Robotic vacuum cleaner with drive axle and free wheel for cleaning swimming pools

Abstract

A robotic pool cleaner (100) comprising a chassis (10), a suction duct (20) extending above the chassis and opening into a filter bag (30) positioned above it, and a propeller (40) located inside said duct for suctioning debris through a suction inlet (21) and expelling it into the filter bag, the chassis comprising a drive axle (11) for pulling the robot, the axle (11) having two drive wheels (111a, 111b) driven by a single motor (50), and an axle (112) connecting said drive wheels transversely to the movement of the robot, the motor (50) being configured to reverse its direction of rotation upon contact with a wall, said robot further comprising a third free wheel (121) for increased stability and maneuverability. (See Figure 1 for abbreviations)

Description

Title of the invention: Robotic vacuum cleaner with motor axle and free wheel for cleaning swimming pools technical field

[0001] The present invention relates to the field of pool maintenance and cleaning devices, particularly self-propelled robotic pool cleaners, and more specifically concerns a robotic pool cleaner equipped with an axle with two drive wheels and at least one free wheel for simple and stable propulsion. State of the art

[0002] Over the years, automatic pool cleaning technology has seen numerous advancements, with autonomous robotic pool cleaners becoming predominant in this field. These robots are designed to move autonomously within a pool, removing debris deposited on the pool floor. They can also be adapted to handle different types of debris, such as leaves, sand, or other particles, and can be configured to clean various types of pool surfaces, including tile, concrete, or vinyl.

[0003] However, the propulsion means of a given robot may have varying efficiency depending on the nature of the surfaces.

[0004] Generally, a robotic pool cleaner operates on a chassis, which is a frame that supports the robot and its components. The chassis often includes wheels or tracks that allow the robot to move around the pool. Some robotic pool cleaners are equipped with two or more wheels, which may be driven by a motor to propel the robot. In some cases, the chassis may include additional wheels or tracks for improved stability or maneuverability.

[0005] The cleaning function of these robots is often performed by a suction mechanism. This generally involves a propeller or similar device that creates a water flow, drawing debris from the pool. The debris is usually captured in a filter located upstream of the suction, or more rarely in a bag downstream, for subsequent disposal. In some cases, the suction mechanism may include several propellers or pumps to increase suction power. The filter or bag may also be designed with different materials or structures to capture different sizes or types of debris.

[0006] In some models, the direction of the robot's movement is controlled by the direction of rotation of the motor that drives the wheels. This can be achieved by reversing the direction of rotation of the motor upon contact with a wall or other obstacle, causing the robot to change direction. In other variations, the robot can use sensors to detect the proximity of walls or obstacles and adjust its direction accordingly.

[0007] In addition, some pool cleaning robots include sensors or timers to control the direction of motor rotation. These may be based on various technologies, such as Hall effect sensors, accelerometers, or timing devices. In some cases, the robot may use other types of sensors, such as optical sensors, ultrasonic sensors, or pressure sensors, to control its movement.

[0008] In addition, some pool cleaning robots are equipped with interchangeable batteries, allowing for extended operating times. In some cases, the robot may use other types of energy sources, such as solar power, or it may include a charging station for automatic recharging.

[0009] Most self-propelled robots use two traction motors, each associated with a track or pair of wheels (right and left). Independent control of each motor then allows the robot to be steered in the desired direction according to a pre-established program.

[0010] US patent 7849547 (AquaProducts) describes a self-propelled, robotic pool cleaner comprising a first pair of drive brushes and a second pair of free brushes, mounted coaxially for rotation on parallel axes at opposite ends of the cleaner, transverse to the direction of travel. The first pair of brushes is mounted on one side and is driven by a drive motor; the second pair of brushes is mounted on the opposite side of the cleaner.A rotating, time-delay clutch is positioned coaxially between each pair of the first and second brushes, such that reversing the drive motor causes the first pair of driven brushes to temporarily rotate at a higher angular speed than the second pair. This initiates the pivoting of the cleaner, resulting from a predetermined angular change in direction, before the synchronized rotation of the second pair of brushes. Following each reversal, the cleaner moves in a new direction, generally along a straight path that is angularly offset from its initial path (a zigzag trajectory).

