the present invention, the first threaded driving part and the second threaded driving part form a screw connection, preferably of an irreversible type, to prevent the cleaning device from rising by itself and coming into contact with the floor to be cleaned.

[0033] According to an embodiment of the present invention, the autonomous cleaning robot includes a fixing system configured to fix the driving element in translation relative to the main body. This fixing system ensures the pure rotation of the driving element and thus ensures the best displacement of the cleaning device along the translation direction.

[0034] According to an embodiment of the present invention, the autonomous cleaning robot includes a bearing, such as a rolling bearing, such as a ball-type rolling bearing, configured to guide the rotation of the driving element relative to the main body.

[0035] According to an embodiment of the present invention, the bearing includes: an inner ring fixed to and extending around the driving element; and an outer ring that rotates relative to the inner ring and is fixed to a bearing support.

[0036] According to an embodiment of the present invention, the autonomous cleaning robot includes a fixing device configured to fix the bearing to the drive element. The fixing device may include, for example, at least one fixing lug provided on the drive element and extending substantially parallel to the central axis of the drive element. The at least one fixing lug is configured to cooperate with the bearing, for example, with the inner ring of the bearing, so as to fix the bearing to the drive element, in particular to axially fix the bearing relative to the drive element. Advantageously, the fixing device includes a plurality of fixing lugs provided on the drive element, distributed around the central axis of the drive element, and extending substantially parallel to the central axis of the drive element.

[0037] According to an embodiment of the present invention, the autonomous cleaning robot includes a bearing support, such as an annular bearing support, fixed to the body and coaxial with the central axis of the drive element. The bearing is fixed to and supported by the bearing support.

[0038] According to an embodiment of the present invention, the autonomous cleaning robot includes a retaining device configured to fix the bearing to the bearing support. The retaining device may include, for example, at least one retaining lug provided on the bearing support and extending substantially parallel to the central axis of the bearing support. The at least one retaining lug is configured to cooperate with the bearing, for example, with the outer ring of the bearing, so as to fix the bearing to the bearing support, in particular to axially fix the bearing relative to the bearing support. Advantageously, the retaining device includes a plurality of retaining lugs provided on the bearing support, distributed around the central axis of the bearing support, and extending substantially parallel to the central axis of the bearing support.

[0039] According to an embodiment of the present invention, the fixing device and the retaining device form the above-mentioned fixing system.

[0040] According to an embodiment of the present invention, the second threaded drive portion includes a threaded outer surface, and the first threaded drive portion includes a threaded inner surface configured to cooperate with the threaded outer surface of the second threaded drive portion.

[0041] According to an embodiment of the present invention, the drive element and the drive member extend substantially coaxially.

[0042] According to one embodiment of the present invention, the drive element includes a tapping axial reaming, and the tapping axial reaming at least partially forms a first thread driving portion, and the second thread driving portion is configured to at least partially extend into the tapping axial reaming.

[0043] According to one embodiment of the present invention, the drive member is a drive stud and extends along an extension axis that is substantially coaxial with the central axis of the drive element.

[0044] According to one embodiment of the present invention, the drive element intersects, i.e., crosses, the intermediate longitudinal plane of the main body. This arrangement of the drive element ensures a better balance of the support force exerted on the surface to be cleaned by the cleaning device, and thus imparts further improved cleaning performance to the autonomous cleaning robot.

[0045] According to one embodiment of the present invention, the central axis of the drive element substantially intersects the center of gravity of the cleaning device. This arrangement of the drive element ensures a better balance of the support force exerted on the surface to be cleaned by the cleaning device, and thus imparts further improved cleaning performance to the autonomous cleaning robot.

[0046] According to one embodiment of the present invention, the cleaning device includes a support shell, the support shell is at least partially received in the main body, and the drive member is fixed to the support shell, i.e., is integral with the support shell.

[0047] According to one embodiment of the present invention, the drive member extends upward from the upper surface of the support shell.

[0048] According to one embodiment of the present invention, the main body defines a downwardly opening receiving portion, i.e., the receiving portion leads to the lower surface of the main body, and the support shell is slidably displaceably mounted in the receiving portion.

[0049] According to one embodiment of the present invention, the drive element includes peripheral teeth mechanically coupled to the mobile transmission mechanism.

[0050] According to one embodiment of the present invention, the translational drive mechanism includes an electric motor, the electric motor is disposed in the main body and is provided with an output shaft mechanically coupled to the mobile transmission mechanism.

[0051] According to one embodiment of the present invention, the mobile transmission mechanism includes a worm, the worm is rotationally coupled to the output shaft of the electric motor and is coaxial with the output shaft, and the peripheral teeth provided on the drive element are rotationally coupled to the worm. This configuration of the mobile transmission mechanism and the drive element ensures easy and reliable assembly of the translational drive mechanism.

[0052] According to an embodiment of the present invention, the drive element includes a gear provided with a tapping axial reaming.

[0053] According to an embodiment of the present invention, the electric motor has a motor axis that is substantially perpendicular to the translation direction. In other words, when the autonomous cleaning robot is placed on a horizontal surface, the motor axis is substantially horizontal. This configuration of the electric motor allows the height dimension of the autonomous cleaning robot to be restricted.

[0054] According to an embodiment of the present invention, the support shell has a cross-section that is substantially complementary to the cross-section of the storage accommodation portion.

