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 move translationally relative to the main body (3) between an active and an inactive position; and a translational drive mechanism (24) configured to move the cleaning device (16) in translation along a direction of translation (T) and comprising a drive element (25) having a central axis (A), provided with a first threaded drive portion (26) and mounted to rotate movably 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 rotate the drive element (25) 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 that can move autonomously on a surface to be cleaned and that can vacuum up dust and waste present on the surface to be cleaned, which can for example be tiles, parquet, laminate, carpet or a rug, and possibly wash the surface to be cleaned simultaneously with a vacuuming operation. State of the art

[0002] Autonomous cleaning robots have become commonplace nowadays, making it possible to clean entire surfaces of a home without any user assistance, provided these surfaces are flat, i.e., on the same level. They thus offer users considerable time savings for other activities.

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

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

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

[0006] - a wet cleaning device mounted movably in translation relative to the body principal along a translational 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 direction of translation and between the active position and the inactive position.

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

[0009] - a plurality of training pads which are spaced apart from each other, each training pad extending along a respective extension axis which is substantially parallel to the direction of translation and mounted to rotate freely relative to the main body around its axis of extension, each drive pad comprising a threaded drive portion configured to cooperate with a respective complementary threaded drive portion provided on the wet cleaning device, and

[0010] - a motion transmission mechanism comprising in particular a belt of transmission which is mechanically coupled with each of the drive pads, the motion transmission mechanism being configured to drive the drive pads in rotation simultaneously, i.e. synchronously, in a first direction of rotation so as to move the wet cleaning device to the active position, and being configured to drive the drive pads in rotation simultaneously, i.e. synchronously, 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 pads, 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 pads which are synchronized in rotation, and therefore allows precise control of 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 thus optimal translational guidance of the wet cleaning device between the active and inactive positions, the translational drive mechanism must be manufactured with precision. Consequently, and also due to the high number of parts constituting the translational drive mechanism, the assembly, and therefore 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 fluid tank, a waste collection device or a drive system capable of moving cleaning elements, for example mops, equipping the wet cleaning device, it would be advantageous to make the translation 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 of providing an autonomous cleaning robot which is simple in structure, economical, reliable and compact, while exhibiting increased cleaning performance.

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

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

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

[0019] - a cleaning device, and for example a wet cleaning device, mounted mobile in translation relative to the main body along a translational 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 direction of translation 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 substantially parallel to the direction of translation, the drive element being provided with a first threaded drive part and being mounted to rotate freely relative to the main body around the central axis,

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

[0024] - a motion transmission mechanism mechanically coupled to the element of 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 along the direction of translation 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 organ 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 guiding device ensures optimal translational guidance of the cleaning device during its movements between the active and inactive positions, without requiring high-precision manufacturing of all the parts constituting the translational drive mechanism. Moreover, 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, thus ensuring optimal cleaning of said surface.

[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 of the present invention is designed, like the majority of autonomous cleaning robots, to efficiently clean floors when moving along a direction parallel to the robot's longitudinal axis and in a predetermined direction of movement. The direction of movement parallel to the robot's longitudinal axis and the predetermined direction of movement define a principal direction of movement for the autonomous cleaning robot of the present invention. Thus, a front or rear portion of the robot's main body is identified with respect to the robot's principal direction of movement.

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

[0031] According to one embodiment of the invention, the guiding device is separate from the translational 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 an irreversible type, so as to prevent the cleaning device from rising on its own when in contact with the ground to be cleaned.

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

[0034] According to one embodiment of the invention, the autonomous cleaning robot includes a bearing, such as a roller 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 includes a fastening device configured to fix the bearing to the drive element. The fastening device may, for example, include at least one fastening tab provided on the drive element and extending substantially parallel to the central axis of the drive element, at least one fastening tab 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, to axially immobilize the bearing relative to the drive element. Advantageously, the fastening device includes a plurality of fastening tabs provided on the drive element, distributed around the central axis of the drive element and extending substantially parallel to the central axis of the drive element.

