Controllable differential omnidirectional wheel set

The utility model provides a controllable differential omnidirectional wheel set which solves the technical problems that an automatic guided vehicle in the prior art is not provided with suspension damping and is weak in adaptability to ground flatness. The device comprises a wheel carrier (1), differential wheel assemblies, a guide rod (10), an actuating cylinder (5), a sensor assembly and a turntable bearing (9), the two ends of the wheel carrier (1) are connected with the differential wheel assemblies, the guide rod (10) and the actuating cylinder (5) are integrated in the center of the wheel carrier (1), each differential wheel assembly comprises a differential wheel (4), a motor speed reducer (3) and an independent chain transmission system (2), the differential wheels (4) are connected to the wheel carrier (1), the motor speed reducers (3) are fixed to the wheel carrier (1), and the turntable bearing (9) is arranged on the wheel carrier (1). And the motor speed reducer (3) is connected with the differe