[0055] According to an embodiment of the present invention, the autonomous cleaning robot includes a rotation prevention device configured to prevent the cleaning device from rotating relative to the main body.

[0056] According to an embodiment of the present invention, the rotation prevention device is separate from the guiding device. The rotation prevention device may include, for example: a prevention rib provided on the main body or the cleaning device; and a prevention groove provided on the cleaning device or the main body, and the prevention rib is slidably mounted in the prevention groove.

[0057] According to another embodiment of the present invention, the rotation prevention device is formed by the guiding device.

[0058] According to an embodiment of the present invention, the guiding device includes at least one guiding roller mounted to rotate on the cleaning device or the main body about a rotation axis that is substantially perpendicular to the translation direction, and the at least one guiding roller is configured to roll on a guiding wall provided on the main body or the cleaning device. This configuration of the guiding device ensures optimal guidance when the cleaning device is displaced between the active position and the passive position.

[0059] According to an embodiment of the present invention, the at least one guiding roller includes a guiding roller configured to cooperate with a guiding groove provided on the main body or the cleaning device so as to further ensure preventing the cleaning device from rotating relative to the main body.

[0060] According to an embodiment of the present invention, the rotation prevention device includes a guiding roller mounted to rotate on the cleaning device or the main body and configured to prevent the cleaning device from rotating, and the guiding device includes a plurality of guiding rollers mounted to rotate on the cleaning device or the main body and configured to roll on guiding walls provided on the main body or the cleaning device, respectively.

[0061] According to another embodiment of the present invention, the rotation prevention device and the guiding device are formed by bearings in the form of Téflon (registered trademark) plates or strips.

[0062] According to one embodiment of the present invention, the guiding device includes a plurality of guiding rollers, at least two of which are configured to roll on guiding walls that are in place relative to each other. Advantageously, the guiding device includes two lateral guiding rollers, which are, for example, mounted on the cleaning device and are configured to roll on two lateral guiding walls that are in place relative to each other, and, for example, partially define the receiving compartment. The two lateral guiding rollers may, for example, be vertically offset relative to each other.

[0063] According to one embodiment of the present invention, the guiding device includes a front guiding roller or a rear guiding roller, which is mounted to rotate and move on the cleaning device or the main body and is configured to roll on a front guiding wall or a rear guiding wall provided on the main body or the cleaning device.

[0064] According to one embodiment of the present invention, the guiding device includes: a first guiding wall, which is provided on the cleaning device and, for example, on the support housing; and a second guiding wall, which is provided on the main body and, for example, at least partially defines the receiving compartment and is configured to cooperate with the first guiding wall when the cleaning device is displaced between an inactive position and an active position.

[0065] According to one embodiment of the present invention, each of the first and second guiding walls is substantially flat and is configured to extend substantially vertically when the autonomous cleaning robot is resting on a horizontal surface.

[0066] According to one embodiment of the present invention, the cleaning device includes at least one mop support and at least one mop, which is detachably mounted on the at least one mop support and is configured to contact the surface to be cleaned when the cleaning device is in the active position.

[0067] According to one embodiment of the present invention, the autonomous cleaning robot is configured such that when the autonomous cleaning robot is placed on the surface to be cleaned and the cleaning device is in the active position, the rear portion of the autonomous cleaning robot is directly placed on the surface to be cleaned through the at least one mop. This configuration of the autonomous cleaning robot allows the at least one mop to directly absorb at least a part of the mass of the autonomous cleaning robot, and thus further increases the supporting force exerted by the at least one mop on the floor to be cleaned. Therefore, this configuration of the autonomous cleaning robot allows for further improvement in the cleaning quality of the autonomous cleaning robot.

[0068] According to one embodiment of the present invention, the at least one mop support is fixed to the support shell, and for example, fixed to the support plate, and the support shell is provided with the support plate.

[0069] According to one embodiment of the present invention, the at least one mop support is mounted to move relative to the main body according to a displacement movement, and the displacement movement includes a translation component extending in a displacement plane substantially perpendicular to the intermediate longitudinal plane of the main body.

[0070] According to one embodiment of the present invention, the at least one mop support is mounted to translate relative to the main body along a support member displacement direction extending substantially perpendicular to the intermediate longitudinal plane of the main body.

[0071] According to one embodiment of the present invention, the cleaning device includes:

[0072] Two mop supports, each of the two mop supports being mounted to translate relative to the main body along a support member displacement direction extending substantially perpendicular to the intermediate longitudinal plane of the main body, and the two mop supports being mounted to move relative to each other between a close configuration and a far configuration, in the close configuration, the two mop supports are close to each other, and in the far configuration, the two mop supports are far from each other; and

[0073] Two mops, the two mops being respectively detachably mounted on the two mop supports and configured to contact the surface to be cleaned when the cleaning device is in the active position.

[0074] According to one embodiment of the present invention, the two mops are configured to be close to each other when the two mop supports are in the close configuration, and to be far from each other when the two mop supports are in the far configuration.

[0075] According to one embodiment of the present invention, the autonomous cleaning robot includes a displacement mechanism configured to alternately translate and displace the mop support member between the approaching configuration and the retracting configuration along the support member displacement direction.

[0076] According to one embodiment of the present invention, the displacement mechanism is disposed in the support housing.