[0037] According to one embodiment of the invention, the autonomous cleaning robot includes 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 includes a retaining device configured to fix the bearing to the bearing support. The retaining device may, for example, include at least one retaining tab provided on the bearing support and extending substantially parallel to the central axis of the bearing support. At least one retaining tab is 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, to axially immobilize the bearing relative to the bearing support. Advantageously, the retaining device includes a plurality of retaining tabs provided on the bearing support, distributed around a central axis of the bearing support and extending substantially parallel to the central axis of the bearing support.

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

[0040] According to one embodiment of the invention, the second threaded drive part has an external threaded surface, and the first threaded drive part has an internal threaded surface configured to cooperate with the external threaded surface of the second threaded drive part.

[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 tapped axial bore forming at least in part the first threaded drive part, the second threaded drive part being configured to extend at least in part into the tapped axial bore.

[0043] According to one embodiment of the invention, the drive member is a drive pad 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 support forces exerted by the cleaning device on the surface to be cleaned, and thus provides even improved cleaning performance for the autonomous cleaning robot.

[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 support forces exerted by the cleaning device on the surface to be cleaned, and thus provides even improved cleaning performance to the autonomous cleaning robot.

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

[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, i.e. which opens into the lower face of the main body, and in which the support housing is mounted to be moved in translation.

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

[0050] According to one embodiment of the invention, the translation drive mechanism comprises an electric motor disposed 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 gear rotationally coupled to the output shaft of the electric motor and coaxial with the output shaft, the peripheral teeth provided on the drive element being rotationally coupled to the worm gear. 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 shaft that is substantially perpendicular to the direction of translation. In other words, the motor shaft is substantially horizontal when the autonomous cleaning robot is resting on a horizontal surface. Such a configuration of the electric motor makes it possible to limit the overall height of the autonomous cleaning robot.

[0054] According to one embodiment of the invention, the support housing 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 includes a rotation blocking device configured to block the cleaning device from rotating relative to the main body.

[0056] According to one embodiment of the invention, the rotation-locking device is separate from the guiding 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 in which the locking rib is slidably mounted.

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

[0058] According to one embodiment of the invention, the guiding device comprises at least one guide roller mounted for rotation on the cleaning device or on the main body about an axis of rotation substantially perpendicular to the direction of translation, the at least one guide roller being configured to rolls 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, 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 a rotational lock of the cleaning device relative to the main body.

[0060] According to one embodiment of the invention, the rotation blocking device comprises a guide roller mounted movably in rotation on the cleaning device or the main body and configured to block the cleaning device in rotation, and the guide device comprises several guide rollers mounted movably in rotation 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 guiding 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 each other. 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 each other, and for example partially defining the receiving housing. The two lateral guide rollers may, for example, be vertically offset from each other.

[0063] According to one embodiment of the invention, the guide device comprises a front guide roller, or a rear guide roller, mounted movably in rotation 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 housing, 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 flat, and is configured to extend substantially vertically when the autonomous cleaning robot is resting on a horizontal surface.

[0066] According to one embodiment of the invention, the cleaning device comprises at least one mop holder, and at least one mop mounted removably 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 directly on said surface to be cleaned by at least one mop. This configuration of the autonomous cleaning robot allows the at least one mop to directly bear at least part of the mass of the autonomous cleaning robot, and thus further increases the pressure exerted by the at least one mop on the floor to be cleaned. Therefore, this configuration of the autonomous cleaning robot further improves the cleaning quality of the autonomous cleaning robot.

[0068] According to one embodiment of the invention, 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, at least one mop support is mounted movable relative to the main body in a displacement movement comprising a translational 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, at least one mop support is mounted movable in translation relative to the main body along a direction of support displacement extending substantially perpendicularly 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, each of which is mounted to move in translation by relative to the main body along a support displacement direction extending substantially perpendicularly to the median longitudinal plane of the main body, the two mop supports being mounted movable relative to each other between a close configuration in which the two mop supports are close to each other and a distant configuration in which the two mop supports are far apart, and

[0073] - two mops mounted removably respectively on the two supports of 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 together when the two mop supports are in the close configuration, and to be far apart when the two mop supports are in the far configuration.

