EP2481333B1 - Appareil de traitement de surface mobile, prenant un chemin aléatoire - Google Patents

Appareil de traitement de surface mobile, prenant un chemin aléatoire Download PDF

Info

Publication number
EP2481333B1
EP2481333B1 EP20120152017 EP12152017A EP2481333B1 EP 2481333 B1 EP2481333 B1 EP 2481333B1 EP 20120152017 EP20120152017 EP 20120152017 EP 12152017 A EP12152017 A EP 12152017A EP 2481333 B1 EP2481333 B1 EP 2481333B1
Authority
EP
European Patent Office
Prior art keywords
treatment device
surface treatment
carrier
steering shaft
chassis body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP20120152017
Other languages
German (de)
English (en)
Other versions
EP2481333A1 (fr
Inventor
Klaus-Jürgen Fischer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leifheit AG
Original Assignee
Leifheit AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leifheit AG filed Critical Leifheit AG
Publication of EP2481333A1 publication Critical patent/EP2481333A1/fr
Application granted granted Critical
Publication of EP2481333B1 publication Critical patent/EP2481333B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • Such surface treatment devices are mobile robots for dust wiping from the European patent specification EP 1347701 B known.
  • These known robots comprise a framework or a bell-shaped housing in which a drive device is arranged, which allows an arbitrary movement of the robot through the space.
  • the drive device is not connected to the actual housing and consists of a ball which is motor-driven with eccentric center of gravity, so that the ball travels different trajectories. In doing so, she takes the housing and the mobile robot with her, enabling her to move arbitrarily in different directions within the room in order to cover the entire area of the room after a certain period of work.
  • Disadvantage of the known surface treatment devices is that the drive and the actual device are formed in two parts, so that on the one hand the impression arises that would initially occur within the device in direction reversal a standstill until the ball abuts within the housing to an opposite surface; and that on the other hand by the free mobility of the ball within the Casing bumping occurs when the ball strikes again after passing through the housing interior at the opposite side.
  • the separate drive element is not recovered or lost when using the surface treatment device, since it is separated from the surface treatment device.
  • a mobile floor cleaning device which can automatically drive off a surface and is able to change its direction of travel automatically when abutting an obstacle.
  • the drive axle is provided on a resiliently arranged in the housing axle, which is locked when driving straight by the spring force, and can be solved in the event of hitting an obstacle via an unlocking from the lock.
  • the steering axle is released, and the device can move in a different direction. In straight-line running, however, the steering axle is again straightened by the caster, so that the lock engages again, and the floor cleaning device is being moved straight out.
  • this floor cleaning device on the one hand is that it always drives straight, as long as it does not hit against an obstacle. However, this requires a variety of movements until the ground is completely worn, since a change of direction while driving without an obstacle is not possible.
  • Another disadvantage is that the locking of the steering axle when hitting an obstacle is indeed solved, but this does not ensure that the device automatically finds a way out of the blocking position in all cases, for example, when driving frontally against a wall or stuck in a corner.
  • the steering axle can now deflect by unlocking; but this does not prevent the forces to turn into exactly the opposing forces that are triggered by the obstacle. This can only be achieved by an uneven distribution of the drive forces on the axis, but this has the disadvantage that the device along the wall transversely to the original direction of travel moves when it has turned so far that the blocking position is canceled.
  • the DE 10 2005 057 635 A shows a vehicle, for example, for vacuum cleaners or lawn mower, with a chassis which is supported by at least three attached thereto wheels on the ground, with the individual wheels respectively associated drive motors and at least one control device by which the drive motors separated from each other and / or can be activated together, the shunting and the drive should be optimized and improved.
  • This is achieved by virtue of the fact that at least one of the wheels is rotatably supported on the chassis via an extension arm and that the extension arm is pivotably mounted about an axis oriented perpendicular to the ground.
  • the DE 10 2004 038 074 B3 describes a self-propelled and self-controlling cleaning robot with a cleaning unit for cleaning a bottom surface and a drive unit for moving the cleaning robot, wherein the drive unit comprises an impeller which is rotatably driven about a rotational axis and pivotable about an eccentric to the impeller arranged, aligned perpendicular to the bottom surface steering axis , The impeller is permanently driven in rotation and rolls upon impact of the cleaning robot on an obstacle on the bottom surface, wherein it pivots against the action of a restoring force arcuately about the steering axis.