[0077] According to another embodiment of the present invention, the at least one mop support member is configured to vibrate relative to the main body and is thus mounted to vibrate relative to the main body.

[0078] According to yet another embodiment of the present invention, the at least one mop is passive. In other words, the at least one mop support member is stationary relative to the support housing.

[0079] According to one embodiment of the present invention, the autonomous cleaning robot includes two drive wheels configured to roll on a surface to be cleaned and disposed on both sides of the middle longitudinal plane of the main body, and the two drive wheels are respectively rotatably mounted on the main body about two substantially parallel rotation axes.

[0080] According to one embodiment of the present invention, the translation drive mechanism is configured to keep the cleaning device substantially horizontal when the autonomous cleaning robot is resting on a horizontal surface and the cleaning device is displaced between the active position and the inactive position.

[0081] According to one embodiment of the present invention, the suction port is located in the front part of the main body, and the cleaning device is disposed in the rear part of the main body.

[0082] According to one embodiment of the present invention, the translation drive mechanism is disposed in the rear part of the main body.

[0083] According to one embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid reservoir, and the cleaning device includes a plurality of liquid outlet holes configured to be fluidly connected to the cleaning liquid reservoir and configured to supply cleaning liquid to the at least one mop mounted on the at least one mop support member. Advantageously, the liquid outlet holes are located in front of the at least one mop support member, particularly in front of the at least one mop.

[0084] According to one embodiment of the present invention, the main body defines a suction chamber fluidly connected to the suction port. The autonomous cleaning robot includes a rotary cleaning brush that is received in the suction chamber and is mounted to rotate about a brush rotation axis. Advantageously, the brush rotation axis extends transversely to the main displacement direction of the autonomous cleaning robot.

[0085] According to one embodiment of the present invention, the suction unit includes a suction motor and a ventilator. The ventilator is coupled to the suction motor and is configured to generate an air flow through the suction port. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] With reference to the drawings, the objects, aspects, and advantages of the present invention will be better understood from the following description of specific embodiments of the present invention, given by way of non-limiting example, in which:

[0087] Figure 1 is a perspective top view of an autonomous cleaning robot according to the present invention;

[0088] Figure 2 is Figure 1 a perspective bottom view of the autonomous cleaning robot, showing a mop equipped for the autonomous cleaning robot in a proximal configuration;

[0089] Figure 3 is Figure 1 a perspective bottom view of the autonomous cleaning robot, showing the mop in a distal configuration;

[0090] Figure 4 is Figure 1 a perspective bottom view of the autonomous cleaning robot, showing the mop in a proximal configuration;

[0091] Figure 5 is Figure 1 a bottom view of the autonomous cleaning robot, showing the mop in a distal configuration;

[0092] Figure 6 is Figure 1 a side view of the autonomous cleaning robot;

[0093] Figure 7 is Figure 1 a longitudinal cross-sectional view of the autonomous cleaning robot, showing the cleaning device in an active position;

[0094] Figure 8 is Figure 1 a longitudinal cross-sectional view of the autonomous cleaning robot, showing the cleaning device in an inactive position;

[0095] Figure 9 is Figure 1Partial perspective top view of the autonomous cleaning robot, showing the cleaning device in the active position;

[0096] Figure 10 is Figure 1 Partial perspective top view of the autonomous cleaning robot, showing the cleaning device in the inactive position;

[0097] Figure 11 is Figure 1 Perspective bottom view of the autonomous cleaning robot, showing the mop support for equipping the autonomous cleaning robot in the approaching configuration;

[0098] Figure 12 is Figure 1 Perspective bottom view of the autonomous cleaning robot, showing the mop support in the retracted configuration;

[0099] Figure 13 is Figure 7 Scale - enlarged view of the details of

[0100] Figure 14 Perspective rear view of the cleaning device;

[0101] Figure 15 Perspective front view of the cleaning device;

[0102] Figure 16 is Figure 1 Cross - sectional view of the autonomous cleaning robot of Detailed Description

[0103] Only the elements necessary for understanding the present invention are shown. For ease of reading the drawings, identical elements in different drawings have the same reference numerals.

[0104] It should be noted that herein, the terms "horizontal", "vertical", "down", "up", "top", "bottom" used to describe the autonomous cleaning robot or the body refer to the usage of the autonomous cleaning robot when it is resting on a flat and horizontal floor to be cleaned by its wheels.

[0105] Herein, the "intermediate longitudinal plane" refers to a vertical plane parallel to the main displacement direction and dividing the body into two substantially equal parts, namely the left part and the right part.

[0106] In the absence of a contrary stipulation, the term "substantially" herein means "exactly or within 10% or 10°".

[0107] Figures 1 to 13 An autonomous cleaning robot 2 is shown, more specifically a robotic vacuum cleaner, which is configured to move autonomously on a surface to be cleaned.

[0108] The self - cleaning robot 2 includes a main body 3, which includes a lower surface 4 and a suction port 5. The lower surface 4 is configured to be oriented towards the surface to be cleaned. The suction port 5 is provided in the front part 3.1 of the main body 3, and the suction port 5 leads to the lower surface 4 of the main body 3. Advantageously, the suction port 5 is elongated and extends substantially perpendicular to the main displacement direction D1 of the self - cleaning robot 2.

