CLEANING APPARATUS WITH A FLEXIBLE WIPING CLOTH CARRIER

Abstract

A cleaning apparatus is configured to be moved over a surface area to be cleaned. The cleaning apparatus includes at least one wiping cloth carrier with a carrier element which is configured to receive a wiping cloth on a surface of the carrier element facing the surface area to be cleaned during operation of the cleaning apparatus. The cleaning apparatus also includes at least one drive which is configured to rotate the carrier element about an axis of rotation, so that during the operation of the cleaning apparatus the surface of the carrier element with the wiping cloth disposed thereon is rotatably moved over the surface area to be cleaned. The carrier element is elastically deformable in the radial direction in relation to the axis of rotation.

Description

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority, under 35 U.S.C. § 119, of German Patent Application DE 10 2023 208 397.3, filed Aug. 31, 2023; the prior application is herewith incorporated by reference in its entirety.

FIELD AND BACKGROUND OF THE INVENTION

The invention relates to a cleaning apparatus, in particular a cleaning robot, with at least one wiping cloth carrier.

A cleaning apparatus, in particular a cleaning robot, can have a suction nozzle with a suction opening, through which contaminants or dirt, in particular dirt particles, are suctioned from a surface to be cleaned by an airflow. Alternatively or additionally, the cleaning apparatus can have one or more wiping cloths which are fastened in each case to a wiping cloth carrier. The individual wiping cloth carriers can be driven in each case in a rotational movement about the axis of rotation of the respective wiping cloth carrier, so that the one or more wiping cloths are rotatably guided over the surface to be cleaned and thereby provide a wet cleaning function of the cleaning apparatus.

During operation, obstacles can be disposed on the movement path of the cleaning apparatus, causing the wet cleaning function of the cleaning apparatus potentially to be impaired thereby.

SUMMARY OF THE INVENTION

It is accordingly an object of the invention to provide a cleaning apparatus with a flexible wiping cloth carrier, which overcomes the hereinafore-mentioned disadvantages of the heretofore-known apparatuses of this general type and which provides a particularly reliable and thorough wet cleaning function of a cleaning apparatus.

With the foregoing and other objects in view there is provided, in accordance with one aspect of the invention, a cleaning apparatus which is configured to be moved over a surface area to be cleaned (for example over a floor). The measures described in this document are applicable in each case individually or in combination to this cleaning apparatus. The cleaning apparatus can be a cleaning robot, in particular a suction and wiping robot. The cleaning apparatus can be configured to move autonomously over the surface area to be cleaned. To this end, the cleaning apparatus can have one or more traction motors which are configured to drive one or more drive wheels of the cleaning apparatus. The cleaning apparatus can be moved over the surface area to be cleaned (by the one or more traction motors) by a drive force which has a specific force value.

The cleaning apparatus includes at least one wiping cloth carrier with an (optionally plate-shaped) carrier element which is configured to receive a wiping cloth (also denoted as a wiping cloth pad in this document) on the surface of the carrier element which faces the surface area to be cleaned during the operation of the cleaning apparatus. For example, it is possible that the wiping cloth is to be fastened or is fastened releasably to the surface of the carrier element by way of a hook and loop connection. The carrier element and/or the wiping cloth can have in each case a surface with a basic shape, in particular with a circular basic shape. Moreover, the carrier element, in particular the surface of the carrier element, can be defined in the radial direction (of the axis of rotation of the carrier element) by an edge, in particular by a circular edge.

The cleaning apparatus includes at least one drive (for example with an electric motor) which is configured to rotate the carrier element (for example indirectly via a drive shaft) about an axis of rotation, so that during the operation of the cleaning apparatus the surface of the carrier element with the wiping cloth disposed thereon is rotatably moved (about the axis of rotation) over the surface area to be cleaned. During the operation of the cleaning apparatus, the drive shaft and/or the axis of rotation can be disposed in each case substantially perpendicularly to the surface area to be cleaned and/or can be disposed parallel to the height axis of the cleaning apparatus.

The carrier element can be elastically deformable in the radial direction in relation to the axis of rotation. The carrier element can be configured to receive the wiping cloth on the surface of the carrier element in such a way that the wiping cloth is deformed together with the carrier element in the radial direction.

Advantageous embodiments, in particular, are defined in the dependent claims, described in the following description or shown in the accompanying drawing.

During the operation of the cleaning apparatus, the carrier element, in particular the edge of the rotating carrier element, can collide with an obstacle. This can lead to a force which is dependent on the drive force of the cleaning apparatus (with the specific force value) acting on the edge of the carrier element. The carrier element is preferably configured in such a way that the carrier element is deformed by the action of a force which acts on the carrier element in the radial direction from outside and which has the specific force value (which is dependent on the drive force of the cleaning apparatus) or which is dependent on the specific force value, in particular is deformed by 5% or more, or by 10% or more, of the diameter of the carrier element.

The carrier element can be configured to be elastically deformed in the radial direction, in particular by the action of a force which acts on the edge in the radial direction from outside the carrier element (with the specific force value), starting from the basic shape (for example by 5% or more, or by 10% or more, of the diameter of the carrier element).

