Driving module of transport vehicle and transport vehicle

Abstract

The utility model discloses a driving module of a transport vehicle, the driving module comprises a pivotal bearing, a power assembly, a support and an angle sensor, the support is connected with the pivotal bearing and the power assembly, a mounting surface for supporting the pivotal bearing is formed on the support, and the angle sensor and the pivotal bearing are coaxially arranged; the pivotal bearing comprises a bearing inner ring and a bearing outer ring which can rotate relatively; one of the bearing inner ring and the bearing outer ring is fixedly connected with the support, the other one of the bearing inner ring and the bearing outer ring is used for being connected with a frame of the transport vehicle, and when the bearing inner ring and the bearing outer ring rotate relatively, the angle sensor measures the relative rotation angle of the bearing inner ring and the bearing outer ring. The utility model further discloses the transport vehicle comprising the driving module. The angle sensor is arranged at the geometric center of the pivotal bearing, the structures of the angle sensor and the driving module are simplified, all parts of the driving module are arranged more compactly, and the integration degree is higher.

Description

Technical Field

[0001] The present application relates to the technical field of transport vehicles, and in particular to a drive module of a transport vehicle and a transport vehicle. Background Art

[0002] An automated guided vehicle is a means of transport that is equipped with an automatic guidance device and automatically travels along a specified guidance road. It is widely used in factory handling, warehousing logistics, port transportation and other fields.

[0003] Automated guided transport vehicles are usually equipped with a drive module. Most of the existing drive modules use contact angle sensors, which have the disadvantage of relatively complex structure and are not easy to be highly integrated. For example, a mechanical multi-turn absolute encoder requires gears to drive the code disk to rotate, which makes it larger in size. A few of the existing drive modules use non-contact angle sensors, which have the disadvantage of poor stability and are easily affected by external pollutants such as dust, dirt, liquid and grease, as well as vibration, and are not suitable for the complex working environment of the drive module. Utility Model Content

[0004] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a driving module of a transport vehicle and a transport vehicle.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a driving module of a transport vehicle, the driving module comprising a slewing bearing, a power assembly, a bracket and an angle sensor, the bracket connecting the slewing bearing and the power assembly, and a mounting surface supporting the slewing bearing is formed on the bracket, the angle sensor is coaxially arranged with the slewing bearing, and the slewing bearing comprises a bearing inner ring and a bearing outer ring which can rotate relatively;

[0006] One of the bearing inner ring and the bearing outer ring is fixedly connected to the bracket, and the other of the bearing inner ring and the bearing outer ring is used to be connected to the frame of the transport vehicle. When the bearing inner ring and the bearing outer ring rotate relative to each other, the angle sensor measures the relative rotation angle of the bearing inner ring and the bearing outer ring.

[0007] In the present technical solution, a slewing bearing including a bearing inner ring and a bearing outer ring is designed, and the slewing bearing is coaxially arranged with the angle sensor, so that when the bearing inner ring and the bearing outer ring of the slewing bearing rotate relative to each other, the angle sensor can conveniently measure the relative rotation angle between the two. The above arrangement simplifies the structure of the angle sensor and the drive module, making the arrangement of the components of the drive module more compact and the degree of integration higher.

[0008] Further, the angle sensor includes an encoder, a code disc, a base and a rotating shaft, the rotating shaft is arranged on the base, the base is fixedly connected to the encoder, the rotating shaft is fixedly connected to the code disc, and the encoder and the code disc are arranged opposite to each other in a non-contact manner;

[0009] One of the rotating shaft and the base is fixedly connected to the bracket, and the other of the rotating shaft and the base is fixedly connected to one of the inner ring and the outer ring of the slewing bearing that can rotate relative to the bracket and is coaxially arranged. When the inner ring and the outer ring of the bearing rotate relative to each other, the encoder and the code disk rotate synchronously relative to each other and the encoder outputs an angle signal.

[0010] Furthermore, the angle sensor also includes a shell, the shell cover is arranged on the outside of the base and defines a cavity together with the base, and the encoder and the code disk are located in the cavity.

