US1970302A - Brush - Google Patents

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Publication number
US1970302A
US1970302A US632875A US63287532A US1970302A US 1970302 A US1970302 A US 1970302A US 632875 A US632875 A US 632875A US 63287532 A US63287532 A US 63287532A US 1970302 A US1970302 A US 1970302A
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United States
Prior art keywords
bristles
brush
sleeve
slots
tuft
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US632875A
Inventor
Charles C Gerhardt
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Individual
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Priority to US632875A priority Critical patent/US1970302A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24DTOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D13/00Wheels having flexibly-acting working parts, e.g. buffing wheels; Mountings therefor
    • B24D13/02Wheels having flexibly-acting working parts, e.g. buffing wheels; Mountings therefor acting by their periphery
    • B24D13/10Wheels having flexibly-acting working parts, e.g. buffing wheels; Mountings therefor acting by their periphery comprising assemblies of brushes
    • AHUMAN NECESSITIES
    • A46BRUSHWARE
    • A46BBRUSHES
    • A46B13/00Brushes with driven brush bodies or carriers
    • A46B13/001Cylindrical or annular brush bodies

Definitions

  • brushes which have. an exceed- 1 ingly heavy dutyto perform such as the cleaningof scale from water-tube boiler tubes, be so con-f,
  • One of the objectsgof the present invention is so toimprove-brush nenstructions, and particularly the construction of. irotary brushes,- that that as great a number of 'bristles as is conven-' iently possible may be firmly confined in the- 40 brush body.
  • Figure 6 illustratesa modified form of tuft of such lateral dimensions thata-singleltuft will 1 e qui e s a se b u b 31 i;shapes',toi;.inaterials*and: that the invention of'wideutility and applicability in the I it is, usually important that: the bristles be so arin the body that in their movement over-the surfaceto'bercleanedas many brissurface to be cleaned. To-this end it is desir-- able, therefore, that. each row of bristles or of tufts of bristles bees-continuous as is practically possible throughout the length of the brush proper-.
  • each ro of Still another object of the invention is so to, construct each tuft of bristles that it may readily be handled as;a unit both in assembling it in.
  • bristles will effect a; brushing action that is substantially continuous throughout its entire length.
  • a convenient way of forming a brush body to receive substantially continuous rows of bristles or of tufts of bristles is that shown in the illustrative embodiment of the invention in which a cylindrical brush body 2, having an internally screw-threaded extension 4 to receive the driving mechanism, is transversely slotted in planes which include the axis of the cylinder, each of 5 these slots being of suflicient width .to'receive a substantial tuft of bristles.
  • the slotting of the cylinder will form a hollow center in the brush body where the various slots 6 intersect.
  • the partitions 8 viding each tuft 1 0 with a sleeve 12 and of shaping the tuft into V form-to fit over a segmental partition 8 is illustrated in the drawings where the tuft is shown as assembled first in a straight sleeve 12, of circular cross section, whichis then bent at a point intermediate between its ends into substantially V form and at the same time flattened somewhat on opposite sides so that it will fit snugly and without turning in the slot 6.
  • a tuft may be formed, as shown in Fig. 6, which is wide enough to fill the entire slot and is correspondingly provided with a sleeve which extends throughout the length of the slot.
  • a cap or end piece 14 is adapted to be clamped against the ends of the partition mem-' bers 8 of the brush body, this cap or end member being preferably of the same diameter as the brush body 2 and having a flange which fits against shoulders 16 provided at the ends of the partition members 8.
  • a bolt 18 is provided, which is preferably of such diameter that it serves as an abutment to prevent the tufts from being pushed inwardly toward the center of the brush, the bolt 18 being provided with a head 20 engaging either the cap 14 or a washer 22 located between the head 20 and the cap 14 and being threaded at its end to screw into threads tapped into the solid part of the brush body, thus permitting its convenient removal when it is desired to remove and replace the tufts to recondition the brush.
  • a bolt 24 having a relatively thin head 26, tapered on its under side to fit the concavity at the bottom of the threaded socket in the extension 4 of the brush body, may have its shank or stem extended through the cap 14 and threaded toreceive a nut 28 for clamping the cap 14 in position.
  • This alternative construction avoids the necesity for having a substantial partition between the end of the threaded socket in the extension 4 and the interior of the brush body proper for the threads for holding the bolt 18, thus permitting the brush structure, as a whole, to be somewhat shortened.
