阅读说明：本技术 可收放浮动主动脚轮机构及智能运输车 (Retractable floating driving caster wheel mechanism and intelligent transport vehicle ) 是由 俞强强 于 2019-12-17 设计创作，主要内容包括：本发明涉及一种可收放浮动主动脚轮机构及智能运输车。该可收放浮动主动脚轮机构,包括机架结构,设于机架结构上、并相互铰接的脚轮收放机构和脚轮浮动机构,以及与脚轮浮动机构连接的主动驱动轮机构；脚轮收放机构包括设于机架结构上的脚轮收放驱动电机,以及与脚轮收放驱动电机连接的脚轮收放传动结构；脚轮浮动机构包括转动设于机架结构上的脚轮浮动支架,以及设于脚轮浮动支架上的弹性浮动件,脚轮收放传动结构与脚轮浮动支架连接,弹性浮动件与主动驱动轮机构连接。本发明旨在解决传统技术中脚轮机构遇到沟壑会出现悬空的情况、或者遇到凸包时出现卡死的情况而无法正常行走的问题。(The invention relates to a retractable floating driving caster mechanism and an intelligent transport vehicle. The retractable floating driving caster wheel mechanism comprises a rack structure, a caster wheel retracting mechanism, a caster wheel floating mechanism and a driving wheel mechanism, wherein the caster wheel retracting mechanism and the caster wheel floating mechanism are arranged on the rack structure and are mutually hinged; the trundle retraction and extension mechanism comprises a trundle retraction and extension driving motor arranged on the rack structure and a trundle retraction and extension transmission structure connected with the trundle retraction and extension driving motor; the trundle floating mechanism comprises a trundle floating support rotatably arranged on the rack structure and an elastic floating piece arranged on the trundle floating support, the trundle retraction transmission structure is connected with the trundle floating support, and the elastic floating piece is connected with the driving wheel mechanism. The invention aims to solve the problem that the conventional foot wheel mechanism cannot normally walk due to the suspension condition when meeting gullies or the blocking condition when meeting convex hulls.)

1. A retractable floating active caster mechanism is characterized by comprising a rack structure (100), a caster wheel retracting and releasing mechanism (200) and a caster wheel floating mechanism (300) which are arranged on the rack structure (100) and are mutually hinged, and an active driving wheel mechanism (400) connected with the caster wheel floating mechanism (300);

the caster wheel retraction and extension mechanism (200) comprises a caster wheel retraction and extension driving motor (210) arranged on the rack structure (100) and a caster wheel retraction and extension transmission structure (220) connected with the caster wheel retraction and extension driving motor (210);

the caster floating mechanism (300) comprises a caster floating support (310) which is rotatably arranged on the rack structure (100) and an elastic floating piece (320) which is arranged on the caster floating support (310), the caster retracting and releasing transmission structure (220) is connected with the caster floating support (310), and the elastic floating piece (320) is connected with the driving wheel mechanism (400).

2. The retractable floating caster mechanism of claim 1, wherein said active driving wheel mechanism (400) comprises a driving wheel bracket (410) movably connected to said elastic floating member (320), an active driving motor (420) provided on said driving wheel bracket (410), an active driving transmission structure (430) connected to said active driving motor (420), and a rotation caster (440) connected to said active driving transmission structure (430).

3. The retractable floating active caster mechanism of claim 2, wherein the driving wheel bracket (410) comprises two side-by-side driving bracket side plates (412) and a driving bracket shaft (414) rotatably disposed between the two side plates (412), one end of the elastic floating member (320) is movably disposed on the driving bracket shaft (414), and the active driving motor (420) and the active driving transmission structure (430) are disposed on the driving bracket side plates (412).

4. A retractable floating drive caster mechanism as claimed in claim 3, wherein said drive transmission structure (430) comprises a drive pulley (432) disposed coaxially with the output shaft of said drive motor (420), a drive driven pulley (434) disposed coaxially with said swivel caster (440), and a drive belt (436) connecting said drive pulley (432) and said drive driven pulley (434);

or the driving drive transmission structure (430) comprises a driving wheel drive chain wheel coaxially arranged with the output shaft of the driving drive motor (420), a driving wheel driven chain wheel coaxially arranged with the rotation caster wheel (440), and a driving wheel transmission chain connected with the driving wheel drive chain wheel and the driving wheel driven belt wheel.