The elastic deformability of the carrier element can be implemented by using a material with a modulus of elasticity of preferably 1 GPa or less. Alternatively or additionally, the elastic deformability of the carrier element can be brought about by one or more geometric structures or cavities in the material which assist the elastic deformability, such as for example a honeycomb structure.

Thus, a cleaning apparatus is described which has a wiping cloth carrier with a carrier element which can be deformed in the radial direction (i.e. parallel to the surface area to be cleaned) (and is deformed in response to a collision with an obstacle). A reliable wet cleaning can be brought about thereby, even in the presence of obstacles.

The carrier element is preferably non-deformable or at least only slightly deformable in the axial direction in relation to the axis of rotation. The force required for an elastic deformation of the carrier element in the axial direction, with the same deflection, is preferably greater by a factor of 10 or more, in particular by a factor of 100 or more, than the force required for an elastic deformation in the radial direction. Alternatively or additionally, preferably the stiffness of the carrier element in the axial direction is greater by a factor of 10 or more, in particular by a factor of 100 or more, than the stiffness in the radial direction. By providing a carrier element which is substantially non-deformable in the axial direction, a particularly reliable wiping action can be brought about over the entire surface of the wiping cloth fastened to the carrier element.

The carrier element can have on the outer edge an elastically deformable ring, in particular a wire ring, for example made of spring steel. Moreover, the wiping cloth carrier can have a hub which is driven by the drive, in particular by the drive shaft. The axis of rotation of the hub and the drive shaft can be colinear.

The wiping cloth carrier, in particular the carrier element, can include a plurality of spring elements which in each case connect the hub to the (elastically deformable) ring and which are configured in each case to exert a force on the ring acting in the radial direction away from the hub, in order to hold the carrier element in the basic shape and/or in order to transfer the carrier element back to the basic shape. The spring elements can be disposed so as to be distributed, in particular uniformly distributed, about the hub in the circumferential direction of the carrier element. The wiping cloth carrier, in particular the carrier element, can include for example three or more, four or more, in particular six or more, spring elements.

The spring elements can include at least one telescopic spring element which is disposed in the radial direction between the hub and the ring. In particular, the individual spring elements can be configured in each case as telescopic spring elements.

Alternatively or additionally, the spring elements can include at least one spring element which is configured as a spiral spring or leaf spring and which is disposed radially to the hub at the first end facing the hub and which is disposed tangentially to the ring at the second end facing the ring. In particular, the individual spring elements can be configured in each case as spiral springs or leaf springs.

A deformable carrier element can be provided in a particularly efficient and robust manner by the use of a deformable ring which is connected via spring elements to the hub of the wiping cloth carrier.

The carrier element can have a flexible structure by which the surface of the carrier element is formed. The flexible structure can be elastically deformable in the radial direction. On the other hand, the flexible structure is preferably substantially non-deformable in the axial direction.

The flexible structure can have a plurality of honeycombs which are disposed adjacent to one another in the radial direction. The flexible structure can thus be a honeycomb structure. Alternatively or additionally, the flexible structure can have a plurality of wave-shaped portions, wherein the wave-shaped portions can widen in each case in an annular manner from the hub (of the wiping cloth carrier) to the edge of the carrier element.

By providing a flexible structure by which the surface of the carrier element is formed, it is possible to provide in a particularly robust manner a wiping cloth carrier which can be selectively deformed in the radial direction (and not in the axial direction).

The cleaning apparatus optionally has at least or exactly two directly adjacent wiping cloth carriers. The axes of rotation of the carrier elements of the two wiping cloth carriers are typically disposed substantially parallel to one another. Moreover, the axes of rotation of the carrier elements of the two wiping cloth carriers can be disposed in the vicinity of one another in the radial direction, in such a way that the carrier elements are in contact at a contact point and are mutually deformed in an elastic manner at the contact point. Thus a gap between the two wiping cloth carriers can be avoided in an efficient manner, whereby the quality of the wet cleaning function of the cleaning apparatus is further improved.

As already set forth above, the drive can be configured to drive the carrier element via a drive shaft in order to bring about the rotation of the carrier element about the axis of rotation, so that during the operation of the cleaning apparatus the surface of the carrier element with the wiping cloth disposed thereon is rotatably moved about the axis of rotation over the surface area to be cleaned. The axis of rotation can be displaceable in the radial direction (in relation to the axis of rotation) relative to the drive shaft. To this end, the wiping cloth carrier and/or the cleaning apparatus can be configured as described in this document.

Thus, a local displacement can be brought about between the axis of rotation of the carrier element and the drive shaft (for example in response to a collision with an obstacle). Thus the wiping cloth carrier is able to avoid obstacles in a flexible manner without impairing the movement of the cleaning apparatus.

According to a further aspect, a cleaning apparatus which is configured to be moved over a surface area to be cleaned is described. The measures described in this document are applicable in each case individually or in combination to this cleaning apparatus. The cleaning apparatus can be a cleaning robot, in particular a suction and wiping robot. The cleaning apparatus can be configured to move autonomously over the surface area to be cleaned. To this end, the cleaning apparatus can have one or more traction motors which are configured to drive one or more drive wheels of the cleaning apparatus. The cleaning apparatus can be moved over the surface area to be cleaned (by the one or more traction motors) by a drive force which has a specific force value.

