Cleaning device, drive device and drive element for a cleaning device with a traction element

Abstract

To increase the traction of a cleaning device without increasing its ground clearance and / or overall height, a drive device for a cleaning device (200), in particular a cleaning robot, is proposed, comprising at least one drive unit, in particular a motor, for providing a drive force and transmitting the drive force to at least one drive element (10), wherein the drive element (10) is designed to convert the drive force into kinetic energy, and comprising at least one traction element (11), wherein the traction element (11) is pivotably arranged on the drive device (100).

Description

[0001] The invention relates to a drive device for a cleaning device, a drive element of such a drive device, and a cleaning robot comprising such a drive device.

[0002] From DE 10 2018 219 575 A1 a cleaning robot is known which has a drive device comprising a drive and wheels for moving the cleaning robot.

[0003] DE 10 2019 214 187 B3 relates to a robot for surface cleaning. The robot includes a drive system for maneuvering and propelling itself. At least one rotating drive element is provided, which is positioned closer to a front boundary or a rear boundary of the robot than the drive system. The drive element is configured to contact the surface to be cleaned and / or the obstacle itself while overcoming it, in order to generate additional propulsion.

[0004] DE 10 2012 112 402 A1 relates to an arrangement for overcoming a travel obstacle, preferably on a self-propelled floor cleaning device with a driven wheel. To improve the design of such an arrangement, it is provided that a lifting element, projecting with a front end surface beyond a running surface of the wheel in the direction of travel, is pivotably mounted eccentrically on the wheel, with a housing-mounted counter-bearing being provided.

[0005] Cleaning robots need good off-road capability to prevent them from getting stuck during operation. Ground clearance is crucial for this. However, increased ground clearance also increases the robot's overall height, which can have negative consequences such as a higher center of gravity and an increased overall size.

[0006] The invention is based on the objective of increasing the traction of a cleaning device without increasing its ground clearance and / or overall height.

[0007] This problem is solved by the features specified in claim 1. Further advantageous embodiments of the invention are described in the dependent claims.

[0008] The traction element advantageously enables the traction of the cleaning device to be increased when it moves over an uneven surface. According to the invention, the traction element is movably, i.e., pivotably, arranged on the drive device so that, particularly when the drive element lacks ground contact, the traction element pivots out to increase traction or to provide traction for the drive element in the first place. When the drive element is in ground contact, the traction element is in a pivoted position, in which it can also provide traction.

[0009] The drive mechanism advantageously ensures the traction of the cleaning device without increasing the ground clearance (i.e., the distance between the underside of the cleaning device and the ground). This is achieved by at least one traction element that can passively deform. This means that as soon as the drive element, for example, travels over a depression in the ground or otherwise lifts off the ground, the traction element folds downwards and provides traction.

[0010] In particular, traction is always provided by the traction element when an area of ​​the drive element on which the traction element is located is a traction surface of the drive element. The traction surface is the surface that is in contact with the ground at any given time when the cleaning device is in motion, or the surface that faces the ground when the drive element is not in contact with the ground.

[0011] Preferably, the drive unit is a drive motor. Furthermore, the cleaning device can comprise a cleaning element, in particular one, two or more cleaning brushes.

[0012] Preferably, the traction element can be in a pivoted position, a pivoted position, or a partially pivoted position when the cleaning device is moving on the ground. The fully pivoted position is preferably always present when the drive element is in contact with the ground. In the fully pivoted position of the traction element, the drive element may have no or only minimal contact with the ground. Furthermore, the traction element can assume a partially pivoted position when it is in partial contact with the ground.

[0013] The traction element pivots outwards, particularly towards a floor surface or away from the underside of the cleaning device. If the drive element loses contact with the floor, it can advantageously pivot outwards towards the floor surface to maintain traction.

[0014] Preferably, the traction element protrudes from an underside of the cleaning device or from an outer circumferential surface or the traction surface of the drive element when swung out. In particular, the traction element protrudes laterally from the drive element and extends exclusively laterally from the drive element.

[0015] Preferably, the traction element is arranged on the drive element. In particular, the traction element is arranged or attached to the drive element in such a way that, when the cleaning device is moving, a traction force can be transmitted from the drive element to the traction element when the traction element is in contact with the ground, allowing the cleaning device to continue moving. Preferably, the traction element is arranged on the drive element in such a way that the traction element is not movable or pivotable in the direction of travel or rotation of the drive element. The connection between the traction element and the drive element is rigid with respect to the direction of travel or rotation of the drive element.

[0016] Preferably, the traction element is formed integrally with the drive element. This makes the manufacturing and assembly of the cleaning device particularly easy.

[0017] Preferably, the drive element and the traction element are manufactured using an injection molding process. Advantageously, the drive element and the traction element can be manufactured in a single process step.

[0018] Preferably, the drive element and the traction element are manufactured using a 3D printing process. This allows for flexible adaptation of the shape of the drive element and the traction element, respectively. Furthermore, manufacturing is particularly simple.

[0019] Preferably, the drive element is a drive wheel or a drive chain.

