Cleaning device having a wiper cloth carrier with eccentrically deflectable rotational axis

Abstract

A cleaning device (100) is described, designed to be moved over a surface to be cleaned. The cleaning device (100) comprises at least one wiper carrier (150) with a support element (152) configured to receive a wiper on a surface of the support element (152) that faces the surface to be cleaned during operation of the cleaning device (100). The cleaning device (100) further comprises at least one drive (153) configured to drive the support element (152) via a drive shaft (151) to cause the support element (152) to rotate about an axis of rotation (451), so that during operation of the cleaning device (100), the surface of the support element (152) with the wiper arranged thereon is moved rotating about the axis of rotation (451) over the surface to be cleaned.The axis of rotation (451) is displaceable in a radial direction relative to the axis of rotation (451) and the drive shaft (151).

Description

[0001] The invention relates to a cleaning device, in particular a cleaning robot, with at least one wiping cloth carrier.

[0002] A cleaning device, in particular a cleaning robot, can have a suction nozzle with a suction mouth, through which impurities or dirt, in particular dirt particles, are sucked up from a surface to be cleaned by means of an air stream. Alternatively or additionally, the cleaning device can have one or more wipes, each attached to a wipe carrier. The individual wipe carriers can each be driven to rotate about the rotation axis of the respective wipe carrier, so that the one or more wipes are guided in rotation over the surface to be cleaned, thereby providing a wet cleaning function of the cleaning device.

[0003] During operation, obstacles may be located on the path of movement of the cleaning device, which may impair the wet cleaning function of the cleaning device.

[0004] This document addresses the technical task of providing a particularly reliable and thorough wet cleaning function of a cleaning device.

[0005] The problem is solved by the subject matter of the independent patent claim. Advantageous embodiments are defined in particular in the dependent patent claims, described in the following description, or illustrated in the accompanying drawings.

[0006] According to one aspect, a cleaning device is described which is designed to be moved across a surface to be cleaned (e.g., across a floor). The measures described in this document can be applied to this cleaning device individually or in combination. The cleaning device can be a cleaning robot, in particular a vacuum and mop robot. The cleaning device can be designed to move autonomously across the surface to be cleaned. For this purpose, the cleaning device can have one or more traction motors designed to drive one or more drive wheels of the cleaning device. The cleaning device can be moved across the surface to be cleaned (by the one or more traction motors) with a drive force having a specific force value.

[0007] The cleaning device comprises at least one wiping cloth carrier with a (possibly plate-shaped) carrier element that is designed to receive a wiping cloth (also referred to in this document as a wiping pad) on the surface of the carrier element that faces the surface to be cleaned during operation of the cleaning device. For example, the wiping cloth can be releasably attached to the surface of the carrier element using a hook-and-loop connection. The carrier element and / or the wiping cloth can each have a surface with a basic shape, in particular with a circular basic shape. Furthermore, the carrier element, in particular the surface of the carrier element, can be delimited in the radial direction (the axis of rotation of the carrier element) by an edge, in particular by a circular edge.

[0008] The cleaning device comprises at least one drive (e.g., with an electric motor) configured to rotate the carrier element (e.g., indirectly via a drive shaft) about a rotational axis, such that, during operation of the cleaning device, the surface of the carrier element, with the wiping cloth arranged thereon, is moved in rotation (about the rotational axis) over the surface to be cleaned. During operation of the cleaning device, the drive shaft and / or the rotational axis can each be arranged substantially perpendicular to the surface to be cleaned and / or parallel to the vertical axis of the cleaning device.

[0009] The support element can be elastically deformable in the radial direction relative to the rotation axis. The support element can be configured to receive the wipe on the surface of the support element in such a way that the wipe is deformed radially together with the support element.

[0010] During operation of the cleaning device, the support element, in particular the edge of the rotating support element, may collide with an obstacle. This may result in a force dependent on the driving force of the cleaning device (with the specific force value) acting on the edge of the support element. The support element is preferably designed such that the support element is deformed, in particular by 5% or more or by 10% or more of the diameter of the support element, by the action of a force acting externally on the support element in the radial direction, which force has the specific force value (which is dependent on the driving force of the cleaning device) or which depends on the specific force value.

[0011] The support element can in particular be designed to be elastically deformed in the radial direction (e.g. by 5% or more or by 10% or more of the diameter of the support element) by the action of a force acting in the radial direction from outside the support element onto the edge (with the determined force value), starting from the basic shape.

[0012] The elastic deformability of the support element can be achieved by using a material with a modulus of elasticity of preferably 1 GPa or less. Alternatively or additionally, the elastic deformability of the support element can be achieved by one or more geometric structures or cavities in the material that support elastic deformability, such as a honeycomb structure.

