Drive module with wheels

Abstract

The present invention provides a drive module with wheels, the drive module including a drive component connected to the wheels and having a first motor to a third motor. The drive component further includes a sensor component having a first sensor to a third sensor for detecting motion of the drive component. The sensor component includes: a first sensor configured to detect motion of a first rotation axis, a second sensor configured to detect motion of a second rotation axis, and a third sensor configured to detect motion of a third rotation axis.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2021-0025051, filed on February 24, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a drive module with wheels, and more specifically, to a drive module with wheels having increased degrees of freedom. Background Technology

[0004] The technological paradigm is shifting from vehicles powered by internal combustion engines to electric vehicles powered by electric motors. Furthermore, there is a growing demand for motor vehicles equipped with autonomous driving capabilities. Therefore, various studies have been actively conducted on motor vehicles powered by electric motors.

[0005] Motor vehicles can be used in various fields. For example, they can be used not only to transport people but also to deliver goods. However, in the prior art, there are limitations in the movement of motor vehicles depending on the ground environment in which they operate, and these limitations are obstacles to the development of motor vehicles. Summary of the Invention

[0006] The present invention aims to provide a drive module with a novel structure that, compared with the prior art, can have multiple degrees of freedom to cope with changes in external factors (such as the ground environment).

[0007] In one aspect, the present invention provides a drive module that may include: a wheel, a drive component, and a sensor component; one side of the drive component is connected to the wheel; the sensor component is configured to detect movement of the drive component, wherein the drive component may include: a first motor, a second motor, and a third motor, the first motor having a first rotation axis and configured to rotate the wheel about the first rotation axis; the second motor having a second rotation axis spaced apart from the first rotation axis in a radial direction R of the wheel, the second motor being configured to rotate the wheel about the second rotation axis; the third motor having a third rotation axis extending in a direction intersecting the first and second rotation axes, the third motor being configured to steer the wheel about the third rotation axis; wherein the sensor component includes: a first sensor, a second sensor, and a third sensor, the first sensor being configured to detect movement of the first rotation axis; the second sensor being configured to detect movement of the second rotation axis; and the third sensor being configured to detect movement of the third rotation axis.

[0008] The first rotation axis can be disposed at a center in a radial direction R of the wheel, and the first motor can cause the wheel to perform a rotation motion about the first rotation axis. The second motor can cause the wheel to perform a revolution motion about the second rotation axis. The first rotation axis and the second rotation axis can be disposed in parallel to each other. A distance between the first rotation axis and the second rotation axis can be less than a radius of the wheel. The third rotation axis can be disposed perpendicular to the first rotation axis and the second rotation axis.

[0009] The extension line of the first rotation axis and the extension line of the third rotation axis can be orthogonal to each other when the second rotation axis has a predetermined rotation angle. The extension line of the second rotation axis and the extension line of the third rotation axis can be orthogonal to each other.

[0010] The driving module can further include a second rotation axis accommodation member disposed at the first side of the second motor and configured to accommodate the second rotation axis, a third rotation axis accommodation member disposed at the first side of the third motor and configured to accommodate the third rotation axis, and a connection member connected to the first side of the second rotation axis accommodation member in the width direction W of the wheel and disposed between the second rotation axis accommodation member and the first motor.

[0011] The third rotation axis accommodation member can be disposed to be connected to the second side of the second rotation axis accommodation member in the width direction W of the wheel. The third rotation axis can be fixedly connected to the second rotation axis accommodation member. The connection member can be fixedly connected to the first motor and the second rotation axis accommodation member.

[0012] The driving module can further include a second rotation axis accommodation member disposed at the first side of the second motor and configured to accommodate the second rotation axis, and a third rotation axis accommodation member disposed at the first side of the third motor and configured to accommodate the third rotation axis, wherein a first side of the third rotation axis accommodation member in the radial direction R faces the first motor, and a second side of the third rotation axis accommodation member in the radial direction R faces the second rotation axis accommodation member.

