Autonomous cleaning robot equipped with a wet cleaning device

Abstract

The autonomous cleaning robot comprises a main body (3); a cleaning device (16) mounted to be movable in translation relative to the main body (3) between an active position and an inactive position; and a translation drive mechanism (24) configured to move the cleaning device (16) in translation in a translation direction (T) and comprising a drive element (25) having a central axis (A), provided with a first threaded drive portion (26) and mounted to be movable in rotation relative to the main body (3) about the central axis (A), a drive member (27) fixed 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 motion transmission mechanism (36) configured to drive the drive element (25) in rotation about the central axis (A). Figure 13

Description

Title of the invention: Autonomous cleaning robot equipped with a wet cleaning device 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 robot vacuum cleaners capable of moving autonomously over a surface to be cleaned and making it possible to vacuum up dust and waste present on the surface to be cleaned, which may for example be tiles, parquet, laminate, carpet or a rug, and possibly to wash the surface to be cleaned simultaneously with a vacuuming operation. State of the art

[0002] Autonomous cleaning robots have become commonplace these days, allowing complete surfaces of a home to be cleaned without any assistance from the user as long as these surfaces are flat, i.e. on the same level. They thus offer considerable time savings to users for other activities.

[0003] Document FR3122561 discloses an autonomous cleaning robot comprising:

[0004] - a main body comprising a lower face configured to be oriented towards a surface to be cleaned and a suction inlet opening into the lower face of the main body,

[0005] - a suction unit which is housed at least partly in the main body and which is configured to generate an airflow through the suction mouth,

[0006] - a wet cleaning device mounted to move in translation relative to the body main in a translation direction, which is substantially vertical when the autonomous cleaning robot rests on a horizontal surface, and between an active position in which the wet cleaning device is configured to be in contact with the surface to be cleaned and an inactive position in which the wet cleaning device is configured to be located at a distance from the surface to be cleaned, and

[0007] - a translational drive mechanism configured to move in translation the wet cleaning device according to the translation direction and between the active position and the inactive position.

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

[0009] - a plurality of drive pads which are spaced apart from each other, each drive stud extending along a respective extension axis which is substantially parallel to the translation direction and being mounted to be movable in rotation relative to the main body about its extension axis, each drive stud comprising a threaded drive portion configured to cooperate with a respective complementary threaded drive portion provided on the wet cleaning device, and

[0010] - a movement transmission mechanism comprising in particular a belt transmission mechanism which is mechanically coupled with each of the drive pads, the motion transmission mechanism being configured to rotate the drive pads simultaneously, namely in a synchronized manner, in a first direction of rotation so as to move the wet cleaning device to the active position, and being configured to rotate the drive pads simultaneously, namely in a synchronized manner, in a second direction of rotation, opposite to the first direction of rotation, so as to move the wet cleaning device to the inactive position.

[0011] Such a configuration of the translational drive mechanism, and more particularly of the drive studs, ensures optimal translational guidance of the wet cleaning device during its movements between the active position and the inactive position, since it is guided by the drive studs which are synchronized in rotation, and therefore makes it possible to precisely control the position occupied by the wet cleaning device both when it occupies the active position and the inactive position.

[0012] However, in order to ensure synchronized rotation of the drive pads, and therefore optimal translational guidance of the wet cleaning device between the active and inactive positions, the translational drive mechanism must be produced with precision. As a result, and also due to the high number of parts constituting the translational drive mechanism, the assembly costs, and therefore the manufacturing costs, of the autonomous cleaning robot are relatively high.

[0013] Furthermore, in order to maximize the space available inside the main body for other components of the autonomous cleaning robot, such as a cleaning liquid tank, a waste collection device or even a movement system capable of moving cleaning elements, for example mops, equipping the wet cleaning device, it would be advantageous to make the translational drive mechanism described in document FR3122561 even more compact. Summary of the invention

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

[0015] The technical problem underlying the invention consists in particular in providing a autonomous cleaning robot that is simple in structure, economical, reliable and compact, while offering increased cleaning performance.

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

[0017] - a main body comprising a lower face configured to be oriented towards a surface to be cleaned and a suction inlet opening into the lower face of the main body,

[0018] - a suction unit which is housed at least partly in the main body and which is configured to generate an airflow through the suction mouth,

[0019] - a cleaning device, and for example a wet cleaning device, mounted movable in translation relative to the main body in a translation direction, which is substantially vertical when the autonomous cleaning robot rests on a horizontal surface, and between an active position in which the cleaning device is configured to be in contact with the surface to be cleaned and an inactive position in which the cleaning device is configured to be located at a distance from the surface to be cleaned, and

[0020] - a translational drive mechanism configured to move in translation the cleaning device according to the translation direction and between the active position and the inactive position.