[0020] Preferably, the drive device has at least or exactly two drive elements. The drive elements are preferably essentially identical. This advantageously allows for a particularly effective increase in traction.

[0021] Preferably, the traction element is arranged in the area of ​​or on an outer circumferential surface of the drive element. In particular, the traction element is arranged on a lateral edge region of the circumferential surface of the drive element, such that the traction element projects laterally from the drive element and the cleaning device. This lateral projection advantageously allows the traction element to provide additional traction for the drive element in both the pivoted and extended positions.

[0022] Preferably, the traction element projects coaxially or at an angle, particularly at an angle to an axis of rotation of the drive element, from the drive element. Preferably, in the pivoted position, the traction element projects substantially coaxially and perpendicularly from a side surface of the drive element. This allows the traction element, in the pivoted position and when the drive element is in contact with the ground, to advantageously rest on the ground and increase the traction of the drive element. In the pivoted position, the traction element preferably projects at an angle to the side surface or to an axis of rotation of the drive element.

[0023] Preferably, the traction element is arranged to pivot elastically on the drive element. Advantageously, the drive element can have an elastically designed, in particular flexurally elastic, connection area by means of which the traction element is attached to the drive element. Preferably, only the connection area is elastically designed. In particular, the traction element can also be arranged bi-elastically or in a flexural-torsionally coupled manner on the drive element.

[0024] Preferably, the traction element is essentially strip-shaped, with a flat side of the traction element preferably resting on a ground surface during operation of the drive device and when the traction element is pivoted into position. This is particularly only the case when the traction element is located within the area of ​​the traction surface during operation. Otherwise, the traction element can be pivoted into position and not rest against the ground surface. The contact with the ground surface can also preferably provide additional traction for the drive element when the drive element is in contact with the ground.

[0025] Preferably, the connection area where the traction element is arranged on the drive element is strip-shaped. While the connection area is elastic or flexurally elastic, the remaining area of ​​the strip-shaped traction element is rigid.

[0026] Preferably, the traction element is arranged in a recess of the drive element. The recess is, in particular, a slot extending across a circumferential surface of the drive element. The traction element preferably extends centrally within the slot, providing clearance on either side of the traction element. This clearance allows the traction element to bend, particularly in the area of ​​the slot, to perform the pivoting action.

[0027] Preferably, the drive device comprises a plurality of traction elements, which are preferably arranged, particularly at uniform intervals, along a circumference of the drive element. The traction elements are preferably identical. By providing multiple traction elements, an effective increase in traction during the operation of the cleaning device can advantageously be achieved.

[0028] According to the invention, the traction element is designed such that it is subjected to mechanical tension in a pivoted position. This advantageously allows the traction element to pivot passively, i.e., without an additional drive component. The mechanical tension therefore acts particularly in the pivoting direction and causes the traction element to pivot out independently as soon as it loses contact with the ground. Upon ground contact, the traction element is pressed against the ground and thus subjected to the mechanical preload. Furthermore, the tension advantageously ensures that the traction element is always in contact with the ground surface.

[0029] Preferably, the traction element is arranged parallel to the traction surface of the drive element in a pivoted position, so that the traction element provides traction during operation of the drive device in the pivoted position. As described above, the traction element can increase traction in all operating states of the drive device and not only in situations where the drive element is not in contact with the ground.

[0030] The solution according to the invention is further achieved by a drive element designed for use in a drive device with the aforementioned features, wherein the drive element comprises at least one traction element.

[0031] Furthermore, the problem according to the invention is solved by a cleaning device, in particular a cleaning robot, comprising the drive device described above.

[0032] Exemplary embodiments of the invention are explained in more detail below with reference to the drawings. The drawings show: Fig. 1 a perspective view of a cleaning device with a drive device according to the invention, Fig. 2 a detailed view of a traction element of the drive device, Fig. 3. A side view of the cleaning device on a flat floor surface. Fig. 4. A side view of the cleaning device on a floor surface with an edge, Fig. 5 Another side view of the cleaning device on a floor surface with an edge. Fig. 6. A side view of the cleaning device on an uneven floor surface, Fig. 7 different views of a drive element in the form of a drive chain, and Fig. 8 A detailed view of a drive element on the drive chain.

[0033] Fig. Figure 1 shows a cleaning device 200 in the form of a cleaning robot. The cleaning device 200 comprises cleaning elements 12 in the form of brushes. Furthermore, the cleaning device 200 comprises a drive device 100 for moving the cleaning device over a floor surface 14, which is in Fig. Figure 3 is shown as an example. In the Fig. In the embodiment shown in Figure 1, the drive device 100 comprises a drive element 10 in the form of a drive chain, which is arranged circumferentially on several drive wheels.

[0034] As an alternative to arranging a drive chain on several drive wheels, the drive element can also form a drive wheel or a drive ring, as for example in the Fig. 7 and Fig. 8 shown.

[0035] Fig. Figure 2 shows a detailed view of a strip-shaped traction element 11, which is arranged on a circumferential surface 16 of the drive element 10. The traction element 11 is in the swung-out position and extends obliquely from an underside of the cleaning device 200.

