Wheel group switchable AGV chassis structure based on guide rail slider

Abstract

The application relates to the technical field of automatic mobile equipment, and discloses a wheel group switchable AGV chassis structure based on a guide rail sliding block, which comprises a driving mechanism, and a bottom plate, wherein the bottom plate is provided with through holes corresponding to universal wheels, differential wheels and Mecanum wheels, and the driving mechanism is used for driving the universal wheels, the differential wheels and the Mecanum wheels to move up and down along the through holes; in a first working mode, the driving mechanism drives the universal wheels and the differential wheels to move to below the bottom plate and be in contact with the ground, and at this time, the Mecanum wheels are located above the bottom plate; and in a second working mode, the driving mechanism drives the Mecanum wheels to move to below the bottom plate and be in contact with the ground, and at this time, the universal wheels and the differential wheels are located above the bottom plate. In the case that the load is low and the road surface condition is poor, the differential wheels and the universal wheels can be used as driving wheels together, and in the case that the load is large and the road surface condition is good, the Mecanum wheels can be used as driving wheels, so that the selective use of the driving wheels can be realized, and the AGV has both the mobility and the good bearing capacity.

Description

Technical Field

[0001] This invention relates to the field of automated mobile equipment technology, and in particular to an AGV chassis structure with switchable wheel sets based on guide rail sliders. Background Technology

[0002] Automated Guided Vehicles (AGVs) have various mobile lifting functions. They can acquire environmental information and create environmental maps using electromagnetic or optical sensors, automatically avoid obstacles and plan routes, and can also drive automatically according to preset guidance paths. They are widely used in a variety of fields.

[0003] Mecanum wheels and differential wheels are commonly used drive wheel structures in AGVs. Mecanum wheels have high load-bearing capacity, are suitable for heavy-duty applications, and possess omnidirectional movement capability. They can perform lateral translation and movement in any direction without changing the vehicle's posture, allowing for flexible movement in narrow and complex spaces. Theoretically, they can move from the current position to the target position along any straight line without pre-adjusting the vehicle's direction, exhibiting good maneuverability. However, their disadvantages include high cost and maintenance expenses, and they are prone to jamming or excessive wear on surfaces with grooves or gravel. Differential wheels have a simple structure and low cost, and are less demanding in terms of ground flatness, but they have poor maneuverability and weak load-bearing capacity.

[0004] Therefore, how to provide an AGV drive wheel with good mobility and load-bearing capacity is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a wheel-set switchable AGV chassis structure based on guide rail sliders to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides a wheel-set switchable AGV chassis structure based on a guide rail slider, comprising: The base plate is equipped with casters, differential wheels and Mecanum wheels; The drive mechanism has through holes on the base plate corresponding to the caster wheel, differential wheel and Mecanum wheel respectively. The drive mechanism is used to drive the caster wheel, differential wheel and Mecanum wheel to move up and down along the through holes. In the first working mode, the drive mechanism drives the caster wheel and differential wheel to move below the base plate and into contact with the ground, while the Mecanum wheel is located above the base plate. In the second operating mode, the drive mechanism drives the Mecanum wheel to move below the base plate and into contact with the ground, while the swivel wheel and differential wheel are located above the base plate.

[0007] Furthermore, it also includes: A cross-shaped slide rail has a transverse slide rail and a first longitudinal slide rail arranged in a cross pattern. The first longitudinal slide rail is vertically mounted on the base plate. The casters and Mecanum wheels are arranged near the left and right ends of the transverse slide rail, respectively. The drive mechanism can drive the casters and Mecanum wheels to slide along the transverse slide rail and the first longitudinal slide rail. When the casters and Mecanum wheels slide along the first longitudinal slide rail, they can move up and down along the through hole. The second longitudinal slide rail is arranged near the four corners of the base plate. The second longitudinal slide rail is set on the base plate and arranged near the middle of the base plate in the length direction. The drive mechanism can drive the differential wheel to slide along the second longitudinal slide rail. When the differential wheel slides along the second longitudinal slide rail, the differential wheel can move up and down along the through hole.

