Steering wheel module and automatic guide carrier

Abstract

The utility model provides a steering wheel module and an automatic guide carrier, and relates to the technical field of transportation equipment. The steering wheel module comprises a fixing piece provided with a first connecting hole, a swing piece provided with a second connecting hole, a rotating shaft penetrating through the first connecting hole and the second connecting hole, a first driving module connected to one side of the swing piece, and a second driving module connected to the other side of the swing piece. According to the steering wheel module provided by the invention, when the automatic guide carrying vehicle runs to a bumpy road section or turns, the swinging piece can rotate around the rotating shaft relative to the fixed piece, namely, the swinging piece swings relative to the fixed piece, so that adaptive adjustment on the road surface is realized, the automatic guide carrying vehicle runs more stably, and goods can be better transported.

Description

Technical Field

[0001] The present application relates to the technical field of transportation equipment, and in particular to a steering wheel module and an automatic guided vehicle. Background Art

[0002] There are many driving modes for Automated Guided Vehicles (AGVs), and steering wheel drive is one of the more common driving modes. Existing AGVs maintain driving stability by setting a suspension structure on the driving wheel set, but the effect is not ideal. When the AGV encounters bumpy roads or turns, it cannot make adaptive adjustments to the road surface, making it difficult for the vehicle to maintain balance, affecting the transportation of goods. Utility Model Content

[0003] In view of this, the purpose of the present application is to provide a steering wheel module and an automated guided vehicle, aiming to solve the technical problem that the automated guided vehicle cannot make adaptive adjustments to the road surface when encountering bumpy roads or turning, making it difficult for the vehicle body to maintain balance.

[0004] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a steering wheel module having a first direction and a second direction perpendicular to each other, the steering wheel module comprising:

[0006] A fixing member having a first connecting hole;

[0007] The swinging member is provided with a second connecting hole;

[0008] A rotating shaft, respectively penetrated through the first connecting hole and the second connecting hole, so that the swinging member can rotate around the rotating shaft relative to the fixing member, and the axis of the rotating shaft is parallel to the second direction;

[0009] A first driving wheel set connected to one side of the swinging member along the first direction; and

[0010] The second driving wheel set is connected to the other side of the swinging member along the first direction, and the rotating shaft is located between the first driving wheel set and the second driving wheel set.

[0011] In one embodiment of the first aspect, the fixing member includes a limit portion and a connecting portion connected to each other, the connecting portion and the swinging member are located on the same side of the limit portion, the limit portion and the swinging member are spaced apart, a limit hole communicating with the second connecting hole is formed on the swinging member, the first connecting hole is formed on the connecting portion, and at least a portion of the connecting portion is received in the limit hole;

[0012] Wherein, the limiting portion is used to abut against the swinging member to limit the angle of rotation of the swinging member around the rotating shaft relative to the fixing member.

[0013] In one embodiment of the first aspect, the angle of rotation of the swinging member around the rotation axis relative to the fixing member is α, which satisfies: -5°≤α≤5°.

[0014] In one of the embodiments of the first aspect, the steering wheel module also includes a sleeve assembly located at the limiting hole, a portion of the rotating shaft is fixed on the hole wall of the second connecting hole, the sleeve assembly is sleeved on another portion of the rotating shaft, and the sleeve assembly is passed through the first connecting hole.

[0015] In one embodiment of the first aspect, the sleeve assembly includes a first sleeve and a second sleeve, the first sleeve and the second sleeve are respectively sleeved on the rotating shaft, the first sleeve has a first limiting ring, and the second sleeve has a second limiting ring;

[0016] The first limiting ring abuts between one side wall of the limiting hole and one side of the connecting part, and the second limiting ring abuts between the other side wall of the limiting hole and the other side of the connecting part to limit the movement of the swinging member relative to the fixing member in the second direction.

[0017] In one embodiment of the first aspect, the limiting portion and the swinging member are both plate-shaped structures.

[0018] In one embodiment of the first aspect, the first driving wheel group includes a first driving wheel, a first reducer and a first driving member, the first reducer is arranged on one side of the swinging member along the first direction, and is connected between the first driving wheel and the first driving member, and the second driving wheel group includes a second driving wheel, a second reducer and a second driving member, the second reducer is arranged on the other side of the swinging member along the first direction, and is connected between the second driving wheel and the second driving member.

[0019] In one embodiment of the first aspect, the first driving member and the second driving member are both located on a side of the swinging member facing away from the fixing member.

[0020] In one embodiment of the first aspect, the first driving member is located on one side of the swinging member along the second direction, and the second driving member is located on the other side of the swinging member along the second direction.