[0109] As Figure 7 shown, the main body 3 defines a suction chamber 6, and the suction chamber 6 leads to the lower surface 4 of the main body 3 via the suction port 5.

[0110] According to the embodiment shown in the figure, when viewed from above, the main body 3 has a generally D - shape in a substantially vertical orientation and includes a rear edge, which is curved and has an arc shape when viewed from above in a substantially vertical orientation. However, the main body 3 can have any other shape, such as a generally circular or rectangular shape.

[0111] The self - cleaning robot 2 further includes a rotary cleaning brush 7, which is received in the suction chamber 6 and is mounted to rotate about a brush rotation axis that extends substantially perpendicular to the main displacement direction D1. Advantageously, when the self - cleaning robot 2 is resting on a horizontal surface, the brush rotation axis is substantially horizontal.

[0112] The self - cleaning robot 2 further includes a drive mechanism (not visible in the figure), which is configured to drive the rotary cleaning brush 7 to rotate about the brush rotation axis.

[0113] As Figures 2 to 6 shown more specifically, the self - cleaning robot 2 includes two drive wheels 8, which are configured to roll on the surface to be cleaned. The two drive wheels 8 are mounted to rotate relative to the main body 3 and have rotation axes that are parallel and advantageously coaxial, and these rotation axes extend perpendicular to the main displacement direction D1. Advantageously, the two drive wheels 8 are configured to project from the lower surface 4 of the main body 3 and are provided on both sides of the intermediate longitudinal plane P of the main body 3.

[0114] The two drive wheels 8 are advantageously motorized independently of each other. Thus, the self - cleaning robot 2 includes two rotary drive mechanisms 9, which are received in the main body 3 and each is configured to drive a corresponding one of the two drive wheels 8 to rotate. Each rotary drive mechanism 9 includes a drive motor, which is rotationally coupled to the corresponding drive wheel 8 and is provided, for example, in a corresponding lateral part of the main body 3. According to the control of the above two drive motors, the main body 3 can pivot to the left, to the right or about itself, move forward or backward.

[0115] According to the embodiment shown in the figure, the autonomous cleaning robot 2 includes additional wheels 10 mounted to rotate freely relative to the main body 3, for example, two additional wheels 10 provided on the front part 3.1 of the main body 3. Advantageously, all the additional wheels 10 are located in front of the rotation axes of the two drive wheels 8, such that the autonomous cleaning robot 2 does not have additional wheels located behind the rotation axes of the two drive wheels 8.

[0116] The autonomous cleaning robot 2 further includes a suction unit 11 housed in the main body 3. The suction unit 11 includes a suction motor and a ventilator, the ventilator being coupled to the suction motor and configured to generate an air flow through the suction opening 5.

[0117] The autonomous cleaning robot 2 further includes a waste collection device 12 (see Figure 7 ), which is, for example, removably mounted on the main body 3. The waste collection device 12 includes a waste collection container 13, which is located upstream of the suction unit 11 and configured to have the air flow generated by the ventilator pass through and retain the waste conveyed by the air flow.

[0118] The autonomous cleaning robot 2 further includes a connection channel 14 fluidly connecting the suction chamber 6 to the waste collection container 13. As Figure 7 shown, the connection channel 14 leads to the rear part of the suction chamber 6, and the middle longitudinal plane P of the main body 3 intersects the connection channel 14.

[0119] The autonomous cleaning robot 2 further includes a power battery 15 configured to supply power to the autonomous cleaning robot 2. Advantageously, the power battery 15 is rechargeable and housed in the main body 3.

[0120] In particular, as Figure 2 shown, the autonomous cleaning robot 2 further includes a cleaning device 16, more specifically a wet cleaning device, which is provided in the rear part 3.2 of the main body 3. Advantageously, the cleaning device 16 is disposed opposite the rotary cleaning brush 7 with respect to the rotation axis of the drive wheels 8.

[0121] The cleaning device 16 is mounted to translate relative to the main body 3 along a translation direction T between an active position (see Figure 1 and Figure 7 ) and an inactive position (see Figure 2 and Figure 8 ), in the active position, the cleaning device 16 is configured to contact the surface to be cleaned, and in the inactive position, the cleaning device 16 is configured to be located at a certain distance from the surface to be cleaned. Advantageously, when the autonomous cleaning robot 2 is resting on a horizontal surface by its wheels, the translation direction T is substantially vertical. Thus, the active position corresponds to the lowered position of the cleaning device 16, and the inactive position corresponds to the raised position of the cleaning device 16.

[0122] As shown Figure 7 in FIG. Figure 7 , the main body 3 defines a receiving and accommodating portion 17 which opens downward, i.e., the receiving and accommodating portion 17 leads to the lower surface 4 of the main body 3, and the cleaning device 16 includes a support shell 18 which is mounted to be translatable in the main body 3. Advantageously, the support shell 18 has a cross-section which is substantially complementary to the cross-section of the receiving and accommodating portion 17 and which is, for example, generally rectangular.

[0123] The support shell 18 particularly includes a support body 18.1 and a support plate 18.2. The support body 18.1 has a generally parallelepiped shape. The support plate 18.2 extends below the support body 18.1, and the support plate 18.2 is fixed to the support body 18.1, for example, by screwing or any other fixing means. Advantageously, the support body 18.1 and the support plate 18.2 define a content portion 19, the function of which will be described below.

