Omnidirectional chassis with Mecanum wheels and automatic guided vehicle
By designing an omnidirectional chassis with McNum wheels on the automatic guide vehicle, using the combination of suspension mechanism and shock cushioning, the stability problem of the automatic guide vehicle when moving on narrow and uneven fields is solved, and a smooth and accurate omnidirectional movement is achieved.
Patent Information
- Application Number
- CN202420579459.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-25
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-03-25
AI Technical Summary
When the automatic guide car moves in a narrow space and uneven field, multiple wheels cannot land at the same time, affecting the stability of the movement posture.
An omnidirectional chassis with McNum wheels is designed, and the omnidirectional movement is achieved through the first suspension mechanism and the second suspension mechanism is utilizing the characteristics of the McNum wheels, and the height is adjusted and vibration absorbed through the movable assembly and cushioning member to ensure that the chassis remains stable during bumps.
It realizes smooth movement in small spaces and uneven fields, reduces the possibility of chassis tilting, improves the stability of the center of gravity and the accuracy of the movement posture.
Smart Images
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Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot automation, in particular to an omnidirectional chassis with Mecanum wheels and an automatic guided vehicle. Background Art
[0002] AGV is an Automated Guided Vehicle, which is an automatic guided vehicle equipped with magnetic strips, tracks or lasers. It travels along a planned path. The AGV can accurately follow the prescribed path and complete a series of tasks after reaching the designated location. Considering that the AGV needs to move in a narrow space, Mecanum wheels are installed on the AGV to achieve omnidirectional movement without changing the direction of the AGV itself. If the site is not flat, bumpy or has small obstacles, the multiple wheels of the AGV cannot touch the ground at the same time, affecting the stability of its movement posture. Utility Model Content
[0003] The utility model aims to provide an omnidirectional chassis and an automatic guided vehicle with Mecanum wheels, so that the omnidirectional chassis can remain stable when encountering bumps, is suitable for running in a narrow space, realizes the obstacle-crossing function of the omnidirectional chassis, reduces the situation of the chassis tipping over, and improves the stability of the center of gravity of the omnidirectional chassis.
[0004] A first aspect of the utility model provides an omnidirectional chassis with Mecanum wheels. The omnidirectional chassis comprises a chassis body, a first suspension mechanism and a second suspension mechanism.
[0005] Chassis body;
[0006] a first suspension mechanism, the first suspension mechanism comprising a connecting bracket, a movable assembly and two first Mecanum wheel assemblies, the movable assembly being connected to the chassis body, and a side of the movable assembly away from the chassis body being rotatably connected to the connecting bracket, and opposite sides of the connecting bracket being respectively connected to the first Mecanum wheel assemblies;
[0007] The second suspension mechanism comprises two mounting members and two second Mecanum wheel assemblies, the two mounting members are respectively connected to the chassis body, and each mounting member is connected to one of the second Mecanum wheel assemblies.
[0008] In a possible embodiment of the utility model, the movable component includes a movable seat and a rotating shaft, the movable seat is provided with a first through hole, the connecting bracket is provided with a second through hole, and the rotating shaft is sequentially passed through the first through hole and the second through hole so that the movable seat is rotatably connected to the connecting bracket through the rotating shaft.
[0009] In a possible embodiment of the present invention, the movable assembly further includes a plurality of shock absorbing members, and the shock absorbing members are abutted between the movable seat and the connecting bracket.
[0010] In a possible embodiment of the present invention, the shock absorbing member is one of a spring damper, elastic rubber or elastic silica gel.
[0011] In a possible embodiment of the present invention, the first Mecanum wheel assembly includes a motor, a reducer and a first Mecanum wheel, the motor is connected to a side of the connecting bracket away from the movable assembly, and the motor is connected to the first Mecanum wheel through the reducer.
[0012] In a possible embodiment of the utility model, mounting plates are provided at opposite ends of the connecting bracket, the mounting plates are provided with an opening, and the motor can be snap-fitted with the side wall of the opening so that the mounting plate is arranged between the reducer and the motor.
[0013] In a possible embodiment of the present invention, a through slot is formed on a side of the connecting bracket away from the movable component, and the mounting plate can be snap-fitted with a slot wall of the through slot and locked with bolts.
[0014] In a possible embodiment of the present invention, the two reducers arranged opposite to each other are both arranged in the through groove.
[0015] In a possible embodiment of the present invention, the second Mecanum wheel assembly includes a motor, a reducer, and a second Mecanum wheel, and the motor is connected to the second Mecanum wheel via the reducer.
