Retractable floating active caster mechanism and intelligent transport vehicle

Abstract

The application relates to a retractable floating active caster mechanism and an intelligent transport vehicle. The retractable floating active caster mechanism comprises a rack structure, a caster retracting and releasing mechanism and a caster floating mechanism which are arranged on the rack structure and are hingedly connected with each other, and an active driving wheel mechanism which is connected with the caster floating mechanism; the caster retracting and releasing mechanism comprises a caster retracting and releasing driving motor which is arranged on the rack structure, and a caster retracting and releasing transmission structure which is connected with the caster retracting and releasing driving motor; the caster floating mechanism comprises a caster floating support which is rotatably arranged on the rack structure, and an elastic floating piece which is arranged on the caster floating support; the caster retracting and releasing transmission structure is connected with the caster floating support, and the elastic floating piece is connected with the active driving wheel mechanism. The application aims to solve the problem that the caster mechanism in the traditional technology cannot normally walk when the caster mechanism is suspended in a ditch or is stuck in a convex block.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a retractable floating active caster mechanism and an intelligent transport vehicle. Background Technology

[0002] Currently, retractable caster mechanisms are not commonly found on the market. Existing retractable caster technologies mostly use push rods or hydraulic pumps to achieve the retraction function. These mechanisms are quite large in the vertical direction, requiring significant assembly space and making them unsuitable for situations with limited space. Moreover, in traditional technologies, when the distance between the caster mechanism and the ground (such as a vehicle body) is fixed, the caster mechanism may become suspended in the air when encountering ditches or jam when encountering protrusions, thus preventing normal movement. Summary of the Invention

[0003] Based on this, the present invention provides a retractable floating active caster mechanism and an intelligent transport vehicle, which aims to solve the problems in traditional technology where caster mechanisms may become suspended in the air when encountering ditches or get stuck when encountering protrusions, thus failing to move normally.

[0004] To achieve the above objectives, the present invention proposes the following technical solution:

[0005] A retractable floating active caster mechanism includes a frame structure, a caster retraction mechanism and a caster floating mechanism mounted on the frame structure and hinged to each other, and an active drive wheel mechanism connected to the caster floating mechanism.

[0006] The caster retraction mechanism includes a caster retraction drive motor mounted on the frame structure, and a caster retraction transmission structure connected to the caster retraction drive motor;

[0007] The caster floating mechanism includes a caster floating bracket rotatably mounted on the frame structure, and an elastic floating member mounted on the caster floating bracket. The caster retraction and extension transmission structure is connected to the caster floating bracket, and the elastic floating member is connected to the active drive wheel mechanism.

[0008] Optionally, the active drive wheel mechanism includes a drive wheel bracket movably connected to the elastic floating member, an active drive motor disposed on the drive wheel bracket, an active drive transmission structure connected to the active drive motor, and a rotating caster connected to the active drive transmission structure.

[0009] Optionally, the drive wheel bracket includes two drive frame side plates arranged side by side, and a drive bracket shaft rotatably disposed between the two drive frame side plates. One end of the elastic floating member is movably disposed on the drive bracket shaft. The active drive motor and the active drive transmission structure are both disposed on the drive frame side plates.

[0010] Optionally, the active drive transmission structure includes an active wheel drive pulley coaxially arranged with the output shaft of the active drive motor, an active wheel driven pulley coaxially arranged with the rotating caster, and an active wheel transmission belt connecting the active wheel drive pulley and the active wheel driven pulley;

[0011] Alternatively, the active drive transmission structure includes an active wheel drive sprocket coaxially arranged with the output shaft of the active drive motor, an active wheel driven sprocket coaxially arranged with the rotating caster, and an active wheel transmission chain connecting the active wheel drive sprocket and the active wheel driven pulley.

[0012] Optionally, the caster floating bracket includes at least one floating shaft rotatably mounted on the frame structure, the caster retraction and extension transmission structure is connected to the floating shaft, and the other end of the elastic floating member is fixed to the floating shaft.