[0124] The cleaning device 16 further includes one or more mop supports 21 fixed to the lower surface of the support plate 18.2, and one or more additional mops 22 respectively detachably fixed to the corresponding mop supports 21. Each mop 22 is configured to contact the surface to be cleaned when the cleaning device 16 is in the active position and to extend substantially horizontally when the autonomous cleaning robot 2 is resting on a horizontal surface.

[0125] According to the embodiment shown in the figure, the cleaning device 16 includes two mop supports 21 arranged side by side and two mops 22 respectively detachably mounted on the two mop supports 21. However, according to an embodiment variant of the present invention, the cleaning device 16 may include a single mop support 21 and a single mop 22, the width of which substantially corresponds to the width of the main body 3.

[0126] According to the embodiment shown in the figure, the two mop supports 21 are each mounted to translate relative to the main body 3 along a support displacement direction D2 which is perpendicular to the main displacement direction D1 of the autonomous cleaning robot 2 and which extends parallel to the rotation axes of the two drive wheels 8. However, according to an embodiment variant of the present invention, each of the mop supports 21 may be mounted to vibrate relative to the main body 3, or may be immovable relative to the support shell 18 (one or each of the mop supports 22 will be passive).

[0127] Advantageously, the mop support 21 is mounted in a close configuration (see Figure 11 ) and a far configuration (see Figure 12) move relative to each other. In this approaching configuration, the two mop supports 21 approach each other, and in this separating configuration, the two mop supports 21 move away from each other. Accordingly, the two mops 22 are configured to approach each other when the two mop supports 21 are in the approaching configuration and move away from each other when the two mop supports 21 are in the separating configuration.

[0128] The cleaning device 16 further includes a displacement mechanism 23 configured to alternately translate the mop supports 21 along a support displacement direction D2 between the approaching configuration and the separating configuration. Accordingly, the displacement mechanism 23 is configured to translate the two mop supports 21 with opposite phases. Advantageously, the displacement mechanism 23 is disposed in an internal accommodation portion 19 defined by the support housing 18.

[0129] The autonomous cleaning robot 2 further includes a translation drive mechanism 24 configured to translate the cleaning device 16, more specifically the support housing 18, along a translation direction T between an active position and an inactive position. Advantageously, the translation drive mechanism 24 is disposed in a rear portion 3.2 of the main body 3.

[0130] The translation drive mechanism 24 particularly includes:

[0131] a drive element 25 having a central axis A extending substantially parallel to the translation direction T, the drive element 25 being provided with a first threaded drive portion 26 and mounted to rotate about the central axis A relative to the main body 3; and

[0132] a drive member 27 fixed to the support housing 18 and translating integrally with the cleaning device 16, the drive member 27 extending upward from an upper surface of the support housing 18 and including a second threaded drive portion 28 configured to cooperate with the first threaded drive portion 26.

[0133] According to the embodiment shown in the figure, the drive member 27 is a drive stud provided with a threaded outer surface (forming the second threaded drive portion 28) and extending along an axis extending substantially coaxial with the central axis A of the drive element 25, and the drive element 25 particularly includes a tapped axial reaming (partially forming the first threaded drive portion 26) configured to cooperate with the threaded outer surface provided on the drive stud, so that the drive member 27 extends at least partially into the tapped axial reaming. Accordingly, the first threaded drive portion 26 and the second threaded drive portion 28 form a screw connection, preferably of an irreversible type, to prevent the cleaning device 16 from rising by itself and contacting the ground to be cleaned.

[0134] Advantageously, the drive element 25 intersects, i.e., crosses, the intermediate longitudinal plane P of the main body 3. Also advantageously, the central axis A of the drive element 25 substantially intersects the center of gravity of the cleaning device 16.

[0135] As Figure 13 shown, the autonomous cleaning robot 2 includes: a bearing 29, such as a rolling bearing, such as a ball-type rolling bearing, which is configured to guide the drive element 25 to rotate relative to the main body 3; and a bearing support 31, such as an annular bearing support, which is configured to support the bearing 29, and the bearing 29 is fixed to the bearing support 29. Advantageously, the bearing support 31 is fixed to the main body 3 and is coaxial with the central axis A of the drive element 25.

[0136] The bearing 29 more specifically includes: an inner ring, which is fixed to the drive element 25 and extends around the drive element 25; and an outer ring, which rotates relative to the inner ring and is fixed to the bearing support 31. Advantageously, the autonomous cleaning robot 2 includes: a fixing device, which is configured to fix the bearing 29 to the drive element 25; and a retaining device, which is configured to fix the bearing 29 to the bearing support 31.

[0137] According to the embodiment shown in the figure, the fixing device includes a plurality of fixing lugs 32, which are provided on the drive element 25, which are distributed around the central axis A of the drive element 25, and which extend substantially parallel to the central axis A of the drive element 25. The fixing lugs 32 are more specifically configured to cooperate with the bearing 29, such as with the inner ring of the bearing 29, in order to fix the bearing 29 to the drive element 25, in particular in order to axially fix the bearing 29 relative to the drive element 25.