The cleaning apparatus includes at least one wiping cloth carrier with a carrier element (optionally plate-shaped), which is configured to receive a wiping cloth (also denoted as a wiping cloth pad in this document) on the surface of the carrier element which faces the surface area to be cleaned during the operation of the cleaning apparatus. For example, it is possible that the wiping cloth is to be fastened or is fastened releasably to the surface of the carrier element by way of a hook and loop connection. The carrier element and/or the wiping cloth can have in each case a surface with a basic shape, in particular with a circular basic shape. Moreover, the carrier element, in particular the surface of the carrier element, can be defined in the radial direction (of the axis of rotation of the carrier element) by an edge, in particular by a circular edge.

The cleaning apparatus includes at least one drive which is configured to drive the carrier element via a drive shaft in order to bring about the rotation of the carrier element about its axis of rotation, so that during the operation of the cleaning apparatus the surface of the carrier element with the wiping cloth disposed thereon is rotatably moved about the axis of rotation over the surface area to be cleaned. During the operation of the cleaning apparatus, the drive shaft and/or the axis of rotation can be disposed in each case substantially perpendicularly to the surface area to be cleaned and/or can be disposed parallel to the height axis of the cleaning apparatus.

The axis of rotation can be displaceable in the radial direction (in relation to the axis of rotation) relative to the drive shaft. In particular, the axis of rotation can be displaceable in the radial direction relative to the drive shaft by the action of an external force in the radial direction on the outer edge of the carrier element. On the other hand, the drive shaft can be locally fixed (relative to the cleaning apparatus and/or on the cleaning apparatus) and/or not displaceable in the radial direction, so that an efficient drive can be provided for the wiping cloth carrier of the cleaning apparatus.

The cleaning apparatus can be configured in such a way that the drive shaft and the axis of rotation are colinear in a neutral position (when no external force acts on the carrier element). Moreover, the cleaning apparatus can be configured in such a way that the axis of rotation of the carrier element can be displaced in the radial direction from the neutral position by the action of a force which acts on the carrier element in the radial direction from outside. The displacement can be limited to a displacement up to a maximum possible distance between the drive shaft and the axis of rotation. The maximum possible distance can be, for example, between 5% and 20% of the diameter of the carrier element.

The cleaning apparatus can be configured, in particular, in such a way that the axis of rotation is displaced in the radial direction relative to the drive shaft by the action of a force which acts on the carrier element in the radial direction from outside and which has the specific force value (which is dependent on the drive force of the traction motor of the cleaning apparatus), in particular in such a way that the axis of rotation and the drive shaft are at the maximum possible distance from one another.

Thus, a cleaning apparatus which has a wiping cloth carrier with a carrier element is described, the axis of rotation thereof being displaceable in the radial direction (i.e. parallel to the surface area to be cleaned) (for example in response to the action of an obstacle on the carrier element). Thus a reliable wet cleaning can be brought about, even in the presence of obstacles.

As already set forth above, the drive shaft of the drive can be configured to drive the hub of the wiping cloth carrier. The hub can be coupled via a plurality of, in particular three or more, spring elements to the edge of the carrier element. In each case, the first end of a spring element can be connected to the hub and the second end of the respective spring element can be connected to the edge of the carrier element. Preferably, the hub is only mechanically connected to the carrier element via the spring elements, in particular only via the second ends of the spring elements on the edge of the carrier element. The spring elements can be disposed so as to be distributed, in particular uniformly distributed, about the hub in the circumferential direction of the carrier element.

The spring elements can include at least one telescopic spring element which is disposed in the radial direction between the hub and the edge. In particular, the individual spring elements can be configured in each case as telescopic spring elements.

Alternatively or additionally, the spring elements can include at least one spring element which is configured as a spiral spring or leaf spring and which is disposed radially to the hub at the first end facing the hub and which is disposed tangentially to the edge at the second end facing the edge. In particular, the individual spring elements can be configured in each case as spiral springs or leaf springs.

A particularly reliable and efficient displaceability between the drive shaft and the axis of rotation can be brought about (in response to a collision with an obstacle) by the use of spring elements between the driven hub and the (optionally fixed and/or non-deformable) edge of the carrier element.

As already set forth above, the wiping cloth carrier can be configured in such a way that the drive shaft and the axis of rotation can be at most at the maximum possible distance from one another in the radial direction. The spring elements can have, in particular together, a restoring force to the neutral position of the carrier element which is greater than the centrifugal force acting on the carrier element with the wiping cloth disposed thereon when the drive shaft and the axis of rotation are at the maximum possible distance from one another. A particularly robust displaceability between the drive shaft and the axis of rotation can be brought about by such a configuration of the spring elements.

The carrier element can include a rigid non-deformable carrier plate (or can be configured as such), which has the axis of rotation as a central point, by which the surface of the carrier element facing the surface area to be cleaned is formed and which is configured to receive the wiping cloth. Thus a particularly robust displaceability can be brought about between the drive shaft and the axis of rotation.

