Modularized special unmanned vehicle capable of achieving rapid butt joint

Abstract

The invention relates to the related technical field of special unmanned vehicles, in particular to a quick-butt-joint modular special unmanned vehicle which comprises a vehicle body, the vehicle body comprises a front end and a rear end, a shell and a frame are fixedly arranged at the front end and the rear end of the vehicle body respectively, and a connecting shaft is fixedly arranged on the frame; the modularized special unmanned vehicle capable of achieving rapid butt joint further comprises arc-shaped pieces, the two arc-shaped pieces are movably arranged at the front end of the vehicle body, the two arc-shaped pieces are each connected with an elastic telescopic mechanism installed in the shell, and the arc-shaped pieces are matched with the connecting shafts; the two shaft sleeves are movably arranged at the front end of the vehicle body and matched with the connecting shaft, and the two shaft sleeves are connected with the two sets of elastic telescopic mechanisms through a movable driving mechanism; through mutual cooperation of all the mechanisms and parts, the rapid connection function of the vehicle is achieved, excessive manual operation is not needed, rapid work development is facilitated, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to special unmanned vehicles, and in particular to a fast-docking modular special unmanned vehicle. Background Art

[0002] Special unmanned vehicles refer to unmanned vehicles that perform tasks in specific scenarios. They have a wide range of applications. These vehicles usually have functions such as high-precision navigation, autonomous obstacle avoidance, and intelligent path planning to adapt to complex environments and dangerous tasks. In terms of military applications, special unmanned vehicles are used for border patrols, regional protection, mine clearance and explosive disposal, emphasizing rapid mobility, off-road capabilities and safety.

[0003] Due to certain operational needs, multiple vehicles often need to be connected in series. In this regard, during the specific implementation, workers are generally required to use tools to complete the connection work. This makes it difficult to carry out the work quickly and fails to achieve the ideal use effect. Summary of the invention

[0004] The purpose of the present invention is to provide a modular special unmanned vehicle with quick docking to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A modular special unmanned vehicle with quick docking, comprising a vehicle body, wherein the vehicle body comprises a front end and a rear end, wherein a housing and a frame are fixedly disposed at the front end and the rear end respectively, and a connecting shaft is fixedly disposed on the frame;

[0007] The modular special unmanned vehicle for rapid docking also includes:

[0008] Two arc-shaped members are movably provided at the front end of the vehicle body, each of the two arc-shaped members is connected to a group of elastic telescopic mechanisms installed in the shell, and the arc-shaped members are adapted to the connecting shaft;

[0009] A shaft sleeve, two of which are movably provided at the front end of the vehicle body and adapted to the connecting shaft, the two shaft sleeves are connected to the two sets of the elastic telescopic mechanisms through a movable driving mechanism, when the two adjacent vehicle bodies are close to each other and the arc-shaped member abuts against the connecting shaft, the two shaft sleeves are respectively located at the two ends of the connecting shaft, and the movable driving mechanism is triggered to drive the shaft sleeves to move along the axial direction of the connecting shaft, so that the two shaft sleeves perform a docking action with the connecting shaft;

[0010] Two groups of state locking mechanisms are provided inside the shell. The state locking mechanisms are triggered after the docking action between the two sleeves and the connecting shaft is completed, so that the connection state of the two adjacent vehicle bodies is maintained.

[0011] As a further solution of the present invention: a set of tracks is respectively provided on both sides of the vehicle body, and the tracks are arranged in an inverted trapezoidal shape to enable the vehicle body to overcome obstacles and promote relative rotation between the shaft sleeve and the connecting shaft in a docking state.

[0012] As a further solution of the present invention: the elastic telescopic mechanism includes a guide cylinder fixedly installed inside the outer shell, a telescopic rod slidably fitted with the guide cylinder, and a first cylindrical spring arranged inside the telescopic rod, one end of the first cylindrical spring is connected to the telescopic rod, and the other end is connected to the inner wall of the guide cylinder, and the arc-shaped member is fixedly installed on one end of the telescopic rod away from the first cylindrical spring.

[0013] As a further solution of the present invention: the movable driving mechanism includes two sets of sliding structures respectively connected to the two telescopic rods and a rotating component located between the two telescopic rods and connecting the two sets of sliding structures, and the rotating component is connected to the two guide cylinders through a sliding matching component.