[0138] According to the embodiment shown in the figure, the retaining device includes a plurality of retaining lugs 33, which are provided on the bearing support 31, which are distributed around the central axis of the bearing support 31, and which extend substantially parallel to the central axis of the bearing support 31. The retaining lugs 33 are more specifically configured to cooperate with the bearing 29, such as with the outer ring of the bearing 29, in order to fix the bearing 29 to the bearing support 31, in particular in order to axially fix the bearing 29 relative to the bearing support 31.

[0139] The fixing device and the retaining device more specifically form a fixing system, which is configured to translate and fix the drive element 25 relative to the main body 3. Such a fixing system ensures a pure rotation of the drive element 25 relative to the main body 3.

[0140] The translational drive mechanism 24 further includes: a motor 34 (see Figure 9 ), which is provided in the main body 3 and is provided with an output shaft 35; and a movement transmission mechanism 36, which is mechanically coupled to the output shaft 35 of the motor 34 on the one hand and to the drive element 25 on the other hand.

[0141] According to the embodiment shown in the figure, the mobile drive mechanism 36 includes a worm 37 which is rotationally coupled to the output shaft 35 of the electric motor 34, and the worm 37 is coaxial with the output shaft 35, and the drive element 25 includes peripheral teeth 38 which are coaxial with the central axis A, and the peripheral teeth 38 are rotationally coupled to the worm 37. Accordingly, the drive element 25 includes: a gear which includes the above-mentioned tapping axial reaming and the peripheral teeth 38; and a fixed lug 32 extending from the gear.

[0142] Advantageously, the electric motor 34 has a motor axis which is substantially perpendicular to the translation direction T. In other words, when the autonomous cleaning robot 2 is placed on a horizontal surface, the motor axis is substantially horizontal.

[0143] The mobile drive mechanism 36 is more specifically configured to drive the drive element 25 to rotate in a first rotation direction when the electric motor 34 rotates in a first motor rotation direction, and is configured to drive the drive element 25 to rotate in a second rotation direction opposite to the first rotation direction when the electric motor 34 rotates in a second rotation direction of the motor.

[0144] However, considering the configuration of the first and second thread drive portions 26, 28, the cleaning device 16 is configured to be displaced towards the active position when the drive element 25 is driven to rotate in the first rotation direction by the mobile drive mechanism 36, and is configured to be displaced towards the inactive position when the drive element 25 is driven to rotate in the second rotation direction by the mobile drive mechanism 36.

[0145] The autonomous cleaning robot 2 further includes a guiding device 39 which is separate from the translation drive mechanism 24, and the guiding device 39 is configured to guide the translation of the cleaning device 16 when the cleaning device 16 is displaced between the active position and the inactive position. Advantageously, the guiding device 39 is further configured to prevent the cleaning device 16, in particular the support housing 18, from rotating relative to the main body 3. However, according to an embodiment variant of the present invention, the autonomous cleaning robot 2 may include a rotation prevention device which is separate from the guiding device 39 and is configured to prevent the cleaning device 16, in particular the support housing 18, from rotating relative to the main body 3.

[0146] Advantageously, the translation drive mechanism 24 and the guiding device 39 are configured to keep the cleaning device 16 substantially horizontal when the autonomous cleaning robot 2 is placed on a horizontal surface and the cleaning device 16 is displaced between the active position and the inactive position.

[0147] According to the embodiment shown in the figure, the guiding device 39 includes a plurality of guiding rollers 41 mounted on the cleaning device 16. Each guiding roller 41 is more specifically mounted to rotate on the support housing 18 about a rotation axis that is substantially perpendicular to the translation direction T, and is configured to roll on a corresponding guiding wall 42 provided on the main body 3 and partially defining the receiving portion 17. However, according to an alternative embodiment of the present invention, each guiding roller 41 may be mounted on the main body 3 and configured to roll on a corresponding guiding wall 42 provided on the support housing 18.

[0148] Advantageously, the guiding device 39 includes at least two guiding rollers 41, such as two lateral guiding rollers, which are configured to roll on two guiding walls 42 that are positioned opposite each other, and for example, on two lateral guiding walls that partially define the receiving portion 17. The two lateral guiding rollers may be vertically offset relative to each other, i.e., offset relative to each other along the vertical direction.

[0149] The guiding device 39 may further include a third guiding roller 41, such as a front guiding roller or a rear guiding roller, which is configured to roll on a front guiding wall or a rear guiding wall provided on the main body 3, respectively.

[0150] According to the embodiment shown in the figure, the guiding device 39 further includes: a first guiding wall 43 provided on the support housing 18; and a second guiding wall 44 provided on the main body 3 and partially defining the receiving portion 17, the second guiding wall 44 being configured to cooperate with the first guiding wall 43, more specifically to slide against the first guiding wall 43, when the cleaning device 16 is displaced between the inactive position and the active position. Advantageously, each of the first and second guiding walls 43, 44 is substantially flat and configured to extend substantially vertically when the autonomous cleaning robot 2 is placed on a horizontal surface.

[0151] The autonomous cleaning robot 2 further includes a cleaning liquid reservoir 45 configured to supply cleaning liquid to the two mops 22. The cleaning liquid reservoir 45 is, for example, removably mounted on the main body 3 and may be provided, for example, in the rear part 3.2 of the main body 3.

[0152] The cleaning device 16 further includes a plurality of liquid outlet holes 46 configured to be fluidly connected to the cleaning liquid reservoir 45 and configured to supply cleaning liquid to the mops 22 mounted on the mop support 21.

