Swimming pool robot comprising a motorization device including gear trains and associated method

Abstract

A pool robot comprising at least one chassis, at least one water flow suction device (3) configured to filter said water flow, at least one drive device (4) configured to move along a forward axis (X4) from rear to front, the suction device (3) and the drive device (4) being electrically powered by an electric battery (5) removably mounted in a housing in the chassis, the drive device (4) comprising two gear trains (4a, 4b) mounted laterally to the chassis, each gear train (4a, 4b) comprising at least one front wheel (41), one central wheel (42) and one rear wheel (43), the drive device (4) comprising at least one electric motor (40) configured to drive the central wheel (42) of each gear train (4a, 4b) in rotation, the central wheel (42) of each gear train (4a, 4b) fulfilling a function master,The front wheel (41) and the rear wheel (43) of each gear train (4a, 4b) perform a slave function. Figure 3,

Description

Title of the invention: Swimming pool robot comprising a motorization device including gear trains and associated method. Technical field

[0001] The present invention relates to the field of automated pool cleaning using a pool robot. More particularly, the invention relates to a pool robot powered autonomously by a removable electric battery.

[0002] A pool robot is known in the prior art, comprising a chassis in which are mounted a device for suctioning a flow of water to filter impurities and a motorization device for moving the pool robot in the pool. As is known, the pool robot includes an electric battery to power the suction device and the motorization device. The electric battery is removable from the chassis to allow for convenient recharging, in particular, inside a dwelling without having to move the pool robot into the house.

[0003] The duration of a cleaning cycle depends on the electrical capacity of the removable battery as well as the power consumption of the pool robot. To ensure optimal pool cleaning, it is necessary to control the pool robot's power consumption. As is known, a pool robot includes a motorized system with lateral tracks and an elastic belt. Such tracks are advantageous because they allow the robot to overcome obstacles in the pool, such as a pool step, a submerged edge, or a main drain. Furthermore, the tracks have elastic blades that contribute to the cleaning action.

[0004] Such tracks have the disadvantage of generating a lot of friction and resulting in a significant loss of electrical energy. Cleaning cycles are therefore shorter, and the user is forced to perform frequent recharging.

[0005] The invention thus aims to eliminate at least some of these disadvantages by proposing a swimming pool robot with a removable electric battery comprising a less energy-intensive motorization device capable of overcoming obstacles. PRESENTATION OF THE INVENTION

[0006] The invention relates to a pool robot comprising at least one chassis, at least one water flow suction device configured to filter said water flow, at least one motorization device configured to move along a forward axis from rear to front, the suction device and the motorization device being electrically powered by a mounted electric battery removably housed in a chassis compartment, the drive system comprises two gear trains mounted laterally to the chassis, each gear train comprising at least one front wheel, one central wheel, and one rear wheel. The drive system comprises at least one electric motor configured to drive the central wheel of each gear train, the central wheel of each gear train acting as the master, and the front and rear wheels of each gear train acting as the slave.

[0007] Advantageously, mechanical energy is transmitted solely to the central wheel, which drives the front and rear wheels in a balanced manner. This allows the pool robot to move stably and evenly along the pool wall.The use of three wheels makes it easier to overcome obstacles by preventing blockages when an obstacle is located between the front and rear wheels. Furthermore, the use of wheels eliminates the need for tracks with a tensioned belt, thus reducing power consumption and extending the duration of a cleaning cycle.

[0008] According to one aspect, the electric motor is configured to drive the central wheel of each gear train in direct mesh. This improves the energy efficiency of the drive and provides high driving force to overcome an obstacle.

[0009] According to one aspect, each gear train comprises only three wheels. This allows for smooth movement while limiting friction and therefore electrical consumption.

[0010] According to one aspect, each wheel comprising a toothed ring, each gear train comprises a front pinion meshing with the toothed ring of the front wheel and with the toothed ring of the central wheel, and a rear pinion meshing with the toothed ring of the central wheel and with the toothed ring of the rear wheel. Such an architecture allows all the wheels to rotate in the same direction, which is advantageous for overcoming an obstacle.

[0011] Preferably, each gear train is free of a drive band. This helps to limit friction and energy losses.

[0012] Preferably, the cleaning robot is free of electrical power or water supply cables.

[0013] According to one aspect, for each gear train, the front wheel having a first ground support surface, the central wheel having a second ground support surface, the rear wheel having a third ground support surface, the second ground support surface of the central wheel is vertically offset relative to the first ground support surface of the front wheel by a gap.

[0014] Thus, the central wheel is not in contact with the pool wall during normal operation, which allows straight-line movements by eliminating a disruptive "random crutch" effect on trajectory that would result from a central wheel aligned in height with the front and rear wheels.