[0014] As a further solution of the present invention: the sliding structure includes a cross arm fixedly connected to the two telescopic rods, the two ends of the cross arm respectively pass through the two telescopic rods, and two sliders are symmetrically slidably provided on the cross arm, the two sliders are connected to the rotating assembly, the two bushings are respectively fixedly connected to the two sliders, and the rotating assembly can drive the two sliders to move closer to or away from each other along the length direction of the cross arm.

[0015] As a further solution of the present invention: the rotating assembly includes a disc rotatably mounted on the cross arm and two connecting rods rotatably mounted on the disc, the connection between the connecting rod and the disc is located at the eccentric part of the disc, and a connecting column is fixed at the bottom of the slider, one end of the connecting rod away from the disc is rotatably connected to the connecting column, and the rotating axis of the disc is connected to the sliding fitting assembly.

[0016] As a further solution of the present invention: the sliding fit assembly comprises a driven shaft rotatably mounted on the cross arm and a sleeve fixedly connected to the two guide cylinders, the sleeve is slidably fitted with the driven shaft, and the driven shaft is connected to the rotating shaft of the disc through a bevel gear set;

[0017] Wherein, a driving column is fixedly provided on the sleeve, a sliding groove adapted to the driving column is provided on the outer wall of the driven shaft, the sliding groove is spirally arranged, and the driving column extends into the sliding groove and is slidably connected with the driven shaft.

[0018] As a further solution of the present invention: the state locking mechanism includes a limit plate movably arranged inside the shell, the limit plate is connected to an energy storage component installed in the shell, and the limit plate cooperates with the cross arm through a rolling structure.

[0019] As a further solution of the present invention: the rolling structure includes a connecting arm fixed on the cross arm and a roller rotatably installed on the connecting arm away from one end of the cross arm, the roller abuts against the limiting plate, and the limiting plate is sequentially formed with a long strip portion and a recessed portion along the length direction.

[0020] As a further solution of the present invention: the energy storage assembly includes an electric push rod mounted on the housing, a connecting seat fixed to the movable end of the electric push rod, and two columns fixed to the connecting seat and slidably connected to the limiting plate;

[0021] Wherein, a second cylindrical spring is sleeved on the outer periphery of the column, one end of the second cylindrical spring is connected to the limiting plate, and the other end is connected to a boss fixed to one end of the column away from the connecting seat.

[0022] Compared with the prior art, the beneficial effect of the present invention is as follows: when in use, the front vehicle is stationary and the rear vehicle is moving towards the front vehicle, so the arc-shaped member of the rear vehicle will abut against the connecting shaft of the front vehicle. At this time, the two shaft sleeves are respectively located at the two ends of the connecting shaft. As the rear vehicle continues to move, the elastic telescopic mechanism is triggered, and the movable driving mechanism is moved, and then the movable driving mechanism drives the two shaft sleeves to move closer to each other along the axial direction of the connecting shaft. Finally, the two shaft sleeves are docked with the connecting shaft, and then the state locking mechanism is triggered to lock the docking state of the two shaft sleeves with the connecting shaft. In subsequent operations, when the front vehicle overcomes obstacles, it will tilt backwards. The two shaft sleeves and the connecting shaft enable the front vehicle and the rear vehicle to establish a rotational connection relationship, which does not affect the obstacle-overcoming function of the vehicle. Therefore, through the mutual cooperation between various mechanisms and components, the vehicle's quick connection function is realized without excessive manual operation, which is conducive to the rapid development of work and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 An axonometric diagram of an embodiment of a modular special unmanned vehicle for quick docking.

[0024] Figure 2 A schematic structural diagram of an embodiment of a modular special unmanned vehicle for quick docking.

[0025] Figure 3 A schematic structural diagram of another angle of an embodiment of a modular special unmanned vehicle for quick docking.

[0026] Figure 4A structural schematic diagram of another angle of an embodiment of a modular special unmanned vehicle for quick docking.

[0027] Figure 5 for Figure 4 A magnified view of the structure at center.

[0028] Figure 6 A schematic diagram of the connection status of the elastic telescopic mechanism and the movable driving mechanism in one embodiment of a modular special unmanned vehicle for quick docking.

