Automatic guided vehicle and driving wheel module thereof

Abstract

The invention discloses an automatic guided vehicle and a driving wheel module thereof. The automatic guided vehicle comprises a vehicle frame and two driving wheel modules pivoted to the two opposite sides of the vehicle frame. Each driving wheel module comprises a first balance beam, a driving wheel pivoted to the rear end of the first balance beam, and an auxiliary wheel pivoted to the front end of the first balance beam. The first balance beam is provided with a first pivoting part pivoted to the frame, and the first pivoting part is positioned between the rear end part and the front end part; and the first balance beam can rotate by taking the first pivoting part as a fulcrum, so as to synchronously move the driving wheel and the auxiliary wheel. The driving wheels and the auxiliary wheels of the two driving wheel modules can be used for keeping walking in contact with the ground, and the frame is stressed through the two first pivot joint parts. Therefore, the unmanned carrier vehicle can enable the driving wheel and the auxiliary wheel to stably walk on the ground without arranging a spring.

Description

Technical Field

[0001] This invention relates to a handling device, and more particularly to an unmanned handling vehicle and its drive wheel module. Background Technology

[0002] Existing pallet trucks often incorporate springs that apply pressure to the drive wheels of the traveling section to maintain stable movement and prevent floating. However, when the springs used in existing pallet trucks are difficult to control in terms of their rebound force, adding springs to the traveling section can actually cause operational inconvenience. Therefore, the inventor believed that the above-mentioned defects could be improved, and through dedicated research and the application of scientific principles, finally proposed an invention with a reasonable design that effectively improves upon these defects. Summary of the Invention

[0003] The present invention provides an unmanned transport vehicle and its drive wheel module, which can effectively improve the defects that may occur in existing transport vehicles.

[0004] This invention discloses an unmanned transport vehicle, comprising: a frame; two drive wheel modules pivotally connected to opposite sides of the frame along a first axis, each drive wheel module comprising: a first balance beam having a first pivot portion pivotally connected to the frame along the first axis, a rear end portion located on one side of the first pivot portion, and a front end portion located on the other side of the first pivot portion; a drive wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel pivotally connected to the front end portion of the first balance beam; wherein the first balance beam is rotatable about the first pivot portion as a fulcrum, thereby synchronously moving the drive wheel and the auxiliary wheel; and a passive wheel module. The second axis, perpendicular to the first axis, is pivotally connected to the frame, and the passive wheel module includes: a second balance beam having a second pivot portion pivotally connected to the frame along the second axis and two ends located on opposite sides of the second pivot portion; and two passive wheels, respectively pivotally connected to the two ends of the second balance beam; wherein the second balance beam can rotate about the second pivot portion as a fulcrum, thereby synchronously moving the two passive wheels; wherein the drive wheels and auxiliary wheels of the two drive wheel modules, and the two passive wheels of the passive wheel module can be used to maintain contact with the ground for travel, and the frame is subjected to three points of force through the two first pivot portions and the second pivot portion.

[0005] Optionally, in each drive wheel module, when one of the drive wheel and the auxiliary wheel rolls to a protrusion or a depression on the ground, the other of the drive wheel and the auxiliary wheel can remain in contact with the ground by the rotation of the first balance beam.

[0006] Optionally, when one of the two driven wheels rolls to a protrusion or a depression in the ground, the other of the two driven wheels can remain in contact with the ground by the rotation of the second balance beam.

[0007] Optionally, the frame includes: a main frame; and a support rod that runs transversely through the main frame along a first axis, with two protrusions of the support rod extending out of the main frame; and the first pivot portions of the two drive wheel modules are respectively fitted and pivotally connected to the two protrusions of the support rod.

[0008] Optionally, the frame includes two side frames connected to the main frame, and the two side frames correspond to two drive wheel modules along a height direction perpendicular to the first axis and the second axis, respectively; wherein each drive wheel module includes at least one first elastic element clamped between the first balance beam and the corresponding side frame along the height direction.

[0009] Optionally, the frame includes a rear frame connected to the main frame, and a second pivot portion is pivotally connected to the rear frame; wherein the passive wheel module includes at least one second elastic member clamped between the second balance beam and the rear frame along a height direction.

[0010] Optionally, the frame can bear force on the main frame through support rods; wherein, when the main frame deforms due to force, the frame maintains three-point force so that the drive wheels and auxiliary wheels of the two drive wheel modules, and the two passive wheels of the passive wheel module can be used to maintain contact with the ground for walking.

