Automatic guided vehicle and driving wheel module thereof

Abstract

The utility model 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] The utility model relates to a handling device, in particular to an automated guided vehicle and a driving wheel module thereof. Background Art

[0002] In order to keep the running part of the existing handling vehicle running smoothly and avoid floating, a spring that can apply pressure to the driving wheels of the running part is often configured. However, when the spring used in the existing handling vehicle is difficult to control its resilience, adding a spring to the running part of the handling vehicle will instead easily cause inconvenience in the operation of the handling vehicle. Therefore, the applicant believes that the above defects can be improved, and thus specifically delved into research and combined with the application of scientific principles, and finally proposed a utility model with reasonable design and effective improvement of the above defects. Summary of the Utility Model

[0003] An embodiment of the utility model aims to provide an automated guided vehicle and a driving wheel module thereof, which can effectively improve the defects that may occur in the existing handling vehicle.

[0004] An embodiment of the utility model discloses an automated guided vehicle, which includes: a vehicle frame; two driving wheel modules pivotally connected to opposite sides of the vehicle frame along a first axis, and each driving wheel module includes: a first balance beam having a first pivoting portion pivotally connected to the vehicle frame along the first axis, a rear end portion on one side of the first pivoting portion, and a front end portion on the other side of the first pivoting portion; a driving 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 can rotate with the first pivoting portion as a fulcrum, so as to synchronously move the driving wheel and the auxiliary wheel; and a driven wheel module pivotally connected to the vehicle frame along a second axis perpendicular to the first axis, and the driven wheel module includes: a second balance beam having a second pivoting portion pivotally connected to the vehicle frame along the second axis, and two end portions on opposite sides of the second pivoting portion; and two driven wheels respectively pivotally connected to the two end portions of the second balance beam; wherein, the second balance beam can rotate with the second pivoting portion as a fulcrum, so as to synchronously move the two driven wheels; wherein, the driving wheels and the auxiliary wheels of the two driving wheel modules, and the two driven wheels of the driven wheel module can be used to keep in contact with the ground for walking, and the vehicle frame is under three-point force through the two first pivoting portions and the second pivoting portion.

[0005] Optionally, in each driving wheel module, when one of the driving wheel and the auxiliary wheel rolls to a raised or sunken portion on the ground, the other of the driving wheel and the auxiliary wheel can rotate through the 113P001085CN.01 of the first balance beam

[0006] to keep in contact with the ground.

[0007] Optionally, when one of the two passive wheels rolls to a raised or a sunken place on the ground, the other one of the two passive wheels can keep contacting the ground by the rotation of the second balance beam.

[0008] Optionally, the vehicle frame includes: a main frame body; and a support rod that transversely penetrates the main frame body along a first axis, and two protruding portions of the support rod penetrate out of the main frame body; the first pivoting portions of the two drive wheel modules are respectively sleeved and pivoted on the two protruding portions of the support rod.

[0009] Optionally, the vehicle frame includes two side frame bodies connected to the main frame body, and the two side frame bodies respectively correspond to the two drive wheel modules along a height direction perpendicular to the first axis and the second axis; wherein each drive wheel module includes at least one first elastic member clamped between the first balance beam and the corresponding side frame body along the height direction.

[0010] Optionally, the vehicle frame includes a rear frame body connected to the main frame body, and the second pivoting portion is pivoted to the rear frame body; wherein the passive wheel module includes at least one second elastic member clamped between the second balance beam and the rear frame body along a height direction.

[0011] Optionally, the vehicle frame can apply force to the main frame body through the support rod; wherein when the main frame body deforms under force, the vehicle frame maintains three-point force application, 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 keep contacting the ground for walking.

[0012] Optionally, the two drive wheel modules are arranged in a mirror symmetry with respect to the second axis.