[0021] The translational drive mechanism comprises:

[0022] - a single drive element having a central axis extending sen possibly parallel to the translation direction, the drive element being provided with a first threaded drive part and being mounted to rotate relative to the main body around the central axis,

[0023] - a single drive member fixed to the cleaning device and integral in translation of the cleaning device, the drive member comprising a second threaded drive portion configured to cooperate with the first threaded drive portion, and

[0024] - a motion transmission mechanism mechanically coupled to the element drive, the motion transmission mechanism being configured to rotate the drive element in a first direction of rotation so as to move the cleaning device to the active position, and being configured to rotate the drive element in a second direction of rotation, opposite to the first direction of rotation, so as to move the cleaning device to the inactive position, and

[0025] the autonomous cleaning robot further comprises a guidance device configured to guide the cleaning device in translation in the translation direction during movements of the cleaning device between the active position and the inactive position.

[0026] The presence of a single drive element and a single drive member makes it possible to considerably simplify the structure of the translational drive mechanism, and therefore to reduce the manufacturing costs of the autonomous cleaning robot according to the present invention while giving it even greater reliability.

[0027] Furthermore, the presence of the guide device ensures optimal translational guidance of the cleaning device during its movements between the active position and the inactive position, without requiring high-precision manufacturing of all the parts constituting the translational drive mechanism. However, such translational guidance of the cleaning device ensures in particular optimal positioning of the cleaning device relative to the surface to be cleaned when the cleaning device is in the active position, which ensures optimal cleaning of said surface to be cleaned.

[0028] Thus, the autonomous cleaning robot according to the present invention has a simple, economical, reliable and compact structure, while exhibiting increased cleaning performance.

[0029] The autonomous cleaning robot that is the subject of the present invention is designed, like the majority of autonomous cleaning robots, to efficiently clean floors when it moves in a direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and in a predetermined direction of movement. The direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of movement define a main direction of movement of the autonomous cleaning robot that is the subject of the present invention. Thus, a front part or a rear part of the main body of the autonomous cleaning robot is identified relative to the main direction of movement of the autonomous cleaning robot.

[0030] The autonomous cleaning robot may further have one or more of the following features, taken alone or in combination.

[0031] According to one embodiment of the invention, the guidance device is separate from the translation drive mechanism.

[0032] According to one embodiment of the invention, the first threaded drive part and the second threaded drive part form a helical connection, preferably of the irreversible type, so as to prevent the cleaning device from rising on its own when in contact with the floor to be cleaned.

[0033] According to one embodiment of the invention, the autonomous cleaning robot comprises an immobilization system configured to immobilize the drive element in translation relative to the main body. Such an immobilization system guarantees pure rotation of the drive element, and therefore a optimal placement of the cleaning device according to the translation direction.

[0034] According to one embodiment of the invention, the autonomous cleaning robot comprises a bearing, such as a rolling bearing and for example a ball bearing, configured to guide the drive element in rotation relative to the main body.

[0035] According to one embodiment of the invention, the bearing comprises an inner ring fixed to the drive element and extending around the drive element, and an outer ring movable in rotation relative to the inner ring and fixed to the bearing support.

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

[0037] According to one embodiment of the invention, the autonomous cleaning robot comprises a bearing support, for example annular, which is fixed to the main body and which is coaxial with the central axis of the drive element, the bearing being fixed to the bearing support and being supported by the bearing support.

[0038] According to one embodiment of the invention, the autonomous cleaning robot comprises a retaining device configured to fix the bearing to the bearing support. The retaining device may for example comprise at least one retaining tab which is provided on the bearing support and which extends substantially parallel to the central axis of the bearing support, the at least one retaining tab being configured to cooperate with the bearing, and for example with the outer ring of the bearing, so as to fix the bearing to the bearing support and in particular so as to axially immobilize the bearing relative to the bearing support. Advantageously, the retaining device comprises a plurality of retaining tabs which are provided on the bearing support, which are distributed around a central axis of the bearing support and which extend substantially parallel to the central axis of the bearing support.

[0039] According to one embodiment of the invention, the fixing device and the retaining device form the aforementioned immobilization system.

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

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

[0042] According to one embodiment of the invention, the drive element comprises a threaded axial bore forming at least in part the first threaded drive portion, the second threaded drive portion being configured to extend at least in part into the threaded axial bore.

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

[0044] According to one embodiment of the invention, the drive element is intersected, i.e. cut, by a median longitudinal plane of the main body. Such an arrangement of the drive element ensures better balancing of the bearing forces exerted by the cleaning device on the surface to be cleaned, and therefore provides the autonomous cleaning robot with further improved cleaning performance.

[0045] According to one embodiment of the invention, the central axis of the drive element is substantially intersecting with a center of gravity of the cleaning device. Such an arrangement of the drive element ensures better balancing of the bearing forces exerted by the cleaning device on the surface to be cleaned, and therefore provides further improved cleaning performance to the autonomous cleaning robot.

[0046] According to one embodiment of the invention, the cleaning device comprises a support casing which is housed at least partly in the main body, the drive member being fixed to the support casing, i.e. integral with the support casing.

[0047] According to one embodiment of the invention, the drive member extends upwards from an upper face of the support housing.

[0048] According to one embodiment of the invention, the main body delimits a receiving housing which is open downwards, that is to say which opens into the lower face of the main body, and in which the support casing is mounted so as to be movable in translation.