Alternatively, the carrier element can be elastically deformable in the radial direction in relation to the axis of rotation. To this end, the wiping cloth carrier and/or the carrier element can be configured as described in this document. By the use of a deformable carrier element, the wiping cloth carrier is able to be elastically deformed upon contact with obstacles without impairing the movement of the cleaning apparatus.

The cleaning apparatus optionally has at least or exactly two directly adjacent wiping cloth carriers. The axes of rotation of the carrier elements of the two wiping cloth carriers are typically disposed substantially parallel to one another. Moreover, the axes of rotation of the carrier elements of the two wiping cloth carriers can be disposed in the vicinity of one another in the radial direction, in such a way that the carrier elements are in contact at a contact point and in such a way that the axis of rotation of the carrier element of at least one wiping cloth carrier is displaced in the radial direction relative to the drive shaft for this wiping cloth carrier. Thus a gap between the two wiping cloth carriers can be avoided in an efficient manner, whereby the quality of the wet cleaning function of the cleaning apparatus is further improved.

It should be mentioned that any aspects of the cleaning apparatuses described in this document can be combined with one another in many different ways and/or in any manner. In particular, the features of the claims can be combined with one another in many different ways and/or in any manner.

Other features which are considered as characteristic for the invention are set forth in the appended claims.

Although the invention is illustrated and described herein as embodied in a cleaning apparatus with a flexible wiping cloth carrier, it is nevertheless not intended to be limited to the details shown, since various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims.

The construction and method of operation of the invention, however, together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1a and 1b are various diagrammatic, perspective views of an exemplary cleaning robot as an example of a cleaning apparatus;

FIG. 1c is a plan view showing exemplary components of a cleaning apparatus;

FIG. 1d is an exemplary sectional view through a cleaning robot;

FIG. 1e is a perspective view of an exemplary drive of a wiping cloth carrier;

FIGS. 2a and 2b are plan views showing exemplary flexible wiping cloth carriers;

FIG. 2c is a plan view showing an exemplary deformation of the wiping cloth carrier due to an obstacle;

FIG. 3a is a plan view of a wiping cloth carrier with a flexible honeycomb structure;

FIG. 3b is a plan view of a wiping cloth carrier with a flexible wave-shaped structure;

FIG. 3c is a cross-sectional view through the wave-shaped structure of the wiping cloth carrier of FIG. 3b; and

FIGS. 4a and 4b are plan views of a wiping cloth carrier with an eccentrically deflectable axis of rotation.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the figures of the drawings, as set forth in the introduction, the present document relates to providing a reliable and high-quality wet cleaning function of a cleaning apparatus, even in the presence of obstacles. In this context, FIG. 1a shows the upper face 121 and FIG. 1b shows the lower face 122 of a cleaning robot 100, in particular a suction and wiping robot, as an example of a cleaning apparatus. The aspects described specifically for a cleaning robot apply generally to a cleaning apparatus.

During the suction mode of the cleaning robot 100, the lower face 122 faces the floor to be cleaned or the surface area of a cleaning region to be cleaned, namely of a room. The lower face 122 of the cleaning robot 100 typically has one or more drive units 101 (with one or more drive wheels) by which the cleaning robot 100 can move automatically in order to clean different regions of a floor. Moreover, the cleaning robot 100 can have one or more guide elements and/or support elements 104 (for example non-driven wheels) which permit a stable movement of the cleaning robot 100 over the floor to be cleaned. Moreover, a cleaning robot 100 typically includes one or more suction units 106 (in particular suction nozzles) which are configured to clean the floor below the cleaning robot 100.

A suction unit 106 (in particular a suction nozzle) can have a brush roller 102 which is configured to rotate about an axis of rotation, wherein the axis of rotation is typically disposed parallel to the lower face 122 of the cleaning robot 100. The brush roller 102 can be used to dislodge mechanically from the floor any dust and/or contaminants on the floor to be cleaned, so that the dust and/or the contaminants can be suctioned with greater reliability into the suction opening 107 of the suction unit 106.

A user interface which permits a user of the cleaning robot 100 to activate control inputs, can be disposed on the upper face 121 of the cleaning robot 100. Moreover, the cleaning robot 100 can include a bumper 105 on a side wall 123 (for example on a side wall 123 in the front region of the cleaning robot 100). An impact sensor can be disposed on the bumper 105. The impact sensor is configured to capture sensor data which indicate whether the cleaning robot 100 has struck against an obstacle or not in the direction of movement 120. The triggering of the impact sensor (due to the deflection of the bumper 105) as a result of an obstacle can bring about, for example, the rotation of the cleaning robot 100 about its vertical or height axis, located perpendicularly to the floor, and thereby change the direction of movement 120 in order to avoid the obstacle.

Moreover, a cleaning robot 100 typically has one or more environment sensors 110 (see FIG. 1c) which are configured to capture environment data (i.e. sensor data) relative to the environment of the cleaning robot 100. The one or more environment sensors 110 can include: one or more image cameras, one or more ultrasound sensors, one or more tactile and/or optical distance sensors, one or more acoustic sensors, one or more temperature sensors, one or more lidar sensors and/or radar sensors, etc. A control unit 130 of the cleaning robot 100 can be configured to determine digital map information on the basis of the environment data relative to the cleaning region to be cleaned and optionally to store this information on a memory unit 111 of the cleaning robot 100. The cleaning robot 100 can use the digital map information in order to orientate itself automatically within the cleaning region (for example inside a room) and/or to fix a travel route for cleaning the cleaning region.

