Mobile robot cleaning head suspension

Abstract

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.

1 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a cleaning head operable to extract debris from a floor surface and to move vertically relative to the body between an extended position and a retracted position;   a biasing element connected to the body;   an armature rotatably connected to the body and connected to the biasing element; and   a linkage connected to the cleaning head and rotatably connected to the armature to, together with the biasing element, bias the cleaning head toward the retracted position.   
     
     
         2 . The mobile cleaning robot of  claim 1 , the linkage comprising:
 a connector member connected to the cleaning head and connected to the armature.   
     
     
         3 . The mobile cleaning robot of  claim 2 , comprising:
 a support connected to the body and connected to the armature, a first end of the biasing element connected to the support and a second end of the biasing element connected to the armature.   
     
     
         4 . The mobile cleaning robot of  claim 3 , wherein the armature includes projections respectively extending through corresponding windows of the support to limit relative rotation of the armature with respect to the support. 
     
     
         5 . The mobile cleaning robot of  claim 4 , wherein the armature includes a bore configured to receive an end of the connector member therein to form a pivoting connection between the connector member and the armature. 
     
     
         6 . The mobile cleaning robot of  claim 5 , wherein the armature includes a body and a tab connected to the body, the second end of the biasing element captured by the tab and the body. 
     
     
         7 . The mobile cleaning robot of  claim 6 , wherein the connector member is connected to a plenum of the cleaning head and the plenum is connected to the body. 
     
     
         8 . The mobile cleaning robot of  claim 7 , wherein the support is connected to a wire raceway connected to the body. 
     
     
         9 . The mobile cleaning robot of  claim 1 , wherein the armature and the biasing element are configured to apply a force to bias the cleaning head toward the retracted position, wherein the force reduces as the cleaning head moves toward the retracted position. 
     
     
         10 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a cleaning head operable to extract debris from a floor surface and to move vertically relative to the body between an extended position and a retracted position;   a biasing element connected to the body;   an armature rotatably connected to the body and connected to the biasing element; and   a linkage connected the cleaning head and rotatably connected to the armature to, together with the biasing element, apply a force to the cleaning head to deliver a varied force to the cleaning head over a range of movement of the cleaning head between the extended position and the retracted position.   
     
     
         11 . The mobile cleaning robot of  claim 10 , wherein the linkage is connected to a plenum of the cleaning head and the plenum is connected to the body. 
     
     
         12 . The mobile cleaning robot of  claim 11 , wherein the plenum is configured to at least one of move or flex with respect to the body. 
     
     
         13 . The mobile cleaning robot of  claim 12 , wherein the plenum includes a rigid portion connected to the linkage and a flexible portion connected to the cleaning head. 
     
     
         14 . The mobile cleaning robot of  claim 13 , the linkage comprising:
 a connector member connected to the rigid portion and connected to the armature.   
     
     
         15 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a cleaning head operable to extract debris from a floor surface and to move vertically relative to the body between an extended position and a retracted position;   a plenum connected to the body and connected to the cleaning head;   a biasing element connected to the body;   an armature rotatably connected to the body and connected to the biasing element; and   a linkage connected to the plenum and rotatably connected to armature to, together with the biasing element, apply a force to the plenum to deliver a varied force to the cleaning head over a range of movement of the cleaning head between the extended position and the retracted position.   
     
     
         16 . The mobile cleaning robot of  claim 15 , comprising:
 a support connected to the body and connected to the armature, a second end of the biasing element connected directly to the support.   
     
     
         17 . The mobile cleaning robot of  claim 16 , wherein the linkage includes:
 a connector member connected to the cleaning head and connected to the armature.   
     
     
         18 . The mobile cleaning robot of  claim 17 , comprising:
 a support connected to the body and connected to the linkage, a first end of the biasing element connected to the support and the second end of the biasing element connected to the linkage.   
     
     
         19 . The mobile cleaning robot of  claim 18 , wherein the armature includes projections extending through respective windows of the support to enable relative rotation of the armature with respect to the support. 
     
     
         20 . The mobile cleaning robot of  claim 19 , wherein the armature includes a bore configured to receive an end of the connector member therein to form a pivoting connection between the connector member and the armature.