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

[0050] According to one embodiment of the invention, the drive mechanism in translation comprises an electric motor arranged in the main body and provided with an output shaft mechanically coupled to the motion transmission mechanism.

[0051] According to one embodiment of the invention, the motion transmission mechanism comprises a worm screw rotatably coupled to the output shaft of the electric motor and coaxial with the output shaft, the peripheral teeth provided on the drive element being rotatably coupled to the worm screw. Such a configuration of the motion transmission mechanism and the drive element ensures easy and reliable assembly of the translational drive mechanism.

[0052] According to one embodiment of the invention, the drive element comprises a toothed wheel provided with a tapped axial bore.

[0053] According to one embodiment of the invention, the electric motor has a motor axis which is substantially perpendicular to the translation direction. In other words, the motor axis is substantially horizontal when the autonomous cleaning robot rests on a horizontal surface. Such a configuration of the electric motor makes it possible to limit the height requirement of the autonomous cleaning robot.

[0054] According to one embodiment of the invention, the support casing has a cross-section substantially complementary to the cross-section of the receiving housing.

[0055] According to one embodiment of the invention, the autonomous cleaning robot comprises a rotation locking device configured to lock the cleaning device in rotation relative to the main body.

[0056] According to one embodiment of the invention, the rotation locking device is separate from the guide device. The rotation locking device could, for example, comprise a locking rib provided on the main body or the cleaning device, and a locking groove provided on the cleaning device or the main body and in which the locking rib is slidably mounted.

[0057] According to another embodiment of the invention, the rotation locking device is formed by the guide device.

[0058] According to one embodiment of the invention, the guide device comprises at least one guide roller mounted to rotate on the cleaning device or on the main body around an axis of rotation substantially perpendicular to the direction of translation, the at least one guide roller being configured to roll on a guide wall provided on the main body or on the cleaning device. Such a configuration of the guide device ensures optimal guidance of the cleaning device during its movements between the active and passive positions.

[0059] According to one embodiment of the invention, the at least one guide roller comprises a guide roller configured to cooperate with a guide groove provided on the main body or on the cleaning device, so as to also ensure rotational locking of the cleaning device relative to the main body.

[0060] According to one embodiment of the invention, the rotation locking device comprises a guide roller mounted so as to be able to rotate on the cleaning device or the main body and configured to lock the cleaning device in rotation, and the guide device comprises several guide rollers mounted so as to be able to rotate on the cleaning device or the main body and configured to roll respectively on guide walls provided on the main body or the cleaning device.

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

[0062] According to one embodiment of the invention, the guide device comprises several guide rollers, at least two of which are configured to roll on guide walls located opposite one another. Advantageously, the guide device comprises two lateral guide rollers, for example mounted on the cleaning device, configured to roll respectively on two lateral guide walls located opposite one another, and for example partially delimiting the receiving housing. The two lateral guide rollers may for example be vertically offset relative to one another.

[0063] According to one embodiment of the invention, the guide device comprises a front guide roller, or a rear guide roller, mounted so as to be able to rotate on the cleaning device or the main body and configured to roll on a front guide wall, or a rear guide wall, provided on the main body or the cleaning device.

[0064] According to one embodiment of the invention, the guide device comprises a first guide wall provided on the cleaning device, and for example on the support casing, and a second guide wall provided on the main body, and for example delimiting at least in part the receiving housing, and configured to cooperate with the first guide wall when the cleaning device is moved between the inactive position and the active position.

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

[0066] According to one embodiment of the invention, the cleaning device comprises at least one mop support, and at least one removably mounted mop on the at least one mop holder and configured to be in contact with the surface to be cleaned when the cleaning device is in the active position.

[0067] According to one embodiment of the invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned and the cleaning device is in the active position, a rear portion of the autonomous cleaning robot rests on said surface to be cleaned directly by the at least one mop. Such a configuration of the autonomous cleaning robot allows the at least one mop to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further increase the bearing force exerted by the at least one mop on the floor to be cleaned. Thus, such a configuration of the autonomous cleaning robot makes it possible to further improve the cleaning quality of the autonomous cleaning robot.

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

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

[0070] According to one embodiment of the invention, the at least one mop support is mounted to move in translation relative to the main body in a support movement direction extending substantially perpendicular to the median longitudinal plane of the main body.

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

[0072] - two mop supports which are each mounted to move in translation by relative to the main body in a support movement direction extending substantially perpendicular to the median longitudinal plane of the main body, the two mop supports being mounted to move relative to each other between a close configuration in which the two mop supports are brought closer to each other and a distant configuration in which the two mop supports are distant from each other, and

[0073] - two mops mounted removably on the two supports respectively mop and configured to be in contact with the surface to be cleaned when the cleaning device is in the active position.

[0074] According to one embodiment of the 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 distant from each other when the two mop supports are in the distant configuration.

[0075] According to one embodiment of the invention, the autonomous cleaning robot comprises a movement mechanism configured to move the mop supports in translation according to the support movement direction and alternately between the close configuration and the distant configuration.