[0013] Thus, a cleaning device is described that has a wiper carrier with a carrier element that is deformable in the radial direction (i.e., parallel to the surface to be cleaned) (and is deformed in response to a collision with an obstacle). This allows reliable wet cleaning even in the presence of obstacles.

[0014] The carrier element is preferably not deformable or at least only insignificantly deformable in the axial direction relative to the axis of rotation. The force required for elastic deformation of the carrier element in the axial direction is, for the same deflection, preferably by a factor of 10 or more, in particular by a factor of 100 or more, greater than the force required for elastic deformation in the radial direction. Alternatively or additionally, the stiffness of the carrier element in the axial direction is preferably by a factor of 10 or more, in particular by a factor of 100 or more, greater than the stiffness in the radial direction. By providing a carrier element that is essentially not deformable in the axial direction, a particularly reliable wiping action can be achieved across the entire surface of the wiping cloth attached to the carrier element.

[0015] The carrier element can have an elastically deformable ring, in particular a wire ring, e.g., made of spring steel, on the outer edge. Furthermore, the wiper carrier can have a hub that is driven by the drive, in particular by the drive shaft. The axis of rotation of the hub and the drive shaft can be collinear.

[0016] The wipe carrier, in particular the carrier element, can comprise a plurality of spring elements, each of which connects the hub to the (elastically deformable) ring, and each of which is designed to exert a force on the ring acting in a radial direction away from the hub in order to hold the carrier element in its basic shape and / or to return the carrier element to its basic shape. The spring elements can be distributed in the circumferential direction of the carrier element, in particular evenly distributed, around the hub. The wipe carrier, in particular the carrier element, can comprise, for example, three or more, four or more, in particular six or more, spring elements.

[0017] The spring elements may comprise at least one telescopic spring element arranged radially between the hub and the ring. In particular, the individual spring elements may each be designed as telescopic spring elements.

[0018] Alternatively or additionally, the spring elements can comprise at least one spring element configured as a spiral spring or leaf spring, which is arranged radially to the hub at the first end facing the hub, and which is arranged tangentially to the ring at the second end facing the ring. In particular, the individual spring elements can each be configured as a spiral spring or leaf spring.

[0019] By using a deformable ring connected to the hub of the wipe carrier via spring elements, a deformable carrier element can be provided in a particularly efficient and robust manner.

[0020] The support element may have a flexible structure forming the surface of the support element. The flexible structure may be elastically deformable in the radial direction. On the other hand, the flexible structure is preferably substantially non-deformable in the axial direction.

[0021] The flexible structure can comprise a plurality of honeycombs arranged radially adjacent to one another. The flexible structure can thus be a honeycomb structure. Alternatively or additionally, the flexible structure can comprise a plurality of corrugations, each of which can extend in a ring shape from the hub (of the wipe carrier) to the edge of the carrier element.

[0022] By providing a flexible structure forming the surface of the carrier element, a wipe carrier can be provided in a particularly robust manner which is selectively deformable in the radial direction (and not in the axial direction).

[0023] The cleaning device may have at least or exactly two directly adjacent wiper carriers. The rotational axes of the carrier elements of the two wiper carriers are typically arranged substantially parallel to one another. Furthermore, the rotational axes of the carrier elements of the two wiper carriers can be arranged radially close to one another such that the carrier elements touch at a contact point and mutually deform elastically at the contact point. This effectively prevents a gap between the two wiper carriers, further improving the quality of the wet cleaning function of the cleaning device.

[0024] As already explained above, the drive can be configured to drive the carrier element via a drive shaft to cause the carrier element to rotate about the rotation axis, so that during operation of the cleaning device, the surface of the carrier element with the wiping cloth arranged thereon is moved around the rotation axis in rotation over the surface to be cleaned. The rotation axis can be displaceable in the radial direction (to the rotation axis) relative to the drive shaft. For this purpose, the wiping cloth carrier and / or the cleaning device can be configured as described in this document.

[0025] This allows a local displacement between the rotational axis of the carrier element and the drive shaft to occur (e.g., in response to a collision with an obstacle). This enables the wiper carrier to flexibly avoid obstacles without impairing the movement of the cleaning device.

[0026] According to a further aspect, a cleaning device is described which is designed to be moved over a surface to be cleaned. The measures described in this document can also be applied to this cleaning device, individually or in combination. The cleaning device can be a cleaning robot, in particular a vacuum and mop robot. The cleaning device can be designed to move autonomously over the surface to be cleaned. For this purpose, the cleaning device can have one or more traction motors which are designed to drive one or more drive wheels of the cleaning device. In this case, the cleaning device can be moved over the surface to be cleaned (by the one or more traction motors) with a drive force having a specific force value.