[0011] Furthermore, a mounting structure for mounting the angle sensor is provided on the mounting surface of the bracket, and one end of the rotating shaft passing through the base and extending toward the outside of the angle sensor is set as a mounting portion, and a positioning key is provided on the mounting portion. The mounting structure includes a center hole and a keyway formed on the inner wall of the center hole, the mounting portion of the rotating shaft is arranged in the center hole, and the positioning key is arranged in the keyway.

[0012] Furthermore, the slewing bearing also includes a mounting plate, which is fixedly connected to one of the inner ring and outer ring of the slewing bearing that can rotate relative to the bracket, and the mounting plate is provided with a mounting hole for fixed connection with the base of the angle sensor, and a through hole for allowing the rotating shaft of the angle sensor to pass through the slewing bearing.

[0013] Furthermore, the power assembly includes two groups of driving mechanisms and two rotating base plates. The two rotating base plates are arranged opposite to each other and are fixedly connected between the two groups of driving mechanisms to form the power assembly as a whole. The rotating base plates are connected to the bracket.

[0014] Furthermore, the driving mechanism includes a driving wheel, a reducer and a motor, the motor is connected to the driving wheel through the reducer, and the driving wheel, the reducer and the motor are arranged between the two rotating base plates.

[0015] Furthermore, the power assembly and the bracket are hinged, the rotating base is provided with a hinge shaft, the bracket is provided with an axis hole for installing the hinge shaft, and a wear-resistant sleeve is further provided between the hinge shaft and the axis hole.

[0016] Furthermore, the angle sensor is configured as an optical sensor or a magnetic sensor.

[0017] In addition, the present application also provides a transport vehicle, comprising a frame, and also comprising a drive module as described in any of the above technical solutions, wherein the drive module is fixedly connected to the frame, and one of the inner ring of the bearing and the outer ring of the bearing that is not fixedly connected to the bracket is fixedly connected to the frame. The reasoning process of the beneficial effects of the drive module of the transport vehicle provided by the present application is similar to that of the aforementioned transport vehicle, and will not be repeated here.

[0018] These features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. The best embodiments or means of the present application will be described in detail in conjunction with the drawings, but they are not intended to limit the technical solutions of the present application. In addition, there are multiple features, elements, and components that appear in each of the following texts and drawings, and different symbols or numbers are marked for convenience, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present application is further described below in conjunction with the accompanying drawings:

[0020] Figure 1 A schematic diagram of the structure of a driving module provided in an embodiment of the present application;

[0021] Figure 2 A schematic cross-sectional view of a driving module provided in this embodiment;

[0022] Figure 3 A schematic diagram of a slewing bearing structure provided in this embodiment;

[0023] Figure 4 A cross-sectional schematic diagram of an angle sensor provided in this embodiment;

[0024] Figure 5 A schematic diagram of the structure of a bracket provided in this embodiment;

[0025] Figure 6 A schematic diagram of the structure of a power component in a disassembled state provided in this embodiment.

[0026] Among them, 1. slewing bearing; 2. angle sensor; 3. bracket; 4. power assembly; 110. bearing inner ring; 120. bearing outer ring; 130. mounting plate; 1301. through hole; 1302. mounting hole; 210. encoder; 220. code disk; 230. base; 240. sensor bearing; 250. rotating shaft; 260. positioning key; 270. housing; 310. center hole; 320. keyway; 330. shaft hole; 410. motor; 420. reducer; 430. driving wheel; 440. rotating base plate; 450. wear-resistant sleeve; 4401. articulated shaft. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0028] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0029] like Figure 1 , 2 As shown in Figure 3, this embodiment provides a driving module of a transport vehicle, the driving module includes a slewing bearing 1, a power assembly 4, a bracket 3 and an angle sensor 2, the bracket 3 connects the slewing bearing 1 and the power assembly 4 and forms a mounting surface for supporting the slewing bearing 1, the mounting surface is provided with a mounting structure for mounting the angle sensor 2, the angle sensor 2 is coaxially arranged with the slewing bearing 1, the slewing bearing 1 includes a bearing inner ring 110 and a bearing outer ring 120 which can rotate relative to each other; one of the bearing inner ring 110 and the bearing outer ring 120 is fixedly connected to the bracket 3, and when the bearing inner ring 110 and the bearing outer ring 120 rotate relative to each other, the angle sensor 2 measures the relative rotation angle of the bearing inner ring 110 and the bearing outer ring 120.