[0015] The pool robot performs advantageously like a robot with only four wheels in terms of its straight-line movement accuracy. Submersible robots have a density only slightly greater than that of water (1.1 on average) to ensure efficient performance when moving along a vertical surface. Due to this density characteristic, a pool robot is very sensitive to unwanted changes in trajectory.

[0016] Furthermore, the presence of a central wheel limits friction and allows the vehicle to overcome obstacles in the event of a blockage. The central wheel thus only becomes a driving wheel in specific situations.

[0017] Depending on one aspect, the gap is between 1 mm and 6 mm, preferably between 2 mm and 3 mm. Such a gap is suitable for overcoming obstacles and preventing the pool robot from getting stuck.

[0018] According to one aspect, the second ground contact surface of the central wheel is higher than the third ground contact surface of the rear wheel.

[0019] According to one aspect, the front wheel has a front axle, the central wheel has a central axle, and the central axle and the front axle have different vertical heights. This allows the central wheel to be offset by simply offsetting its axle.

[0020] According to one aspect, the front wheel has a first diameter, and the central wheel has a second diameter smaller than the first diameter. This allows the central wheel to be offset by simply reducing its diameter.

[0021] According to one aspect, the front wheel is connected to at least one front brush in order to drive it in rotation. This improves cleaning.

[0022] A method for moving a pool robot as described above on a pool wall comprising at least one obstacle is also presented, the method comprising steps consisting of: • To drive along a pool wall, with the front and rear wheels of each gear train in contact with the pool wall, but the central wheels not in contact with the pool wall. • Climb an obstacle, with at least one front wheel or at least one rear wheel out of contact with the pool wall, and at least one center wheel in contact with the obstacle.

[0023] The motor power of the central wheel, which is in standby mode, is used to overcome an obstacle and avoid blocking the pool robot. PRESENTATION OF THE FIGURES

[0024] The invention will be better understood upon reading the following description, given by way of example, and referring to the following figures, given by way of non-limiting examples, in which identical references are given to similar objects.

[0025] Fig. 1 is a schematic representation of a pool robot according to one embodiment.

[0026] [Fig.2] is a side view representation of the pool robot of [Fig.1].

[0027] Fig. 3 is a schematic representation of the pool robot of Fig. 2 without the chassis.

[0028] Fig. 4 is a schematic representation of the motorization device of the pool robot of Fig. 1.

[0029] Fig. 5 is a schematic representation of a gear train.

[0030] Figure 6 is a schematic representation of the offset between the bearing surfaces wheels.

[0031] Fig. 7 is a schematic representation of a first variant of a gear train.

[0032] Fig. 8 is a schematic representation of a second variant of a gear train.

[0033] Fig. 9 is a schematic representation of the movement of the pool robot on a pool wall.

[0034] It should be noted that the figures set out the invention in detail to implement the invention, said figures being of course able to serve to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0035] With reference to Figures 1 and 2, a pool robot 1 is shown according to one embodiment of the invention. In this example, the pool robot 1 has a shape essentially resembling a paving stone, but it is understood that it could have a different shape.

[0036] The pool robot 1 comprises a chassis 10 in which is mounted an electrical power supply circuit, a water flow suction device 3 configured to filter said water flow, and a motorization device 4 configured to enable the movement of the pool robot 1 in the pool. It is understood that the pool robot 1 could include other devices. In one aspect, the pool robot 1 has a handle 7 for grasping the pool robot 1 out of the water. In this example, the handle 7 also allows the pool robot 1 to float.

[0037] The pool robot 1 includes an electric battery 5 which is removably mounted in a housing in the chassis 10. The suction device 3 and the motorization device 4 are powered by the electric battery 5 via the electrical supply circuit.

[0038] The suction device 3 is configured to draw in a stream of water and filter it to remove impurities. In particular, the suction device 3 is configured to collect the impurities in a container or bag. In this example, the suction device 3 has a top suction and a rear discharge, but it is understood that the number of suction / discharge points could be different and that they could be located in different positions.

[0039] With reference to figures 1 and 2, the pool robot 1 includes a motorization device 4 configured to move the pool robot 1 along an axis of advancement X4 oriented from a rear to a front.

[0040] With reference to [Fig. 1], the motorization device 4 comprises two gear trains 4a, 4b mounted laterally to the chassis 10. As illustrated in [Fig. 2], each gear train 4a, 4b comprises a front wheel 41, a central wheel 42 and a rear wheel 43.

[0041] As illustrated in [Fig. 4], the drive device 4 comprises an electric motor 40 configured to drive the central wheel 42 of each gear train 4a, 4b, in particular, in direct drive. This reduces losses.

[0042] Advantageously, the central wheel 42 of each gear train 4a, 4b acts as the master, while the front wheel 41 and the rear wheel 43 of each gear train 4a, 4b act as the slave. Thus, the front wheel 41 and the rear wheel 43 follow the central wheel 42, ensuring optimal and stable movement while reducing friction and losses in each gear train 4a, 4b.