  • a rotary brush comprising a body having a hollow center and longitudinally-extending peripherally spaced bristle-receiving slots cut on radii from the axis of rotation, tufts of bristles each shaped to project through two slots and to embrace the partition separating said slots. each tuft being provided with a sleeve confining that portion of the bristles intermediate between the ends thereof and of a transverse dimension to fit snugly between the walls of the slots, said sleeve being bent sharp y. whereby to produce a. crimp therein which will securely grip the bristles against longitudinal movement.
  • a rotary brush comprising a cylindrical body transversely slotted in planes including the axis of the cylinder, tufts of bristles each shaped to project through two adjacent slots and to embrace the partition separating said slots, and means for confining said tuftsagainst movement out of said slots, comprising a plate closing the open ends of said slots and an axially extending member serving both to maintain said bristles in projected relation to said cylindrical body and said plate in closingrelation to said slots.
  • a bristle tuft construction for insertion into or removal'from a brush body as a unit comprising a bundle of bristles and a tube or sleeve surrounding and confining said bristles throughout a portion of their extent intermediate between their ends, said tube or sleeve and the associated bristles being bent substantially to V shape whereby said tube or sleeve is crimped so as to form a crimp in the tube or sleeve, and thereby securely clamp the bristles therein.
  • a rotary brush comprising a longitudinally slotted cylindrical body having an open center 12 formed by intersection of the slots in the axis of the cylinder, tufts of bristles each bent to project through two adjacent slots and to embrace the partition separating said slots, each tuft of bristles being provided with a sleeve which is also bent substantially to V shape to embrace said partition, which fits snugly between the walls of the two slots into which it projects, extends to a position substantially flush with the outer surface of the cylinder and confines that portion of the bristles which is located between the exposed parts of the tuft, and means for maintaining the said bristles in projected relation to the cylindrical outer surface of the brush body comprising a member extending through the center of said body and bearing against the bends of the bristle confining sleeves.
  • a brush including a cylindrical body, said body provided with transverse communicating slots, the portions of the body between the transverse slots being substantial sectors, wire bristles doubled upon themselves to provide a pair of tufts, and seated in the slots with one tuft projecting outwardly through each slot, and a cylindrical member thrust through the open center of said 145 body provided by the communicating slots for holding said tufts in seated relation to said sectors.
  • a brush including a cylindrical body, said body provided with transverse communicating 150 for securing the bristles in place, and a cylindrical member thrust through the open center of said body provided by the communicating slots for holding said tufts in seated relation to said sectors.

Description

1934- c. c. RRRRRR m 1,970,302
Patented Aug. 14, 1934 UNITED STATES PATENT, ormca we; 0. Get-g ild:-
many. Application September 1:, 19:2, ScflalNo. 832,875 8 Claims. CL'183)' the standpoint of its efliciency in operation and, v
at the same time, to facilitate the making, assembling, disassembling and reconditioning of the brush.
The bristles of rotary. brushes which are power driven for bufling or polishing or cleaning are comparatively short lived and when the workwhich is done by these brushes is comparatively";
heavy as, for example, in the case of rotary wire:
holding thebristles, must :be substantial, which adds considerably to the initial cost of the brush. It is desirable, therefore,that those brushes the bristles ofv which arev comparatively short lived,
and particularly, brushes which have. an exceed- 1 ingly heavy dutyto perform, such as the cleaningof scale from water-tube boiler tubes, be so con-f,
structed that theycan readily :be reconditioned instead of" hav'ihgiw bethrown' away when the bristles are worn out.
One of the objectsgof the present invention is so toimprove-brush nenstructions, and particularly the construction of. irotary brushes,- that that as great a number of 'bristles as is conven-' iently possible may be firmly confined in the- 40 brush body.
the brush body and in removing it from the body for purposes of replacement.
Other objects and important features of the invention will appear'from the following description and claims when considered in connection with the accompanying drawing in which- Figure 1 is a longitudinal section on the line 1-1 of Figure 2 of a rotary brush embodying the present invention Figure 2 is a section on the line 2-2 of Fig. 1; Figure 3 is a section on the line 3-3 of Fig. 4 through a tuft of bristles confined in a sleeve bebristle brushes for cleaning boiler tubes,- the, whole brush structure, including the body for 'tles' 8.S possible contact, with each part of the fore the tuft and sleeve have been bent into their Figure 4-is a side elevation of the tuft and asfiiaged sleeve referred to, in the description of Figure --5-'-s hows the tuft'of bristles bent to the form inwhich it is inserted in thebrush body;
Figure 6 illustratesa modified form of tuft of such lateral dimensions thata-singleltuft will 1 e qui e s a se b u b 31 i;shapes',toi;.inaterials*and: that the invention of'wideutility and applicability in the I it is, usually important that: the bristles be so arin the body that in their movement over-the surfaceto'bercleanedas many brissurface to be cleaned. To-this end it is desir-- able, therefore, that. each row of bristles or of tufts of bristles bees-continuous as is practically possible throughout the length of the brush proper-. j In the illustrative embodiment of the inventionthe bristles or tufts of bristles have been arrangedside byside in' slots extending substan- 'tially throughout the length of the brush body a s0 that-in the rotation of the brush each ro of Still another object of the invention is so to, construct each tuft of bristles that it may readily be handled as;a unit both in assembling it in.