[0013] Optionally, the caster retraction and extension transmission structure includes a caster retraction and extension drive pulley coaxially arranged with the output shaft of the caster retraction and extension drive motor, a caster retraction and extension driven pulley coaxially arranged with the floating shaft, and a caster retraction and extension transmission belt connecting the caster retraction and extension drive pulley and the caster retraction and extension driven pulley;

[0014] Alternatively, the caster retraction and extension transmission structure includes a caster retraction and extension drive sprocket coaxially arranged with the output shaft of the caster retraction and extension drive motor, a caster retraction and extension driven sprocket coaxially arranged with the floating shaft, and a caster retraction and extension transmission chain connecting the caster retraction and extension drive sprocket and the caster retraction and extension driven sprocket.

[0015] Optionally, the elastic floating component includes an elastic floating rod with one end fixed to the floating shaft and the other end movably passing through the drive bracket shaft, and a floating spring sleeved on the elastic floating rod, with both ends of the floating spring abutting against the floating shaft and the drive bracket shaft, respectively.

[0016] Optionally, the caster floating bracket includes at least two floating shafts arranged side by side on the frame structure, and the drive wheel bracket includes at least two drive bracket shafts arranged side by side between two drive frame side plates. Each floating shaft corresponds to one drive bracket shaft, and at least one elastic floating element is connected between the floating shaft and the drive bracket shaft.

[0017] Optionally, the frame structure includes two frame side plates arranged side by side, and a frame top plate connected between the two frame side plates, the floating shaft is rotatably disposed between the two frame side plates, and the caster retraction drive motor is disposed on the frame top plate or the frame side plate.

[0018] In addition, the present invention also proposes an intelligent transport vehicle, including a vehicle body and a retractable floating active caster mechanism as described above, located at the bottom of the vehicle body.

[0019] In the technical solution proposed in this invention, a caster retraction drive motor mounted on the frame structure drives the caster retraction transmission structure to rotate, thereby rotating the floating caster bracket. This rotation is achieved through an active drive wheel mechanism connected to the floating caster bracket via an elastic floating element. This allows the active drive wheel mechanism to be retracted into or extended outside the frame structure. Furthermore, the connection between the floating caster bracket and the active drive wheel mechanism via the elastic floating element allows the active drive wheel mechanism to float up and down when encountering grooves or protrusions. This enables the active drive wheel mechanism to automatically adapt to grooves or protrusions, preventing it from becoming suspended in the air when encountering grooves or jamming when encountering protrusions. In addition, the active drive wheel mechanism also has autonomous driving capability, allowing it to actively drive the retractable floating active caster mechanism. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a simplified three-dimensional structural diagram of the retractable floating active caster mechanism described in an embodiment of the present invention;

[0022] Figure 2 This is a simplified side view of the retractable floating active caster mechanism (when the frame side plate is removed and the active drive wheel mechanism is floating and extended) according to an embodiment of the present invention.

[0023] Figure 3 This is a simplified side view of the retractable floating active caster mechanism (when the frame side plate is removed and the active drive wheel mechanism is floating and retracted) according to an embodiment of the present invention.

[0024] Figure 4 This is a simplified side view of the retractable floating active caster mechanism (when the frame side plate is removed and the active drive wheel mechanism rotates and retracts) according to an embodiment of the present invention.

[0025] Explanation of icon numbers:

[0026]

[0027]

[0028] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, top, bottom, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] like Figure 1 As shown, this invention proposes a retractable floating active caster mechanism, including a frame structure 100, a caster retraction / deployment mechanism 200 and a caster floating mechanism 300 mounted on the frame structure 100 and hinged to each other, and an active drive wheel mechanism 400 connected to the caster floating mechanism 300. The frame structure 100 supports the caster retraction / deployment mechanism 200, the caster floating mechanism 300, and the active drive wheel mechanism 400. The caster retraction / deployment mechanism 200 can retract or extend the caster floating mechanism 300 and the active drive wheel mechanism 400 to hide or extend the active drive wheel mechanism 400. The caster floating mechanism 300 can float the active drive wheel mechanism 400 to adapt to uneven road surfaces. The active drive wheel mechanism 400 has autonomous driving capability and can actively drive the entire caster mechanism to move.