  • the object of the invention is to provide an arbitrary surface-traveling mobile surface treatment device which has an effective, integrated into the device drive and is inexpensive to produce.
  • the chassis body via a steering shaft bearing and a steering shaft connected to the carrier and is rotatable about a steering axis (A), wherein the chassis body is designed or mounted such that for forming a lead, the running surface of the drive wheel with the surface outside the steering axis (A) and the steering shaft bearing is a swash bearing, in which the steering shaft is held, and about which the steering shaft is pivotable.
  • the carrier will usually be a housing which, as in the known surface treatment devices, extends like a dome over the drive unit, wherein the carrier may as well be a framework or even an annular or angular frame. Furthermore, this carrier can be designed in several parts, for example, a stable annular frame with attached plastic dome for covering the functional parts.
  • the surface treatment devices according to the invention are used, for example, as dust wiping devices, wherein the working element in this case may be a dust brush or a dust wiper covering, for example arranged in a circle around the chassis body and fastened to the carrier. The latter can also be designed to be antistatic in order to effectively absorb dust with low energy consumption.
  • the surface treatment device can also realize any other form of treatment of a substrate, up to a lawnmower.
  • the surface treatment device between usually vertical, but at least inclined edge boundaries can go back and forth. These marginal boundaries are necessary to realize the required direction reversal by abutting a deckle.
  • a damp floor wiping function is possible.
  • the working element can be designed as a mob or a pick-up, which is either attached moist to the carrier or via a moistening function of the carrier, for example via a leak Water, which can seep into the working element from a carrier-side water tank via small openings, is moistened.
  • a wobble bearing is to be understood as meaning a bearing which is capable of holding an axle, optionally under load of a bearing clearance, in a surface which is arranged parallel to the surface to be treated or at an angle which is significantly smaller than 90 degrees.
  • a swash bearing for example, a bearing eye, which may consist of a simple, circular breakthrough in the simplest case.
  • a classic bearing eye in which the component to be stored is held in a rotatably held, crowned on its outer side bearing segment. Due to the higher cost of such a classic Lagerauges this variant will be more likely to provide for complex surface treatment equipment. On the other hand, it will be sufficient for the usual functions if, in compliance with the required wear resistance, a mere breakthrough in the sense of a passage opening is used.
  • the drive according to the invention is designed so that a forward or tail of the drive wheel is provided.
  • This already known from motor vehicles technology, which is used there for straightening the steering and for stabilizing the straight line use is here reversed in their function. If a tail has stabilized the straight ahead, a forward run, so the fact that the drive wheel with its support surface on the ground in front of the axis of rotation of the drive wheel comes into contact with the ground, used to generate an arbitrary stability, so that the surface treatment device during of the flow is just not stable in a defined straight-ahead drive.
  • the surface treatment device and the carrier are designed so that there is no front and no back, but that the device has substantially the same driving characteristics in all directions.
  • the drive wheel within the bearing will adjust so that then a caster occurs. This happens because the drive wheel is rotatable by 360 degrees in the swash bearing, so that in consequence of the free movement, the drive wheel will put to the rear, as is known for example from shopping carts of a supermarket. If, for example, the surface treatment device then strikes a wall on the opposite side of a room, the wobble bearing is arranged between the contact surface of the drive wheel on the floor and the wall.
  • the drive wheel in this case then no caster, but, if a backward motion is to be staged, a flow on.
  • the swash-bearing will ensure that the chassis is moved within its degrees of freedom as a result of the drive force until at some point a movement occurs that can create a component of force on the swash bearing that ensures that the carrier can be moved again.
  • the advance will have a positive effect, so that the surface treatment device moves in an arbitrary, generally rotated spatial direction.
  • Lead and wobble bearings have the further advantage that it is very unlikely that the surface treatment device is moved exactly in the opposite reverse direction; but that it is likely to drive another route. In this way, the arbitrary movement of the surface treatment device over the cleaning period is realized, so that with the necessary Probable after an acceptable period of time each area of the room could be traversed.
