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, in particular to a driving module of a transport vehicle and the transport vehicle. BACKGROUND

[0002] The automatic guided transport vehicle is a transport tool equipped with an automatic guiding device and automatically travels along a specified guiding path. The driving module of the prior art mainly adopts an angle sensor biasing scheme. A pair of gear pairs is needed to transmit the rotation angle of the driving module to a multi-turn angle sensor for angle feedback. The defects are that the driving module is large in size and is not easy to arrange and install, and the multi-turn angle sensor is complex in structure and high in cost.

[0003] In addition, in the related art, the self-guided transport vehicle is driven by a differential driving module in which a plurality of motors respectively control a driving wheel. The driving module is large in size, occupies a large space, and has a large turning radius. The flexibility and accuracy of the motion control process are low. CONTENT OF THE UTILITY MODEL

[0004] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a driving module of a transport vehicle and the transport vehicle, which are compact in structure and small in size.

[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 angle sensor being coaxially arranged with the slewing bearing, the slewing bearing comprising a bearing inner ring and a bearing outer ring capable of relative rotation, one of the bearing inner ring and the bearing outer ring being fixedly connected with the bracket, the angle sensor being used for measuring the relative rotation angle of the bearing inner ring and the bearing outer ring, the bracket being hingedly connected with the power assembly, the power assembly comprising a driving device and a driving wheel, the driving device comprising an integrated housing, the housing having a first side face and a second side face arranged oppositely, at least one set of output shafts being symmetrically arranged on the first side face and the second side face, and each set of output shafts comprising two output shafts coaxially arranged and capable of independently driving a driving wheel to rotate.

[0006] In the technical scheme, the housing of the driving device is arranged in an integrated structure, and the output shafts are symmetrically arranged on the first side face and the second side face of the housing oppositely, so that the overall structure of the driving device is more compact and smaller in size, thereby reducing the slewing radius of the power assembly and improving the controllability of the driving device. In addition, the output shafts symmetrically arranged on the first side face and the second side face can independently drive a driving wheel to rotate, i.e. the two output shafts can be differentially controlled, so that the power assembly can be flexibly rotated and moved, and the motion state of the driving module can be fed back through the slewing bearing and the angle sensor, thereby realizing accurate control of the driving module.

[0007] Preferably, a set of stator windings and rotor magnetic circuits symmetrically arranged inside the shell drive one output shaft to rotate respectively.

[0008] Preferably, the shell is further formed with oppositely arranged third side and fourth side, the third side and fourth side are symmetrically provided with two shaft holes, the hinged shaft is installed in the shaft holes, the bracket is provided with a connecting part, the connecting part is provided with a connecting hole, and the hinged shaft is hinged or fixedly connected in the connecting hole.

[0009] Preferably, a bushing is arranged between the hinged shaft and the shaft hole.

[0010] Preferably, the hinged shaft and the output shaft are perpendicular to each other.

[0011] Preferably, a speed reducer is further transmission connected between the output shaft and the drive wheel.

[0012] Preferably, the angle sensor comprises a sealing cover, an encoder, a code disc, a base and a rotating shaft, the rotating shaft is arranged on the base, the base is fixedly connected with the encoder, the rotating shaft is fixedly connected with the code disc, the encoder and the code disc are arranged in a non-contact manner, the sealing cover is arranged outside the base and cooperates with the base to define a cavity, and the encoder and the code disc are located in the cavity.

[0013] One of the rotating shaft and the base is fixedly connected with the bracket, the other of the rotating shaft and the base is fixedly connected with one of the inner ring and the outer ring of the slewing bearing which can rotate relative to the bracket and is coaxially arranged, in the case that the inner ring and the outer ring of the slewing bearing rotate relative to each other, the encoder and the code disc rotate synchronously and the encoder outputs an angle signal.

[0014] Preferably, the bracket is provided with a mounting surface for mounting the angle sensor, one end of the rotating shaft extending outside the base is provided with a mounting part, the mounting part is provided with a positioning key, the mounting surface comprises a center hole and a key groove formed on the inner wall of the center hole, the mounting part of the rotating shaft is arranged in the center hole, and the positioning key is arranged in the key groove.