[0013] An embodiment of the present utility model also discloses an automated guided vehicle, which includes: a vehicle frame; and two drive wheel modules pivotally connected to opposite sides of the vehicle frame along a first axis, and each drive wheel module includes: a first balance beam having a first pivoting portion pivotally connected to the vehicle frame along the first axis, a rear end portion on one side of the first pivoting portion, and a front end portion on the other side of the first pivoting 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 can rotate with the first pivoting portion as a fulcrum, thereby synchronously moving the drive wheel and the auxiliary wheel; wherein the drive wheels and auxiliary wheels of the two drive wheel modules can be used to keep contacting a ground for walking, and the vehicle frame is stressed through the two first pivoting portions.

[0014] Another embodiment of the present utility model discloses a driving wheel module of an automated guided vehicle, which includes: a first balance beam having a first pivoting portion, a rear end portion located on one side of the first pivoting portion, and a front end portion located on the other side of the first pivoting portion; wherein the first pivoting portion is used for pivoting along a first axis to a vehicle frame; a driving wheel pivoted to the rear end portion of the first balance beam; and an auxiliary wheel pivoted to the front end portion of the first balance beam; wherein the first balance beam can rotate with the first pivoting portion as a fulcrum, thereby synchronously moving the driving wheel and the auxiliary wheel, so that the driving wheel and the auxiliary wheel of the driving wheel module can be used to keep in contact with the ground for walking. 113P001085CN.01

[0015] wheel and the auxiliary wheel, so that the driving wheel and the auxiliary wheel of the driving wheel module can be used to keep in contact with the ground for walking.

[0016] In summary, the automated guided vehicle and its driving wheel module disclosed in the embodiments of the present utility model can, through the overall structural design, enable the automated guided vehicle to effectively avoid floating and stably contact the ground for walking without configuring springs for each driving wheel module. Further, since springs are not required conditions for the operation of the automated guided vehicle, the automated guided vehicle does not have to face problems such as spring tension adjustment or spring aging, thereby effectively improving the operation stability of the automated guided vehicle and significantly reducing the maintenance time of the automated guided vehicle.

[0017] Furthermore, the automated guided vehicle disclosed in the embodiments of the present utility model can also, through the structural cooperation among the vehicle frame, two driving wheel modules, and the passive wheel module, achieve the vehicle frame as the object of force supported by three points, thereby enabling the vehicle frame to ensure the average force on multiple rollers without precise machining and synchronously reducing the overall processing cost.

[0018] To further understand the features and technical content of the present utility model, please refer to the following detailed description and drawings of the present utility model. However, these descriptions and drawings are only used to illustrate the present utility model and do not impose any limitation on the protection scope of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the automated guided vehicle according to the embodiment of the present utility model.

[0020] Figure 2 is Figure 1 exploded view of.

[0021] Figure 3 is Figure 2 enlarged view of Region III of.

[0022] Figure 4 is Figure 1 side view of the automated guided vehicle during operation (I).

[0023] Figure 5 Side view schematic diagram (2) of the automated guided vehicle during operation Figure 1 for

[0024] Figure 6 Side view schematic diagram (3) of the automated guided vehicle during operation Figure 1 for

[0025] Figure 7 Enlarged schematic diagram of Region VII Figure 2 for

[0026] Figure 8 Plan view schematic diagram of the automated guided vehicle during operation Figure 1 for

[0027] Figure 9 Schematic diagram of the architecture of the automated guided vehicle according to an embodiment of the present invention

[0028] Figure 10 Schematic diagram of the architecture when the frame of the automated guided vehicle Figure 9 for Specific embodiments

[0029] The following are specific embodiments to illustrate the embodiments of the present invention regarding "Automated Guided Vehicle 113P001085CN.01

[0030] and its drive wheel module". Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present 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 the present invention. Additionally, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes, hereby declared in advance. The following embodiments will further detail the related technical content of the present invention, but the disclosed content is not intended to limit the protection scope of the present invention.

[0031] It should be understood that although terms such as "first", "second", "third", etc. may be used herein to describe various components or features, these components or features should not be limited by these terms. These terms are mainly used to distinguish one component from another, or one feature from another. Additionally, the term "or" used herein should, depending on the actual situation, possibly include any one or a combination of multiple of the associated listed items.