[0027] The cleaning device comprises at least one wiping cloth carrier with a (possibly plate-shaped) carrier element that is designed to receive a wiping cloth (also referred to in this document as a wiping pad) on the surface of the carrier element that faces the surface to be cleaned during operation of the cleaning device. For example, the wiping cloth can be releasably attached to the surface of the carrier element using a hook-and-loop connection. The carrier element and / or the wiping cloth can each have a surface with a basic shape, in particular with a circular basic shape. Furthermore, the carrier element, in particular the surface of the carrier element, can be delimited in the radial direction (the axis of rotation of the carrier element) by an edge, in particular by a circular edge.

[0028] The cleaning device comprises at least one drive configured to drive the carrier element via a drive shaft to cause the carrier element to rotate about its axis of rotation, so that, during operation of the cleaning device, the surface of the carrier element, with the wiping cloth arranged thereon, rotates about the axis of rotation over the surface to be cleaned. During operation of the cleaning device, the drive shaft and / or the axis of rotation can each be arranged substantially perpendicular to the surface to be cleaned and / or parallel to the vertical axis of the cleaning device.

[0029] The rotation axis can be displaceable in the radial direction (to the rotation axis) relative to the drive shaft. In particular, the rotation axis can be displaced in the radial direction relative to the drive shaft by the action of an external force in the radial direction on the outer edge of the carrier element. Alternatively, the drive shaft can be fixed locally (relative to the cleaning device and / or on the cleaning device) and / or not displaceable in the radial direction, thus providing an efficient drive for the wiper carrier of the cleaning device.

[0030] The cleaning device can be designed such that the drive shaft and the rotation axis are collinear in a neutral position (when no external force acts on the support element). Furthermore, the cleaning device can be designed such that the rotation axis of the support element can be displaced radially out of the neutral position by the application of a force acting radially on the support element from the outside. The displacement can be limited to a displacement up to a maximum possible distance between the drive shaft and the rotation axis. The maximum possible distance can be, for example, between 5% and 20% of the diameter of the support element.

[0031] The cleaning device can in particular be designed such that the axis of rotation is displaced in the radial direction relative to the drive shaft by the action of a force acting externally on the carrier element in the radial direction, which force has the specific force value (which depends on the drive force of the traction motor of the cleaning device), in particular such that the axis of rotation and the drive shaft have the maximum possible distance from each other.

[0032] Thus, a cleaning device is described that comprises a wiper carrier with a carrier element whose rotational axis is displaceable in the radial direction (i.e., parallel to the surface to be cleaned) (e.g., in response to the impact of an obstacle on the carrier element). Thus, reliable wet cleaning can be achieved even in the presence of obstacles.

[0033] As already explained above, the drive shaft of the drive can be designed to drive the hub of the wipe carrier. The hub can be coupled to the edge of the carrier element via several, in particular three or more, spring elements. In this case, the first end of a spring element can be connected to the hub and the second end of the respective spring element can be connected to the edge of the carrier element. Preferably, the hub is mechanically connected to the carrier element only via the spring elements, in particular only via the second ends of the spring elements at the edge of the carrier element. The spring elements can be distributed in the circumferential direction of the carrier element, in particular evenly distributed, around the hub.

[0034] The spring elements may comprise at least one telescopic spring element arranged radially between the hub and the rim. In particular, the individual spring elements may each be designed as telescopic spring elements.

[0035] Alternatively or additionally, the spring elements can comprise at least one spring element configured as a spiral spring or leaf spring, which is arranged radially to the hub at the first end facing the hub, and which is arranged tangentially to the edge at the second end facing the edge. In particular, the individual spring elements can each be configured as a spiral spring or leaf spring.

[0036] By using spring elements between the driven hub and the (possibly fixed and / or non-deformable) edge of the support element, a particularly reliable and efficient displacement between the drive shaft and the rotation axis can be achieved (in response to a collision with an obstacle).

[0037] As already explained above, the wiper carrier can be designed such that the drive shaft and the rotation axis can be spaced apart from each other in the radial direction at most by the maximum possible distance. The spring elements, in particular together, can have a restoring force toward the neutral position of the carrier element that is greater than the centrifugal force acting on the carrier element with the wiper arranged thereon when the drive shaft and the rotation axis are spaced apart by the maximum possible distance. Such a design of the spring elements can achieve particularly robust displacement between the drive shaft and the rotation axis.

[0038] The support element can comprise (or be designed as) a rigid, non-deformable support plate that has the rotational axis as its center point, forms the surface of the support element facing the surface to be cleaned, and is designed to accommodate the wiping cloth. This allows for particularly robust displacement between the drive shaft and the rotational axis.