  • the mobile surface treatment device also ensures that obstacles in the room, such as decorative items or carpets, do not cause the surface treatment device is blocked.
  • the chassis body is preferably arranged inside the carrier and has the drive components of the surface treatment device.
  • the chassis body will preferably have one or more drive wheels that can be distributed on one or more axles. In the usual applications, it will be sufficient to provide a wheel axle with a drive wheel, wherein at the same time the drive motor is mounted on the chassis body. This motor is powered by a power supply in the form of a battery or batteries, which is also located on the chassis body.
  • More complex embodiments of the drive body are designed in the manner of a bogie, wherein two opposite axes are provided, of which, for example, the front is steerable and has the lead or lag.
  • two opposite axes are provided, of which, for example, the front is steerable and has the lead or lag.
  • several axes or only one axis can be driven.
  • the chassis geometry can be designed so that the surface treatment device tends to deviate from the straight-ahead direction and usually to exit curved lines.
  • the chassis body is connected via the steering shaft bearing with the carrier.
  • the steering shaft bearing can be arranged both on the chassis body and on the carrier, wherein the respective other component then has the steering shaft, which projects into the steering shaft bearing.
  • a passage opening is arranged on the carrier, in which the chassis body is inserted with the projecting in the direction of the passage opening steering shaft.
  • the steering shaft on the be provided opposite end with a fuse in the form of a lock washer, a nut screwed or a thickening, which prevents the removal of the steering shaft from the steering shaft bearing.
  • the steering shaft bearing is arranged on the chassis body, in which case the steering shaft protrudes from the carrier in the direction of the steering shaft bearing. Again, a corresponding safeguard against unintentional removal may be provided.
  • the steering shaft bearing is designed so that the steering axle is pivotable in the bearing.
  • a certain bearing clearance can be maintained in the direction of travel, which is only necessary for free pivoting and for generating the necessary degrees of freedom of movement of the chassis body.
  • the motor arranged inside the carrier can be operated via an operating unit. It can be operated in different speeds or also other functions, for example optional additional functions, which will be described later.
  • the operating unit may have a timer which, either after manual input or after a predetermined time interval, switches off the surface treatment device, since after this interval e.g. it is to be expected that the necessary work will be done.
  • the device can also be used overnight, without it moving the whole night the area.
  • the operating unit can be arranged directly on the chassis carrier; which requires that either the chassis carrier is removable and so the control unit is accessible, or that the control unit is accessible through the shape of the carrier either with the device lifted from below or through the carrier.
  • a control unit can also be operated via a wireless data connection or a remote control.
  • the operating unit is arranged on the carrier, so that it is accessible from the outside.
  • the Communication either also via a wireless remote control or via sliding contacts or comparable transmission paths.
  • the operating unit can also be arranged on the steering shaft, as long as it extends through the carrier to the outside.
  • sliding contacts can be omitted, since here, too, the control unit is directly connected to the chassis body, if the steering shaft is also connected to the chassis body and the propeller shaft bearing is arranged on the carrier side.
  • the wireless connection to the operating unit can be realized particularly easily if the operating unit has a connection possibility to a small computer. It can e.g. be a bluetooth connection.
  • a small computer for example via a so-called "app" of a smartphone, the operation is particularly comfortable and easy to be realized.
  • a remote control can be done from outside, so that the device can be contacted via the telephone network.
  • the operating unit can also be the power supply of a battery.
  • the operating unit may have a USB interface which is connected to the accumulator via corresponding power lines, optionally with the interposition of slip rings. The device can then be charged via this USB interface.
  • a recharging function of the accumulator can also take place in that a charging cable can be connected directly to these or that it has corresponding plug, which can be plugged directly into a socket. This can be done with mounted chassis body or even with the chassis body removed, wherein preferably the accumulator is removable from the chassis body, so that it can be charged separately from the device. This not only allows the interchangeability of the batteries for the purpose of maintenance, but also the provision of a secondary battery in the event that the first is consumed.