[0016] A second aspect of the utility model provides an automatic guided vehicle, comprising the omnidirectional chassis described in any one of the above embodiments.
[0017] Compared with the prior art, the utility model has the following beneficial effects: an omnidirectional chassis with Mecanum wheels and an automatic guided vehicle provided by the utility model can be applied to an automatic guided vehicle; the second suspension mechanism is connected to the second Mecanum wheel assembly in a common installation manner; the first suspension mechanism is adopted so that the omnidirectional chassis can remain stable when encountering bumps; the Mecanum wheels are arranged so as to maintain omnidirectional movement or rotation; each Mecanum wheel can drive the omnidirectional chassis alone, and is suitable for operation in a narrow space; the movable assembly can be rotatably adjusted relative to the connecting bracket, and has a certain swing adjustment amplitude when the height of the first Mecanum wheel changes, so that the omnidirectional chassis has a certain obstacle crossing effect, so as to reduce the situation where the chassis tipping over occurs, improve the center of gravity stability of the omnidirectional chassis, and maintain the accuracy of the movement posture of the omnidirectional chassis. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the omnidirectional chassis provided in some embodiments of the utility model;
[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the first suspension mechanism of the omnidirectional chassis provided in some embodiments of the utility model;
[0021] Figure 3 A three-dimensional assembly diagram of a first suspension mechanism of an omnidirectional chassis provided in some embodiments of the present invention Figure 1 ;
[0022] Figure 4 A three-dimensional assembly diagram of a first suspension mechanism of an omnidirectional chassis provided in some embodiments of the present invention Figure 2 .
[0023] Description of main component symbols;
[0024] 100-omnidirectional chassis; 110-chassis body; 120-first suspension mechanism; 121-connecting bracket; 121a-second through hole; 121b-through slot; 122-movable component; 1221-movable seat; 1221a-first through hole; 1222-rotating shaft; 1223-shock absorber; 123-first Mecanum wheel assembly; 1231-motor; 1232-reducer; 1233-first Mecanum wheel; 1233a-mounting slot; 124-mounting plate; 124a-opening; 130-second suspension mechanism; 131-mounting member; 132-second Mecanum wheel assembly. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.
[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0028] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0029] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0031] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0032] Example 1
[0033] refer to Figure 1As shown, an embodiment of the present application provides an omnidirectional chassis 100 with Mecanum wheels. The omnidirectional chassis 100 includes a chassis body 110 , a first suspension mechanism 120 , and a second suspension mechanism 130 .
[0034] Specifically, combined Figure 1 and Figure 2 As shown, the first suspension mechanism 120 includes a connecting bracket 121, a movable component 122 and two first Mecanum wheel components 123, the movable component 122 is connected to the chassis body 110, and the side of the movable component 122 away from the chassis body 110 is rotatably connected to the connecting bracket 121, and the opposite sides of the connecting bracket 121 are respectively connected to the first Mecanum wheel components 123; the second suspension mechanism 130 includes two mounting members 131 and two second Mecanum wheel components 132, the two mounting members 131 are respectively connected to the chassis body 110, and each of the mounting members 131 is connected to the chassis body 110. The mounting member 131 is connected to the second Mecanum wheel assembly 132. The second suspension mechanism 130 is connected to the second Mecanum wheel assembly 132 in a common installation manner. The first suspension mechanism 120 is used to enable the omnidirectional chassis 100 to remain stable when encountering bumps. The Mecanum wheel can maintain omnidirectional movement or rotation, which is suitable for operation in a small space. The movable assembly 122 can be rotatably adjusted relative to the connecting bracket 121, and has a certain swing adjustment range when the height of the first Mecanum wheel 1233 changes, so that the omnidirectional chassis 100 has a certain obstacle crossing effect.
[0035] It should be noted that the Mecanum wheel is based on the principle of a central wheel with many axles located around the wheel. These angled peripheral axles convert part of the wheel steering force into a wheel normal force, which can move freely in the direction of the resultant force vector without changing the direction of the wheel itself, thus achieving omnidirectional movement.
[0036] In one embodiment, specifically, the movable component 122 includes a movable seat 1221 and a rotating shaft 1222, the movable seat 1221 is provided with a first through hole 1221a, the connecting bracket 121 is provided with a second through hole 121a, and the rotating shaft 1222 is sequentially passed through the first through hole 1221a and the second through hole 121a, so that the movable seat 1221 is rotatably connected to the connecting bracket 121 through the rotating shaft 1222, thereby reducing the swaying or even overturning of the omnidirectional chassis 100 and realizing the movement of the omnidirectional chassis 100 over obstacles.