[0021] In a second aspect, an embodiment of the present application further provides an automated guided vehicle, comprising the steering wheel module described in any of the above embodiments.

[0022] The beneficial effects of this application are:

[0023] The steering wheel module provided by the present application includes a fixed part, a swinging part, a rotating shaft, a first driving wheel group and a second driving wheel group, the first driving wheel group is connected to one side of the swinging part, the second driving wheel group is connected to the other side of the swinging part, a first connecting hole is provided on the fixed part, a second connecting hole is provided on the swinging part, and the rotating shaft is respectively passed through the first connecting hole and the second connecting hole, and is located between the first driving wheel group and the second driving wheel group. In this way, when the automatic guided vehicle travels to a bumpy road section or turns, the swinging part can rotate around the rotating shaft relative to the fixed part, that is, it can swing relative to the fixed part, so as to achieve adaptive adjustment to the road surface, so that the automatic guided vehicle can travel more smoothly, thereby being able to better transport goods.

[0024] In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, preferred embodiments are given below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a steering wheel module from one perspective in some embodiments of the present application is shown;

[0027] Figure 2 Another perspective structural schematic diagram of the steering wheel module in some embodiments of the present application is shown;

[0028] Figure 3 Another perspective structural schematic diagram of the steering wheel module in some embodiments of the present application is shown;

[0029] Figure 4 Shows Figure 3 Schematic diagram of the three-dimensional cross-sectional structure at AA in the middle;

[0030] Figure 5 Shows Figure 4 Schematic diagram of the enlarged structure of the middle B area;

[0031] Figure 6 A schematic diagram of the assembly structure of a fixed member, a swing member, a rotating shaft and a sleeve assembly in some embodiments of the present application is shown;

[0032] Figure 7 Shows Figure 6Schematic diagram of the decomposition structure;

[0033] Figure 8 A schematic diagram of a state of a steering wheel module in some embodiments of the present application is shown;

[0034] Fig. 9 Another state schematic diagram of the steering wheel module in some embodiments of the present application is shown.

[0035] Description of main component symbols:

[0036] 100-steering wheel module; 110-fixing member; 111-limiting part; 112-connecting part; 1121-first connecting hole; 120-swinging member; 121-second connecting hole; 122-limiting hole; 130-rotating shaft; 140-first driving wheel group; 141-first driving wheel; 142-first reducer; 143-first driving member; 150-second driving wheel group; 151-second driving wheel; 152-second reducer; 153-second driving member; 160-sleeve assembly; 161-first sleeve; 1611-first limiting ring; 162-second sleeve; 1621-second limiting ring; x-first direction; y-second direction. DETAILED DESCRIPTION

[0037] 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 having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] like Figure 1 and Figure 2 As shown, in the first aspect, the embodiment of the present application provides a steering wheel module 100, which relates to the technical field of transportation equipment and is mainly applied to an automatic guided vehicle, so that the automatic guided vehicle can move along the road to transport goods. Of course, the steering wheel module 100 can also be applied to electric balance vehicles, electric scooters, etc., and no specific restrictions are made here. For the convenience of description, the embodiment of the present application is described by taking an automatic guided vehicle as an example.

[0043] Combination Figures 3 to 5 As shown, the steering wheel module 100 provided in this embodiment has a first direction x and a second direction y that are perpendicular to each other. The steering wheel module 100 includes: a fixing member 110 , a swinging member 120 , a rotating shaft 130 , a first driving wheel set 140 and a second driving wheel set 150 .

[0044] The fixing member 110 is provided with a first connection hole 1121, and the swinging member 120 is provided with a second connection hole 121. The rotating shaft 130 is respectively provided through the first connection hole 1121 and the second connection hole 121, so that the swinging member 120 can rotate relative to the fixing member 110 around the rotating shaft 130, and the axis of the rotating shaft 130 is parallel to the second direction y. The first driving wheel set 140 is connected to one side of the swinging member 120 along the first direction x, and the second driving wheel set 150 is connected to the other side of the swinging member 120 along the first direction x, and the rotating shaft 130 is located between the first driving wheel set 140 and the second driving wheel set 150.

[0045] It should be noted that, here, the first driving wheel set 140 is connected to one side of the swing member 120 along the first direction x, and the second driving wheel set 150 is connected to the other side of the swing member 120 along the first direction x, which means that the first driving wheel set 140 and the second driving wheel set 150 are respectively connected to two opposite sides of the swing member 120 along the first direction x. The fixing member 110 is used to be connected to the body of the automated guided vehicle.