  • the working element can in turn be arranged movably to the carrier.
  • several tools may be arranged on the carrier.
  • the implement may be motor driven so that it also moves in addition to the movement of the carrier to improve the cleaning result or processing result.
  • the working element is preferably connected to the carrier with a detachable connection so that it can be exchanged or so that e.g. a turning possibility can be provided.
  • the working element is applied to the holding frame, which is detachably connected to the carrier, wherein the holding frame has a working element on both sides and in both orientations with the carrier is connectable.
  • the surface treatment device will be supported on the ground via the working element.
  • the drive wheel is then mounted on the chassis body or the chassis body in turn mounted on the carrier that the drive wheel rests with the support surface on the ground and can transmit the driving force.
  • the working element has to absorb larger forces, for example, if the surface treatment device is designed as a lawn mower or as a wet mop, a more complex chassis body can be used, which ensures stable storage of the surface treatment device of the surface to be processed. This is particularly advisable when the working element is arranged to be movable and motor driven on the carrier, so that additional demands on the directional stability of the chassis can arise over the dynamics of the working element and the associated abutment forces.
  • Another optional feature of the present invention may be that the motor is reversible in direction. Such a direction reversal can be switched, for example, when a corresponding sensor triggers.
  • This sensor may, for example, be a circulating pressure sensor which detects when the surface treatment device is moving against a vertical surface.
  • Such sensors are known, for example, from the flexible transport systems of industrial logistics and are realized by means of a circulating belt which is pressed in by an obstacle, wherein these impressions are detected by a sensor system.
  • Shock sensors for example piezoelectric sensors
  • the motor automatically detects when working against an obstacle.
  • the drive wheel blocks, so that the drive shaft of the engine is blocked, which can lead to an automatic switching of the engine in another direction.
  • This automatic switching can also be used to detect, for example, a bogus obstacle.
  • such a surface treatment device designed in this way is preferably provided with inherent logic in which a corresponding control circuit is stored.
  • FIG. 1 shows a preferred embodiment of the invention in a schematic view.
  • FIG. 1 illustrated surface treatment device has a support 1, which has a cavity in the interior.
  • a motor drive is arranged, which transmits its driving force via a drive wheel 2, which is guided by a breakthrough in the bottom of the surface treatment device to the treatment area on the surface to be treated.
  • a drive wheel 2 which is guided by a breakthrough in the bottom of the surface treatment device to the treatment area on the surface to be treated.
  • the processing element here in the form of a brush-like mob, shown.
  • the engine is arranged on a chassis body 5 and operated via an operating unit 6.
  • This operating unit 6 in turn can be actuated via a passage (not shown) from the outside.
  • a remote data transmission for example via a remote control or via a computer.
  • the chassis body 5 is connected via a steering shaft 3 with the carrier 1 of the surface treatment device.
  • the steering shaft 3 is fixedly connected to the carrier 1; the chassis body 5 is movably mounted in a steering shaft bearing 4 on the steering shaft 3 about a steering axis A.
  • the steering shaft bearing 4 is designed as a swash bearing.
  • this swash bearing is formed by a hollow cylindrical passage through which the steering shaft 3 is guided.
  • the chassis body 5 is movable in storage and is not stored in a defined manner. Since at the same time the drive wheel 2 has a lead or a caster, that is arranged with its support surface on the surface to be treated outside the steering axis A, creates an unstable state, which leads to an arbitrary change in direction, but in particular enables the surface treatment device, when abutting an obstacle to move by a corresponding proper movement of the chassis support 5 in a new direction.
  • the drive wheel 2 is formed as a classic wheel.
  • the drive wheel 2 may also be a ball or a roller.
  • the operating element 6 can also be arranged on the outside of the carrier 1.
  • the operating command can then be transmitted to the drive motor either via sliding contacts, or there is a wireless data transmission, wherein in the case of wireless data transmission can be completely dispensed with the control element 6, which is then replaced by the remote control or a small computer ,
  • the steering shaft 3 can also be arranged on the chassis body 5, so that the steering shaft bearing 4 is in turn arranged on the carrier 1.

