Heavy unmanned vehicle driving device for loading artillery

Abstract

The invention discloses a heavy unmanned vehicle driving device for loading artillery, and relates to the field of unmanned vehicle driving, the heavy unmanned vehicle driving device comprises a mobile vehicle body, the lower surface of the mobile vehicle body is provided with a limiting rotating frame, and the limiting rotating frame is internally provided with a meshing elastic mechanism for rotating an inward concave transmission crawler belt; and the meshing elastic mechanism comprises a powerful driving motor. According to the heavy unmanned vehicle driving device for loading the artillery, when the whole equipment needs to be stably driven, a powerful driving motor is directly started, and a rotating rod is driven to synchronously drive through a tandem transmission belt, so that a first bevel gear head and a second bevel gear head generate meshing motion; the rotating stability of the middle connecting driving rod and the rotating circumferential frame is guaranteed, the contact friction force between the inwards-concave transmission crawler belt and the ground is larger, the driving effect is better, the attaching adaptability effect of the crawler belt to the ground is better through the design, and the stable attaching effect can be kept in the environment with poor road conditions.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vehicle driving technology, and in particular to a heavy unmanned vehicle driving device loaded with artillery. Background Art

[0002] AGV (Automated Guided Vehicle) is a type of industrial robot that has an unmanned automatic guidance device, can travel along a specified guide path, and has safety protection and various transfer functions. The AGV's notable feature is that it is unmanned, which can ensure that the system can travel automatically without manual navigation. It has good flexibility, high levels of automation and intelligence, and can self-diagnose and troubleshoot faults, reducing maintenance personnel costs. The entire AGV system can achieve intelligent scheduling, always keep the production order busy and orderly, and greatly save personnel management costs.

[0003] At present, there are many mature applications of indoor light AGVs, which generally carry a weight of at most a few tons, and it is difficult to meet the transportation and installation of large equipment. Heavy AGVs are needed to meet the use requirements in heavy manufacturing, railway transportation, special industries, ports and airports, etc. The existing technology generally cannot ensure the stability, flexibility and durability of heavy AGV products, and the driving wheels of existing heavy AGVs are fixed and cannot rotate, resulting in large steering resistance when the vehicle is running, and wear of the driving wheel tires.

[0004] In order to overcome the above-mentioned defects, the prior art (publication number: CN108749920A, Chinese patent with application date of 2018-11-06) discloses a heavy-duty electric-driven all-wheel-drive unmanned frame transport vehicle, including a frame assembly for placing goods, and also including: a steering assembly, including a steering cylinder I, a steering cylinder II, a frame connecting plate, two active steering structures and a cylinder connecting seat fixedly installed on the frame assembly; wherein the frame connecting plate is rotatably connected to the frame assembly, the cylinder rods and tails of the steering cylinder I and the steering cylinder II are rotatably connected to the frame connecting plate and the cylinder connecting seat respectively, the two active steering structures are rotatably connected to the frame assembly respectively, and are rotatably connected to both sides of the frame connecting plate respectively through the connecting rod I; a drive axle assembly and a suspension assembly, the suspension assembly includes a suspension cylinder and a balance arm, and the technical solution solves the problem that the driving wheels of the existing heavy-duty AGV in the prior art cannot rotate, resulting in large steering running resistance and wear of the driving wheel tires.

[0005] Although the existing design can solve the above problems, the above design is not adaptable enough to the road surface. In the face of poor road conditions, it is difficult for the tires to maintain a stable fit, making it impossible for the artillery to be stably supported. During driving, it may not be able to obtain sufficient grip, and when the tires are deformed accordingly, the equipment as a whole cannot flexibly adjust the center of gravity to complete the upward support of the bottom of the equipment, resulting in insufficient operating stability of the equipment and possible rollover caused by chassis deviation. Summary of the invention