[0039] Alternatively, the support element can be elastically deformable in the radial direction relative to the rotation axis. For this purpose, the wipe carrier and / or the support element can be designed as described in this document. By using a deformable support element, the wipe carrier can be enabled to deform elastically upon contact with obstacles without impairing the movement of the cleaning device.

[0040] The cleaning device optionally has at least or exactly two directly adjacent wipe carriers. The rotational axes of the carrier elements of the two wipe carriers are typically arranged substantially parallel to one another. Furthermore, the rotational axes of the carrier elements of the two wipe carriers can be arranged so close to one another in the radial direction that the carrier elements touch at a contact point, and that the rotational axis of the carrier element of at least one wipe carrier is offset in the radial direction relative to the drive shaft for this wipe carrier. In this way, a gap between the two wipe carriers can be efficiently avoided, thereby further improving the quality of the wet cleaning function of the cleaning device.

[0041] It should be noted that any aspects of the cleaning devices described in this document can be combined in a variety of ways. In particular, the features of the patent claims can be combined in a variety of ways.

[0042] The invention will be described in more detail below with reference to exemplary embodiments illustrated in the accompanying drawings. Figuren 1a und 1b an exemplary cleaning robot as an example of a cleaning device in different perspective views; Figur 1c exemplary components of a cleaning device; Figur 1d an exemplary sectional view through a cleaning robot; Figur 1e an example drive of a wiper carrier; Figuren 2a and 2b exemplary flexible wipe carriers; Figur 2c an example of deformation of the wipe carrier due to an obstacle; Figur 3a a wipe carrier with a flexible honeycomb structure; Figur 3b a wipe carrier with a flexible wave structure; Figur 3c a cross-section through the wave structure of the wipe carrier Fig. 3b ; and Figuren 4a and 4b a wiper carrier with an eccentrically deflectable rotation axis.

[0043] As stated at the beginning, this document is concerned with providing a reliable and high-quality wet cleaning function of a cleaning device, even in the presence of obstacles. In this context, Fig. 1a the top 121 and Fig. 1b The underside 122 of a cleaning robot 100, in particular a vacuum and mop robot, as an example of a cleaning device. The aspects described specifically for a cleaning robot apply generally to a cleaning device.

[0044] During vacuuming operation of the cleaning robot 100, the underside 122 faces the floor to be cleaned or the surface of a cleaning area, such as a room, to be cleaned. The underside 122 of the cleaning robot 100 typically has one or more drive units 101 (with one or more drive wheels), by means of which the cleaning robot 100 can move independently to clean different areas of a floor. Furthermore, the cleaning robot 100 can have one or more guide and / or support elements 104 (e.g., non-driven wheels) that enable stable movement of the cleaning robot 100 over the floor to be cleaned. In addition, a cleaning robot 100 typically comprises one or more suction units 106 (in particular suction nozzles) that are configured to clean the floor beneath the cleaning robot 100.

[0045] A suction unit 106 (in particular a suction nozzle) may include a brush roller 102 configured to rotate about a rotational axis, wherein the rotational axis is typically arranged parallel to the underside 122 of the cleaning robot 100. The brush roller 102 may be used to mechanically remove dust and / or contaminants from the floor to be cleaned, so that the dust and / or contaminants can be sucked into the suction mouth 107 of the suction unit 106 with increased reliability.

[0046] A user interface can be arranged on the top side 121 of the cleaning robot 100, which allows a user of the cleaning robot 100 to make control inputs. Furthermore, the cleaning robot 100 can comprise a bumper 105 on a side wall 123 (e.g., on a side wall 123 in the front area of ​​the cleaning robot 100). A bumper sensor can be arranged on the bumper 105, which is configured to capture sensor data indicating whether or not the cleaning robot 100 has encountered an obstacle in the direction of movement 120. Triggering the bumper sensor (due to the deflection of the bumper 105) by an obstacle can, for example, cause the cleaning robot 100 to rotate about its vertical or vertical axis, which is perpendicular to the floor, and thereby change the direction of movement 120 to avoid the obstacle.

[0047] Furthermore, a cleaning robot 100 typically has one or more environment sensors 110 (see Fig. 1c ) that are configured to capture environmental data (i.e., sensor data) relating to the environment of the cleaning robot 100. The one or more environmental sensors 110 can include: one or more image cameras, one or more ultrasonic sensors, one or more tactile and / or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar and / or radar sensors, etc. A control unit 130 of the cleaning robot 100 can be configured to determine digital map information relating to the cleaning area to be cleaned based on the environmental data and, if necessary, to store it on a storage unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information to independently orient itself within the cleaning area (e.g., within a room) and / or to determine a travel route for cleaning the cleaning area.