Landscapes

  • Handcart (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Claims (14)

  1. Appareil mobile pour le traitement de surfaces, parcourant automatiquement et arbitrairement une surface pour le traitement par nettoyage, entretien ou usinage de la surface ; avec au moins un élément de travail qui est disposé sur un support (1) et qui est susceptible de traiter la surface et avec un élément d'entraînement actionné par moteur, instable au niveau de la direction, qui est susceptible de déplacer le support (1) automatiquement dans différentes directions sur la surface, l'élément d'entraînement étant au moins une roue motrice (2) qui est logée sur un corps de châssis (5) ; caractérisé en ce que le corps de châssis (5) est relié au support (1) par l'intermédiaire d'un roulement d'arbre de direction (4) et d'un arbre de direction (3) et est rotatif autour d'un axe de direction (A), le corps de châssis (5) étant conçu ou logé de telle sorte que pour créer une marche en avant, la surface de roulement de la roue motrice (2) se situe sur la surface à l'extérieur de l'axe de direction (A) et en ce que le roulement d'arbre de direction (4) est conçu en tant que roulement flottant, dans lequel est maintenu l'arbre de direction (3) et autour duquel l'arbre de direction (3) peut pivoter.
  2. Appareil mobile pour le traitement de surfaces selon la revendication 1, caractérisé en ce que la roue motrice (2) est logée sur le corps de châssis (5) par l'intermédiaire d'un essieu de roues, sur le corps de châssis (5) étant disposés un moteur d'entraînement et l'arbre de direction (3) logé dans le roulement d'arbre de direction (4).
  3. Appareil mobile pour le traitement de surfaces selon la revendication 2, caractérisé en ce que le support (1) est conçu en tant que boîtier ou ossature en dôme, le corps de châssis (5) étant disposé à l'intérieur de l'espace entouré par le boîtier ou l'ossature en dôme et le roulement d'arbre de direction (4) étant disposé dans la zone supérieure du boîtier ou de l'ossature en dôme.
  4. Appareil mobile pour le traitement de surfaces selon la revendication 2 ou la revendication 3, caractérisé en ce que sur l'essieu de roues sont disposées deux roues, dont au moins l'une est conçue en tant que roue motrice (2) ; de préférence en ce que par actionnement motorisé de l'essieu de roues, les deux roues sont conçues en tant que roues motrices (2).
  5. Appareil mobile pour le traitement de surfaces selon la revendication 3 ou la revendication 4, caractérisé en ce que le corps de châssis (5) comporte un deuxième essieu de roues avec au moins une roue non entraînée.
  6. Appareil mobile pour le traitement de surfaces selon 1"une quelconque des revendications précédentes, caractérisé en ce que pour la commande de ses fonctions, il comporte une unité de commande (6) disposée sur le corps de châssis (5), le support (1) comportant un orifice de passage qui est conçu et disposé de telle sorte qu'un opérateur puisse manoeuvrer l'unité de commande (6) par l'extérieur.
  7. Appareil mobile pour le traitement de surfaces avec un moteur d'entraînement selon l'une quelconque des revendications 1 à 5, caractérisé en ce que pour la commande de ses fonctions, il comporte une unité de commande (6) disposée sur le support (1), pouvant être manoeuvrée par l'extérieur, l'unité de commande (6) étant reliée au moteur d'entraînement par une liaison par câble ou une liaison sans fil et étant reliée au support (1) de manière fixe ou amovible.
  8. Appareil mobile pour le traitement de surfaces avec un moteur d'entraînement selon l'une quelconque des revendications précédentes, caractérisé en ce que le moteur d'entraînement est un moteur électrique et en ce que sur le corps de châssis (5) ou sur le support (1) est disposé un accumulateur qui est relié au moteur d'entraînement par l'intermédiaire de câbles et/ou de contacts glissants.
  9. Appareil mobile pour le traitement de surfaces selon la revendication précédente, caractérisé en ce que, pour son chargement ou son remplacement, l'accumulateur est amovible seul ou avec un composant de l'appareil pour le traitement des surfaces sur lequel il est disposé.
  10. Appareil mobile pour le traitement de surfaces selon l'une quelconque des revendications précédentes, caractérisé en ce que le roulement d'arbre de direction (4) est conçu en tant qu'oeil de palier à travers lequel l'arbre de direction (3) est enfilé, en laissant un jeu dans le palier.
  11. Appareil mobile pour le traitement de surfaces selon la revendication 10, caractérisé en ce que l'arbre de direction (3) est conçu en deux parties, une partie supérieure, non rotative autour de son propre axe étant maintenue dans le roulement d'arbre de direction (4) et une partie inférieure, rotative autour de son propre axe étant logée sur la partie supérieure.
  12. Appareil mobile pour le traitement de surfaces selon l'une quelconque des revendications précédentes, caractérisé en ce que l'élément de travail est un élément essuyeur, avec une face inférieure d'essuyage glissant sur la surface en l'essuyant, qui s'étend notamment en périphérie sur la face inférieure du support (1).
  13. Appareil mobile pour le traitement de surfaces avec un moteur d'entraînement selon l'une quelconque des revendications précédentes, caractérisé en ce que l'élément de travail est entraîné par le moteur d'entraînement par rapport au support (1).
  14. Appareil mobile pour le traitement de surfaces avec un moteur d'entraînement selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comporte un capteur pour l'identification de la collision contre un obstacle, notamment un capteur de déformation sur la face extérieure du support (1) ou un capteur de chocs, un système de commande de l'appareil pour le traitement de surfaces étant conçu de telle sorte que lorsque le capteur a délivré un signal, la direction d'entraînement du moteur d'entraînement s'inverse.
EP20120152017 2011-01-31 2012-01-20 Appareil de traitement de surface mobile, prenant un chemin aléatoire Not-in-force EP2481333B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110000423 DE102011000423A1 (de) 2011-01-31 2011-01-31 Mobiles Flächenbehandlungsgerät