[0013] The third rotation axis can be fixedly connected to the first motor. The third rotation axis can be fixedly connected to the second rotation axis accommodation member. The second sensor can be disposed at a first end portion of two opposite end portions of the second rotation axis accommodation member in the width direction W spaced apart from the wheel, and the third sensor can be disposed at a second end portion or an outer end portion of two opposite end portions of the third rotation axis accommodation member in the radial direction R.

[0014] The second sensor can be disposed at the first end of the two opposite ends in the width direction W of the second rotating shaft receiving member adjacent to the wheel, and the third sensor can be disposed at the first end of the two opposite ends in the width direction W of the third rotating shaft receiving member spaced apart from the wheel. The second sensor can be disposed at the first end of the two opposite ends in the width direction W of the second rotating shaft receiving member spaced apart from the wheel, and the third sensor can be disposed at the second end or lower end of the two opposite ends in the radial direction R of the third rotating shaft receiving member.

[0015] The second sensor can be located at the first end of the second rotating shaft receiving member adjacent to the wheel, at the two opposite ends in the width direction W of the wheel, and the third sensor can be located at the first end of the third rotating shaft receiving member spaced apart from the wheel, at the two opposite ends in the width direction W.

[0016] According to the present invention, a drive module with a novel structure can be provided, which, compared with the prior art, can have multiple degrees of freedom to cope with changes in external factors (such as the ground environment). Attached Figure Description

[0017] Figure 1 This is a perspective view showing the structure of the drive module according to a first embodiment of the present invention.

[0018] Figure 2 This is a front view showing the structure of the drive module according to a first embodiment of the present invention.

[0019] Figure 3 This is a side view schematically illustrating an example of a drive module structure according to a first embodiment of the present invention.

[0020] Figure 4 This is a side view schematically illustrating another example of the drive module structure according to a first embodiment of the present invention.

[0021] Figure 5 This is a side view schematically illustrating an example of a drive module structure according to a second embodiment of the present invention.

[0022] Figure 6 This is a side view schematically illustrating another example of the drive module structure according to a second embodiment of the present invention.

[0023] Figure 7 This is a perspective view showing a first working example of a drive module according to the present invention.

[0024] Figure 8 This is a top view showing a first working example of the drive module according to the present invention.

[0025] Figure 9 This is a perspective view showing a second working example of the drive module according to the present invention.

[0026] Figure 10 This is a top view showing a second working example of the drive module according to the present invention.

[0027] Figure 11 This is a perspective view showing a third working example of the drive module according to the present invention.

[0028] Figure 12 This is a top view showing a third working example of the drive module according to the present invention. Detailed Implementation

[0029] It should be understood that the term "vehicle" or "of vehicles" or other similar terms as used herein generally includes motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, vessels including various boats and ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., vehicles derived from non-petroleum fuels). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as both gasoline power and electric power.

[0030] Although exemplary embodiments are described as utilizing multiple units to perform exemplary processes, it should be understood that exemplary processes can also be performed by one or more modules. Furthermore, it should be understood that the term controller / control unit refers to a hardware device that includes a memory and a processor and is specifically programmed to perform the processes described herein. The memory is configured to store modules, and the processor is specifically configured to execute said modules to complete one or more processes further described below.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “an,” and “the” as used herein are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that, when used in this specification, the terms “comprising” and / or “including” indicate the presence of the stated features, values, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or combinations thereof. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0032] Unless specifically stated or obvious from the context, the term "approximately" as used herein is understood to mean within the normal tolerance range in the field, such as within 2 average standard deviations. "Approximately" can be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the stated value. All numerical values ​​provided herein are modified by the term "approximately" unless the context clearly indicates otherwise.

[0033] Hereinafter, the driving module according to the present invention will be described with reference to the accompanying drawings.