[0076] According to one embodiment of the invention, the movement mechanism is arranged in the support housing.

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

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

[0079] According to one embodiment of the invention, the autonomous cleaning robot comprises two drive wheels configured to roll on the surface to be cleaned and arranged on either side of the median longitudinal plane of the main body, the two drive wheels being mounted to rotate on the main body respectively around two axes of rotation which are substantially parallel.

[0080] According to one embodiment of the invention, the translational drive mechanism is configured to maintain the cleaning device substantially horizontally when the autonomous cleaning robot rests on a horizontal surface and the cleaning device is moved between the active and inactive positions.

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

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

[0083] According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning liquid reservoir, and the cleaning device comprises a plurality of liquid outlets which are configured to be fluidically connected to the cleaning liquid reservoir and which are configured to supply cleaning liquid to the at least one mop mounted on the at least one mop support. Advantageously, the liquid outlets are located at the front of the at least one mop support, and in particular in advance of the at least one mop.

[0084] According to one embodiment of the invention, the main body delimits a suction chamber fluidly connected to the suction mouth, the autonomous cleaning robot comprising a rotating cleaning brush housed in the suction chamber and mounted to rotate about a brush rotation axis. Advantageously, the brush rotation axis extends transversely to the main direction of movement of the autonomous cleaning robot.

[0085] According to one embodiment of the invention, the suction unit comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate the air flow through the suction mouth. Brief description of the figures

[0086] The aims, aspects and advantages of the present invention will be better understood from the description given below of a particular embodiment of the invention presented by way of non-limiting example, with reference to the appended drawings in which:

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

[0088] [Fig.2] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing mops fitted to the autonomous cleaning robot in a close-up configuration.

[0089] [Fig.3] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing the mops in a remote configuration.

[0090] [Fig.4] is a bottom view of the autonomous cleaning robot of [Fig.l], showing the mops in the close-up configuration.

[0091] [Fig.5] is a bottom view of the autonomous cleaning robot of [Fig.l], showing the mops in the remote configuration.

[0092] [Fig.6] is a side view of the autonomous cleaning robot of [Fig.l].

[0093] [Fig.7] is a longitudinal sectional view of the autonomous cleaning robot of the [Fig.l], showing a cleaning device in an active position.

[0094] [Fig.8] is a longitudinal sectional view of the autonomous cleaning robot of [Fig.l], showing the cleaning device in an inactive position.

[0095] [Fig.9] is a partial perspective view from above of the autonomous cleaning robot of [Fig.l], showing the cleaning device in the active position.

[0096] [Fig. 10] is a partial top perspective view of the autonomous cleaning robot of [Fig.l], showing the cleaning device in the inactive position.

[0097] [Fig. 11] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing mop holders fitted to the autonomous cleaning robot in a close-up configuration.

[0098] [Fig. 12] is a bottom perspective view of the autonomous cleaning robot of [Fig.l], showing the mop holders in a remote configuration.

[0099] [Fig. 13] is an enlarged scale view of a detail of [Fig.7].

[0100] [Fig. 14] is a rear perspective view of the cleaning device.

[0101] [Fig. 15] is a front perspective view of the cleaning device.

[0102] [Fig. 16] is a cross-sectional view of the autonomous cleaning robot of the [Fig.l]. Detailed description

[0103] Only the elements necessary for understanding the invention are shown. To facilitate reading of the drawings, the same elements bear the same references from one figure to another.

[0104] It will be noted that in this document, the terms "horizontal", "vertical", "lower", "upper", "top", "below" used to describe the autonomous cleaning robot or the main body refer to the autonomous cleaning robot in use when it rests by its wheels on a floor to be cleaned which is flat and horizontal.

[0105] In this document, the term "median longitudinal plane" means a vertical plane which is parallel to the main direction of movement and which divides the main body into two substantially equal parts, left and right.

[0106] Unless otherwise stipulated, the term “substantially” means, in this document, “exactly or to within 10% or 10°”.

[0107] Figures 1 to 13 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously on a surface to be cleaned.

[0108] The autonomous cleaning robot 2 comprises a main body 3 having a lower face 4 which is configured to be oriented towards the surface to be cleaned, and a suction mouth 5 which is provided in a front part 3.1 of the main body 3 and which opens into the lower face 4 of the main body 3. Advantageously, the suction mouth 5 is elongated and extends substantially perpendicular to a main direction of movement DI of the autonomous cleaning robot 2.

[0109] As shown in [Fig.7], the main body 3 delimits a suction chamber 6 which opens into the lower face 4 of the main body 3 via the suction mouth 5.

[0110] According to the embodiment shown in the figures, the main body 3 has, seen from above in a substantially vertical orientation, a general D shape, and comprises a rear edge which is curved and which has, seen from above in a substantially vertical orientation, a circular arc shape. However, the main body 3 could have a completely different shape, and for example have a general circular or rectangular shape.