[0033] Specifically, the aforementioned caster retraction mechanism 200 may include a caster retraction drive motor 210 mounted on the frame structure 100, and a caster retraction transmission structure 220 connected to the caster retraction drive motor 210, wherein the caster retraction transmission structure 220 is connected to the caster floating mechanism 300. Furthermore, the aforementioned caster floating mechanism 300 may include a caster floating bracket 310 rotatably mounted on the frame structure 100, and an elastic floating member 320 mounted on the caster floating bracket 310. The caster retraction transmission structure 220 is connected to the caster floating bracket 310, and the elastic floating member 320 is connected to the drive wheel mechanism 400. The caster retraction drive motor 210, mounted on the frame structure 100, can drive the caster retraction transmission structure 220 to rotate, thereby rotating the caster floating bracket 310. The caster floating bracket 310 can then rotate the active drive wheel mechanism 400 connected to the elastic floating member 320, allowing the active drive wheel mechanism 400 to be retracted into the frame structure 100 (e.g., ...). Figure 4 (as shown) or extends outside the frame structure 100 (such as Figure 1 (As shown). Furthermore, the caster floating bracket 310 and the active drive wheel mechanism 400 are connected by an elastic floating member 320, allowing the active drive wheel mechanism 400 to float up and down under the action of the elastic floating member 320 when encountering grooves or protrusions (e.g., Figure 2 and Figure 3 As shown), so that the active drive wheel mechanism 400 can automatically adapt to grooves or bulges, and will not be suspended when encountering grooves or get stuck when encountering bulges.

[0034] Furthermore, the aforementioned frame structure 100 may include two frame side plates 110 arranged side by side, and a frame top plate 120 connected between the two frame side plates 110. A caster floating bracket 310 is rotatably mounted between the two frame side plates 110, and a caster retraction / extension drive motor 210 is mounted on the frame top plate 120 or a frame side plate 110. The two frame side plates 110 and the frame top plate 120 enclose a frame structure 100 with a receiving cavity, which can accommodate the caster retraction / extension mechanism 200, the caster floating mechanism 300, and the drive wheel mechanism 400, thus protecting and concealing these structures. The frame top plate 120 or the frame side plate 110 can provide a mounting base for the caster retraction / extension drive motor 210, providing stable support for the caster retraction / extension drive motor 210 and the caster retraction / extension transmission structure 220.

[0035] Furthermore, the aforementioned active drive wheel mechanism 400 may include a drive wheel bracket 410 movably connected to the elastic floating member 320, an active drive motor 420 mounted on the drive wheel bracket 410, an active drive transmission structure 430 connected to the active drive motor 420, and a rotating caster 440 connected to the active drive transmission structure 430. That is, the active drive motor 420 can drive the active drive transmission structure 430 to rotate, thereby causing the rotating caster 440 to rotate. This gives the active drive wheel mechanism 400 autonomous driving capability, enabling it to actively drive the retractable floating active caster mechanism.

[0036] Furthermore, the aforementioned drive wheel bracket 410 may include two drive frame side plates 412 arranged side by side, and a drive bracket shaft 414 rotatably disposed between the two drive frame side plates 412. One end of the aforementioned elastic floating member 320 is movably inserted through the drive bracket shaft 414. The active drive motor 420 and the active drive transmission structure 430 are both disposed on the drive frame side plates 412. The two drive frame side plates 412 can be connected by the drive bracket shaft 414, and a caster receiving space can be formed between the two drive frame side plates 412 to accommodate the rotating caster 440. The rotating caster 440 is also rotatably disposed on the drive frame side plate 412 via the caster shaft 442. In addition, the two drive frame side plates 412 are also located between the two frame side plates 110 of the frame structure 100. The drive frame side plates 412 can provide fixed support for the active drive motor 420 and also support the active drive transmission structure 430.

[0037] Furthermore, in some embodiments, the aforementioned active drive transmission structure 430 may include an active drive pulley 432 coaxially disposed with the output shaft of the active drive motor 420, an active driven pulley 434 coaxially disposed with the caster shaft 442 of the swivel caster 440, and an active drive belt 436 connecting the active drive pulley 432 and the active driven pulley 434. That is, the active drive transmission structure 430 can be configured as a belt drive structure to transmit the power of the active drive motor 420 to the swivel caster 440, thereby driving the swivel caster 440 to rotate. Specifically, the active drive motor 420 drives the active drive pulley 432 to rotate, the active drive pulley 432 drives the active drive belt 436 to move, the active drive belt 436 drives the active driven pulley 434 to rotate, and the active driven pulley 434 drives the caster shaft 442 to rotate, thereby driving the swivel caster 440 to rotate.