[0015] Preferably, the slewing bearing further comprises a mounting plate, the mounting plate is fixedly connected with one of the inner ring and the outer ring of the slewing bearing which can rotate relative to the bracket, the mounting plate is provided with a mounting hole for fixedly connecting with the base of the angle sensor and a through hole for the rotating shaft of the angle sensor to pass through the slewing bearing.

[0016] In addition, the application further provides a transport vehicle, comprising a frame, and further comprising the driving module according to any one of the preceding technical solutions, the driving module and the frame being fixedly connected, and one of the bearing inner ring and the bearing outer ring, which is not fixedly connected with the support, being fixedly connected with the frame. The transport vehicle provided by the application has similar beneficial effects to the driving module of the transport vehicle described above, and thus will not be described here again.

[0017] The features and advantages of the present application will be described in detail in the following detailed description and accompanying drawings. The best mode or means of the present application will be fully illustrated in conjunction with the accompanying drawings, but the present application is not limited thereto. In addition, the features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function components. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described in conjunction with the accompanying drawings:

[0019] Figure 1 A structural schematic diagram of a driving module provided by the embodiment of the present application is shown in the figure;

[0020] Figure 2 An exploded schematic diagram of a power assembly provided by the embodiment is shown in the figure;

[0021] Figure 3 A structural schematic diagram of an angle sensor provided by the embodiment is shown in the figure;

[0022] Figure 4 A sectional schematic diagram of an angle sensor provided by the embodiment is shown in the figure;

[0023] Figure 5 A structural schematic diagram of a support provided by the embodiment is shown in the figure;

[0024] Figure 6 A structural schematic diagram of a slewing bearing provided by the embodiment is shown in the figure.

[0025] In the figure, 100, slewing bearing; 110, bearing inner ring; 120, bearing outer ring; 130, mounting plate; 131, mounting hole; 132, through hole; 200, angle sensor; 210, sealing cover; 220, encoder; 230, code disc; 240, base; 250, rotating shaft; 251, positioning key; 300, support; 310, connecting part; 311, connecting hole; 320, mounting surface; 321, center hole; 322, key groove; 400, power assembly; 410, driving device; 411, housing; 412, output shaft; 413, shaft hole; 415, bushing; 420, driving wheel; 430, speed reducer. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation on the present application.

[0027] In this specification, "one embodiment" or "an example" or "an example" means that a particular feature, structure or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The occurrence of the phrase "in one embodiment" at various locations in the specification does not necessarily all refer to the same embodiment.

[0028] As shown in Figure 1 , 2 The present embodiment provides a driving module of a transport vehicle, which comprises a slewing bearing 100, a power assembly 400, a bracket 300 and an angle sensor 200, the angle sensor 200 is coaxially arranged with the slewing bearing 100, the slewing bearing 100 comprises a bearing inner ring 110 and a bearing outer ring 120 capable of relative rotation, one of the bearing inner ring 110 and the bearing outer ring 120 is fixedly connected with the bracket 300, the angle sensor 200 is used for measuring the relative rotation angle of the bearing inner ring 110 and the bearing outer ring 120, the bracket 300 is hingedly connected with the power assembly 400, the power assembly 400 comprises a driving device 410 and a driving wheel 420, the driving device 410 comprises an integral shell 411, the shell 411 is formed with a first side and a second side arranged opposite to each other, at least one set of output shafts 412 is symmetrically arranged on the first side and the second side, and each set of output shafts 412 comprises two output shafts 412 coaxially arranged and capable of independently driving a driving wheel 420 to rotate respectively.

[0029] In the present embodiment, by setting the shell 411 of the driving device 410 as an integral structure, and symmetrically arranging the output shafts 412 on the first side and the second side of the shell 411, the overall structure of the driving device 410 is more compact and smaller in size, thereby reducing the slewing radius of the power assembly 400 and improving the controllability of the driving device 410. In addition, the output shafts 412 symmetrically arranged on the first side and the second side can independently drive a driving wheel 420 to rotate respectively, that is, differential control of the two output shafts 412 can be performed, so that the power assembly 400 can be flexibly rotated and moved, and the motion state feedback of the driving module can be realized through the slewing bearing 100 and the angle sensor 200, thereby realizing accurate control of the driving module.