[0029] Figure 7 for Figure 6 Schematic diagram of the structure from another angle.

[0030] Figure 8 An exploded diagram of the structure of the elastic telescopic mechanism in one embodiment of a modular special unmanned vehicle for quick docking.

[0031] Fig. 9 A schematic diagram of the structure of the movable drive mechanism in one embodiment of a modular special unmanned vehicle for quick docking.

[0032] Fig.10 A schematic structural diagram of a state locking mechanism in one embodiment of a modular special unmanned vehicle for quick docking.

[0033] In the figure: 1. vehicle body; 2. crawler track; 3. outer shell; 4. frame; 5. connecting shaft; 6. guide cylinder; 7. telescopic rod; 8. arc-shaped member; 9. bushing; 10. cross arm; 11. slider; 12. disc; 13. connecting rod; 14. bevel gear set; 15. driven shaft; 1501. slide groove; 16. connecting column; 17. sleeve; 1701. driving column; 18. first cylindrical spring; 19. electric push rod; 20. connecting seat; 21. column; 22. second cylindrical spring; 23. boss; 24. limit plate; 2401. long strip; 2402. recessed portion; 25. connecting arm; 26. roller. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In addition, when an element in the present invention is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0036] See also Figure 1-Figure 10 In an embodiment of the present invention, a modular special unmanned vehicle with quick docking includes a vehicle body 1, wherein the vehicle body 1 includes a front end and a rear end, wherein a housing 3 and a frame 4 are fixedly disposed at the front end and the rear end, respectively, and a connecting shaft 5 is fixedly disposed on the frame 4;

[0037] The modular special unmanned vehicle for rapid docking also includes:

[0038] Two arc-shaped members 8 are movably provided at the front end of the vehicle body 1, and each of the two arc-shaped members 8 is connected to a group of elastic telescopic mechanisms installed in the housing 3, and the arc-shaped members 8 are adapted to the connecting shaft 5;

[0039] Two shaft sleeves 9 are movably provided at the front end of the vehicle body 1 and are adapted to the connecting shaft 5. The two shaft sleeves 9 are connected to the two sets of elastic telescopic mechanisms through a movable driving mechanism. When the two adjacent vehicle bodies 1 are close to each other and the arc-shaped member 8 abuts against the connecting shaft 5, the two shaft sleeves 9 are respectively located at the two ends of the connecting shaft 5, and the movable driving mechanism is triggered to drive the shaft sleeves 9 to move along the axial direction of the connecting shaft 5, so that the two shaft sleeves 9 perform a docking action with the connecting shaft 5;

[0040] Two groups of state locking mechanisms are provided inside the housing 3 , and the state locking mechanisms are triggered after the docking action between the two sleeves 9 and the connecting shaft 5 is completed, so as to maintain the connection state of the two adjacent vehicle bodies 1 .

[0041] Please refer again Figure 1 A set of tracks 2 are respectively provided on both sides of the vehicle body 1. The tracks 2 are arranged in an inverted trapezoidal shape, and are used for allowing the vehicle body 1 to cross obstacles and promote relative rotation between the shaft sleeve 9 and the connecting shaft 5 in a docking state.

[0042] Furthermore, in specific implementation, the vehicle body 1 can be used alone for operation. Under special requirements of certain operations, multiple vehicle bodies 1 can be connected in series. The specific operation method is as follows:

[0043] The two vehicle bodies 1 to be connected are arranged one after the other, the front vehicle is stationary, and the rear vehicle is moving towards the front vehicle. Therefore, the arc-shaped member 8 of the rear vehicle will abut against the connecting shaft 5 of the front vehicle. At this time, the two shaft sleeves 9 are respectively located at the two ends of the connecting shaft 5. As the rear vehicle continues to move, the elastic telescopic mechanism is triggered, and the movable driving mechanism is moved. Then, the movable driving mechanism drives the two shaft sleeves 9 to move closer to each other along the axial direction of the connecting shaft 5. Finally, the two shaft sleeves 9 are docked with the connecting shaft 5. Then, the state locking mechanism is triggered to lock the docking state of the two shaft sleeves 9 and the connecting shaft 5. In subsequent operations, when the front vehicle overcomes an obstacle, it will tilt backwards. The two shaft sleeves 9 and the connecting shaft 5 establish a rotational connection relationship between the front vehicle and the rear vehicle, and the shaft sleeves 9 and the connecting shaft 5 rotate relative to each other. Therefore, through the mutual cooperation between various mechanisms and components, the rapid connection function of the vehicle is realized, without excessive manual operation, which is conducive to the rapid development of work and improves work efficiency.