[0036] Fig. Figure 3 shows the cleaning device 200 on a flat floor surface 14. Those traction elements 11 that are in contact with the floor and are located in the area of ​​the traction surfaces of the drive elements 10 are pivoted inwards and extend parallel to the floor surface 14 or coaxially to an axis of rotation of the drive elements 10. In this state, the traction elements 11 can provide additional traction to the drive elements 10, even though the drive elements 10 themselves are still in contact with the floor. Those traction elements that are not in contact with the floor because they are currently not in the area of ​​a traction surface 16 are pivoted outwards.

[0037] In Fig. Figure 4 shows the cleaning device 200 passing a floor edge 15 of a floor surface 14. The cleaning device 200 rests with its underside on the floor edge 15 and could not move further without the traction elements 11. The traction elements 11, which are subject to mechanical tension, are pivoted downwards due to the lack of floor contact of the drive elements 10. This allows the traction elements 11 to extend further away from the underside than the drive elements 10 towards the floor surface 14, where they re-establish traction for the drive elements 10, enabling the cleaning device 200 to move further.

[0038] Fig. Figure 5 shows another scenario in which the cleaning device 200 moves up the floor edge 15. The cleaning device 200 can continue moving further to the left along the top of the floor edge 15 because the traction element 11 has swung out and re-established contact with the floor surface. Thus, the cleaning device 200 advantageously does not get stuck on the floor edge 15.

[0039] In the Fig. In the scenario shown in Figure 6, the cleaning device moves across a floor recess. Traction in the right-hand area is ensured by the traction element 11, which extends into the floor recess and is swung outwards. A traction element 11 on the left-hand side also provides increased traction for the drive element 10, as it extends flat across the floor and rests there.

[0040] Fig. Figure 7 shows various perspective views of a drive element 10 in the form of a drive wheel. The drive wheel has a circumferential surface 16, around which several traction elements 11 are arranged at equal intervals along the circumference.

[0041] In the detailed view of the Fig. Figure 8 shows that the drive element 10 has a slot 18 or a recess in its circumferential surface 16, wherein the traction element 11 is attached to the drive element 10 in the region of the slot 18, such that clearances 19 are formed laterally to the traction element 11. These clearances allow the traction element 11 to bend so that, during operation of the drive device 100, it can lie flat on the floor surface, thus providing additional traction for the drive element 10. Reference symbol list 200 cleaning device 100 drive device 10 Drive element 11 traction element 12 cleaning elements 13 Connection area 14 floor area 15 edge 16 traction area 17 Circumferential area 18 slots 19 open spaces

Claims

[1] Drive device (100) for a cleaning device (200), in particular a cleaning robot, comprising at least one drive unit, in particular a motor, for providing a drive force and transmitting the drive force to at least one drive element (10), wherein the drive element (10) is designed to convert the drive force into kinetic energy, and comprising at least one traction element (11), wherein the traction element (11) is pivotably arranged on the drive device (100), characterized by , that the traction element (11) is designed such that the traction element (11) is subjected to a mechanical stress in a swung-out state. [2] Drive device (100) according to claim 1, wherein the traction element (11) is arranged on the drive element (10). [3] Drive device (100) according to one of the preceding claims, wherein the traction element (11) is formed integrally with the drive element (10). [4] Drive device (100) according to one of the preceding claims, wherein the drive element (10) and the traction element (11) are manufactured in an injection molding process. [5] Drive device (100) according to one of the preceding claims, wherein the drive element (10) and the traction element (11) are manufactured using a 3D printing process. [6] Drive device (100) according to one of the preceding claims, wherein the drive element (10) is a drive wheel or a drive chain. [7] Drive device (100) according to one of the preceding claims, wherein the traction element (11) is arranged in the area or on an outer circumferential surface (16) of the drive element (10). [8] Drive device (100) according to one of the preceding claims, wherein the traction element (11) protrudes coaxially or at an angle from the drive element (10). [9] Drive device (100) according to one of the preceding claims, wherein the traction element (11) is arranged to pivot elastically on the drive element (10). [10] Drive device (100) according to one of the preceding claims, wherein the traction element (11) is essentially strip-shaped, wherein preferably a flat side (20) of the traction element (11) rests on a floor surface during operation of the drive device (100) and in the pivoted state of the traction element (11). [11] Drive device (100) according to one of the preceding claims, comprising a plurality of traction elements (11), which are preferably, in particular uniformly spaced, arranged along a circumference of the drive element (10). [12] Drive device (100) according to one of the preceding claims, wherein the traction element (11) is arranged in a pivoted state parallel to a traction surface (16) of the drive element (10), so that the traction element (11) in the pivoted state provides traction when the drive device (100) is operated. [13] Drive element designed for use in a drive device (100) according to one of the preceding claims, wherein the drive element (10) comprises at least one traction element (11). [14] Cleaning device (200), in particular a cleaning robot, comprising a drive device (100) according to any one of claims 1 to 12.

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