[0006] The purpose of the present invention is to provide a heavy-duty unmanned vehicle driving device loaded with artillery, so as to solve the problem that the above-mentioned design proposed in the above-mentioned background technology is insufficiently adaptable to the road surface. In the face of poor road conditions, it is difficult for the tires to maintain a stable fit effect, so that the artillery cannot be stably supported. During driving, it may not be able to obtain sufficient grip, and when the tires are deformed accordingly, the equipment as a whole cannot flexibly adjust the center of gravity to complete the upward support of the bottom of the equipment, resulting in insufficient operating stability of the equipment and possible rollover problems caused by chassis deviation.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a heavy-duty unmanned vehicle driving device loaded with artillery, comprising a mobile body, a limited rotating frame is installed on the lower surface of the mobile body, and an engaging elastic mechanism for rotating the concave transmission track is installed inside the limited rotating frame, the engaging elastic mechanism comprises a powerful driving motor, and the powerful driving motor is fixedly installed inside the mobile body, a driving rotating rod is installed on the inner surface of the mobile body, and a serial transmission belt is installed on the upper outer surface of the driving rotating rod, a front wheel driving block is installed on the lower surface of the mobile body, and a sliding transmission mechanism for supporting the lower end of the mobile body is installed on the outer surface of the front wheel driving block.

[0008] Furthermore, the sliding transmission mechanism includes a resistance buffer frame, and the resistance buffer frame is fixedly installed on the back of the front wheel drive block, the lower surface of the mobile body is installed with a limited sliding frame, and the upper surface of the limited sliding frame is slidably installed inside the resistance buffer frame.

[0009] Furthermore, a fixed interlocking abutment plate is installed on the outer surface of the position-limiting rotating frame, and an inclined abutment rotating rod is installed on the outer surface of the fixed interlocking abutment plate. A hollow rotating frame is installed on the lower surface of the moving vehicle body, and the inclined abutment rotating rod is rotatably installed inside the hollow rotating frame.

[0010] Furthermore, an auxiliary support rod is installed on the lower surface of the end of the inclined resistance rotating rod, and an elastic traction rope is installed on the upper surface of the end of the inclined resistance rotating rod. A top support frame is installed inside the mobile body, and the top of the elastic traction rope is fixedly installed inside the top support frame.

[0011] Furthermore, the outer surface of the friction buffer frame contacts with the inner surface of the limiting sliding frame to form a sliding structure, and the inclined friction rotation rod and the auxiliary support rod are of an integral design, the limiting rotation frame and the fixed interlocking friction plate are of an integral design, and the fixed interlocking friction plate is fixed to the upper end of the auxiliary support rod through the lower surface of the end of the inclined friction rotation rod to form a transmission structure, the outer surface of the front wheel drive block is installed with a rotating connecting rod, and a transverse driving block is installed inside the front end of the rotating connecting rod, and the outer surface of the transverse driving block is installed with a rotating front wheel.

[0012] Furthermore, the other end of the inner surface of the series transmission belt is slidably mounted on the outer surface of the output end of the powerful driving motor, and drives the lower end of the rotating rod to pass through the lower surface of the moving body. A first conical gear head is installed at the lower end of the rotating rod, and a supporting fixed base is installed on the lower surface of the moving body.

[0013] Furthermore, an extrusion and contraction spring is installed on the outer surface of the supporting fixed base, and the end of the supporting fixed base is nested and installed inside the limiting rotating frame, the lower end of the extrusion and contraction spring abuts against the limiting rotating frame, and a middle driving rod is installed inside the limiting rotating frame.

[0014] Furthermore, a second conical gear head is installed on the outer surface of the middle drive rod, and the first conical gear head and the second conical gear head are meshed with each other. A rotating circumferential frame is installed on the left and right sides of the middle drive rod, and an inner concave transmission track is installed on the outer surface of the rotating circumferential frame.

[0015] Furthermore, the outer surface of the second bevel gear head contacts the outer surface of the first bevel gear head to form an engaging structure, and the upper surface of the limiting rotating frame contacts the end of the extrusion and contraction spring to form an elastic structure, the outer surface of the output end of the strong driving motor contacts the inner surface of the serial transmission belt to form a sliding structure, and drives the rotating rod to contact the outer surface of the second bevel gear head through the outer surface of the first bevel gear head to form a transmission structure.