[0046] It should be mentioned that the existing automated guided vehicles maintain driving stability by setting a suspension structure on the driving wheel group, but the effect is not ideal. When the automated guided vehicle encounters bumpy roads or turns, it is unable to make adaptive adjustments to the road surface, resulting in difficulty in maintaining balance of the vehicle body, affecting the transportation of goods.

[0047] It can be understood that, since the steering wheel module 100 provided in this embodiment includes a fixed member 110, a swing member 120, a rotating shaft 130, a first driving wheel group 140 and a second driving wheel group 150, the first driving wheel group 140 is connected to one side of the swing member 120, and the second driving wheel group 150 is connected to the other side of the swing member 120, a first connecting hole 1121 is provided on the fixed member 110, a second connecting hole 121 is provided on the swing member 120, and the rotating shaft 130 is respectively provided through the first connecting hole 1121 and the second connecting hole 121, and is located between the first driving wheel group 140 and the second driving wheel group 150. In this way, when the automatic guided vehicle travels to a bumpy road section or turns, the swing member 120 can rotate relative to the fixed member 110 around the rotating shaft 130, that is, it can swing relative to the fixed member 110, so as to achieve adaptive adjustment to the road surface, so that the automatic guided vehicle travels more smoothly, thereby being able to better transport goods.

[0048] like Figure 6 and Figure 7 As shown, in one embodiment, the fixing member 110 includes a limit portion 111 and a connecting portion 112 connected to each other, the connecting portion 112 and the swinging member 120 are located on the same side of the limit portion 111, the limit portion 111 and the swinging member 120 are arranged at intervals, the swinging member 120 is provided with a limit hole 122 connected to the second connecting hole 121, the connecting portion 112 is provided with a first connecting hole 1121, and at least a portion of the connecting portion 112 is received in the limit hole 122. The limit portion 111 is used to abut against the swinging member 120 to limit the angle of rotation of the swinging member 120 around the rotating shaft 130 relative to the fixing member 110.

[0049] It should be noted that here, at least part of the connecting portion 112 is accommodated in the limiting hole 122, which refers to two situations: one is that a part of the connecting portion 112 is accommodated in the limiting hole 122; the other is that the entire connecting portion 112 is accommodated in the limiting hole 122, that is, the entire connecting portion 112 is accommodated in the limiting hole 122.

[0050] In this embodiment, since the connecting portion 112 and the swinging member 120 are located on the same side of the limiting portion 111, the limiting portion 111 and the swinging member 120 are arranged at intervals, a limiting hole 122 connected to the second connecting hole 121 is opened on the swinging member 120, a first connecting hole 1121 is opened on the connecting portion 112, and at least a portion of the connecting portion 112 is accommodated in the limiting hole 122. In this way, when the swinging member 120 rotates around the rotating shaft 130 relative to the fixed member 110, the limiting portion 111 can abut against the swinging member 120 to limit the rotation angle of the swinging member 120 around the rotating shaft 130 relative to the fixed member 110, thereby realizing the limiting of the swinging member 120.

[0051] like Figure 8 and Fig. 9 As shown, further, the swing member 120 rotates around the rotation axis 130 relative to the fixed member 110 at an angle α, which satisfies: -5°≤α≤5°.

[0052] It should be noted that the reference Figure 8 and Fig. 9 The angle of view at which the swing member 120 rotates counterclockwise around the rotation axis 130 is defined as a negative angle, and the angle at which the swing member 120 rotates clockwise around the rotation axis 130 is defined as a positive angle.

[0053] Exemplarily, α can be any value among -5°, -4°, -3°, -2.5°, -2°, -1°, 0°, 1°, 2°, 2.5°, 3°, 3.5°, 4°, 5°, or any value in a range consisting of any two of them, and no specific limitation is made herein.

[0054] In this embodiment, when the swinging member 120 rotates around the rotating shaft 130 relative to the fixed member 110, the limiting portion 111 can abut against the swinging member 120 to limit the swinging member 120 from rotating around the rotating shaft 130 relative to the fixed member 110 within the angle range of -5° to 5°. That is, the swinging member 120 swings relative to the fixed member 110 within the angle range of -5° to 5°. This not only can make adaptive adjustments to the road surface, but also can reduce the risk of goods falling off due to excessive swinging angles, so that the automatic guided vehicle can better transport goods.

[0055] like Figure 4 , Figure 5 and Figure 7 As shown, further, the steering wheel module 100 also includes a sleeve assembly 160 located at the limiting hole 122, a portion of the rotating shaft 130 is fixed on the hole wall of the second connecting hole 121, the sleeve assembly 160 is sleeved on another portion of the rotating shaft 130, and the sleeve assembly 160 is passed through the first connecting hole 1121.