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

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

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

[0078] According to yet another embodiment of the invention, at least one mop is passive. In other words, at least one mop holder 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 freely 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 translational drive mechanism is disposed in a rear part of the main body.

[0083] According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning fluid reservoir, and the cleaning device comprises a plurality of fluid outlet ports configured to be fluidly connected to the cleaning fluid reservoir and configured to supply cleaning fluid to at least one mop mounted on at least one mop holder. Advantageously, the fluid outlet ports are located at the front of at least one mop holder, and in particular in front of at least one mop.

[0084] According to one embodiment of the invention, the main body defines a suction chamber fluidly connected to the suction inlet, 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 airflow through the suction mouth. Brief description of the figures

[0086] The objects, aspects and advantages of the present invention will be better understood from the following description of a particular embodiment of the invention presented by way of non-limiting example, with reference to the accompanying 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 perspective view from below of the autonomous cleaning robot of Fig. 1, showing mops equipping the autonomous cleaning robot in a close-up configuration.

[0089] Fig. 3 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing the mops in a distant configuration.

[0090] Fig. 4 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the close-up configuration.

[0091] Fig. 5 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the remote configuration.

[0092] Fig. 6 is a side view of the autonomous cleaning robot of Fig. 1.

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

[0094] Fig. 8 is a longitudinal sectional view of the autonomous cleaning robot of Fig. 1, showing the cleaning device in an inactive position.

[0095] Fig. 9 is a partial top perspective view of the autonomous cleaning robot of Fig. 1, showing the cleaning device in the active position.

[0096] Fig. 10 is a partial top perspective view of the autonomous cleaning robot of Fig. 1, showing the cleaning device in the inactive position.

[0097] Fig. 11 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing mop supports equipping the autonomous cleaning robot in a close-up configuration.

[0098] Fig. 12 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing the mop supports in a distant 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 the drawings, the same elements bear the same reference numerals from one figure to another.

[0104] It should 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 is resting on its wheels on a flat and horizontal floor to be cleaned.

[0105] In this document, the term “median longitudinal plane” means a vertical plane that is parallel to the principal direction of displacement and that 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 to within 10°".

[0107] Figures 1 to 13 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over 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 perpendicularly to a main direction of movement D1 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, viewed from above in a substantially vertical orientation, has a general D-shaped form and comprises a rear edge that is curved and, viewed from above in a substantially vertical orientation, has an arc-shaped form. However, the main body 3 could have a completely different shape, and for example, 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 a brush rotation axis which extends substantially perpendicularly to the main direction of movement Dl. 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 includes a drive mechanism (not visible in the figures) which is configured to drive the rotating cleaning brush 7 in rotation 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 rotate freely relative to the main body 3, and have axes of rotation which are parallel, and advantageously coaxial, and which extend perpendicularly to the main direction of movement DL. Advantageously, the two drive wheels 8 are configured to protrude 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 each other. Thus, the autonomous cleaning robot 2 comprises two rotational drive mechanisms 9 housed in the main body 3 and each configured to rotate one respective drive wheel 8 among the two drive wheels 8. Each rotational drive mechanism 9 includes a drive motor rotationally coupled to the respective drive wheel 8 and disposed, 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 its own axis, move forward, or move backward.

[0115] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 10 mounted freely for rotation 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, so that the autonomous cleaning robot 2 is devoid of an additional wheel located at the rear of the rotation axes of the two drive wheels 8.