[0030] In this embodiment, the power assembly 4 provides the driving module with power for walking and rotating, and the angle sensor 2 is used to measure the rotation angle of the driving module when the driving module rotates. When the driving module rotates, the power assembly 4 drives one of the bearing outer ring 120 or the bearing inner ring 110 fixedly connected to the bracket 3 to rotate synchronously through the bracket 3, and the one of the bearing outer ring 120 and the bearing inner ring 110 that is not fixedly connected to the bracket 3 (fixedly connected to the frame) remains stationary. Therefore, the angle sensor 2 can measure the rotation angle of the driving module by measuring the relative rotation angle of the bearing inner ring 110 and the bearing outer ring 120.

[0031] The angle sensor 2 and the slewing bearing 1 are coaxially arranged so that the angle sensor 2 can more conveniently measure the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1. Specifically, in the present embodiment, the bearing inner ring 110 is set as a hollow structure, and a mounting position for mounting the angle sensor 2 is provided at the geometric center of the bearing inner ring 110. The angle sensor 2 is mounted at the geometric center of the slewing bearing 1, so that the angle sensor 2 can more conveniently detect the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 in the slewing bearing 1, and at the same time, the structure of the angle sensor 2 and the drive module is simplified, so that the arrangement of the components of the drive module is more compact and the degree of integration is higher.

[0032] Specifically, in this embodiment, Figure 2 As shown, the bearing outer ring 120 of the slewing bearing 1 is fixedly connected to the bracket 3, and a roller is arranged between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1. The inner ring of the slewing bearing 1 can rotate relative to the bearing outer ring 120 and the bracket 3. In other embodiments, it can be set that the bearing inner ring 110 of the slewing bearing 1 is fixedly connected to the bracket 3 (not shown in the figure), and the bearing outer ring 120 of the slewing bearing 1 is fixedly connected to the frame. One of the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 1 is fixedly connected to the bracket 3, and the other is connected to the frame of the transport vehicle. When the power assembly 4 of the driving module starts to work and provides rotational force, the power assembly 4 drives the bracket 3 to rotate, and then drives the bearing inner ring 110 or the bearing outer ring 120 that is fixed to the bracket to rotate, and the other of the slewing bearing 1 is fixedly connected to the frame and does not move. Therefore, when the power assembly 4 of the driving module drives the bracket to rotate, the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 rotate relative to each other.

[0033] like Figure 2 , Figure 4 As shown, the angle sensor 2 is configured as a non-contact sensor, and the angle sensor 2 includes a base 230 and a rotating shaft 250 passing through the base 230, the base 230 is fixedly connected with an encoder 210, the rotating shaft 250 is fixedly connected with a code disk 220, a sensor bearing 240 is provided between the rotating shaft 250 and the base 230 to enable the rotating shaft 250 and the base 230 to rotate relative to each other, and the encoder 210 and the code disk 220 are arranged opposite to each other in a non-contact manner; one of the rotating shaft 250 and the base 230 is fixedly connected to the bracket 3, and the other is fixedly connected to the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 1 that can rotate relative to the bracket 3 and is coaxially arranged, and when the bearing inner ring 110 and the bearing outer ring 120 rotate relative to each other, the encoder 210 and the code disk 220 rotate relative to each other synchronously and the encoder 210 outputs an angle signal.