[0008] Furthermore, it also includes: The slider is disposed in the cross-shaped slide rail and the second longitudinal slide rail, and can be slidably connected with the cross-shaped slide rail or the second longitudinal slide rail; The wheel set bracket is connected to the slider at one end and to the swivel wheel, Mecanum wheel, or differential wheel at the other end.

[0009] Furthermore, the driving mechanism is an electric push rod assembly, which includes an electric push rod disposed on a cross-shaped slide rail and a second longitudinal slide rail, and a first electromagnet disposed on its output end. When the first electromagnet is energized, it can be attracted to the slider.

[0010] Furthermore, the electric push rods set on the cross-shaped slide rails are respectively arranged on the transverse slide rail and the first longitudinal slide rail, and the electric push rods located on the transverse slide rails are set on the base plate through mounting brackets.

[0011] Furthermore, it also includes: The slider plate is slidably connected to the base plate. The first longitudinal slide rail and the second longitudinal slide rail are provided with through slots that are adapted to the slider plate. When the slider moves to the position corresponding to the through slot, the slider plate can extend into the first longitudinal slide rail and the second longitudinal slide rail from the outside to clamp and fix the slider. An electromagnet assembly includes a second electromagnet and a third electromagnet, which are connected by a first spring. The second electromagnet is connected to a slider plate, and the third electromagnet is mounted on a base plate via a support. The first spring has an elastic tendency to push the slider plate into the through slot. When the second electromagnet is energized, it can overcome the elastic force of the first spring and move closer to the third electromagnet.

[0012] Furthermore, the slider plate is U-shaped and includes a first connecting plate and an upper and lower plate located at the upper and lower ends of the first connecting plate. The through groove is adapted to the upper and lower plates.

[0013] Furthermore, the omnidirectional wheels, differential wheels, and Mecanum wheels are all mounted on a wheel assembly fixing device, which includes: Drive motor, used to drive the rotation of casters, differential wheels or Mecanum wheels; The mounting bracket is located on the left and right sides of the drive motor. The mounting bracket has a first limiting plate with limiting holes. The base plate is provided with limiting pins. When the caster wheel, differential wheel or Mecanum wheel moves from the through hole to below the base plate and contacts the ground, the limiting hole of the first limiting plate corresponding to the caster wheel, differential wheel or Mecanum wheel engages with the limiting pin. At this time, the first limiting plate is in contact with the upper surface of the base plate.

[0014] Furthermore, it also includes: The fourth electromagnet has a U-shaped mounting bracket, which includes a second connecting plate and a first limiting plate and a second limiting plate disposed at the upper and lower ends of the second connecting plate. The second connecting plate is connected to a drive motor, and the fourth electromagnet is disposed on the second connecting plate. The fourth electromagnet is connected to the limiting block via a telescopic rod, and a second spring is sleeved on the outer side of the telescopic rod. When the caster wheel, differential wheel, or Mecanum wheel moves from the through hole to below the base plate and contacts the ground, the fourth electromagnet is de-energized, and the second spring pushes the limiting block to the outside of the through hole and contacts the lower surface of the base plate. When the fourth electromagnet is energized, it overcomes the elastic force of the second spring and attracts the limiting block.

[0015] Furthermore, it also includes: The fifth electromagnet is located at the bottom of the limiting block; The fifth electromagnet is connected to the snap-fit ​​component via a third spring. A snap-fit ​​hole is provided on the second limiting plate. When the fourth electromagnet attracts the limiting block, the third spring pushes the snap-fit ​​component into the snap-fit ​​hole. When the fifth electromagnet is energized, the fifth electromagnet overcomes the elastic force of the third spring and moves the snap-fit ​​component upwards beyond the snap-fit ​​hole.