[0056] It should be noted that, here, a part of the rotating shaft 130 is fixed on the hole wall of the second connecting hole 121, which means that the rotating shaft 130 and the swinging member 120 are fixedly connected and the two cannot move relative to each other. For example, the fixed connection can be achieved by welding, clamping, screw connection, etc.

[0057] In this embodiment, since a part of the rotating shaft 130 is fixed to the hole wall of the second connecting hole 121, the sleeve assembly 160 is sleeved on the other part of the rotating shaft 130, and the sleeve assembly 160 is arranged in the first connecting hole 1121. In this way, the rotating shaft 130 and the swinging member 120 can rotate relative to the fixed member 110 synchronously, that is, they can swing relative to the fixed member 110 synchronously. At the same time, the arrangement of the sleeve assembly 160 improves the smoothness of the swinging member 120 rotating around the rotating shaft 130 relative to the fixed member 110.

[0058] like Figure 4 , Figure 5 and Figure 7 As shown, further, the sleeve assembly 160 includes a first sleeve 161 and a second sleeve 162, the first sleeve 161 and the second sleeve 162 are respectively sleeved on the rotating shaft 130, the first sleeve 161 has a first limiting ring 1611, and the second sleeve 162 has a second limiting ring 1621. The first limiting ring 1611 abuts between a hole wall on one side of the limiting hole 122 and one side of the connecting portion 112, and the second limiting ring 1621 abuts between a hole wall on the other side of the limiting hole 122 and the other side of the connecting portion 112, so as to limit the swinging member 120 from moving relative to the fixing member 110 in the second direction y.

[0059] In this embodiment, the first limiting ring 1611 abuts between the hole wall on one side of the limiting hole 122 and one side of the connecting portion 112, and the second limiting ring 1621 abuts between the hole wall on the other side of the limiting hole 122 and the other side of the connecting portion 112. In this way, the swinging member 120 can be restricted from moving relative to the fixing member 110 in the second direction y, that is, the freedom of the swinging member 120 along the second direction y is restricted, so that the steering wheel module 100 has higher structural stability.

[0060] Furthermore, the limiting part 111 and the swinging member 120 are both plate-shaped structures. In this way, the height of the steering wheel module 100 can be reduced, thereby lowering the center of gravity of the automated guided vehicle, so that the stability of the automated guided vehicle is further improved.

[0061] Of course, for the above embodiment, a bearing can also be used instead of the sleeve assembly 160. The bearing is interference fit with the first connecting hole 1121 and is sleeved on the rotating shaft 130, which can also improve the smoothness of the swing member 120 rotating around the rotating shaft 130 relative to the fixed member 110.

[0062] like Figures 1 to 3As shown, in one embodiment, the first driving wheel group 140 includes a first driving wheel 141, a first reducer 142 and a first driving member 143, the first reducer 142 is arranged on one side of the swing member 120 along the first direction x, and is connected between the first driving wheel 141 and the first driving member 143, the second driving wheel group 150 includes a second driving wheel 151, a second reducer 152 and a second driving member 153, the second reducer 152 is arranged on the other side of the swing member 120 along the first direction x, and is connected between the second driving wheel 151 and the second driving member 153.

[0063] Exemplarily, the first driving member 143 or the second driving member 153 can be a rotating motor, a driving motor, etc., and the first reducer 142 or the second reducer 152 can be a gear reducer, a worm gear reducer, etc., and no specific restrictions are made on the types of the driving member and the reducer.

[0064] In this embodiment, since the first driving member 143 can drive the first driving wheel 141 to rotate through the first reducer 142, the second driving member 153 can drive the second driving wheel 151 to rotate through the second reducer 152. At the same time, the first reducer 142 and the second reducer 152 can play a role in reducing speed and increasing torque, thereby improving the power performance of the automatic guided vehicle, thereby improving the transportation capacity of the automatic guided vehicle.

[0065] like Figures 1 to 3 As shown, further, the first driving member 143 and the second driving member 153 are both located on the side of the swinging member 120 away from the fixing member 110, so that the first driving member 143 and the second driving member 153 are arranged closer to the ground, which can lower the center of gravity of the steering wheel module 100 and make the automatic guided vehicle run more smoothly.

[0066] like Figure 3 As shown, further, the first driving member 143 is located on one side of the swing member 120 along the second direction y, and the second driving member 153 is located on the other side of the swing member 120 along the second direction y, that is, the first driving member 143 and the second driving member 153 are respectively located on two opposite sides of the swing member 120 along the second direction y. In this way, the weight distribution of the steering wheel module 100 in the second direction y is more balanced, which can avoid the situation that the automatic guided vehicle is not stable due to the inconsistent weight on both sides.