[0011] Optionally, the two drive wheel modules are configured in a mirror-symmetric manner with respect to the second axis.

[0012] This invention also discloses an unmanned transport vehicle, comprising: a frame; and two drive wheel modules pivotally connected to opposite sides of the frame along a first axis, each drive wheel module comprising: a first balance beam having a first pivot portion pivotally connected to the frame along the first axis, a rear end portion located on one side of the first pivot portion, and a front end portion located on the other side of the first pivot portion; a drive wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel pivotally connected to the front end portion of the first balance beam; wherein the first balance beam is rotatable about the first pivot portion as a fulcrum, thereby synchronously moving the drive wheel and the auxiliary wheel; wherein the drive wheel and the auxiliary wheel of the two drive wheel modules are used to maintain contact with the ground for movement, and the frame is subjected to force through the two first pivot portions.

[0013] This invention also discloses a drive wheel module for an unmanned transport vehicle, comprising: a first balance beam having a first pivot portion, a rear end portion located on one side of the first pivot portion, and a front end portion located on the other side of the first pivot portion; wherein the first pivot portion is used to pivotally connect to a vehicle frame along a first axis; a drive wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel pivotally connected to the front end portion of the first balance beam; wherein the first balance beam is rotatable about the first pivot portion as a fulcrum, thereby synchronously moving the drive wheel and the auxiliary wheel, so that the drive wheel and the auxiliary wheel of the drive wheel module can be used to maintain contact with the ground for walking.

[0014] In summary, the unmanned transport vehicle and its drive wheel module disclosed in this invention, through overall structural design, enable the unmanned transport vehicle to effectively prevent its drive wheels and auxiliary wheels from floating in the air and to stably contact the ground without the need for springs. Furthermore, since springs are not required for the operation of the unmanned transport vehicle, it avoids issues such as spring tension adjustment or spring aging, thereby effectively improving the operational stability of the unmanned transport vehicle and significantly reducing its maintenance time.

[0015] Furthermore, the unmanned transport vehicle disclosed in the embodiments of the present invention can also achieve the load-bearing object with the frame as a three-point support through the structural combination between the frame, two drive wheel modules and passive wheel modules, thereby ensuring the average load on multiple rollers without the need for precision machining of the frame and reducing the overall processing cost at the same time.

[0016] To further understand the features and technical content of this invention, please refer to the following detailed description and accompanying drawings. However, these descriptions and drawings are only for illustrating the invention and are not intended to limit the scope of protection of the invention in any way. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of an unmanned transport vehicle according to an embodiment of the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of its breakdown.

[0019] Figure 3 for Figure 2 An enlarged schematic diagram of region III.

[0020] Figure 4 for Figure 1 A side view diagram of the unmanned transport vehicle in operation (I).

[0021] Figure 5 for Figure 1 A side view diagram of the unmanned transport vehicle in operation (II).

[0022] Figure 6 for Figure 1 A side view diagram of the unmanned transport vehicle in operation (III).

[0023] Figure 7 for Figure 2 An enlarged schematic diagram of region VII.

[0024] Figure 8 for Figure 1 A plan view of the unmanned transport vehicle in operation.

[0025] Figure 9 This is a schematic diagram of the architecture of the unmanned transport vehicle according to an embodiment of the present invention.

[0026] Figure 10 for Figure 9 A schematic diagram of the structure of an unmanned transport vehicle when its frame deforms. Detailed Implementation

[0027] The following specific embodiments illustrate the implementation of the "unmanned transport vehicle and its drive wheel module" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.

[0028] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components or features, these components or features should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one feature from another. Furthermore, the term "or" as used in this document should, as appropriate, include any combination of one or more related listed items.

[0029] Please see Figures 1 to 10 As shown, this is one embodiment of the present invention. Figures 1 to 3 As shown, this embodiment discloses an unmanned transport vehicle 100, which can be applied to an automated operating system. In this embodiment, the unmanned transport vehicle 100 includes a frame 1, with components pivotally connected along a first axis C1 to opposite sides of the frame 1 (e.g., ...). Figure 1 The two drive wheel modules 2 (on the left and right sides of the frame 1) and the second axis C2 (perpendicular to the first axis C1) are pivotally connected to the other side of the frame 1 (e.g., on the left and right sides of the frame 1). Figure 1 A passive wheel module 3 on the rear side of the frame 1 (as described in the text).