FIG. 1c shows a Cartesian coordinate system with a longitudinal axis (i.e. with an x-axis), with a transverse axis (i.e. with a y-axis) and with a height axis (i.e. with a z-axis). The direction of movement 120 of the cleaning apparatus 100 typically corresponds to the longitudinal axis. The axis of rotation of the brush roller 102 typically runs along the transverse axis. The height axis is typically located perpendicularly to the surface area to be cleaned. FIG. 1d shows a sectional view of the cleaning apparatus 100 within a plane spanned by the longitudinal axis and the height axis.

The cleaning apparatus 100 shown in FIG. 1b has on the lower face 122 two wiping cloth carriers 150, permitting in each case a wiping cloth to be fastened thereto. In the example shown in FIG. 1b, the individual wiping cloth carriers 150 have in each case a circular and/or disk-shaped carrier element, (in particular a carrier plate) 152, permitting in each case a circular wiping cloth to be fastened thereto (for example by way of a hook and loop connection). A wiping cloth carrier 150 can have an axis of rotation which is disposed, in particular, in the center point of the circular carrier element 152 and which typically runs along the height axis. By carrying out a rotational movement of the carrier element 152 of the wiping cloth carrier 150 about the axis of rotation, it can be brought about that the wiping cloth fastened to the carrier element 152 is guided in a rotating movement over the surface area to be cleaned and wipes the surface area. As shown in FIGS. 1d and 1e, the rotational movement of the carrier element 152 can be brought about by a drive 153 (with an electric motor) of the cleaning apparatus 100. The drive 153 can be coupled to a drive shaft 151, wherein the drive shaft 151 brings about the rotational movement of the carrier element 152 about the axis of rotation. The carrier element 152 optionally can be (releasably) fastened via a coupling element 155 to the drive shaft 151.

As set forth in the introduction, during operation, the cleaning apparatus 100 can strike against obstacles and/or move past obstacles. In particular, it can arise that the rotating carrier element 152 of the wiping cloth carrier 150 strikes against an obstacle. This can lead to a change in the direction of movement 120 of the cleaning apparatus 100 so that optionally a partial region of the surface area to be cleaned is not cleaned. The cleaning apparatus 100, in particular the housing of the cleaning apparatus 100, can have a specific basic shape, for example a round or D-shaped basic shape. The one or more wiping cloth carriers 150 can protrude beyond the basic shape. Different wiping cloth carriers 150 for a cleaning apparatus 100 are described in this document, in each case the wiping cloth carriers being configured to avoid obstacles in order to permit a robust navigation of the cleaning apparatus 100 and in order to bring about a reliable cleaning of the entire region of a surface area to be cleaned in this manner.

FIG. 2a shows an exemplary wiping cloth carrier 150 with a deformable carrier element 152. The carrier element 152 has an outer ring 202 which is circular in the basic state of the carrier element 152. The outer ring 202 is deformable. In the example shown in FIG. 2a, the outer ring 202 is coupled via a plurality of spring elements 201 to a hub 251 for driving the carrier element 152. The hub 251 can be coupled to the drive shaft 151. In particular, the drive shaft 151 can be configured to drive the hub 251. The individual spring elements 201 are configured in each case to push the outer ring 202 away from the hub 251 and thereby to hold the outer ring in the basic position. Moreover the individual spring elements 151 are configured to be compressed against the spring force in response to the action of an external force on the outer ring 202. For example, an external force can be brought about on the outer ring 202 by an obstacle, the one or more spring elements 201 being compressed thereby, whereby the outer ring 202 is deformed at the contact point with the obstacle.

The carrier element 202 can thus have a flexible carrier structure with a deformable outer ring 202 (for example with a wire) which is connected via spring elements 201 to the driven hub 251. Optionally, a carrier material 203 can be fastened to the flexible carrier structure, in turn a wiping cloth being able to be releasably fastened thereto. In this case, the carrier material 203 is configured to be deformable. An exemplary carrier material 203 is silicone.

FIG. 2b shows a wiping cloth carrier 150 which has spiral-shaped spring elements 201, the outer ring 202 being connected thereby to the driven hub 251. As illustrated in FIG. 2c, one or more spring elements 201 are deformed in the region of the contact point by an obstacle 210 which acts on the outer ring 202 at a contact point, which leads to a deformation of the carrier element 152.

The wiping cloth carrier 150 is preferably configured in such a way that the carrier element 152 can be deformed within the cleaning plane which is disposed perpendicularly to the drive shaft 151 and/or perpendicularly to the height axis, and in such a way that the carrier element 152 is substantially non-deformable perpendicular to the cleaning plane (i.e. along the height axis). Thus, it can be ensured that the wiping cloth is pushed by the carrier element 152 against the surface area to be cleaned, whereby a reliable cleaning action is ensured.