[0048] Fig. 1c shows a Cartesian coordinate system with a longitudinal axis (i.e., an x-axis), a transverse axis (i.e., a y-axis), and a vertical axis (i.e., a z-axis). The direction of movement 120 of the cleaning device 100 typically corresponds to the longitudinal axis. The rotation axis of the brush roller 102 typically runs along the transverse axis. The vertical axis is typically perpendicular to the surface to be cleaned. Fig. 1d shows a sectional view of the cleaning device 100 within a plane spanned by the longitudinal axis and the vertical axis.

[0049] The Fig. 1b The cleaning device 100 shown has two wiper carriers 150 on the underside 122, to each of which a wiper can be attached. Fig. 1b In the example shown, the individual wiper carriers 150 each have a circular and / or disc-shaped carrier element (in particular a carrier plate) 152, to which a circular wiper can be attached (e.g., using a hook-and-loop connection). A wiper carrier 150 can have an axis of rotation, which is arranged in particular at the center of the circular carrier element 152 and which typically runs along the vertical axis. By causing a rotational movement of the carrier element 152 of the wiper carrier 150 about the axis of rotation, the wiper attached to the carrier element 152 can be guided in a rotating movement over the surface to be cleaned, thereby wiping the surface. As shown in the Figuren 1d and 1eAs shown, the rotational movement of the support element 152 can be effected by a drive 153 (with an electric motor) of the cleaning device 100. The drive 153 can be coupled to a drive shaft 151, wherein the drive shaft 151 effects the rotational movement of the support element 152 about the rotation axis. The support element 152 can optionally be (removably) attached to the drive shaft 151 via a coupling element 155.

[0050] As explained above, the cleaning device 100 may encounter and / or move past obstacles during operation. In particular, it may happen that the rotating support element 152 of the wipe carrier 150 encounters an obstacle. This may lead to a change in the direction of movement 120 of the cleaning device 100, so that a portion of the surface to be cleaned may not be cleaned. The cleaning device 100, in particular the housing of the cleaning device 100, may have a specific basic shape, e.g., a round or D-shaped basic shape. The one or more wipe carriers 150 may protrude beyond the basic shape.This document describes different wiper carriers 150 for a cleaning device 100, each of which is designed to avoid obstacles in order to enable robust navigation of the cleaning device 100 and thus to ensure reliable cleaning of the entire area of ​​a surface to be cleaned.

[0051] Fig. 2a shows an exemplary wipe carrier 150 with a deformable carrier element 152. The carrier element 152 has an outer ring 202, which is circular in the basic state of the carrier element 152. The outer ring 202 is deformable. In the Fig. 2a In the example shown, the outer ring 202 is coupled via a plurality of spring elements 201 to a hub 251 for driving the carrier element 152. The hub 251 can be coupled to the drive shaft 151. In particular, the drive shaft 151 can be designed to drive the hub 251. The individual spring elements 201 are each designed to press the outer ring 202 away from the hub 251 and thereby hold it in the basic state. Furthermore, the individual spring elements 151 are designed to be compressed against the spring force in response to the action of an external force on the outer ring 202. For example, an obstacle can cause an external force to act on the outer ring 202, compressing one or more spring elements 201, whereby the outer ring 202 is deformed at the point of contact with the obstacle.

[0052] The carrier element 202 can thus comprise a flexible support structure with a deformable outer ring 202 (e.g., with a wire) that is connected to the driven hub 251 via spring elements 201. A carrier material 203, to which a wiper cloth can be releasably attached, can optionally be attached to the flexible support structure. The carrier material 203 is designed to be deformable. An exemplary carrier material 203 is silicone.

[0053] Fig. 2b shows a wiper carrier 150 having spiral spring elements 201, via which the outer ring 202 is connected to the driven hub 251. As in Fig. 2c As illustrated, an obstacle 210 acting on the outer ring 202 at a contact point deforms one or more spring elements 201 in the region of the contact point, which leads to a deformation of the support element 152.

[0054] The wiper carrier 150 is preferably designed such that the carrier element 152 is deformable within the cleaning plane, which is arranged perpendicular to the drive shaft 151 and / or perpendicular to the vertical axis, and that the carrier element 152 is essentially non-deformable perpendicular to the cleaning plane (i.e., along the vertical axis). This ensures that the wiper is pressed by the carrier element 152 against the surface to be cleaned, thereby ensuring a reliable cleaning effect.

[0055] Thus, a wiper carrier 150 with an outer deformable shape is described, wherein the wiper carrier 150 is connected to the driven hub 251 via flexible spring elements 201. By deforming the outer shape with a fixed position of the rotation axis relative to the wiper, the wiper can be caused to avoid obstacles 210 by deformation in the radial direction.