[0032] Please refer to Figures 1 to 10 shown, which is an embodiment of the present invention. As Figures 1 to 3As shown, this embodiment discloses an automated guided vehicle 100, which can be applied to an automated operating system. The automated guided vehicle 100 in this embodiment includes a vehicle frame 1, two drive wheel modules 2 pivotally connected to opposite sides of the vehicle frame 1 along a first axis C1 (such as: Figure 1 the left and right sides of the vehicle frame 1 in Figure 1 ), and a passive wheel module 3 pivotally connected to the other side of the vehicle frame 1 (such as:

[0033] the rear side of the vehicle frame 1 in

[0034] along a second axis C2 perpendicular to the first axis C1).

[0035] It should be noted first that in this embodiment, the automated guided vehicle 100 is described by using the vehicle frame 1 in combination with two drive wheel modules 2 and the passive wheel module 3, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the passive wheel module 3 of the automated guided vehicle 100 can be omitted or replaced by other components according to actual needs; or, the drive wheel module 2 can also be used alone (such as for vending) or in combination with other components.

[0036] Furthermore, the two driving wheel modules 2 are respectively sleeved and pivotally connected to the two protruding portions 121 of the support rod 12, so that the vehicle frame 1 can be stressed by the main frame body 11 through the support rod 12. Moreover, the two side frame bodies 13 respectively correspond to the two driving wheel modules 2 along the height direction H; that is to say, the two side frame bodies 13 are respectively located above the two driving wheel modules 2 along the height direction H.

[0037] In addition, since the two driving wheel modules 2 in this embodiment adopt substantially the same structure and are arranged in mirror symmetry with respect to the second axis C2, for the convenience of describing this embodiment, the following content only introduces the structure of one of the driving wheel modules 2, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the two driving wheel modules 2 may also adopt slightly different structures according to actual needs.

[0038] In this embodiment, the driving wheel module 2 includes a first balance beam 21, a driving 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. Among them, the first balance beam 21 is elongated and parallel to the second axis C2, and the first balance beam 21 has a first pivoting portion 211 pivotally connected to the vehicle frame 1 along the first axis C1, a rear end portion 212 located on one side of the first pivoting portion 211, and a front end portion 213 located on the other side of the first pivoting portion 211.

[0039] It should be additionally noted that the first pivoting portion 211 is described as being generally located at the center of the rear end portion 212 and the front end portion 213 in this embodiment. The first balance beam 21 connects the first pivoting portion 211 and the rear end portion 212 with a rear beam segment 214, and the first balance beam 21 connects the first pivoting portion 211 and the front end portion 213 with a front beam segment 215, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the distance between the first pivoting portion 211 and the rear end portion 212 and the front end portion 213 can be adjusted and changed according to actual needs.

[0040] To adjust and vary.

[0041] Furthermore, the driving wheel module 2 is sleeved and pivotally connected to the corresponding protruding portion 121 of the support rod 12 along the first axis C1 by the first pivoting portion 211. The driving wheel 22 is pivotally connected to the rear end portion 212 of the first balance beam 21, and the auxiliary wheel 23 is pivotally connected to the front end portion 213 of the first balance beam 21. Wherein, the pivoting directions of the driving wheel 22 and the auxiliary wheel 23 relative to the first balance beam 21 are substantially parallel to the first axis C1.

[0042] Furthermore, the driving wheel 22 includes a driving motor installed at the rear end portion 212 and a roller connected to the driving motor, so that the roller can be driven by the driving motor to actively roll. The auxiliary wheel 23 is a roller and can only roll passively.

[0043] As described above, the first balance beam 21 can rotate with the first pivoting portion 211 as a fulcrum, thereby synchronously moving the driving wheel 22 and the auxiliary wheel 23. When one of the driving wheel 22 and the auxiliary wheel 23 rolls to a raised portion G1 or a sunken portion G2 of a ground G (such as: Figure 4 or Figure 5 shown), the other of the driving wheel 22 and the auxiliary wheel 23 can, through the rotation of the first balance beam 21, keep the driving wheel 22 or the auxiliary wheel 23 that has not rolled to the raised portion G1 or the sunken portion G2 in contact with the ground G.

