EP1935311A1 - Floor cleaning device - Google Patents

Abstract

Covered with a hood (6), a chassis (2) faces a floor (10) to be maintained and supports moving wheels (3) driven by an electric motor (11) and a brush (5) that protrudes beyond the underside of the chassis and is also driven by an electric motor (12). The wheels fit behind the brush in the direction of motion (r) along with a dirt scoop (7) for collecting the dirt brushed up.

Description

The invention relates to a floor cleaning device, in particular cleaning robot, with a driven brush and a receptacle for dirt, wherein the recording next to an entry optionally additionally has a discharge opening and the entry opening and possibly the discharge opening closure means, which in any case with the device off the respective opening close.

The state of the art is about on the DE 44 14 683 A1 to refer, from a carpet sweeper is known with a recording for swept dirt and a discharge opening in the recording, on which discharge the collected dirt can be sucked off after completion of sweeping over a vacuum cleaner. This discharge opening of the receptacle can be closed, for example, via a blind. Next is on the US 5,765,258 to refer. From this, a vacuum cleaner with a dirt receiving chamber is known, which is covered by a flap. The flap opens to negative pressure.

The invention has as its object to provide a floor cleaning device that can achieve an advantageous and in particular hygienic handling with the simplest possible structure.

This object is achieved in the subject matter of claim 1, wherein a floor cleaning device of the type in question, in addition to cleaning robots and attachments for conventional household vacuum cleaner includes. According to claim 1 is focused on that the closure means automatically act in response to an operating condition of the device in action. Thus, a floor cleaning device is provided, which has a shutter mechanism for recording which, in the cleaning operation, opens the way to the receptacle, but closes tightly during standstill or during transport, if appropriate in addition to a discharge opening. This ensures that once recorded dirt does not come into contact with the ambient air and can not fall out of the device. The opening and closing of the recording corresponds to the operating conditions. Thus, there is a usual operating state in which the closure means are held in an open position from the fact that the floor cleaning appliance stands with the brush running on the floor to be cleaned or is moved over it. Also, the closure means can be actuated automatically depending on an operating state of the device, so actively on locking mechanisms in the closed position or be shifted out of this into the open position. According to the invention it is provided that an actuation takes place by lifting the device. According to this embodiment of the invention is a leakage of collected in the receptacle dirt, for example, counteracted during transport of the floor cleaning device. It is also conceivable that an extendable in the course of lifting suspension causes a lever-operated closing the opening. That when lifting the device, for example, ausfedernde suspension closes, for example, via a coupled mechanism, the closure means of the recording. Also, a counter-torque of an electric drive motor can be used for actuating the closure means, wherein preferably the counter-torque of the drive motor of the brush and / or of the travel movement serving is used. This can also be combined in response to a lifting of the device, this lift is recognized by known abyss sensors, after which the drive motor stops, consequently the counter torque is eliminated and a coupled to the engine mechanism displaces the closure means in the closed position. The general stopping of the drive motor for the brush and / or for the driving movement leads to the same reaction by closing the preferably spring-biased or by Gravity moved shutter. In a further development of the subject invention, it is provided that, depending on a device standstill and / or a lifting of the device, a separate actuating means acting on the closure means, wherein more preferably the separate actuating means is an electric motor or a differently formed actuator. It is also proposed that the receptacle is mounted vertically movable in the device and due to its own weight when lifting the device displaced vertically downwards, wherein in the course of this displacement, the opening moves relative to a closure means in the closed position. In this case, the closure means is preferably a device housing-side wall or the like, which closes the receptacle against the opening when the device is lifted. Finally, it is proposed that the receptacle is associated with a separate fan, wherein a trajectory of the fan blades coincides with the opening and a fan blade at a standstill closes the opening.