[0056] The wipe carrier 150 can have integrated spring elements 201. These allow the wipe carrier 150 to flexibly avoid an obstacle 210, elastically deform during contact with the obstacle 210, and then return to its original basic shape.

[0057] Telescopic springs can be used as spring elements 201 (as shown in the example in Fig. 2a shown). Here, the circular support element 152, which has a circular outer ring 202 made of a flexible material, e.g., spring steel, is connected to the static receptacle (i.e., the hub) 251 of the support element 152 via telescopic spring elements 201. Upon contact with an obstacle 210, the wiping cloth can deform together with the support element 152 (in the radial direction) and thus avoid the obstacle 210. With the help of the telescopic spring elements 201 in conjunction with the resilient outer ring 202 of the support element 152, the wiping cloth can return to its original shape after passing the obstacle 210. The telescopic spring elements 201 are preferably designed such that they can absorb the tangential and / or radial forces occurring upon contact with an obstacle 210.

[0058] Another possibility is the use of spiral or leaf springs, which are used as spring elements 201 (as shown for example in Fig. 2b shown). Here, the wipe carrier 150 comprises a fixed receptacle (ie, hub) 251 in the center, a circular support element 152 which is delimited externally by a resilient ring 202, and spiral spring elements 201 which resiliently connect the receptacle 251 and the outer ring 202.

[0059] By means of the spiral spring elements 201, which are aligned, for example, tangentially to the outer ring 202 and orthogonally to the receptacle 251 in the plane of the carrier element 152, and which are each connected at one end to the outer ring 202 and at the other end to the receptacle 251, the entire carrier element 152 can deform upon contact with an obstacle 210 (selectively in the radial direction) and thus avoid the obstacle 210 (as shown by way of example in Fig. 2c (shown). Due to the structure, the support element 152 can return to its original basic shape after the obstacle 210 has been passed. Coil or leaf springs can absorb tangential and / or radial forces in a particularly reliable manner, thus providing a particularly robust wiper carrier 150.

[0060] Alternatively or additionally, the support element 152 may have an integrated structure that is flexible in the radial direction (radial to the axis of rotation) and that is stiff in the axial direction, so that a uniform ground pressure can be effected over the entire surface of the support element 152. Fig. 3a shows a carrier element 152 with a honeycomb structure 301. Fig. 3b shows a carrier element 152 with a wave structure 311. Fig. 3c shows a cross section through the support element 152 from Fig. 3b .

[0061] By using a flexible structure 301, 311, the support element 152 can flexibly avoid an obstacle by elastically deforming the flexible structure 301, 311 during contact with an obstacle 210 and then returning to its original basic shape.

[0062] A honeycomb structure 301 in the support element 152 serves as a radially flexible and resilient element 201, while the honeycomb structure 301 simultaneously represents a structure that is rigid in the axial direction. The support element 152, which may have a circular outer ring 202, is connected to the hub 251 of the wipe carrier 150 via the honeycomb structure 301. Upon contact with an obstacle 210, the wipe and the support element 152 can deform and thus avoid the obstacle 210. With the help of the radially flexible and resilient structural elements of the support element 152, the wipe can return to its original shape after passing the obstacle 210.

[0063] A wave-like structure 311 formed in the carrier element 152 serves in an analogous manner as a flexible and resilient mechanism 201, which yields to the obstacle 210 upon contact of the wiping cloth and the carrier element 152 with an obstacle 210, wherein the waves compress in the region of contact with the obstacle 210 and thus the wave spring is tensioned, which leads to a return to the basic shape after the end of contact with the obstacle 210.

[0064] Alternatively or in addition to a deformation of the carrier element 152 in the radial direction, the wipe carrier 150 described in this document can be designed such that the axis of rotation of the carrier element 152 is displaceable relative to the drive shaft 151 (which is typically rigidly coupled to the hub 251 of the carrier element 152). An obstacle 210 acting on the edge of the carrier element 152 can then cause the axis of rotation of the carrier element 152 to be displaced (while the drive shaft 151 remains in the same position), so that the carrier element 152 avoids the obstacle 210. This is exemplified in the Figuren 4a and 4b shown.

[0065] Fig. 4a shows a support element 152 with a support plate 403, which may not be deformable (in the radial direction). Furthermore, the support element 152 comprises spring elements 201, each of which connects the (driven) hub 251 to the edge 402 of the support element 152, in particular the support plate 403. In the example shown, the spring elements 201 are each designed as spiral springs or leaf springs. The end facing the hub 251 extends radially to the hub 251 (and is connected to the hub 251), and the end facing the edge 402 extends tangentially to the edge 402 (and is connected to the edge 402).

