Automatic guided vehicle using three-column groove shell shaft universal joint structure

Abstract

The invention discloses an automatic guided vehicle applying a three-column groove shell shaft universal joint structure, relates to the field of industrial automation and intelligent logistics, and adopts the technical scheme that the automatic guided vehicle comprises a vehicle body, four supporting mechanisms, a wheel I, a wheel II, a wheel III and a wheel IV, the first wheel, the second wheel, the third wheel and the fourth wheel are installed at the four corners of the vehicle body through four supporting mechanisms correspondingly, a wheel steering mechanism is arranged at the upper end of the vehicle body and can drive the four supporting mechanisms to rotate, and a wheel driving mechanism is arranged at the lower end of the vehicle body and can drive the four supporting mechanisms to rotate. The wheel driving mechanism comprises a main shaft, a first auxiliary shaft and a second auxiliary shaft, the second auxiliary shaft is in linkage with the first wheel, the main shaft can drive the second auxiliary shaft to rotate, the first auxiliary shaft is in linkage with the second wheel and the fourth wheel, and the main shaft can drive the first auxiliary shaft to rotate through a switching assembly. The maneuverability of the vehicle in the limited space is obviously enhanced, the overall structure is simple, and the power efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation and intelligent logistics, and more particularly to an automatic guided vehicle using a three-column slotted shell-shaft universal joint structure. Background Art

[0002] In modern logistics, warehousing, and industrial production, automated guided vehicles (AGVs) are key equipment for automated material transportation. Their maneuverability and flexibility are crucial for improving production efficiency and reducing labor costs. With the increasing complexity of production environments and the increasing sophistication of space utilization, AGVs often need to perform precise maneuvers and steering within confined spaces such as narrow aisles and densely packed storage areas, placing higher demands on the design of their movement mechanisms.

[0003] Currently, the common automated guided vehicle movement mechanisms on the market mainly include traditional universal wheel structures and some complex multi-wheel drive structures. Although the traditional universal wheel structure can achieve a certain degree of steering, the steering angle is limited, and when switching between forward and backward movement and left and right movement modes, it often requires the cooperation of complex mechanical structures or control systems, resulting in a complex overall structure and low power transmission efficiency, making it difficult to achieve flexible multi-mode movement and on-the-spot steering in confined spaces. Some structures that use multiple independently driven wheels, although they have a certain degree of maneuverability, have problems such as cumbersome structure, high manufacturing cost, and difficult maintenance. In addition, the power distribution is not reasonable, which affects the overall performance of the vehicle.

[0004] Furthermore, existing AGVs typically require multiple drive sources to control different wheels when implementing different modes of movement (such as forward and backward movement, left and right movement, and steering). This not only increases system complexity but can also lead to difficulties in power coordination and energy waste. Therefore, designing a simple, highly efficient AGV motion mechanism capable of multi-mode movement and on-the-spot steering, while significantly enhancing maneuverability in confined spaces, has become a pressing technical challenge in this field. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide an automatic guided vehicle using a three-column slotted shell shaft universal joint structure. Through the coordinated design of the wheel steering mechanism and the drive mechanism, the vehicle body has three-mode movement capabilities: the shock absorber in the support mechanism is rotatably installed, and the two-way threaded rod of the steering mechanism drives the drive rod to move, and the diagonally opposite wheels are synchronously flipped through the linkage rod. The switching component of the drive mechanism changes the gear meshing state to achieve power transmission direction control, so that the vehicle body can flexibly complete three-dimensional movement in narrow spaces such as warehouses and workshops, significantly enhancing adaptability to complex environments.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: it includes a vehicle body, four supporting mechanisms, wheel one, wheel two, wheel three and wheel four, and the wheel one, wheel two, wheel three and wheel four are respectively installed at the four corners of the vehicle body through four supporting mechanisms. The upper end of the vehicle body is provided with a wheel steering mechanism, and the wheel steering mechanism can drive the four supporting mechanisms to rotate within a range of 90°. The lower end of the vehicle body is provided with a wheel driving mechanism, and the wheel driving mechanism includes a main shaft, a secondary shaft one and a secondary shaft two. The secondary shaft two is linked with wheel one, and the main shaft can drive the secondary shaft two to rotate. The secondary shaft one is linked with wheel two and wheel four. A switching component is installed on the main shaft, and the main shaft can drive the secondary shaft one to rotate through the switching component, and the switching component can change the rotation direction of the secondary shaft one.