[0016] The present invention discloses the following technical effects: Under low load and poor road conditions, both differential wheels and swivel wheels can be used as drive wheels. Under high load and good road conditions, Mecanum wheels can be used as drive wheels, allowing for selective use of drive wheels. This "dual working mode" can significantly extend the service life of Mecanum wheels and enable the AGV to simultaneously possess mobility and good load-bearing capacity, demonstrating promising application prospects and a wide range of applications. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments 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 these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the present invention (first working mode); Figure 2 Top view of the base plate (first working mode); Figure 3 This is a schematic diagram of the structure of the present invention (second working mode); Figure 4 Top view of the base plate (second working mode); Figure 5 This is a schematic diagram of a cross-shaped slide rail; Figure 6 This is a schematic diagram of the second longitudinal slide rail; Figure 7 This is a schematic diagram showing the cooperation between the slider plate, the slider, and the first longitudinal slide rail; Figure 8 A schematic diagram of a slider clamping plate holding a slider; Figure 9 A schematic diagram showing the connection of the wheel assembly fixing device to the Mecanum wheel and the swivel wheel respectively; Figure 10 Another perspective view showing the connection between the wheel assembly fixing device and the caster wheel; Figure 11 This is a schematic diagram of the wheel assembly fixing device. Figure 12 This is a schematic diagram of the working state of the limit block; The components include: 1. Base plate; 101. Through hole; 102. Limit pin; 2. Caster wheel; 3. Differential wheel; 4. Mecanum wheel; 5. Transverse slide rail; 6. First longitudinal slide rail; 7. Second longitudinal slide rail; 8. Slider; 9. Wheel set bracket; 10. Electric push rod; 11. First electromagnet; 12. Slider locking plate; 1201. First connecting plate; 1202. Upper locking plate; 1203. Lower locking plate; 13. Second electromagnet; 14. Third... 15. Electromagnet; 16. First spring; 17. Wheel set fixing device; 18. First limiting plate; 19. Limiting hole; 10. Fourth electromagnet; 11. Second connecting plate; 12. Second limiting plate; 13. Limiting block; 14. Second spring; 15. Fifth electromagnet; 16. Snap-fit ​​component; 17. Snap-fit ​​hole; 18. Third spring; 19. Drive motor; 10. Limiting plate. Detailed Implementation

[0019] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 12 As shown, this embodiment of the invention provides a wheel-set switchable AGV chassis structure based on a guide rail slider, comprising: Base plate 1, on which are installed casters 2, differential wheels 3 and Mecanum wheels 4; The drive mechanism has through holes 101 on the base plate 1 corresponding to the caster 2, differential wheel 3 and Mecanum wheel 4 respectively. The drive mechanism is used to drive the caster 2, differential wheel 3 and Mecanum wheel 4 to move up and down along the through holes 101. In the first working mode, the drive mechanism drives the caster wheel 2 and the differential wheel 3 to move below the base plate 1 and into contact with the ground, while the Mecanum wheel 4 is located above the base plate 1. In the second working mode, the drive mechanism drives the Mecanum wheel 4 to move below the base plate 1 and into contact with the ground, while the swivel wheel 2 and the differential wheel 3 are located above the base plate 1.

[0023] In this embodiment, it also includes: The cross-shaped slide rail has a transverse slide rail 5 and a first longitudinal slide rail 6 arranged in a cross pattern. The first longitudinal slide rail 6 is vertically set on the base plate 1. The casters 2 and Mecanum wheels 4 are arranged near the left and right ends of the transverse slide rail 5, respectively. The drive mechanism can drive the casters 2 and Mecanum wheels 4 to slide along the transverse slide rail 5 and the first longitudinal slide rail 6. When the casters 2 and Mecanum wheels 4 slide along the first longitudinal slide rail 6, the casters 2 and Mecanum wheels 4 can move up and down along the through hole 101. The second longitudinal slide rail 7 and the cross-shaped slide rails are respectively arranged near the four corners of the base plate 1. The second longitudinal slide rail 7 is set on the base plate 1 and arranged near the middle of the length direction of the base plate 1. The drive mechanism can drive the differential wheel 3 to slide along the second longitudinal slide rail 7. When the differential wheel 3 slides along the second longitudinal slide rail 7, the differential wheel 3 can move up and down along the through hole 101.