Publications (2)

Publication Number Publication Date
EP2481333A1 EP2481333A1 (fr) 2012-08-01
EP2481333B1 true EP2481333B1 (fr) 2013-01-09

Family

ID=45655179

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20120152017 Not-in-force EP2481333B1 (fr) 2011-01-31 2012-01-20 Appareil de traitement de surface mobile, prenant un chemin aléatoire

Country Status (2)

Country Link
EP (1) EP2481333B1 (fr)
DE (1) DE102011000423A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2767206A1 (fr) 2013-02-13 2014-08-20 Leifheit Ag Appareil de traitement de surfaces mobile

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741290B (zh) * 2016-11-21 2019-03-15 国网山东省电力公司电力科学研究院 一种适用于复杂环境的换向系统及机器人及应用及方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO313533B1 (no) 2000-10-30 2002-10-21 Torbjoern Aasen Mobil robot
DE10242257C5 (de) * 2001-09-14 2017-05-11 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
DE10205635B4 (de) 2002-02-12 2005-12-08 Stephan Schymonski Werkzeugverbindung
GB2411820A (en) * 2004-02-18 2005-09-14 Reckitt Benckiser Self driven cleaning device
DE102004038074B3 (de) * 2004-07-29 2005-06-30 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter
DE102005057635B4 (de) * 2005-12-02 2009-08-20 Hochschule Ravensburg-Weingarten Fahrzeug
DE102009024990B4 (de) * 2009-06-16 2022-06-23 Vorwerk & Co. Interholding Gmbh Elektrogerät mit einer Halterung für eine Fernbedienung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2767206A1 (fr) 2013-02-13 2014-08-20 Leifheit Ag Appareil de traitement de surfaces mobile