[0007] As a further improvement of the present invention, the supporting mechanism includes a shock absorber, a connecting seat and an axle. The shock absorber is rotatably mounted on the lower end of the vehicle body, the connecting seat is fixedly mounted on the lower end of the shock absorber, the axle is rotatably mounted on the connecting seat, and the wheel one, wheel two, wheel three and wheel four are respectively fixedly connected to the corresponding axles.

[0008] As a further improvement of the present invention, the wheel steering mechanism includes two fixed plates, a guide rod, a two-way threaded rod, two driving rods, four linkage rods and four rotating rods. The two fixed plates are respectively fixedly mounted on the two ends of the vehicle body, the guide rod is fixedly mounted between the two fixed plates, the two-way threaded rod is rotatably mounted between the two fixed plates, the guide rod and the two-way threaded rod are both inserted through the two driving rods, and the two driving rods are respectively threadedly engaged with the two ends of the two-way threaded rod, one end of each rotating rod is respectively fixedly connected to the upper end of the corresponding shock absorber, one end of each linkage rod is respectively rotatably connected to the other end of the corresponding rotating rod, and the other end of each linkage rod is respectively rotatably connected to the corresponding end of the corresponding driving rod.

[0009] As a further improvement of the present invention, a control box is fixedly installed at the lower end of the vehicle body, and the main shaft, secondary shaft one and secondary shaft two are installed in parallel and rotated in the control box. Three fixed shafts are rotatably installed on the control box, and a transmission shaft is installed between each of the fixed shafts and the corresponding axle. One of the fixed shafts is connected to the secondary shaft two through mutually matching bevel gears, and the other two fixed shafts are connected to the secondary shaft one through mutually matching bevel gears.

[0010] As a further improvement of the present invention, gear one is fixedly mounted on the secondary shaft two, gear two is fixedly mounted on the main shaft, gear one is meshed with gear two, the switching assembly includes gear three, gear four, gear five, gear six and a rotating plate, gear three is fixedly mounted on the secondary shaft one, gear four is fixedly mounted on the secondary shaft two, the rotating plate is rotatably mounted on the secondary shaft two, gear five and gear six are both rotatably mounted on the rotating plate, gear five is meshed with gear six, gear six is ​​meshed with gear four, and a swing plate is fixedly mounted on one side of the rotating plate.

[0011] As a further improvement of the present invention, a second linkage rod is fixedly mounted on one end of the swing plate, and one end of the second linkage rod is slidably mounted on the lower end of one of the driving rods.

[0012] As a further improvement of the present invention, the transmission shaft includes a shaft rod, an outer end universal joint and an inner end universal joint, the outer end universal joint and the inner end universal joint are respectively installed at both ends of the shaft rod, the outer end universal joint is rotatably connected to the corresponding axle, and the inner end universal joint is rotatably connected to the corresponding fixed shaft.

[0013] As a further improvement of the present invention, the outer end universal joint includes a bell-shaped housing and a spherical head, the spherical head is fixedly mounted on one end of the shaft, and the spherical head is movably engaged with the bell-shaped housing; the inner end universal joint includes a three-column groove housing and a three-ball pin assembly, the three-ball pin assembly is fixedly mounted on the other end of the shaft, and the three-ball pin assembly is movably engaged with the three-column groove housing.

[0014] As a further improvement of the present invention, the connection between the bell housing and the shaft rod and the connection between the three-column groove housing and the shaft rod are both covered with dust covers.