[0044] The above has described the structure and operation of a single driving wheel module 2. The following content will be viewed from the overall operation angle of the unmanned carrier 100. Among them, the unmanned carrier 100 can make the unmanned carrier 100 travel forward along the second axis C2 by rotating the driving motors of the two driving wheel modules 2 forward; or, the unmanned carrier 100 can make the unmanned carrier 100 travel backward along the second axis C2 by rotating the driving motors of the two driving wheel modules 2 in reverse; or, the unmanned carrier 100 can rotate the driving motor of one driving wheel module 2 forward and rotate the driving motor of the other driving wheel module 2 in reverse to make the unmanned carrier 100 turn.

[0045] Furthermore, the driving wheels 22 and the auxiliary wheels 23 of the two driving wheel modules 2 can be used to keep in contact with the ground G for walking (by the self-weight of the unmanned carrier 100), and the vehicle frame 1 is stressed through the two first pivoting portions 211.

[0046] Thus, in this embodiment, the AGV 100 can, through the structural design of the two drive wheel modules 2 and their structural cooperation with the vehicle frame 1, enable each drive wheel 22 and auxiliary wheel 23 of the drive wheel module 2 to effectively avoid floating and stably contact the ground G for walking without configuring springs.

[0047] 113P001085CN.01

[0048] Furthermore, since springs are not required conditions for the operation of the AGV 100, the AGV 100 does not have to face problems such as spring tension adjustment or spring aging, thereby effectively improving the operation stability of the AGV 100 and significantly reducing the maintenance time of the AGV 100.

[0049] However, in order to reduce or absorb the swing amplitude or vibration amplitude of each drive wheel module 2 when the AGV 100 is running, at least one first elastic member 24 can be further added to each drive wheel module 2 according to actual needs, and at least one first elastic member 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 member 24 does not affect the operation of the AGV 100.

[0050] In this embodiment, the first elastic member 24 can be an elastic body (such as rubber) with elastic material or a spring (such as a compression spring) with elastic structure through structural design, and the number of at least one first elastic member 24 of each drive wheel module 2 is two, but the present invention is not limited thereto.

[0051] In each drive wheel module 2, the two first elastic members 24 are respectively placed on opposite sides of the first pivot portion 211 and are respectively arranged on the rear beam section 214 and the front beam section 215; that is to say, one first elastic member 24 is clamped between the rear beam section 214 of the first balance beam 21 and the corresponding side frame 13, and one first elastic member 24 is clamped between the front beam section 215 of the first balance beam 21 and the corresponding side frame 13, but the distance between the two first elastic members 24 relative to the first pivot portion 211 can be adjusted and changed according to actual needs and is not limited herein.

[0052] In addition, such as Figure 1 、 Figure 2 、and Figure 7As shown, the automated guided vehicle 100 in this embodiment is further configured with the passive wheel module 3 to further improve the running stability of the automated guided vehicle 100. Among them, the passive wheel module 3 is configured to be mirror-symmetrical with respect to the second axis C2 in this embodiment, 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.

[0053] Furthermore, the second balance beam 31 is elongated and parallel to the first axis C1, and the second balance beam 31 has a second pivoting portion 311 pivotally connected to the vehicle frame 1 along the second axis C2, and two end portions 312 located on opposite sides of the second pivoting portion 311. Among them, the second pivoting portion 311 is pivotally connected to the approximate center of the rear frame body 14, and the pivoting manner between the second pivoting portion 311 and the rear frame body 14 is achieved by inserting a pin (not shown in the figure) through 113P001085CN.01

[0054] inside it, but the present utility model is not limited thereto.

[0055] Furthermore, the two passive wheels 32 are respectively pivotally connected to the two end portions 312 of the second balance beam 31, and each passive wheel 32 is a roller and can only roll passively. It should be additionally noted that the second pivoting portion 311 is described as being generally located at the center of the two end portions 312 in this embodiment, and the second balance beam 31 has two side beam segments 313 to connect the second pivoting portion 311 to the two end portions 312 respectively, but the present utility model is not limited thereto. For example, in other embodiments not shown in the present utility model, the distance between the second pivoting portion 311 and the two end portions 312 can be adjusted and changed according to actual needs.