Thus, a wiping cloth carrier 150 with an external deformable shape is described, wherein the wiping cloth carrier 150 is connected via flexible spring elements 201 to the driven hub 251. With a fixed position of the axis of rotation in relation to the wiping cloth, it can be brought about by the deformation of the external shape that the wiping cloth can avoid obstacles 210 by a deformation in the radial direction.

The wiping cloth carrier 150 can have integrated spring elements 201. These spring elements enable the wiping cloth carrier 150 to be able to avoid an obstacle 210 in a flexible manner, to be elastically deformed upon contact with the obstacle 210 and then to regain the original basic shape.

Telescopic springs can be used as spring elements 201 (as shown for example in FIG. 2a). In this case, the circular carrier element 152 which has a circular outer ring 202 made of a flexible material, for example spring steel, is connected via telescopic spring elements 201 to the static receiver (i.e. the hub) 251 of the carrier element 152. Upon contact with an obstacle 210, the wiping cloth can be deformed together with the carrier element 152 (in the radial direction) and thus avoid the obstacle 210. The wiping cloth can regain its original shape after passing the obstacle 210 by using the telescopic spring elements 201, in combination with the resilient outer ring 202 of the carrier element 152. The telescopic spring elements 201 are preferably configured in such a way that they can absorb the forces occurring tangentially and/or radially upon contact with an obstacle 210.

A further option is in the use of spiral springs or leaf springs which are used as resilient elements 201 (as shown for example in FIG. 2b). Here the wiping cloth carrier 150 includes a fixed receiver (i.e. the hub) 251 in the center, a circular carrier element 152 which is defined outwardly by a resilient ring 202, and spiral-shaped spring elements 201 which resiliently connect the receiver 251 and the outer ring 202.

The entire carrier element 152 can be deformed upon contact with an obstacle 210 (selectively in the radial direction) and thus avoid the obstacle 210 (as shown by way of example in FIG. 2c) by using the spiral-shaped spring elements 201 which, for example, are oriented tangentially to the outer ring 202 and at right-angles to the receiver 251 in the plane of the carrier element 152 and which are connected in each case at one end to the outer ring 202 and at the other end to the receiver 251. After the obstacle 210 has been passed, the carrier element 152 can regain its original basic shape due to the structure. Tangential and/or radial forces can be absorbed particularly reliably by spiral springs or leaf springs, so that a particularly robust wiping cloth carrier 150 can be provided.

Alternatively or additionally, the carrier element 152 can have an integrated structure which is flexible in the radial direction (radially to the axis of rotation) and which is stiff in the axial direction so that a uniform floor pressure can be produced over the entire surface area of the carrier element 152. FIG. 3a shows a carrier element 152 with a honeycomb structure 301. FIG. 3b shows a carrier element 152 with a wave-shaped structure 311. FIG. 3c shows a cross section through the carrier element 152 of FIG. 3b.

Through the use of a flexible structure 301, 311 the carrier element 152 can flexibly avoid an obstacle, by the flexible structure 301, 311 being elastically deformed upon contact with an obstacle 210 and then again returning to the original basic shape.

A honeycomb structure 301 in the carrier element 152 serves as a radially flexible and resilient element 201, while the honeycomb structure 301 at the same time represents a stiff structure in the axial direction. The carrier element 152, which optionally has a circular outer ring 202, is connected via the honeycomb structure 301 to the hub 251 of the wiping cloth carrier 150. Upon contact with an obstacle 210, the wiping cloth and the carrier element 152 can be deformed and thus avoid the obstacle 210. Due to the structural elements of the carrier element 152, which are flexible and resilient in the radial direction, the wiping cloth can regain its original shape after passing the obstacle 210.

A wave-shaped structure 311 which is configured in the carrier element 152 similarly serves as a flexible and resilient mechanism 201 which yields relative to the obstacle 210 when the wiping cloth and the carrier element 152 come into contact with an obstacle 210, wherein the wave-shaped portions are compressed in the region of contact with the obstacle 210 and thus the wave spring is tensioned, which leads to the restoration to the basic shape after the contact with the obstacle 210 is terminated.

Alternatively or additionally to a deformation of the carrier element 152 in the radial direction, the wiping cloth carrier 150 described in this document can be configured in such a way that the axis of rotation of the carrier element 152 is displaceable relative to the drive shaft 151 (which typically is coupled fixedly to the hub 251 of the carrier element 152). An obstacle 210 acting on the edge of the carrier element 152 can then bring about the displacement of the axis of rotation of the carrier element 152 (while the drive shaft 151 remains at the same position) so that the carrier element 152 avoids the obstacle 210. This is shown by way of example in FIGS. 4a and 4b.

FIG. 4a shows a carrier element 152 with a carrier plate 403 which optionally is not deformable (in the radial direction). Moreover, the carrier element 152 includes spring elements 210 which in each case connect the (driven) hub 251 to the edge 402 of the carrier element 152, in particular the carrier plate 403. In the example shown, the spring elements 201 are configured in each case as spiral springs or leaf springs. The end facing the hub 251 runs radially to the hub 251 (and is connected to the hub 251) and the end facing the edge 402 runs tangentially to the edge 402 (and is connected to the edge 402).

