A drive device for a heavy-duty unmanned vehicle equipped with artillery

Abstract

The present invention discloses a driving device for a heavy-duty unmanned vehicle loaded with artillery, which relates to the field of unmanned vehicle driving. It includes a moving vehicle body, and a limit rotating frame is installed on the lower surface of the moving vehicle body. An engaging elastic mechanism for rotating an inwards-concave driving track is installed inside the limit rotating frame. The engaging elastic mechanism includes a powerful driving motor. When the driving operation of the overall equipment needs to be stabilized, the powerful driving motor is directly started, and the rotating rod is synchronously driven through a series-connected transmission belt, so that the first bevel gear head and the second bevel gear head generate an engaging motion, ensuring the rotational stability of the middle connecting driving rod and the rotating circumferential frame, making the contact friction between the inwards-concave driving track and the ground greater and the driving effect better. Such a design makes the fitting adaptability effect of the track on the ground better, and can maintain a stable fitting effect in an environment with poor road conditions.

Description

Technical Field

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

[0002] An AGV (which means "Automated Guided Vehicle") is a transport device with an unmanned automatic guiding device that can travel along a specified guiding path, having safety protection and various transfer functions, and is a type of industrial robot. The remarkable feature of an AGV is that it is unmanned, which can ensure that the system automatically travels without manual navigation, has good flexibility, high automation and intelligence levels, can also self-diagnose and troubleshoot faults, and reduce the cost of maintenance personnel. The entire AGV system can achieve intelligent scheduling, always maintaining a busy and orderly production order, and greatly saving the cost of personnel management.

[0003] Currently, there are many mature applications of indoor light AGVs, generally carrying a weight of up to a few tons at most, which is difficult to meet the handling and installation of large equipment. Heavy AGVs are required in fields such as heavy manufacturing, railway transportation, special industries, port airports, etc. to meet the usage requirements. The existing technologies generally have difficulty in ensuring the smoothness, flexibility and durability of heavy AGV products. Moreover, the driving wheels of existing heavy AGVs are in a fixed form and cannot rotate, resulting in a large resistance during steering operation and wearing the tires of the driving wheels.

[0004] In order to overcome the above defects, the prior art (Chinese Patent with Publication No.: CN108749920A, application date: November 6, 2018) discloses a heavy electric drive all-wheel drive unmanned frame transport vehicle, including a frame assembly for placing goods, and further including: a steering assembly, including a steering cylinder I, a steering cylinder II, a frame connecting plate, two active steering structures and an oil cylinder connecting seat fixedly installed on the frame assembly; wherein, the frame connecting plate is rotationally connected to the frame assembly, the piston rods and tails of the steering cylinder I and the steering cylinder II are respectively rotationally connected to the frame connecting plate and the oil cylinder connecting seat, the two active steering structures are respectively rotationally connected to the frame assembly, and are respectively rotationally connected to both sides of the frame connecting plate through a connecting rod I; a drive axle assembly and a suspension assembly, the suspension assembly including a suspension cylinder and a balance arm. The technical solution solves the problem that the driving wheels of existing heavy AGVs in the prior art cannot rotate, resulting in a large resistance during steering operation and wearing the tires of the driving wheels.

[0005] Although the existing design can solve the above problems, the above design has insufficient adaptability to the road surface. In an environment with poor road conditions, it is difficult for the tires to maintain a stable fitting effect, so that the artillery cannot be stably supported. During driving, due to the inability to obtain sufficient grip, and when the tires undergo corresponding deformations, the overall device cannot flexibly adjust the center of gravity to complete the upward support of the bottom of the device, resulting in insufficient running stability of the device, and there may be a rollover situation caused by chassis deviation. Summary of the Invention

[0006] The purpose of the present invention is to provide a driving device for a heavy-duty unmanned vehicle loaded with artillery, so as to solve the problem that the above design has insufficient adaptability to the road surface as mentioned in the above background technology. In an environment with poor road conditions, it is difficult for the tires to maintain a stable fitting effect, so that the artillery cannot be stably supported. During driving, due to the inability to obtain sufficient grip, and when the tires undergo corresponding deformations, the overall device cannot flexibly adjust the center of gravity to complete the upward support of the bottom of the device, resulting in insufficient running stability of the device, and there may be a rollover situation caused by chassis deviation.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A driving device for a heavy-duty unmanned vehicle loaded with artillery, including a moving vehicle body. A limit rotating frame is installed on the lower surface of the moving vehicle body, and a meshing elastic mechanism for rotating an inwards-concave drive track is installed inside the limit rotating frame. The meshing elastic mechanism includes a powerful driving motor, and the powerful driving motor is fixedly installed inside the moving vehicle body. A driving rotating rod is installed on the inner surface of the moving vehicle body, and a series-connected drive belt is installed on the outer surface of the upper end of the driving rotating rod. A front-wheel driving block is installed on the lower surface of the moving vehicle body, and a sliding drive mechanism for supporting the lower end of the moving vehicle body is installed on the outer surface of the front-wheel driving block.