[0015] Beneficial effects of the present invention:

[0016] 1. Through the coordinated design of the wheel steering mechanism and the drive mechanism, the vehicle body has three-mode mobility capabilities: the shock absorber in the support mechanism is rotatably installed, and the bidirectional threaded rod in the steering mechanism drives the drive rod to move, and the diagonally opposite wheels are synchronously flipped through the linkage rod. The switching component of the drive mechanism realizes the control of power transmission direction by changing the gear meshing state: in state one, the secondary shaft and the main shaft rotate in the opposite direction, driving the front and rear wheels to move in the same direction to achieve forward and backward movement; in state two, the secondary shaft rotates in the same direction, and the 90-degree flip wheel layout realizes left and right translation; in state three, single-wheel drive is used, and the 45-degree steering angle realizes on-the-spot rotation. This design enables the vehicle body to flexibly complete three-dimensional movement in confined spaces such as warehouses and workshops, significantly enhancing its adaptability to complex environments.

[0017] 2. The drive shaft utilizes a universal joint combination consisting of a bell housing and spherical head at the outer end and a three-column groove housing and tripod at the inner end to accommodate large-angle deflection and axial displacement during wheel rollover. The spherical head of the outer universal joint cooperates with the bell housing to allow radial angle changes, ensuring uninterrupted power during rollover. The coordinated structure of the tripod assembly and the three-column groove housing at the inner end can withstand complex loads and reduce stress concentration. The dust cover design at the connection effectively blocks the intrusion of impurities and prevents wear of universal joint components. This structure improves power transmission efficiency and extends the service life of the universal joint under high-frequency wheel rollover conditions, reducing maintenance costs and ensuring long-term operational stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of an automatic guided vehicle using a three-column slotted shell-shaft universal joint structure according to the present invention;

[0019] Figure 2 This is a schematic cross-sectional view of an automatic guided vehicle using a three-column slotted shell-shaft universal joint structure according to the present invention;

[0020] Figure 3 This is a schematic diagram of the connection structure of the control box of the present invention;

[0021] Figure 4 Schematic diagram of the connection structure of the wheel drive mechanism of the present invention;

[0022] Figure 5 Schematic diagram of the three-dimensional structure of the wheel drive mechanism of the present invention;

[0023] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0024] Figure 7 Schematic diagram of the three-dimensional structure of the transmission shaft of the present invention;

[0025] Figure 8 It is a schematic cross-sectional view of the outer end universal joint of the present invention;

[0026] Figure 9 It is a schematic diagram of the cross-section structure of the inner end universal joint of the present invention.

[0027] Reference numerals: 1, vehicle body; 2, support mechanism; 201, shock absorber; 202, connecting seat; 203, axle; 3, wheel steering mechanism; 301, fixing plate; 302, guide rod; 303, two-way threaded rod; 304, driving rod; 305, linkage rod 1; 306, rotating rod; 4, control box; 5, wheel driving mechanism; 501, countershaft 1; 502, countershaft 2; 503, fixed shaft; 504, main shaft; 505, gear 1; 506, gear 2; 507. Gear three; 508. Gear four; 509. Rotating plate; 510. Gear five; 511. Gear six; 512. Swinging plate; 6. Drive shaft; 601. Shaft; 602. Outer universal joint; 6021. Bell housing; 6022. Spherical head; 603. Inner universal joint; 6031. Three-column groove housing; 6032. Three-ball pin assembly; 6033. Dust cover; 7. Linkage rod two; 8. Wheel one; 9. Wheel two; 10. Wheel three; 11. Wheel four. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present disclosure.