[0030] It should be noted that in this embodiment, the unmanned transport vehicle 100 is described using the frame 1 with two drive wheel modules 2 and the driven wheel module 3, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the driven wheel module 3 of the unmanned transport vehicle 100 may be omitted or replaced with other components according to actual needs; or, the drive wheel module 2 may be used alone (e.g., for sale) or in combination with other components.

[0031] In this embodiment, the frame 1 is formed by assembling multiple rods, thereby simultaneously achieving lightweight design and sufficient structural strength. Furthermore, the specific structure of the frame 1 can be adjusted and varied according to actual needs; however, for the sake of clarity in explaining this embodiment, the following description will use one of the optional structures of the frame 1. For example, in this embodiment, the frame 1 is generally mirror-symmetrically arranged with respect to the second axis C2, and the frame 1 includes a main frame 11, a support rod 12 extending transversely through the main frame 11 along the first axis C1, two side frames 13 connected to the main frame 11, and a rear frame 14 connected to the main frame 11; however, the present invention is not limited thereto.

[0032] More specifically, the main frame 11 is generally rectangular in shape, with its length direction generally parallel to the second axis C2. The support rod 12 has two protrusions 121 located at its two ends, and the two protrusions 121 extend through opposite sides of the front half of the main frame 11. Two side frames 13 are connected to opposite sides of the front half of the main frame 11, and the two side frames 13 correspond to the two protrusions 121 along a height direction H perpendicular to the first axis C1 and the second axis C2 (e.g., each side frame 13 is located above the corresponding protrusion 121).

[0033] Furthermore, the two drive wheel modules 2 are respectively sleeved and pivotally connected to the two protrusions 121 of the support rod 12, so that the frame 1 can be subjected to force by the main frame 11 through the support rod 12. Moreover, the two side frames 13 correspond to the two drive wheel modules 2 along the height direction H; that is, the two side frames 13 are located above the two drive wheel modules 2 along the height direction H.

[0034] Furthermore, since the two drive wheel modules 2 in this embodiment adopt substantially the same structure and are arranged in a mirror-symmetric configuration with respect to the second axis C2, for the sake of explaining this embodiment, the following description only describes the structure of one of the drive wheel modules 2, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the two drive wheel modules 2 may also adopt slightly different structures depending on actual needs.

[0035] In this embodiment, the drive wheel module 2 includes a first balance beam 21, a drive wheel 22 pivotally connected to one end of the first balance beam 21, and an auxiliary wheel 23 pivotally connected to the other end of the first balance beam 21. The first balance beam 21 is elongated and parallel to the second axis C2, and has a first pivot portion 211 pivotally connected to the frame 1 along the first axis C1, a rear end portion 212 located on one side of the first pivot portion 211, and a front end portion 213 located on the other side of the first pivot portion 211.

[0036] It should be further noted that, in this embodiment, the first pivot portion 211 is described as being generally located at the center of the rear end portion 212 and the front end portion 213. The first balance beam 21 connects the first pivot portion 211 and the rear end portion 212 via a rear beam segment 214, and the first balance beam 21 connects the first pivot portion 211 and the front end portion 213 via a front beam segment 215. However, this invention is not limited thereto. For example, in other embodiments of this invention not shown, the distance between the first pivot portion 211 and the rear end portion 212 and the front end portion 213 can be adjusted according to actual needs.

[0037] Furthermore, the drive wheel module 2 is fitted with the first pivot portion 211 along the first axis C1 and pivotally connected to the protrusion 121 corresponding to the support rod 12. The drive wheel 22 is pivotally connected to the rear end 212 of the first balance beam 21, and the auxiliary wheel 23 is pivotally connected to the front end 213 of the first balance beam 21. The pivoting directions of the drive wheel 22 and the auxiliary wheel 23 relative to the first balance beam 21 are generally parallel to the first axis C1.

[0038] Furthermore, the drive wheel 22 includes a drive motor mounted on the rear end 212 and a roller connected to the drive motor, so that the roller can actively roll under the drive motor's influence. The auxiliary wheel 23 is a roller that can only roll passively.