[0044] Please refer again Figure 6 and Figure 8 The elastic telescopic mechanism includes a guide cylinder 6 fixedly installed inside the housing 3, a telescopic rod 7 slidably fitted with the guide cylinder 6, and a first cylindrical spring 18 arranged inside the telescopic rod 7, one end of the first cylindrical spring 18 is connected to the telescopic rod 7, and the other end is connected to the inner wall of the guide cylinder 6, and the arc member 8 is fixedly installed on the end of the telescopic rod 7 away from the first cylindrical spring 18.

[0045] Please refer again Figure 5 , Figure 7 as well as Fig. 9 The movable driving mechanism includes two sets of sliding structures respectively connected to the two telescopic rods 7 and a rotating assembly located between the two telescopic rods 7 and connecting the two sets of sliding structures, and the rotating assembly is connected to the two guide cylinders 6 through a sliding matching assembly. The sliding structure includes a cross arm 10 fixedly connected to the two telescopic rods 7, the two ends of the cross arm 10 respectively penetrate the two telescopic rods 7, and two sliders 11 are symmetrically slidably provided on the cross arm 10, the two sliders 11 are connected to the rotating assembly, the two shaft sleeves 9 are respectively fixedly connected to the two sliders 11, and the rotating assembly can drive the two sliders 11 to move closer to or away from each other along the length direction of the cross arm 10. The rotating assembly includes a disc 12 rotatably mounted on the cross arm 10 and two connecting rods 13 rotatably mounted on the disc 12. The connection between the connecting rod 13 and the disc 12 is located at the eccentric point of the disc 12, and a connecting column 16 is fixed to the bottom of the slider 11. One end of the connecting rod 13 away from the disc 12 is rotatably connected to the connecting column 16, and the rotating axis of the disc 12 is connected to the sliding fitting assembly.

[0046] The sliding fit assembly includes a driven shaft 15 rotatably mounted on the cross arm 10 and a sleeve 17 fixedly connected to the two guide cylinders 6, wherein the sleeve 17 is slidably fitted with the driven shaft 15, and the driven shaft 15 is connected to the rotating shaft of the disc 12 through the bevel gear set 14. A driving column 1701 is fixedly provided on the sleeve 17, and a sliding groove 1501 adapted to the driving column 1701 is provided on the outer wall of the driven shaft 15, wherein the sliding groove 1501 is spirally arranged, and the driving column 1701 extends into the sliding groove 1501 and is slidably connected to the driven shaft 15.

[0047] Specifically, the bevel gear set 14 includes a first bevel gear fixedly mounted on the end of the driven shaft 15 away from the vehicle body 1 and a second bevel gear fixedly mounted coaxially with the disc 12 , and the second bevel gear meshes with the first bevel gear.

[0048] When the two vehicle bodies 1 are connected, the front vehicle remains stationary and the rear vehicle moves toward the front vehicle, so the arc-shaped member 8 will eventually abut against the connecting shaft 5. At this time, the two bushings 9 are respectively located at the two ends of the connecting shaft 5 and remain concentric with the connecting shaft 5. Subsequently, the rear vehicle continues to move, and the telescopic rod 7 and the cross arm 10 remain stationary. Accordingly, the guide cylinder 6 slides on the telescopic rod 7, the first column spring 18 is compressed, and the guide cylinder 6 drives the sleeve 17 to slide on the driven shaft 15 along the axial direction of the driven shaft 15 close to the bevel gear set 14, and the driving column 1701 makes a straight Linear movement, and since the slide groove 1501 is spirally arranged, the driving column 1701 can slide and cooperate with the driven shaft 15 through the slide groove 1501 during the movement, causing the driven shaft 15 to rotate, and then the driven shaft 15 drives the disc 12 to rotate through the bevel gear set 14, and the disc 12 pulls the slider 11 on the cross arm 10 toward the telescopic rod 7 through the connecting rod 13, and the two sliders 11 approach each other, that is, the two sleeves 9 slide to the end of the connecting shaft 5, so that a movable connection relationship is established between the front and rear car bodies 1, which is convenient for operation.