[0066] The hub 251 is not connected to the center of the support plate 403, wherein the center typically corresponds to the rotation axis 451 of the support plate 403 or the support element 152. As in Fig. 4b As shown, this results in the support element 152, in particular the support plate 403, being displaced parallel to the surface to be cleaned by the action of an obstacle 210 on the edge 402 of the support element 152, thus avoiding the obstacle 210. As a result, the rotation axis 451 is displaced relative to the drive shaft 151 driving the hub 251. The displacement is caused by the deformation of the spring elements 201.

[0067] Thus, a wiping cloth carrier 150 can be provided with an outer fixed and / or rigid ring 402, which is connected to the receptacle 251 of the drive shaft (i.e., to the hub) via elastic elements 201. The wiping cloth arranged on the support element 152 can thus avoid obstacles 210 while maintaining its external shape in the horizontal plane, wherein, in contrast to the neutral or basic position, the rotation axis 451 of the wiping cloth or of the support element 152 is no longer arranged collinearly and / or concentrically with the drive shaft 151. The elastic elements 201 each have a restoring force into the neutral position, so that the rotation axis 451 of the wiping cloth or of the support element 152 and the drive shaft 151 are again concentric and / or collinear when no obstacle 210 is in contact with the wiping cloth carrier 150.

[0068] A cloth carrier (i.e., a carrier element) 152 with integrated spring elements as elastic elements 201 can be used. These allow the carrier 152 with the wiping cloth to flexibly avoid an obstacle 210 by shifting the rotation axis 451 of the wiping cloth or the carrier 152 radially relative to the drive shaft 151. The base plate 403 of the carrier 152 is preferably designed to be rigid. The restoring force of the spring elements 201 is preferably greater than the centrifugal force of the wiping cloth and the carrier base plate 403 resulting from the imbalance-related centrifugal force of the wiping cloth and the carrier base plate 403 during the deflection.

[0069] Different forms of spring elements 201 can be used. In the Figuren 4a and 4bIn the example shown, leaf springs are used as spring elements 201. The wipe carrier 150 preferably has spiral and / or curved spring elements 201 (e.g., at least three spring elements 201) that couple the carrier 152, in particular the carrier plate 403, to the drive shaft 151. When an obstacle 210 acts on the wipe or the carrier base plate 403 by contact, the force resulting from this contact leads to a displacement of the carrier plate 403 within the horizontal plane arranged perpendicular to the rotation axis 451, which leads to a displacement between the rotation axis 451 of the wipe and the drive shaft 151. After passing the obstacle 210, the spring elements 201 cause the wipe to reset, so that its rotation axis 451 and the drive shaft 151 are again concentric and / or collinear.The spring elements 201 also transmit the torque required to rotate the wiper from the drive shaft 151 (via the hub 251) to the carrier base plate 403.

[0070] By providing a flexible and resilient design for a wiper carrier 150 and / or by shifting the rotation axis 451 of the carrier element 152, negative influences on the navigation of a cleaning device 100 can be avoided or at least reduced. Furthermore, the size (in particular the diameter) of the rotating wiper can be increased, even significantly beyond the basic shape of the housing of the cleaning device 100, so that the overall wiping width can be increased. In particular, a wiper can be used that extends beyond the edge of the cleaning device 100. This improves the cleaning of corners and edges.

[0071] Furthermore, the coverage of the area between two directly adjacent, rotating wipers can be improved. The flexible wipers and / or the radially displaceable wipers can touch each other centrally, thereby preventing a residual dirt streak between the rotating wipers. In particular, two directly adjacent wiper carriers 150 can be arranged so close to one another that the carrier elements 152 of the two wiper carriers 150 always touch and, if necessary, deform at the point of contact. Any basic shape of the carrier elements 152 can be used. In particular, circular carrier elements 152 can be used, so that (unlike when using polygonal wipers) no synchronization of the drives 153 of the two wiper carriers 150 is required.

[0072] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the cleaning devices described in this document. List of reference symbols

[0073] 100Cleaning device (cleaning robot) 101Drive unit 102Brush roller 104Guide and / or support element 105Bumper 106Suction unit / suction nozzle 107Suction mouth 110Environment sensor 111Storage unit 120Direction of movement / longitudinal direction 121Top side 122Bottom side 123Side wall 130Control unit 150Wipe carrier 151Drive shaft (wipe carrier) 152Carrier element 153Drive (wipe carrier) 155Coupling element 201Spring element 202Frame / ring 203Carrier material 210Obstacle 251Hub (wipe carrier) 301Honeycomb structure 311Wave structure 402Edge (carrier element) 403Carrier plate 451Rotation axis (support element)

Claims

1. A cleaning device (100) designed to be moved over a surface to be cleaned; wherein - the cleaning device (100) comprises at least one wiping cloth carrier (150) with a carrier element (152) designed to receive a wiping cloth on a surface of the carrier element (152) that, during operation of the cleaning device (100), faces the surface to be cleaned; - the cleaning device (100) comprises at least one drive (153) designed to drive the carrier element (152) via a drive shaft (151) to cause the carrier element (152) to be rotated about an axis of rotation (451), such that, during operation of the cleaning device (100), the surface of the carrier element (152) with the wiping cloth arranged thereon is moved in rotation about the axis of rotation (451) over the surface to be cleaned; and - the rotation axis (451) is displaceable in the radial direction to the rotation axis (451) relative to the drive shaft (151).