[0029] Example 1

[0030] refer to Figures 1 to 5As shown, a specific embodiment of an automatic guided vehicle using a three-column slotted shaft universal joint structure of the present invention includes a vehicle body 1, four support mechanisms 2, wheel one 8, wheel two 9, wheel three 10 and wheel four 11, wherein the wheel one 8, wheel two 9, wheel three 10 and wheel four 11 are respectively installed at the four corners of the vehicle body 1 through the four support mechanisms 2, and the upper end of the vehicle body 1 is provided with a wheel steering mechanism 3, which can drive the four support mechanisms 2 to rotate within a range of 90 degrees, thereby driving each wheel to flip, with wheel one 8 and wheel two 9 flipping toward the front end of the vehicle body 1, and wheel three 10 and wheel four 11 flipping toward the rear end of the vehicle body 1, and the lower end of the vehicle body 1 is provided with a wheel driving mechanism 5, which includes a main shaft 504, a secondary shaft one 501 and The secondary shaft 502 is linked to the wheel 1 8, and the main shaft 504 can drive the secondary shaft 502 to rotate, and the wheel 1 8 can be driven to rotate through the main shaft 504. The secondary shaft 1 501 is linked to the wheel 2 9 and the wheel 4 11. A switching component is installed on the main shaft 504. The main shaft 504 can drive the secondary shaft 1 501 to rotate through the switching component, and the wheel 2 9 and the wheel 4 11 can be driven to rotate in opposite directions through the main shaft 504. The switching component can switch between three states. In state 1, the secondary shaft 1 501 and the main shaft 504 rotate in opposite directions, and the wheel 1 8 and the wheel 4 11 rotate in the same direction (the rotation direction of the wheel here refers to the direction observed from the outer side of the wheel, which is the same below, so it will not be repeated). The corresponding wheel positions in this state are as follows: Figure 1 As shown, the driving main shaft 504 can drive the vehicle body 1 to move forward and backward. In state two, the secondary shaft 1 501 and the main shaft 504 rotate in the same direction, and the wheel 1 8 and the wheel 2 9 rotate in the same direction. In this state, the wheel 1 8 and the wheel 2 9 flip to the front end of the vehicle body 1, and the wheel 3 10 and the wheel 4 11 flip to the rear end of the vehicle body 1. The driving main shaft 504 can drive the vehicle body 1 to move left and right. In state three, the secondary shaft 1 501 is disconnected from the main shaft 504. In this state, each wheel flips 45°, and the driving main shaft 504 can only drive the wheel 1 8 to rotate, thereby driving the vehicle body 1 to turn. Through the unique wheel steering mechanism and drive mechanism design, this invention enables the vehicle body 1 to have multi-mode movement capabilities of moving forward and backward and moving left and right, as well as the ability to turn on the spot, significantly enhancing the maneuverability of the vehicle in confined space, and the overall structure is simple and the power efficiency is high.

[0031] The support mechanism 2 includes a shock absorber 201, a connecting seat 202 and an axle 203. The shock absorber 201 is rotatably installed on the lower end of the vehicle body 1, the connecting seat 202 is fixedly installed on the lower end of the shock absorber 201, and the axle 203 is rotatably installed on the connecting seat 202. The wheel 1 8, wheel 2 9, wheel 3 10 and wheel 4 11 are respectively fixedly connected to the corresponding axles 203. Through the setting of the shock absorber 201, the vibration caused by uneven ground during the driving of the vehicle body 1 is reduced, the driving stability is improved, and the vehicle body 1 and the internal structure are protected. The shock absorber 201 is rotatably installed on the vehicle body 1, and cooperates with the wheel steering mechanism 3 to enable the wheel to flip within a range of 90°, realizing multi-mode switching of the vehicle body 1 forward and backward, left and right movement and steering.

[0032] The wheel steering mechanism 3 includes two fixed plates 301, a guide rod 302, a two-way threaded rod 303, two driving rods 304, four linkage rods 305 and four rotating rods 306. The two fixed plates 301 are respectively fixedly mounted on the two ends of the vehicle body 1, the guide rod 302 is fixedly mounted between the two fixed plates 301, the two-way threaded rod 303 is rotatably mounted between the two fixed plates 301, the guide rod 302 and the two-way threaded rod 303 are both inserted through the two driving rods 304, and the two driving rods 304 are respectively threadedly matched with the two ends of the two-way threaded rod 303, one end of each rotating rod 306 is respectively fixedly connected to the upper end of the corresponding shock absorber 201, and each linkage rod 30 One end of each linkage rod 305 is rotationally connected to the other end of the corresponding rotating rod 306, and the other end of each linkage rod 305 is rotationally connected to the corresponding end of the corresponding driving rod 304. By driving the two-way threaded rod 303 to rotate, the two driving rods 304 can be driven to move in opposite directions. Through the transmission action of the linkage rod 1 305, the rotating rod 306 is driven to rotate. The two adjacent rotating rods 306 rotate in opposite directions, and the two diagonally opposite rotating rods 306 rotate in the same direction, so that the wheel 1 8 and the wheel 2 9 are flipped toward the front end of the vehicle body 1, and the wheel 3 10 and the wheel 4 11 are flipped toward the rear end of the vehicle body 1. By driving each wheel to flip, in conjunction with the wheel driving mechanism 5, multi-mode switching of the vehicle body 1 moving forward and backward, left and right, and turning is realized.