bristles will effect a; brushing action that is substantially continuous throughout its entire length. A convenient way of forming a brush body to receive substantially continuous rows of bristles or of tufts of bristles is that shown in the illustrative embodiment of the invention in which a cylindrical brush body 2, having an internally screw-threaded extension 4 to receive the driving mechanism, is transversely slotted in planes which include the axis of the cylinder, each of 5 these slots being of suflicient width .to'receive a substantial tuft of bristles. Starting with a solid cylinder, the slotting of the cylinder, as shown, will form a hollow center in the brush body where the various slots 6 intersect. The partitions 8 viding each tuft 1 0 with a sleeve 12 and of shaping the tuft into V form-to fit over a segmental partition 8 is illustrated in the drawings where the tuft is shown as assembled first in a straight sleeve 12, of circular cross section, whichis then bent at a point intermediate between its ends into substantially V form and at the same time flattened somewhat on opposite sides so that it will fit snugly and without turning in the slot 6.
If desired, instead of having a plurality of tufts, each provided with a sleeve, in each slot, a tuft may be formed, as shown in Fig. 6, which is wide enough to fill the entire slot and is correspondingly provided with a sleeve which extends throughout the length of the slot.
To retain the tufts in assembled position in the slots, a cap or end piece 14 is adapted to be clamped against the ends of the partition mem-' bers 8 of the brush body, this cap or end member being preferably of the same diameter as the brush body 2 and having a flange which fits against shoulders 16 provided at the ends of the partition members 8.
To clamp the cap or end member 14 in tuftretaining position against the shoulders 16 on the partitions 8, a bolt 18 is provided, which is preferably of such diameter that it serves as an abutment to prevent the tufts from being pushed inwardly toward the center of the brush, the bolt 18 being provided with a head 20 engaging either the cap 14 or a washer 22 located between the head 20 and the cap 14 and being threaded at its end to screw into threads tapped into the solid part of the brush body, thus permitting its convenient removal when it is desired to remove and replace the tufts to recondition the brush.
As an alternative method of clamping the cap 14 against the shoulders. 16, a bolt 24 having a relatively thin head 26, tapered on its under side to fit the concavity at the bottom of the threaded socket in the extension 4 of the brush body, may have its shank or stem extended through the cap 14 and threaded toreceive a nut 28 for clamping the cap 14 in position. This alternative construction avoids the necesity for having a substantial partition between the end of the threaded socket in the extension 4 and the interior of the brush body proper for the threads for holding the bolt 18, thus permitting the brush structure, as a whole, to be somewhat shortened.
What I claim as new is:
1. A rotary brush comprising a body having a hollow center and longitudinally-extending peripherally spaced bristle-receiving slots cut on radii from the axis of rotation, tufts of bristles each shaped to project through two slots and to embrace the partition separating said slots. each tuft being provided with a sleeve confining that portion of the bristles intermediate between the ends thereof and of a transverse dimension to fit snugly between the walls of the slots, said sleeve being bent sharp y. whereby to produce a. crimp therein which will securely grip the bristles against longitudinal movement.
2. A rotary brush comprising a cylindrical body transversely slotted in planes including the axis of the cylinder, tufts of bristles each shaped to project through two adjacent slots and to embrace the partition separating said slots, and means for confining said tuftsagainst movement out of said slots, comprising a plate closing the open ends of said slots and an axially extending member serving both to maintain said bristles in projected relation to said cylindrical body and said plate in closingrelation to said slots.
3. A bristle tuft construction for insertion into or removal'from a brush body as a unit comprising a bundle of bristles and a tube or sleeve surrounding and confining said bristles throughout a portion of their extent intermediate between their ends, said tube or sleeve and the associated bristles being bent substantially to V shape whereby said tube or sleeve is crimped so as to form a crimp in the tube or sleeve, and thereby securely clamp the bristles therein.