Fig. 1

in perspektivischer Darstellung ein erfindungsgemäßes Bodenreinigungsgerät in Form eines Reinigungsroboters;

Fig. 2

das Bodenreinigungsgerät in einer perspektivischen Unteransicht;

Fig. 3

eine schematische Seitenansichtdarstellung des Bodenreinigungsgeräts mit einer elektromotorisch angetriebenen Bürste sowie einem Verfahrrad und Mittel zur Bodenerkennung;

Fig. 4

eine schematische Teildarstellung eines Bodenreinigungsgeräts mit einer Aufnahme für Schmutz und einem gegenüber dem Gerätegehäuse abgefederten Fahrwerk, eine Offenstellung der Aufnahme betreffend;

Fig. 5

eine der Fig. 4 entsprechende Darstellung, jedoch die Verschlussstellung der Aufnahmeöffnung nach Anheben des Geräts betreffend;

Fig. 6

eine weitere schematische Teildarstellung eines Bodenreinigungsgeräts in einer weiteren Ausführungsform bei geöffneter Aufnahme;

Fig. 7

eine Darstellung gemäß Fig. 6, jedoch die verschlossene Stellung der Aufnahmeöffnung nach einem Anheben des Geräts betreffend:

Fig. 8

eine schematische Teildarstellung des Bodenreinigungsgeräts in einer weiteren Ausführungsform, die Betriebsstellung bei geöffneter Aufnahme betreffend;

Fig. 9

eine der Fig. 8 entsprechende Darstellung, jedoch nach einem Ausschalten eines elektrischen Antriebs für eine Bürste und damit einhergehendem Verschließen der Aufnahme;

Fig. 10

eine schematische Teildarstellung eines Bodenreinigungsgeräts in einer weiteren Ausführungsform, die Betriebsstellung betreffend;

Fig. 11

eine Darstellung gemäß Fig.10, jedoch die Verschlussstellung der Aufnahme betreffend;

Fig. 12

in einer weiteren Ausführungsform eine schematische Teildarstellung des Bodenreinigungsgeräts in einer geöffneten Stellung der Aufnahme;

Fig. 13

eine der Fig. 12 entsprechende Darstellung, jedoch bei geschlossener Aufnahmeöffnung nach einem Anheben des Gerätes.

The invention is explained below with reference to the accompanying drawings, which illustrate only several embodiments. It shows:

Fig. 1

a perspective view of an inventive floor cleaning device in the form of a cleaning robot;

Fig. 2

the floor cleaning device in a perspective bottom view;

Fig. 3

a schematic side view of the floor cleaning device with an electric motor driven brush and a Verfahrrad and means for detecting soil;

Fig. 4

a schematic partial view of a floor cleaning device with a receptacle for dirt and a suspension sprung relative to the device housing chassis, an open position of the recording concerning;

Fig. 5

one of the Fig. 4 corresponding representation, but the closure position of the receiving opening after lifting the device regarding;

Fig. 6

a further schematic partial view of a floor cleaning device in a further embodiment with the receptacle open;

Fig. 7

a representation according to Fig. 6 but the locked position of the receiving opening after lifting the appliance concerning:

Fig. 8

a schematic partial view of the floor cleaning device in a further embodiment, the operating position with open recording concerning;

Fig. 9

one of the Fig. 8 corresponding representation, but after switching off an electric drive for a brush and concomitant closure of the recording;

Fig. 10

a schematic partial view of a floor cleaning device in a further embodiment concerning the operating position;

Fig. 11

a representation according to Figure 10 but regarding the shutter position of the recording;

Fig. 12

in a further embodiment, a schematic partial representation of the floor cleaning device in an open position of the receptacle;

Fig. 13

one of the Fig. 12 corresponding representation, but with closed receiving opening after lifting the device.

Shown and described is a floor cleaning device 1 in the form of a cleaning robot with a chassis 2, which the underside, the floor to be cared 10, driven by electric motor Verfahrräder 3 and beyond the lower edge of the chassis bottom 4 protruding, also driven by electric motor brush 5 carries. The chassis 2 is covered by a device hood 6, wherein the floor cleaning device 1 has a circular plan.

