Robotic surface treating system
A vacuum cleaning system including a robotic unit including a main body, a traction arrangement defining a ground plane and an articulated arm. The articulated arm includes an upper arm section and a lower arm section, wherein the upper arm section is attached to the main body at a shoulder joint, and wherein the lower arm section is attached to the upper arm section at an elbow joint, and an end effector is defined at a distal end of the lower arm section. The upper arm section includes a pair of generally parallel arm members which are connected between the shoulder joint and the elbow joint and which are configured to define a yoke at the elbow joint at which the lower arm section is connected. The vacuum cleaning system equipped with a robotic arm that is able to bend and flex due to the pivotable upper and lower arm portions and has flexibility in how the robotic arm is driven and how suction is routed through the machine.
1 . A vacuum cleaning system comprising:
a robotic unit comprising a main body, a traction arrangement defining a ground plane, and an articulated arm,
wherein the articulated arm comprises an upper arm section and a lower arm section, wherein the upper arm section is attached to the main body at a shoulder joint, and wherein the lower arm section is attached to the upper arm section at an elbow joint, and an end effector is defined at a distal end of the lower arm section,
wherein the upper arm section comprises a pair of generally parallel arm members which are connected between the shoulder joint and the elbow joint and which are configured to define a yoke at the elbow joint at which the lower arm section is connected,
wherein the pair of generally parallel arm members of the upper arm section each comprise a first longitudinal section and a second longitudinal section, the first longitudinal section being angularly offset from the second longitudinal section by a nonzero angle such that the pair of generally parallel arm members of the upper arm section are non-linear along the length, and
wherein the second longitudinal sections are capable of being oriented substantially adjacent to the ground plane.
2 . The vacuum cleaning system of claim 1 , wherein the pair of parallel arm members extend over at least 25% of the length of the upper arm section between the elbow joint and the shoulder joint.
3 . The vacuum cleaning system of claim 1 , wherein the pair of parallel arm members extend over at least 50% of the length of the upper arm section between the elbow joint and the shoulder joint.
4 . The vacuum cleaning system of claim 1 , wherein the pair of parallel arm members extend over at least 75% of the length of the upper arm section between the elbow joint and the shoulder joint.
5 . The vacuum cleaning system of claim 4 , wherein the pair of parallel arm members comprises two struts, each of which has a first end connected to the shoulder joint of the robotic unit and a second end that together defines the yoke at the elbow joint.
6 . The vacuum cleaning system of claim 1 , wherein the pair of parallel arm members extend over substantially the entire length of the upper arm section between the elbow joint and the shoulder joint.
7 . The vacuum cleaning system of claim 1 , further comprising a drive mechanism configured to cause to articulated arm to pivot at the elbow joint.
8 . The vacuum cleaning system of claim 7 , wherein the drive mechanism comprises a transmission that extends at least in part along one of the parallel arm members.
9 . The vacuum cleaning system of claim 8 , wherein a suction conduit extends at least in part along the other of the parallel arm members.
10 . The vacuum cleaning system of claim 7 , wherein the drive mechanism includes a drive motor located at the main body of the robotic unit and configured to control the movement of the elbow joint by way of the transmission.
11 . The vacuum cleaning system of claim 7 , wherein the drive mechanism is further configured to drive movement of the end effector.
12 . The vacuum cleaning system of claim 1 , wherein a portion of the lower arm section is located substantially between the pair of parallel arm members of the upper arm section when the articulated arm is in a stowed position.
13 . The vacuum cleaning system of claim 12 , wherein in the stowed position the parallel members extend substantially vertically with respect to the ground plane defined by the traction arrangement.
14 . The vacuum cleaning system of claim 12 , wherein the articulated arm is movable from the stowed position to a fully deployed position, wherein in the fully deployed position the lower arm section extends substantially parallel to the ground plane.
15 . The vacuum cleaning system of claim 14 , wherein in the fully deployed position a portion of the upper arm section extends substantially parallel to the ground plane.