[0037] In one embodiment, specifically, Figure 4As shown, the first Mecanum wheel assembly 123 includes a motor 1231, a reducer 1232 and a first Mecanum wheel 1233. The motor 1231 is connected to a side of the connecting bracket 121 away from the movable assembly 122, and the motor 1231 is connected to the first Mecanum wheel 1233 through the reducer 1232. The motor 1231 provides a driving force for the first Mecanum wheel 1233. The reducer 1232 realizes speed change and start-stop control during the movement of the first Mecanum wheel 1233. The motor 1231 and the reducer 1232 cooperate to achieve more accurate control of the movement of the first Mecanum wheel 1233.
[0038] In one embodiment, specifically, the second Mecanum wheel assembly 132 includes a motor 1231, a reducer 1232, and a second Mecanum wheel. The motor 1231 is connected to the second Mecanum wheel through the reducer 1232. The second Mecanum wheel assembly 132 is used to maintain the stability of the omnidirectional chassis 100. It can be understood that the second Mecanum wheel is used in conjunction with the motor 1231 and the reducer 1232. It can be understood that the second Mecanum wheel assembly 132 can be set at the front wheel position, and the second Mecanum wheel assembly 132 can also be set at the rear wheel position, which is not specifically limited here.
[0039] In summary, the omnidirectional chassis 100 with Mecanum wheels can be applied to an automatic guided vehicle. The second suspension mechanism 130 is connected to the second Mecanum wheel assembly 132. The first suspension mechanism 120 is used to keep the omnidirectional chassis 100 stable when encountering bumps. The Mecanum wheels can maintain omnidirectional movement or rotation. Each Mecanum wheel can drive the omnidirectional chassis 100 independently, which is suitable for operation in a small space. The movable assembly 122 can be rotatably adjusted relative to the connecting bracket 121, and has a certain swing adjustment range when the height of the first Mecanum wheel 1233 changes, so that the omnidirectional chassis 100 has a certain obstacle crossing effect, so as to reduce the situation that the chassis tipping over, and improve the center of gravity stability of the omnidirectional chassis 100.
[0040] Example 2
[0041] refer to Figure 1 As shown, an embodiment of the present application provides another omnidirectional chassis 100 with Mecanum wheels. The omnidirectional chassis 100 can be applied to an automatic guided vehicle. The omnidirectional chassis 100 includes a chassis body 110 , a first suspension mechanism 120 , and a second suspension mechanism 130 .
[0042] Specifically, combined Figure 1 and Figure 2As shown, the first suspension mechanism 120 includes a connecting bracket 121, a movable component 122 and two first Mecanum wheel components 123. The movable component 122 is connected to the chassis body 110, and the side of the movable component 122 away from the chassis body 110 is rotatably connected to the connecting bracket 121. The first Mecanum wheel components 123 are respectively connected to the opposite sides of the connecting bracket 121. The first suspension mechanism 120 is used to achieve relatively stable movement on uneven roads. The first suspension mechanism 120 can be used to keep the omnidirectional chassis 100 stable when encountering bumps. The Mecanum wheels can maintain omnidirectional movement or rotation.
[0043] Specifically, the second suspension mechanism 130 includes two mounting members 131 and two second Mecanum wheel assemblies 132. The two mounting members 131 are respectively connected to the chassis body 110, and each mounting member 131 is connected to a second Mecanum wheel assembly 132. The second suspension mechanism 130 is connected to the second Mecanum wheel assembly 132 in a common mounting manner. Each first Mecanum wheel 1233 or each second Mecanum wheel can drive the omnidirectional chassis 100 independently, and is suitable for operation in a small space.
[0044] It can be understood that the movable component 122 can be rotatably adjusted relative to the connecting bracket 121, and has a certain swing adjustment range when the height of the first Mecanum wheel 1233 changes, so that the omnidirectional chassis 100 has a certain obstacle crossing effect and maintains the accuracy of the movement posture.