5. The retractable floating active caster mechanism of claim 3, wherein said caster floating mount (310) comprises at least one floating shaft (312) rotatably disposed on said frame structure (100), said caster retracting transmission structure (220) is connected to said floating shaft (312), and another end of said elastic floating member (320) is fixed to said floating shaft (312).

6. The retractable floating drive caster mechanism of claim 5, wherein said caster retraction drive structure (220) comprises a caster retraction drive pulley (222) coaxially disposed with an output shaft of said caster retraction drive motor (210), a caster retraction driven pulley (224) coaxially disposed with said floating shaft (312), and a caster retraction drive belt (226) connecting said caster retraction drive pulley (222) and said caster retraction driven pulley (224);

or the caster wheel retraction transmission structure (220) comprises a caster wheel retraction driving chain wheel coaxially arranged with an output shaft of the caster wheel retraction driving motor (210), a caster wheel retraction driven chain wheel coaxially arranged with the floating shaft (312), and a caster wheel retraction transmission chain connected with the caster wheel retraction driving chain wheel and the caster wheel retraction driven chain wheel.

7. The retractable floating active caster mechanism of claim 5, wherein the elastic floating member (320) comprises an elastic floating rod (322) having one end fixed to the floating shaft (312) and the other end movably inserted into the driving support shaft (414), and a floating spring (324) sleeved on the elastic floating rod (322), and two ends of the floating spring (324) are respectively abutted against the floating shaft (312) and the driving support shaft (414).

8. The retractable floating active caster mechanism of claim 7, wherein said caster wheel float bracket (310) comprises at least two said floating axles (312) disposed side by side on said frame structure (100), said drive wheel bracket (410) comprises at least two said drive bracket axles (414) disposed side by side between two said drive bracket side plates (412), each said floating axle (312) corresponds to one said drive bracket axle (414), and at least one said resilient float (320) is connected between said floating axle (312) and said drive bracket axle (414).

9. The retractable floating active caster mechanism of claim 5, wherein said frame structure (100) comprises two frame side plates (110) arranged side by side and a frame top plate (120) connected between said two frame side plates (110), said floating shaft (312) is rotatably disposed between said two frame side plates (110), and said caster retraction driving motor (210) is disposed on said frame top plate (120) or said frame side plates (110).

10. An intelligent transport vehicle, which is characterized by comprising a vehicle body and the retractable floating driving caster mechanism as claimed in any one of claims 1 to 9 arranged at the bottom of the vehicle body.

Technical Field

The invention relates to the technical field of automation equipment, in particular to a retractable floating driving caster mechanism and an intelligent transport vehicle.

Background

At present, a caster mechanism with a retractable function is not commonly available on the market, in the existing retractable caster technology, a push rod or a hydraulic pump power mechanism is mostly adopted to carry out direct pushing to realize the retractable function, the size of the mechanism in the height direction is large, a large assembly space is needed, and the mechanism is not suitable for the condition of relatively limited space. Moreover, in the conventional technology, when the body (such as the vehicle body) carried by the caster mechanism is a certain distance away from the ground, the caster mechanism can not normally travel when being suspended in gullies or locked when being stuck in convex hulls.

Disclosure of Invention

Based on the above, the invention provides a retractable floating active caster mechanism and an intelligent transport vehicle, and aims to solve the problem that the caster mechanism cannot normally walk due to the fact that the caster mechanism is suspended in gullies or is stuck when a convex hull is encountered in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a retractable floating driving caster wheel mechanism comprises a frame structure, a caster wheel retractable mechanism, a caster wheel floating mechanism and a driving wheel mechanism, wherein the caster wheel retractable mechanism and the caster wheel floating mechanism are arranged on the frame structure and are mutually hinged;

the caster wheel retraction and extension mechanism comprises a caster wheel retraction and extension driving motor arranged on the rack structure and a caster wheel retraction and extension transmission structure connected with the caster wheel retraction and extension driving motor;

the caster floating mechanism comprises a caster floating support and an elastic floating piece, the caster floating support is rotatably arranged on the rack structure, the elastic floating piece is arranged on the caster floating support, the caster retracting and releasing transmission structure is connected with the caster floating support, and the elastic floating piece is connected with the driving wheel mechanism.

Optionally, the driving wheel mechanism includes a driving wheel support movably connected to the elastic floating member, a driving motor disposed on the driving wheel support, a driving transmission structure connected to the driving motor, and a rotation caster connected to the driving transmission structure.

