# US 10,766,324 B1 · Wheel suspension system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,324 B1 - Document ID: US10766324B1 - Status: Granted - Kind: B1 - Application number: 16/270,489 - Filed: 2019-02-07 - Granted: 2020-09-08 - Earliest claimed: 2017-08-02 - Assignees: AI Incorporated - Applicants: Ali Ebrahimi Afrouzi; Masoud Nasiri Sarvi; Scott McDonald - Inventors: Ali Ebrahimi Afrouzi; Masoud Nasiri Sarvi; Scott McDonald - Web page: https://patentgrep.com/patent/US10766324B1 ## CPC - B60G 3/26: Means for maintaining substantially-constant wheel camber during suspension movement {; Means for controlling the variation of the wheel position during suspension movement (B60G3/202, B60G3/22, B60G7/003, B60G7/006 take precedence; means for adjusting camber, castor, or toe-in B62D17/00)} - B60G 3/145: {the arm forming the axle housing} - B60G 21/051: {Trailing arm twist beam axles} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - B60G 2200/13: with longitudinal arms only - B60G 2202/122: subjected to tension - B60G 2202/13: Torsion spring - B60G 2202/42: Electric actuator - B60G 2204/1244: on a suspension arm - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) ## Abstract Provided is a robotic device including: a body; an electronic computing device housed within the body; and at least two wheel suspension systems coupled with the body including: a first suspension system including: a frame; a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end; and an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, wherein the extension spring is extended when the wheel is retracted; and a second suspension system including: a base slidingly coupled with the frame; a plurality of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end; at least one set of paired magnets, with at least one magnet affixed to the frame and paired to at least one magnet affixed to the base. ## Claims ### Claim 1 A robotic device comprising: a body; an electronic computing device housed within the body; and at least two wheel suspension systems coupled with the body, each wheel suspension system comprising: a first suspension system comprising: a frame; a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end; and an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, wherein the extension spring is extended when the wheel is retracted; and a second suspension system comprising: a base slidingly coupled with the frame; a plurality of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end; at least one set of paired magnets, with at least one magnet affixed to the frame and paired to at least one magnet affixed to the base. ### Claim 2 (depends on 1) The robotic device of claim 1, wherein the extension spring of the first suspension system applies a force to the rotating arm as the extension spring compresses, causing the rotating arm to rotate outwards beyond the base towards the driving surface until the wheel coupled to the rotating arm contacts and presses against the driving surface. ### Claim 3 (depends on 1) The robotic device of claim 1, wherein the plurality of extension springs of the second suspension system apply a force to the frame and base, pulling the two components together as the extension springs compress. ### Claim 4 (depends on 1) The robotic device of claim 1, wherein extension of the plurality of extension springs of the second suspension system causes vertical upward movement of the frame, rotating arm, and wheel. ### Claim 5 (depends on 1) The robotic device of claim 1, wherein compression of the plurality of extension springs of the second suspension system causes vertical downward movement of the frame, rotating arm, and wheel. ### Claim 6 (depends on 1) The robotic device of claim 1, wherein the frame comprises a plurality of spring housings for retaining the plurality of extension springs of the second suspension system. ### Claim 7 (depends on 1) The robotic device of claim 1, wherein the base further comprises a plurality of travel limiting screws that limit linear displacement of the second suspension system by physically limiting the movement of the frame by contact with the screw. ### Claim 8 (depends on 1) The robotic device of claim 1, wherein the second suspension system comprises a three-point suspension system. ### Claim 9 (depends on 1) The robotic device of claim 1, wherein the at least one set of paired magnets enable the frame and base to separate when traversing uneven surfaces and pull the frame and base together after separation. ### Claim 10 (depends on 1) The robotic device of claim 1, further comprising a plurality of mounting elements that couple the double suspension wheel system to the robotic device. ### Claim 11 (depends on 1) The robotic device of claim 1, wherein the first suspension system is a long-travel suspension system. ### Claim 12 (depends on 1) The robotic device of claim 1, wherein the first suspension system is pivotally actuated. ### Claim 13 (depends on 1) The robotic device of claim 1, wherein the second suspension system is a short-travel suspension system. ### Claim 14 (depends on 1) The robotic device of claim 1, wherein the second suspension system is linearly actuated. ### Claim 15 A wheel suspension system comprising: a first suspension system comprising: a frame; a rotating arm pivotally coupled to the frame on a first end and coupled to a wheel on a second end; and an extension spring coupled with the rotating arm on a third end and the frame on a fourth end, wherein the extension spring is extended when the wheel is retracted; and a second suspension system comprising: a base slidingly coupled with the frame; and at least one set of paired magnets, with at least one magnet affixed to the frame and paired to at least one magnet affixed to the base. ### Claim 16 (depends on 15) The wheel suspension system of claim 15, wherein the extension spring of the first suspension system applies a force to the rotating arm as the extension spring compresses, causing the rotating arm to rotate outwards beyond the base towards the driving surface until the wheel coupled to the rotating arm contacts and presses against the driving surface. ### Claim 17 (depends on 15) The wheel suspension system of claim 15, wherein the second suspension system further comprises a plurality of vertically positioned extension springs coupled with the frame on a fifth end and the base on a sixth end and wherein extension of the plurality of extension springs of the second suspension system causes vertical upward movement of the frame, rotating arm, and wheel. ### Claim 18 (depends on 17) The wheel suspension system of claim 17, wherein compression of the plurality of extension springs of the second suspension system causes vertical downward movement of the frame, rotating arm, and wheel. ### Claim 19 (depends on 17) The wheel suspension system of claim 17, wherein the frame comprises a plurality of spring housings for retaining the plurality of extension springs of the second suspension system. ### Claim 20 (depends on 17) The wheel suspension system of claim 17, wherein the second suspension system further comprises a plurality of dampers positioned along each axis of each of the plurality of extension springs of the second suspension system. ### Claim 21 (depends on 15) The wheel suspension system of claim 15, wherein the base further comprises a plurality of travel limiting screws that limit linear displacement of the second suspension system by physically limiting the movement of the frame by contact with the travel limiting screws. ### Claim 22 (depends on 15) The wheel suspension system of claim 15, wherein the second suspension system comprises a three-point suspension system. ### Claim 23 (depends on 15) The wheel suspension system of claim 15, further comprising a plurality of mounting elements that couple the double suspension wheel system to a robotic device. ### Claim 24 (depends on 15) The wheel suspension system of claim 15, wherein the first suspension system is pivotally actuated and the second suspension system is linearly actuated. ### Claim 25 (depends on 15) The wheel suspension system of claim 15, wherein the first suspension system is a long-travel suspension system. ### Claim 26 (depends on 15) The wheel suspension system of claim 15, wherein the second suspension system is a short-travel suspension system. ### Claim 27 (depends on 15) The wheel suspension system of claim 15, wherein the extension spring and rotating arm of the first suspension system are horizontally oriented. ### Claim 28 (depends on 15) The wheel suspension system of claim 15, wherein the at least one set of paired magnets enable the frame and base to separate when traversing uneven surfaces and pull the frame and base together after separation.