[0049] Please refer again Figure 6 , Figure 8 as well as Fig.10The state locking mechanism includes a limit plate 24 movably arranged inside the housing 3, the limit plate 24 is connected to an energy storage assembly installed in the housing 3, and the limit plate 24 cooperates with the cross arm 10 through a rolling structure. The rolling structure includes a connecting arm 25 fixed on the cross arm 10 and a roller 26 rotatably installed on the end of the connecting arm 25 away from the cross arm 10, the roller 26 abuts against the limit plate 24, and the limit plate 24 is sequentially formed with a long strip portion 2401 and a recessed portion 2402 along the length direction.

[0050] The energy storage assembly includes an electric push rod 19 mounted on the housing 3, a connecting seat 20 fixed to the movable end of the electric push rod 19, and two columns 21 fixed to the connecting seat 20 and slidably connected to the limiting plate 24;

[0051] A second cylindrical spring 22 is sleeved on the outer periphery of the column 21 , one end of the second cylindrical spring 22 is connected to the limiting plate 24 , and the other end is connected to a boss 23 fixed to one end of the column 21 away from the connecting seat 20 .

[0052] Attach Fig.10 For example, at this time, the vehicle is in an unconnected state, the roller 26 abuts against the long strip portion 2401, and the second columnar spring 22 is in a compressed state. During the connection process, when the first columnar spring 18 is compressed, the long strip portion 2401 and the recessed portion 2402 will pass through the roller 26 in sequence. When the sleeve 9 completes the docking action with the connecting shaft 5, the recessed portion 2402 reaches the roller 26, so the second columnar spring 22 rebounds, causing the limiting plate 24 to slide toward the connecting seat 20 on the two columns 21, and the recessed portion 2402 can limit the roller 26. Therefore, the first columnar spring 18 can maintain a compressed state, ensuring that the two sleeves 9 and the connecting shaft 5 can smoothly maintain a docking state, thereby ensuring the stability of the connection between the front and rear vehicles.

[0053] When the connection between the front and rear vehicles needs to be released, the staff can remotely control the electric push rod 19 to drive the connecting seat 20 to rise until the roller 26 is pulled out of the recessed portion 2402, so that the locking state of the telescopic rod 7 is released. When the first cylindrical spring 18 rebounds, each component can be reset, and the two sleeves 9 are respectively pulled out from the two ends of the connecting shaft 5.

[0054] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0055] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A modular special unmanned vehicle with quick docking, comprising a vehicle body (1), wherein the vehicle body (1) comprises a front end and a rear end, wherein a housing (3) and a frame (4) are fixedly provided at the front end and the rear end respectively, and a connecting shaft (5) is fixedly provided on the frame (4); It is characterized in that Also includes: Two arc-shaped members (8) are movably provided at the front end of the vehicle body (1), each of the two arc-shaped members (8) is connected to a group of elastic telescopic mechanisms installed in the housing (3), and the arc-shaped members (8) are adapted to the connecting shaft (5); Two shaft sleeves (9) are movably provided at the front end of the vehicle body (1) and are adapted to the connecting shaft (5). The two shaft sleeves (9) are connected to the two sets of elastic telescopic mechanisms through a movable driving mechanism. When the two adjacent vehicle bodies (1) are close to each other and the arc-shaped member (8) abuts against the connecting shaft (5), the two shaft sleeves (9) are respectively located at the two ends of the connecting shaft (5), and the movable driving mechanism is triggered to drive the shaft sleeves (9) to move along the axial direction of the connecting shaft (5), so that the two shaft sleeves (9) perform a docking action with the connecting shaft (5); Two groups of state locking mechanisms are provided inside the housing (3). The state locking mechanisms are triggered after the docking action between the two shaft sleeves (9) and the connecting shaft (5) is completed, so that the connection state of the two adjacent vehicle bodies (1) is maintained.