[0034] Drive module

[0035] Figure 1 This is a perspective view showing the structure of the drive module according to the first embodiment of the present invention. Figure 2 This is a front view showing the structure of the drive module according to a first embodiment of the present invention. Figure 3 This is a side view schematically illustrating an example of the drive module structure according to a first embodiment of the present invention. Figure 4 This is a side view schematically illustrating another example of the drive module structure according to a first embodiment of the present invention. Furthermore, Figure 5 This is a side view schematically illustrating an example of the drive module structure according to a second embodiment of the present invention. Figure 6 This is a side view schematically illustrating another example of the drive module structure according to a second embodiment of the present invention.

[0036] refer to Figures 1 to 6 The drive module 10 according to the present invention may include a wheel 100 and a drive component 200 connected to one side of the wheel 100. The drive component 200 can provide power for rotating the wheel 100. Furthermore, as described below, according to the present invention, the drive component 200 can provide power to enable the drive module 10 to have various postures.

[0037] Meanwhile, according to the present invention, the drive module 10 may include multiple motors performing different functions. Specifically, the drive component 200 may include: a first motor 210, a second motor 220, and a third motor 230. The first motor 210 has a first rotation axis and is configured to rotate the wheel 100 about the first rotation axis; the second motor 220 has a second rotation axis spaced apart from the first rotation axis in the radial direction R of the wheel 100 and is configured to rotate the wheel 100 about the second rotation axis; the third motor 230 has a third rotation axis extending in a direction intersecting the first and second rotation axes and is configured to steer the wheel 100 about the third rotation axis. Since the first to third rotation axes are respectively disposed inside the first to third motors 210, 220, and 230, therefore...Figures 1 to 3 The first to third rotation axes are not clearly shown.

[0038] However, the accompanying drawings show a first extension line L1 as an imaginary extension line extending from the first rotation axis, a second extension line L2 as an imaginary extension line extending from the second rotation axis, and a third extension line L3 as an imaginary extension line extending from the third rotation axis. Hereinafter, the first to third rotation axes will be described with reference to the first to third extension lines L1, L2, and L3.

[0039] At the same time, refer to Figure 1 and Figure 6 The first rotation axis can be arranged at the center of the wheel 100 in the radial direction R. Therefore, according to the present invention, the first motor 210 can rotate the wheel 100 about the first rotation axis. For example, the first motor 210 can be an in-wheel motor arranged inside the wheel 100. However, alternatively, the first motor can be arranged outside the wheel 100.

[0040] For example, refer to Figure 1 and Figure 2 The wheel 100 may include an outer portion 110, an inner portion 120, and a connecting portion 130. The outer portion 110 has an outer peripheral surface in the radial direction R of the wheel 100. The inner portion 120 extends radially inward from the outer portion 110 in the radial direction R. The connecting portion 130 is disposed between the inner portion 120 and the outer portion 110 and configured to connect the outer portion 110 and the inner portion 120. Specifically, the second motor 220 may be configured to face the connecting portion 130. Furthermore, when the first motor 210 is an in-wheel motor, the first motor may be disposed within the internal space of the inner portion 120. Meanwhile, as... Figure 1 and Figure 2 As shown, the portion of the connecting portion 130 facing the second motor 220 may have a shape that is recessed outward from the outer portion 110 and the inner portion 120.

[0041] As described above, the second rotation axis can be spaced apart from the first rotation axis in the radial direction R of the wheel 100. Therefore, according to the present invention, the second motor 220 can rotate the wheel 100 around the second rotation axis by operating the second rotation axis. Therefore, the second motor 220 provided in the drive module 10 according to the present invention can change the attitude of the drive module 10 by changing the position of the wheel 100 relative to the second rotation axis. More specifically, the first rotation axis and the second rotation axis can be arranged parallel to each other. Figure 1 and Figure 2 The first extension line L1 and the second extension line L2 are shown to be parallel to each other. Furthermore, according to the invention, the distance between the first rotation axis and the second rotation axis can be less than the radius of the wheel 100. Figure 1 andFigure 2 The distance between the first extension line L1 and the second extension line L2 is shown to be less than the radius of the wheel 100. However, alternatively, the distance between the first rotation axis and the second rotation axis may be greater than the radius of the wheel 100.