[0056] Moreover, the second balance beam 31 can rotate with the second pivoting portion 311 as a fulcrum, thereby synchronously moving the two passive wheels 32, so that when one of the two passive wheels 32 rolls to the raised portion G1 of the ground G (as shown in: Figure 8 shown) or the sunken portion (not shown in the figure), the other of the two passive wheels 32 can maintain contact with the ground G through the rotation of the second balance beam 31.

[0057] Furthermore, the drive wheels 22 and the auxiliary wheels 23 of the two drive wheel modules 2, and the two passive wheels 32 of the passive wheel module 3 can be used to keep in contact with the ground G for walking, and the vehicle frame 1 is under three-point force through the two first pivoting portions 211 and the second pivoting portion 311.

[0058] Therefore, in this embodiment, the automated guided vehicle 100 can, through the structural combination among the vehicle frame 1, the two drive wheel modules 2, and the passive wheel module 3, achieve using the vehicle frame 1 as the force-receiving object with three-point support, thereby enabling the vehicle frame 1 to ensure the average force on multiple rollers without precision machining and synchronously reducing the overall processing cost.

[0059] From another perspective, when the main frame 11 of the vehicle frame 1 is deformed due to force (such as: Figure 9 and Figure 10 as shown), the vehicle frame 1 can maintain a three-point force state, so that the drive wheels 22 and the auxiliary wheels 23 of the two drive wheel modules 2, and the two passive wheels 32 of the passive wheel module 3 can be used to keep in contact with the ground G and move.

[0060] To enable the automated guided vehicle 100 to reduce or absorb the swing amplitude or vibration amplitude of the passive wheel module 3 during operation, at least one second elastic member 33 can be further provided in the passive wheel module 3 according to actual needs, and at least one second elastic member 33 is clamped between the second balance beam 31 and the rear frame 14 along the height direction H. That is to say, the omission of at least one second elastic member 33 does not affect the operation of the automated guided vehicle 100.

[0061] 113P001085CN.01

[0062] In this embodiment, the second elastic member 33 can be an elastic body (such as rubber) with elastic material itself or a spring (such as a compression spring) with elasticity through structural design, and the number of at least one second elastic member 33 of the passive wheel module 3 is two, but the present invention is not limited thereto.

[0063] Among the passive wheel module 3, the two second elastic members 33 are respectively arranged on opposite sides of the second pivoting portion 311 and are respectively arranged on the two side beam segments 313; that is to say, each side beam segment 313 of the second balance beam 31 and the corresponding rear frame 14 part sandwich one second elastic member 33, but the distance between the two second elastic members 33 relative to the second pivoting portion 311 can be adjusted and changed according to actual needs and is not limited herein.

[0064] [Technical effects of the embodiments of the present invention]

[0065] In summary, the automated guided vehicle and its drive wheel module disclosed in the embodiments of the present utility model can, through the overall structural design, enable the drive wheels of each drive wheel module to effectively avoid floating and stably contact the ground for walking without configuring springs for the automated guided vehicle.

[0066] Furthermore, since springs are not required for the operation of the automated guided vehicle, the automated guided vehicle does not need to face problems such as spring tension adjustment or spring aging, thereby effectively improving the running stability of the automated guided vehicle and significantly reducing the maintenance time of the automated guided vehicle.

[0067] In addition, the automated guided vehicle disclosed in the embodiments of the present utility model can also, through the structural cooperation between the vehicle frame, the two drive wheel modules, and the passive wheel module, achieve using the vehicle frame as the force-receiving object for three-point support, thereby enabling the vehicle frame to ensure the average force on multiple rollers without precise machining and simultaneously reducing the overall processing cost.

[0068] The content disclosed above is only an optional and feasible embodiment of the present utility model, and does not limit the patent scope of the present utility model. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present utility model are included in the patent scope of the present utility model.