2. A modular special unmanned vehicle with quick docking according to claim 1, characterized in that: A set of crawlers (2) are respectively provided on both sides of the vehicle body (1), and the crawlers (2) are arranged in an inverted trapezoidal shape, and are used to allow the vehicle body (1) to traverse obstacles and to promote relative rotation between the shaft sleeve (9) and the connecting shaft (5) in a docking state.

3. The modular special unmanned vehicle with quick docking according to claim 1, characterized in that: The elastic telescopic mechanism comprises a guide cylinder (6) fixedly mounted inside the housing (3), a telescopic rod (7) slidably fitted with the guide cylinder (6), and a first columnar spring (18) arranged inside the telescopic rod (7), one end of the first columnar spring (18) is connected to the telescopic rod (7), and the other end is connected to the inner wall of the guide cylinder (6), and the arc-shaped member (8) is fixedly mounted on an end of the telescopic rod (7) away from the first columnar spring (18).

4. A modular special unmanned vehicle with quick docking according to claim 3, characterized in that: The movable driving mechanism comprises two sets of sliding structures respectively connected to the two telescopic rods (7) and a rotating assembly located between the two telescopic rods (7) and connecting the two sets of sliding structures, and the rotating assembly is connected to the two guide cylinders (6) via a sliding matching assembly.

5. A modular special unmanned vehicle with quick docking according to claim 4, characterized in that: The sliding structure comprises a cross arm (10) fixedly connected to the two telescopic rods (7), the two ends of the cross arm (10) respectively penetrate the two telescopic rods (7), and two sliders (11) are symmetrically slidably provided on the cross arm (10), the two sliders (11) are connected to the rotating assembly, the two shaft sleeves (9) are respectively fixedly connected to the two sliders (11), and the rotating assembly can drive the two sliders (11) to move towards or away from each other along the length direction of the cross arm (10).

6. The modular special unmanned vehicle with quick docking according to claim 5, characterized in that: The rotating assembly comprises a disc (12) rotatably mounted on the cross arm (10) and two connecting rods (13) rotatably mounted on the disc (12); the connection between the connecting rod (13) and the disc (12) is located at an eccentric position of the disc (12); a connecting column (16) is fixed to the bottom of the slider (11); one end of the connecting rod (13) away from the disc (12) is rotatably connected to the connecting column (16); and the rotating shaft of the disc (12) is connected to the sliding fitting assembly.

7. The modular special unmanned vehicle with quick docking according to claim 6, characterized in that: The sliding fit assembly comprises a driven shaft (15) rotatably mounted on the cross arm (10) and a sleeve (17) fixedly connected to the two guide cylinders (6), the sleeve (17) being slidably fitted with the driven shaft (15), and the driven shaft (15) being connected to the rotating shaft of the disc (12) via a bevel gear set (14); A driving column (1701) is fixedly provided on the sleeve (17), and a sliding groove (1501) adapted to the driving column (1701) is provided on the outer wall of the driven shaft (15), the sliding groove (1501) is spirally arranged, and the driving column (1701) extends into the sliding groove (1501) and is slidably connected to the driven shaft (15).

8. The modular special unmanned vehicle with quick docking according to claim 6, characterized in that: The state locking mechanism comprises a limit plate (24) movably arranged inside the housing (3), the limit plate (24) being connected to an energy storage component installed in the housing (3), and the limit plate (24) cooperating with the cross arm (10) via a rolling structure.

9. The modular special unmanned vehicle with quick docking according to claim 8, characterized in that: The rolling structure comprises a connecting arm (25) fixed on the cross arm (10) and a roller (26) rotatably mounted on one end of the connecting arm (25) away from the cross arm (10); the roller (26) abuts against the limiting plate (24), and a long strip portion (2401) and a recessed portion (2402) are sequentially formed on the limiting plate (24) along the length direction.

10. The modular special unmanned vehicle with quick docking according to claim 9, characterized in that: The energy storage assembly comprises an electric push rod (19) mounted on the housing (3), a connecting seat (20) fixed to the movable end of the electric push rod (19), and two upright posts (21) fixed to the connecting seat (20) and slidably connected to the limiting plate (24); Wherein, a second cylindrical spring (22) is sleeved on the outer periphery of the column (21), one end of the second cylindrical spring (22) is connected to the limiting plate (24), and the other end is connected to a boss (23) fixed to one end of the column (21) away from the connecting seat (20).

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