[0039] As described above, the first balance beam 21 can rotate around the first pivot 211 as a fulcrum, thereby synchronously moving the drive wheel 22 and the auxiliary wheel 23. When one of the drive wheel 22 and the auxiliary wheel 23 rolls to a protrusion G1 or a depression G2 on a ground surface G (e.g.: Figure 4 or Figure 5 As shown), the other of the drive wheel 22 and the auxiliary wheel 23 can be kept in contact with the ground G by the rotation of the first balance beam 21, so that the drive wheel 22 or the auxiliary wheel 23 that has not rolled to the protrusion G1 or the depression G2 can remain in contact with the ground G.

[0040] The above description has explained the structure and operation of a single drive wheel module 2. The following content will be viewed from the overall operation perspective of the unmanned transport vehicle 100. Specifically, the unmanned transport vehicle 100 can move forward along the second axis C2 by rotating the drive motors of the two drive wheel modules 2 in the forward direction; or, the unmanned transport vehicle 100 can move backward along the second axis C2 by rotating the drive motors of the two drive wheel modules 2 in the reverse direction; or, the unmanned transport vehicle 100 can turn by rotating the drive motor of one drive wheel module 2 in the forward direction and the drive motor of the other drive wheel module 2 in the reverse direction.

[0041] Furthermore, the drive wheels 22 and auxiliary wheels 23 of the two drive wheel modules 2 can be used (by the weight of the unmanned transport vehicle 100 itself) to maintain contact with the ground G for movement, and the frame 1 is stressed by the two first pivots 211.

[0042] Therefore, in this embodiment, the unmanned transport vehicle 100 can achieve stable contact with the ground G by means of the structural design of the two drive wheel modules 2 and their structural matching with the frame 1, so that the unmanned transport vehicle 100 can move without the need for springs, so that the drive wheel 22 and the auxiliary wheel 23 of each drive wheel module 2 can effectively avoid floating and move in contact with the ground G.

[0043] Furthermore, since springs are not a necessary condition for the operation of the unmanned transport vehicle 100, the unmanned transport vehicle 100 does not need to face problems such as spring tension adjustment or spring aging, thereby effectively improving the operational stability of the unmanned transport vehicle 100 and significantly reducing the maintenance time of the unmanned transport vehicle 100.

[0044] However, in order to reduce or absorb the swaying or vibration amplitude of each drive wheel module 2 during operation, each drive wheel module 2 may be further provided with at least one first elastic element 24 according to actual needs, and at least one first elastic element 24 is clamped between the first balance beam 21 and the corresponding side frame 13 along the height direction H. That is to say, the omission of at least one first elastic element 24 does not affect the operation of the unmanned transport vehicle 100.

[0045] In this embodiment, the first elastic element 24 may be an elastic body (such as rubber) with elasticity of its own material or a spring (such as a compression spring) with elasticity through structural design, and the number of at least one first elastic element 24 in each drive wheel module 2 is two, but the present invention is not limited thereto.

[0046] In each of the drive wheel modules 2, two first elastic members 24 are respectively placed on opposite sides of the first pivot portion 211 and respectively disposed on the rear beam section 214 and the front beam section 215; that is, a first elastic member 24 is sandwiched between the rear beam section 214 of the first balance beam 21 and the corresponding side frame 13, and a first elastic member 24 is sandwiched between the front beam section 215 of the first balance beam 21 and the corresponding side frame 13. However, the distance between the two first elastic members 24 relative to the first pivot portion 211 can be adjusted and varied according to actual needs, and is not limited here.

[0047] In addition, such as Figure 1 , Figure 2 ,and Figure 7 As shown, in this embodiment, the unmanned transport vehicle 100 is further equipped with the passive wheel module 3 to further improve the operational stability of the unmanned transport vehicle 100. In this embodiment, the passive wheel module 3 is configured in a mirror-symmetric manner with respect to the second axis C2, and the passive wheel module 3 includes a second balance beam 31 and two passive wheels 32 respectively pivotally connected to both ends of the second balance beam 31.

[0048] Furthermore, the second balance beam 31 is elongated and parallel to the first axis C1, and the second balance beam 31 has a second pivot portion 311 pivotally connected to the frame 1 along the second axis C2, and two ends 312 located on opposite sides of the second pivot portion 311. The second pivot portion 311 is pivotally connected to the rear frame 14 (generally at its center), and in this embodiment, the pivot connection between the second pivot portion 311 and the rear frame 14 is achieved by a pin (not shown) passing through it, but the invention is not limited thereto.