[0111] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 7 housed in the suction chamber 6 and mounted to rotate about an axis of brush rotation which extends substantially perpendicular to the main direction of movement D1. Advantageously, the brush rotation axis is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0112] The autonomous cleaning robot 2 also comprises a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 7 around the brush rotation axis.

[0113] As shown more particularly in Figures 2 to 6, the autonomous cleaning robot 2 comprises two drive wheels 8 which are configured to roll on the surface to be cleaned. The two drive wheels 8 are mounted to be able to rotate relative to the main body 3, and have axes of rotation which are parallel, and advantageously coaxial, and which extend perpendicular to the main direction of movement DL. Advantageously, the two drive wheels 8 are configured to project from the lower face 4 of the main body 3, and are arranged on either side of a median longitudinal plane P of the main body 3.

[0114] The two drive wheels 8 are advantageously motorized independently of one another. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 9 housed in the main body 3 and each configured to rotate a respective drive wheel 8 among the two drive wheels 8. Each rotational drive mechanism 9 comprises a drive motor coupled in rotation to the respective drive wheel 8 and arranged for example in a respective lateral part of the main body 3. Depending on the control of the two aforementioned drive motors, the main body 3 can pivot to the left, to the right or on itself, move forward or even backward.

[0115] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 10 mounted freely rotatable relative to the main body 3, and for example two additional wheels 10 arranged on the front part 3.1 of the main body 3. Advantageously, all the additional wheels 10 are located in front of the axes of rotation of the two drive wheels 8, such that the autonomous cleaning robot 2 is devoid of an additional wheel located behind the axes of rotation of the two drive wheels 8.

[0116] The autonomous cleaning robot 2 further comprises a suction unit 11 which is housed in the main body 3. The suction unit 11 comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate an airflow through the suction mouth 5.

[0117] The autonomous cleaning robot 2 also comprises a waste collection device 12 (see [Fig.7]) which is mounted, for example removably, on the main body 3. The waste collection device 12 comprises a container of waste collection 13 located upstream of the suction unit 11, and configured to be crossed by the air flow generated by the fan and to retain waste transported by the air flow.

[0118] The autonomous cleaning robot 2 further comprises a connecting channel 14 fluidly connecting the suction chamber 6 to the waste collection container 13. As shown in [Fig.7], the connecting channel 14 opens into a rear part of the suction chamber 6, and the median longitudinal plane P of the main body 3 intersects with the connecting channel 14.

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

[0120] As shown in particular in [Fig.2], the autonomous cleaning robot 2 further comprises a cleaning device 16, and more particularly a wet cleaning device, which is arranged in a rear part 3.2 of the main body 3. Advantageously, the cleaning device 16 is arranged opposite the rotating cleaning brush 7 relative to the axes of rotation of the drive wheels 8.

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

[0122] As shown in [Fig.7], the main body 3 delimits a receiving housing 17 which is open downwards, that is to say which opens into the lower face 4 of the main body 3, and the cleaning device 16 comprises a support casing 18 which is mounted to be movable in translation in the main body 3. Advantageously, the support casing 18 has a cross-section substantially complementary to the cross-section of the receiving housing 17, and for example generally rectangular.

[0123] The support casing 18 comprises in particular a support body 18.1 having a generally parallelepiped shape, and a support plate 18.2 which extends below the support body 18.1 and which is fixed to the support body 18.1, for example by screwing or by any other fixing means. Advantageously, the body of support 18.1 and support plate 18.2 delimit an internal housing 19 whose function will be described below.

[0124] The cleaning device 16 also comprises one or more mop supports 21 attached to a lower face of the support plate 18.2, and further one or more mops 22 each removably attached to a respective mop support 21. Each mop 22 is configured to be in contact with 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 rests on a horizontal surface.

[0125] According to the embodiment shown in the figures, the cleaning device 16 comprises two mop supports 21 which are arranged side by side, and two mops 22 mounted removably respectively on the two mop supports 21. However, according to an alternative embodiment of the invention, the cleaning device 16 could comprise a single mop support 21, and a single mop 22 having a width corresponding substantially to the width of the main body 3.

[0126] According to the embodiment shown in the figures, the two mop supports 21 are each mounted to be mobile in translation relative to the main body 3 in a support movement direction D2 which extends perpendicular to the main movement direction DI of the autonomous cleaning robot 2, and parallel to the axes of rotation of the two drive wheels 8. However, according to an alternative embodiment of the invention, each of the mop supports 21 could be mounted to vibrate relative to the main body 3, or even be immobile relative to the support casing 18 (the or each of the mops 22 would then be passive).

[0127] Advantageously, the mop supports 21 are mounted to be movable relative to each other between a close configuration (see [Fig. 11]) in which the two mop supports 21 are close to each other, and a distant configuration (see [Fig. 12]) in which the two mop supports 21 are distant from each other. The two mops 22 are thus configured to be close to each other when the two mop supports 21 are in the close configuration, and to be distant from each other when the two mop supports 21 are in the distant configuration.