[0034] Specifically, in this embodiment, an encoder 210 is provided on the base 230 of the angle sensor 2, and the base 230 and the bearing inner ring 110 are fixedly connected and coaxially arranged (synchronously rotated), the rotating shaft 250 of the angle sensor 2 is fixedly connected to the bracket 3 (the bracket 3 is fixedly connected to the bearing outer ring 120), and a code disk 220 is provided on the top of the rotating shaft 250. When the bearing inner ring 110 rotates relative to the bearing outer ring 120, the encoder 210 and the code disk 220 of the angle sensor 2 also synchronously complete the rotation of the same angle. Therefore, the relative rotation angle of the bearing outer ring 120 and the bearing inner ring 110 can be measured by reading the angle signal output by the encoder 210. In other embodiments, the relative rotation angle of the bearing outer ring 120 and the bearing inner ring 110 can be measured by setting the rotating shaft 250 to be fixedly connected to the bearing inner ring 110 and coaxially rotating, and the base 230 to the bearing outer ring 120 is fixedly connected.

[0035] It should be noted that, in this embodiment, the encoder 210 of the angle sensor 2 is arranged on the base 230, and the code disc 220 is arranged at the top of the rotating shaft 250. When the rotating shaft 250 and the base 230 rotate relative to each other, the encoder 210 and the code disc 220 also follow the rotating shaft 250 and the base 230 to complete the same angle of relative rotation. By reading the rotation angle of the code disc 220 by the encoder 210, the relative rotation angle between the rotating shaft 250 and the base 230 can be measured, that is, the relative rotation angle between the inner ring 110 and the outer ring 120 of the bearing can be measured. In another embodiment, the positions of the encoder 210 and the code disc 220 can be interchanged or arranged in other ways, and it is only necessary to enable the encoder 210 to read the relative rotation angle between the code discs 220. In this embodiment, the specific arrangement method and connection method of the encoder 210 and the code disc 220 are not limited.

[0036] Specifically, Figure 4 , the angle sensor 2 also includes a shell 270, the shell 270 is covered on the outside of the base 230 and forms a cavity with the base 230, and the encoder 210 and the code disc 220 are located in the cavity. In this embodiment, the cavity defined by the shell 270 and the base 230 is set as a sealed cavity, and the encoder 210 and the code disc 220 are set in the sealed cavity formed by the shell 270 and the base 230, so that the encoder 210 and the code disc 220 are isolated from the outside world, avoiding damage to the angle sensor 2 caused by pollutants such as dust, dirt, liquid and grease from the outside, and reducing the impact of the vibration of the transport vehicle on the angle sensor 2, so that the angle sensor 2 can work normally in a complex environment, and improve the adaptability of the drive module to a complex working environment.

[0037] Specifically, Figure 4 , 5As shown, one end of the rotating shaft 250 passing through the base 230 and extending to the outside of the angle sensor 2 is set as a mounting portion, and a positioning key 260 is provided on the mounting portion. The mounting structure includes a central hole 310 and a key slot 320 for mounting the rotating shaft 250 mounting portion and the positioning key 260. The rotating shaft 250 of the angle sensor 2 is inserted into the central hole 310, and the positioning key 260 is inserted into the corresponding key slot 320, so that the angle sensor 2 and the bracket 3 form a stable fixed connection. The cooperation of the positioning key 260 and the key slot 320 prevents the rotating shaft 250 from rotating relative to the central hole 310 in the central hole 310, so that the connection between the two is more stable. In other embodiments, the rotating shaft 250 of the angle sensor 2 and the bracket can be stably fixedly connected by other methods, which will not be listed one by one in this embodiment.

[0038] Specifically, Figure 3 As shown, the slewing bearing 1 includes a mounting plate 130, the mounting plate 130 is fixedly connected to the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 1 that can rotate relative to the bracket 3, and the mounting plate 130 is provided with a mounting hole 1302 for fixedly connecting with the base 230 of the angle sensor 2, and a through hole 1301 for allowing the rotating shaft 250 of the angle sensor 2 to pass through the slewing bearing 1. In this embodiment, the mounting plate 130 is used to make one of the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 1 fixedly connected to the base 230 of the angle sensor 2. In other embodiments, if the base 230 of the angle sensor 2 is fixedly connected to the bracket 3, one of the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 that is fixedly connected to the frame of the transport vehicle can be fixedly connected to the rotating shaft 250 of the angle sensor 2 through the mounting plate 130.