[0016] Furthermore, the inner surface of the limit rotating frame contacts with the top outer surface of the supporting fixed base to form a sliding structure, and the inner surface of the limit rotating frame contacts with the outer surface of the middle driving rod to form a sliding structure, the middle driving rod and the rotating circular frame are of an integrated design, and the limit rotating frame, the middle driving rod and the rotating circular frame are installed in two groups symmetrically left and right and front and back about the center point of the mobile vehicle body, and the limit rotating frame, the middle driving rod and the rotating circular frame are divided into two groups and are respectively installed at the two ends of the inner surface of the concave transmission track.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: when the heavy-duty unmanned vehicle driving device loaded with artillery needs to stably drive the entire device, the powerful driving motor is directly started, and the rotating rod is synchronously driven by the serial transmission belt, so that the first bevel gear head and the second bevel gear head produce meshing movement, ensuring the rotation stability of the middle drive rod and the rotating circumferential frame, so that the contact friction between the inner concave transmission crawler and the ground is greater and the driving effect is better. Such a design makes the crawler better in adapting to the ground and can maintain a stable fitting effect in an environment with poor road conditions; Furthermore, when the rotating circumferential frame drives the concave transmission track to rotate, the upward resistance force of the ground will push the limit rotating frame upward through the rotating circumferential frame, causing the concave transmission track to deform. When the limit rotating frame moves upward, the front end will shrink into the interior of the limit rotating frame, and the compression spring will be compressed and contracted during the contraction process. This design allows the artillery to be stably supported, obtain sufficient grip during driving, and run more closely to the road surface. Furthermore, during the operation of the unmanned vehicle, the movement of the limit rotating frame will interfere with the inclined interference rotating rod through the fixed interlocking interference plate, so that the auxiliary support rod rotates downward and finally contacts the ground. This design allows the entire equipment to adjust its center of gravity to complete the upward support of the bottom of the equipment, making the operation of the equipment more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the mobile vehicle body of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the front wheel drive block of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the powerful driving motor of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of the rotating rod driven by the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the first conical gear head of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the position-limiting rotating frame of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the position-limiting sliding frame of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the top support frame of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the concave transmission crawler of the present invention.

[0019] In the figure: 1. moving vehicle body; 2. front wheel driving block; 3. rotating connecting rod; 4. lateral driving block; 5. rotating front wheel; 6. strong driving motor; 7. driving rotating rod; 8. serial transmission belt; 9. first bevel gear head; 10. limited rotating frame; 11. supporting fixed base; 12. extrusion and contraction spring; 13. second bevel gear head; 14. resistance buffer frame; 15. limited sliding frame; 16. middle driving rod; 17. top support frame; 18. rotating circular frame; 19. concave transmission crawler; 20. hollow rotating frame; 21. fixed interlocking resistance plate; 22. oblique resistance rotating rod; 23. auxiliary support rod; 24. elastic traction rope. DETAILED DESCRIPTION

[0020] 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.

[0021] Example 1: Please refer to Figure 1-Figure 9 The present invention provides the following technical solutions: A heavy-duty unmanned vehicle driving device loaded with artillery comprises a mobile body 1, a limited rotating frame 10 is installed on the lower surface of the mobile body 1, and an engaging elastic mechanism for rotating the concave transmission track 19 is installed inside the limited rotating frame 10, the engaging elastic mechanism comprises a powerful driving motor 6, and the powerful driving motor 6 is fixedly installed inside the mobile body 1, a driving rotating rod 7 is installed on the inner surface of the mobile body 1, and a serial transmission belt 8 is installed on the upper end outer surface of the driving rotating rod 7, a front wheel driving block 2 is installed on the lower surface of the mobile body 1, and a sliding transmission mechanism for supporting the lower end of the mobile body 1 is installed on the outer surface of the front wheel driving block 2.