Optionally, the driving wheel support includes two driving rack side plates disposed side by side, and a driving support shaft rotatably disposed between the two driving rack side plates, one end of the elastic floating member movably penetrates through the driving support shaft, and the driving motor and the driving transmission structure are both disposed on the driving rack side plates.

Optionally, the driving drive transmission structure includes a driving wheel driving pulley coaxially disposed with an output shaft of the driving drive motor, a driving wheel driven pulley coaxially disposed with the swivel caster, and a driving wheel transmission belt connecting the driving wheel driving pulley and the driving wheel driven pulley;

or the driving transmission structure comprises a driving wheel driving chain wheel coaxially arranged with an output shaft of the driving motor, a driving wheel driven chain wheel coaxially arranged with the rotating caster wheel, and a driving wheel transmission chain connected with the driving wheel driving chain wheel and the driving wheel driven belt wheel.

Optionally, the caster floating support comprises at least one floating shaft rotatably arranged on the rack structure, the caster retraction transmission structure is connected to the floating shaft, and the other end of the elastic floating part is fixed to the floating shaft.

Optionally, the caster wheel retraction transmission structure comprises a caster wheel retraction driving pulley coaxially arranged with an output shaft of the caster wheel retraction driving motor, a caster wheel retraction driven pulley coaxially arranged with the floating shaft, and a caster wheel retraction driving belt connecting the caster wheel retraction driving pulley and the caster wheel retraction driven pulley;

or the truckle retracting and releasing transmission structure comprises a truckle retracting and releasing driving chain wheel coaxially arranged with an output shaft of the truckle retracting and releasing driving motor, a truckle retracting and releasing driven chain wheel coaxially arranged with the floating shaft, and a truckle retracting and releasing transmission chain connected with the truckle retracting and releasing driving chain wheel and the truckle retracting and releasing driven chain wheel.

Optionally, the elastic floating part includes an elastic floating rod with one end fixed on the floating shaft and the other end movably penetrating through the driving support shaft, and a floating spring sleeved on the elastic floating rod, and two ends of the floating spring respectively abut against the floating shaft and the driving support shaft.

Optionally, the caster floating support includes at least two floating shafts arranged side by side on the frame structure, the driving wheel support includes at least two driving support shafts arranged side by side between two driving support side plates, each floating shaft corresponds to one driving support shaft, and at least one elastic floating member is connected between the floating shaft and the driving support shaft.

Optionally, the rack structure includes two rack side plates arranged side by side, and a rack top plate connected between the two rack side plates, the floating shaft is rotatably disposed between the two rack side plates, and the caster retracting and driving motor is disposed on the rack top plate or on the rack side plates.

In addition, the invention also provides an intelligent transport vehicle which comprises a vehicle body and the retractable floating driving caster wheel mechanism arranged at the bottom of the vehicle body.

According to the technical scheme provided by the invention, the caster retraction transmission structure can be driven to move by the caster retraction driving motor arranged on the rack structure so as to drive the caster floating support to rotate, and the active driving wheel mechanism connected with the caster floating support can rotate through the elastic floating piece, so that the active driving wheel mechanism can be retracted into the rack structure or extended out of the rack structure. In addition, the elastic floating piece is connected with the caster wheel floating support and the driving wheel mechanism, so that the driving wheel mechanism can float up and down under the action of the elastic floating piece when meeting gullies or convex hulls, and the driving wheel mechanism can automatically adapt to the gullies or the convex hulls without hanging due to the gullies or blocking due to the convex hulls. In addition, the driving wheel mechanism also has autonomous driving capability, and can actively drive the retractable floating driving caster wheel mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic three-dimensional structure diagram of a retractable floating caster mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic diagram showing the side view of a retractable floating caster mechanism (with a side frame panel removed and the drive wheel mechanism floating out) according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing the side view of a retractable floating caster mechanism (with a side frame removed and the drive wheel mechanism floating and retracting) according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a retractable floating active caster mechanism according to an embodiment of the present invention, which is shown in a side view (with a side plate of the frame removed and the active drive wheel mechanism rotated to retract).