[0033] A control box 4 is fixedly installed at the lower end of the vehicle body 1, and the main shaft 504, the secondary shaft 1 501 and the secondary shaft 2 502 are installed in parallel and rotated in the control box 4. Three fixed shafts 503 are rotatably installed on the control box 4, and a transmission shaft 6 is installed between each fixed shaft 503 and the corresponding axle 203. One of the fixed shafts 503 (referring to the fixed shaft corresponding to the wheel 1 8) is connected to the secondary shaft 2 502 through mutually matched bevel gears. Rotating the secondary shaft 2 502 can drive the wheel 1 8 to rotate. The other two fixed shafts 503 (referring to the fixed shafts corresponding to the wheel 2 9 and the wheel 4 11 respectively) are connected to the secondary shaft 1 501 through mutually matched bevel gears. Rotating the secondary shaft 1 501 can drive the wheel 2 9 and the wheel 4 11 to rotate, and referring to Figure 5 The middle bevel gear is installed in such a way that the rotation directions of wheel two 9 and wheel four 11 are always opposite.

[0034] The secondary shaft 502 is fixedly mounted with a gear 1 505, and the main shaft 504 is fixedly mounted with a gear 2 506. The gear 1 505 meshes with the gear 2 506, and the main shaft 504 can drive the secondary shaft 502 to rotate, and the secondary shaft 502 rotates in the opposite direction to the main shaft 504. The switching assembly includes a gear 3 507, a gear 4 508, a gear 510, a gear 6 511 and a rotating plate 509. The gear 3 507 is fixedly mounted on the secondary shaft 1 501, the gear 4 508 is fixedly mounted on the secondary shaft 2 502, and the rotating plate 509 is rotatably mounted on the secondary shaft 2 502. The gear 5 510 and the gear 6 511 are both rotatably mounted on the rotating plate 509, the gear 5 510 meshes with the gear 6 511, and the gear 6 511 meshes with the gear 4 508. A swing plate 512 is fixedly mounted on one side of the rotating plate 509. In state 1, as shown in FIG. Figure 6 As shown in , gear five 510 is engaged with gear three 507. At this time, the main shaft 504 can drive the countershaft 1 501 to rotate, and the countershaft 1 501 rotates in the opposite direction to the main shaft 504. In this state, the vehicle body 1 can be driven to move forward and backward. The swing plate 512 is pushed downward to disengage the gear five 510 from the gear three 507, and the countershaft 1 501 is disconnected from the main shaft 504. The switching component is switched to state three, and the wheel steering mechanism 3 is used to drive each wheel to rotate 45 degrees, which can drive the wheel 1 8 to rotate, thereby driving the vehicle body 1 to turn. Push the swing plate 512 downward, and gear six 511 engages with gear three 507. At this time, the main shaft 504 can drive the secondary shaft 1 501 to rotate, and the secondary shaft 1 501 rotates in the same direction as the main shaft 504. The switching component switches to state two, and cooperates with the wheel steering mechanism 3 to drive each wheel to rotate 90°. Wheel one 8 and wheel two 9 rotate in the same direction. Wheel one 8 and wheel two 9 flip to the front end of the vehicle body 1, and wheel three 10 and wheel four 11 flip to the rear end of the vehicle body 1. Driving the main shaft 504 can drive the vehicle body 1 to move left and right.

[0035] One end of the swing plate 512 is fixedly mounted with a linkage rod 27, and one end of the linkage rod 27 is slidably mounted on the lower end of one of the driving rods 304. When the wheel steering mechanism 3 drives each wheel to flip, the driving rod 304 moves accordingly, and the swing plate 512 is driven to swing downward through the transmission of the linkage rod 27, so that the state of the switching component changes with the flipping state of the wheel, thereby realizing the change in the movement mode of the vehicle body 1. No manual or complex program adjustments are required, and the operation is convenient.