[0039] It should be noted that, in the present embodiment, the bearing inner ring 110 of the slewing bearing 1 is fixedly connected to the mounting plate 130 and is provided as an integrally formed structure. In other embodiments, the bearing outer ring 120 of the slewing bearing 1 may be fixedly connected to the mounting plate 130, and a mounting hole 1302 fixedly connected to the base 230 of the angle sensor 2 is provided on the mounting plate 130, as well as a through hole 1301 for allowing the rotating shaft 250 of the angle sensor 2 to pass through the mounting plate 130, so that the bearing outer ring 120 of the slewing bearing 1 is fixedly connected to the base 230 of the angle sensor 2.

[0040] Specifically, Figure 6As shown, the power assembly 4 includes a driving mechanism, and the driving mechanism includes a driving wheel 430, a reducer 420 and a motor 410, and the motor 410 is connected to the driving wheel 430 through the reducer 420. The power assembly 4 includes two groups of the driving mechanisms, and the power assembly 4 also includes two rotating base plates 440, and the two rotating base plates 440 are fixedly connected between the two groups of driving mechanisms so that the power assembly 4 forms a whole, the power assembly 4 and the bracket 3 are hinged, the rotating base plate 440 is provided with a hinge shaft 4401, and the bracket 3 is provided with a shaft hole 330 for installing the hinge shaft 4401, and a wear-resistant sleeve 450 is also provided between the hinge shaft 4401 and the shaft hole 330.

[0041] In this embodiment, the power assembly 4 includes two sets of driving mechanisms arranged symmetrically in the center. The symmetrical arrangement of the two sets of driving mechanisms enables the power assembly 4 to provide a balanced driving force and facilitates the power assembly 4 to provide a rotational driving force. In other embodiments, the power assembly 4 can be set as any set of driving mechanisms and combined in any arrangement and connection mode. The power assembly 4 and the bracket 3 are hingedly connected, so that the bracket 3 can rotate relative to the power assembly 4 along the hinge shaft 4401 of the rotating base plate 440, thereby allowing the two driving wheels 430 to float up and down, which is convenient for balancing the driving force of the two sets of driving mechanisms on uneven roads.

[0042] In this embodiment, the angle sensor 2 is configured as an optical sensor or a magnetic sensor. The optical sensor and the magnetic sensor have high measurement accuracy, which is beneficial to improving the control of the transport vehicle.

[0043] This embodiment also provides a transport vehicle, including a vehicle frame and a driving module, wherein the driving module is fixedly connected to the vehicle frame, and one of the bearing inner ring 110 and the bearing outer ring 120 that is not fixedly connected to the bracket 3 is fixedly connected to the vehicle frame. Figure 2 Taking the driving module shown as an example, the outer ring 120 of the slewing bearing 1 is fixedly connected to the bracket 3, and the inner ring 110 of the bearing is fixedly connected to the frame. When the driving wheel 430 of the driving module rotates, the bracket 3 drives the outer ring 120 of the bearing to rotate, and the inner ring 110 of the bearing is stationary relative to the frame under the fixing action of the frame. The outer ring 120 of the bearing and the inner ring 110 of the bearing rotate relative to each other. The relative rotation angle can be measured by the angle speed sensor, and then the power component 4 can be controlled to complete the rotation at a fixed angle, thereby completing the control of the travel route of the transport vehicle.

[0044] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific implementations. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A driving module of a transport vehicle, characterized in that: The drive module comprises a slewing bearing (1), a power assembly (4), a bracket (3) and an angle sensor (2); the bracket (3) is connected to the slewing bearing (1) and the power assembly (4); a mounting surface for supporting the slewing bearing (1) is formed on the bracket (3); the angle sensor (2) is coaxially arranged with the slewing bearing (1); and the slewing bearing (1) comprises a bearing inner ring (110) and a bearing outer ring (120) which are relatively rotatable; One of the bearing inner ring (110) and the bearing outer ring (120) is fixedly connected to the bracket (3), and the other of the bearing inner ring (110) and the bearing outer ring (120) is used to be connected to the frame of the transport vehicle. When the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the angle sensor (2) measures the relative rotation angle of the bearing inner ring (110) and the bearing outer ring (120).