[0038] Furthermore, in some other embodiments, the aforementioned active drive transmission structure 430 may include a drive sprocket coaxially arranged with the output shaft of the active drive motor 420, a driven sprocket coaxially arranged with the caster axle of the swivel caster, and a drive drive chain connecting the drive sprocket and the driven pulley. In other words, the active drive transmission structure 430 can be configured as a chain drive structure to transmit power from the active drive motor 420 to the swivel caster 440, thereby driving the swivel caster 440 to rotate.

[0039] Furthermore, the aforementioned floating caster bracket 310 may include at least one floating shaft 312 rotatably mounted between two frame side plates 110 on the frame structure 100. The aforementioned caster retraction and extension transmission structure 220 is connected to the floating shaft 312, and the other end of the aforementioned elastic floating member 320 is fixed to the floating shaft 312. By fixing the caster retraction and extension transmission structure 220 of the caster retraction and extension mechanism 200 to the floating shaft 312 of the floating caster bracket 310, the caster retraction and extension transmission structure 220 can be driven to rotate by the caster retraction and extension drive motor 210, which can drive the floating shaft 312 to rotate, thereby driving the elastic floating member 320 connected to the floating shaft 312 and the active drive wheel mechanism 400 connected to the elastic floating member 320 to rotate, so that the active drive wheel mechanism 400 retracts between the two frame side plates 110 or extends out of the two frame side plates 110.

[0040] Furthermore, in some embodiments, the aforementioned caster retraction and deployment transmission structure 220 may include a caster retraction and deployment drive pulley 222 coaxially arranged with the output shaft of the caster retraction and deployment drive motor 210, a caster retraction and deployment driven pulley 224 coaxially arranged with the floating shaft 312, and a caster retraction and deployment transmission belt 226 connecting the caster retraction and deployment drive pulley 222 and the caster retraction and deployment driven pulley 224. In other words, the caster retraction and deployment transmission structure 220 can be configured as a belt drive structure to transmit power from the caster retraction and deployment drive motor 210 to the floating shaft 312, thereby driving the floating shaft 312 and the active drive wheel mechanism 400 to rotate. Specifically, the caster retraction drive motor 210 drives the caster retraction drive pulley 222 to rotate, the caster retraction drive pulley 222 drives the caster retraction transmission belt 226 to move, the caster retraction transmission belt 226 drives the caster retraction driven pulley 224 to rotate, the caster retraction driven pulley 224 drives the floating shaft 312 to rotate, thereby driving the active drive wheel mechanism 400 to rotate, so as to retract and extend the active drive wheel mechanism 400.

[0041] Furthermore, in some other embodiments, the aforementioned caster retraction and deployment transmission structure 220 may include a caster retraction and deployment drive sprocket coaxially arranged with the output shaft of the caster retraction and deployment drive motor 210, a caster retraction and deployment driven sprocket coaxially arranged with the floating shaft, and a caster retraction and deployment transmission chain connecting the caster retraction and deployment drive sprocket and the caster retraction and deployment driven sprocket. That is, the caster retraction and deployment transmission structure 220 can be configured as a chain drive structure to transmit power from the caster retraction and deployment drive motor 210 to the floating shaft 312, thereby driving the floating shaft 312 and the active drive wheel mechanism 400 to rotate.

[0042] Furthermore, the aforementioned elastic floating element 320 may include an elastic floating rod 322 with one end fixed to the floating shaft 312 and the other end movably passing through the drive bracket shaft 414, and a floating spring 324 sleeved on the elastic floating rod 322, with both ends of the floating spring 324 abutting against the floating shaft 312 and the drive bracket shaft 414, respectively. When the caster mechanism passes through a ditch or a protrusion, the elastic floating element 320 connecting the active drive wheel mechanism 400 has a floating capability, allowing the active drive wheel mechanism 400 to extend and retract to adapt to the ditch or protrusion. Specifically, when the rotating caster 440 of the active drive wheel mechanism 400 encounters a ditch or a protrusion, the rotating caster 440 will contact the ditch or protrusion under the pressure of the load. At this time, the elastic floating rod 322 will extend and retract on the drive bracket shaft 414, simultaneously stretching or compressing the floating spring 324; when the rotating caster 440 moves to flat ground, the floating spring 324 will return to its original position, thereby driving the elastic floating rod 322 to return to its original position. Furthermore, one end of the elastic floating rod 322 is provided with a limiting protrusion, which can prevent the elastic floating rod 322 from disengaging from the drive bracket shaft 414. Moreover, in this embodiment, the aforementioned elastic floating rod 322 can be configured as a stop screw (limiting screw).