[0011] However, this solution has limited maneuverability due to the presence of the two rollers, at the front and rear. Furthermore, the two drive brushes are positioned on one side of the robot, parallel to its direction of movement, and may induce a lateral imbalance of the robot or, at the very least, difficult maneuverability. Summary of the invention

[0012] The present invention aims to overcome all or part of the disadvantages of the prior art described above by proposing a simple solution for the automatic cleaning of swimming pools with improved handling, maneuverability and suction capacity.

[0013] To this end, the present invention relates to a robotic pool cleaner comprising a chassis, a suction duct surmounting the chassis and opening into a filter bag placed above, and a propeller located inside said duct for sucking up debris via a suction inlet and expelling it into the filter bag. The chassis includes a drive axle that pulls the robot. This robot is remarkable in that the axle is unique and comprises two drive wheels driven by a single motor and an axle connecting said drive wheels transversely to the robot's movement. The motor is configured to reverse its direction of rotation upon contact with a wall. Furthermore, the robot includes a third free-spinning wheel and a non-return system placed between the suction duct and the filter bag to prevent debris expelled into said bag from falling back into said duct.

[0014] Indeed, this robotic vacuum cleaner, equipped with a chassis with at least three wheels, including two drive wheels on the same axle powered by a single motor, offers several technical advantages. Its simplified design reduces manufacturing and maintenance costs. Its improved maneuverability allows it to navigate easily in confined spaces and precisely around obstacles. Increased stability ensures smooth movement on various surfaces. Furthermore, the motor's ability to automatically reverse its direction of rotation upon contact with a wall allows it to identify and avoid obstacles, ensuring seamless cleaning. In short, this configuration optimizes the efficiency and reliability of the robotic vacuum cleaner, thus providing a high-performance solution for pool cleaning.

[0015] According to one embodiment, the propeller has a diameter of at least 80mm, and is said to be "of large diameter".

[0016] Indeed, the choice between a large-diameter and a small-diameter propeller has direct implications for its efficiency. A large-diameter propeller offers several technical advantages. First, it moves a greater quantity of water per revolution, which accelerates circulation in the pool and allows a larger surface area to be cleaned in less time. Furthermore, thanks to its ability to generate greater suction force, it is more effective at capturing a variety of debris, from leaves to finer debris including sand. This also reduces the risk of clogging, ensuring continuous cleaning without frequent interruptions. unclog the system. Finally, a large diameter propeller helps reduce the time needed to clean the pool, which saves energy and extends the life of the robot's battery.

[0017] According to one embodiment, the non-return system comprises at least one hinged rigid valve.

[0018] According to one embodiment, the non-return system comprises a multi-nozzle valve forming a diaphragm which opens during aspiration and closes when aspiration stops.

[0019] Advantageously, the third wheel can be self-orienting according to the direction of movement of the robot, said wheel having at least two different orientations depending on whether the robot is moving forward or backward.

[0020] According to one embodiment of the invention, a drive wheel located on the opposite side of the motor is connected to the motor shaft by a delayed clutch mechanism, delaying its rotation relative to the other drive wheel, and thus causing a shift in the alignment of the robot at each change of direction of movement of the robot between forward and reverse.

[0021] According to one embodiment, the axle axis is mounted to pivot from front to back depending on the direction of rotation of the motor.

[0022] According to embodiments, the robot vacuum cleaner may include a Hall effect sensor placed on the third wheel, an inertial sensor of the accelerometer type or a timer device, all configured to control the direction of rotation of the motor.

[0023] According to one embodiment of the invention, the vacuum robot further comprises two lateral wheels on one side and on the other side of the third wheel.

[0024] The fundamental concepts of the invention having been set forth above in their most elementary form, other details and features will become clearer upon reading the following description and with reference to the accompanying drawings, which give, by way of non-limiting example, an embodiment of a robotic vacuum cleaner for cleaning swimming pools, in accordance with the principles of the invention. Presentation of the drawings

[0025] The figures are given for illustrative purposes only to aid in understanding the invention without limiting its scope. The various elements may be represented schematically and are not necessarily to scale. Throughout the figures, identical or equivalent elements are identified by the same numerical reference.