[0043] A gear train 4a, 4b will henceforth be shown with reference to Figures 3 to 5. Preferably, the gear trains 4a, 4b are symmetrical and have the same structure. Preferably, each gear train 4a, 4b comprises only three wheels 41, 42, 43.

[0044] As illustrated in [Fig. 5], each wheel 41, 42, 43 comprises a tread 41r, 42r, 43r, a toothed ring 41d, 42d, 43d, and an axle 41x, 42x, 43x. The axle 41x of the front wheel 41 and the axle 43x of the rear wheel 43 are mounted freely. Conversely, the axle 42x of the center wheel 42 is mounted in direct mesh with the electric motor 40, as illustrated in [Fig. 4]. With reference to [Fig. 5], the wheels 41, 42, 43 of the same gear train 4a, 4b extend in the same foreground plane.

[0045] Still referring to [Fig. 5], each gear train 4a, 4b comprises a front pinion 44 meshing with the toothed ring 41d of the front wheel 41 and with the toothed ring 42d of the central wheel 42 and a rear pinion 45 meshing with the toothed ring 42d of the central wheel 42 and with the toothed ring 43d of the rear wheel 43. The pinions 44, 45 of the same gear train 4a, 4b extend in the same second plane which is preferably offset towards the inside of the frame 10, relative to the first plane PI as illustrated in [Fig.4].

[0046] Thus, all the wheels 41, 42, 43 of the same gear train 4a, 4b rotate in the same direction. Preferably, the electric motor 40 is configured to drive the central wheels 42 of the gear trains 4a, 4b at different rotational speeds so as to allow the pool robot 1 to rotate.

[0047] Preferably, each gear train 4a, 4b is free of a drive belt. This reduces friction and optimizes the electrical consumption of the electric battery 5.

[0048] As illustrated in [Fig. 6], for each gear train 4a, 4b, the front wheel 41 having a first ground contact surface SI, the central wheel 42 having a second ground contact surface S2, the rear wheel 43 having a third ground contact surface S3, the second ground contact surface S2 of the central wheel 42 is offset from the ground contact surface SI of the front wheel 41 by a gap E. Preferably, the second ground contact surface S2 of the central wheel 42 is higher than the third ground contact surface S3 of the rear wheel 43. Preferably, the first ground contact surface SI of the front wheel 41 and the third ground contact surface S3 of the rear wheel 43 are at the same vertical height. Preferably, the ground bearing surfaces SI, S2, S3 are defined relative to the chassis 10. Preferably, the gap E is between 1mm and 6mm, preferably between 2mm and 3mm.

[0049] As will be shown later, the offset of the central wheel 42 allows it to pass over obstacles OBS when moving along the pool wall PI, for example, when passing over a step. This offset can be achieved in various ways.

[0050] According to a first embodiment, with reference to [Fig. 7], the axle 42x of the central wheel 42 and the front axle 41x of the front wheel 41 have different vertical heights. Preferably, the axle 41x of the front wheel 41 and the axle 43x of the rear wheel 43 have the same vertical height. Preferably, the wheels 41, 42, and 43 have the same diameter D.

[0051] According to a second embodiment, with reference to [Fig. 8], the front wheel 41 has a first diameter Dl, the central wheel 42 has a second diameter D2 smaller than the first diameter Dl. Preferably, the rear wheel 43 has a third diameter D3 equal to the first diameter Dl. The axles 41x, 42x, 43x of the wheels 41, 42, 43 have identical vertical heights.

[0052] According to one aspect, as illustrated in Figures 3 and 4, each front wheel 41 is connected to a front brush 49 in order to scrub the wall of the pool and remove impurities so that they are drawn in by the suction device 3. Preferably, each front brush 49 has a plurality of flexible blades. Preferably, the two front brushes 49 rotate independently. Referring to [Fig. 4], the two front brushes 49 are connected to the same guide shaft 490 without allowing rotational drive. This improves the guidance of the front brushes 49 and, consequently, the cleaning of the pool wall.

[0053] With reference to [Fig. 9], a method for moving the pool robot 1 along a pool wall PI comprising at least one obstacle OBS is shown. In this example, the obstacle OBS is a pool step, but it could take other forms, for example, a submerged beach edge or a bottom drain. The pool wall PI in [Fig. 9] comprises a first horizontal portion Pl(hl), a vertical portion Pl(v), and a second horizontal portion Pl(h2).

[0054] With reference to [Fig. 9], the method includes a step of traveling on the first horizontal section Pl(hl) (phase 9a) or on the vertical section Pl(v) (phase 9b). During this step, the front wheels 41 and the rear wheels 43 of each gear train 4a, 4b bear on the horizontal / vertical section. The central wheels 42 do not bear on the horizontal / vertical wall but are driven directly by the electric motor 40 with high efficiency and very little friction. The pinions 44, 45 transmit the rotation of the central wheels 42 to the front wheels 41 and the rear wheels 43. The four peripheral wheels 41, 43 ensure stable movement of the pool robot 1.