[0030] Specifically, in this embodiment, the power assembly 400 provides the driving module with the power for walking and rotation, and the angle sensor 200 is used to measure the rotation angle of the driving module when it rotates. When the driving module rotates, the power assembly 400 drives one of the bearing outer ring 120 or bearing inner ring 110, which is fixedly connected to the bracket 300, to rotate synchronously through the bracket 300. The one of the bearing outer ring 120 and bearing inner ring 110 that is not fixedly connected to the bracket 300 (which is fixedly connected to the vehicle frame) remains stationary. Therefore, the angle sensor 200 can measure the rotation angle of the driving module by measuring the relative rotation angle of the bearing inner ring 110 and bearing outer ring 120.

[0031] like Figure 1 , 2 As shown, the drive device 410 has a set of stator windings and rotor magnetic circuits symmetrically arranged inside the housing 411, each driving an output shaft 412 to rotate. The symmetrically arranged stator windings and rotor magnetic circuits form a symmetrical magnetic field distribution to drive the output shafts 412 to rotate, ensuring that the output torques of the two output shafts 412 are the same and enabling the drive device 410 to travel in a straight line. Specifically, the housing 411 also has a third side and a fourth side arranged opposite to each other. The third side and the fourth side have two symmetrically arranged shaft holes 413. A hinge shaft is installed in each shaft hole 413. The bracket 300 has a connecting part 310, which has a connecting hole 311. The hinge shaft is hinged or fixedly connected to the connecting hole 311. The hinged connection between the shaft hole 413 and the hinge shaft allows the bracket 300 to form a hinged connection with the housing 411 of the drive device 410, enabling the bracket 300 to rotate relative to the housing 411 of the drive device 410 around the hinge shaft. The rotation of the bracket 300 relative to the hinge shaft changes the distance between the drive device 410 and the frame (fixed above the slewing bearing 100), allowing the drive wheel 420 of the power assembly 400 to move up and down relative to the frame. This ensures that when the drive module travels on bumpy roads, both drive wheels 420 of the power assembly 400 can touch the ground simultaneously, reducing the vertical vibration of the frame above the drive module and making the transport vehicle run more smoothly.

[0032] Specifically, such as Figure 2As shown, a bushing 415 is arranged between the hinge shaft and the shaft hole 413, the hinge shaft and the output shaft 412 are perpendicular to each other and symmetrical with each other along the shaft center lines, and a speed reducer 430 is further connected between the output shaft 412 and the driving wheel 420. The bushing 415 arranged between the hinge shaft and the shaft hole 413 can prevent wear caused by friction between the hinge shaft and the shaft hole 413, the bushing 415 is usually made of wear-resistant material and can be easily replaced when worn out; the speed reducer 430 is used to adjust the torque and speed of the driving wheel 420, the hinge shaft and the output shaft 412 are arranged perpendicularly to better buffer the shaking caused by the road surface and better balance the driving force formed by the two driving wheels 420 to form a resultant force and maximize the driving device 410.

[0033] In some embodiments, as shown in Figure 1 、 5 , the angle sensor 200 and the slewing bearing 100 are coaxially arranged to make the angle sensor 200 more convenient to measure the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 100. Specifically, in this embodiment, the bearing inner ring 110 is hollow, and a mounting plate 130 for mounting the angle sensor 200 is arranged at the geometric center of the bearing inner ring 110. The angle sensor 200 is mounted at the geometric center of the slewing bearing 100, so that the angle sensor 200 can more conveniently detect the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 in the slewing bearing 100, and the structure of the angle sensor 200 and the driving module is simplified, the components of the driving module are arranged more compactly, and the integration degree is higher.