Also Published As

Publication number Publication date
EP2481333A1 (fr) 2012-08-01
DE102011000423A1 (de) 2012-08-02

Similar Documents

Publication Publication Date Title
EP3622930B1 (fr) Dispositif d'entraînement auxiliaire pour fauteuil roulant
EP3787455B1 (fr) Robot nettoyeur pour le nettoyage autonome d'un intérieur de véhicule
EP3622931B1 (fr) Dispositif d'entraînement auxiliaire pour fauteuil roulant
DE102007016662A1 (de) Omnidirektionales Fahrzeug, Fahrmodul und mobiler Industrieroboter
DE202012102637U1 (de) Selbstfahrendes Bodenbearbeitungsgerät
DE102014115901A1 (de) Operationstisch und Bodenplattform für einen Operationstisch
EP1949838B1 (fr) Appareil de nettoyage
DE602005004182T2 (de) Anhänger mit heb- und senkbarer Manövrieranordnung
DE102018219575A1 (de) Reinigungsroboter
EP2481333B1 (fr) Appareil de traitement de surface mobile, prenant un chemin aléatoire
DE102012104326A1 (de) Selbstfahrendes und selbstlenkendes Bodenreinigungsgerät sowie Verfahren zur Steuerung von dessen Bewegung
DE69616457T2 (de) Überschlagsmechanismus für ein Spielfahrzeug
DE202018006256U1 (de) Hilfsantriebsvorrichtung für einen Rollstuhl
DE102015119384A1 (de) Elektrisches Antriebssystem für einen Transportwagen, insbesondere Kinderwagen und Transportwagen, insbesondere Kinderwagen mit einem elektrischen Antriebssystem
DE102018122368A1 (de) Antriebsvorrichtung für einen Rollstuhl
EP2767206A1 (fr) Appareil de traitement de surfaces mobile
EP1180342A1 (fr) Appareil de nettoyage mobile déplacé par force musculaire
DE102018122357A1 (de) Bediensatellit zur Ansteuerung einer Antriebsvorrichtung für einen Rollstuhl und Antriebsvorrichtung mit einem Bediensatelliten
DE202015106061U1 (de) Elektrisches Antriebssystem für einen Transportwagen, insbesondere Kinderwagen und Transportwagen, insbesondere Kinderwagen mit einem elektrischen Antriebssystem
DE202018006204U1 (de) Hilfsantriebsvorrichtung für einen Rollstuhl
EP4195988B1 (fr) Appareil de traitement de plancher
DE102018122367A1 (de) Antriebsvorrichtung für einen Rollstuhl
DE202005013177U1 (de) Elektromotorisch betriebener Golfkarren
DE102018122359B4 (de) Bediensatellit zur Ansteuerung einer Antriebsvorrichtung für einen Rollstuhl und Antriebsvorrichtung mit einem Bediensatelliten
EP3409169B1 (fr) Robot de nettoyage par aspiration

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20120821

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 592260

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130115

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: ALDO ROEMPLER PATENTANWALT, CH

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: ALDO ROEMPLER PATENTANWALT, CH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502012000001

Country of ref document: DE

Effective date: 20130314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20130109

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130409

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130420

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130509

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130409

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130509

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130131

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

26N No opposition filed

Effective date: 20131010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502012000001

Country of ref document: DE

Effective date: 20131010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20120120

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20151230

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20160125

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20151230

Year of fee payment: 5

Ref country code: BE

Payment date: 20160112

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20170310

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170131

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20170120

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20170929

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170131

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170131

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170120

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20170131

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 592260

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130109

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502012000001

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180801