4. The process of assembling tufts of bristles in substantially V shape for insertion into a brush body, which comprises inserting the bristles into a tube or sleeve of substantially circular cross section so that said sleeve surrounds and confines that portion of the bristles intermediate between the ends thereof and then forming a crimp in the tube or sleeve to securely clamp the bristles therein by bending said tube or sleeve and the confined bristles into V shape.
5. The process of assembling tufts of bristles in substantially V shape for insertion into a brush body, which comprises inserting the bristles into a tube or sleeve of substantially circular cross section so that said sleeve surrounds and confines that portion of the bristles intermediate between the ends thereof and then forming a crimp in the tube or sleeve to securely clamp the bristles therein by bending said tube or sleeve and 115 the confined bristles into V shape and at the same time flattening the opposite sides of said tube.
6. A rotary brush comprising a longitudinally slotted cylindrical body having an open center 12 formed by intersection of the slots in the axis of the cylinder, tufts of bristles each bent to project through two adjacent slots and to embrace the partition separating said slots, each tuft of bristles being provided with a sleeve which is also bent substantially to V shape to embrace said partition, which fits snugly between the walls of the two slots into which it projects, extends to a position substantially flush with the outer surface of the cylinder and confines that portion of the bristles which is located between the exposed parts of the tuft, and means for maintaining the said bristles in projected relation to the cylindrical outer surface of the brush body comprising a member extending through the center of said body and bearing against the bends of the bristle confining sleeves. i
7. A brush including a cylindrical body, said body provided with transverse communicating slots, the portions of the body between the transverse slots being substantial sectors, wire bristles doubled upon themselves to provide a pair of tufts, and seated in the slots with one tuft projecting outwardly through each slot, and a cylindrical member thrust through the open center of said 145 body provided by the communicating slots for holding said tufts in seated relation to said sectors.
8. A brush including a cylindrical body, said body provided with transverse communicating 150 for securing the bristles in place, and a cylindrical member thrust through the open center of said body provided by the communicating slots for holding said tufts in seated relation to said sectors. I
CHARLES C. GERHARDT.
US632875A 1932-09-13 1932-09-13 Brush Expired - Lifetime US1970302A (en)

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Cited By (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2663137A (en) * 1951-08-01 1953-12-22 Asbury Corp Lawn edger
US2687178A (en) * 1949-11-29 1954-08-24 Atkinson Albert Edward Device for cleaning the walls of boreholes
US2740980A (en) * 1953-02-25 1956-04-10 Charles T Asbury Apparatus for cutting and abrading
US2757659A (en) * 1954-04-05 1956-08-07 Charles T Asbury Device for cutting stone and concrete
US2763257A (en) * 1952-05-23 1956-09-18 Fidelity Service Inc Apparatus for cutting stone
US2796714A (en) * 1953-08-24 1957-06-25 Philip Ganson Rotary disc type mower
US2844835A (en) * 1955-05-23 1958-07-29 Osborn Mfg Co Tufted brush construction
US2984053A (en) * 1951-07-14 1961-05-16 Osborn Mfg Co Brush and brush material
US3045992A (en) * 1958-08-21 1962-07-24 Charles T Asbury Abrading machine and drive therefor
US5608941A (en) * 1995-04-25 1997-03-11 Kleinfeld; James E. Rotary brush for duct-work cleaning
US20070244610A1 (en) * 2005-12-02 2007-10-18 Ozick Daniel N Autonomous coverage robot navigation system
US20080127445A1 (en) * 2005-02-18 2008-06-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US20080134457A1 (en) * 2005-02-18 2008-06-12 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US20090055022A1 (en) * 2000-01-24 2009-02-26 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US7644465B1 (en) * 2004-02-17 2010-01-12 John F Bently Component brush system
US20100011529A1 (en) * 2006-05-19 2010-01-21 Chikyung Won Removing debris from cleaning robots
US20100049364A1 (en) * 2002-09-13 2010-02-25 Irobot Corporation Navigational Control System for a Robotic Device
US20100063628A1 (en) * 2002-09-13 2010-03-11 Irobot Corporation Navigational control system for a robotic device
US20100082193A1 (en) * 2004-07-07 2010-04-01 Mark Joseph Chiappetta Celestial navigation system for an autonomous vehicle
US20100257690A1 (en) * 2002-01-03 2010-10-14 Irobot Corporation Autonomous floor-cleaning robot
