Modular robot

  • US 8,950,038 B2
  • Filed: 09/25/2013
  • Issued: 02/10/2015
  • Est. Priority Date: 12/02/2005
  • Status: Active Grant
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First Claim
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1. A coverage robot comprising:

  • a chassis;

    a removable caster wheel assembly disposed on the chassis, the caster wheel being configured to turn about a vertical axis and roll about a horizontal axis;

    multiple drive wheel assemblies disposed on the chassis, each drive wheel assembly comprising;

    a drive wheel assembly housing;

    a wheel rotatably coupled to the housing; and

    a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel; and

    a cleaning assembly carried by the chassis, the cleaning assembly comprising;

    a cleaning assembly housing;

    a cleaning head rotatably coupled to the cleaning assembly housing; and

    a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head;

    wherein the drive wheel assemblies and the removable caster wheel assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

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