[0042] Furthermore, as mentioned above, the third rotation axis can intersect the first and second rotation axes. More specifically, the third rotation axis can be arranged perpendicular to the first and second rotation axes. Figure 2 and Figure 3 The third extension line L3 is shown to be perpendicular to the first extension line L1 and the second extension line L2.

[0043] Furthermore, according to the present invention, the second extension line L2, which is an extension line of the second rotation axis, can be orthogonal to the third extension line L3, which is an extension line of the third rotation axis. When the second rotation axis has a predetermined rotation angle, the first extension line L1, which is an extension line of the first rotation axis, can be orthogonal to the third extension line L3, which is an extension line of the third rotation axis. Figures 1 to 6 The diagram shows that, with the second rotation axis rotated to position the second motor 220 at its lowest point relative to the wheel 100, the first extension line L1 and the third extension line L3 are orthogonal to each other. Similarly, according to the invention, even when the second rotation axis is rotated to position the second motor 220 at its highest point relative to the wheel, the first extension line L1 and the third extension line L3 can still be orthogonal to each other.

[0044] At the same time, refer to Figures 3 to 6 The drive module 10 according to the present invention may further include a sensor component 300 configured to detect the movement of the drive component 200. More specifically, the sensor component 300 may be configured to detect the movement of a rotating shaft of a motor disposed in the drive component 200. The sensor component 300 may include: a first sensor 310, a second sensor 320, and a third sensor 330, wherein the first sensor 310 is configured to detect the movement of a first rotating shaft disposed in a first motor 210; the second sensor 320 is configured to detect the movement of a second rotating shaft disposed in a second motor 220; and the third sensor 330 is configured to detect the movement of a third rotating shaft disposed in a third motor 230.

[0045] In addition, such as Figure 3 and Figure 4As shown, the drive module 10 according to the first embodiment of the present invention may further include: a second rotating shaft receiving member 400, a third rotating shaft receiving member 500, and a connecting member 600. The second rotating shaft receiving member 400 is disposed on a first side of the second motor 220 and configured to receive the second rotating shaft. The third rotating shaft receiving member 500 is disposed on a first side of the third motor 230 and configured to receive the third rotating shaft. The connecting member 600 is connected to the first side of the second rotating shaft receiving member 400 in the width direction W of the wheel 100 and is disposed between the second rotating shaft receiving member 400 and the first motor 210.

[0046] Specifically, according to a first embodiment of the present invention, the third rotating shaft receiving member 500 may be connected to the second side of the second rotating shaft receiving member 400 in the width direction W of the wheel 100. Therefore, according to the first embodiment of the present invention, the third rotating shaft receiving member 500 and the connecting member 600 may be spaced apart from each other in the width direction W.

[0047] Furthermore, according to the first embodiment of the present invention, the connecting member 600 can be fixedly connected to the first motor 210 and the second rotating shaft receiving member 400. Therefore, according to the first embodiment of the present invention, regardless of whether the first motor to the third motors 210, 220 and 230 are working, the relative positional relationship between the connecting member 600 and the first motor 210, as well as the positional relationship between the connecting member 600 and the second rotating shaft receiving member 400, remains unchanged.

[0048] Meanwhile, according to the first embodiment of the present invention, the third rotating shaft disposed in the third motor 230 can be fixedly connected to the second rotating shaft receiving member 400. Therefore, when the third rotating shaft rotates, the second rotating shaft receiving member 400 can rotate together with the third rotating shaft, thereby causing the wheel 100 to turn. More specifically, according to the first embodiment of the present invention, the second rotating shaft receiving member 400 and the connecting member 600 can be fixedly connected to each other, and the connecting member 600 and the first motor 210 can be fixedly connected to each other. Specifically, when the third rotating shaft, the second rotating shaft receiving member 400, the connecting member 600, and the first motor 210 can rotate as a whole, the wheel 100 turns.