[0034] Specifically, as shown in Figure 5 、 6As shown, the bearing outer ring 120 of the slewing bearing 100 is fixedly connected with the bracket 300, and the bearing inner ring 110 of the slewing bearing 100 is provided with rollers between the bearing inner ring 110 and the bearing outer ring 120, and the bearing inner ring 110 of the slewing bearing 100 can rotate relative to the bearing outer ring 120 and the bracket 300. In other embodiments, the bearing inner ring 110 of the slewing bearing 100 can be fixedly connected with the bracket 300 (not shown in the figure), and the bearing outer ring 120 of the slewing bearing 100 is fixedly connected with the frame of the transport vehicle. One of the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 100 is fixedly connected with the bracket 300, and the other is connected with the frame of the transport vehicle. When the power assembly 400 of the driving module starts to work and provides a rotating force, the power assembly 400 drives the bracket 300 to rotate, and in turn drives one of the bearing inner ring 110 or the bearing outer ring 120 fixedly connected with the bracket 300 to rotate, and the other of the slewing bearing 100 is fixedly connected with the frame and does not move. Therefore, when the power assembly 400 of the driving module drives the bracket 300 to rotate, the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 100 rotate relative to each other.

[0035] In some embodiments, as shown in Figure 5 、 6 The slewing bearing 100 includes a mounting plate 130, the mounting plate 130 is fixedly connected with the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 100 which can rotate relative to the bracket 300, the mounting plate 130 is provided with a mounting hole 131 for fixedly connecting with the base 240 of the angle sensor 200, and a through hole 132 for the rotating shaft 250 of the angle sensor 200 to pass through the slewing bearing 100. In this embodiment, the mounting plate 130 is used to fixedly connect one of the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 100 with the base 240 of the angle sensor 200. In other embodiments, if the base 240 of the angle sensor 200 is fixedly connected with the bracket 300, the other of the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 100 which is fixedly connected with the frame of the transport vehicle can be fixedly connected with the rotating shaft 250 of the angle sensor 200 through the mounting plate 130.

[0036] It should be noted that in this embodiment, the bearing inner ring 110 of the slewing bearing 100 is fixedly connected with the mounting plate 130 and is formed as an integral structure. In other embodiments, the bearing outer ring 120 of the slewing bearing 100 can be fixedly connected with the mounting plate 130, and the mounting plate 130 is provided with the mounting hole 131 for fixedly connecting with the base 240 of the angle sensor 200, and the through hole 132 for the rotating shaft 250 of the angle sensor 200 to pass through the mounting plate 130, so that the bearing outer ring 120 of the slewing bearing 100 is fixedly connected with the base 240 of the angle sensor 200.

[0037] In some embodiments, asFigure 3 、 4 As shown in FIG. 2, the angle sensor 200 is a non-contact sensor, which comprises a base 240 and a rotating shaft 250 arranged in the base 240. The base 240 is fixedly connected with an encoder 220, and the rotating shaft 250 is fixedly connected with a code disc 230. A sensor bearing is arranged between the rotating shaft 250 and the base 240 to enable the relative rotation of the rotating shaft 250 and the base 240. The encoder 220 and the code disc 230 are arranged in a non-contact manner. One of the rotating shaft 250 and the base 240 is fixedly connected with the support 300, and the other is fixedly connected with the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 100 which can rotate relative to the support 300 and is coaxially arranged. When the bearing inner ring 110 and the bearing outer ring 120 rotate relative to each other, the encoder 220 and the code disc 230 rotate synchronously, and the encoder 220 outputs an angle signal.

[0038] Specifically, in the present embodiment, the base 240 of the angle sensor 200 is provided with the encoder 220, and the base 240 and the bearing inner ring 110 are fixedly connected and coaxially arranged (synchronous rotation). The rotating shaft 250 of the angle sensor 200 is fixedly connected with the support 300 (the support 300 is fixedly connected with the bearing outer ring 120), and the top of the rotating shaft 250 is provided with the code disc 230. When the bearing inner ring 110 rotates relative to the bearing outer ring 120, the encoder 220 and the code disc 230 of the angle sensor 200 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 220. In other embodiments, the relative rotation angle of the bearing outer ring 120 and the bearing inner ring 110 can be measured by fixing the rotating shaft 250 with the bearing inner ring 110 and coaxially rotating the base 240 with the bearing outer ring 120.

[0039] It should be noted that, in the present embodiment, the encoder 220 of the angle sensor 200 is arranged on the base 240, and the code disc 230 is arranged at the top end of the rotating shaft 250. When the rotating shaft 250 and the base 240 rotate relative to each other, the encoder 220 and the code disc 230 also complete the relative rotation of the same angle with the rotating shaft 250 and the base 240. The relative rotation angle of the rotating shaft 250 and the base 240 can be measured by reading the rotation angle of the code disc 230 by the encoder 220, i.e., the relative rotation angle of the bearing inner ring 110 and the bearing outer ring 120 is measured. In another embodiment, the positions of the encoder 220 and the code disc 230 can be interchanged or arranged in other ways, as long as the encoder 220 can read the relative rotation angle between the code disc 230. In the present embodiment, the specific arrangement and connection modes of the encoder 220 and the code disc 230 are not limited.

[0040] Specifically, as shown in Figure 4 The angle sensor 200 further comprises a sealing cover 210, which is arranged outside the base 240 and forms a cavity with the base 240, and the encoder 220 and the code disc 230 are located in the cavity. In this embodiment, the cavity defined by the sealing cover 210 and the base 240 is a sealed cavity. The encoder 220 and the code disc 230 are arranged in the sealed cavity formed by the sealing cover 210 and the base 240, so that the encoder 220 and the code disc 230 are isolated from the outside world, avoiding damage to the angle sensor 200 caused by dust, dirt, liquid, oil and other pollutants in the outside world, and reducing the influence of the vibration of the transport vehicle on the angle sensor 200, so that the angle sensor 200 can work normally in a complex environment and improve the adaptability of the driving module to a complex working environment.

[0041] Specifically, as shown in Figure 3 The shaft 250 extends out of the base 240 and has an installation portion at one end extending outside the angle sensor 200, and the installation portion is provided with a positioning key 251. The mounting surface 320 comprises a center hole 321 and a key groove 322 for mounting the installation portion of the shaft 250 and the positioning key 251. The shaft 250 of the angle sensor 200 is inserted into the center hole 321, and the positioning key 251 is inserted into the corresponding key groove 322, so that the angle sensor 200 and the bracket 300 are stably and fixedly connected. The cooperation of the positioning key 251 and the key groove 322 prevents the shaft 250 from rotating relative to the center hole 321, so that the connection between the two is more stable. In other embodiments, the shaft 250 of the angle sensor 200 and the bracket 300 can be stably and fixedly connected by other means, which will not be listed one by one in this embodiment.

[0042] In this embodiment, the angle sensor 200 is an optical sensor or a magnetic sensor. The optical sensor and the magnetic sensor have high measurement accuracy, which is beneficial to improve the control of the transport vehicle.

[0043] This embodiment also provides a transport vehicle, which comprises a vehicle frame and a driving module, the driving module and the vehicle frame are fixedly connected, and one of the bearing inner ring 110 and the bearing outer ring 120 which is not fixedly connected with the bracket 300 is fixedly connected with the vehicle frame. As shown in Figure 1The driving module is shown as an example, the bearing outer ring 120 of the rotary bearing 100 is fixedly connected with the support 300, the bearing inner ring 110 is fixedly connected with the vehicle frame, when the driving wheel 420 of the driving module rotates, the support 300 drives the bearing outer ring 120 to rotate, the bearing inner ring 110 is stationary relative to the vehicle frame under the fixed action of the vehicle frame, the bearing outer ring 120 and the bearing inner ring 110 relatively rotate, the relative rotation angle can be measured through the angle speed sensor, and then the power assembly 400 can be controlled to complete the rotation of a fixed angle, and then the control on the travel route of the transport vehicle is completed.