[0008] Furthermore, the sliding drive mechanism includes a contact buffer frame, and the contact buffer frame is fixedly installed on the back of the front-wheel driving block. A limit sliding frame is installed on the lower surface of the moving vehicle body, and the upper surface of the limit sliding frame is slidably installed inside the contact buffer frame.

[0009] Furthermore, a fixed fitting contact plate is installed on the outer surface of the limit rotating frame, and an inclined contact rotating rod is installed on the outer surface of the fixed fitting contact plate. A hollow rotating frame is installed on the lower surface of the moving vehicle body, and the inclined contact 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 contact rotating rod, and an elastic traction rope is installed on the upper surface of the end of the inclined contact rotating rod. A top support frame is installed inside the moving vehicle 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: for the driving device of the heavy-duty unmanned vehicle equipped with a cannon, when a stable driving operation of the overall equipment is required, the powerful driving motor is directly started, and the rotating rod is synchronously driven through the series-connected transmission belt, so that the first bevel gear head and the second bevel gear head generate meshing motion, ensuring the rotational stability of the middle connecting driving rod and the rotating circumferential frame, making the contact friction between the concave transmission track and the ground greater and the driving effect better. Such a design makes the adaptability of the track to the ground better, and can maintain a stable fitting effect in an environment with poor road conditions;

[0018] Furthermore, when the rotating circumferential frame drives the concave transmission track to rotate, the upward resistance force from 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 during the shrinking process, it will compress and contract the compression spring. Such a design enables the cannon to be stably supported and obtain sufficient grip during driving, and the operation is more conforming to the road surface;

[0019] Furthermore, during the operation of the unmanned vehicle, the movement of the limit rotating frame will push the inclined contact rotating rod through the fixed fitting contact plate, causing the auxiliary support rod to rotate downward and finally contact the ground. Such a design enables the overall equipment to adjust the center of gravity to support the bottom of the equipment upward, making the operation stability of the equipment stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the moving vehicle body of the present invention;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the front-wheel drive block of the present invention;

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the powerful driving motor of the present invention;

[0023] Figure 4 It is a three-dimensional structural schematic diagram of the driven rotating rod of the present invention;

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the first bevel gear head of the present invention;

[0025] Figure 6 It is a three-dimensional structural schematic diagram of the limit rotating frame of the present invention;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the limit sliding frame of the present invention;

[0027] Figure 8 It is a three-dimensional structural schematic diagram of the top support frame of the present invention;

[0028] Figure 9 This is a schematic three-dimensional structure diagram of the concave transmission crawler of the present invention.

[0029] In the figure: 1. Moving vehicle body; 2. Front wheel drive block; 3. Rotating connecting rod; 4. Transverse drive block; 5. Rotating front wheel; 6. Powerful drive motor; 7. Driving rotating rod; 8. Series-connected drive belt; 9. First bevel gear head; 10. Limiting rotating frame; 11. Support fixing base; 12. Extrusion contraction spring; 13. Second bevel gear head; 14. Contact buffer frame; 15. Limiting sliding frame; 16. Middle connecting drive rod; 17. Top support frame; 18. Rotating circumferential frame; 19. Concave transmission crawler; 20. Hollow rotating frame; 21. Fixed fitting contact plate; 22. Oblique contact rotating rod; 23. Auxiliary support rod; 24. Elastic traction rope. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Embodiment 1: Please refer to Figures 1-9 , the present invention provides the following technical solutions: A driving device for a heavy-duty unmanned vehicle loaded with artillery, including a moving vehicle body 1, a limiting rotating frame 10 is installed on the lower surface of the moving vehicle body 1, and an engaging elastic mechanism for rotating the concave transmission crawler 19 is installed inside the limiting rotating frame 10. The engaging elastic mechanism includes a powerful drive motor 6, and the powerful drive motor 6 is fixedly installed inside the moving vehicle body 1. A driving rotating rod 7 is installed on the inner surface of the moving vehicle body 1, and a series-connected drive belt 8 is installed on the upper outer surface of the driving rotating rod 7. A front wheel drive block 2 is installed on the lower surface of the moving vehicle body 1, and a sliding drive mechanism for supporting the lower end of the moving vehicle body 1 is installed on the outer surface of the front wheel drive block 2.