[0024] In this embodiment, it also includes: The slider 8 is disposed in the cross-shaped slide rail and the second longitudinal slide rail 7, and can be slidably connected with the cross-shaped slide rail or the second longitudinal slide rail 7; The wheel set bracket 9 is connected to the slider 8 at one end and to the swivel wheel 2, Mecanum wheel 4 or differential wheel 3 at the other end.

[0025] In this embodiment, the driving mechanism is a set of electric push rods 10. The set of electric push rods 10 includes an electric push rod 10, which is disposed on a cross-shaped slide rail and a second longitudinal slide rail 7. A first electromagnet 11 is disposed on its output end. When the first electromagnet 11 is energized, it can be attracted to the slider 8.

[0026] In this embodiment, the electric push rods 10, which are mounted on the cross-shaped slide rails, are respectively arranged on the transverse slide rail 5 and the first longitudinal slide rail 6. The electric push rods 10 located on the transverse slide rail 5 are mounted on the base plate 1 through the mounting bracket.

[0027] In this embodiment, it also includes: The slider plate 12 is slidably connected to the base plate 1. The first longitudinal slide rail 6 and the second longitudinal slide rail 7 are provided with through slots that are adapted to the slider plate 12. When the slider 8 moves to the position corresponding to the through slot, the slider plate 12 can extend into the first longitudinal slide rail 6 and the second longitudinal slide rail 7 from the outside to clamp and fix the slider 8. The electromagnet assembly includes a second electromagnet 13 and a third electromagnet 14. The second electromagnet 13 and the third electromagnet 14 are connected by a first spring 15. The second electromagnet 13 is connected to a slider plate 12. The third electromagnet 14 is mounted on a base plate 1 via a support. The first spring 15 has an elastic tendency to push the slider plate 12 into the through slot. When the second electromagnet 13 is energized, it can overcome the elastic force of the first spring 15 and move closer to the third electromagnet 14.

[0028] In this embodiment, the slider plate 12 is U-shaped, including a first connecting plate 1201 and an upper plate 1202 and a lower plate 1203 located at the upper and lower ends of the first connecting plate 1201. The through groove is adapted to the upper plate 1202 and the lower plate 1203. It should be noted that the width of the through groove is very small and will not affect the sliding of the slider 8 along the first longitudinal slide rail 6 and the second longitudinal slide rail 7. The function of the slider plate 12 is to prevent the omnidirectional wheel 2, the differential wheel 3, and the Mecanum wheel 4 from being pushed upward by the reaction force during grounding operation, thereby improving the stability of each wheel set.

[0029] like Figure 6 As shown, this embodiment also includes a limiting plate 18, which is integrally connected above the slider plate 12 and can also pass through the second longitudinal slide rail 7 and extend into it. The limiting plate 18 and the slider plate 12 are driven by the same electromagnet assembly. For the differential wheel 3, when it moves to its highest point along the second longitudinal slide rail 7, the electromagnet assembly can be de-energized, and the first spring 15 drives the limiting plate 18 to pass through into the second longitudinal slide rail 7 and support the slider 8 corresponding to the differential wheel 3 from the bottom, so as to support the differential wheel 3 when it is not in use. For the omnidirectional wheel 2 and the Mecanum wheel 4, when they are not in use, the slider 8 can be directly supported by the transverse slide rail 5.

[0030] The switching process between the first and second working modes is as follows: Assuming the AGV is currently using Mecanum wheels 4 as drive wheels, it needs to be switched to differential wheels 3 and omnidirectional wheels 2. At this time, omnidirectional wheels 2 are located on the left side of the transverse slide rail 5 and are connected to electric push rods 10 via the first electromagnet 11. First, the electric push rods 10 and the first electromagnets 11 on the first longitudinal slide rail 6 drive the Mecanum wheels 4 to move upward. Then, another set of electric push rods 10 and the first electromagnets 11 on the right side of the transverse slide rail 5 drive the Mecanum wheels 4 to move to the right side of the transverse slide rail 5. At the same time, the first electromagnet 11 at the output end of the electric push rods 10 on the first longitudinal slide rail 6 is de-energized.