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, back, top and bottom … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, the present invention provides a retractable floating active caster mechanism, which comprises a frame structure 100, a caster retracting mechanism 200 and a caster floating mechanism 300, which are disposed on the frame structure 100 and are hinged to each other, and an active driving wheel mechanism 400 connected to the caster floating mechanism 300. The caster wheel retracting and releasing mechanism 200, the caster wheel floating mechanism 300 and the active driving wheel mechanism 400 can be supported by the frame structure 100, the caster wheel retracting and releasing mechanism 200 can retract and release the caster wheel floating mechanism 300 and the active driving wheel mechanism 400 so as to hide or extend the active driving wheel mechanism 400, the caster wheel floating mechanism 300 can float the active driving wheel mechanism 400 so that the active driving wheel mechanism 400 can adapt to uneven road surfaces, and the active driving wheel mechanism 400 has autonomous driving capability, and can actively drive and move the whole caster wheel mechanism.

Specifically, the caster wheel retracting and releasing mechanism 200 may include a caster wheel retracting and releasing driving motor 210 disposed on the frame structure 100, and a caster wheel retracting and releasing transmission structure 220 connected to the caster wheel retracting and releasing driving motor 210, wherein the caster wheel retracting and releasing transmission structure 220 is connected to the caster wheel floating mechanism 300. Moreover, the caster floating mechanism 300 may include a caster floating frame 310 rotatably disposed on the frame structure 100, and an elastic floating member 320 disposed on the caster floating frame 310, wherein the caster retracting transmission structure 220 is connected to the caster floating frame 310, and the elastic floating member 320 is connected to the driving wheel mechanism 400. The caster retraction driving motor 210 disposed on the rack structure 100 can drive the caster retraction transmission structure 220 to move so as to drive the caster floating bracket 310 to rotate, and the caster floating bracket 310 can rotate the driving wheel mechanism 400 connected to the elastic floating member 320, so that the driving wheel mechanism 400 can be retracted into the rack structure 100 (as shown in fig. 4) or extended out of the rack structure 100 (as shown in fig. 1). In addition, the elastic floating member 320 connects the caster floating bracket 310 and the driving wheel mechanism 400, so that the driving wheel mechanism 400 can float up and down (as shown in fig. 2 and 3) under the action of the elastic floating member 320 when encountering a gully or a convex hull, so that the driving wheel mechanism 400 can automatically adapt to the gully or the convex hull without suspending due to the gully or jamming due to the convex hull.

Further, the rack structure 100 may include two rack side plates 110 disposed side by side, and a rack top plate 120 connected between the two rack side plates 110, the caster floating bracket 310 is rotatably disposed between the two rack side plates 110, and the caster releasing and driving motor 210 is disposed on the rack top plate 120 or the rack side plates 110. The two frame side plates 110 and the frame top plate 120 enclose the frame structure 100 having the accommodating cavity, so that the caster wheel retracting mechanism 200, the caster wheel floating mechanism 300 and the active driving wheel mechanism 400 can be accommodated in the accommodating cavity of the frame structure 100 to protect and hide these structures. The top frame plate 120 or the side frame plates 110 may provide a mounting base for the caster wheel retraction driving motor 210, so as to provide stable support for the caster wheel retraction driving motor 210 and the caster wheel retraction transmission structure 220.

In addition, the driving wheel mechanism 400 may include a driving wheel support 410 movably connected to the elastic floating member 320, a driving motor 420 disposed on the driving wheel support 410, a driving transmission structure 430 connected to the driving motor 420, and a rotation caster 440 connected to the driving transmission structure 430. That is, the active driving transmission structure 430 can be driven to operate by the active driving motor 420, so as to drive the rotation caster 440 to rotate. Thus, the active driving wheel mechanism 400 has an autonomous driving capability, and can actively drive the retractable floating active caster wheel mechanism.

Moreover, the driving wheel support 410 may include two driving frame side plates 412 disposed side by side, and a driving support shaft 414 rotatably disposed between the two driving frame side plates 412, one end of the elastic floating member 320 movably penetrates the driving support shaft 414, and the driving motor 420 and the driving transmission structure 430 are both disposed on the driving frame side plates 412. The two drive-rack side plates 412 may be connected by the drive-rack shaft 414, and a caster receiving space may be formed between the two drive-rack side plates 412 to receive the swivel caster 440 therein, and the swivel caster 440 may be rotatably provided on the drive-rack side plates 412 by the caster shaft 442. In addition, two drive bay side plates 412 are also located between the two bay side plates 110 of the bay structure 100. The driving frame side plate 412 can be used for fixedly supporting the driving motor 420 and also can be used for supporting the driving transmission structure 430.

