Wheel suspension system

• US 10,239,370 B2
• Filed: 04/11/2018
• Issued: 03/26/2019
• Est. Priority Date: 08/02/2017
• Status: Active Grant

• Current Assignee: Ai Incorprated
• Original Assignee: Ai Incorprated
• Inventors: Ebrahimi Afrouzi, Ali, McDonald, Scott
• Primary Examiner(s): Dickson, Paul N
• Assistant Examiner(s): Wilhelm, Timothy
• Application Number:
  US15/951,096
• Publication Number:
  US 20190039428A1
• Time in Patent Office: 349 Days
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: B60G 21/051 Trailing arm twist beam axles
• CPC Class Codes: B60G 2200/13 with longitudinal arms only
• CPC Class Codes: B60G 2202/122 subjected to tension
• CPC Class Codes: B60G 2202/13 Torsion spring
• CPC Class Codes: B60G 2202/42 Electric actuator
• CPC Class Codes: B60G 2204/1244 on a suspension arm
• CPC Class Codes: B60G 3/145 the arm forming the axle housing
• CPC Class Codes: B60G 3/26 Means for maintaining substantially-constant wheel camber during suspension movement ; Means for controlling the variation of the wheel position during suspension movement B60G3/202, B60G3/22, B60G7/003, B60G7/006 take precedence; means for adjusting camber, castor, or toe-in B62D17/00

Abstract

Robotic devices are presented including: a body; an electronic computing device housed within the body; and at least two wheeled suspension systems coupled with the body, each wheeled suspension system including, a first suspension system including: a frame, a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end, and an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, where the extension spring is extended when the wheel is retracted, a second suspension system including: a base slidingly coupled with the frame, and a number of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end.

Claims

1. A robotic device comprising:

a body;

an electronic computing device housed within the body; and

at least two wheeled suspension systems coupled with the body, each wheeled suspension system comprising,

a first suspension system comprising;

a frame,

a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end, and

an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, wherein the extension spring is extended when the wheel is retracted,

a second suspension system comprising;

a base slidingly coupled with the frame,

a plurality of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end, and

a plurality of dampers positioned along each axis of each of the plurality of extension springs.

2. The robotic device of claim 1, wherein the extension spring of the first suspension system applies a force to the rotating arm as the extension spring compresses, causing the rotating arm to rotate outwards beyond the base towards the driving surface.

3. The robotic device of claim 2, wherein the rotating arm rotates outwards beyond the base towards the driving surface until the wheel coupled to the rotating arm contacts the driving surface.

4. The robotic device of claim 3, wherein the wheel coupled to the rotating arm presses against the driving surface when the rotating arm is forcibly rotated outwards beyond the base towards the driving surface.

5. The robotic device of claim 1, wherein the plurality of extension springs of the second suspension system apply a force to the frame and base, pulling the two components together as the extension springs compress.

6. The robotic device of claim 5, wherein extension of the plurality of extension springs of the second suspension system cause vertical upward movement of the frame, rotating arm, and wheel.

7. The robotic device of claim 6, wherein compression of the plurality of extension springs of the second suspension system cause vertical downward movement of the frame, rotating arm, and wheel.

8. The robotic device of claim 1, wherein the frame comprises a plurality of spring housings for retaining the plurality of extension springs of the second suspension system.

9. The robotic device of claim 1, wherein the base further comprises a plurality of travel limiting screws that limit linear displacement of the second suspension system by physically limiting the movement of the frame by contact with the screw.

10. The robotic device of claim 1, wherein the second suspension system comprises a three-point suspension system.

11. The robotic device of claim 1, wherein the secondary suspension system includes at least one set of paired magnets, with at least one magnet affixed to the frame and paired to at least one magnet affixed to the base.

12. The robotic device of claim 11, wherein the at least one set of paired magnets enable the frame and base to separate when traversing uneven surfaces and pull the frame and base together after separation.

13. The robotic device of claim 1, further comprising a plurality of mounting elements that couple the double suspension wheel system to a robotic device.

14. The robotic device of claim 1, wherein the first suspension system is a long-travel suspension system.

15. The robotic device of claim 1, wherein the first suspension system is pivotally actuated.

16. The robotic device of claim 1, wherein the second suspension system is a short-travel suspension system.

17. The robotic device of claim 1, wherein the second suspension system is linearly actuated.

18. A wheeled suspension system comprising:

a first suspension system comprising;

a frame,

a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end, and

an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, wherein the extension spring is extended when the wheel is retracted,

a second suspension system comprising;

a base slidingly coupled with the frame,

a plurality of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end, and

a plurality of dampers positioned along each axis of each of the plurality of extension springs.

19. The wheeled suspension system of claim 18, wherein the frame comprises a plurality of spring housings for retaining the plurality of extension springs of the second suspension system.

20. The wheeled suspension system of claim 18, wherein the base further comprises a plurality of travel limiting screws that limit linear displacement of the second suspension system by physically limiting the movement of the frame by contact with the travel limit screw.

21. The wheeled suspension system of claim 18, wherein the second suspension system comprises a three-point suspension system.

22. The wheeled suspension system of claim 18, wherein the secondary suspension system includes at least one set of paired magnets, with at least one magnet affixed with the frame and paired to at least one magnet affixed with the base.

23. The wheeled suspension system of claim 18, further comprising a plurality of mounting elements that couple the double suspension wheel system to a robotic device.

24. The wheeled suspension system of claim 18, wherein the first suspension system is a long-travel suspension system.

25. The wheeled suspension system of claim 18, wherein the first suspension system is pivotally actuated.

26. The wheeled suspension system of claim 18, wherein the second suspension system is a short-travel suspension system.

27. The wheeled suspension system of claim 18, wherein the second suspension system is linearly actuated.

28. The wheeled suspension system of claim 18, wherein the extension spring and rotating arm are horizontally oriented.