[0128] The cleaning device 16 also comprises a movement mechanism 23 configured to move the mop supports 21 in translation along the support movement direction D2 and alternately between the close configuration and the distant configuration. Thus, the movement mechanism 23 is configured to move the two mop supports 21 in translation in phase opposition. Advantageously, the movement mechanism 23 is arranged in the housing internal 19 delimited by the support casing 18.

[0129] The autonomous cleaning robot 2 also comprises a translational drive mechanism 24 configured to move the cleaning device 16, and more particularly the support casing 18, in translation in the translation direction T and between the active position and the inactive position. Advantageously, the translational drive mechanism 24 is arranged in the rear part 3.2 of the main body 3.

[0130] The translation drive mechanism 24 comprises in particular:

[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 part 26 and being mounted to be movable in rotation relative to the main body 3 around the central axis A, and

[0132] - a drive member 27 fixed to the support casing 18 and integral in translation of the cleaning device 16, the drive member 27 extending upwardly from an upper face of the support housing 18 and comprising a second threaded drive portion 28 configured to cooperate with the first threaded drive portion 26.

[0133] According to the embodiment shown in the figures, the drive member 27 is a drive stud provided with a threaded external surface (forming the second threaded drive part 28) and extending along an extension axis, which is substantially coaxial with the central axis A of the drive element 25, and the drive element 25 comprises in particular a tapped axial bore (partly forming the first threaded drive part 26) configured to cooperate with the threaded external surface provided on the drive stud and therefore in which the drive member 27 is intended to extend at least partly. Thus, the first threaded drive part 26 and the second threaded drive part 28 form a helical connection, preferably of the irreversible type, so as to prevent the cleaning device 16 from rising on its own when in contact with the floor to be cleaned.

[0134] Advantageously, the drive element 25 is intersected, i.e. cut, by the median longitudinal plane P of the main body 3. Also advantageously, the central axis A of the drive element 25 is substantially intersecting with a center of gravity of the cleaning device 16.

[0135] As shown in [Fig. 13], the autonomous cleaning robot 2 comprises a bearing 29, such as a rolling bearing and for example a ball bearing, configured to guide the drive element 25 in rotation relative to the main body 3, and a bearing support 31, for example annular, configured to support the bearing 29 and to which the latter is fixed. 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 particularly comprises an inner ring fixed to the drive element 25 and extending around the drive element 25, and an outer ring movable in rotation relative to the inner ring and fixed to the bearing support 31. Advantageously, the autonomous cleaning robot 2 comprises a fixing device configured to fix the bearing 29 to the drive element 25, and a retaining device configured to fix the bearing 29 to the bearing support 31.

[0137] According to the embodiment shown in the figures, the fixing device comprises 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 particularly configured to cooperate with the bearing 29, and for example with the internal ring of the bearing 29, so as to fix the bearing 29 to the drive element 25, and in particular so as to axially immobilize the bearing 29 relative to the drive element 25.

[0138] According to the embodiment shown in the figures, the retaining device comprises a plurality of retaining tabs 33 which are provided on the bearing support 31, which are distributed around a central axis of the bearing support 31 and which extend substantially parallel to the central axis of the bearing support 31. The retaining tabs 33 are more particularly configured to cooperate with the bearing 29, and for example with the outer ring of the bearing 29, so as to fix the bearing 29 to the bearing support 31, and in particular so as to axially immobilize the bearing 29 relative to the bearing support 31.

[0139] The fixing device and the retaining device more particularly form an immobilization system configured to immobilize in translation the drive element 25 relative to the main body 3. Such an immobilization system guarantees pure rotation of the drive element 25 relative to the main body 3.

[0140] The translation drive mechanism 24 also comprises an electric motor 34 (see [Fig.9]) arranged in the main body 3 and provided with an output shaft 35, and a motion transmission mechanism 36 mechanically coupled on the one hand to the output shaft 35 of the electric motor 34 and on the other hand to the drive element 25.

[0141] According to the embodiment shown in the figures, the motion transmission mechanism 36 comprises a worm screw 37 which is rotationally coupled to the output shaft 35 of the electric motor 34 and which is coaxial with the output shaft 35, and the drive element 25 comprises peripheral teeth 38 which are coaxial with the central axis A and which are rotationally coupled to the worm screw 37. Thus, the element drive 25 comprises a toothed wheel comprising the aforementioned tapped axial bore and the peripheral teeth 38, and the fixing lugs 32 extending from said toothed wheel.

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

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

[0144] Now, taking into account the configuration of the first and second threaded drive parts 26, 28, the cleaning device 16 is configured to be moved to the active position when the drive element 25 is rotated in the first direction of rotation by the motion transmission mechanism 36, and to be moved to the inactive position when the drive element 25 is rotated in the second direction of rotation by the motion transmission mechanism 36.

[0145] The autonomous cleaning robot 2 further comprises a guide device 39 which is distinct from the translational drive mechanism 24 and which is configured to guide the cleaning device 16 in translation during movements of the cleaning device 16 between the active position and the inactive position. Advantageously, the guide device 39 is also configured to lock the cleaning device 16, and in particular the support casing 18, in rotation relative to the main body 3. However, according to an alternative embodiment of the invention, the autonomous cleaning robot 2 could comprise a rotational locking device distinct from the guide device 39 and configured to lock the cleaning device 16, and in particular the support casing 18, in rotation relative to the main body 3.