[0116] The autonomous cleaning robot 2 further includes a suction unit 11 which is housed in the main body 3. The suction unit 11 includes 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 includes a waste collection device 12 (see [Fig.7]) which is mounted, for example removably, on the main body 3. The waste collection device 12 has a waste collection container 13 located upstream of the suction unit 11, and configured to be traversed by the airflow generated by the fan and to retain waste transported by the airflow.

[0118] The autonomous cleaning robot 2 further includes 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 is secant with the connecting channel 14.

[0119] The autonomous cleaning robot 2 also includes 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 disposed in a rear part 3.2 of the main body 3. Advantageously, the cleaning device 16 is disposed opposite the rotating cleaning brush 7 with respect to the axes of rotation of the drive wheels 8.

[0121] The cleaning device 16 is mounted to move in translation relative to the main body 3 along a translational 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 translational 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 defines a receiving housing 17 which is open downwards, i.e., which opens into the lower face 4 of the main body 3, and the cleaning device 16 includes a support housing 18 which is mounted to be moved in translation within the main body 3. Advantageously, the support housing 18 has a cross-section substantially complementary to the cross-section of the receiving housing 17, and for example globally rectangular.

[0123] The support housing 18 includes, in particular, a support body 18.1 having a generally parallelepiped shape, and a support plate 18.2 extending below the support body 18.1 and attached to the support body 18.1, for example by screwing or by any other means of attachment. Advantageously, the support body 18.1 and the support plate 18.2 define an internal housing 19, the function of which will be described below.

[0124] The cleaning device 16 also includes one or more mop holders 21 fixed to an underside of the support plate 18.2, and furthermore one or more mops 22 each removably fixed to a respective mop holder 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 holders 21 which are arranged side by side, and two mops 22 mounted removably respectively on the two mop holders 21. However, according to an alternative embodiment of the invention, the cleaning device 16 could comprise a single mop holder 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 move in translation relative to the main body 3 along a support movement direction D2 which extends perpendicularly 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 vibrating relative to the main body 3, or even be fixed relative to the support housing 18 (the or each of the mops 22 would then be passive).

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

[0128] The cleaning device 16 also includes a displacement mechanism 23 configured to move the mop supports 21 in translation along the direction of support movement D2 and alternately between the close and distant configurations. Thus, the displacement mechanism 23 is configured to move the two mop supports 21 in translation in opposite phases. Advantageously, the displacement mechanism 23 is located in the internal housing 19 delimited by the support housing 18.

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

[0130] The translational drive mechanism 24 includes, in particular:

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

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

[0133] According to the embodiment shown in the figures, the drive member 27 is a drive pad having an external threaded 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 includes in particular a tapped axial bore (partly forming the first threaded drive part 26) configured to cooperate with the external threaded surface provided on the drive pad and therefore in which the drive member 27 is intended to extend at least partially. 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 to contact the ground 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. Further 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 roller 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 fastening 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 fastening device comprises a plurality of fastening 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 fastening lugs 32 are more particularly configured to cooperate with the bearing 29, and for example with the inner 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 with respect to the drive element 25.

[0138] According to the embodiment shown in the figures, the retaining device comprises a plurality of retaining lugs 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 lugs 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 with respect to the bearing support 31.

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

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

[0141] According to the embodiment shown in the figures, the motion transmission mechanism 36 comprises a worm gear 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 a peripheral toothing 38 which is coaxial with the central axis A and which is rotationally coupled to the worm gear 37. Thus, the drive element 25 comprises a toothed wheel including the aforementioned tapped axial bore and the peripheral toothing 38, and the mounting lugs 32 extending from said toothed wheel.

[0142] Advantageously, the electric motor 34 has a motor axis which is substantially perpendicular to the direction of translation 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 drive the drive element 25 in rotation in a first direction of rotation when the electric motor 34 rotates in a first motor rotation direction, and is configured to drive the drive element 25 in rotation in a second direction of rotation, opposite to the first direction of rotation, when the electric motor 34 rotates in a second motor rotation direction.