[0045] In one embodiment, specifically, the movable assembly 122 includes a movable seat 1221 and a rotating shaft 1222, the movable seat 1221 is provided with a first through hole 1221a, the connecting bracket 121 is provided with a second through hole 121a, the rotating shaft 1222 is sequentially penetrated through the first through hole 1221a and the second through hole 121a, so that the movable seat 1221 is rotatably connected to the connecting bracket 121 through the rotating shaft 1222, and further, the first through holes 1221a are provided on opposite sides of the movable seat 1221, and the corresponding first through holes 1221a of the connecting bracket 121 are provided. A second through hole 121a is provided at the position of the hole 1221a, and the detachable rotating shaft 1222 passes through the first through hole 1221a and the second through hole 121a and is installed at opposite ends of the rotating shaft 1222, and the movable seat 1221 is connected to the connecting bracket 121 so that the movable seat 1221 can rotate around the rotating shaft 1222. During the rotation, the first Mecanum wheel assembly 123 rotates relative to the movable seat 1221, so that the first Mecanum wheel assembly 123 has a swing adjustment range, thereby reducing the swaying or even overturning of the omnidirectional chassis 100, and realizing the movement and obstacle crossing of the omnidirectional chassis 100.
[0046] Optionally, refer to Figure 3As shown, the movable component 122 also includes a plurality of shock-absorbing members 1223, and the shock-absorbing members 1223 abut between the movable seat 1221 and the connecting bracket 121. The shock-absorbing members 1223 have the function of absorbing energy, and when the omnidirectional chassis 100 is moving and overcoming obstacles, the chassis body 110 is kept running smoothly as much as possible, and the vibration of the omnidirectional chassis 100 is reduced, thus having a buffering effect.
[0047] Furthermore, the shock absorbing member 1223 is one of a spring damper, elastic rubber or elastic silicone. It can be understood that the spring damper can absorb the vibration transmitted by the Mecanum wheel and has a supporting and buffering effect. The spring damper includes a spring and a damper. The spring and the damper are used in conjunction with each other to achieve a damping effect. In addition, the shock absorbing member 1223 can also be elastic rubber or elastic silicone. The elastic rubber or elastic silicone has a certain supporting effect, improves impact resistance, reduces the vibration amplitude of the chassis body 110, and maintains the smooth operation of the chassis body 110.
[0048] In one embodiment, specifically, Figure 4 As shown, the first Mecanum wheel assembly 123 includes a motor 1231, a reducer 1232 and a first Mecanum wheel 1233. The motor 1231 is connected to a side of the connecting bracket 121 away from the movable assembly 122, and the motor 1231 is connected to the first Mecanum wheel 1233 through the reducer 1232. The motor 1231 provides a driving force for the first Mecanum wheel 1233, and the reducer 1232 realizes speed change and start-stop control during the movement of the first Mecanum wheel 1233. The motor 1231 and the reducer 1232 cooperate to achieve more precise control of the movement of the first Mecanum wheel 1233. For example, there are two first Mecanum wheels 1233, and one first Mecanum wheel 1233 corresponds to one motor 1231 and one reducer 1232, that is, one motor 1231 is connected to one first Mecanum wheel 1233 through one reducer 1232, and each first Mecanum wheel 1233 operates independently, so as to achieve precise control of each first Mecanum wheel 1233.
[0049] Optionally, combined Figure 3 and Figure 4As shown, mounting plates 124 are provided at opposite ends of the connecting bracket 121, and the mounting plate 124 is provided with an opening 124a. The motor 1231 can be snap-fitted with the side wall of the opening 124a, so that the mounting plate 124 is arranged between the reducer 1232 and the motor 1231. In other words, the connecting bracket 121 is connected to the reducer 1232 and the motor 1231 through the mounting plate 124, the reducer 1232 is connected to the first Mecanum wheel 1233, the mounting plate 124 is used to limit and fix the reducer 1232, and the reducer 1232 is connected to the motor 1231 after passing through the opening 124a, so that the installation structure of the first suspension mechanism 120 is compact and reasonable, and the space utilization rate is high. Exemplarily, the first Mecanum wheel 1233 is provided with a mounting groove 1233a, and one end of the reducer 1232 away from the motor 1231 is snapped into the mounting groove 1233a, so as to realize the installation connection between the reducer 1232 and the first Mecanum wheel 1233, so as to achieve a faster assembly of the reducer 1232 and the first Mecanum wheel 1233.
[0050] Furthermore, if Figure 4 As shown, a through slot 121b is provided on the side of the connecting bracket 121 away from the movable component 122, and the mounting plate 124 can be snap-fitted with the slot wall of the through slot 121b and locked with bolts to connect the mounting plate 124 to the connecting bracket 121, and the position of the mounting plate 124 on the connecting bracket 121 is fixed by bolts.
