US 12,290,228 B2
Mobile cleaning robot suspension
Timothy R. Ohm, Grover Beach, CA (US); and Erik Amaral, Bolton, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Feb. 28, 2022, as Appl. No. 17/682,021.
Prior Publication US 2023/0270299 A1, Aug. 31, 2023
Int. Cl. A47L 9/00 (2006.01); B60G 3/00 (2006.01); B60G 17/00 (2006.01)
CPC A47L 9/009 (2013.01) [B60G 3/00 (2013.01); B60G 17/00 (2013.01); A47L 2201/04 (2013.01); B60G 2500/30 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A mobile cleaning robot movable within an environment, the mobile cleaning robot comprising:
a body;
a drive wheel arm connected to the body and movable with respect to the body between an extended position and a retracted position;
a drive wheel connected to the drive wheel arm and movable therewith, the drive wheel operable to move the mobile cleaning robot;
a cam connected to the drive wheel arm and movable therewith; and
a cam follower connected to the body, and engaged with the cam to move the drive wheel arm toward the extended position.