[0022] like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Fig. 9The technical solution shown, in order to solve the problem that it is inconvenient to perform maintenance manually when a fault occurs, discloses that: the other end of the inner surface of the serial transmission belt 8 is slidably mounted on the outer surface of the output end of the powerful driving motor 6, and drives the lower end of the rotating rod 7 to pass through the lower surface of the mobile body 1, and drives the lower end of the rotating rod 7 to be installed with a first bevel gear head 9, and the lower surface of the mobile body 1 is installed with a supporting fixed base 11, the outer surface of the supporting fixed base 11 is installed with an extrusion and contraction spring 12, and the end of the supporting fixed base 11 is nested and installed inside the limiting rotating frame 10 The lower end of the extrusion and contraction spring 12 contacts the limit rotating frame 10, and a middle connecting driving rod 16 is installed inside the limit rotating frame 10, and a second bevel gear head 13 is installed on the outer surface of the middle connecting driving rod 16, and the second bevel gear head 13 is meshed with the first bevel gear head 9, and a rotating circumferential frame 18 is installed on the left and right sides of the middle connecting driving rod 16, and an inner concave transmission track 19 is installed on the outer surface of the rotating circumferential frame 18, and the outer surface of the first bevel gear head 9 contacts the outer surface of the second bevel gear head 13 to form a meshing structure, and the upper surface of the limit rotating frame 10 The surface contacts with the end of the extrusion and contraction spring 12 to form an elastic structure, the outer surface of the output end of the strong driving motor 6 contacts with the inner surface of the serial transmission belt 8 to form a sliding structure, and drives the rotating rod 7 to contact with the outer surface of the second bevel gear head 13 through the outer surface of the first bevel gear head 9 to form a transmission structure, the inner surface of the limit rotating frame 10 contacts with the top outer surface of the supporting fixed base 11 to form a sliding structure, and the inner surface of the limit rotating frame 10 contacts with the outer surface of the middle drive rod 16 to form a sliding structure, and the middle drive rod 16 and the rotating circumferential frame 18 are The integrated design includes two groups of position-limiting rotating frames 10, intermediate drive rods 16 and rotating circumferential frames 18 which are symmetrically installed left and right and front and back about the center point of the mobile body 1. The position-limiting rotating frames 10, intermediate drive rods 16 and rotating circumferential frames 18 are divided into two groups and are respectively installed at the two ends of the inner surface of the concave transmission track 19, and drive the rotating rod 7 to pass through the interior of the mobile body 1, so that the first bevel gear head 9 and the second bevel gear head 13 are always in mesh with each other, and the first bevel gear head 9 can synchronously slide up and down according to the movement of the second bevel gear head 13.

[0023] When the whole unmanned vehicle equipment needs to be driven stably, the powerful driving motor 6 fixedly installed inside the mobile body 1 is directly driven. The start of the powerful driving motor 6 will synchronously drive the serial transmission belt 8 slidably installed on the outer surface of the output end. Since the other side of the inner surface of the serial transmission belt 8 is slidably installed on the top outer surface of the driving rotating rod 7, and the driving rotating rod 7 is slidably installed on the inner bottom surface of the mobile body 1, the driving rotating rod 7 is synchronously rotated accordingly. While driving the rotating rod 7 to rotate, the first bevel gear head 9 fixedly installed at its end will also rotate synchronously. When the first bevel gear head 9 rotates, it will mesh with the second bevel gear head 13 that contacts the side and drive it. The movement of the second bevel gear head 13 will synchronously drive the middle drive rod 16 fixedly installed inside to rotate. Since the middle drive rod 16 is rotatably installed on the limit The interior of the rotating frame 10 is nested with the supporting fixed base 11, so when the middle driving rod 16 is resisted upward, the limiting rotating frame 10 will be pushed upward, and the limiting rotating frame 10 will shrink along the outside of the supporting fixed base 11. During the upward sliding movement of the limiting rotating frame 10, it will resist the extrusion and contraction spring 12. Since the extrusion and contraction spring 12 is nested and installed on the outer surface of the supporting fixed base 11, the upward sliding movement will squeeze and contract its bottom. While the middle driving rod 16 rotates, the rotating circumferential frame 18 fixedly installed on the outer surfaces of both ends will move synchronously. The combination of the two sets of limiting rotating frames 10, the middle driving rod 16 and the rotating circumferential frame 18 will support the inner ends of the concave transmission crawler 19, so that the concave transmission crawler 19 moves in contact with the ground, and the design of the extrusion and contraction spring 12 makes the fitting effect better.