[0144] Now, given 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 driven in rotation 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 driven in rotation 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 separate 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 and inactive positions. Advantageously, the guide device 39 is also configured to lock the cleaning device 16, and in particular the support housing 18, against rotation relative to the main body 3. However, according to an embodiment of the invention, the autonomous cleaning robot 2 could comprise a rotation-locking device separate from the guide device 39 and configured to block in rotation the cleaning device 16, and in particular the support housing 18, relative to the main body 3.

[0146] Advantageously, the translational drive mechanism 24 and the guiding device 39 are configured to keep the cleaning device 16 substantially horizontal when the autonomous cleaning robot 2 rests 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 rotate freely on the support housing 18 about an axis of rotation substantially perpendicular to the direction of translation T, and is configured to roll on a respective guide wall 42 provided on the main body 3 and partially 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 housing 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 each other, and for example on two lateral guide walls partially delimiting the receiving housing 17. The two lateral guide rollers can for example be vertically offset from each other, i.e. offset from each other in a vertical direction.

[0149] The guide device 39 could also include 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 housing 18, and a second guide wall 44, which is provided on the main body 3 and which partially 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 and active positions. Advantageously, each of the first and second guide walls 43, 44 is substantially flat, 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 includes a cleaning fluid tank 45 which is configured to supply cleaning fluid to both Mops 22. The cleaning fluid reservoir 45 is mounted, for example in a removable manner, on the main body 3, and can for example be located in the rear part 3.2 of the main body 3.

[0152] The cleaning device 16 further includes a plurality of liquid outlet ports 46 which are configured to be fluidly 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 along an alignment direction that extends perpendicularly to the main direction of movement DI of the autonomous cleaning robot 2, and are 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 includes a cleaning fluid supply circuit (not described in detail) provided on the main body 3 and configured to fluidly connect the fluid outlet ports 46 to the cleaning fluid reservoir 45.

[0155] According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes a lifting ramp 47 which extends transversely to the main direction of movement D1 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 includes a lifting surface 47.1 (see [Fig. 6]) which is oriented towards a surface to be cleaned and is inclined backwards and downwards. The lifting surface 47.1 is more particularly configured to cause the rear part 3.2 of the main body 3 to lift when an obstacle, presented frontally to the autonomous cleaning robot 2 during 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 includes a control unit 48 (see [Fig. 6]) configured to control the operation of the cleaning robot autonomous 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 configured, in particular, to control the aforementioned rotating drive mechanisms (which are configured to rotate the drive wheels 8) based on data received from various sensors located on the main body 3, such as proximity sensors, contact sensors, and / or drop sensors. The control unit 48 may, for example, include an electronic board configured to receive and process this various data.

[0160] According to one embodiment of the invention, the autonomous cleaning robot The control unit 48 comprises at least one floor type detector, such as an optical or mechanical detector, configured to detect the type of floor encountered by the autonomous cleaning robot 2 as it moves across the surface to be cleaned. The control unit 48 is advantageously configured to control the movement of the cleaning device 16 between the active and inactive positions based on the floor type detected by the floor type detector. For example, when at least one floor type detector determines that the surface to be cleaned is a carpet, it sends a first control signal to the control unit 48, which then commands the electric motor 34 to rotate in the opposite direction of rotation, so that the cleaning device 16 is moved to the inactive position (and thus prevents the mop(s) 22 from cleaning the carpet).When at least one floor type detector detects that the surface to be cleaned is a hard or smooth floor, it sends a second control signal to the control unit 48. The control unit then commands the electric motor 34 to rotate in its first direction of rotation, moving the cleaning device 16 into the active position (thus enabling the mop(s) 22 to wash the hard or smooth floor). Of course, a washing operation can be performed simultaneously with, or independently of, a vacuuming operation.

[0161] According to one 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 detection device The positioning unit includes, for example, at least one position sensor, such as an optical or mechanical sensor, located in the main body 3 and configured to be actuated by the support housing 18 when the cleaning device 16 reaches the inactive position and / or the active position. The control unit 48 is advantageously configured to control a stop of the electric motor 34 when the position detection device has detected that the cleaning device 16 has reached the inactive or active position.