[0026] It is thus illustrated in:

[0027] [Fig.1]: a top perspective view of a robot vacuum cleaner according to an embodiment of the invention;

[0028] [Fig.2]: A perspective view from below of the robot vacuum cleaner showing the propeller of large diameter;

[0029] [Fig.3]: a view from below of the robot vacuum cleaner;

[0030] [Fig.4]: a rear view of the robot vacuum cleaner;

[0031] [Fig.5]: a side view of the robot vacuum cleaner;

[0032] [Fig.6]: a front view of the robot vacuum cleaner;

[0033] [Fig.7]: a section along plane A - A of [Fig.6];

[0034] [Fig.8]: a top view of the robot vacuum cleaner;

[0035] [Fig.9]: a section along plane B - B of [Fig.8];

[0036] [Fig. 10]: a diagram of the movement of the robotic vacuum cleaner in a swimming pool, with a retarded drive wheel inducing arc-shaped sections in the trajectory;

[0037] [Fig. 11]: a partial view of a multi-spout non-return valve. Detailed description of implementation methods

[0038] It should be noted that certain technical elements well known to those skilled in the art are recalled here to avoid any insufficiency or ambiguity in the understanding of the present invention.

[0039] In the embodiment described below, reference is made to a pool cleaning robot, primarily intended for vacuuming debris deposited at the bottom of a pool. This non-limiting example is given for a better understanding of the invention and does not preclude adapting the robot to other applications such as cleaning other types of artificial pools with hard bottoms.

[0040] In the following description, the term "robot" refers to an autonomous robotic vacuum cleaner for pool cleaning.

[0041] Figure 1 represents a pool cleaning robot 100 comprising a chassis 10 which constitutes the main load-bearing structure of the robot. A suction duct 20 is mounted on this chassis 10, through which debris is sucked up during the use of the robotic cleaner 100.

[0042] A filter bag 30, shown in dashed line in [Fig. 1], is provided to collect and retain debris drawn in by the suction duct 20. The chassis 10 is also equipped with a drive axle 11, which supports two coaxial drive wheels: a first drive wheel 11a and a second drive wheel 111b. These drive wheels are driven by a traction motor 50 (not visible in [Fig. 1]) to propel the robot vacuum cleaner 100.

[0043] The chassis 10 has a flattened portion 12, the design of which can vary according to specific needs, such as reducing water resistance or accommodating other components. A third free wheel 121 is also present, allowing free rotation to improve the maneuverability of the robot vacuum cleaner 100. Lateral wheels 122 are arranged on the sides of the chassis 10 to increase the stability of the robot vacuum cleaner 100 during its movement.

[0044] The suction conduit 20 further includes a non-return valve 22, located at the base of the filter bag 30 to prevent debris from returning to the water after being sucked up.

[0045] The non-return valve 22, according to the embodiment of [Fig.1], comprises two rigid parts articulated on a diametrical axis of the conduit 20.

[0046] Alternatively, the non-return valve may comprise a single rigid hinged part.

[0047] [Fig. 2] shows a perspective view from below of the robot vacuum cleaner 100, thus complementing the view in [Fig. 1]. This view reveals additional elements essential to the operation of the suction and the robot's mobility.

[0048] Beneath the robot vacuum cleaner 100 is a large-diameter propeller 40. The rotation of the propeller 40 generates a water current that facilitates the transport of debris to the suction duct 20, via a suction inlet 21.

[0049] The axle 112 is a mechanical component which connects the two drive wheels, 11la and 111b, in the drive axle 11. This axle is fundamental for the transmission of power from the traction motor to the wheels, thus ensuring coordinated and stable propulsion of the robot vacuum cleaner 100 on the floor of the pool.

[0050] The suction inlet 21 is the opening located at the bottom of the suction duct 20. It is through this opening that debris is drawn from the bottom of the pool. The suction inlet 21 is designed to maximize suction efficiency while minimizing the risk of blockage by large debris.

[0051] Figure 3 shows a bottom view of the robot vacuum cleaner 100, highlighting the configuration of the third free wheel 121 and its orientation mechanism. This view is essential for understanding the operation of the third free wheel 121, which plays a key role in the maneuverability of the robot vacuum cleaner 100.

[0052] The third free wheel 121 is designed to pivot and adopt at least two distinct orientations, 01 and 02, which are visible in this figure. These orientations correspond respectively to the forward and backward movement modes of the robot vacuum cleaner. When the robot moves forward (orientation 01), the free wheel 121 orients itself to facilitate this movement, while when it moves backward (orientation 02), the wheel adjusts to allow easy maneuvering in that direction.

[0053] The third freewheel steering mechanism 121 is designed to automatically respond to changes in direction of the robot vacuum cleaner. This feature improves the navigation of the robot vacuum cleaner 100 by allowing it to avoid obstacles and change direction more smoothly.