[0044] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and 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 embodiment. Any modification without deviating from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A drive module of a transport vehicle, the drive module comprising a slewing bearing (100), a power assembly (400), a bracket (300) and an angle sensor (200), the angle sensor (200) being coaxially arranged with the slewing bearing (100), the slewing bearing (100) comprising 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) being fixedly connected to the bracket (300), the angle sensor (200) being configured to measure a relative rotation angle of the bearing inner ring (110) and the bearing outer ring (120), characterized in that, The support (300) is hingedly connected with the power assembly (400), the power assembly (400) comprises a driving device (410) and a driving wheel (420), the driving device (410) comprises an integrally arranged housing (411), the housing (411) is formed with oppositely arranged first and second sides, the first and second sides are symmetrically provided with at least one group of output shafts (412), and each group of output shafts (412) comprises two output shafts (412) coaxially arranged and capable of independently driving a driving wheel (420) to rotate, respectively.

2. The drive module of claim 1, wherein, The housing (411) is also formed with oppositely arranged third and fourth sides, the third and fourth sides are symmetrically provided with two shaft holes (413), the shaft holes (413) are provided with a hinged shaft, the support (300) is provided with a connecting portion (310), the connecting portion (310) is provided with a connecting hole (311), and the hinged shaft is hingedly or fixedly connected in the connecting hole (311).

3. The drive module of claim 2, wherein, A bushing (415) is arranged between the hinged shaft and the shaft hole (413).

4. The drive module of claim 2, wherein, The hinged shaft and the output shaft (412) are perpendicular to each other.

5. The drive module of claim 1, wherein, The housing (411) is symmetrically provided inside with a group of stator windings and rotor magnetic circuits for driving an output shaft (412) to rotate, respectively.

6. The drive module of claim 1, wherein, The output shaft (412) and the driving wheel (420) are further transmissionally connected with a speed reducer (430).

7. The drive module of any one of claims 1 to 6, wherein, The angle sensor (200) comprises a sealing cover (210), an encoder (220), a code disc (230), a base (240) and a rotating shaft (250), the rotating shaft (250) is arranged on the base (240), the base (240) is fixedly connected with the encoder (220), the rotating shaft (250) is fixedly connected with the code disc (230), the encoder (220) and the code disc (230) are arranged in non-contacting relation, the sealing cover (210) is arranged outside the base (240) and cooperates with the base (240) to define a cavity, and the encoder (220) and the code disc (230) are located in the cavity; One of the rotating shaft (250) and the base (240) is fixedly connected with the support (300), the other of the rotating shaft (250) and the base (240) is fixedly connected with one of the bearing inner ring (110) and the bearing outer ring (120) of the slewing bearing (100) capable of rotating relative to the support (300) and coaxially arranged, and in the case that the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the encoder (220) and the code disc (230) synchronously rotate relative to each other and the encoder (220) outputs an angle signal.

8. The drive module of claim 7, wherein, The support (300) is provided with a mounting surface (320) for mounting the angle sensor (200), one end of the rotating shaft (250) extending out of the base (240) and outside the angle sensor (200) is provided as a mounting portion, the mounting portion is provided with a positioning key (251), the mounting surface (320) comprises a center hole (321) and a key groove (322) formed on the inner wall of the center hole (321), the mounting portion of the rotating shaft (250) is arranged in the center hole (321), and the positioning key (251) is arranged in the key groove (322).

9. The drive module of claim 8, wherein, The slewing bearing (100) further comprises a mounting plate (130), one of the bearing inner ring (110) and the bearing outer ring (120) of the slewing bearing (100) and the mounting plate (130) are fixedly connected and can rotate relative to the support (300), the mounting plate (130) is provided with a mounting hole (131) for fixedly connecting with the base (240) of the angle sensor (200) and a through hole (132) for the rotating shaft (250) of the angle sensor (200) to pass through the slewing bearing (100).

10. A transport vehicle comprising a frame, characterised in that Further comprising the drive module of any one of claims 1 to 9, the drive module and the frame are fixedly connected, and one of the bearing inner ring (110) and the bearing outer ring (120) which is not fixedly connected with the support (300) is fixedly connected with the frame.

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