The hub 251 is not connected to the center point of the carrier plate 403, wherein the center point typically corresponds to the axis of rotation 451 of the carrier plate 403 or the carrier element 152. As shown in FIG. 4b, this leads to the carrier element 152, in particular the carrier plate 403, being displaced parallel to the surface area to be cleaned due to the action of an obstacle 210 on the edge 402 of the carrier element 152, and thus avoiding the obstacle 210. As a result, the axis of rotation 451 is displaced relative to the drive shaft 151 driving the hub 251. The displacement is brought about by the deformation of the spring elements 201.

Thus, a wiping cloth carrier 150 can be provided with an externally fixed and/or rigid ring 402 which is connected via elastic elements 201 to the receiver 251 of the drive shaft (i.e. to the hub). Thus, the wiping cloth disposed on the carrier element 152 can avoid obstacles 210 by maintaining the external shape in the horizontal plane, wherein, in contrast to the neutral or basic position, the axis of rotation 451 of the wiping cloth or the carrier element 152 is no longer disposed in a colinear and/or concentric manner to the drive shaft 151. The elastic elements 201 have in each case a restoring force into the neutral position so that the axis of rotation 451 of the wiping cloth or the carrier element 152 and the drive shaft 151 are once again concentric and/or colinear when no obstacle 210 is in contact with the wiping cloth carrier 150.

A wiping cloth carrier (i.e. a carrier element) 152 can be used with integrated spring elements as elastic elements 201. These elements enable the carrier 152 with the wiping cloth to be able to avoid an obstacle 210 in a flexible manner, by the axis of rotation 451 of the wiping cloth or the carrier 152 being displaced radially to the drive shaft 151. The base plate 403 of the carrier 152 is preferably configured to be stiff. The restoring force of the spring elements 201 is preferably greater than the centrifugal force of the wiping cloth and the carrier base plate 403 which is produced with the deflection and results from the imbalance.

Different shapes of spring elements 201 can be used. In the example shown in FIGS. 4a, and 4b, leaf springs can be used as spring elements 201. The wiping cloth carrier 150 preferably has spiral-shaped and/or curved spring elements 201 (for example at least three spring elements 201) which couple the carrier 152, in particular the carrier plate 403, to the drive shaft 151. If an obstacle 210 acts on the wiping cloth or the carrier base plate 403 due to contact therewith, the force resulting from this contact leads to a displacement of the carrier plate 403 within the horizontal plane which is disposed perpendicularly to the axis of rotation 451, which leads to a displacement between the axis of rotation 451 of the wiping cloth and the drive shaft 151. After the obstacle 210 has been passed, the spring elements 201 bring about the restoration of the wiping cloth so that the axis of rotation 451 thereof and the drive shaft 151 are again concentric and/or colinear. The spring elements 201 also transfer the torque, which is required for rotating the wiping cloth, from the drive shaft 151 (via the hub 251) to the carrier base plate 403.

Negative influences on the navigation of a cleaning apparatus 100 can be avoided or at least reduced by a flexible and yielding configuration of a wiping cloth carrier 150 and/or by a displacement of the axis of rotation 451 of the carrier element 152. Moreover, the size (in particular the diameter) of the rotating wiping cloth can be increased, even significantly beyond the basic shape of the housing of the cleaning apparatus 100, so that the wiping width can be increased as a whole. In particular, it is possible to use a wiping cloth which protrudes beyond the edge of the cleaning apparatus 100. This improves the corner cleaning and edge cleaning.

Moreover, the coverage of the region between two directly adjacent rotating wiping cloths can be improved. The flexible wiping cloths and/or the radially displaceable wiping cloths can be in contact centrally, whereby a residual dirt strip between the rotating wiping cloths can be avoided. In particular, two directly adjacent wiping cloth carriers 150 can be disposed in the vicinity of one another, in such a way that the carrier elements 152 of the two wiping cloth carriers 150 are always in contact and are optionally deformed at the contact point. Any basic shape of the carrier elements 152 can be used here. In particular, circular carrier elements 152 can be used so that (in contrast to the use of polygonal wiping cloths) no synchronization of the drives 153 of the two wiping cloth carriers 150 is required.

The present invention is not limited to the exemplary embodiments shown. In particular, it should be mentioned that the description and the figures are only intended to illustrate the principle of the cleaning apparatuses described in this document.

The following is a summary list of reference numerals and the corresponding structure used in the above description of the invention:

• • 100 Cleaning apparatus (cleaning robot)
  • 101 Drive unit
  • 102 Brush roller
  • 104 Guide element and/or support element
  • 105 Bumper
  • 106 Suction unit/suction nozzle
  • 107 Suction opening
  • 110 Environment sensor
  • 111 Memory unit
  • 120 Direction of movement/longitudinal direction
  • 121 Upper face
  • 122 Lower face
  • 123 Side wall
  • 130 Control unit
  • 150 Wiping cloth carrier
  • 151 Drive shaft (wiping cloth carrier)
  • 152 Carrier element
  • 153 Drive (wiping cloth carrier)
  • 155 Coupling element
  • 201 Spring element
  • 202 Frame/ring
  • 203 Carrier material
  • 210 Obstacle
  • 251 Hub (wiping cloth carrier)
  • 301 Honeycomb structure
  • 311 Wave-shaped structure
  • 402 Edge (carrier element)
  • 403 Carrier plate
  • 451 Axis of rotation (carrier element)