[0146] Advantageously, the translational drive mechanism 24 and the guiding device 39 are configured to hold the cleaning device 16 substantially horizontally when the autonomous cleaning robot 2 is resting on a horizontal surface and the cleaning device 16 is moved between the active and inactive positions.

[0147] According to the embodiment shown in the figures, the guide device 39 comprises several guide rollers 41 mounted on the cleaning device 16. Each guide roller 41 is more particularly mounted to move in rotation on the support casing 18 around an axis of rotation substantially perpendicular to the translation direction T, and is configured to roll on a respective guide wall 42 provided on the main body 3 and partly delimiting the receiving housing 17. However, according to an alternative embodiment of the invention, each guide roller 41 could be mounted on the main body 3 and be configured to roll on a respective guide wall 42 provided on the support casing 18.

[0148] Advantageously, the guide device 39 comprises at least two guide rollers 41, for example two lateral guide rollers, configured to roll respectively on two guide walls 42 located opposite one another, and for example on two lateral guide walls partially delimiting the receiving housing 17. The two lateral guide rollers can for example be offset vertically relative to one another, that is to say offset relative to one another in a vertical direction.

[0149] The guide device 39 could also comprise a third guide roller 41, and for example a front guide roller or a rear guide roller configured to roll respectively on a front guide wall or a rear guide wall provided on the main body 3.

[0150] According to the embodiment shown in the figures, the guide device 39 further comprises a first guide wall 43 provided on the support casing 18, and a second guide wall 44, which is provided on the main body 3 and which partly delimits the receiving housing 17, configured to cooperate with, and more particularly to slide against, the first guide wall 43 when the cleaning device 16 is moved between the inactive position and the active position. Advantageously, each of the first and second guide walls 43, 44 is substantially planar, and is configured to extend substantially vertically when the autonomous cleaning robot 2 rests on a horizontal surface.

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

[0152] The cleaning device 16 further comprises a plurality of liquid outlet ports 46 which are configured to be fluidically connected to the cleaning liquid reservoir 45 and which are configured to supply cleaning liquid to the mops 22 mounted on the mop supports 21.

[0153] According to the embodiment shown in the figures, the liquid outlet orifices 46 are aligned in an alignment direction which extends perpendicular to the main direction of movement DI of the autonomous cleaning robot 2, and are re regularly spaced from each other. Advantageously, the liquid outlet orifices 46 are located at the front of the mop holders 21, and for example at the front of the mops 22, and are configured to be oriented towards the surface to be cleaned.

[0154] The autonomous cleaning robot 2 also comprises a cleaning liquid supply circuit (not described in detail) provided on the main body 3 and configured to fluidically connect the liquid outlet ports 46 to the cleaning liquid reservoir 45.

[0155] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises a lifting ramp 47 which extends transversely to the main direction of movement DI of the autonomous cleaning robot 2 and which is located in front of the mop supports 21. The lifting ramp 47 may for example have a length corresponding substantially 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 comprises a lifting surface 47.1 (see [Fig.6]) which is oriented towards a surface to be cleaned and which is inclined backwards and downwards. The lifting surface 47.1 is more particularly configured to cause a lifting of the rear part 3.2 of the main body 3 when an obstacle, presented frontally to the autonomous cleaning robot 2 during a forward movement of the main body 3, comes into contact with said lifting surface 47.1 and slides on said lifting surface 47.1.

[0157] According to the embodiment shown in the figures, the liquid outlet orifices 46 are provided on the lifting ramp 47 and are distributed along the lifting ramp 47. Advantageously, the liquid outlet orifices 46 open into the lifting surface 47.1.

[0158] The autonomous cleaning robot 2 further comprises a control unit 48 (see [Fig.6]) configured to control the operation of the autonomous cleaning robot 2, and in particular to control the movements of the main body 3, for example according to random or methodical movements, and to control the movements of the cleaning device 16 between the active and inactive positions.

[0159] The control unit 48 is in particular configured to control the aforementioned rotational drive mechanisms (which are configured to rotate the drive wheels 8) from data received from different sensors arranged on the main body 3, such as proximity sensors, contact sensors and / or fall sensors. The control unit 48 may for example comprise an electronic card configured to receive and process these different data.

[0160] According to one embodiment of the invention, the autonomous cleaning robot 2 comprises at least one floor type detector, such as an optical detector or mechanical, configured to detect the type of floor encountered by the autonomous cleaning robot 2 during its movements on the surface to be cleaned. The control unit 48 is advantageously configured to control a movement of the cleaning device 16 between the active position and the inactive position depending on the type of floor detected by the floor type detector. For example, when the at least one floor type detector detects that the surface to be cleaned is a carpet, the at least one floor type detector emits a first control signal to the control unit 48, and the latter then controls a rotation of the electric motor 34 in the second direction of motor rotation such that the cleaning device 16 is moved into the inactive position (and therefore such that the mop(s) 22 do(es) not wash the carpet).When the at least one floor type detector detects that the surface to be cleaned is a hard or smooth floor, the at least one floor type detector emits a second control signal to the control unit 48, and the latter then controls a rotation of the electric motor 34 in the first motor rotation direction so that the cleaning device 16 is moved into the active position (and therefore so that the mop(s) 22 perform(s) a washing of the hard or smooth floor). Of course, an operation of washing the surface to be cleaned can be carried out simultaneously or independently of an operation of vacuuming said surface to be cleaned.