Further, in some embodiments, the driving transmission structure 430 may include a driving pulley 432 coaxially disposed with the output shaft of the driving motor 420, a driving pulley driven pulley 434 coaxially disposed with the caster shaft 442 of the swivel caster 440, and a driving pulley transmission belt 436 connecting the driving pulley 432 and the driving pulley driven pulley 434. The driving power transmission structure 430 may be a belt transmission structure to transmit the power of the driving motor 420 to the swivel caster 440, thereby driving the swivel caster 440 to rotate. Specifically, the driving motor 420 drives the driving pulley 432 to rotate, the driving pulley 432 drives the driving pulley 436 to move, the driving pulley 436 drives the driving pulley 434 to rotate, and the driving pulley 434 drives the caster shaft 442 to rotate, so as to drive the rotation caster 440 to rotate.

In addition, in other embodiments, the driving transmission structure 430 may include a driving sprocket coaxially disposed with the output shaft of the driving motor 420, a driving sprocket coaxially disposed with the caster shaft of the swivel caster, and a driving sprocket transmission chain connecting the driving sprocket and the driving sprocket. The driving transmission structure 430 can be a chain transmission structure to transmit the power of the driving motor 420 to the swivel caster 440, so as to drive the swivel caster 440 to rotate.

In addition, the caster floating mount 310 may include at least one floating shaft 312 rotatably disposed between the two frame side plates 110 on the frame structure 100, the caster retracting transmission structure 220 is connected to the floating shaft 312, and the other end of the elastic floating member 320 is fixed to the floating shaft 312. The caster wheel retraction transmission structure 220 of the caster wheel retraction mechanism 200 is fixed on the floating shaft 312 of the caster wheel floating support 310, and the caster wheel retraction transmission structure 220 can be driven to operate by the caster wheel retraction driving motor 210, so that the floating shaft 312 can be driven to rotate, the elastic floating member 320 connected with the floating shaft 312 and the driving wheel mechanism 400 connected with the elastic floating member 320 are driven to rotate, and the driving wheel mechanism 400 is retracted between the two frame side plates 110 or extended out of the two frame side plates 110.

Further, in some embodiments, the caster retraction drive structure 220 may include a caster retraction drive pulley 222 disposed coaxially with the output shaft of the caster retraction drive motor 210, a caster retraction driven pulley 224 disposed coaxially with the floating shaft 312, and a caster retraction drive belt 226 connecting the caster retraction drive pulley 222 and the caster retraction driven pulley 224. The caster retraction transmission structure 220 may be a belt transmission structure to transmit the power of the caster retraction driving motor 210 to the floating shaft 312, so as to drive the floating shaft 312 and the driving wheel mechanism 400 to rotate. Specifically, the caster retraction driving motor 210 drives the caster retraction driving pulley 222 to rotate, the caster retraction driving pulley 222 drives the caster retraction driving belt 226 to move, the caster retraction driving belt 226 drives the caster retraction driven pulley 224 to rotate, and the caster retraction driven pulley 224 drives the floating shaft 312 to rotate, so as to drive the driving wheel mechanism 400 to rotate, so as to retract and release the driving wheel mechanism 400.

In addition, in other embodiments, the caster wheel retraction driving structure 220 may include a caster wheel retraction driving sprocket coaxially disposed with the output shaft of the caster wheel retraction driving motor 210, a caster wheel retraction driven sprocket coaxially disposed with the floating shaft, and a caster wheel retraction driving chain connecting the caster wheel retraction driving sprocket and the caster wheel retraction driven sprocket. The caster wheel retraction transmission structure 220 can be a chain transmission structure to transmit the power of the caster wheel retraction driving motor 210 to the floating shaft 312, so as to drive the floating shaft 312 and the driving wheel mechanism 400 to rotate.

