Mobile cleaning robot suspension

Abstract

A mobile cleaning robot movable within an environment can include a body, a drive arm, a container, a biasing element, and a link. The drive arm can be connected to the body and can be movable with respect to the body. The drive arm can support a drive wheel. The container can be connectable to the body and can be configured to carry a fluid therein. The biasing element can be connected to the drive arm to bias the drive wheel toward a floor surface. The link can be pivotably connected to the body and can be connected to the biasing element. The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container.

1 . (canceled) 
     
     
         2 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a drive wheel rotatably connected to the body and operable to move the mobile cleaning robot about the environment;   a drive arm connected to the body and supporting the drive wheel;   a tank connectable to the body and configured to carry a fluid therein;   a biasing element connected to the drive arm to bias the drive wheel toward a floor surface; and   a link pivotably connected to the body and connected to the biasing element, the link engageable with the tank by a sliding engagement to adjust the biasing element based on an amount of the fluid in the tank.   
     
     
         3 . The mobile cleaning robot of  claim 2 , wherein the link is connected to a first lateral side of the tank. 
     
     
         4 . The mobile cleaning robot of  claim 3 , further comprising:
 a second link connected to a second lateral side of the tank, opposite the link and the first lateral side of the tank; and   a second biasing element connected to a second drive arm to bias a second drive wheel connected to the second drive arm toward the floor surface.   
     
     
         5 . The mobile cleaning robot of  claim 2 , wherein the biasing element includes an extension spring. 
     
     
         6 . The mobile cleaning robot of  claim 2 , wherein the tank is configured to move vertically based on an amount of fluid within the tank. 
     
     
         7 . The mobile cleaning robot of  claim 6 , wherein vertical movement of the tank causes the link to slide with respect to the body. 
     
     
         8 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a pair of drive wheels rotatably connected to the body and operable to move the mobile cleaning robot about the environment;   a pair of drive arms connected to the body and supporting the pair of drive wheels, respectively;   a tank connected to the body and configured to carry a fluid therein;   a pair of biasing elements connected to the pair of drive arms, respectively, to bias the pair of drive wheels toward a floor surface; and   a pair of links each connected to the body and connected to the pair of biasing elements, respectively, the pair of links each engaged with the tank to adjust a downforce delivered to the pair of drive wheels based on an amount of the fluid in the tank.   
     
     
         9 . The mobile cleaning robot of  claim 8 , wherein the pair of links are separately connected to the tank and include at least one of a sliding and pivoting engagement. 
     
     
         10 . The mobile cleaning robot of  claim 9 , wherein the pair of links include:
 a first link located on a first lateral side of the tank; and   a second link located on a second lateral side of the tank.   
     
     
         11 . The mobile cleaning robot of  claim 8 , wherein the tank is configured to move vertically based on an amount of fluid within the tank. 
     
     
         12 . The mobile cleaning robot of  claim 11 , wherein vertical movement of the tank causes each of the pair of links to slide or rotate with respect to the body. 
     
     
         13 . The mobile cleaning robot of  claim 8 , wherein the tank is removable and replaceable by an end user. 
     
     
         14 . A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
 a body;   a drive wheel rotatably connected to the body and operable to move the mobile cleaning robot about the environment;   a drive arm connected to the body and supporting the drive wheel;   a container connectable to the body and configured to carry a fluid therein;   a biasing element connected to the drive arm to bias the drive wheel toward a floor surface; and   a link pivotably connected to the body and connected to the biasing element, the link engageable with the container to adjust a downforce delivered to the drive wheel based on an amount of the fluid in the container.   
     
     
         15 . The mobile cleaning robot of  claim 14 , wherein the link includes:
 a projection at least partially engageable with the container.   
     
     
         16 . The mobile cleaning robot of  claim 15 , wherein the container includes:
 a guide engaged with the projection to at least partially form at least partially for a translating or rotating engagement between the link and the container.   
     
     
         17 . The mobile cleaning robot of  claim 16 , wherein the container is configured to move vertically based on an amount of fluid within the container. 
     
     
         18 . The mobile cleaning robot of  claim 17 , wherein vertical movement of the container causes the link and the projection to slide or rotate with respect to the body to adjust Page  5  the biasing element based on the amount of the fluid in the container and to thereby change the downforce delivered to the drive wheel. 
     
     
         19 . The mobile cleaning robot of  claim 18 , wherein the link is connected to a first lateral side of the container. 
     
     
         20 . The mobile cleaning robot of  claim 19 , further comprising:
 a second link connected to a second lateral side of the container, opposite the link and the first lateral side of the container; and   a second biasing element connected to a second drive arm to bias a second drive wheel connected to the second drive arm toward the floor surface.   
     
     
         21 . The mobile cleaning robot of  claim 15 , wherein the link is L-shaped.