Mobile cleaning robot suspension
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Solution Overview
Problem
Existing mobile cleaning robots face challenges in maintaining consistent wheel downforce as the drive wheel extends from the body, leading to reduced effectiveness in traversing obstacles and varying floor types.
Innovation Solution
The implementation of a suspension system that includes a cam and cam follower connected to a biasing element, which indirectly transfers force to the wheel to provide consistent downforce, tailored to maintain desired wheel downforce over a range of wheel extension.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a suspension system uses an extension or compression spring directly connected to wheel arms, then the system can effectively deliver downforce, but the delivered downforce decays as the drive wheel extends from the body
Solution Approach 1:
The patent introduces a cam mechanism as an intermediary between the spring and the wheel arm. The cam converts the spring's linear force into a controlled downward force on the wheel arm through its cam surface profile. This intermediary mechanism allows the system to maintain consistent downforce over the wheel's extension range by carefully designing the cam geometry to compensate for the spring's force decay.
Solution Approach 2:
The patent changes the mechanical parameters of the suspension system by introducing a cam with a specifically designed profile. The cam's geometric parameters (radius, cam angle, follower position) are optimized to transform the spring's varying force into a consistent downforce applied to the wheel arm throughout the wheel's extension range, thereby maintaining force consistency.
2Adaptability or versatility
If the wheel downforce is increased to overcome obstacles and provide effective cleaning, then the robot can traverse various surfaces, but the downforce varies during operation due to wheel extension
Solution Approach 1:
The cam mechanism serves as a mediator that decouples the direct relationship between spring compression and wheel downforce. By introducing the cam's geometric transformation, the system can maintain stable and consistent downforce application to the wheel arm regardless of the wheel's extension position, thereby ensuring stable performance across varying operating conditions.
Solution Approach 2:
The patent employs a dynamic cam profile that adapts the force transmission characteristics based on the wheel's extension position. As the wheel extends or retracts, the cam-follower interaction dynamically adjusts the mechanical advantage to maintain consistent downforce, allowing the system to adapt to varying operational requirements while maintaining force stability.
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 enhances the mobile cleaning robot's ability to traverse obstacles and maintain effective cleaning efficiency across various floor types while reducing costs between robot model variations.
Implementation Method 1
a biasing element connected to the cam follower and the body, and operable to bias the cam follower toward engagement with the cam
Implementation Method 2
The cam and cam follower can be connected to a biasing element and can indirectly transfer force to the wheel to provide downforce
Data Source
AI summary
A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body, a drive wheel arm, a drive wheel, a cam, and a cam follower. The drive wheel arm can be connected to the body and can be movable with respect to the body between an extended position and a retracted position. The drive wheel can be connected to the drive wheel arm and can be movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The cam can be connected to the drive wheel arm and can be movable therewith. The cam follower can be connected to the body and can be engaged with the cam to move the drive wheel arm toward the extended position.