[0043] Furthermore, the aforementioned caster floating bracket 310 may include at least two floating shafts 312 arranged side-by-side on the frame structure 100, and the drive wheel bracket 410 may include at least two drive bracket shafts 414 arranged side-by-side between the two drive frame side plates 412. Each floating shaft 312 corresponds to one drive bracket shaft 414, and at least one elastic floating element 320 connects the floating shaft 312 and the drive bracket shaft 414. This allows the caster floating bracket 310 to include multiple floating shafts 312, which can be evenly arranged between the two frame side plates 110 of the frame structure 100 to support the two frame side plates 110. Moreover, by making the drive wheel bracket 410 include multiple drive bracket shafts 414, corresponding one-to-one with multiple floating shafts 312, and connecting each drive bracket shaft 414 and one floating shaft 312 through the elastic floating element 320, more stable support can be provided for the active drive wheel mechanism 400. Furthermore, multiple elastic floating elements 320 can be connected between each floating shaft 312 and a drive bracket 410. Additionally, one caster retraction / release transmission structure 220 can be provided, which can be connected to one of the multiple floating shafts 312. That is, rotating one floating shaft 312 via one caster retraction / release transmission structure 220 will rotate the active drive wheel mechanism 400. Alternatively, multiple caster retraction / release transmission structures 220 can be provided, each connected to one of the multiple floating shafts 312 in a one-to-one correspondence. That is, rotating multiple floating shafts 312 simultaneously via multiple caster retraction / release transmission structures 220 will rotate the active drive wheel mechanism 400.

[0044] Furthermore, in this embodiment, the caster floating bracket 310 may include two floating shafts 312 rotatably disposed side-by-side between the two frame side plates 110. Correspondingly, the drive wheel bracket 410 includes two drive bracket shafts 414 rotatably disposed side-by-side between the two drive frame side plates 412. Two elastic floating elements 320 are correspondingly connected between each floating shaft 312 and each drive bracket shaft 414. This makes the structure simple, and the force is uniform, stable, and reliable. In addition, a caster retraction and extension transmission structure 220 can be provided, which is connected to one of the floating shafts 312 to drive the rotation of the entire active drive wheel mechanism 400.

[0045] Furthermore, the aforementioned retractable floating active caster mechanism may also include a braking structure 500, which protrudes from the bottom of the frame top plate 120 of the frame structure 100 and corresponds to the rotating caster 440. When the rotating caster 440 floats up to a certain position, it will contact the braking structure 500, which will then hold the rotating caster 440 to brake it. Moreover, the braking structure 500 may include a brake block protruding below the frame top plate 120, the end of which has an arc-shaped groove that fits the shape of the rotating caster 440, facilitating the holding and braking of the rotating caster 440.

[0046] Furthermore, this invention also proposes an intelligent transport vehicle, including a vehicle body and a retractable floating active caster mechanism as described above, located at the bottom of the vehicle body. Here, the aforementioned frame structure can be located at the bottom of the vehicle body to integrate the retractable floating active caster mechanism with the vehicle body. By providing a retractable floating active caster mechanism on the intelligent transport vehicle, the vehicle's casters can be retracted or extended as needed; moreover, the vehicle's casters can float, facilitating passage over ditches and protrusions. Furthermore, the space occupied by the retractable floating active caster mechanism can be reduced, enabling assembly within limited space.