[0049] Furthermore, the two passive wheels 32 are respectively pivotally connected to the two ends 312 of the second balance beam 31, and each passive wheel 32 is a roller that can only roll passively. It should be further noted that, in this embodiment, the second pivot portion 311 is described as being generally located at the center of the two ends 312, and the second balance beam 31 has two side beam segments 313 connecting the second pivot portion 311 to the two ends 312 respectively; however, this invention is not limited thereto. For example, in other embodiments of the invention not shown, the distance between the second pivot portion 311 and the two ends 312 can be adjusted according to actual needs.

[0050] Furthermore, the second balance beam 31 can rotate around the second pivot 311 as a fulcrum, thereby synchronously moving the two driven wheels 32, so that one of the two driven wheels 32 rolls to the protrusion G1 of the ground G (e.g.: Figure 8 When the ground is in the recess (not shown in the figure), one of the two passive wheels 32 can remain in contact with the ground G by the rotation of the second balance beam 31.

[0051] Furthermore, the drive wheels 22 of the two drive wheel modules 2 and the auxiliary wheels 23, and the two passive wheels 32 of the passive wheel module 3 can be used to maintain contact with the ground G for walking, and the frame 1 is subjected to force at three points through the two first pivots 211 and the second pivots 311.

[0052] Therefore, in this embodiment, the unmanned transport vehicle 100 can achieve the load-bearing object with the frame 1 as a three-point support through the structural combination between the frame 1, the two drive wheel modules 2, and the passive wheel module 3. This allows the frame 1 to ensure the average load on the multiple rollers without precision machining, and simultaneously reduces the overall processing cost.

[0053] From another perspective, when the main frame 11 of the vehicle frame 1 deforms due to force (e.g.: Figure 9 and Figure 10 As shown), the frame 1 can maintain a three-point force state so that the drive wheels 22 of the two drive wheel modules 2 and the auxiliary wheels 23, and the two passive wheels 32 of the passive wheel module 3 can be used to maintain contact with the ground G for walking.

[0054] To reduce or absorb the swaying or vibration amplitude of the passive wheel module 3 during operation of the unmanned transport vehicle 100, the passive wheel module 3 may be further equipped with at least one second elastic element 33 as needed. This second elastic element 33 is clamped between the second balance beam 31 and the rear frame 14 along the height direction H. In other words, omitting at least one second elastic element 33 does not affect the operation of the unmanned transport vehicle 100.

[0055] In this embodiment, the second elastic element 33 may be an elastic body (such as rubber) with elasticity of its own material or a spring (such as a compression spring) with elasticity through structural design, and the passive wheel module 3 may have at least two second elastic elements 33, but the present invention is not limited thereto.

[0056] In the passive wheel module 3, two second elastic members 33 are respectively disposed on opposite sides of the second pivot portion 311 and respectively disposed on the two side beam segments 313; that is, each side beam segment 313 of the second balance beam 31 is sandwiched between a second elastic member 33 and the corresponding rear frame 14 portion, but the distance between the two second elastic members 33 and the second pivot portion 311 can be adjusted and varied according to actual needs, and is not limited here.

[0057] [Technical Effects of the Embodiments of the Invention]

[0058] In summary, the unmanned transport vehicle and its drive wheel module disclosed in the embodiments of the present invention can, through the overall structural design, enable the unmanned transport vehicle to effectively avoid floating and stably contact the ground with the drive wheel and the auxiliary wheel of each drive wheel module without the need for springs.

[0059] Furthermore, since springs are not a necessary condition for the operation of the unmanned transport vehicle, the unmanned transport vehicle does not need to face problems such as spring tension adjustment or spring aging, thereby effectively improving the operational stability of the unmanned transport vehicle and significantly reducing its maintenance time.

[0060] Furthermore, the unmanned transport vehicle disclosed in this embodiment of the invention can also achieve a three-point support for the load-bearing object by means of the structural combination between the frame, the two drive wheel modules and the passive wheel module, thereby ensuring the average force on the multiple rollers without the need for precision machining of the frame and reducing the overall processing cost at the same time.

[0061] The above-disclosed content is only an optional and feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the patent scope of the present invention.

