AGV structure with universal supporting wheels based on differential driving

The utility model belongs to the technical field of AGVs, and discloses a differential drive-based AGV structure with universal supporting wheels, which comprises a shell, four universal wheels are fixedly mounted on the shell, and the four universal wheels are distributed at four corners of the shell by taking a central axis in the length direction of the shell as a center; the two differential wheel sets are arranged at the two ends of the shell along the central axis of the shell, each differential wheel set comprises a mounting plate, the central axis of each mounting plate is rotationally connected with an integral swing shaft, each integral swing shaft is connected with the shell, and wheel assemblies are arranged on the two sides, with the corresponding integral swing shaft as the center, of the bottom face of each mounting plate correspondingly, so that the shell is more compact in structure and lower in height; the bearing capacity of the wheel assembly is reduced, and the service life of the wheel a