Close

Stabilised parking process

A project log for Space saving robot vacuum cleaner garage

Automatic control of the kitchen skirting board. Lifts up to 1 kg, zero power consumption on standby.

mikaMiKa 12/29/2021 at 22:380 Comments

As a result of the limited space under the kitchen cupboard, the robot occasionally has difficulties returning home to the docking station. The robot gets stuck on the cabinet feet foot plate. The parking process then cancels after a few minutes.

To solve the problem, I partially redesigned the door lifting mechanism in order to provide more space to the robot. In addition by raising the floor (of the lane to the docking station) to the level of the foot plate, the robot can drive over it so that 4 cm of more space can be gained.


Parking lot dimensions

The wooden plate increases the floor level by 1.3 cm so that the robot can drive over the plates of the cabinet feet and doesn't get stuck on them any longer.

Base plate

The wooden plate is also great to mount the door lifting mechanism and the other parts on it.


v2 door lifting mechanism

Unlike in v1, the motor in v2 is on the left side of the lifting mechanism. That creates additional space. 

All parts are now attached to the wooden plate by screws. No more double-sided adhesive tape required, no risk of parts loosening. The wires of the force sensitive resistor are also fixed and cannot be unclenched by the robot's brushes.

Pluggable v2 lifting mechanism mount

Because the height of the garage is also limited, the door lifting mechanism cannot be attached directly to the wooden panel, otherwise the panel cannot be pushed past the feet under the cabinet.

The mount that is fixed on the wooden plate has two arcs of a circle that fit into the round holes of the lifting mechanism mount. The mount is brought up to the plate at an angle and then set up at a 90 ° angle to the plate. As a result it is then fixed by the weight of the plate.

The new STL  models are available on github. All changes were made in PR #2

Discussions