[0055] With further reference to [Fig. 9], the method includes a step of climbing the obstacle OBS, here, a transition between the vertical portion Pl(v) and the second horizontal portion Pl(h2) (phase 9c). In this example, the four peripheral wheels 41, 43 are no longer in contact with the horizontal / vertical wall. Preferably, at least one front wheel 41 or at least one rear wheel 43 is out of contact with the pool wall PL. The pool robot 1 can advantageously cross the obstacle OBS because the central wheels 42 are in contact with the obstacle OBS, preferably, at least one central wheel 42 being in contact with the obstacle OBS. Thus, the central wheels 42 have a driving function only in an unstable position when crossing the obstacle OBS. Since they are directly connected to the electric motor 40, the central wheels 42 can cross the obstacle OBS in a practical manner.

[0056] Thus, the central wheels 42, like lateral tracks, allow the robot to overcome obstacles without generating significant friction that would negatively impact electrical consumption. Energy efficiency is improved, which is crucial for an electrically driven pool robot 1, especially one with a removable battery 5.

[0057] Advantageously, transmission solely by gear train offers the advantage of generating little energy loss compared to lateral tracks with a belt. Advantageously, this makes it possible to extend the duration of each cleaning cycle of the pool robot 1.

Claims

Demands

1. A pool robot (1) comprising at least one chassis (10), at least one water flow suction device (3) configured to filter said water flow, at least one drive device (4) configured to move along a forward axis (X4) from rear to front, the suction device (3) and the drive device (4) being electrically powered by an electric battery (5) removably mounted in a housing in the chassis (10), the drive device (4) comprising two gear trains (4a, 4b) mounted laterally to the chassis (10), each gear train (4a, 4b) comprising at least one front wheel (41), one center wheel (42) and one rear wheel (43), each wheel (41, 42, 43) comprising a tread (41r, 42r, 43r), the drive device (4) comprising at least one electric motor (40) configured to drive the central wheel (42) of each gear train (4a, 4b) in rotation,the central wheel (42) of each gear train (4a, 4b) fulfilling a master function, the front wheel (41) and the rear wheel (43) of each gear train (4a, 4b) fulfilling a slave function.

2. Pool robot (1) according to claim 1, wherein the electric motor (40) is configured to drive the central wheel (42) of each gear train (4a, 4b) in direct drive.

3. Pool robot (1) according to any one of claims 1 to 2, wherein each gear train (4a, 4b) comprises only three wheels (41, 42, 43).

4. Pool robot (1) according to any one of claims 1 to 3, wherein, each wheel (41, 42, 43) comprising a toothed ring (41d, 42d, 43d), each gear train (4a, 4b) comprises a front pinion (44) meshing with the toothed ring (41d) of the front wheel (41) and with the toothed ring (42d) of the central wheel (42) and a rear pinion (45) meshing with the toothed ring (42d) of the central wheel (42) and with the toothed ring (43d) of the rear wheel (43).

5. Pool robot (1) according to any one of claims 1 to 4, wherein, for each gear train (4a, 4b), the front wheel (41) having a first ground contact surface (S1), the central wheel (42) having a second ground contact surface (S2), the rear wheel (43) having a third ground support surface (S3), the second ground support surface (S2) of the central wheel (42) is vertically offset relative to the first ground support surface (SI) of the front wheel (41) by a gap (E).

6. Pool robot (1) according to claim 5, wherein the gap (E) is between 1mm and 6mm, preferably between 2mm and 3mm.

7. Pool robot (1) according to any one of claims 1 to 6, wherein the front wheel (41) has a front axle (41x), the central wheel (42) has a central axle (42x), the central axle (42x) and the front axle (41x) have different vertical heights.

8. Pool robot (1) according to any one of claims 1 to 6, wherein the front wheel (41) has a first diameter (Dl), the central wheel (42) has a second diameter (D2) smaller than the first diameter (Dl).

9. Pool robot (1) according to any one of claims 1 to 7, wherein the front wheel (41) is connected to at least one front brush (49) in order to drive it in rotation.

10. Method of moving a pool robot (1) according to any one of claims 1 to 9 on a pool wall (PI) comprising at least one obstacle (OBS), the method comprising steps of: • Moving on a pool wall (PI), the front wheels (41) and the rear wheels (43) of each gear train (4a, 4b) being in contact with the pool wall (PI), the central wheels (42) not being in contact with the pool wall (PD, • Climbing an obstacle (OBS), at least one front wheel (41) or at least one rear wheel (43) being out of contact with the pool wall (PI), at least one central wheel (42) being in contact with the obstacle (OBS).

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