US20110144805A1 (en) * 2002-09-13 2011-06-16 Chiappetta Mark J Navigational control system for a robotic device
US8347444B2 (en) 2007-05-09 2013-01-08 Irobot Corporation Compact autonomous coverage robot
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8378613B2 (en) 2004-01-28 2013-02-19 Irobot Corporation Debris sensor for cleaning apparatus
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
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US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US20140041136A1 (en) * 2012-08-13 2014-02-13 Dyson Technology Limited Cleaner head
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8800107B2 (en) 2010-02-16 2014-08-12 Irobot Corporation Vacuum brush
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US9320398B2 (en) 2005-12-02 2016-04-26 Irobot Corporation Autonomous coverage robots
ES2869498A1 (en) * 2020-04-24 2021-10-25 Necematt S L Brush structure for sweeping machine
US11278173B2 (en) 2002-01-03 2022-03-22 Irobot Corporation Autonomous floor-cleaning robot
US11382473B2 (en) * 2019-12-11 2022-07-12 Irobot Corporation Predictive maintenance of mobile cleaning robot
US11413664B1 (en) * 2018-10-25 2022-08-16 A. W. Perkins Company Whip head having filament-holding passageways

Cited By (131)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2687178A (en) * 1949-11-29 1954-08-24 Atkinson Albert Edward Device for cleaning the walls of boreholes
US2984053A (en) * 1951-07-14 1961-05-16 Osborn Mfg Co Brush and brush material
US2663137A (en) * 1951-08-01 1953-12-22 Asbury Corp Lawn edger
US2763257A (en) * 1952-05-23 1956-09-18 Fidelity Service Inc Apparatus for cutting stone
US2740980A (en) * 1953-02-25 1956-04-10 Charles T Asbury Apparatus for cutting and abrading
US2796714A (en) * 1953-08-24 1957-06-25 Philip Ganson Rotary disc type mower
US2757659A (en) * 1954-04-05 1956-08-07 Charles T Asbury Device for cutting stone and concrete
US2844835A (en) * 1955-05-23 1958-07-29 Osborn Mfg Co Tufted brush construction
US3045992A (en) * 1958-08-21 1962-07-24 Charles T Asbury Abrading machine and drive therefor
US5608941A (en) * 1995-04-25 1997-03-11 Kleinfeld; James E. Rotary brush for duct-work cleaning
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8565920B2 (en) 2000-01-24 2013-10-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US20090055022A1 (en) * 2000-01-24 2009-02-26 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8761935B2 (en) 2000-01-24 2014-06-24 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US20090292393A1 (en) * 2000-01-24 2009-11-26 Irobot Corporation, A Massachusetts Corporation Obstacle Following Sensor Scheme For A Mobile Robot
US9446521B2 (en) 2000-01-24 2016-09-20 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9144361B2 (en) 2000-04-04 2015-09-29 Irobot Corporation Debris sensor for cleaning apparatus
US20170215671A1 (en) * 2001-01-24 2017-08-03 Irobot Corporation Autonomous floor-cleaning robot
US10433692B2 (en) * 2001-01-24 2019-10-08 Irobot Corporation Autonomous floor-cleaning robot
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US20170215673A1 (en) * 2001-01-24 2017-08-03 Irobot Corporation Autonomous floor-cleaning robot
US9582005B2 (en) 2001-01-24 2017-02-28 Irobot Corporation Robot confinement
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US9167946B2 (en) 2001-01-24 2015-10-27 Irobot Corporation Autonomous floor cleaning robot
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
US10420447B2 (en) * 2001-01-24 2019-09-24 Irobot Corporation Autonomous floor-cleaning robot
US9104204B2 (en) 2001-06-12 2015-08-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8516651B2 (en) 2002-01-03 2013-08-27 Irobot Corporation Autonomous floor-cleaning robot
US20100257690A1 (en) * 2002-01-03 2010-10-14 Irobot Corporation Autonomous floor-cleaning robot
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US8763199B2 (en) 2002-01-03 2014-07-01 Irobot Corporation Autonomous floor-cleaning robot
US8671507B2 (en) * 2002-01-03 2014-03-18 Irobot Corporation Autonomous floor-cleaning robot
US8656550B2 (en) 2002-01-03 2014-02-25 Irobot Corporation Autonomous floor-cleaning robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US20110144805A1 (en) * 2002-09-13 2011-06-16 Chiappetta Mark J Navigational control system for a robotic device
US20100063628A1 (en) * 2002-09-13 2010-03-11 Irobot Corporation Navigational control system for a robotic device
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US8854001B2 (en) 2004-01-21 2014-10-07 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8461803B2 (en) 2004-01-21 2013-06-11 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8598829B2 (en) 2004-01-28 2013-12-03 Irobot Corporation Debris sensor for cleaning apparatus
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