[0051] Furthermore, if Figure 4 As shown, the two reducers 1232 arranged relatively to each other are both arranged in the through slot 121b, and the two reducers 1232 are arranged relatively to each other, and the two reducers 1232 are both arranged in the through slot 121b, so that the through slot 121b of the connecting bracket 121 plays a certain protective role on the reducer 1232, and the setting position of the reducer 1232 is kept reasonable, which can better make the installation structure of the first suspension mechanism 120 compact, help to reduce the module volume of the omnidirectional chassis 100, and facilitate subsequent assembly and use.
[0052] In one embodiment, specifically, the second Mecanum wheel assembly 132 includes a motor 1231, a reducer 1232, and a second Mecanum wheel. The motor 1231 is connected to the second Mecanum wheel through the reducer 1232. It can be understood that the second Mecanum wheel is used in conjunction with the motor 1231 and the reducer 1232. Exemplarily, the number of second Mecanum wheels is two, one second Mecanum wheel corresponds to one motor 1231 and one reducer 1232, and the two second Mecanum wheels operate independently. It can be understood that the second Mecanum wheel assembly 132 can be set at the front wheel position, and the second Mecanum wheel assembly 132 can also be set at the rear wheel position, which is not specifically limited here.
[0053] Example 3
[0054] An embodiment of the utility model also provides an automatic guided vehicle, which may be one of a chassis line assembly type AGV, a heavy-load AGV, a diesel engine assembly type AGV, a gearbox assembly type AGV, a transport type AGV, an intelligent inspection AGV, and a simple AGV. The automatic guided vehicle may also include a control computer, a navigation device, a charging device, and peripheral accessories, which together constitute an AGV system. The automatic guided vehicle includes the omnidirectional chassis 100 in embodiment 1 or embodiment 2. The automatic guided vehicle including the omnidirectional chassis 100 has all the beneficial effects of the omnidirectional chassis 100, which will not be described in detail here.
[0055] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.
[0056] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.
Claims
1. An omnidirectional chassis with Mecanum wheels, characterized in that: include: Chassis body; a first suspension mechanism, the first suspension mechanism comprising a connecting bracket, a movable assembly and two first Mecanum wheel assemblies, the movable assembly being connected to the chassis body, and a side of the movable assembly away from the chassis body being rotatably connected to the connecting bracket, and opposite sides of the connecting bracket being respectively connected to the first Mecanum wheel assemblies; The second suspension mechanism comprises two mounting members and two second Mecanum wheel assemblies, the two mounting members are respectively connected to the chassis body, and each mounting member is connected to one of the second Mecanum wheel assemblies.
2. The omnidirectional chassis according to claim 1, characterized in that: The movable assembly includes a movable seat and a rotating shaft. The movable seat is provided with a first through hole, the connecting bracket is provided with a second through hole, and the rotating shaft is sequentially passed through the first through hole and the second through hole so that the movable seat is rotatably connected to the connecting bracket through the rotating shaft.
3. The omnidirectional chassis according to claim 2, characterized in that: The movable assembly further comprises a plurality of shock absorbing members, and the shock absorbing members are abutted between the movable seat and the connecting bracket.
4. The omnidirectional chassis according to claim 3, characterized in that: The shock absorbing component is one of a spring damper, elastic rubber or elastic silica gel.
5. The omnidirectional chassis according to any one of claims 1 to 4, characterized in that: The first Mecanum wheel assembly includes a motor, a reducer and a first Mecanum wheel, wherein the motor is connected to a side of the connecting bracket away from the movable assembly, and the motor is connected to the first Mecanum wheel through the reducer.
6. The omnidirectional chassis according to claim 5, characterized in that: Mounting plates are provided at opposite ends of the connecting bracket. The mounting plates are provided with openings. The motor can be snap-fitted with the side walls of the openings so that the mounting plates are arranged between the reducer and the motor.
7. The omnidirectional chassis according to claim 6, characterized in that: A through slot is formed on a side of the connecting bracket away from the movable component, and the mounting plate can be clamped with the slot wall of the through slot and locked with bolts.
8. The omnidirectional chassis according to claim 7, characterized in that: The two reducers arranged opposite to each other are both arranged in the through groove.
9. The omnidirectional chassis according to any one of claims 1 to 4, characterized in that: The second Mecanum wheel assembly includes a motor, a reducer, and a second Mecanum wheel, wherein the motor is connected to the second Mecanum wheel via the reducer.
10. An automatic guided vehicle, characterized in that: The omnidirectional chassis comprises the omnidirectional chassis according to any one of claims 1 to 9.