公开(公告)号：US11338616B1

公开(公告)日：2022-05-24

申请号：US16216578

申请日：2018-12-11

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Christopher Wells Fitzhugh ,  Shelley Tyler Villano ,  Lisa Dlima

IPC: B60B33/00 ,  B25J11/00 ,  B25J5/00 ,  B60B7/00

Abstract: An autonomous mobile device may use a pair of main wheels and a caster assembly to provide mobility. The main wheels are driven by motors, providing steering and movement. Each main wheel may include a cover that conceals and protects a hub of the main wheel from the external environment. The covers may be held in place by elastomeric posts, allowing easy changeout. The caster assembly has a minimal overall height and a field replaceable caster wheel. The caster wheel may include a target that is detectable by a non-contact sensor to detect caster wheel rotation. The caster wheel may comprise an axle, caster wheel hub, and a pair of caster wheel endcaps on each end of the axle. A set of features on the caster wheel hub and each of the caster wheel endcaps provide a labyrinthian path that prevents debris from fouling around the axle.