[0153] According to the embodiment shown in the figure, the liquid outlet holes 46 are aligned along an alignment direction extending perpendicular to the main displacement direction D1 of the autonomous cleaning robot 2 and are regularly spaced apart from each other. Advantageously, the liquid outlet holes 46 are located in front of the mop support 21, for example in front of the mop 22, and are configured to be oriented towards the surface to be cleaned.

[0154] The autonomous cleaning robot 2 further includes a cleaning liquid supply circuit (not described in detail), which is provided on the main body 3 and is configured to fluidly connect the liquid outlet holes 46 to the cleaning liquid reservoir 45.

[0155] According to the embodiment shown in the figure, the autonomous cleaning robot 2 includes a lifting ramp 47, which extends transversely to the main displacement direction D1 of the autonomous cleaning robot, and the lifting ramp 47 is located in front of the mop support 21. The lifting ramp 47 may for example have a length substantially corresponding to the distance between the two drive wheels 8. Advantageously, the lifting ramp 47 is provided on the cleaning device 16.

[0156] The lifting ramp 47 includes a lifting surface 47.1 (see Figure 6 ), which is oriented towards the surface to be cleaned and slopes backward and downward. The lifting surface 47.1 is more specifically configured to cause the rear part 3.2 of the main body 3 to be lifted when an obstacle appearing in front of the autonomous cleaning robot 2 comes into contact with the lifting surface 47.1 and slides on the lifting surface 47.1 during the forward displacement of the main body 3.

[0157] According to the embodiment shown in the figure, the liquid outlet holes 46 are provided on the lifting ramp 47 and are distributed along the lifting ramp 47. Advantageously, the liquid outlet holes 46 lead to the lifting surface 47.1.

[0158] The autonomous cleaning robot 2 further includes a control unit 48 (see Figure 6 ), which is configured to control the operation of the autonomous cleaning robot 2, in particular to control the displacement of the main body 3 according to a random or organized displacement, for example, and to control the displacement of the cleaning device 16 between an active position and an inactive position.

[0159] The control unit 48 is in particular configured to control the above-mentioned rotary drive mechanisms (which are configured to drive the drive wheels 8 to rotate) according to data received from different sensors provided on the main body 3, such as proximity sensors, contact sensors and / or drop sensors. The control unit 48 may for example include an electronic card configured to receive and process these different data.

[0160] According to an embodiment of the present invention, the autonomous cleaning robot 2 includes at least one floor type detector, such as an optical or mechanical detector, which is configured to detect the floor type encountered by the autonomous cleaning robot when it is displaced on the surface to be cleaned. The control unit 48 is advantageously configured to control the displacement of the cleaning device 16 between the active position and the inactive position according to the floor type detected by the floor type detector. For example, when at least one floor type detector detects that the surface to be cleaned is a carpet, at least one floor type detector sends a first control signal to the control unit 48, and then the control unit 48 controls the rotation of the motor 34 in the second motor rotation direction, so that the cleaning device 16 is displaced to the inactive position (and thus one or more mops 22 do not perform the cleaning of the carpet). When at least one floor type detector detects that the surface to be cleaned is a hard floor or a smooth floor, at least one floor type detector sends a second control signal to the control unit 48, and the control unit 48 controls the rotation of the motor 34 in the first motor rotation direction, so that the cleaning device 16 is displaced to the active position (and thus one or more mops 22 perform the cleaning of the hard floor or the smooth floor). Of course, the cleaning operation of the surface to be cleaned can be performed simultaneously or independently of the suction operation of the surface to be cleaned.

[0161] According to an implementation variant of the present invention, each of the first and second control signals can be sent to the control unit 48 through a remote terminal, such as a mobile phone.

[0162] According to an embodiment of the present invention, the autonomous cleaning robot 2 includes position detection means, which is configured to detect the position occupied by the cleaning device 16, and more specifically, to detect when the cleaning device 16 reaches the active position and to detect when the cleaning device 16 reaches the inactive position. The position detection means includes, for example, at least one position sensor, such as an optical or mechanical sensor, which is provided in the main body 3 and is configured to be actuated by the support shell 18 when the cleaning device 16 reaches the inactive position and / or the inactive position. The control unit 48 is advantageously configured to command the motor 34 to stop when the position detection means has detected that the cleaning device 16 has reached the inactive position or the active position.

[0163] Of course, the present invention is by no means limited to the described and illustrated embodiments given only by way of example. Modifications can be made without departing from the scope of protection of the present invention, especially from the perspective of the composition of various elements or by replacing technical equivalents.