Claims

1. An unmanned transport vehicle, characterized in that, The unmanned carrier comprises: a frame; two drive wheel modules, which are pivotally connected to opposite sides of the frame along a first axis, each of the drive wheel modules comprising: a first balance beam having a first pivot portion pivotally connected to the frame along the first axis, a rear end portion located on one side of the first pivot portion, and a front end portion located on the other side of the first pivot portion; a drive wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel pivotally connected to the front end portion of the first balance beam; wherein the first balance beam is capable of rotating about the first pivot portion to synchronously move the drive wheel and the auxiliary wheel; and a passive wheel module, which is pivotally connected to the frame along a second axis perpendicular to the first axis, the passive wheel module comprising: a second balance beam having a second pivot portion pivotally connected to the frame along the second axis, and two end portions located on opposite sides of the second pivot portion; and two passive wheels respectively pivotally connected to the two end portions of the second balance beam; wherein the second balance beam is capable of rotating about the second pivot portion to synchronously move the two passive wheels; wherein the drive wheels and the auxiliary wheels of the two drive wheel modules and the two passive wheels of the passive wheel module are capable of keeping contact with a ground surface to walk, and the frame is in a three-point force state through the two first pivot portions and the second pivot portion.

2. The truck of claim 1, wherein, In each of the drive wheel modules, when one of the drive wheel and the auxiliary wheel rolls to a protrusion or a depression of the ground surface, the other one of the drive wheel and the auxiliary wheel is capable of keeping contact with the ground surface through the rotation of the first balance beam.

3. The truck of claim 1, wherein, When one of the two passive wheels rolls to a protrusion or a depression of the ground surface, the other one of the two passive wheels is capable of keeping contact with the ground surface through the rotation of the second balance beam.

4. The truck of claim 1, wherein, The frame comprises: a main frame body; and 5. The truck of claim 4, wherein, a support rod, which crosses the main frame body along the first axis, and two protruding portions of the support rod pass through the main frame body; the first pivot portions of the two drive wheel modules are respectively sleeved and pivotally connected to the two protruding portions of the support rod.

6. The truck of claim 4, wherein, The frame comprises two side frame bodies connected to the main frame body, and the two side frame bodies correspond to the two drive wheel modules along a height direction perpendicular to the first axis and the second axis respectively; wherein each of the drive wheel modules comprises at least one first elastic member clamped between the first balance beam and the corresponding side frame body along the height direction. The frame comprises a rear frame body connected to the main frame body, and the second pivot portion is pivotally connected to the rear frame body; wherein the passive wheel module comprises at least one second elastic member clamped between the second balance beam and the rear frame body along a height direction.

7. The truck of claim 4, wherein, The frame is capable of applying force to the main frame body through the support rod; wherein, when the main frame body is deformed by the force, the frame maintains the three-point force to enable the driving wheels of the two driving wheel modules and the auxiliary wheel and the two passive wheels of the passive wheel module to keep in contact with the ground.

8. The truck of claim 1, wherein, The two driving wheel modules are mirror-symmetrically arranged relative to the second axis.

9. An unmanned transport vehicle, characterized in that, The unmanned carrier vehicle comprises: a frame; and two driving wheel modules, which are pivotally connected to opposite sides of the frame along a first axis, and each of the driving wheel modules comprises: a first balance beam, which has a first pivot connection part pivotally connected to the frame along the first axis, a rear end part located on one side of the first pivot connection part, and a front end part located on the other side of the first pivot connection part; a driving wheel, which is pivotally connected to the rear end part of the first balance beam; and an auxiliary wheel, which is pivotally connected to the front end part of the first balance beam; wherein, the first balance beam is capable of rotating around the first pivot connection part as a fulcrum to synchronously move the driving wheel and the auxiliary wheel. The driving wheels and the auxiliary wheels of the two driving wheel modules are used to keep in contact with the ground to walk, and the frame is forced by the two first pivot connection parts.

10. A drive wheel module for a tugger, characterized in that The driving wheel module of the unmanned carrier vehicle comprises: a first balance beam, which has a first pivot connection part, a rear end part located on one side of the first pivot connection part, and a front end part located on the other side of the first pivot connection part; wherein, the first pivot connection part is used to be pivotally connected to a frame along a first axis; a driving wheel, which is pivotally connected to the rear end part of the first balance beam; and an auxiliary wheel, which is pivotally connected to the front end part of the first balance beam; wherein, the first balance beam is capable of rotating around the first pivot connection part as a fulcrum to synchronously move the driving wheel and the auxiliary wheel, so that the driving wheel and the auxiliary wheel of the driving wheel module are used to keep in contact with the ground to walk.

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