Claims

1. A cleaning apparatus configured to be moved over a surface area to be cleaned, the cleaning apparatus comprising: at least one wiping cloth carrier including a carrier element having a surface facing the surface area to be cleaned during operation of the cleaning apparatus, said carrier element configured to receive a wiping cloth on said surface of said carrier element; andat least one drive configured to rotate said carrier element about an axis of rotation, causing said surface of said carrier element with the wiping cloth disposed thereon to be rotatably moved over the surface area to be cleaned during the operation of the cleaning apparatus;said carrier element being elastically deformable in radial direction relative to said axis of rotation.

2. The cleaning apparatus according to claim 1, wherein said carrier element is configured to receive the wiping cloth on said surface of said carrier element, in such a way that the wiping cloth is deformed together with said carrier element in the radial direction.

3. The cleaning apparatus according to claim 1, wherein: said surface of said carrier element has a basic shape;said carrier element is defined in the radial direction by an edge; andsaid carrier element is configured to be deformed elastically in the radial direction, starting from said basic shape, by an action of a force acting on said edge in the radial direction from outside said carrier element.

4. The cleaning apparatus according to claim 3, wherein said basic shape is a circular basic shape, said edge is a circular edge, and said surface of said carrier element is defined in the radial direction by said circular edge.

5. The cleaning apparatus according to claim 3, wherein said carrier element has an elastically deformable ring on said edge.

6. The cleaning apparatus according to claim 5, wherein said elastically deformable ring is a wire ring.

7. The cleaning apparatus according to claim 5, wherein: said wiping cloth carrier has a hub being driven by said at least one drive; andsaid carrier element includes a plurality of spring elements each connecting said hub to said ring, said spring elements each configured to exert a force on said ring acting in the radial direction away from said hub, to at least one of hold said carrier element in said basic shape or transfer said carrier element back to said basic shape.

8. The cleaning apparatus according to claim 7, wherein said spring elements are distributed or uniformly distributed about said hub in circumferential direction of said carrier element.

9. The cleaning apparatus according to claim 7, wherein said spring elements include at least one of: at least one telescopic spring element disposed in the radial direction between said hub and said ring, orat least one spring element configured as a spiral spring or leaf spring having an end facing said hub and an end facing said ring.

10. The cleaning apparatus according to claim 9, wherein said at least one spring element is disposed radially relative to said hub at said end facing said hub, and said at least one spring element is disposed tangentially relative to said ring at said end facing said ring.

11. The cleaning apparatus according to claim 7, wherein said carrier element includes three or more spring elements.

12. The cleaning apparatus according to claim 7, wherein said carrier element includes six or more spring elements.

13. The cleaning apparatus according to claim 1, wherein: said carrier element has a flexible structure forming said surface of said carrier element; andsaid flexible structure is elastically deformable in the radial direction.

14. The cleaning apparatus according to claim 13, wherein said flexible structure is substantially non-deformable in axial direction.

15. The cleaning apparatus according to claim 13, wherein: said wiping cloth carrier has a hub;said carrier element has an edge; andsaid flexible structure has at least one of:a plurality of honeycombs disposed adjacent one another in the radial direction, ora plurality of wave-shaped portions each widening in an annular manner from said hub to said edge of said carrier element.

16. The cleaning apparatus according to claim 1, wherein said carrier element is at least one of: non-deformable or at least only slightly deformable in axial direction in relation to the axis of rotation, orprovided with a stiffness in axial direction being greater by a factor of from 10 to more than 100 than a stiffness in the radial direction.

17. The cleaning apparatus according to claim 1, wherein said carrier element has a material with a modulus of elasticity of 1 GPa or less or 1 GPa or less in the radial direction.

18. The cleaning apparatus according to claim 1, wherein: said drive has a drive shaft;said drive is configured to drive said carrier element with said drive shaft in order to bring about the rotation of said carrier element about said axis of rotation, causing said surface of said carrier element with the wiping cloth disposed thereon to be rotatably moved about said axis of rotation over the surface area to be cleaned during the operation of the cleaning apparatus; andsaid axis of rotation is displaceable relative to said drive shaft in the radial direction relative to said axis of rotation.

19. The cleaning apparatus according to claim 1, wherein: said at least one wiping cloth carrier includes at least two directly adjacent wiping cloth carriers;said carrier element is one of two carrier elements each having a respective axis of rotation; andsaid axes of rotation of said carrier elements of said at least two wiping cloth carriers are disposed substantially parallel to one another and are disposed in a vicinity of one another in the radial direction, causing said carrier elements to be in mutual contact at a contact point and to be mutually deformed in an elastic manner at said contact point.

20. The cleaning apparatus according to claim 1, wherein: the cleaning apparatus is configured to be moved over the surface area to be cleaned by a drive force having a specific force value; andthe cleaning apparatus is configured in such a way that said carrier element is deformed by 5% or more of a diameter of said carrier element by an action of a force acting on said carrier element in the radial direction from outside and being dependent on a specific force value.