Mobile Robot Cleaning Head Suspension for Consistent Downforce
Solution Overview
Problem
Mobile cleaning robots experience undesirable force profiles on the cleaning head due to the movement of the plenum, affecting cleaning performance as the head translates up and down, which is particularly pronounced when navigating different floor types and obstacles.
Innovation Solution
A passive cleaning head suspension system with a biasing element and linkage that compensates for plenum forces, maintaining a desirable downforce profile by offsetting natural force variations as the cleaning head moves through its range of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the plenum is allowed to move with the cleaning head to maintain connection and debris flow, then the cleaning head can navigate different floor types and obstacles, but the plenum applies varying forces to the cleaning head that create an undesirable force profile and reduce cleaning performance
Solution Approach 1:
The biasing element (spring) acts as a counterweight system that applies an opposing force to balance the plenum's varying forces on the cleaning head. As the plenum moves and applies upward or downward forces, the biasing element provides a counteracting force to maintain a relatively constant net force on the cleaning head, thereby stabilizing cleaning performance while preserving navigation capability.
2Adaptability or versatility
If the cleaning head is allowed to move vertically through a large range of motion to accommodate different floor heights, then the robot can clean various surfaces effectively, but the plenum's movement over this range creates significant force variations that degrade cleaning efficiency
Solution Approach 1:
The biasing element provides a counterbalancing force throughout the entire range of motion of the cleaning head. Whether the cleaning head moves up or down to accommodate different floor heights, the spring force compensates for the plenum's varying forces, maintaining consistent downforce on the cleaning head and preserving cleaning efficiency across the full range of motion.
Solution Approach 2:
The suspension system uses a dynamic spring element that automatically adjusts its force output based on the cleaning head's position and the plenum's movement. The biasing element's force varies dynamically with displacement, providing greater counterforce when the plenum exerts larger forces, thereby maintaining optimal cleaning conditions throughout the range of motion.
3Reliability
If a passive suspension system with biasing element is added to compensate for plenum forces, then consistent downforce is achieved, but the device complexity increases
Solution Approach 1:
The biasing element creates a self-regulating suspension system that automatically compensates for plenum force variations without requiring external control. The spring's natural elastic properties enable it to self-adjust its force output based on its displacement, providing consistent downforce compensation purely through passive mechanical action without sensors, motors, or active control systems.
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
The suspension system ensures consistent downforce on the cleaning head, enhancing cleaning efficiency and effectiveness across varying floor surfaces and obstacles by balancing forces applied by the plenum.
Implementation Method 1
a biasing element connected to the body and movable with the cleaning head... configured to deliver force to the cleaning head assembly over a desired force profile to cancel out the effects of the plenum
Data Source
AI summary
A mobile cleaning robot can be movable within an environment. The mobile cleaning robot can include a body, a cleaning head, a biasing element, and a linkage. The cleaning head can be operable to extract debris from a floor surface and can be configured to move vertically relative to the body between an extended position and a retracted position. The biasing element can be connected to the body and can be movable with the cleaning head. The linkage can be connected to the cleaning head and the biasing element. The linkage can be rotatably connected to the body to, together with the biasing element, bias the cleaning head toward the retracted position.