[0031] Then the caster wheel 2 moves to the right via the electric push rod 10. When it moves to the first longitudinal slide rail 6, the first electromagnet 11 at the output end of the electric push rod 10 on the first longitudinal slide rail 6 is energized, and the first electromagnet 11 at the output end of the electric push rod 10 on the left side of the transverse slide rail 5 is de-energized. The caster wheel 2 is driven to move down by the electric push rod 10 on the first longitudinal slide rail 6 until it moves from the through hole 101 to below the base plate 1 and connects with the ground.

[0032] The movement of the differential wheel 3 is driven by the electric push rod 10 and moves up and down on the second longitudinal slide rail 7, which is independent of the movement of the caster wheel 2 and the Mecanum wheel 4.

[0033] In this embodiment, the swivel caster 2, the differential caster 3, and the Mecanum caster 4 are all mounted on the wheel set fixing device 16, which includes: Drive motor 17 is used to drive the universal wheel 2, differential wheel 3 or Mecanum wheel 4 to rotate; The mounting bracket is located on the left and right sides of the drive motor 17. The mounting bracket has a first limiting plate 1601 with a limiting hole 1602. The base plate 1 is provided with a limiting pin 102. When the caster 2, differential wheel 3 or Mecanum wheel 4 moves from the through hole 101 to below the base plate 1 and contacts the ground, the limiting hole 1602 of the first limiting plate 1601 corresponding to the caster 2, differential wheel 3 or Mecanum wheel 4 engages with the limiting pin 102. At this time, the first limiting plate 1601 contacts the upper surface of the base plate 1.

[0034] In this embodiment, it also includes: The fourth electromagnet 1603 has a U-shaped mounting bracket, including a second connecting plate 1604 and a first limiting plate 1601 and a second limiting plate 1605 disposed at the upper and lower ends of the second connecting plate 1604. The second connecting plate 1604 is connected to the drive motor 17, and the fourth electromagnet 1603 is disposed on the second connecting plate 1604. The limiting block 1606 and the fourth electromagnet 1603 are connected to the limiting block 1606 via a telescopic rod. The outer side of the telescopic rod is fitted with a second spring 1607. When the caster wheel 2, differential wheel 3 or Mecanum wheel 4 moves from the through hole 101 to below the base plate 1 and into contact with the ground, the fourth electromagnet 1603 is de-energized, and the second spring 1607 pushes the limiting block 1606 to the outside of the through hole 101 and into contact with the lower surface of the base plate 1. When the fourth electromagnet 1603 is energized, the fourth electromagnet 1603 overcomes the elastic force of the second spring 1607 and attracts the limiting block 1606.

[0035] In this embodiment, it also includes: The fifth electromagnet 1608 is located at the bottom of the limiting block 1606; The snap-fit ​​component 1609 and the fifth electromagnet 1608 are connected to the snap-fit ​​component 1609 via the third spring 1611. The second limiting plate 1605 has a snap-fit ​​hole 1610. When the fourth electromagnet 1603 attracts the limiting block 1606, the third spring 1611 pushes the snap-fit ​​component 1609 into the snap-fit ​​hole 1610. When the fifth electromagnet 1608 is energized, the fifth electromagnet 1608 overcomes the elastic force of the third spring 1611 and moves the snap-fit ​​component 1609 upwards beyond the snap-fit ​​hole 1610.

[0036] In this embodiment, to avoid interference between the wheel fixing device 16 corresponding to the omnidirectional wheel 2 and the wheel fixing device 16 corresponding to the Mecanum wheel 4, the two wheel fixing devices 16 are arranged in a vertically distributed manner. The overall arrangement direction of the wheel fixing device 16 corresponding to the omnidirectional wheel 2 is generally perpendicular to the length direction of the base plate 1. The omnidirectional wheel 2 may not require a drive motor 17, therefore the wheel fixing device 16 can be structurally adjusted adaptively (e.g., ...). Figure 9 and Figure 10 As shown, the U-shaped orientation of the mounting bracket has been adaptively adjusted to improve structural stability and avoid mechanical interference.