[0161] According to an alternative embodiment of the invention, each of the first and second control signals could be transmitted to the control unit 48 via a remote terminal, such as a smartphone.

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

[0163] Of course, the invention is in no way limited to the embodiment described and illustrated which has been given only as an example. Modifications remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Claims

1. Autonomous cleaning robot (2) comprising: - a main body (3) comprising a lower face (4) configured to be oriented towards a surface to be cleaned and a suction mouth (5) opening into the lower face (4) of the main body (3), - a suction unit (11) which is housed at least partly in the main body (3) and which is configured to generate an air flow through the suction mouth (5), - a cleaning device (16) mounted to move in translation relative to the main body (3) in a translation direction (T), which is substantially vertical when the autonomous cleaning robot (2) rests on a horizontal surface, and 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, and - a translational drive mechanism (24) configured to move the cleaning device (16) in translation in the translation direction (T) and between the active position and the inactive position, characterized in that the translational drive mechanism (24) comprises: - a single 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 part (26) and being mounted to rotate relative to the main body (3) around the central axis (A), - a single drive member (27) fixed to the cleaning device (16) and integral in translation with the cleaning device (16), the drive member (27) comprising a second threaded drive part (28) configured to cooperate with the first threaded drive part (26), and - a motion transmission mechanism (36) mechanically coupled to the drive element (25), the motion transmission mechanism (36) being configured to rotate the drive element (25) in a first rotational direction so as to move the cleaning device (16) to the active position, and being configured to rotate the element drive (25) in a second direction of rotation, opposite to the first direction of rotation, so as to move the cleaning device (16) towards the inactive position, and in that the autonomous cleaning robot (2) further comprises a guide device (39) configured to guide the cleaning device (16) in translation in the translation direction (T) during movements of the cleaning device (16) between the active position and the inactive position.

2. An autonomous cleaning robot (2) according to claim 1, wherein the autonomous cleaning robot (2) comprises a bearing (29) configured to guide the drive member (25) in rotation relative to the main body (3).

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

4. An autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein the drive element (25) comprises a threaded axial bore at least partly forming the first threaded drive portion (26), the second threaded drive portion (28) being configured to extend at least partly into the threaded axial bore.

5. An 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 which is substantially coaxial with the central axis (A) of the drive element (25).

6. An autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein the drive element (25) is intersected by a median longitudinal plane (P) of the main body (3).

7. An autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein the central axis (A) of the drive element (25) is substantially intersecting with a center of gravity of the cleaning device (16).

8. An autonomous cleaning robot (2) according to any one of claims 1 to 7, wherein the cleaning device (16) comprises a support housing (18) which is housed at least partly in the main body (3), the drive member (27) being fixed to the support housing (18).

9. An autonomous cleaning robot (2) according to claim 8, wherein the main body (3) delimits a receiving housing (17) which is open downwards, and in which the support casing (18) is mounted so as to be movable in translation.

10. Autonomous cleaning robot (2) according to claim 9, wherein the support casing (18) has a cross-section substantially complementary to the cross-section of the receiving housing (17).

11. An 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 motion transmission mechanism (36).

12. An autonomous cleaning robot (2) according to any one of claims 1 to 11, wherein the translational drive mechanism (24) comprises an electric motor (34) disposed in the main body (3) and provided with an output shaft (35) mechanically coupled to the motion transmission mechanism (36).

13. An autonomous cleaning robot (2) according to claims 11 and 12, wherein the motion transmission mechanism (36) comprises a worm screw (37) rotatably coupled to the output shaft (35) of the electric motor (34) and coaxial with the output shaft (35), the peripheral toothing (38) provided on the drive element (25) being rotatably coupled to the worm screw (37).

14. 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) mounted so as to be able to rotate on the cleaning device (16) or on the main body (3) around an axis of rotation substantially perpendicular to the translation direction (T), the at least one guide roller (41) being configured to roll on a guide wall (42) provided on the main body (3) or on the cleaning device (16).

15. An autonomous cleaning robot (2) according to any one of claims 1 to 14, which comprises a rotation locking device configured to rotationally lock the cleaning device (16) relative to the main body (3).

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

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

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

19. An autonomous cleaning robot (2) according to any one of claims 1 to 18, wherein the main body (3) delimits a suction chamber (6) fluidly connected to the suction mouth (5), the autonomous cleaning robot (2) comprising a rotating cleaning brush (7) housed in the suction chamber (6) and mounted to rotate about a brush rotation axis.

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