Driving module of transport vehicle and transport vehicle

Abstract

A driving module of a transport vehicle and a transport vehicle. The driving module (10) comprises: a driving assembly (100), wherein the driving assembly (100) comprises motors (110), driving wheels (120), and a frame (130), the motors (110) are transmittingly connected to the driving wheels (120), and are located in the frame (130) and fixedly connected to the frame (130), and the driving wheels (120) are located outside the frame (130); a support (200) comprising a horizontal plate (210), wherein the horizontal plate (210) is mounted on the top of the frame (130); a slewing bearing (300) mounted on the top of the horizontal plate (210) and comprising a bearing inner ring (310) and a bearing outer ring (320), wherein one of the bearing inner ring (310) and the bearing outer ring (320) is connected to the horizontal plate (210), and the other one is configured to be connected to a bearing plate (20) of the transport vehicle; and a non-contact angle sensor assembly (400) comprising an annular bevel protractor (410) and a reader (420), wherein the annular bevel protractor (410) is fixed on the bearing inner ring (310) so as to be connected to the horizontal plate (210), and the reader (420) is fixed on the bearing outer ring (320), or the annular bevel protractor (410) is fixed on the bearing outer ring (320) so as to be connected to the horizontal plate (210), and the reader (420) is fixed on the bearing inner ring (310). The driving module has a simple structure and a small size, and is convenient to assemble.

Description

Transport vehicle drive module and transport vehicle

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 17, 2023, with application number 202311345382.7 and invention name “A drive module and transport vehicle for a transport vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of transport vehicles, and in particular to a drive module of a transport vehicle and a transport vehicle. Background Art

[0003] An automated guided vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, controlled by a computer, and capable of automatically traveling along a prescribed guide path. It is widely used in factory handling, warehousing and logistics, smart parking, port transportation and other fields.

[0004] An automated guided vehicle is usually provided with a drive module to drive the automated guided vehicle. However, the existing drive module has a complex structure, a large volume, and is difficult to assemble.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a transport vehicle drive module and a transport vehicle to solve the problems of the drive module having a complex structure, large size, and difficulty in assembly. The specific technical solution is as follows:

[0007] An embodiment of the first aspect of the present application provides a drive module for a transport vehicle, wherein the transport vehicle includes a frame for carrying items, and the drive module includes: a drive assembly, including a motor and a drive wheel, the motor is transmission-connected to the drive wheel, the drive assembly also includes a frame, the motor is located in the frame and fixedly connected to the frame, and the drive wheel is located outside the frame; a bracket, including a horizontal plate, the horizontal plate is mounted on the top of the frame; a slewing bearing, mounted on the top of the horizontal plate, including a bearing inner ring and a bearing outer ring, one of the bearing inner ring and the bearing outer ring is connected to the horizontal plate, and the other of the bearing inner ring and the bearing outer ring is used to connect to the frame of the transport vehicle; a non-contact angle sensor assembly, including an annular angle ruler and a reader, the annular angle ruler is fixed on the bearing inner ring to connect to the horizontal plate, and the reader is fixed on the bearing outer ring; or, the annular angle ruler is fixed on the bearing outer ring to connect to the horizontal plate, and the reader is fixed on the bearing inner ring.

[0008] In some embodiments of the present application, the frame includes four side surfaces connected end to end, two motors and two drive wheels are respectively provided, the two drive wheels are coaxially arranged and located on opposite sides outside the frame; the two motors and the two drive wheels are connected one-to-one.

[0009] In some embodiments of the present application, the drive assembly also includes two reducers, each of which includes a mounting surface, and the mounting surfaces of the two reducers are formed as a first side surface and a second side surface opposite to the frame; the motor is fixedly connected to the mounting surface and is transmission-connected to the drive wheel through the reducer.

[0010] In some embodiments of the present application, the bracket also includes a vertical plate, which is connected to the horizontal plate; the drive assembly also includes two oppositely arranged side plates, which form opposite third and fourth sides of the frame; the side plates are hinged to the vertical plate so that the frame can swing relative to the vertical plate, and the two drive wheels are located on both sides of the hinge axis of the side plates.

[0011] In some embodiments of the present application, the driving module also includes a hinge shaft and a pressure plate, a first through hole is provided on the vertical plate, and a second through hole is provided on the side plate, the hinge shaft is inserted into the first through hole and the second through hole, and is fixedly connected to the vertical plate through the pressure plate.

[0012] In some embodiments of the present application, a wear-resistant sleeve is installed in the second through hole, and the hinge shaft is rotatably engaged with the wear-resistant sleeve.

[0013] In some embodiments of the present application, a floating limit member is provided on the horizontal plate, and the floating limit member is located at the top of the side plate; when the frame swings relative to the vertical plate, one end of the floating limit member close to the side plate is used to abut against the top of the side plate to limit the swing range of the drive assembly relative to the vertical plate.

[0014] In some embodiments of the present application, the floating limit member is a first bolt, a first mounting hole is provided on the horizontal plate, the first bolt is fixed to the first mounting hole, and extends out of the first mounting hole in a direction close to the side plate; when the frame swings relative to the vertical plate, the end of the first bolt close to the side plate is used to abut against the top of the side plate.

[0015] In some embodiments of the present application, a portion of the bearing inner ring protrudes from the bearing outer ring in a direction close to the horizontal plate and is fixed to the top of the horizontal plate so that there is a gap between the bearing outer ring and the horizontal plate.

[0016] In some embodiments of the present application, a portion of the bearing inner ring protrudes from the bearing outer ring in a direction away from the horizontal plate, and a mounting groove is provided on the outer peripheral side, and the annular angle ruler is fixed in the mounting groove; the reader is fixed on the side surface of the bearing outer ring facing away from the horizontal plate.

[0017] In some embodiments of the present application, a limiting groove is provided on the side of the bearing outer ring close to the horizontal plate, and the limiting groove extends along the circumference of the bearing outer ring; a rotation limiting member is provided on the horizontal plate, and at least a portion of the rotation limiting member is accommodated in the limiting groove and cooperates with the side wall stop of the limiting groove.

[0018] In some embodiments of the present application, the rotation limiter is a second bolt, a second mounting hole is provided on the horizontal plate, the second bolt is fixed to the second mounting hole, and the head of the second bolt is accommodated in the limiting groove and cooperates with the side wall stop of the limiting groove.

[0019] In some embodiments of the present application, the driving module also includes a wire guard plate, which is installed on the side of the slewing bearing facing away from the bracket; a first wire passing hole is provided on the horizontal plate, and a second wire passing hole is provided on the wire guard plate, the second wire passing hole is connected to the first wire passing hole through the inner ring of the bearing, and the diameter of the second wire passing hole is less than or equal to the diameter of the inner ring of the bearing; the motor is connected to a motor wiring harness, and the motor wiring harness is connected to the drive of the transport vehicle after passing through the first wire passing hole and the second wire passing hole.

[0020] In an embodiment of the present application, the drive module includes a drive assembly, which includes a motor and a drive wheel. The rotation of the drive wheel can drive the transport vehicle forward. The drive assembly also includes a frame, which facilitates the fixing of the motor and its connection to the bracket. The drive module also includes a slewing bearing, one of the inner and outer rings of which is connected to the drive assembly via a bracket, and the other of which can be connected to the transport vehicle frame. Thus, the slewing bearing enables a rotational connection between the drive assembly and the transport vehicle frame, facilitating steering during the transport vehicle's movement. The drive module also includes a non-contact angle sensor assembly, which includes an annular angle ruler and a reader, wherein the annular angle ruler can be fixed to the portion of the slewing bearing connected to the drive assembly, and the reader can be fixed to the portion of the slewing bearing connected to the transport vehicle frame. Thus, during the movement of the transport vehicle, the reader can remain fixed relative to the transport vehicle frame, and the annular angle ruler can rotate relative to the transport vehicle frame following the drive assembly. When the reader and the annular angle ruler are not in contact, the reader can detect the rotation angle of the annular angle ruler, thereby measuring the rotation angle of the feedback drive module relative to the transport vehicle frame when the transport vehicle turns. The drive module of the embodiment of the present application has a simple structure, a small size, and is easy to assemble.

[0021] The second aspect of the present application provides a transport vehicle, comprising a vehicle frame and the drive module of any of the first aspect embodiments, wherein the drive module is mounted on the vehicle frame. Because the vehicle frame comprises the drive module of any of the first aspect embodiments, the vehicle frame also possesses the beneficial effects of any of the first aspect embodiments, which are not further elaborated herein.

[0022] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0024] FIG1 is a schematic structural diagram of a driving module according to an embodiment of the first aspect of the present application;

[0025] FIG2 is a schematic diagram of a split drive assembly of the drive module shown in FIG1 ;

[0026] FIG3 is a schematic structural diagram of a non-contact angle sensor assembly of the driving module shown in FIG1 ;

[0027] FIG4 a is a schematic structural diagram of the bracket of the driving module shown in FIG1 at one angle;

[0028] FIG4 b is a schematic structural diagram of the bracket of the driving module shown in FIG1 at another angle;

[0029] FIG5a is a diagram showing the driving module shown in FIG1 on an uneven road surface;

[0030] FIG5b is a second diagram of the driving module shown in FIG1 on an uneven road surface;

[0031] FIG6 a is a schematic diagram of the structure of the slewing bearing of the drive module shown in FIG1 from a top view;

[0032] FIG6 b is a schematic structural diagram of the slewing bearing of the drive module shown in FIG1 when viewed from above;

[0033] FIG7 a is a schematic diagram of a state where the driving module shown in FIG1 is at one of the rotation limit positions;

[0034] FIG7 b is a schematic diagram of the driving module shown in FIG1 at another rotation limit position;

[0035] FIG8 is a schematic diagram of the assembly of the frame and the drive module of the transport vehicle according to the second embodiment of the present application.

[0036] In the figure: drive module 10; drive assembly 100; motor 110; drive wheel 120; frame 130; first side 131; second side 132; third side 133; fourth side 134; reducer 140; mounting surface 141; side plate 150; second through hole 151; wear-resistant sleeve 160; bracket 200; horizontal plate 210; first mounting hole 211; second mounting hole 212; first wire hole 213; vertical plate 220; first through hole Hole 221; slewing bearing 300; bearing inner ring 310; mounting groove 311; cut-off portion 312; bearing outer ring 320; limit groove 321; side wall 322; non-contact angle sensor assembly 400; annular angle ruler 410; reader 420; sensor cable 421; hinge shaft 500; pressure plate 510; rotation limiter 520; floating limiter 530; wire guard plate 600; second wire hole 610; frame 20; avoidance hole 201. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the described examples are only some of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention are intended to fall within the scope of protection of the present invention.

[0038] As mentioned in the background art, in the related art, an automated guided vehicle is usually provided with a drive module to drive the automated guided vehicle to move forward. However, the existing drive module has a complex structure, a large volume, and is difficult to assemble.

[0039] In view of this, an embodiment of the first aspect of the present application provides a driving module 10 for a transport vehicle. The transport vehicle includes a frame for carrying objects.

[0040] Refer to Figures 1 to 3, where Figure 1 is a structural schematic diagram of the driving module 10 of the first embodiment of the present application; Figure 2 is a split schematic diagram of the driving component 100 of the driving module 10 shown in Figure 1; and Figure 3 is a structural schematic diagram of the non-contact angle sensor component 400 of the driving module 10 shown in Figure 1.

[0041] As shown in Figures 1 to 3, the drive module 10 includes a drive assembly 100, a bracket 200, a slewing bearing 300, and a non-contact angle sensor assembly 400. The drive assembly 100 includes a motor 110 and a drive wheel 120, with the motor 110 being in driving connection with the drive wheel 120. The drive assembly 100 also includes a frame 130, with the motor 110 located within and fixedly connected to the frame 130, and the drive wheel 120 located outside the frame 130. The bracket 200 includes a horizontal plate 210, which is mounted on top of the frame 130. The slewing bearing 300 is mounted on top of the horizontal plate 210 and includes an inner bearing ring 310 and an outer bearing ring 320. One of the inner bearing ring 310 and the outer bearing ring 320 is connected to the horizontal plate 210, while the other is used to connect to the frame of the transport vehicle. The non-contact angle sensor assembly 400 includes an annular angle ruler 410 and a reader 420. The annular angle ruler 410 is fixed on the inner ring 310 of the bearing to be connected to the horizontal plate 210, and the reader 420 is fixed on the outer ring 320 of the bearing; alternatively, the annular angle ruler 410 is fixed on the outer ring 320 of the bearing to be connected to the horizontal plate 210, and the reader 420 is fixed on the inner ring 310 of the bearing.

[0042] In the embodiment of the present application, the drive module 10 includes a drive assembly 100, which includes a motor 110 and a drive wheel 120. The drive wheel 120 is rotated to drive the transport vehicle. The drive assembly 100 also includes a frame 130. The frame 130 facilitates the fixing of the motor 110 and the connection with the bracket 200. The drive module 10 also includes a slewing bearing 300, one of which is connected to the drive assembly 100 via the bracket 200, and the other of which can be connected to the frame of the transport vehicle. Thus, the slewing bearing 300 can achieve a rotational connection between the drive assembly 100 and the transport vehicle frame, facilitating the steering of the transport vehicle during travel. The drive module 10 also includes a non-contact angle sensor assembly 400, which includes an annular angle ruler 410 and a reader 420. The annular angle ruler 410 can be fixed to the portion of the slewing bearing 300 connected to the drive assembly 100, and the reader 420 can be fixed to the portion of the slewing bearing 300 connected to the transport vehicle frame. As a result, during the movement of the transport vehicle, the reader 420 can remain fixed relative to the transport vehicle frame, and the annular angle ruler 410 can rotate relative to the transport vehicle frame following the drive assembly 100. When the reader 420 and the annular angle ruler 410 are not in contact, the reader 420 can detect the rotation angle of the annular angle ruler 410, thereby measuring the rotation angle of the feedback drive module 10 relative to the transport vehicle frame when the transport vehicle turns. The drive module 10 of the embodiment of the present application has a simple structure, a small size, and is easy to assemble.

[0043] It is understandable that a rolling body is provided between the bearing inner ring 310 and the bearing outer ring 320 . The rolling body may be a ball, a roller, etc. The rolling body can realize relative rotation between the bearing inner ring 310 and the bearing outer ring 320 .

[0044] As shown in Figure 2, the frame 130 includes four side surfaces connected end to end. Specifically, the frame 130 is a rectangular structure. The frame 130 may include a first side surface 131, a second side surface 132, a third side surface 133 and a fourth side surface 134, wherein the first side surface 131 and the second side surface 132 are arranged opposite to each other, and the third side surface 133 and the fourth side surface 134 are arranged opposite to each other.

[0045] Two motors 110 and two drive wheels 120 are provided, respectively. The two drive wheels 120 are coaxially arranged and located on opposite sides of the frame 130. The two motors 110 are connected to the two drive wheels 120 in a one-to-one correspondence. Thus, the two motors 110 can respectively drive the corresponding drive wheels 120 to rotate, thereby improving the driving capability of the drive module 10.

[0046] When in use, the two motors 110 can drive the two driving wheels 120 in a differential manner. During the differential driving process, the two driving wheels 120 can realize the turning and direction change of the driving assembly 100.

[0047] Preferably, as shown in Figures 1 and 3, the axes of the two driving wheels 120 are collinear with one of the center lines of the frame 130, and the axis of the slewing bearing 300 passes through the center point of the frame 130. Thus, the driving wheels 120 can provide a relatively balanced support force for the driving module 10, thereby improving the travel stability of the driving module 10.

[0048] As shown in FIG2 , the drive assembly 100 may further include a reducer 140. Two reducers 140 are provided, and the two motors 110 are respectively connected to the drive wheel 120 via the reducers 140. The reducers 140 include mounting surfaces 141. The mounting surfaces 141 of the two reducers 140 may be formed as the first side surface 131 and the second side surface 132 of the frame 130. The motors 110 are connected to the frame 130 by being fixed to the mounting surfaces 141.

[0049] The drive assembly 100 may further include two oppositely disposed side panels 150, with the ends of the two side panels 150 respectively connected to the two reducers 140. The two side panels 150 form the opposing third side surface 133 and fourth side surface 134 of the frame 130. By providing the side panels 150 and utilizing the mounting surfaces 141 of the two reducers 140, four side surfaces of the frame 130 can be formed, connected end to end. As a result, the structure of the frame 130 is relatively simple and has high stability.

[0050] In a specific embodiment, threaded holes are provided at both ends of the side plate 150, and threaded holes are also provided at both ends of the mounting surface 141 of the reducer 140. The side plate 150 and the mounting surface 141 of the adjacent reducer 140 can be fixedly connected by threaded fasteners.

[0051] 4a to 5b , wherein FIG4a is a schematic structural diagram of the bracket 200 of the driving module 10 shown in FIG1 at one angle; FIG4b is a schematic structural diagram of the bracket 200 of the driving module 10 shown in FIG1 at another angle; FIG5a is a first diagram of the driving module 10 shown in FIG1 on an uneven road surface; and FIG5b is a second diagram of the driving module 10 shown in FIG1 on an uneven road surface.

[0052] As shown in FIG. 4 a and FIG. 4 b , the bracket 200 further includes two vertical plates 220 . The two vertical plates 220 are connected to opposite sides of the horizontal plate 210 .

[0053] As shown in Figures 5a and 5b, the two side panels 150 are hingedly connected to the two vertical panels 220, respectively, allowing the frame 130 to swing relative to the vertical panels 220. The two drive wheels 120 are located on either side of the hinge axis of the side panels 150. The provision of the vertical panels 220 facilitates the connection between the bracket 200 and the frame 130 of the drive assembly 100. By hingedly connecting the vertical panels 220 to the side panels 150, the drive assembly 100 can swing relative to the vertical panels 220 when the transport vehicle travels on uneven roads. This prevents the drive wheels 120 from being suspended in the air, achieving better adaptability to uneven roads.

[0054] Furthermore, in the embodiment of the present application, the two driving wheels 120 can be symmetrically distributed about the hinge axis of the side panel 150. Thus, on uneven roads, the two driving wheels 120 can provide a more balanced support force for the driving module 10, thereby improving its stability.

[0055] Specifically, as shown in Figures 4a to 5b, a first through-hole 221 is provided on the vertical plate 220. As shown in Figure 2, a second through-hole 151 is provided on the side plate 150. As shown in Figures 5a and 5b, the driving module 10 also includes a hinge shaft 500 and a pressure plate 510. The vertical plate 220 is located outside the frame 130. The hinge shaft 500 is inserted into the first through-hole 221 and the second through-hole 151, and is fixedly connected to the vertical plate 220 through the pressure plate 510. By providing the hinge shaft 500, the vertical plate 220 and the side plate 150 can be hinged. By providing the pressure plate 510, the hinge shaft 500 can be conveniently fixed to the vertical plate 220 to prevent the hinge shaft 500 from detaching. Specifically, the pressing plate 510 can be fixedly connected to the hinge shaft 500. A threaded hole is provided on the pressing plate 510. After the hinge shaft 500 is inserted into the first through hole 221 and the second through hole 151 in sequence, the pressing plate 510 can be fixed to the vertical plate 220 by threaded fasteners.

[0056] Preferably, as shown in Figure 2, a wear-resistant sleeve 160 can be installed in the second through-hole 151, and the hinge shaft 500 can rotate with the wear-resistant sleeve 160. The wear-resistant sleeve 160 can have an interference fit with the second through-hole 151. The wear-resistant sleeve 160 is made of a wear-resistant material. This prevents the hinge shaft 500 from directly wearing the second through-hole 151, thereby extending the service life of the side plate 150. In one specific embodiment, the wear-resistant sleeve 160 can be a copper sleeve.

[0057] It should be noted that, in the embodiment of the present application, since the side plate 150 is hinged to the vertical plate 220 , it can rotate relative to the vertical plate 220 , and therefore, the side plate 150 can also be referred to as a rotating base plate.

[0058] In other embodiments of the present application, the vertical plate 220 can be located within the frame 130. After the hinge shaft 500 is sequentially inserted into the second through-hole 151 and the first through-hole 221, the pressure plate 510 can be fixed to the side plate 150 using threaded fasteners. This application does not limit the fixing method and position of the pressure plate 510, as long as the vertical plate 220 and the side plate 150 can be hinged.

[0059] Furthermore, as shown in Figures 5a and 5b, a floating stopper 530 is provided on the horizontal plate 210 and is located at the top of the side plate 150. When the frame 130 swings relative to the vertical plate 220, the end of the floating stopper 530, which is closest to the side plate 150, abuts against the top of the side plate 150, thereby limiting the swing range of the drive assembly 100 relative to the vertical plate 220. This prevents interference between the drive assembly 100 and other components due to an excessively large floating range, thereby facilitating stable operation of the drive module 10.

[0060] Specifically, the floating stopper 530 can be a first bolt. As shown in Figures 4a to 5b , the horizontal plate 210 is provided with a first mounting hole 211. The first bolt is fixed to the first mounting hole 211 and extends out of the first mounting hole 211 in a direction close to the side plate 150. When the frame 130 swings relative to the vertical plate 220, the end of the first bolt close to the side plate 150 is used to abut the top of the side plate 150. As a result, the floating stopper 530 has a simple structure and is easy to install.

[0061] As shown in FIG. 1 , four floating limit members 530 may be provided, and the four floating limit members 530 may be installed at the four corners of the horizontal plate 210 , thereby better limiting the floating range of the driving assembly 100 .

[0062] 6a and 6b , FIG6a is a schematic structural diagram of the slewing bearing 300 of the driving module 10 shown in FIG1 when viewed from above, and FIG6b is a schematic structural diagram of the slewing bearing 300 of the driving module 10 shown in FIG1 when viewed from above.

[0063] As shown in FIG. 6 a and FIG. 6 b , in the axial direction of the slewing bearing 300 , both sides of the bearing inner ring 310 protrude from the bearing outer ring 320 .

[0064] Specifically, as shown in Figures 1, 4a, 4b, 6a, and 6b, a portion of the bearing inner race 310 protrudes from the bearing outer race 320 in a direction approaching the horizontal plate 210 and is fixed to the top of the horizontal plate 210, thereby creating a gap between the bearing outer race 320 and the horizontal plate 210. Because the bearing inner race 310 is fixedly connected to the horizontal plate 210 and there is a gap between the bearing outer race 320 and the horizontal plate 210, when the drive assembly 100 turns, the bearing inner race 310 can rotate relative to the bearing outer race 320 following the horizontal plate 210. Consequently, after the bearing outer race 320 is connected to the transport vehicle frame, the horizontal plate 210 can rotate relative to the transport vehicle frame, thereby achieving a rotational connection between the drive assembly 100 and the transport vehicle frame.

[0065] In a specific embodiment, the bearing inner ring 310 may be fixedly connected to the horizontal plate 210 via threaded fasteners.

[0066] Furthermore, a limiting groove 321 is provided on the side of the bearing outer ring 320 close to the horizontal plate 210, and the limiting groove 321 extends along the circumference of the bearing outer ring 320. The two side walls 322 of the limiting groove 321 along the circumferential direction constitute a limiting portion. A rotation limiting member 520 is provided on the horizontal plate 210, and at least a portion of the rotation limiting member 520 is accommodated in the limiting groove 321 and cooperates with the side wall 322 of the limiting groove 321 to stop.

[0067] Specifically, the rotation stopper 520 can be a second bolt. The horizontal plate 210 is provided with a second mounting hole 212. The second bolt is fixed to the second mounting hole 212. The head of the second bolt is received in the limiting groove 321 and engages with the side wall 322 of the limiting groove 321. As a result, the rotation stopper 520 has a simple structure and is conveniently connected to the horizontal plate 210.

[0068] 7a and 7b , FIG7a is a schematic diagram showing the driving module 10 shown in FIG1 at one of the rotational limit positions; FIG7b is a schematic diagram showing the driving module 10 shown in FIG1 at the other rotational limit position.

[0069] As shown in Figures 7a and 7b, by providing a limit groove 321 and a rotation limit member 520, the rotation range of the bearing inner ring 310 relative to the bearing outer ring 320 can be limited when the bearing inner ring 310 rotates relative to the bearing outer ring 320 following the horizontal plate 210. Specifically, when the rotation limit member 520 abuts against the side wall 322 of the limit groove 321 in a clockwise direction, the bearing inner ring 310 rotates relative to the bearing outer ring 320 to a first extreme position; when the rotation limit member 520 abuts against the other side wall 322 of the limit groove 321 in a counterclockwise direction, the bearing inner ring 310 rotates relative to the bearing outer ring 320 to a second extreme position. By limiting the rotation angle of the bearing inner ring 310 relative to the bearing outer ring 320, the rotation angle of the drive assembly 100 relative to the transport vehicle frame can be further limited, thereby avoiding situations such as the motor wiring harness being tangled due to unlimited rotation of the drive assembly 100.

[0070] In other embodiments of the present application, the rotation limiter 520 may also be a protrusion provided on the side of the horizontal plate 210 near the bearing outer ring 320, the protrusion being received in the limiting groove 321 and engaging with a stopper on the sidewall of the limiting groove 321. The present application does not impose any restrictions on the structure of the rotation limiter 520, as long as the rotational position of the horizontal plate 210 and the bearing outer ring 320 can be limited.

[0071] As shown in Figures 1 and 6a, a portion of the bearing inner race 310 protrudes from the bearing outer race 320 in a direction away from the horizontal plate 210. A mounting groove 311 is provided on the outer circumference of the bearing inner race 310, and an annular angle ruler 410 is fixed within the mounting groove 311. A reader 420 is fixed to the surface of the bearing outer race 320 facing away from the horizontal plate 210. Because the bearing inner race 310 is fixedly connected to the horizontal plate 210, and the bearing outer race 320 is fixedly connected to the transport vehicle frame, the reader 420 can remain fixed relative to the transport vehicle frame when the drive assembly 100 turns, and the annular angle ruler 410 can rotate relative to the reader 420 along with the bearing inner race 310. By detecting the rotation angle of the annular angle ruler 410, the reader 420 can measure the rotation angle of the feedback drive module 10 relative to the transport vehicle frame.

[0072] It should be noted that in this embodiment, since the bearing inner ring 310 and the bearing outer ring 320 rotate relative to each other within a certain range, the annular angle scale 410, as shown in Figure 3 , does not need to be a complete annular structure. Instead, it is an arc-shaped structure with a central angle slightly larger than the rotation limit groove 321. As shown in Figure 6a , the mounting groove 311 is not a complete annular groove, but rather an arc-shaped groove. The mounting groove 311 terminates circumferentially at a cutoff portion 312, which is a stepped surface formed between the outer circumference of the bearing inner ring 310 and the circumferential wall of the mounting groove 311. The central angle of the mounting groove 311 is slightly larger than that of the annular angle scale 410, allowing it to be fully accommodated within the mounting groove 311. This ensures that the reader 420 can receive signals from the annular angle scale 410 when the bearing inner ring 310 rotates to both extreme positions relative to the bearing outer ring 320, while also conserving materials and reducing costs.

[0073] It should be noted that in the embodiment of the present application, since in the axial direction of the slewing bearing 300, both sides of the bearing inner ring 310 protrude from the bearing outer ring 320, and the bearing inner ring 310 is provided with a mounting groove 311, and the bearing outer ring 320 is provided with a limiting groove 321, therefore, the structure of the slewing bearing 300 is different from that of a conventional bearing, and the slewing bearing 300 can also be called a special-shaped axial bearing.

[0074] As shown in FIG1 , the non-contact angle sensor assembly 400 further includes a sensor cable 421, which is mounted on a reader 420 and connected to the transport vehicle's drive. While the transport vehicle is in motion, the reader 420 remains fixed relative to the transport vehicle frame and does not rotate with the drive assembly 100. Therefore, the sensor cable 421 also remains fixed relative to the transport vehicle frame, making it less susceptible to damage.

[0075] In one specific embodiment, the non-contact angle sensor assembly 400 may be an optical angle sensor assembly. An optical angle sensor assembly is a sensor that converts mechanical geometric displacement on a rotating shaft into pulses or digital values ​​through photoelectric conversion. Specifically, when the non-contact angle sensor assembly 400 is an optical angle sensor assembly, a grating is provided on the annular angle scale 410, and a photoelectric detection device is provided within the reader 420. When the bearing inner ring 310 rotates relative to the bearing outer ring 320, the annular angle scale 410 rotates with it. The reader 420 detects and outputs a number of pulse signals based on the principle of photoelectric conversion, thereby obtaining information on the rotation angle of the annular angle scale 410.

[0076] In another specific embodiment, the non-contact angle sensor assembly 400 may be a magnetic angle sensor assembly, wherein the annular angle ruler 410 is a magnet, and the reader 420 is provided with an integrated circuit having a microprocessor. The integrated circuit determines the amplitudes of the two orthogonal components of the magnetic field emitted by the magnet and transmits the amplitudes to the microprocessor, which can use a computer algorithm such as a CORDIC (Coordinate Rotation Digital Computer) or an inverse tangent algorithm to determine the angular position.

[0077] The present application does not limit the type and working principle of the non-contact angle sensor assembly 400, as long as the rotation angle measurement of the annular angle ruler 410 can be achieved without contact between the annular angle ruler 410 and the reader 420.

[0078] In addition, it should be noted that, compared with the contact angle sensor assembly, the non-contact angle sensor assembly 400 used in the embodiment of the present application has the advantages of simple structure and convenient assembly.

[0079] Specifically, some contact angle sensor assemblies may include a code disk and brushes. The code disk is a disc-shaped printed circuit board (PCB) with a specific coded pattern fabricated on copper foil using the same process used to manufacture printed circuit boards. The brush is a movable contact structure. When the code disk rotates, the contact between the brush and the code disk produces a digital code output in a specific code system. Because the code disk includes multiple concentrically and radially arranged code tracks, each with a corresponding brush, the code disk and brushes are complex to install and are bulky.

[0080] Alternatively, some contact angle sensor assemblies may not include a code disk and brushes. Instead, gears are machined onto the outer periphery of the slewing bearing and then machined onto the sensor housing. As the slewing bearing rotates, the sensor remains stationary, and the gears on the slewing bearing shift the gears on the sensor housing. By detecting the shifted gears, the bearing's rotational angle can be determined. Because gears must be machined onto both the slewing bearing and the sensor housing, and these gears must mesh, the slewing housing and sensor are complex, bulky, and difficult to install.

[0081] Compared with the above-mentioned two contact angle sensor assemblies, the reader 420 and the annular angle ruler 410 in the non-contact angle sensor assembly 400 used in the driving module 10 of the embodiment of the present application can measure the rotation angle of the feedback driving module 10 in a non-contact state. This not only makes the structure of the reader 420 and the annular angle ruler 410 simple, but also helps to simplify the installation and coordination of the reader 420 and the annular angle ruler 410 with other components, thereby helping to reduce the structural complexity of the entire driving module 10, so that the driving module 10 has the advantages of simple structure, small size and easy assembly.

[0082] In other embodiments of the present application, the bearing outer ring 320 can also be fixedly connected to the horizontal plate 210, while the bearing inner ring 310 can be fixedly connected to the transport vehicle frame. Thus, when the drive assembly 100 turns, the bearing outer ring 320 can follow the horizontal plate 210 and rotate relative to the bearing inner ring 310, thereby enabling the horizontal plate 210 to rotate relative to the transport vehicle frame, thereby achieving a rotational connection between the drive assembly 100 and the transport vehicle frame. Furthermore, the reader 420 can be fixed to the bearing inner ring 310, and the annular angle ruler 410 can be fixed to the circumference of the bearing outer ring 320.

[0083] As shown in Figures 1, 7a, and 7b, in this embodiment of the present application, the drive module 10 further includes a wire guard plate 600, which is mounted on the side of the slewing bearing 300 facing away from the bracket 200. As shown in Figure 4a, a first wire hole 213 is provided on the horizontal plate 210, and as shown in Figure 7a, a second wire hole 610 is provided on the wire guard plate 600. The second wire hole 610 is connected to the first wire hole 213 through the bearing inner ring 310, and the diameter of the second wire hole 610 is less than or equal to the diameter of the bearing inner ring 310. The motor 110 is connected to a motor wiring harness, which can be connected to the transport vehicle's drive after passing through the first wire hole 213 and the second wire hole 610.

[0084] In the embodiment of the present application, by providing a first wire-passing hole 213, the motor wire harness is conveniently connected to the drive of the transport vehicle after passing through the first wire-passing hole 213 and the bearing inner ring 310. Considering that in actual use, the motor wire harness may rub against the bearing inner ring 310, and since the bearing inner ring 310 is made of metal, prolonged friction may cause the motor wire harness to be damaged or even destroyed. Therefore, in the embodiment of the present application, the drive module 10 is further provided with a wire guard plate 600, and the wire guard plate 600 is provided with a second wire-passing hole 610, and the diameter of the second wire-passing hole 610 is less than or equal to the diameter of the bearing inner ring 310. Therefore, after the motor wire harness is connected to the drive of the transport vehicle, the friction between the motor wire harness and the bearing inner ring 310 can be improved, thereby helping to improve the situation where the motor wire harness is damaged or even destroyed.

[0085] Furthermore, the motor wiring harness can be fixed on the wire guard plate 600 after passing through the second wire hole 610, thereby preventing the motor wiring harness from shaking and making its installation more stable.

[0086] An embodiment of the second aspect of the present application provides a transport vehicle, comprising a frame and a drive module according to any one embodiment of the first aspect, wherein the drive module is mounted on the frame.

[0087] The transport vehicle of the embodiment of the present application includes a drive module 10, which includes a drive assembly 100. The drive assembly 100 includes a motor 110 and a drive wheel 120. The rotation of the drive wheel 120 can drive the transport vehicle to move forward. The drive assembly 100 also includes a frame 130. The frame 130 is provided to facilitate the fixing of the motor 110 and the connection with the bracket 200. The drive module 10 also includes a slewing bearing 300, one of which is connected to the drive assembly 100 via the bracket 200, and the other of which can be connected to the frame of the transport vehicle. Thus, the slewing bearing 300 can achieve a rotational connection between the drive assembly 100 and the transport vehicle frame, which facilitates the steering of the transport vehicle during movement. The drive module 10 also includes a non-contact angle sensor assembly 400, which includes an annular angle ruler 410 and a reader 420. The annular angle ruler 410 can be fixed to the portion of the slewing bearing 300 connected to the drive assembly 100, and the reader 420 can be fixed to the portion of the slewing bearing 300 connected to the transport vehicle frame. As a result, during the movement of the transport vehicle, the reader 420 can remain fixed relative to the transport vehicle frame, and the annular angle ruler 410 can rotate relative to the transport vehicle frame following the drive assembly 100. When the reader 420 and the annular angle ruler 410 are not in contact, the reader 420 can detect the rotation angle of the annular angle ruler 410, thereby measuring the rotation angle of the feedback drive module 10 relative to the transport vehicle frame when the transport vehicle turns. The drive module 10 of the embodiment of the present application has a simple structure, is relatively small in size, and is easy to assemble.

[0088] Refer to FIG8 , which is a schematic diagram of the assembly of the vehicle frame 20 and the drive module 10 of the transport vehicle according to the second embodiment of the present application.

[0089] As shown in FIG8 , a relief hole 201 is provided on the vehicle frame 20. During assembly, the inner ring 310 of the slewing bearing 300 in the driving module 10 can be passed through the relief hole 201, and the outer ring 320 of the bearing can be fixedly connected to the vehicle frame 20 via threaded fasteners. Thus, a rotational connection between the vehicle frame 20 and the driving module 10 can be achieved.

[0090] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise," "include," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0091] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A driving module of a transport vehicle, the transport vehicle comprising a frame (20) for carrying articles, the driving module (10) comprising: A drive assembly (100) comprises a motor (110) and a drive wheel (120), wherein the motor (110) is drivingly connected to the drive wheel (120); the drive assembly (100) further comprises a frame (130), wherein the motor (110) is located inside the frame (130) and is fixedly connected to the frame (130), and the drive wheel (120) is located outside the frame (130); A support (200) comprising a horizontal plate (210), wherein the horizontal plate (210) is mounted on the top of the frame (130); A slewing bearing (300) is installed on the top of the horizontal plate (210), comprising a bearing inner ring (310) and a bearing outer ring (320), wherein one of the bearing inner ring (310) and the bearing outer ring (320) is connected to the horizontal plate (210), and the other of the bearing inner ring (310) and the bearing outer ring (320) is used to be connected to the frame (20) of the transport vehicle; A non-contact angle sensor assembly (400) comprises an annular angle ruler (410) and a reader (420), wherein the annular angle ruler (410) is fixed on the inner ring of the bearing (310) to be connected to the horizontal plate (210), and the reader (420) is fixed on the outer ring of the bearing (320); or, the annular angle ruler (410) is fixed on the outer ring of the bearing (320) to be connected to the horizontal plate (210), and the reader (420) is fixed on the inner ring of the bearing (310).