The Verfahrräder 3 are downstream of the brush 5 in the usual direction of travel r of the floor cleaning device 1, wherein further the brush 5 downstream a keying plate-like dirt ramp 7 is provided, via which the brushed dirt is dropped into a container-like receptacle 8.

In the usual direction of travel r is the brush 5 upstream of a support wheel positioned in the form of a follower 9, according to which a three-point support of the floor cleaning device 1 is reached on the floor to be maintained 10.

There is a need, especially in a cleaning robot, to adapt its behavior to the nature of the driven floor 10. For this a bottom detection is provided, which by means of detection of a slip and / or a driving resistance, in particular the Verfahrräder 3 but also alternatively or in combination of the brush. 5

The slip is in this case determined by a comparison between the traveled distance of the floor cleaning appliance 1 and the revolutions of the driven wheel 3 driven via the electric motor 11 and / or the brush 5 driven by the electric motor 12. In order to take into account a possible slip between the electric motor and the output means (traversing wheel 3 or brush 5), for example in a belt drive, the rotation determination can preferably take place directly on the traversing wheel 3 or on the brush 5 or alternatively on the traversing wheel 3 and on the brush 5 ,

Alternatively, or in combination for detecting soil by means of slip traps, the ground detection can also be carried out by determining the driving resistance, including at a slip-free translation, for example via a toothed belt between the drive motor and driven means, the current consumption of the electric motor 11 of the Verfahrrads 3 and / or the current consumption of the motor 12 of Brush 5 is detected.

The front wheel 9 is arranged to detect the distance traveled and has a sensor 13, the values of which are detected by a processor 14 integrated in the floor cleaning device 1. In addition, the determined rotational speeds of the traversing wheel 3 and / or the brush 5 as well as alternatively or also collectively the values of the power consumption of the traversing electric motor 11 and / or the brush electric motor 12 are transmitted to the latter.

Associated with the processor 14, an electronic memory 15 is furthermore provided, in which comparison values for slip and / or driving resistance of various floor coverings are stored. The processor compares the measured values such as slip and / or travel resistance of the travel wheel 3 or the travel wheel electric motor 11 and / or the brush 5 and the brush electric motor 12 with the values stored in the memory 15 and derives a signal therefrom for controlling the floor cleaning device 1 from.

According to the invention, therefore, the distance traveled is taken up by the follower wheel 9, which measured distance is set in relation to the elapsed time since the last measurement. From this, a clear statement about the speed of the floor cleaning device 1 can be achieved. Since the running resistance and the slippage relative to the floor 10 on carpet is greater than on hard floor, the speed of the floor cleaning appliance 1 is lower on carpet. In addition, due to the greater resistance, the current of the electric motor 11 of the traversing wheel 3 increases. This also applies to the brush 5 of the floor cleaning device 1, the mechanical resistance increases to carpets, which has an increase in power consumption. Likewise, the rotational speed of the brush 5 also decreases.

The values detected by the processor 14 are compared with the stored reference values for a reference bottom. The signal derived therefrom can serve, for example, for the navigation of the floor cleaning appliance 1, in particular for floor cleaning appliances 1, in particular cleaning robots, which should not drive on certain floor coverings. Also, the drive power of the brush 5 and the Verfahrräder 3 can be adjusted according to the determined flooring. In addition, a signal for adjusting the brush 5, in particular the board position of the brush 5 can be derived via the chassis bottom 4, so that, for example, for gentler brushing of carpets, the brush 5 is raised via a known rocker arrangement.

The in the 4 and 5 in an embodiment schematically illustrated receptacle 8 is closed in response to an operating condition of the floor cleaning device 1. It is thus provided that the receptacle 8 is closed when the floor cleaning appliance 1 is raised from the floor 10 to be maintained and / or when the floor cleaning appliance 1 is switched off, in particular switching off the electric motors 11 and / or 12 of the traveling wheels 3 and / or the brush 5 , so that even in the recording 8 collected dust or dirt can not escape from this uncontrolled again.

For this purpose, the receptacle 8 can have an activatable closure means 16 in the form of a closure flap 17, which in any case closes an entry opening 18 of the receptacle 8 due to the operating state.