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

Claims

1. Demands Autonomous cleaning robot (2) including: - a main body (3) comprising a lower face (4) configured to be oriented towards a surface to be cleaned and a suction inlet (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 airflow through the suction mouth (5), - a cleaning device (16) mounted to move in translation relative to the main body (3) along a direction of translation (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 along the direction of translation (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 direction of translation (T), the drive element (25) being provided with a first threaded drive part (26) and being mounted to rotate freely relative to the main body (3) around the central axis (A), the drive element (25) having a tapped axial bore forming at least in part the first threaded drive part (26), - 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 portion (28) configured to extend at least partially into the tapped axial bore and to cooperate with the first threaded drive portion (26), and - a motion transmission mechanism (36) mechanically coupled to the drive element (25), the motion transmission mechanism (36) being configured to drive the drive element (25) in rotation in a first direction of rotation so as to move the cleaning device (16) towards the active position, and being configured to drive the drive element (25) in rotation 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 guidance device (39) configured to guide the cleaning device (16) in translation along the direction of translation (T) during movements of the cleaning device (16) between the active position and the inactive position.

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

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

4. Autonomous cleaning robot (2) according to any one of claims 1 to 3, wherein the drive member (27) is a drive pad and extends along an extension axis which is substantially coaxial with the central axis (A) of the drive element (25).

5. Autonomous cleaning robot (2) according to any one of claims 1 to 4, wherein the drive element (25) is intersected by a median longitudinal plane (P) of the main body (3).

6. Autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein the central axis (A) of the drive element (25) is substantially intersecting with a center of gravity of the cleaning device (16).

7. Autonomous cleaning robot (2) according to any one of claims 1 to 6, wherein the cleaning device (16) comprises a support housing (18) which is housed at least in part in the main body (3), the drive member (27) being fixed to the support housing (18).

8. Autonomous cleaning robot (2) according to claim 7, in which the main body (3) delimits a receiving housing (17) which is open downwards, and in which the support housing (18) is mounted to be moved in translation.

9. Autonomous cleaning robot (2) according to claim 8, wherein the support housing (18) has a cross-section substantially complementary to the cross-section of the receiving housing (17).

10. Autonomous cleaning robot (2) according to any one of claims 1 to 9, wherein the drive element (25) has peripheral teeth (38) mechanically coupled to the motion transmission mechanism (36).

11. Autonomous cleaning robot (2) according to any one of claims 1 to 10, 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).

12. Autonomous cleaning robot (2) according to claims 10 and 11, wherein the motion transmission mechanism (36) comprises a worm gear (37) rotationally coupled to the output shaft (35) of the electric motor (34) and coaxial with the output shaft (35), the peripheral teeth (38) provided on the drive element (25) being rotationally coupled to the worm gear (37).

13. Autonomous cleaning robot (2) according to any one of claims 1 to 12, wherein the guidance device (39) comprises at least one guide roller (41) mounted movably in rotation on the cleaning device (16) or on the main body (3) about an axis of rotation substantially perpendicular to the direction of translation (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).

14. Autonomous cleaning robot (2) according to any one of claims 1 to 13, which includes a rotation-locking device configured to lock the cleaning device (16) in rotation relative to the main body (3).

15. Autonomous cleaning robot (2) according to any one of claims 1 to 14, wherein the cleaning device (16) comprises at least one mop holder (21), and at least one mop (22) mounted removably on 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.

16. Autonomous cleaning robot (2) according to claim 15, wherein at least one mop holder (21) is mounted movable relative to the main body (3) in a displacement motion comprising a translational component extending in a displacement plane that is substantially perpendicular to the median longitudinal plane of the main body (3).

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

18. Autonomous cleaning robot (2) according to any one of claims 1 to 17, 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 movably about a brush rotation axis.

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