Mobile Cleaning Robot Suspension for Adaptive Wheel Downforce
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Solution Overview
Problem
Mobile cleaning robots face challenges in maintaining optimal wheel downforce due to varying fluid levels and robot mass during cleaning missions, affecting cleaning performance and mobility across different floor surfaces and obstacles.
Innovation Solution
A suspension system that includes a container connected to links and a biasing element, allowing the tank to move as fluid levels change, adjusting the downforce provided to the drive wheel by extending or compressing a spring, thus passively adjusting the downforce based on the fluid mass within the tank.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed suspension system with constant spring pre-load is used, then the structure is simple and reliable, but the wheel downforce cannot be adjusted when fluid mass changes, leading to degraded cleaning performance
Solution Approach 1:
The suspension system transitions from a static, fixed spring pre-load design to a dynamic system where the spring pre-load automatically adjusts based on fluid mass. The movable container connected via links to the suspension arm allows the container's position to shift with fluid level changes, thereby dynamically adjusting the spring compression and wheel downforce without requiring complex active control systems.
Solution Approach 2:
The suspension system uses the weight of the fluid itself as the control mechanism. As fluid is consumed and mass decreases, the container naturally shifts position under gravity, which automatically adjusts the spring pre-load and wheel downforce. This self-regulating mechanism eliminates the need for external sensors, actuators, or control systems to maintain optimal cleaning performance.
2Adaptability or versatility
If the robot mass varies significantly during operation due to fluid consumption, then adaptability to different cleaning scenarios is improved, but maintaining optimal wheel downforce becomes difficult with fixed suspension parameters
Solution Approach 1:
The suspension system incorporates dynamic adjustment capability through the movable container linked to the suspension arm. As the robot's total mass changes during operation, the container's position relative to the suspension arm changes, automatically adjusting the spring pre-load to maintain consistent wheel downforce despite varying overall robot mass.
3Force
If spring pre-load is increased to improve obstacle crossing capability, then mobility over obstacles is enhanced, but cleaning contact force on flat surfaces may become excessive causing wear or damage
Solution Approach 1:
The system dynamically adjusts wheel downforce based on real-time operating conditions. The container's position changes with fluid level and robot mass, automatically modulating the spring pre-load to provide higher downforce when needed for obstacle crossing and lower downforce during normal cleaning operations on flat surfaces, thereby preventing surface damage.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution ensures improved cleaning performance and mobility by dynamically adjusting the downforce in response to changing fluid levels, enhancing the robot's ability to navigate varied environments and maintain effective cleaning across different surfaces.
Implementation Method 1
a biasing element connected to a drive arm of the wheel... The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container
Implementation Method 2
a suspension system including a container for storing cleaning fluid that is connected to one or more links and a biasing element connected to a drive arm of the wheel... move the extension spring to adjust a downforce
Implementation Method 3
As the fluid level in the tank changes, the weight or mass of the tank (and the robot) will change affecting the desired downforce for optimal cleaning performance and mobility
Data Source
AI summary
A mobile cleaning robot movable within an environment can include a body, a drive arm, a container, a biasing element, and a link. The drive arm can be connected to the body and can be movable with respect to the body. The drive arm can support a drive wheel. The container can be connectable to the body and can be configured to carry a fluid therein. The biasing element can be connected to the drive arm to bias the drive wheel toward a floor surface. The link can be pivotably connected to the body and can be connected to the biasing element. The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container.