[0037] The working process of the wheelset fixing device 16 is as follows: First, when the caster wheel 2, differential wheel 3, or Mecanum wheel 4 moves from the through hole 101 to below the base plate 1 and into contact with the ground, the limiting hole 1602 engages with the limiting pin 102, thus achieving horizontal limiting.

[0038] Then, the fifth electromagnet 1608 is energized, overcoming the elastic force of the third spring 1611, and moves the latching piece 1609 upward to outside the latching hole 1610. The fourth electromagnet 1603 is de-energized, and the second spring 1607 pushes the limiting block 1606 to the outside of the through hole 101 and into contact with the lower surface of the base plate 1. Since the limiting block 1606 is connected to the fourth electromagnet 1603 through the telescopic rod (rigid), the limiting block 1606 can play a longitudinal limiting role. Together with the slider plate 12, it can further improve the stability of the structure operation.

[0039] In this embodiment, a control center can also be set up to control the on / off state of each electromagnet and the opening / closing, power, etc. of each driving mechanism.

[0040] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A wheel-set switchable AGV chassis structure based on guide rail slider, characterized in that, include: The base plate (1) is provided with casters (2), differential wheels (3) and Mecanum wheels (4). The drive mechanism has through holes (101) on the base plate (1) corresponding to the universal wheel (2), differential wheel (3) and Mecanum wheel (4) respectively. The drive mechanism is used to drive the universal wheel (2), differential wheel (3) and Mecanum wheel (4) to move up and down along the through holes (101); In the first working mode, the drive mechanism drives the caster wheel (2) and the differential wheel (3) to move below the base plate (1) and to contact the ground, while the Mecanum wheel (4) is located above the base plate (1); In the second working mode, the drive mechanism drives the Mecanum wheel (4) to move below the base plate (1) and into contact with the ground, at which time the omnidirectional wheel (2) and the differential wheel (3) are located above the base plate (1).

2. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 1, characterized in that, Also includes: The cross-shaped slide rail has a cross-arranged transverse slide rail (5) and a first longitudinal slide rail (6), the first longitudinal slide rail (6) being vertically mounted on the base plate (1); the casters (2) and Mecanum wheels (4) are respectively arranged close to the left and right ends of the transverse slide rail (5), the drive mechanism can drive the casters (2) and Mecanum wheels (4) to slide along the transverse slide rail (5) and the first longitudinal slide rail (6), when the casters (2) and Mecanum wheels (4) slide along the first longitudinal slide rail (6), the casters (2) and Mecanum wheels (4) can move up and down along the through hole (101); The second longitudinal slide rail (7) is arranged near the four corners of the base plate (1). The second longitudinal slide rail (7) is set on the base plate (1) and arranged near the middle of the length direction of the base plate (1). The driving mechanism can drive the differential wheel (3) to slide along the second longitudinal slide rail (7). When the differential wheel (3) slides along the second longitudinal slide rail (7), the differential wheel (3) can move up and down along the through hole (101).

3. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 2, characterized in that, Also includes: The slider (8) is set in the cross-shaped slide rail and the second longitudinal slide rail (7) and can be slidably connected with the cross-shaped slide rail or the second longitudinal slide rail (7); The wheel set bracket (9) is connected to the slider (8) at one end and to the swivel wheel (2), Mecanum wheel (4) or differential wheel (3) at the other end.

4. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 3, characterized in that, The driving mechanism is an electric push rod (10) group, which includes an electric push rod (10) set on a cross-shaped slide rail and a second longitudinal slide rail (7), and a first electromagnet (11) is set on its output end. When the first electromagnet (11) is energized, it can be attracted to the slider (8).

5. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 4, characterized in that, The electric push rods (10) set on the cross-shaped slide rail are respectively arranged on the transverse slide rail (5) and the first longitudinal slide rail (6). The electric push rods (10) located on the transverse slide rail (5) are set on the base plate (1) through the mounting bracket.

6. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 3, characterized in that, Also includes: The slider plate (12) is slidably connected to the base plate (1). The first longitudinal slide rail (6) and the second longitudinal slide rail (7) are provided with through slots that are adapted to the slider plate (12) through the inside and outside. When the slider (8) moves to the position corresponding to the through slot, the slider plate (12) can extend into the first longitudinal slide rail (6) and the second longitudinal slide rail (7) from the outside to clamp and fix the slider (8). The electromagnet assembly includes a second electromagnet (13) and a third electromagnet (14). The second electromagnet (13) and the third electromagnet (14) are connected by a first spring (15). The second electromagnet (13) is connected to a slider plate (12). The third electromagnet (14) is mounted on a base plate (1) by a support. The first spring (15) has an elastic tendency to push the slider plate (12) into the through slot. When the second electromagnet (13) is energized, it can overcome the elastic force of the first spring (15) and move closer to the third electromagnet (14).

7. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 6, characterized in that, The slider plate (12) is U-shaped and includes a first connecting plate (1201) and an upper plate (1202) and a lower plate (1203) located at the upper and lower ends of the first connecting plate (1201). The through slot is adapted to the upper plate (1202) and the lower plate (1203).

8. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 1, characterized in that, The caster wheel (2), differential wheel (3), and Mecanum wheel (4) are all mounted on the wheel set fixing device (16), which includes: A drive motor (17) is used to drive the universal wheel (2), differential wheel (3) or Mecanum wheel (4) to rotate; The mounting bracket is set on the left and right sides of the drive motor (17). The mounting bracket has a first limiting plate (1601) with a limiting hole (1602) on the first limiting plate (1601). The base plate (1) is provided with a limiting pin (102). When the caster (2), differential wheel (3) or Mecanum wheel (4) moves from the through hole (101) to below the base plate (1) and contacts the ground, the limiting hole (1602) of the first limiting plate (1601) corresponding to the caster (2), differential wheel (3) or Mecanum wheel (4) is engaged with the limiting pin (102). At this time, the first limiting plate (1601) is in contact with the upper surface of the base plate (1).

9. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 8, characterized in that, Also includes: The fourth electromagnet (1603) has a U-shaped mounting bracket, including a second connecting plate (1604) and a first limiting plate (1601) and a second limiting plate (1605) disposed at the upper and lower ends of the second connecting plate (1604). The second connecting plate (1604) is connected to the drive motor (17), and the fourth electromagnet (1603) is disposed on the second connecting plate (1604). The fourth electromagnet (1603) is connected to the limiting block (1606) via a telescopic rod, and a second spring (1607) is sleeved on the outside of the telescopic rod. When the universal wheel (2), differential wheel (3) or Mecanum wheel (4) moves from the through hole (101) to below the base plate (1) and contacts the ground, the fourth electromagnet (1603) is de-energized, and the second spring (1607) pushes the limiting block (1606) to the outside of the through hole (101) and contacts the lower surface of the base plate (1). When the fourth electromagnet (1603) is energized, the fourth electromagnet (1603) overcomes the elastic force of the second spring (1607) and attracts the limiting block (1606).

10. The AGV chassis structure with switchable wheel sets based on guide rail sliders according to claim 9, characterized in that, Also includes: The fifth electromagnet (1608) is located at the bottom of the limiting block (1606); The fifth electromagnet (1608) is connected to the snap-fit ​​component (1609) via the third spring (1611). The second limiting plate (1605) has a snap-fit ​​hole (1610). When the fourth electromagnet (1603) attracts the limiting block (1606), the third spring (1611) pushes the snap-fit ​​component (1609) into the snap-fit ​​hole (1610). When the fifth electromagnet (1608) is energized, the fifth electromagnet (1608) overcomes the elastic force of the third spring (1611) and moves the snap-fit ​​component (1609) upward to outside the snap-fit ​​hole (1610).

Images