[0049] On the contrary, such as Figure 5 and Figure 6As shown, the drive module 10 according to the second embodiment of the present invention may not include the aforementioned connecting member. In other words, the drive module 10 according to the second embodiment of the present invention may include: a second rotating shaft receiving member 400 and a third rotating shaft receiving member 500, wherein the second rotating shaft receiving member 400 is disposed on the first side of the second motor 220 and configured to receive the second rotating shaft; the third rotating shaft receiving member 500 is disposed on the first side of the third motor 230 and configured to receive the third rotating shaft. Furthermore, according to the second embodiment of the present invention, the first side of the third rotating shaft receiving member 500 in the radial direction R of the wheel 100 may face the first motor 210, and the second side of the third rotating shaft receiving member 500 in the radial direction R of the wheel 100 may face the second rotating shaft receiving member 400.

[0050] Meanwhile, according to the second embodiment of the present invention, the third rotating shaft provided in the third motor 230 can be fixedly connected to the first motor 210. Specifically, since the relative positional relationship between the third rotating shaft and the first motor 210 does not change even when the third rotating shaft rotates through the third motor 230, the wheel 100 can be turned when the first motor 210 rotates around the third rotating shaft (or the third extension line L3) through the rotation of the third rotating shaft. Furthermore, the third rotating shaft can also be fixedly connected to the second rotating shaft receiving member 400. In contrast, the third rotating shaft can be configured to rotate relative to the third rotating shaft receiving member 500. Therefore, when the third rotating shaft rotates, the first motor 210 and the second rotating shaft receiving member 400 rotate together with the third rotating shaft, thereby turning the wheel 100. In contrast, the third rotating shaft receiving member 500 can be fixed and not rotated.

[0051] In the following text, reference will be made to Figures 3 to 6 The sensor component 300 provided in the drive module 10 according to the present invention is described in detail.

[0052] For example, such as Figures 3 to 6 As shown, the first sensor 310 can be disposed in the central region of the first motor 210 in the radial direction R. Furthermore, as... Figure 3 As shown, in an example of a first embodiment of the present invention, the second sensor 320 may be arranged at one end of two opposite ends in the width direction W of the second rotation shaft receiving member 400 spaced apart from the wheel 100 (based on...). Figure 3 The third sensor 330 may be located at the outer ends of the two opposite ends of the third rotation shaft receiving member 500 in the radial direction R (based on the right end or the first end). Figure 3 (at the lower end or the second part).

[0053] In comparison, such as Figure 4As shown, in another example of the first embodiment of the present invention, the second sensor 320 may be arranged at one end of two opposite ends in the width direction W of the second rotation shaft receiving member 400 adjacent to the wheel 100 (based on...). Figure 4 The third sensor 330 may be located at one end of the third rotation shaft receiving member 500, which is spaced apart from the wheel 100, at one of the two opposite ends in the width direction W (based on...). Figure 4 (at the right end or the first part).

[0054] At the same time, such as Figure 5 As shown, in an example of a second embodiment of the present invention, the second sensor 320 may be arranged at one end of two opposite ends in the width direction W of the second rotation shaft receiving member 400 spaced apart from the wheel 100 (based on...). Figure 5 The third sensor 330 may be located at the outer ends of the two opposite ends of the third rotation shaft receiving member 500 in the radial direction R (based on the right end or the first end). Figure 5 (at the lower end or the second end).