[0036] Example 2

[0037] like Figures 7 to 9 As shown, the transmission shaft 6 includes a shaft 601, an outer universal joint 602, and an inner universal joint 603. The outer universal joint 602 and the inner universal joint 603 are respectively mounted at the ends of the shaft 601. The outer universal joint 602 is rotatably connected to the corresponding axle 203, while the inner universal joint 603 is rotatably connected to the corresponding fixed shaft 503. This layout enables the transmission shaft to stably and flexibly transmit power between different components. The outer universal joint 602 includes a bell housing 6021 and a spherical head 6022. The spherical head 6022 is fixedly mounted at one end of the shaft 601 and flexibly cooperates with the bell housing 6021. This design gives the outer universal joint 602 excellent universal transmission capability, allowing it to adapt to the angular changes of the axle 203 under complex working conditions, ensuring that power transmission is not affected by angular deviation, thereby ensuring the stability and continuity of power output during vehicle operation. The inner universal joint 603 comprises a three-column housing 6031 and a tripod assembly 6032. The tripod assembly 6032 is fixedly mounted at the other end of the shaft 601 and flexibly engages with the three-column housing 6031. This structure allows for a certain degree of axial and angular displacement while transmitting power, further improving the drive shaft's adaptability to various operating environments, reducing stress concentration caused by relative motion of components, and extending the drive shaft's service life. To ensure the proper operation and service life of the universal joint, dust covers 6033 are installed at the connection between the bell housing 6021 and the shaft 601, as well as at the connection between the three-column housing 6031 and the shaft 601. These dust covers 6033 effectively prevent dust, sand, and other foreign matter from entering the universal joint, preventing these impurities from causing wear and corrosion on the joint's moving components. This ensures the flexible rotation and long-term reliable operation of the outer and inner universal joints 602 and 603. In summary, this structural design of the transmission shaft 6, through reasonable component combination and detail processing, not only achieves efficient and stable power transmission, but also improves the adaptability and service life of the components, providing a strong guarantee for the reliable operation of the entire mechanical system.

[0038] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present disclosure, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. An automatic guided vehicle using a three-column slotted shaft universal joint structure, comprising a vehicle body (1), four supporting mechanisms (2), a wheel 1 (8), a wheel 2 (9), a wheel 3 (10) and a wheel 4 (11), wherein the wheel 1 (8), the wheel 2 (9), the wheel 3 (10) and the wheel 4 (11) are respectively mounted at the four corners of the vehicle body (1) via the four supporting mechanisms (2), and characterized in that: The upper end of the vehicle body (1) is provided with a wheel steering mechanism (3), and the wheel steering mechanism (3) can drive the four supporting mechanisms (2) to rotate within a range of 90 degrees. The lower end of the vehicle body (1) is provided with a wheel driving mechanism (5), and the wheel driving mechanism (5) includes a main shaft (504), a secondary shaft 1 (501) and a secondary shaft 2 (502). The secondary shaft 2 (502) is linked with the wheel 1 (8). The main shaft (504) can drive the secondary shaft 2 (502) to rotate. The secondary shaft 1 (501) is linked with the wheel 2 (9) and the wheel 4 (11). A switching component is installed on the main shaft (504). The main shaft (504) can drive the secondary shaft 1 (501) to rotate through the switching component, and the switching component can change the rotation direction of the secondary shaft 1 (501).

2. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 1, characterized in that: The support mechanism (2) comprises a shock absorber (201), a connecting seat (202) and an axle (203); the shock absorber (201) is rotatably mounted on the lower end of the vehicle body (1); the connecting seat (202) is fixedly mounted on the lower end of the shock absorber (201); the axle (203) is rotatably mounted on the connecting seat (202); and the wheel one (8), wheel two (9), wheel three (10) and wheel four (11) are respectively fixedly connected to the corresponding axle (203).

3. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 2, characterized in that: The wheel steering mechanism (3) comprises two fixed plates (301), a guide rod (302), a bidirectional threaded rod (303), two driving rods (304), four linkage rods (305) and four rotating rods (306). The two fixed plates (301) are respectively fixedly mounted on the two ends of the vehicle body (1). The guide rod (302) is fixedly mounted between the two fixed plates (301). The bidirectional threaded rod (303) is rotatably mounted between the two fixed plates (301). The guide rod (302) and The bidirectional threaded rods (303) are inserted through the two driving rods (304), and the two driving rods (304) are respectively threadedly matched with the two ends of the bidirectional threaded rod (303), one end of each rotating rod (306) is respectively fixedly connected to the upper end of the corresponding shock absorber (201), one end of each linkage rod (305) is respectively rotatably connected to the other end of the corresponding rotating rod (306), and the other end of each linkage rod (305) is respectively rotatably connected to the corresponding end of the corresponding driving rod (304).

4. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 2, characterized in that: A control box (4) is fixedly installed at the lower end of the vehicle body (1); the main shaft (504), the secondary shaft 1 (501) and the secondary shaft 2 (502) are rotatably installed in the control box (4); three fixed shafts (503) are rotatably installed on the control box (4); a transmission shaft (6) is installed between each of the fixed shafts (503) and the corresponding vehicle axle (203); one of the fixed shafts (503) is connected to the secondary shaft 2 (502) through mutually matched bevel gears, and the other two fixed shafts (503) are connected to the secondary shaft 1 (501) through mutually matched bevel gears.

5. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 1, characterized in that: The secondary shaft 2 (502) is fixedly mounted with a gear 1 (505), the primary shaft (504) is fixedly mounted with a gear 2 (506), the gear 1 (505) is meshed with the gear 2 (506), the switching assembly comprises a gear 3 (507), a gear 4 (508), a gear 5 (510), a gear 6 (511) and a rotating plate (509), the gear 3 (507) is fixedly mounted on the secondary shaft 1 (501), the gear 2 (506) is fixedly mounted on the primary shaft (504), the gear 1 (505) is meshed with the gear 2 (506), the switching assembly comprises a gear 3 (507), a gear 4 (508), a gear 5 (510), a gear 6 (511) and a rotating plate (509), the gear 3 (507) is fixedly mounted on the secondary shaft 1 (501), the gear 2 (506) is meshed with the gear 1 (505), the switching assembly comprises a gear 3 (507), a gear 4 (508), a gear 5 (510), a gear 6 (511) and a rotating plate (509), the gear 3 (507) is fixedly mounted on the secondary shaft 1 (501), the gear 6 (506) is meshed with the gear 2 (506 ... Gear four (508) is fixedly mounted on countershaft two (502), the rotating plate (509) is rotatably mounted on countershaft two (502), the gear five (510) and the gear six (511) are both rotatably mounted on the rotating plate (509), the gear five (510) is meshed with the gear six (511), the gear six (511) is meshed with the gear four (508), and a swing plate (512) is fixedly mounted on one side of the rotating plate (509).

6. The automatic guided vehicle using the three-column slotted shell shaft universal joint structure according to claim 5, characterized in that: One end of the swing plate (512) is fixedly mounted with a second linkage rod (7), and one end of the second linkage rod (7) is slidably mounted on the lower end of one of the driving rods (304).

7. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 4, characterized in that: The transmission shaft (6) comprises a shaft (601), an outer end universal joint (602) and an inner end universal joint (603), wherein the outer end universal joint (602) and the inner end universal joint (603) are respectively mounted on the two ends of the shaft (601), the outer end universal joint (602) is rotationally connected to the corresponding axle (203), and the inner end universal joint (603) is rotationally connected to the corresponding fixed shaft (503).

8. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 7, characterized in that: The outer end universal joint (602) comprises a bell-shaped housing (6021) and a spherical head (6022), wherein the spherical head (6022) is fixedly mounted on one end of the shaft (601), and the spherical head (6022) is movably matched with the bell-shaped housing (6021); The inner end universal joint (603) comprises a three-column housing (6031) and a three-ball pin assembly (6032). The three-ball pin assembly (6032) is fixedly mounted on the other end of the shaft (601). The three-ball pin assembly (6032) is movably matched with the three-column housing (6031).

9. The automated guided vehicle using a three-column slotted shell-shaft universal joint structure according to claim 8, characterized in that: The connection between the bell-shaped housing (6021) and the shaft (601) and the connection between the three-column groove housing (6031) and the shaft (601) are both sleeved with dust covers (6033).

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