[0054] Figure 3 also illustrates how the third free wheel 121 is mounted on the chassis 10 of the robot vacuum cleaner 100. The wheel is positioned so that it can rotate freely around its axis, which is essential for both orientations 01 and 02.

[0055] Figures 4 and 5 respectively show a rear view and a side view of the robot vacuum cleaner 100, highlighting the side wheels 122 and their contribution to the stability of the device. These side wheels 122 are arranged on either side of the third free wheel 121 and are designed to increase the lateral stability of the robot vacuum cleaner during its movements.

[0056] The side wheels 122 play an essential role in preventing the robot vacuum cleaner 100 from tipping over when it moves over uneven surfaces or when it changes direction. Their positioning and size are designed to provide adequate support without compromising maneuverability or cleaning efficiency.

[0057] In addition, the side wheels 122 can also contribute to the even distribution of the weight of the robotic vacuum cleaner 100, which is particularly advantageous when vacuuming debris on slopes or around pool edges. This weight distribution ensures that the suction inlet 21 remains in close contact with the pool surface for maximum suction.

[0058] Figure 7 illustrates a cross-section of the robot vacuum cleaner 100 along plane A-A of Figure 6, revealing internal elements not visible in external views. This cross-sectional view is particularly useful for understanding the arrangement of the internal components and their operation.

[0059] At the heart of the suction system, we find the propeller motor 45, which is responsible for the propeller's rotation. This motor is designed to provide the necessary power to generate a sufficient water current to suction debris from the bottom of the pool and convey it to the filter bag 30 through the suction pipe 20.

[0060] Just below the propeller 40 is the central deflector 41, a crucial component that plays a dual role. First, it prevents debris from accumulating directly under the propeller, which could impede its operation and reduce suction efficiency. Second, the central deflector 41 directs the water flow towards the inner walls of the suction duct 20, helping to propel debris towards the filter bag 30.

[0061] Such a deflector is described in patent EP3832053 in the name of the applicant.

[0062] Fig. 9 presents a section along plane B-B of Fig. 8, offering a detailed view of the internal arrangement of the vacuum robot 100, in particular of the propulsion system and the power supply.

[0063] The traction motor 50 is an essential component of the robot vacuum cleaner 100, providing the motive force necessary to move the device. It is connected to the drive axle 11 and is responsible for driving the drive wheels 11a and 11b. The traction motor 50 is designed to reverse its direction of rotation, which allows the robot to The hacker changes direction when it encounters an obstacle, such as a pool wall.

[0064] The direction of rotation of the motor 50, and consequently the movement of the robot, can be controlled by various means. In some cases, a Hall sensor on the freewheel 121 or an accelerometer-type sensor can be used. In other cases, a timer can be used. These control systems can offer the advantage of precise and adaptable control of movement, improving the robot's ability to automatically and efficiently clean different areas of the pool.

[0065] The electric battery 60 is the power source for the robotic vacuum cleaner 100. It is housed inside the chassis 10 in a sealed compartment to balance the weight and maximize the robot's stability during operation. The electric battery 60 is designed to provide sufficient autonomy to allow the robot to clean a swimming pool without interruption.

[0066] The axle 112 connects the two drive wheels 11a and 111b and plays a fundamental role in transmitting power from the traction motor 50. A delayed clutch mechanism is integrated into this axle, specifically on the drive wheel 111b located on the side opposite the traction motor 50. This mechanism is designed to delay the rotation of the drive wheel 111b relative to the drive wheel 11a. This delay in the activation of the drive wheel 111b causes a misalignment of the vacuum robot 100 during changes of direction between forward and reverse, thus inducing arc-shaped sections in the robot's trajectory, as illustrated in [Fig. 10].

[0067] This design with a delayed clutch mechanism on the axis 112 helps to improve the maneuverability of the robot vacuum cleaner 100 and to increase cleaning efficiency by allowing the robot to cover a larger area of ​​the pool without leaving uncleaned areas.

[0068] Figure 10 illustrates a diagram of the movement of the robot vacuum cleaner 100 at the bottom of a Pool 200, highlighting the trajectory followed by the robot during its cleaning operation. The trajectory is characterized by a series of circular arcs AB, which are the direct result of the delayed activation of the delayed drive wheel 111b, extended by straight sections BC.