[0047] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A retractable floating active caster mechanism, characterized in that, It includes a frame structure (100), a caster retraction mechanism (200) and a caster floating mechanism (300) mounted on the frame structure (100) and hinged to each other, and an active drive wheel mechanism (400) connected to the caster floating mechanism (300). The caster retraction mechanism (200) includes a caster retraction drive motor (210) mounted on the frame structure (100) and a caster retraction transmission structure (220) connected to the caster retraction drive motor (210). The caster floating mechanism (300) includes a caster floating bracket (310) rotatably mounted on the frame structure (100) and an elastic floating member (320) mounted on the caster floating bracket (310). The caster retraction and extension transmission structure (220) is connected to the caster floating bracket (310), and the elastic floating member (320) is connected to the active drive wheel mechanism (400). The active drive wheel mechanism (400) includes a drive wheel bracket (410) movably connected to the elastic floating member (320), an active drive motor (420) mounted on the drive wheel bracket (410), an active drive transmission structure (430) connected to the active drive motor (420), and a rotating caster (440) connected to the active drive transmission structure (430). The drive wheel bracket (410) includes two drive frame side plates (412) arranged side by side, and a drive bracket shaft (414) rotatably disposed between the two drive frame side plates (412). One end of the elastic floating member (320) is movably disposed on the drive bracket shaft (414). The active drive motor (420) and the active drive transmission structure (430) are both disposed on the drive frame side plates (412). The retractable floating active caster mechanism also includes a braking structure (500), which protrudes from the bottom of the top plate (120) of the frame and is provided corresponding to the rotating caster (440). The caster floating bracket (310) includes at least one floating shaft (312) rotatably mounted on the frame structure (100), the caster retraction and extension transmission structure (220) is connected to the floating shaft (312), and the other end of the elastic floating member (320) is fixed to the floating shaft (312).

2. The retractable floating active caster mechanism according to claim 1, characterized in that, The active drive transmission structure (430) includes an active drive pulley (432) coaxially arranged with the output shaft of the active drive motor (420), an active driven pulley (434) coaxially arranged with the rotating caster (440), and an active drive belt (436) connecting the active drive pulley (432) and the active driven pulley (434). Alternatively, the active drive transmission structure (430) includes an active wheel drive sprocket coaxially arranged with the output shaft of the active drive motor (420), an active wheel driven sprocket coaxially arranged with the rotating caster (440), and an active wheel transmission chain connecting the active wheel drive sprocket and the active wheel driven pulley.

3. The retractable floating active caster mechanism according to claim 2, characterized in that, The caster retraction transmission structure (220) includes a caster retraction drive pulley (222) coaxially arranged with the output shaft of the caster retraction drive motor (210), a caster retraction driven pulley (224) coaxially arranged with the floating shaft (312), and a caster retraction transmission belt (226) connecting the caster retraction drive pulley (222) and the caster retraction driven pulley (224). Alternatively, the caster retraction transmission structure (220) includes a caster retraction drive sprocket coaxially arranged with the output shaft of the caster retraction drive motor (210), a caster retraction driven sprocket coaxially arranged with the floating shaft (312), and a caster retraction transmission chain connecting the caster retraction drive sprocket and the caster retraction driven sprocket.

4. The retractable floating active caster mechanism according to claim 3, characterized in that, The elastic floating component (320) includes an elastic floating rod (322) with one end fixed to the floating shaft (312) and the other end movably passing through the drive bracket shaft (414), and a floating spring (324) sleeved on the elastic floating rod (322). The two ends of the floating spring (324) abut against the floating shaft (312) and the drive bracket shaft (414) respectively.

5. The retractable floating active caster mechanism according to claim 4, characterized in that, The caster floating bracket (310) includes at least two floating shafts (312) arranged side by side on the frame structure (100), and the drive wheel bracket (410) includes at least two drive bracket shafts (414) arranged side by side between the two drive frame side plates (412). Each floating shaft (312) corresponds to one drive bracket shaft (414), and at least one elastic floating member (320) is connected between the floating shaft (312) and the drive bracket shaft (414).

6. The retractable floating active caster mechanism according to claim 1, characterized in that, The frame structure (100) includes two frame side plates (110) arranged side by side, and a frame top plate (120) connected between the two frame side plates (110). The floating shaft (312) is rotatably disposed between the two frame side plates (110). The caster retraction drive motor (210) is disposed on the frame top plate (120) or the frame side plate (110).

7. An intelligent transport vehicle, characterized in that, It includes a vehicle body and a retractable floating active caster mechanism as described in any one of claims 1 to 6, located at the bottom of the vehicle body.

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