In addition, the elastic floating member 320 may include an elastic floating rod 322 having one end fixed to the floating shaft 312 and the other end movably disposed on the driving support shaft 414, and a floating spring 324 sleeved on the elastic floating rod 322, wherein two ends of the floating spring 324 are respectively abutted to the floating shaft 312 and the driving support shaft 414. When the caster mechanism passes through a gully or a convex hull, the elastic floating member 320 connected to the driving wheel mechanism 400 has a floating capability, so that the driving wheel mechanism 400 can be extended and contracted to adapt to the gully or the convex hull. Specifically, when the rotation caster 440 of the driving wheel mechanism 400 encounters a ravine or a bump, the rotation caster 440 contacts the ravine or bump under the pressure of the load, and the elastic floating rod 322 extends and contracts on the driving support shaft 414 and simultaneously stretches or compresses the floating spring 324; when the swivel caster 440 moves to the flat ground, the floating spring 324 is reset, thereby driving the elastic floating rod 322 to reset. In addition, one end of the elastic floating rod 322 is provided with a limit protrusion, which can prevent the elastic floating rod 322 from being separated from the driving support shaft 414. In this embodiment, the elastic floating rod 322 may be a setscrew (a stopper screw).

Furthermore, the caster floating mount 310 may include at least two floating shafts 312 disposed side by side on the frame structure 100, the driving wheel mount 410 includes at least two driving mount shafts 414 disposed side by side between two driving mount side plates 412, each floating shaft 312 corresponds to one driving mount shaft 414, and at least one elastic floating member 320 is connected between the floating shaft 312 and the driving mount shaft 414. That is, the caster floating support 310 includes a plurality of floating shafts 312, and these floating shafts 312 may be uniformly disposed between the two rack side plates 110 of the rack structure 100, and may support the two rack side plates 110; furthermore, by making the driving wheel support 410 include a plurality of driving support shafts 414 to correspond to a plurality of floating shafts 312 one-to-one, and by making a corresponding connection of each driving support shaft 414 and one floating shaft 312 through the elastic floating member 320, it is possible to provide a more stable support for the driving wheel mechanism 400. Furthermore, a plurality of elastic floating members 320 may be connected between each floating shaft 312 and one driving bracket 410. In addition, one of the caster retraction transmission structures 220 may be provided, and the caster retraction transmission structure 220 may be connected to one of the floating shafts 312, that is, one floating shaft 312 is rotated by one caster retraction transmission structure 220, so as to rotate the driving wheel mechanism 400; the caster wheel retraction transmission structures 220 may be provided in plural, and the plural caster wheel retraction transmission structures 220 may be respectively connected to the plural floating shafts 312 in a one-to-one correspondence manner, that is, the plural floating shafts 312 are rotated simultaneously by the plural caster wheel retraction transmission structures 220, so that the driving wheel mechanism 400 is rotated.

Further, in this embodiment, the caster floating mount 310 may include two floating shafts 312 rotatably disposed between the two frame side plates 110 side by side, and correspondingly, the driving wheel mount 410 includes two driving mount shafts 414 rotatably disposed between the two driving mount side plates 412 side by side, and two elastic floating members 320 are correspondingly connected between each floating shaft 312 and one driving mount shaft 414. Therefore, the structure is simple, the stress is uniform and stable, and the structure is firm and reliable. Furthermore, a caster wheel retraction transmission mechanism 220 may be provided, which is connected to one of the floating shafts 312 to rotationally drive the entire active drive wheel mechanism 400.

In addition, the retractable floating caster mechanism may further include a braking structure 500, and the braking structure 500 may be protruded from the bottom of the top plate 120 of the frame structure 100 and correspond to the swivel caster 440. When the swivel caster 440 floats up to a certain position, it will contact the braking structure 500, and the braking structure 500 will clasp the swivel caster 440 to brake the swivel caster 440. And the braking structure 500 may include a braking block protruding below the top plate 120 of the frame, and the end of the braking block is provided with an arc-shaped groove, which fits the shape of the swivel caster 440, so as to hold the swivel caster 440 tightly for braking.

In addition, the invention also provides an intelligent transport vehicle which comprises a vehicle body and the retractable floating driving caster wheel mechanism arranged at the bottom of the vehicle body. The frame structure can be arranged at the bottom of the vehicle body so as to integrate the retractable floating driving caster wheel mechanism with the vehicle body. The retractable floating driving caster wheel mechanism is arranged on the intelligent transport vehicle, so that the rotating caster wheels of the vehicle can be retracted according to requirements; moreover, the swivel castors of the vehicle can float to facilitate access to the ravines and bumps. In addition, the occupied space of the retractable floating driving caster mechanism can be reduced, and the assembly requirement under the limited space can be realized.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.