An autonomous delivery vehicle having one or more caster wheels that may be held off the ground for a portion of the time that the autonomous delivery vehicle travels. Each caster wheel is mounted in a pivot with a centering mechanism to hold the caster wheels in a design orientation. The caster wheel in the design orientation maximizes the view of forward-looking sensors on the autonomous delivery vehicle. The centering mechanism uses magnetic attraction/repulsion to center the caster wheel. The centering mechanism may incorporate a plurality of permanent magnets and or electro-magnets.

A controller and a method for controlling casters attached to a movable part such as a hospital bed, for switching the castors between a state in which the castor is pivot locked and rotationally blocked, and a state in which there is neither a pivot locking nor a rotational blocking, additionally switchable into a state in which the caster is only pivot locked, actuatable electrically and also manually, movement sensor. Multiple switching states may be automatically and sequentially assumed in a predetermined sequence, a first switching state in which there is neither a pivot locking nor a rotational blocking, which a second switching state, in which one or more or all castors are pivot locked, however not rotationally blocked, and finally a switching state, in which all switchable casters are again pivot locked and rotationally blocked.

A subject support lift includes a mast portion, a base portion, and a lockable wheel assembly coupled to the base portion. The lockable wheel assembly includes an axle member, a lockable wheel coupled to the axle member, and a pivot member pivotally coupled to the lockable wheel and defining an axis extending in a vertical direction, where the lockable wheel is rotatable about the axis defined by the pivot member. A locking member is coupled to one of the pivot member or the lockable wheel, the locking member being repositionable between a locked position, in which the locking member engages the other of the pivot member or the lockable wheel, and an unlocked position, in which the locking member is spaced apart from the other of the pivot member or the lockable wheel.

A wheelchair can comprise: a frame comprising an upper portion and a lower portion that is coupled to the upper portion so that the upper portion is vertically adjustable with respect to the lower portion. A pair of drive wheels can be coupled to the frame. A plurality (e.g., a pair) of casters are coupled to the frame. Each caster can have a respective swivel axis. At least one caster of the plurality of casters can be configured to be locked to prevent swiveling about its respective swivel axis and unlocked to enable swiveling about its respective swivel axis.

Brake assembly (18) of a transporting means (20) for a patient handling apparatus (10). The brake assembly (18) is adapted to control movements of a wheel (14a) of at least one rear caster (14) by a brake actuator (18a). The brake actuator (18a) is adapted to be coupled to a caster neck (14c) of said at least one rear caster (14). The caster neck (14c) extends through a lift base (11) of the patient handling apparatus (10) such that the brake actuator (18a) is located on top of the lift base (11) and the wheel (14a) of the rear caster (14) is located below the lift base (11).

An apparatus is for locking a caster wheel in a steering position about a steering axis. The apparatus comprises a base member; a lever arm; and an engagement member. The lever arm is movable with respect to the base member into and between an engaged position in which the engagement member locks the caster wheel in the steering position and a disengaged position in which the caster is steerable out of the steering position.

An apparatus is for locking a caster wheel in a steering position about a steering axis. The apparatus comprises a base member; a lever arm; and an engagement member. The lever arm is movable with respect to the base member into and between an engaged position in which the engagement member locks the caster wheel in the steering position and a disengaged position in which the caster is steerable out of the steering position.

An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

A caster brake device includes a brake gear, receiving unit, driving unit, elastic element and operating unit connected to the driving unit. The brake gear is disposed at an axle or wheel of a mobile carrier. Stop slots are disposed at the brake gear circumferentially. The receiving unit has a penetrating recess corresponding in position to the stop slots. The driving unit is disposed in the receiving unit and includes a penetrating portion corresponding in position to the penetrating recess and a stop spindle penetrating the penetrating recess and the penetrating portion. Two ends of the stop spindle correspond in position to the stop slots and thus are movably confined to the penetrating recess to enter or exit the stop slots. The elastic element has two ends abutting against the receiving unit and driving unit, respectively, to enable the stop spindle to undergo reciprocating motion within the penetrating recess.

Steered caster wheel systems that include a disengagement system to enable a caster wheel steering mode and non-caster wheel steering mode are disclosed. In some embodiments, the caster wheels are mounted to a subframe that may be independently suspended from the chassis of a vehicle such as a self-propelled vehicle.