Front suspension wheel for mobile robotic devices
First Claim
Patent Images
1. A front wheel assembly of a mobile robotic device comprising:
- a compressible column comprising;
a spring;
an upper portion subassembly comprising;
an encoder;
a rod to stimulate the encoder; and
a locking mechanism for securing a lower portion subassembly; and
the lower portion subassembly comprising;
a mechanism for locking to the upper subassembly;
a mechanism for providing movement to the rod; and
a wheel;
wherein the lower subassembly is unlocked by rotating the lower subassembly a predesignated number of degrees and a downward pulling force applied to the lower subassembly disengages clips holding the lower subassembly to the upper subassembly, thereby completely removing the lower subassembly from the upper subassembly.
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Abstract
A front suspension wheel for mobile robotic devices that can be compressed into or decompressed out of a main body of a mobile robotic device to facilitate driving the mobile robotic device over obstacles, thresholds and the like. The wheel will provide the mobile robotic device with information such as how fast the wheel is traveling. The wheel is easily removable by hand by the user.
12 Citations
20 Claims
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1. A front wheel assembly of a mobile robotic device comprising:
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a compressible column comprising; a spring; an upper portion subassembly comprising; an encoder; a rod to stimulate the encoder; and a locking mechanism for securing a lower portion subassembly; and the lower portion subassembly comprising; a mechanism for locking to the upper subassembly; a mechanism for providing movement to the rod; and a wheel; wherein the lower subassembly is unlocked by rotating the lower subassembly a predesignated number of degrees and a downward pulling force applied to the lower subassembly disengages clips holding the lower subassembly to the upper subassembly, thereby completely removing the lower subassembly from the upper subassembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for mobile robotic devices to overcome obstacles and driving surface transitions comprising:
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providing a mobile robotic device comprising; a main body; a processor; a compressible column attached to the main body comprising a spring, an upper subassembly, and a lower subassembly; a set of wheels; and a control unit to provide at least one movement pattern to the mobile robotic device; decompressing the compressible column when the mobile robotic device approaches an obstacle or a driving surface transition, thereby raising the mobile robotic device; and driving the mobile robotic device over the obstacle or driving surface transition; wherein the lower subassembly is unlocked by rotating the lower subassembly a predesignated number of degrees and a downward pulling force applied to the lower subassembly disengages clips holding the lower subassembly to the upper subassembly, thereby completely removing the lower subassembly from the upper subassembly. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification