Driving module of transport vehicle and transport vehicle

Abstract

A driving module of a transport vehicle, the driving module comprising a slewing bearing (1), a power assembly (4), a support (3) and an angle sensor (4), wherein the support (3) is connected to the slewing bearing (1) and the power assembly (4), and a mounting surface for supporting the slewing bearing (1) is formed on the support (3); the angle sensor (4) is arranged coaxially with the slewing bearing (1); and the slewing bearing (1) comprises a bearing inner ring (110) and a bearing outer ring (120) which can rotate relative to each other, wherein one of the bearing inner ring (110) and the bearing outer ring (120) is fixedly connected to the support, the other of the bearing inner ring (110) and the bearing outer ring (120) is configured to be connected to a frame of the transport vehicle, and when the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the angle sensor (4) measures the relative rotation angle of the bearing inner ring (110) and the bearing outer ring (120). In the driving module, by providing the angle sensor (4) in the geometric center of the slewing bearing (1), the structures of the angle sensor (4) and the driving module are simplified, such that the arrangement of components of the driving module is more compact, and the degree of integration is higher. Further comprised is a transport vehicle.

Description

A drive module for a transport vehicle and the transport vehicle itself.

[0001] This application claims priority to Chinese Patent Application No. 202421290400.6, filed on June 5, 2024, entitled "A Drive Module for a Transport Vehicle and a Transport Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of transport vehicle technology, and more particularly to a drive module for a transport vehicle and a transport vehicle. Background Technology

[0003] Automated Guided Vehicles (AGVs) are transport vehicles equipped with automatic guidance systems that automatically travel along designated guidance routes. They are widely used in factory handling, warehousing and logistics, port transportation, and other fields.

[0004] Automated Guided Vehicles (AGVs) are typically equipped with drive modules. Most existing drive modules use contact angle sensors, which have the drawback of relatively complex structures and difficulty in high-level integration. For example, mechanical multi-turn absolute encoders require gears to drive the code disk, resulting in a large drive module size. A few existing drive modules use non-contact angle sensors, but this structure not only suffers from poor stability but is also susceptible to external contaminants such as dust, dirt, liquids, and grease, as well as vibrations, making it unsuitable for the complex working environment of drive modules.

[0005] Utility Model Content

[0006] This application aims to address one of the technical problems in the related art to a certain extent. To this end, this application provides a drive module for a transport vehicle and a transport vehicle itself.

[0007] To achieve the above objectives, this application adopts the following technical solution: a drive module for a transport vehicle, the drive module including a slewing bearing, a power component, a bracket and an angle sensor, the bracket connecting the slewing bearing and the power component, and the bracket having a mounting surface for supporting the slewing bearing, the angle sensor being coaxially arranged with the slewing bearing, and the slewing bearing including a bearing inner ring and a bearing outer ring that can rotate relative to each other;

[0008] One of the bearing inner ring and the bearing outer ring is fixedly connected to the bracket, and the other of the bearing inner ring and the bearing outer ring is configured to be connected to the frame of the transport vehicle. When the bearing inner ring and the bearing outer ring rotate relative to each other, the angle sensor measures the relative rotation angle between the bearing inner ring and the bearing outer ring.

[0009] In the technical solution, a rotary bearing including a bearing inner ring and a bearing outer ring is designed, and the rotary bearing is coaxially arranged with an angle sensor, so that when the bearing inner ring and the bearing outer ring of the rotary bearing relatively rotate, the angle sensor can conveniently measure the relative rotation angle of the two, and the structure of the angle sensor and the driving module is simplified, the components of the driving module are arranged more compactly, and the integration degree is higher.

[0010] Further, the angle sensor includes an encoder, a code disc, a base and a rotating shaft, the rotating shaft is arranged through the base, the base is fixedly connected with the encoder, the rotating shaft is fixedly connected with the code disc, and the encoder and the code disc are arranged in a non-contact manner.

[0011] One of the rotating shaft and the base is fixedly connected with the support, and the other one of the rotating shaft and the base is fixedly connected with one of the bearing inner ring and the bearing outer ring of the rotary bearing which can relatively rotate with respect to the support and is coaxially arranged, the encoder and the code disc synchronously relatively rotate when the bearing inner ring and the bearing outer ring relatively rotate, and the encoder outputs an angle signal.

[0012] Further, the angle sensor further includes a housing, the housing 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] Further, the mounting surface of the support is provided with a mounting structure configured to mount the angle sensor, one end of the rotating shaft extending outside the angle sensor through the base is provided as a mounting portion, the mounting portion is provided with a positioning key, the mounting structure includes a center hole and a key groove formed on the inner wall of the center hole, the mounting portion of the rotating shaft is arranged in the center hole, and the positioning key is arranged in the key groove.

[0014] Further, the rotary bearing further includes a mounting plate, the mounting plate is fixedly connected with one of the bearing inner ring and the bearing outer ring of the rotary bearing which can relatively rotate with respect to the support, the mounting plate is provided with a mounting hole configured to be fixedly connected with the base of the angle sensor and a through hole configured to allow the rotating shaft of the angle sensor to pass through the rotary bearing.

[0015] Further, the power assembly includes two groups of driving mechanisms and two rotating substrates, the two rotating substrates are arranged in a relative manner and are fixedly connected between the two groups of driving mechanisms to form an integral whole of the power assembly, and the rotating substrates are connected with the support.

[0016] Further, the driving mechanism includes a driving wheel, a speed reducer and a motor, the motor is drivingly connected with the driving wheel through the speed reducer, and the driving wheel, the speed reducer and the motor are arranged between the two rotating substrates.

[0017] Further, the power assembly and the bracket are hinged, the rotating base is provided with a hinge shaft, the bracket is provided with a shaft hole for mounting the hinge shaft, and a wear-resistant sleeve is arranged between the hinge shaft and the shaft hole.

[0018] Further, the angle sensor is an optical sensor or a magnetic sensor.

[0019] In addition, the application further provides a transport vehicle comprising a frame and the driving module as described in any one of the above technical solutions, the driving module and the frame are fixedly connected, and one of the inner ring and the outer ring of the bearing, which is not fixedly connected with the bracket, is 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.

[0020] The features and advantages of the application will be described in detail in the following specific embodiments and drawings. The best mode or means of the application will be fully illustrated in conjunction with the drawings, but it is not a limitation on the technical solutions of the application. 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 convenience of representation, but all represent the same or similar structure or function of the components. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The schematic embodiments of the application and their descriptions are used to explain the application, and do not constitute an improper limitation on the application.

[0022] Fig. 1 is a structural schematic view of a driving module provided by an embodiment of the application;

[0023] Fig. 2 is a sectional schematic view of a driving module provided by an embodiment of the application;

[0024] Fig. 3 is a structural schematic view of a slewing bearing provided by an embodiment of the application;

[0025] Fig. 4 is a sectional schematic view of an angle sensor provided by an embodiment of the application;

[0026] Fig. 5 is a structural schematic view of a bracket provided by an embodiment of the application;

[0027] Fig. 6 is a structural schematic view of a power assembly in an exploded state provided by an embodiment of the application.

[0028] Wherein, 1, rotary bearing; 2, angle sensor; 3, support; 4, power assembly; 110, bearing inner ring; 120, bearing outer ring; 130, mounting plate; 1301, through hole; 1302, mounting hole; 210, encoder; 220, code disc; 230, base; 240, sensor bearing; 250, rotating shaft; 260, positioning key; 270, housing; 310, center hole; 320, key groove; 330, shaft hole; 410, motor; 420, speed reducer; 430, drive wheel; 440, rotating base plate; 450, wear-resistant sleeve; 4401, hinged shaft. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0030] In this specification, "one embodiment" or "an example" or "an example" means that the specific features, structures or characteristics described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearance of the phrase "in one embodiment" at various places in the specification does not necessarily refer to the same embodiment.

[0031] As shown in FIGS. 1, 2, 3, the present embodiment provides a driving module of a transport vehicle, which comprises a rotary bearing 1, a power assembly 4, a support 3 and an angle sensor 2, the support 3 connects the rotary bearing 1 and the power assembly 4 and forms a mounting surface for supporting the rotary bearing 1, the mounting surface is provided with a mounting structure configured to mount the angle sensor 2, the angle sensor 2 is coaxially arranged with the rotary bearing 1, the rotary bearing 1 comprises a bearing inner ring 110 and a bearing outer ring 120 which can rotate relative to each other; one of the bearing inner ring 110 and the bearing outer ring 120 is fixedly connected with the support 3, when the bearing inner ring 110 and the bearing outer ring 120 rotate relative to each other, the angle sensor 2 is configured to measure the relative rotation angle of the bearing inner ring 110 and the bearing outer ring 120.

[0032] In the embodiment, the power assembly 4 provides driving force for the driving module to walk and rotate, and the angle sensor 2 is configured to measure the rotation angle of the driving module when the driving module rotates. When the driving module rotates, the power assembly 4 drives the part fixedly connected with the support 3 to rotate synchronously, the part fixedly connected with the support 3 is one of the bearing inner ring 110 and the bearing outer ring 120, and the part not fixedly connected with the support 3 (fixedly connected with the vehicle frame) remains stationary, therefore, the angle sensor 2 can measure the rotation angle of the driving module by measuring the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120.

[0033] The coaxial arrangement of the angle sensor 2 and the slewing bearing 1 makes it more convenient for the angle sensor 2 to measure the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1. Specifically, in the embodiment, the bearing inner ring 110 is hollow, and a mounting position configured to mount the angle sensor 2 is formed at the geometric center of the bearing inner ring 110. Mounting the angle sensor 2 at the geometric center of the slewing bearing 1 makes it more convenient for the angle sensor 2 to detect the relative rotation angle between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1, and simplifies the structure of the angle sensor 2 and the driving module, so that the components of the driving module are arranged more compactly and have a higher degree of integration.

[0034] Specifically, in the embodiment, as shown in FIG. 2, the bearing outer ring 120 of the slewing bearing 1 is fixedly connected with the support 3, and a roller is arranged between the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1, and the inner ring of the slewing bearing 1 can rotate relative to the bearing outer ring 120 and the support 3. In other embodiments, the bearing inner ring 110 of the slewing bearing 1 can be fixedly connected with the support 3 (not shown in the figure), and the bearing outer ring 120 of the slewing bearing 1 can be fixedly connected with the vehicle frame. One of the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 is fixedly connected with the support 3, and the other is connected with the vehicle frame of the transport vehicle. When the power assembly 4 of the driving module starts to work and provides a rotating force, the power assembly 4 drives the support 3 to rotate, and in turn drives the one of the bearing inner ring 110 and the bearing outer ring 120 fixedly connected with the support 3 to rotate, and the other of the bearing inner ring 110 and the bearing outer ring 120 is fixedly connected with the vehicle frame and remains stationary, therefore, when the power assembly 4 of the driving module drives the support to rotate, the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 rotate relatively.

[0035] As shown in FIG. 2 and FIG. 4, the angle sensor 2 is a non-contact sensor, which comprises a base 230 and a rotating shaft 250 penetrating the base 230, the base 230 is fixedly connected with an encoder 210, the rotating shaft 250 is fixedly connected with a code disc 220, a sensor bearing 240 is arranged between the rotating shaft 250 and the base 230 to enable the relative rotation of the rotating shaft 250 and the base 230, the encoder 210 and the code disc 220 are arranged in a non-contact manner, one of the rotating shaft 250 and the base 230 is fixedly connected with the bracket 3, and the other is fixedly connected with the bearing inner ring 110 or the bearing outer ring 120 of the rotary bearing 1 which can rotate relative to the bracket 3 and is coaxially arranged, when the bearing inner ring 110 and the bearing outer ring 120 rotate relative to each other, the encoder 210 and the code disc 220 rotate synchronously, and the encoder 210 outputs an angle signal.

[0036] Specifically, in the embodiment, the base 230 of the angle sensor 2 is provided with the encoder 210, the base 230 and the bearing inner ring 110 are fixedly connected and coaxially arranged (synchronous rotation), the rotating shaft 250 of the angle sensor 2 is fixedly connected with the bracket 3 (the bracket 3 is fixedly connected with the bearing outer ring 120), the top of the rotating shaft 250 is provided with the code disc 220, when the bearing inner ring 110 rotates relative to the bearing outer ring 120, the encoder 210 and the code disc 220 of the angle sensor 2 also synchronously complete the rotation of the same angle, therefore, the relative rotation angle of the bearing outer ring 120 and the bearing inner ring 110 can be measured by reading the angle signal output by the encoder 210. In other embodiments, the relative rotation angle of the bearing outer ring 120 and the bearing inner ring 110 can be measured by the way that the rotating shaft 250 is fixedly connected with the bearing inner ring 110 and coaxially rotates, and the base 230 is fixedly connected with the bearing outer ring 120.

[0037] It should be noted that, in the embodiment, the encoder 210 of the angle sensor 2 is arranged on the base 230, and the code disc 220 is arranged at the top end of the rotating shaft 250, when the rotating shaft 250 and the base 230 rotate relative to each other, the encoder 210 and the code disc 220 also complete the relative rotation of the same angle with the rotating shaft 250 and the base 230, and the relative rotation angle of the rotating shaft 250 and the base 230 can be measured by reading the rotation angle of the code disc 220 by the encoder 210, that is, 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 210 and the code disc 220 can be interchanged or arranged in other ways, as long as the encoder 210 can read the relative rotation angle between the code disc 220. In the embodiment, the specific arrangement and connection mode of the encoder 210 and the code disc 220 are not limited.

[0038] Specifically, as shown in FIG. 4, the angle sensor 2 further comprises a shell 270, the shell 270 is arranged outside the base 230 and forms a cavity with the base 230, and the encoder 210 and the code disc 220 are located in the cavity. In this embodiment, the cavity defined by the shell 270 and the base 230 is a sealed cavity. The encoder 210 and the code disc 220 are arranged in the sealed cavity formed by the shell 270 and the base 230, so that the encoder 210 and the code disc 220 are isolated from the outside world, avoiding damage to the angle sensor 2 caused by external dust, dirt, liquid, oil and other pollutants, and reducing the influence of the vibration of the transport vehicle on the angle sensor 2, so that the angle sensor 2 can work normally in a complex environment and improve the adaptability of the driving module to a complex working environment.

[0039] Specifically, as shown in FIGS. 4 and 5, the rotating shaft 250 is provided with a mounting portion at an end extending outside the angle sensor 2, and the mounting portion is provided with a positioning key 260. The mounting structure comprises a center hole 310 and a key groove 320 configured to mount the mounting portion and the positioning key 260 of the rotating shaft 250. The rotating shaft 250 of the angle sensor 2 is inserted into the center hole 310, and the positioning key 260 is inserted into the corresponding key groove 320, so that the angle sensor 2 and the bracket 3 are stably and fixedly connected. The cooperation of the positioning key 260 and the key groove 320 prevents the rotating shaft 250 from rotating relative to the center hole 310, so that the connection between the two is more stable. In other embodiments, the rotating shaft 250 of the angle sensor 2 and the bracket can be stably and fixedly connected by other means, which will not be enumerated one by one in this embodiment.

[0040] Specifically, as shown in FIG. 3, the slewing bearing 1 comprises a mounting plate 130 fixedly connected with the bearing inner ring 110 or the bearing outer ring 120 of the slewing bearing 1 which can rotate relative to the bracket 3. The mounting plate 130 is provided with a mounting hole 1302 configured to be fixedly connected with the base 230 of the angle sensor 2, and a through hole 1301 configured to allow the rotating shaft 250 of the angle sensor 2 to pass through the slewing bearing 1. In this embodiment, the mounting plate 130 is configured to fixedly connect one of the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 with the base 230 of the angle sensor 2. In other embodiments, if the base 230 of the angle sensor 2 is fixedly connected with the bracket 3, one of the bearing inner ring 110 and the bearing outer ring 120 of the slewing bearing 1 fixedly connected with the frame of the transport vehicle can be fixedly connected with the rotating shaft 250 of the angle sensor 2 through the mounting plate 130.

[0041] It should be noted that in the embodiment, the bearing inner ring 110 of the slewing bearing 1 is fixedly connected with the mounting plate 130 and is in an integral molding structure, and in other embodiments, the bearing outer ring 120 of the slewing bearing 1 can be fixedly connected with the mounting plate 130, and the mounting hole 1302 fixedly connected with the base 230 of the angle sensor 2 and the through hole 1301 configured to pass the rotating shaft 250 of the angle sensor 2 through the mounting plate 130 are arranged on the mounting plate 130, so that the bearing outer ring 120 of the slewing bearing 1 is fixedly connected with the base 230 of the angle sensor 2.

[0042] Specifically, as shown in FIG. 6, the power assembly 4 includes a driving mechanism, the driving mechanism includes a driving wheel 430, a speed reducer 420 and a motor 410, the motor 410 is drivingly connected with the driving wheel 430 through the speed reducer 420. The power assembly 4 includes two groups of driving mechanisms, and the power assembly 4 further includes two rotating base plates 440, the two rotating base plates 440 are fixedly connected between the two groups of driving mechanisms to form an integral whole of the power assembly 4, the power assembly 4 is hingedly connected with the support 3, the rotating base plate 440 is provided with a hinge shaft 4401, the support 3 is provided with a shaft hole 330 for mounting the hinge shaft 4401, and a wear-resistant sleeve 450 is further arranged between the hinge shaft 4401 and the shaft hole 330.

[0043] In the embodiment, the power assembly 4 includes two groups of driving mechanisms arranged in a central symmetry, and the symmetrical arrangement of the two groups of driving mechanisms can balance the driving force provided by the power assembly 4 and facilitate the power assembly 4 to provide a rotating driving force. In other embodiments, the power assembly 4 can be formed by any number of driving mechanisms arranged and connected in any manner. The power assembly 4 is hingedly connected with the support 3, so that the support 3 can rotate relative to the power assembly 4 along the hinge shaft 4401 of the rotating base plate 440, and thus the two driving wheels 430 can float up and down, which facilitates balancing the driving force of the two groups of driving mechanisms on uneven road surfaces.

[0044] In the embodiment, the angle sensor 2 is an optical sensor or a magnetic sensor. The optical sensor and the magnetic sensor have high measurement accuracy, which is conducive to improving the control of the transport vehicle.

[0045] The embodiment also provides a transport vehicle, comprising a vehicle frame and a driving module, the driving module and the vehicle frame are fixedly connected, one of the bearing inner ring 110 and the bearing outer ring 120 which is not fixedly connected with the support 3 is fixedly connected with the vehicle frame. Taking the driving module shown in FIG. 2 as an example, the bearing outer ring 120 of the slewing bearing 1 is fixedly connected with the support 3, and the bearing inner ring 110 is fixedly connected with the vehicle frame. When the driving wheel 430 of the driving module rotates, the support 3 drives the bearing outer ring 120 to rotate, and 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 4 can be controlled to complete the rotation of a fixed angle, thereby completing the control of the travel route of the transport vehicle.

[0046] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiment and the accompanying drawings. Any modification which does not deviate from the functional and structural principles of the present application shall be included in the scope of the claims.

Claims

1. A drive module for a transport vehicle, wherein, The driving module comprises a slewing bearing (1), a power assembly (4), a bracket (3) and an angle sensor (2), the bracket (3) connects the slewing bearing (1) and the power assembly (4), and a mounting surface for supporting the slewing bearing (1) is formed on the bracket (3), and the angle sensor (2) is coaxially arranged with the slewing bearing (1), the slewing bearing (1) comprises a bearing inner ring (110) and a bearing outer ring (120) which can rotate relative to each other; One of the bearing inner ring (110) and the bearing outer ring (120) is fixedly connected with the bracket (3), and the other one is configured to be connected with the frame of the transport vehicle, and when the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the angle sensor (2) measures the relative rotation angle of the bearing inner ring (110) and the bearing outer ring (120).

2. The drive module of claim 1, wherein, The angle sensor (2) comprises an encoder (210), a code disc (220), a base (230) and a rotating shaft (250), the rotating shaft (250) is arranged through the base (230), the base (230) is fixedly connected with the encoder (210), the rotating shaft (250) is fixedly connected with the code disc (220), and the encoder (210) and the code disc (220) are arranged in a non-contact manner relative to each other; One of the rotating shaft (250) and the base (230) is fixedly connected with the bracket (3), and the other one is fixedly connected with the one of the bearing inner ring (110) and the bearing outer ring (120) which can rotate relative to the bracket (3) and is coaxially arranged, and when the bearing inner ring (110) and the bearing outer ring (120) rotate relative to each other, the encoder (210) and the code disc (220) rotate synchronously, and the encoder (210) outputs an angle signal.

3. The drive module of claim 2, wherein, The angle sensor (2) further comprises a shell (270), the shell (270) covers the outside of the base (230) and cooperates with the base (230) to define a cavity, and the encoder (210) and the code disc (220) are located in the cavity.

4. The drive module of claim 2, wherein, The mounting surface of the bracket (3) is provided with a mounting structure configured to mount the angle sensor (2), one end of the rotating shaft (250) extending outward from the base (230) is provided with a mounting portion, the mounting portion is provided with a positioning key (260), the mounting structure comprises a center hole (310) and a key groove (320) formed on the inner wall of the center hole (310), the mounting portion of the rotating shaft (250) is arranged in the center hole (310), and the positioning key (260) is arranged in the key groove (320).

5. The drive module of claim 2, wherein, The slewing bearing (1) further comprises a mounting plate (130) fixedly connected with one of the bearing inner ring (110) and the bearing outer ring (120) of the slewing bearing (1) which can rotate relative to the support (3), the mounting plate (130) is provided with a mounting hole (1302) configured to be fixedly connected with the base (230) of the angle sensor (2) and a through hole (1301) configured to allow the rotating shaft (250) of the angle sensor (2) to pass through the slewing bearing (1).

6. The drive module of any one of claims 1 to 5, wherein, The power assembly (4) comprises two groups of driving mechanisms and two rotating base plates (440), the two rotating base plates (440) are oppositely arranged and fixedly connected between the two groups of driving mechanisms so as to form an integral whole of the power assembly (4), and the rotating base plates (440) are connected with the support.

7. The drive module of claim 6, wherein, The driving mechanism comprises a driving wheel (430), a speed reducer (420) and a motor (410), the motor (410) is drivingly connected with the driving wheel (430) through the speed reducer (420), and the driving wheel (430), the speed reducer (420) and the motor (410) are arranged between the two rotating base plates (440).

8. The drive module of claim 6, wherein, The power assembly (4) and the support (3) are hingedly connected, the rotating base plate (440) is provided with a hinge shaft (4401), the support (3) is provided with a shaft hole (330) for mounting the hinge shaft (4401), and a wear-resistant sleeve (450) is further arranged between the hinge shaft (4401) and the shaft hole (330).

9. The drive module of any one of claims 1 to 5, wherein, The angle sensor (2) is configured as an optical sensor or a magnetic sensor.

10. A transport vehicle comprising a vehicle frame, wherein a driving module according to any one of claims 1 to 9 is further comprised, 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 support (3) is fixedly connected with the vehicle frame.

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