Claims

1. An autonomous cleaning robot (2), comprising: A main body (3), the main body (3) comprising a lower surface (4) configured to be oriented toward a surface to be cleaned and a suction port (5) leading to the lower surface (4) of the main body (3); a suction unit (11), the suction unit (11) being at least partially accommodated in the body (3), and the suction unit (11) being configured to generate an air flow through the suction port (5); a cleaning device (16) mounted to move translationally relative to the body (3) along a substantially vertical translation direction (T) when the autonomous cleaning robot (2) rests on a horizontal surface between an active position in which the cleaning device (16) is configured to be in contact with the surface to be cleaned and an inactive position in which the cleaning device (16) is configured to be located at a distance from the surface to be cleaned; as well as A translation drive mechanism (24), the translation drive mechanism (24) being configured to cause the cleaning device (16) to be translationally displaced along the translation direction (T) between the active position and the inactive position; Characterized in that the translation drive mechanism (24) comprises: a single drive element (25) having a central axis (A) extending substantially parallel to said translation direction (T), said drive element (25) being provided with a first threaded drive portion (26) and being mounted for rotational movement relative to said body (3) about said central axis (A); a single drive member (27) fixed to the cleaning device (16) and translating integrally therewith, the drive member (27) including a second threaded drive portion (28) configured to cooperate with the first threaded drive portion (26); and a movement transmission mechanism (36) mechanically coupled to the drive element (25), the movement transmission mechanism (36) being configured to drive the drive element (25) to rotate in a first rotational direction so as to displace the cleaning device (16) toward the active position, and to drive the drive element (25) to rotate in a second rotational direction opposite to the first rotational direction so as to displace the cleaning device (16) toward the inactive position; and The autonomous cleaning robot (2) further comprises a guide device (39) configured to guide the cleaning device (16) to translate along the translation direction (T) when the cleaning device (16) is displaced between the active position and the inactive position.

2. The autonomous cleaning robot (2) according to claim 1, wherein: The autonomous cleaning robot comprises a bearing (29) configured to guide the drive element (25) to rotate relative to the main body (3).

3. The autonomous cleaning robot (2) according to claim 1 or 2, wherein: The drive element (25) and the drive member (27) extend substantially coaxially.

4. The autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein: The drive element (25) includes a tapped axial counterbore that at least partially forms the first threaded drive portion (26), and the second threaded drive portion (28) is configured to extend at least partially into the tapped axial counterbore.

5. The autonomous cleaning robot (2) according to any one of claims 1 to 4, wherein: The drive member (27) is a drive stud and extends along an extension axis that is substantially coaxial with the central axis (A) of the drive element (25).

6. The autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein: The drive element (25) intersects a median longitudinal plane (P) of the body (3).

7. The autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein: The central axis (A) of the drive element (25) substantially intersects the center of gravity of the cleaning device (16).

8. The autonomous cleaning robot (2) according to any one of claims 1 to 7, wherein: The cleaning device (16) comprises a support shell (18) which is at least partially housed in the body (3), and the drive member (27) is fixed to the support shell (18).

9. The autonomous cleaning robot (2) according to claim 8, wherein: The main body (3) defines a storage accommodation portion (17) which is open downward, and the support shell (18) is installed in the storage accommodation portion (17) in a translationally displaceable manner.

10. The autonomous cleaning robot (2) according to claim 9, wherein: The support shell (18) has a cross section that is substantially complementary to the cross section of the receiving accommodation portion (17).

11. The autonomous cleaning robot (2) according to any one of claims 1 to 10, wherein: The drive element (25) comprises peripheral teeth (38) mechanically coupled to the movement transmission (36).

12. The autonomous cleaning robot (2) according to any one of claims 1 to 11, wherein: The translation drive mechanism (24) comprises an electric motor (34) which is arranged in the body (3) and is provided with an output shaft (35) which is mechanically coupled to the movement transmission mechanism (36).

13. The autonomous cleaning robot (2) according to claims 11 and 12, wherein: The movement transmission mechanism (36) includes a worm (37) which is rotationally coupled to the output shaft (35) of the motor (34) and is coaxial with the output shaft (35), and the peripheral teeth (38) provided on the drive element (25) are rotationally coupled to the worm (37).

14. The autonomous cleaning robot (2) according to any one of claims 1 to 13, wherein: The guide device (39) comprises at least one guide roller (41), which is mounted to rotate and move on the cleaning device (16) or the main body (3) around a rotation axis substantially perpendicular to the translation direction (T), and the at least one guide roller (41) is configured to roll on a guide wall (42) provided on the main body (3) or the cleaning device (16).

15. The autonomous cleaning robot (2) according to any one of claims 1 to 14, wherein: The autonomous cleaning robot (2) comprises a rotation preventing device, which is configured to prevent the cleaning device (16) from rotating relative to the main body (3).

16. The autonomous cleaning robot (2) according to any one of claims 1 to 15, wherein: The cleaning device (16) comprises at least one mop support (21) and at least one mop (22), wherein the mop (22) is detachably mounted on the at least one mop support (21) and is configured to contact the surface to be cleaned when the cleaning device (16) is in the active position.

17. The autonomous cleaning robot (2) according to claim 16, wherein: The at least one mop support (21) is mounted to move relative to the body (3) according to a displacement movement comprising a translation component extending in a displacement plane substantially perpendicular to the median longitudinal plane of the body (3).

18. The autonomous cleaning robot (2) according to any one of claims 1 to 17, wherein: The suction opening (5) is located in the front part (3.1) of the main body (3), and the cleaning device (16) is arranged in the rear part (3.2) of the main body (3).

19. The autonomous cleaning robot (2) according to any one of claims 1 to 18, wherein: The body (3) defines a suction chamber (6) fluidically connected to the suction port (5), and the autonomous cleaning robot (2) comprises a rotating cleaning brush (7) housed in the suction chamber (6) and mounted to move in rotation about a brush rotation axis.

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