In the embodiment according to the representations in FIGS 4 and 5 the closure flap 17 is articulated on the upper side of an entry opening 18. The free end of the closure flap 17 is connected via a side of the receptacle 8 extending lever 19 with an axis of a Verfahrrades 3, which is part of an extendable chassis 20, in connection.

In the usual operating position as shown in Fig. 4 The chassis 2 of the floor cleaning appliance 1, which is not shown here, is supported on the chassis 19, for example in the region of an axis 21, by means of a shell-like support surface 20, for example. The latter is loaded by a tension spring 22 in the direction of the support shell 20.

The already mentioned dirt ramp 7 is articulated in the lower edge of the entry port 18, d. H. articulated in the region opposite the articulation region of the closure flap 17.

A like in Fig. 5 schematically illustrated lifting the floor cleaning device 1 leads to a rebound of the chassis 19, via which latter and via the lever 23, the displacement of the shutter 17 is effected in the entry opening-closing position.

As an alternative to this locking mechanism coupled to the chassis 19, lifting of the floor cleaning appliance 1 by abyss sensors 24 (cf. Fig. 2 ), wherein a corresponding logic derives a signal for closing the entry opening 18. For example, an actuator, for example, a servomotor, spend the closure flap 17 in the closed position. By means of such an actuator, the closure position can also be achieved in the event of a sensor-detected standstill of the floor cleaning appliance 1.

A further alternative embodiment for the automatic closing of the receptacle-entry opening 18 show the 6 and 7 , Here, the receptacle is floating in the floor cleaning device 1 and stored in the chassis 2, so that the floor cleaning device 1 to the receptacle 8 in the vertical direction is relatively movable.

In the usual operating position (shown Fig. 6 ), the chassis 2 is supported on the receptacle 8, to which further the chassis 2 has a pocket-like cavity 25 for the receptacle 8. In the process of the floor cleaning device 8 is hereby the receptacle 8 for collecting the swept up or sucked Dirt entrained, which recording 8 slides on skid-like spacers 33 on the floor 10.

If the floor cleaning device 1 is raised, this results in a vertical relative displacement of the chassis 2 relative to the receptacle 8, which latter remains standing on the floor 10. As a result of this relative displacement of the chassis 2, a chassis wall 26 forming the closure means 16 locks in front of the entry opening 18 of the receptacle 8, whereby the latter is closed.

Not shown, but handling technology advantageous is an embodiment in which the relative vertical displaceability of the floor cleaning device 1 and the chassis 2 relative to the receptacle 8 is stop-limited, so that a further lifting of the in Fig. 7 shown position the entrainment of the receptacle 8 causes.

Also, the closure of the receiving port 18 may be coupled to the operating state of the brush 5 driven via the electric motor 12 and / or the traction wheels driven by the electric motor 11. Thus, by switching off these electric motors 11, 12 by the user or also, as already indicated, a mechanical closing of the entry opening 18 can be achieved via a sensor system for detection of the abyss during lifting of the floor cleaning appliance 1. The 8 and 9 show an embodiment of this. Again, the closure means 16 is formed as a hinged in the upper edge region of the entry port 18 closure flap 17. The free end of this flap 17 is coupled to the engine - in the illustrations of the electric motor 12 for the brush 5 - via a toggle mechanism 27, wherein in the region of the knee joint 28 a chassisseitig fixed tension spring 29 biases the mechanism 27 in a closed position of the flap 17.

The Fig. 8 shows the operating situation with the electric motor 12 for the brush 5, in which situation by the engine counter torque of the toggle mechanism 27 against the spring force of the tension spring 29 is acted upon so that the shutter 17 is held in the open position via this mechanism. When switching off the electric motor - by user intervention and / or by sensor detection in a lifting of the device - the counter-torque decreases, so that the toggle mechanism 27 due to the spring force of the spring 29 back into his Fig. 9 is spent in the basic position shown, which causes about the mechanism pivoting the shutter 17 in the entry port closure position.