2. The driving module according to claim 1, characterized in that: The angle sensor (2) comprises an encoder (210), a code disc (220), a base (230) and a rotating shaft (250), wherein the rotating shaft (250) is disposed on the base (230), the base (230) is fixedly connected to the encoder (210), the rotating shaft (250) is fixedly connected to the code disc (220), and the encoder (210) and the code disc (220) are disposed opposite to each other in a non-contact manner; One of the rotating shaft (250) and the base (230) is fixedly connected to the bracket (3), and the other of the rotating shaft (250) and the base (230) is fixedly connected to one of the bearing inner ring (110) and the bearing outer ring (120) of the slewing bearing (1) that can rotate relative to the bracket (3) and is coaxially arranged. When the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the encoder (210) and the code disk (220) rotate relative to each other synchronously and the encoder (210) outputs an angle signal.

3. The driving module according to claim 2, characterized in that: The angle sensor (2) further comprises a housing (270), wherein the housing (270) is disposed on the outside of the base (230) and defines a cavity together with the base (230), wherein the encoder (210) and the code disc (220) are located in the cavity.

4. The driving module according to claim 2, characterized in that: A mounting structure for mounting the angle sensor (2) is provided on the mounting surface of the bracket (3); one end of the rotating shaft (250) passing through the base (230) and extending toward the outside of the angle sensor (2) is set as a mounting portion; a positioning key (260) is provided on the mounting portion; the mounting structure comprises a center hole (310) and a keyway (320) formed on the inner wall of the center hole (310); the mounting portion of the rotating shaft (250) is set in the center hole (310), and the positioning key (260) is set in the keyway (320).

5. The driving module according to claim 2, characterized in that: The slewing bearing (1) further comprises a mounting plate (130), wherein the mounting plate (130) is fixedly connected to one of the bearing inner ring (110) and the bearing outer ring (120) of the slewing bearing (1) that can rotate relative to the bracket (3), and the mounting plate (130) is provided with a mounting hole (1302) for fixedly connecting to the base (230) of the angle sensor (2), and a through hole (1301) for allowing the rotating shaft (250) of the angle sensor (2) to pass through the slewing bearing (1).

6. The driving module according to any one of claims 1 to 5, characterized in that: The power assembly (4) comprises two sets of driving mechanisms and two rotating base plates (440). The two rotating base plates (440) are arranged opposite to each other and are fixedly connected between the two sets of driving mechanisms so that the power assembly (4) forms a whole. The rotating base plates (440) are connected to the bracket.

7. The driving module according to claim 6, characterized in that: The driving mechanism comprises a driving wheel (430), a speed reducer (420) and a motor (410); the motor (410) is connected to the driving wheel (430) via the speed reducer (420); and the driving wheel (430), the speed reducer (420) and the motor (410) are arranged between the two rotating base plates (440).

8. The driving module according to claim 6, characterized in that: The power assembly (4) and the bracket (3) are hinged, the rotating base plate (440) is provided with a hinge shaft (4401), the bracket (3) is provided with an axis hole (330) for installing the hinge shaft (4401), and a wear-resistant sleeve (450) is also provided between the hinge shaft (4401) and the axis hole (330).

9. The driving module according to any one of claims 1 to 5, characterized in that: The angle sensor (2) is configured as an optical sensor or a magnetic sensor.

10. A transport vehicle, comprising a frame, characterized in that: It also includes a driving module according to any one of claims 1 to 9, wherein the driving module is fixedly connected to the frame, and one of the bearing inner ring (110) and the bearing outer ring (120) that is not fixedly connected to the bracket (3) is fixedly connected to the frame.

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