[0069] The circular arcs AB are generated each time the robotic vacuum cleaner 100 changes direction, and this occurs over a short period relative to the straight sections BC. When the robot moves forward and it is necessary to change direction, for example after encountering a pool wall, the delayed clutch mechanism integrated into the shaft 112 delays the rotation of the drive wheel 111b relative to the drive wheel 11a. This delay creates a shift in the robot's alignment, causing the robot to follow a circular arc AB trajectory instead of a sharp turn or a reversal of direction in a straight line.

[0070] This circular arc movement characteristic allows the robotic vacuum cleaner 100 to progressively shift its cleaning direction, thus ensuring better coverage of the bottom of the pool 200. Thanks to this navigation method, the robot is able to clean more efficiently by avoiding passing over the same area multiple times and reducing uncleaned zones. The circular arc trajectory AB therefore contributes to a more uniform distribution of cleaning and more efficient use of the robot's operating time.

[0071] In summary, [Fig. 10] demonstrates the effectiveness of the delayed clutch mechanism on the axis 112 in improving the maneuverability and cleaning coverage of the vacuum robot 100, illustrating how the arcs of circles AB allow the robot to modify its trajectory for complete and systematic coverage of the bottom of the pool 200.

[0072] Fig. 11 represents an embodiment in which the check valve is replaced by a multi-spout valve 25 251, acting as a diaphragm.

[0073] Indeed, the diaphragm is composed of several flaps or nozzles 251. These nozzles 251 are designed to open and close in a synchronized manner to allow the passage of the aspirated water laden with debris in only one direction through the suction conduit 20.

[0074] When the robot vacuums, the pressure increases in the conduit 20 located upstream of the valve 25. This additional pressure causes the nozzles 251 of the diaphragm to open, allowing the vacuumed debris to pass through the conduit and end up in the filter bag.

[0075] After the "dirty" water has passed through the valve and the suction stops, the pressure decreases. This causes the nozzles 251 of the diaphragm to close, preventing debris from flowing back into the suction duct.

Claims

Demands

1. A robotic pool cleaner (100) comprising a chassis (10), a suction duct (20) surmounting the chassis and opening into a filter bag (30) placed above, and a propeller (40) located inside said duct for sucking up debris via a suction inlet (21) and expelling it into the filter bag, the chassis comprising a drive axle (11) pulling the robot, said robot being characterized in that the axle (11) is unique and comprises two drive wheels (111a, 111b) driven by a single motor (50), and an axle (112) connecting said drive wheels transversely to the movement of the robot, in that the motor (50) is configured to reverse its direction of rotation upon contact with a wall, and in that said robot further comprises a third free wheel (121) and an anti-return system (22,25) placed between the suction duct (20) and the filter bag (30) to prevent debris forced into said bag from falling back into said duct.

2. Robot vacuum cleaner according to claim 1, wherein the non-return system comprises at least one hinged rigid flap (22).

3. Robot vacuum cleaner according to claim 1 or 2, wherein the non-return system comprises a valve (25) with several nozzles (251) forming a diaphragm which opens during suction and closes when suction stops.

4. Vacuum cleaner robot according to any one of the preceding claims, wherein the third wheel (121) is self-orienting depending on the direction of movement of the robot, said wheel having at least two different orientations (01, 02) depending on whether the robot is moving forward or backward.

5. Vacuum cleaner robot according to any one of the preceding claims, wherein a drive wheel (111b) located on the opposite side of the motor (50) is connected to the shaft (112) of the motor by a delayed clutch mechanism, delaying its rotation relative to the other drive wheel (11la), and thus causing a shift in the alignment of the robot at each change of direction of movement of the robot between forward and reverse.

6. Robot vacuum cleaner according to any one of the preceding claims, wherein the axis (112) of the axle (11) is mounted pivoting back and forth depending on the direction of rotation of the motor (50).

7. A robot vacuum cleaner according to claim 1, comprising a Hall effect sensor located on the third wheel (121) and configured to control the direction of rotation of the motor (50).

8. Robot vacuum cleaner according to claim 1, comprising an accelerometer-type inertial sensor configured to control the direction of rotation of the motor (50).

9. Robot vacuum cleaner according to claim 1, comprising a timer device configured to control the direction of rotation of the motor (50).

10. Robot vacuum cleaner according to any one of the preceding claims, further comprising two lateral wheels (122) on one side and on the other side of the third wheel (121).

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