Claims

1. An unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises: A frame; Two driving wheel modules are pivotally connected to opposite sides of the frame along a first axis, each of the driving wheel modules comprising: a first balance beam having a first pivoting portion pivotally connected to the frame along the first axis, a rear end portion located on one side of the first pivoting portion, and a front end portion located on the other side of the first pivoting portion; a driving wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel pivotally connected to the front end of the first balance beam; wherein the first balance beam can rotate with the first pivotal portion as a fulcrum, thereby synchronously moving the driving wheel and the auxiliary wheel; and A passive wheel module is pivotally connected to the frame along a second axis perpendicular to the first axis, and the passive wheel module comprises: a second balance beam having a second pivoting portion pivotally connected to the frame along the second axis, and two end portions located at opposite sides of the second pivoting portion; and Two passive wheels are respectively pivotally connected to the two ends of the second balance beam; wherein the second balance beam can rotate with the second pivotal portion as a fulcrum, thereby synchronously moving the two passive wheels; The driving wheels and the auxiliary wheels of the two driving wheel modules and the two passive wheels of the passive wheel module can be used to maintain contact with the ground while walking, and the frame is subjected to three-point force through the two first pivoting parts and the second pivoting parts.

2. The unmanned guided vehicle according to claim 1, characterized in that: In each of the driving wheel modules, when one of the driving wheel and the auxiliary wheel rolls to a protrusion or a depression on the ground, the other of the driving wheel and the auxiliary wheel can maintain contact with the ground through the rotation of the first balance beam.

3. The unmanned guided vehicle according to claim 1, characterized in that: When one of the two passive wheels rolls to a protrusion or a depression on the ground, the other of the two passive wheels can keep in contact with the ground through the rotation of the second balance beam.

4. The unmanned guided vehicle according to claim 1, characterized in that: The frame comprises: a main frame; and A support rod traverses the main frame along the first axis, and two protrusions of the support rod penetrate the main frame; the first pivoting parts of the two driving wheel modules are respectively sleeved and pivotally connected to the two protrusions of the support rod.

5. The unmanned guided vehicle according to claim 4, characterized in that: The frame includes two side frames connected to the main frame, and the two side frames correspond to two driving wheel modules respectively along a height direction perpendicular to the first axis and the second axis; wherein each driving wheel module includes at least one first elastic member clamped between the first balance beam and the corresponding side frame along the height direction.

6. The unmanned guided vehicle according to claim 4, characterized in that: The frame includes a rear frame connected to the main frame, and the second pivoting 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.

7. The unmanned guided vehicle according to claim 4, characterized in that: The frame can cause the main frame to be stressed through the support rod; wherein, when the main frame is stressed and deformed, the frame maintains the three-point stress so that the driving wheels and the auxiliary wheels of the two driving wheel modules and the two passive wheels of the passive wheel module can be used to maintain contact with the ground while walking.

8. The unmanned guided vehicle according to claim 1, characterized in that: The two driving wheel modules are arranged in mirror symmetry with respect to the second axis.

9. An unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises: a frame; and Two drive wheel modules are pivotally connected to opposite sides of the frame along a first axis, and each of the drive wheel modules comprises: a first balance beam having a first pivoting portion pivotally connected to the frame along the first axis, a rear end portion located on one side of the first pivoting portion, and a front end portion located on the other side of the first pivoting portion; a driving wheel pivotally connected to the rear end portion of the first balance beam; and an auxiliary wheel, pivotally connected to the front end of the first balance beam; wherein the first balance beam can rotate with the first pivotal portion as a fulcrum, thereby synchronously moving the driving wheel and the auxiliary wheel; The driving wheels and the auxiliary wheels of the two driving wheel modules can be used to maintain contact with the ground while walking, and the frame is stressed by the two first pivoting parts.

10. A driving wheel module of an unmanned guided vehicle, characterized in that: The driving wheel module of the unmanned guided vehicle comprises: a first balance beam having a first pivoting portion, a rear end portion located on one side of the first pivoting portion, and a front end portion located on the other side of the first pivoting portion; wherein the first pivoting portion is used to be pivotally connected to a vehicle frame along a first axis; a driving wheel pivotally connected to the rear end 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 can rotate with the first pivot portion as a fulcrum, thereby synchronously moving the driving wheel and the auxiliary wheel, so that the driving wheel and the auxiliary wheel of the driving wheel module can be used to maintain contact with a ground while walking.

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