2. According to the driving module of claim 1, the frame (130) includes four side surfaces connected end to end, the motor (110) and the driving wheel (120) are respectively provided with two, the two driving wheels (120) are coaxially arranged and respectively located on two opposite sides outside the frame (130); the two motors (110) and the two driving wheels (120) are connected in a one-to-one correspondence.

3. According to the drive module of claim 2, the drive assembly (100) further includes two reducers (140), the reducers (140) include a mounting surface (141), and the mounting surfaces (141) of the two reducers (140) are formed as a first side surface (131) and a second side surface (132) opposite to each other of the frame (130); the motor (110) is fixedly connected to the mounting surface (141), and is transmission-connected to the drive wheel (120) via the reducer (140).

4. The driving module according to claim 2, wherein the bracket (200) further comprises a vertical plate (220), wherein the vertical plate (220) is connected to the horizontal plate (210); The driving assembly (100) further comprises two side plates (150) arranged opposite to each other. (150) formed as the third side (133) and the fourth side (134) opposite to each other of the frame (130); The side plate (150) is hinged to the vertical plate (220) so that the frame (130) can swing relative to the vertical plate (220), and the two driving wheels (120) are located on both sides of the hinge axis of the side plate (150).

5. According to the driving module of claim 4, the driving module (10) further includes a hinge shaft (500) and a pressure plate (510), the vertical plate (220) is provided with a first through hole (221), the side plate (150) is provided with a second through hole (151), the hinge shaft (500) is inserted into the first through hole (221) and the second through hole (151), and is fixedly connected to the vertical plate (220) through the pressure plate (510).

6. The driving module according to claim 5, wherein a wear-resistant sleeve (160) is installed in the second through hole (151), and the hinge shaft (500) is rotatably matched with the wear-resistant sleeve (160).

7. According to the driving module of claim 4, a floating limit member (530) is provided on the horizontal plate (210), and the floating limit member (530) is located at the top of the side plate (150); when the frame (130) swings relative to the vertical plate (220), one end of the floating limit member (530) close to the side plate (150) is used to abut against the top of the side plate (150) to limit the swing range of the driving assembly (100) relative to the vertical plate (220).

8. According to the driving module of claim 7, the floating limit member (530) is a first bolt, a first mounting hole (211) is provided on the horizontal plate (210), the first bolt is fixed to the first mounting hole (211), and extends out of the first mounting hole (211) in a direction close to the side plate (150); when the frame (130) swings relative to the vertical plate (220), an end of the first bolt close to the side plate (150) is used to abut against the top of the side plate (150).

9. According to the driving module of claim 1, a portion of the bearing inner ring (310) protrudes from the bearing outer ring (320) in a direction close to the horizontal plate (210), and is fixed to the top of the horizontal plate (210) so that there is a gap between the bearing outer ring (320) and the horizontal plate (210).

10. According to the driving module of claim 9, a portion of the bearing inner ring (310) protrudes from the bearing outer ring (320) in a direction away from the horizontal plate (210), and a mounting groove (311) is provided on the outer peripheral side, and the annular angle ruler (410) is fixed in the mounting groove (311); the reader (420) is fixed on a side surface of the bearing outer ring (320) facing away from the horizontal plate (210).

11. According to the driving module of claim 9, a limiting groove (321) is provided on one side of the bearing outer ring (320) close to the horizontal plate (210), and the limiting groove (321) extends along the circumference of the bearing outer ring (320); a rotation limiting member (520) is provided on the horizontal plate (210), and at least a part of the rotation limiting member (520) is accommodated in the limiting groove (321) and cooperates with the stopper of the side wall (322) of the limiting groove (321).

12. According to the driving module according to claim 11, the rotation limiter (520) is a second bolt, a second mounting hole (212) is provided on the horizontal plate (210), the second bolt is fixed to the second mounting hole (212), and the head of the second bolt is accommodated in the limiting groove (321) and cooperates with the side wall (322) of the limiting groove (321) to stop.

13. The driving module according to claim 1, wherein the driving module (10) further comprises a wire guard plate (600), wherein the wire guard plate (600) is installed on a side of the slewing bearing (300) away from the bracket (200); The horizontal plate (210) is provided with a first wire passing hole (213), and the wire protection plate (600) is provided with a second wire passing hole (610), the second wire passing hole (610) is connected to the first wire passing hole (213) through the bearing inner ring (310), and the diameter of the second wire passing hole (610) is less than or equal to the diameter of the bearing inner ring (310); the motor (110) is connected to a motor wiring harness, and the motor wiring harness is connected to the driver of the transport vehicle after passing through the first wire passing hole (213) and the second wire passing hole (610).

14. A transport vehicle comprising: Frame (20); The drive module (10) according to any one of claims 1 to 13, wherein the drive module (10) is mounted on the vehicle frame (20).

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