2. Cleaning device (100) according to claim 1, wherein the rotation axis (451) is displaceable in the radial direction relative to the drive shaft (151) by the action of an external force in the radial direction on an edge (402) of the carrier element (152).

3. Cleaning device (100) according to one of the preceding claims, wherein the drive shaft (151) is fixed locally with respect to the cleaning device (100) and / or is not displaceable in the radial direction.

4. Cleaning device (100) according to one of the preceding claims, wherein - the drive shaft (151) of the drive (153) is designed to drive a hub (251) of the wipe carrier (150); and - the hub (251) is coupled to an edge (402) of the carrier element (152) via several, in particular three or more, spring elements (201).

5. Cleaning device (100) according to claim 4, wherein - a first end of each spring element (201) is connected to the hub (251) and a second end of the respective spring element (201) is connected to the edge (402) of the support element (152); and - the hub (251) is mechanically connected to the support element (152) only via the spring elements (201), in particular only via the second ends of the spring elements (201) at the edge (402) of the support element (152).

6. Cleaning device (100) according to one of claims 4 to 5, wherein the spring elements (201) are arranged distributed in the circumferential direction of the carrier element (152), in particular uniformly distributed, around the hub (251).

7. Cleaning device (100) according to one of claims 4 to 6, wherein - the spring elements (201) comprise at least one telescopic spring element which is arranged in the radial direction between the hub (251) and the rim (402); and / or - the spring elements (201) comprise at least one spring element designed as a spiral spring or leaf spring, which is arranged radially to the hub (251) in particular at the first end facing the hub (251), and which is arranged tangentially to the rim (202) in particular at the second end facing the ring (202).

8. Cleaning device (100) according to one of claims 4 to 7, wherein - the wipe carrier (150) is designed such that the drive shaft (151) and the rotation axis (451) have at most a maximum possible distance from each other in the radial direction; and - the spring elements (201), in particular together, have a restoring force to a neutral position of the carrier element (152) which is greater than a centrifugal force acting on the carrier element (152) with the wipe arranged thereon when the drive shaft (151) and the rotation axis (451) have the maximum possible distance from each other.

9. Cleaning device (100) according to one of the preceding claims, wherein the cleaning device (100) is designed such that - the drive shaft (151) and the rotation axis (451) are collinear in a neutral position; and - the rotation axis (451) is displaceable in the radial direction out of the neutral position by the action of a force acting from the outside on the support element (152) in the radial direction.

10. Cleaning device (100) according to one of the preceding claims, wherein - the cleaning device (100) is designed to be moved over the surface to be cleaned with a drive force having a specific force value; and - the cleaning device (100) is designed such that the axis of rotation (451) is displaced in the radial direction relative to the drive shaft (151) by the action of a force acting externally on the carrier element (152) in the radial direction, which force is dependent on the specific force value, in particular such that the axis of rotation (152) and the drive shaft (151) have a maximum possible distance from one another.

11. Cleaning device (100) according to one of the preceding claims, wherein the carrier element (152) comprises a rigid, non-deformable carrier plate (403) which has the rotation axis (451) as its center point, by which the surface of the carrier element (152) facing the surface to be cleaned is formed, and which is designed to receive the wiping cloth.

12. Cleaning device (100) according to one of claims 1 to 10, wherein the carrier element (152) is elastically deformable in the radial direction to the axis of rotation (451).

13. Cleaning device (100) according to one of the preceding claims, wherein - the cleaning device (100) has at least two directly adjacent wipe carriers (150); and - the axes of rotation (451) of the carrier elements (152) of the two wipe carriers (150) are arranged substantially parallel to one another and are arranged so close to one another in the radial direction that - the carrier elements (152) touch at a contact point; and - the axis of rotation (451) of the carrier element (152) of at least one wipe carrier (150) is shifted in the radial direction relative to the drive shaft (151) for this wipe carrier (150).

14. Cleaning device (100) according to one of the preceding claims, wherein - the cleaning device (100) is a cleaning robot, in particular a vacuum and wiping robot; and / or - the cleaning device (100) is designed to move autonomously over the surface to be cleaned.

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