[0067] In a second aspect, an embodiment of the present application provides an automated guided vehicle, comprising a vehicle body and a steering wheel module 100 in any embodiment of the first aspect, wherein a fixing member 110 is connected to the vehicle body.

[0068] It can be understood that since the automated guided vehicle provided in this embodiment has the steering wheel module 100 in any embodiment of the first aspect described above, it has all the beneficial effects of the steering wheel module 100, which will not be listed one by one here.

[0069] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0070] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A steering wheel module, characterized in that: Having a first direction (x) and a second direction (y) that are perpendicular to each other, the steering wheel module comprises: The fixing member (110) is provided with a first connecting hole (1121); The swinging member (120) is provided with a second connecting hole (121); a rotating shaft (130) which is respectively inserted into the first connecting hole (1121) and the second connecting hole (121) so that the swinging member (120) can rotate relative to the fixing member (110) around the rotating shaft (130), and the axis of the rotating shaft (130) is parallel to the second direction (y); A first driving wheel set (140) connected to one side of the swinging member (120) along the first direction (x); and The second driving wheel set (150) is connected to the other side of the swinging member (120) along the first direction (x), and the rotating shaft (130) is located between the first driving wheel set (140) and the second driving wheel set (150).

2. The steering wheel module according to claim 1, characterized in that: The fixing member (110) comprises a limiting portion (111) and a connecting portion (112) connected to each other; the connecting portion (112) and the swinging member (120) are located on the same side of the limiting portion (111); the limiting portion (111) and the swinging member (120) are arranged at intervals; a limiting hole (122) communicating with the second connecting hole (121) is provided on the swinging member (120); the first connecting hole (1121) is provided on the connecting portion (112); and at least a portion of the connecting portion (112) is received in the limiting hole (122); The limiting portion (111) is used to abut against the swinging member (120) to limit the angle at which the swinging member (120) rotates around the rotating shaft (130) relative to the fixing member (110).

3. The steering wheel module according to claim 2, characterized in that: The angle at which the swinging member (120) rotates around the rotating shaft (130) relative to the fixing member (110) is α, which satisfies: -5°≤α≤5°.

4. The steering wheel module according to claim 2, characterized in that: The steering wheel module also includes a shaft sleeve assembly (160) located at the limiting hole (122), a portion of the rotating shaft (130) is fixed on the hole wall of the second connecting hole (121), the shaft sleeve assembly (160) is sleeved on another portion of the rotating shaft (130), and the shaft sleeve assembly (160) is passed through the first connecting hole (1121).

5. The steering wheel module according to claim 4, characterized in that: The shaft sleeve assembly (160) comprises a first shaft sleeve (161) and a second shaft sleeve (162), wherein the first shaft sleeve (161) and the second shaft sleeve (162) are respectively sleeved on the rotating shaft (130), wherein the first shaft sleeve (161) has a first limiting ring (1611), and the second shaft sleeve (162) has a second limiting ring (1621); The first limiting ring (1611) abuts between one side wall of the limiting hole (122) and one side of the connecting portion (112), and the second limiting ring (1621) abuts between the other side wall of the limiting hole (122) and the other side of the connecting portion (112), so as to limit the movement of the swinging member (120) relative to the fixing member (110) in the second direction (y).

6. The steering wheel module according to claim 2, characterized in that: The limiting portion (111) and the swinging member (120) are both plate-shaped structures.

7. The steering wheel module according to any one of claims 1 to 6, characterized in that: The first driving wheel group (140) comprises a first driving wheel (141), a first speed reducer (142) and a first driving member (143); the first speed reducer (142) is arranged on one side of the swinging member (120) along the first direction (x), and is connected between the first driving wheel (141) and the first driving member (143); the second driving wheel group (150) comprises a second driving wheel (151), a second speed reducer (152) and a second driving member (153); the second speed reducer (152) is arranged on the other side of the swinging member (120) along the first direction (x), and is connected between the second driving wheel (151) and the second driving member (153).

8. The steering wheel module according to claim 7, characterized in that: The first driving member (143) and the second driving member (153) are both located on a side of the swinging member (120) facing away from the fixing member (110).

9. The steering wheel module according to claim 8, characterized in that: The first driving member (143) is located on one side of the swing member (120) along the second direction (y), and the second driving member (153) is located on the other side of the swing member (120) along the second direction (y).

10. An automatic guided vehicle, characterized in that: The invention comprises the steering wheel module according to any one of claims 1 to 9.

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