[0055] In comparison, such as Figure 6 As shown, in another example of the second embodiment of the present invention, the second sensor 320 may be arranged at one end of two opposite ends in the width direction W of the second rotation axis receiving member 400 (based on...). Figure 6 The third sensor 330 may be located at one end of the left or first end of the third rotation shaft receiving member 500, which is spaced apart from the wheel 100, and adjacent to the wheel 100. Furthermore, the third sensor 330 may be positioned at one end of the two opposite ends of the third rotation shaft receiving member 500 in the width direction W (based on...). Figure 6 (at the right end or the first end).

[0056] Meanwhile, the first to third sensors 310, 320, and 330 provided in the sensor component 300 of the drive module 10 according to the present invention can each be an encoder. The encoder can be an incremental encoder or an absolute encoder. An incremental encoder can be an encoder configured to detect motion by outputting an increment or decrement starting from any point in the encoder. In contrast, an absolute encoder can be an encoder configured to detect motion by outputting a total measured value. However, the first to third sensors 310, 320, and 330 are not limited to encoders, and various types of sensors can be used. For example, the first to third sensors can each be a resolver.

[0057] Figure 7 This is a perspective view illustrating a first working example of a drive module according to the present invention. Figure 8 This is a top view showing a first working example of the drive module according to the present invention.Figure 9 This is a perspective view illustrating a second working example of the drive module according to the present invention. Figure 10 This is a top view illustrating a second working example of the drive module according to the invention. Furthermore, Figure 11 This is a perspective view illustrating a third working example of the drive module according to the present invention. Figure 12 This is a top view showing a third working example of the drive module according to the present invention.

[0058] According to the present invention, the first motor 210 can be configured to operate to rotate the wheel 100 about its axis, and the second motor 220 and the third motor 230 can be configured to operate to give the drive module 10 various postures. For example, see reference. Figures 1 to 6 When the second motor 220 operates, making the first rotation axis (or the first extension line L1) and the second rotation axis (or the second extension line L2) parallel to each other in the horizontal direction, and then the third motor 230 operates, causing the wheel 100 to move away from the third motor 230, the wheel 100 is turned. The drive module 10 can have Figure 7 and Figure 8 The posture shown.

[0059] Furthermore, when the second motor 220 operates to position the first rotation axis (or the first extension line L1) and the second rotation axis (or the second extension line L2) parallel to each other in the horizontal direction, and then the third motor 230 operates to move the wheel 100 closer to the third motor 230, causing the wheel 100 to turn, the drive module 10 can have... Figure 9 and Figure 10 The posture shown.

[0060] When the second motor 220 operates to position the first rotation axis (or the first extension line L1) and the second rotation axis (or the second extension line L2) parallel to each other in the vertical direction, and then the third motor 230 operates to turn the wheel 100, the drive module 10 can have Figure 11 and Figure 12 The posture shown.

[0061] The invention has been described with reference to limited embodiments and accompanying drawings, but is not limited thereto. The invention can be practiced in various forms by those skilled in the art within the spirit and scope of the invention and equivalent to the appended claims.

Claims

1. A driver module, comprising: wheel; A drive component, one side of which is connected to the wheel; as well as A sensor component configured to detect the motion of the drive component; The driving component includes: A first motor having a first rotating shaft and configured to cause a wheel to rotate about the first rotating shaft; A second motor having a second rotation axis spaced apart from the first rotation axis in the radial direction R of the wheel, the second motor being configured to rotate the wheel about the second rotation axis; and A third motor has a third rotation axis extending in a direction intersecting the first and second rotation axes, the third motor being configured to turn the wheel about the third rotation axis; The sensor component includes: A first sensor is configured to detect the motion of the first rotating shaft; A second sensor, configured to detect the motion of the second rotating axis; and A third sensor is configured to detect the motion of the third rotating axis; The driving module further includes: The second rotating shaft receiving member is arranged on one side of the second motor and configured to receive the second rotating shaft; A third rotating shaft housing member is arranged on one side of the third motor and configured to house the third rotating shaft; and A connecting member is connected to the first side of the second rotating shaft receiving member in the width direction W of the wheel and is arranged between the second rotating shaft receiving member and the first motor.