[0024] Embodiment 2: Figure 1 , Figure 2 , Figure 7 , Figure 8The technical solution shown, in order to solve the problem that it is inconvenient to perform manual maintenance in the event of a malfunction, discloses: a sliding transmission mechanism includes a resistance buffer frame 14, and the resistance buffer frame 14 is fixedly installed on the back of the front wheel driving block 2, a limited sliding frame 15 is installed on the lower surface of the mobile body 1, and the upper surface of the limited sliding frame 15 is slidably installed inside the resistance buffer frame 14, a fixed embedded resistance plate 21 is installed on the outer surface of the limited rotation frame 10, and an inclined resistance rotation rod 22 is installed on the outer surface of the fixed embedded resistance plate 21, a hollow rotation frame 20 is installed on the lower surface of the mobile body 1, and the inclined resistance rotation rod 22 is rotatably installed inside the hollow rotation frame 20, an auxiliary support rod 23 is installed on the lower surface of the end of the inclined resistance rotation rod 22, and the inclined resistance rotation rod 22 An elastic traction rope 24 is installed on the upper surface of the end, a top support frame 17 is installed inside the mobile body 1, and the top of the elastic traction rope 24 is fixedly installed inside the top support frame 17, the outer surface of the friction buffer frame 14 contacts the inner surface of the limiting sliding frame 15 to form a sliding structure, and the oblique friction rotation rod 22 and the auxiliary support rod 23 are designed as an integrated structure, the limiting rotating frame 10 and the fixed interlocking friction plate 21 are designed as an integrated structure, and the fixed interlocking friction plate 21 is fixed to the upper end of the auxiliary support rod 23 through the lower surface of the end of the oblique friction rotation rod 22 to form a transmission structure, the outer surface of the front wheel driving block 2 is installed with a rotating connecting rod 3, and a transverse driving block 4 is installed inside the front end of the rotating connecting rod 3, and a rotating front wheel 5 is installed on the outer surface of the transverse driving block 4.

[0025] When the limit rotating frame 10 is squeezed by the lower end to move upward, the limit rotating frame 10 will drive the fixed embedded resistance plate 21 fixedly installed on the outer surface to move synchronously, and when the fixed embedded resistance plate 21 is lifted up and down, the inclined resistance rotating rod 22 whose front end is in contact with it will be passively lifted. Since the inclined resistance rotating rod 22 is rotatably installed inside the hollow rotating frame 20, and the hollow rotating frame 20 is fixedly installed on the lower surface of the mobile body 1, when the front end of the inclined resistance rotating rod 22 is resisted, the lower end will rotate accordingly. When the lower end of the inclined resistance rotating rod 22 rotates, the auxiliary support rod 23 fixedly installed on the lower surface of the end of the inclined resistance rotating rod 22 will be driven to move synchronously. As the limit rotating frame 10 continues to slide, the end of the auxiliary support rod 23 will contact the ground, To provide support over a wider range, when the lower end of the obliquely resisting rotating rod 22 rotates downward, the elastic traction rope 24 fixedly installed at the upper end will be extended and lengthened accordingly. Since the other end of the elastic traction rope 24 is fixedly installed inside the top support frame 17, and the top support frame 17 is fixedly installed inside the mobile body 1, the elastic traction rope 24 will be extended and lengthened synchronously due to the rotation of the lower end of the obliquely resisting rotating rod 22. When the strong drive motor 6 is started, the front wheel drive block 2 will be connected to the inside, and the front wheel drive block 2 will then be connected to the rotating connecting rod 3 through internal power supply. The movement of the mobile body 1 will directly push the rotating front wheel 5 forward, and the rotating front wheel 5 will perform external circular rotation along the transverse drive block 4 installed inside the rotating connecting rod 3, thereby ensuring the direction change and auxiliary movement of the equipment, and making the operation stability of the equipment higher.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A heavy-duty unmanned vehicle driving device for carrying artillery, comprising a mobile vehicle body (1), a limited rotation frame (10) being installed on the lower surface of the mobile vehicle body (1), and a meshing elastic mechanism for rotating an inner concave transmission track (19) being installed inside the limited rotation frame (10); Features: The meshing elastic mechanism comprises a powerful driving motor (6), and the powerful driving motor (6) is fixedly mounted inside the mobile body (1); a driving rotating rod (7) is mounted on the inner surface of the mobile body (1), and a serial transmission belt (8) is mounted on the upper outer surface of the driving rotating rod (7); a front wheel driving block (2) is mounted on the lower surface of the mobile body (1), and a sliding transmission mechanism for supporting the lower end of the mobile body (1) is mounted on the outer surface of the front wheel driving block (2).

2. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 1, characterized in that: The sliding transmission mechanism comprises a resistance buffer frame (14), and the resistance buffer frame (14) is fixedly mounted on the back of the front wheel drive block (2), and a limit sliding frame (15) is mounted on the lower surface of the moving vehicle body (1), and the upper surface of the limit sliding frame (15) is slidably mounted inside the resistance buffer frame (14).

3. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 2, characterized in that: The outer surface of the position-limiting rotating frame (10) is mounted with a fixed interlocking abutment plate (21), and the outer surface of the fixed interlocking abutment plate (21) is mounted with an oblique abutment rotating rod (22); the lower surface of the moving vehicle body (1) is mounted with a hollow rotating frame (20), and the oblique abutment rotating rod (22) is rotatably mounted inside the hollow rotating frame (20).

4. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 3 is characterized in that: An auxiliary support rod (23) is installed on the lower surface of the end of the obliquely abutting rotating rod (22), and an elastic traction rope (24) is installed on the upper surface of the end of the obliquely abutting rotating rod (22). A top support frame (17) is installed inside the mobile vehicle body (1), and the top of the elastic traction rope (24) is fixedly installed inside the top support frame (17).

5. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 4 is characterized in that: The outer surface of the abutment buffer frame (14) contacts the inner surface of the limit sliding frame (15) to form a sliding structure, and the oblique abutment rotation rod (22) and the auxiliary support rod (23) are of an integrated design. The limit rotation frame (10) and the fixed interlocking abutment plate (21) are of an integrated design, and the fixed interlocking abutment plate (21) is fixed to the upper end of the auxiliary support rod (23) through the lower surface of the end of the oblique abutment rotation rod (22) to form a transmission structure. The outer surface of the front wheel driving block (2) is provided with a rotating connecting rod (3), and the front end of the rotating connecting rod (3) is provided with a transverse driving block (4), and the outer surface of the transverse driving block (4) is provided with a rotating front wheel (5).

6. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 1, characterized in that: The other end of the inner surface of the serial transmission belt (8) is slidably mounted on the outer surface of the output end of the powerful driving motor (6), and drives the lower end of the rotating rod (7) to pass through the lower surface of the moving vehicle body (1). The lower end of the rotating rod (7) is mounted with a first conical gear head (9), and the lower surface of the moving vehicle body (1) is mounted with a supporting fixed base (11).

7. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 6, characterized in that: An extrusion and contraction spring (12) is installed on the outer surface of the supporting fixed base (11), and the end of the supporting fixed base (11) is nested and installed inside the limiting rotating frame (10), the lower end of the extrusion and contraction spring (12) contacts the limiting rotating frame (10), and a middle driving rod (16) is installed inside the limiting rotating frame (10).

8. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 7, characterized in that: A second conical gear head (13) is mounted on the outer surface of the middle drive rod (16), and the second conical gear head (13) is meshed with the first conical gear head (9). A rotating circumferential frame (18) is mounted on the left and right sides of the middle drive rod (16), and an inner concave transmission track (19) is mounted on the outer surface of the rotating circumferential frame (18).

9. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 8, characterized in that: The outer surface of the first bevel gear head (9) contacts the outer surface of the second bevel gear head (13) to form a meshing structure, and the upper surface of the limit rotating frame (10) contacts the end of the extrusion and contraction spring (12) to form an elastic structure. The outer surface of the output end of the strong driving motor (6) contacts the inner surface of the serial transmission belt (8) to form a sliding structure, and drives the rotating rod (7) to contact the outer surface of the second bevel gear head (13) through the outer surface of the first bevel gear head (9) to form a transmission structure.

10. The driving device of a heavy unmanned vehicle loaded with artillery according to claim 9, characterized in that: The inner surface of the position-limiting rotating frame (10) contacts the outer surface of the top of the supporting fixed base (11) to form a sliding structure, and the inner surface of the position-limiting rotating frame (10) contacts the outer surface of the middle driving rod (16) to form a sliding structure, the middle driving rod (16) and the rotating circumferential frame (18) are of an integrated design, and the position-limiting rotating frame (10), the middle driving rod (16) and the rotating circumferential frame (18) are symmetrically installed in two groups about the center point of the moving vehicle body (1) in the left and right directions and in the front and back directions, and the position-limiting rotating frame (10), the middle driving rod (16) and the rotating circumferential frame (18) are divided into two groups and are respectively installed at the two ends of the inner surface of the concave transmission crawler (19).

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