In an interaction of the toggle mechanism 27 with the electric motor 11 for the Verfahrräder 3 means are provided which the flap 17 in a reverse drive, d. H. when driving contrary to the usual travel direction r, keep it open.

Also can be provided for closing the receptacle 8, a supporting air flow for conveying the dirt in the receptacle 8 serving fan 30. This is driven by an electric motor and is mounted directly in the region of the entry opening 18 such that the fan blades 31 in a standstill position of the fan 30 as shown in FIG Fig. 11 extend blocking in front of the entry port 18, said closure position of the fan 30 is defined by a latching at least one fan blade 31 with an edge portion of the entry port 18.

When the device is switched off by the user or else when the floor cleaning device 1 is lifted by abyss sensors 24, the fan 30 is moved into the closed position by an electric motor and switched off after reaching this position, wherein the achievement of the closed position can be monitored for example by a light barrier.

Also, according to the representations in the FIGS. 12 and 13 a closure flap 17 hingedly arranged on the receptacle 8 can be coupled via a lever 23 to a cleaning unit 32 arranged to float or pivot, the latter essentially consisting of the electric motor 12 and the brush 5 driven by the latter, which are mounted on a common pivot arm (not shown) are mounted pivotably about a horizontal axis. In normal operation of the floor cleaning device 1, this cleaning unit 32 is in a known manner dependent on gravity with the brush 5 on the floor 10 to be cleaned. Lifting the floor cleaning device 1 from the floor 10 causes the cleaning unit 32 to swivel down about its pivot axis, which has the result, via the hinged lever 23, of the displacement of the closing flap 17 into the entry opening closure position. The pivoting of the cleaning unit 32 is stop limited.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application.

Claims (11)

Floor cleaning device (1), in particular cleaning robot, with a driven brush (5) and a receptacle (8) for dirt, wherein the receptacle (8) next to an entry opening (18) optionally additionally has a discharge opening and the entry opening (18) and optionally the Discharge opening closure means (16) which close at least when the device (1) the respective opening (18), characterized in that the closure means (16) automatically in function of an operating condition of the device (1) come into effect. Floor cleaning appliance according to claim 8 or in particular according thereto, characterized in that the closure means (16) are actuated automatically as a function of an operating state of the appliance (1). Floor cleaning appliance according to one or more of claims 8 to 9 or in particular according thereto, characterized in that an actuation takes place by lifting the appliance (1). Floor cleaning appliance according to one or more of claims 8 to 10 or in particular according thereto, characterized in that an extensible in the course of lifting chassis (19) causes a lever-operated closing of the opening (18). Floor cleaning appliance according to one or more of claims 8 to 11 or in particular according thereto, characterized in that a counter-moment of an electric drive motor (11, 12) is used for actuating the closure means (16). Floor cleaning appliance according to one or more of claims 8 to 12 or in particular according thereto, characterized in that the counter-torque of the drive motor (11, 12) of the brush (5) and / or of the driving movement serving is used. Floor cleaning appliance according to one or more of claims 8 to 13 or in particular according thereto, characterized in that the closure means (16) by means of a spring (29) is biased in the closed position. Floor cleaning appliance according to one or more of claims 8 to 14 or in particular according thereto, characterized in that in dependence of a device standstill and / or a lifting of the device (1), a separate actuating means acts on the closure means (16). Floor cleaning appliance according to one or more of claims 8 to 15 or in particular according thereto, characterized in that the separate actuating means is an electric motor. Floor cleaning device according to one or more of claims 8 to 16 or in particular that the receptacle (8) is mounted vertically movable in the device (1) and due to its own weight when lifting the device (1) moves vertically downwards, wherein in the course this displacement moves the opening (18) relative to a closure means (16) in the closed position. Floor cleaning appliance according to one or more of claims 8 to 17 or in particular according thereto, characterized in that the receptacle (8) is associated with a separate fan (30), wherein a movement path the fan blades (31) coincide with the opening (18) and a fan blade (31) closes the opening (18) when it is at a standstill.

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