2. The driving module according to claim 1, wherein, The first rotating shaft is located at the center of the wheel in the radial direction R, and the first motor causes the wheel to rotate around the first rotating shaft.

3. The driving module according to claim 1, wherein, The second motor causes the wheel to revolve around the second rotation axis.

4. The driving module according to claim 3, wherein, The first and second rotation axes are arranged parallel to each other.

5. The driving module according to claim 1, wherein, The distance between the first and second rotating axes is less than the radius of the wheel.

6. The driving module according to claim 1, wherein, The third rotation axis is arranged perpendicular to the first and second rotation axes.

7. The driving module according to claim 1, wherein, When the second rotation axis has a predetermined rotation angle, the extension lines of the first rotation axis and the extension lines of the third rotation axis are arranged orthogonally to each other.

8. The driving module according to claim 1, wherein, The extension lines of the second rotation axis and the extension lines of the third rotation axis are arranged orthogonally to each other.

9. The driving module according to claim 1, wherein, The third rotating shaft receiving member is arranged to be connected to the second side of the second rotating shaft receiving member in the width direction W of the wheel.

10. The driving module according to claim 9, wherein, The third rotating shaft is fixedly connected to the second rotating shaft receiving member.

11. The driving module according to claim 1, wherein, The connecting member is fixedly connected to the first motor and the second rotating shaft receiving member.

12. A driver module, comprising: wheel; A drive component, one side of which is connected to the wheel; as well as A sensor component configured to detect the motion of the drive component; The driving component includes: A first motor having a first rotating shaft and configured to cause a wheel to rotate about the first rotating shaft; A second motor having a second rotation axis spaced apart from the first rotation axis in the radial direction R of the wheel, the second motor being configured to rotate the wheel about the second rotation axis; and A third motor has a third rotation axis extending in a direction intersecting the first and second rotation axes, the third motor being configured to turn the wheel about the third rotation axis; The sensor component includes: A first sensor is configured to detect the motion of the first rotating shaft; A second sensor is configured to detect the motion of the second rotating axis; A third sensor is configured to detect the motion of the third rotating axis; The driving module further includes: A second rotating shaft receiving member is arranged on one side of the second motor and configured to receive the second rotating shaft; and The third rotating shaft receiving member is arranged on one side of the third motor and configured to receive the third rotating shaft; Wherein, the first side of the third rotating shaft receiving member in the radial direction R faces the first motor, and the second side of the third rotating shaft receiving member in the radial direction R faces the second rotating shaft receiving member.

13. The driving module according to claim 12, wherein, The third rotating shaft is fixedly connected to the first motor.

14. The driving module according to claim 12, wherein, The third rotating shaft is fixedly connected to the second rotating shaft receiving member.

15. The driving module according to claim 1, wherein, The second sensor is arranged at one end of two opposite ends of the second rotating shaft receiving member spaced apart from the wheel in the width direction W, and the third sensor is arranged at the outer ends of two opposite ends of the third rotating shaft receiving member in the radial direction R.

16. The driving module according to claim 1, wherein, The second sensor is arranged at one end of two opposite ends in the width direction W of the second rotating shaft receiving member adjacent to the wheel, and the third sensor is arranged at one end of two opposite ends in the width direction W of the third rotating shaft receiving member spaced apart from the wheel.

17. The driving module according to claim 12, wherein, The second sensor is arranged at one end of the second rotating shaft receiving member spaced apart from the wheel in the width direction W of the wheel, and the third sensor is arranged at the lower end of the second rotating shaft receiving member in the radial direction R of the wheel.

18. The driving module according to claim 12, wherein, The second sensor is arranged at one end of the second rotating shaft receiving member adjacent to the wheel, at one end of the two opposite ends in the width direction W of the wheel, and the third sensor is arranged at one end of the third rotating shaft receiving member spaced apart from the wheel, at one end of the two opposite ends in the width direction W.

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