[0032] As Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 9The disclosed technical solution is to solve the problem that it is inconvenient for manual maintenance in case of a breakdown, and discloses that: the other end of the inner surface of the series-connected 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. A first bevel gear head 9 is installed at the lower end of the rotating rod 7, and a support fixing base 11 is installed on the lower surface of the moving vehicle body 1. An extrusion and contraction spring 12 is installed on the outer surface of the support fixing base 11, and the end of the support fixing base 11 is nested and installed inside the limit rotating frame 10. The lower end of the extrusion and contraction spring 12 abuts against the limit rotating frame 10, and a middle connection driving rod 16 is installed inside the limit rotating frame 10. A second bevel gear head 13 is installed on the outer surface of the middle connection driving rod 16, and the second bevel gear head 13 meshes with the first bevel gear head 9. Rotating circumferential frames 18 are installed on the left and right sides of the middle connection driving rod 16, and an inner concave transmission track 19 is installed on the outer surface of the rotating circumferential frames 18. The outer surfaces of the first bevel gear head 9 and the second bevel gear head 13 are in contact to form a meshing structure, and the upper surface of the limit rotating frame 10 is in contact with the end of the extrusion and contraction spring 12 to form an elastic structure. The outer surface of the output end of the powerful driving motor 6 is in contact with the inner surface of the series-connected transmission belt 8 to form a sliding structure, and drives the rotating rod 7 to form a transmission structure through the contact between the outer surface of the first bevel gear head 9 and the outer surface of the second bevel gear head 13. The inner surface of the limit rotating frame 10 is in contact with the outer surface of the top of the support fixing base 11 to form a sliding structure, and the inner surface of the limit rotating frame 10 is in contact with the outer surface of the middle connection driving rod 16 to form a sliding structure. The middle connection driving rod 16 and the rotating circumferential frames 18 are integrally designed, and two groups of the limit rotating frame 10, the middle connection driving rod 16 and the rotating circumferential frames 18 are symmetrically installed around the center point of the moving vehicle body 1 in the left-right, front-back directions. Moreover, the limit rotating frame 10, the middle connection driving rod 16 and the rotating circumferential frames 18 are respectively installed at both ends of the inner surface of the inner concave transmission track 19 in two groups, and drive the rotating rod 7 to pass through the inside of the moving vehicle body 1, so that the first bevel gear head 9 and the second bevel gear head 13 always remain meshed with each other, and the first bevel gear head 9 can perform synchronous up-and-down limit sliding according to the movement of the second bevel gear head 13.

[0033] When a stable driving operation is required for the overall driverless vehicle equipment, directly drive the powerful driving motor 6 fixedly installed inside the moving vehicle body 1. The start of the powerful driving motor 6 will synchronously drive the series-connected transmission belt 8 slidably installed on the outer surface of the output end. Since the other side of the inner surface of the series-connected transmission belt 8 is slidably installed on the outer surface of the top of the driving rotating rod 7, and the driving rotating rod 7 is slidably installed on the inner bottom surface of the moving vehicle body 1, the driving rotating rod 7 will rotate synchronously. While the driving rotating rod 7 is rotating, the first conical gear head 9 fixedly installed at its end will also rotate synchronously. While the first conical gear head 9 is rotating, it will engage with the second conical gear head 13 in contact on the side and drive it. The movement of the second conical gear head 13 will synchronously drive the middle connecting driving rod 16 fixedly installed inside it to rotate. Since the middle connecting driving rod 16 is rotatably installed inside the limit rotating frame 10, and the support fixing base 11 is nested inside the limit rotating frame 10, when the middle connecting driving rod 16 is pushed upward, it will push the limit rotating frame 10 upward, and the limit rotating frame 10 will then contract along the outside of the support fixing base 11. During the upward sliding movement of the limit rotating frame 10, it will touch the extrusion contraction spring 12. Since the extrusion contraction spring 12 is nested on the outer surface of the support fixing base 11, the upward sliding movement will squeeze and contract its bottom. While the middle connecting driving rod 16 is rotating, the rotating circumferential frames 18 fixedly installed on the outer surfaces of both ends will move synchronously. The combination of the two limit rotating frames 10, the middle connecting driving rod 16 and the rotating circumferential frames 18 will support both ends inside the concave transmission track 19, enabling the concave transmission track 19 to move along the ground. The design of the extrusion contraction spring 12 makes the fitting effect better.

[0034] Embodiment 2: As Figure 1 , Figure 2 , Figure 7 , Figure 8In order to solve the problem that it is inconvenient for manual maintenance in case of failure, the disclosed technical solution is as follows: The sliding drive mechanism includes a contact buffer frame 14, and the contact buffer frame 14 is fixedly installed on the back surface of the front-wheel drive block 2. A limit sliding frame 15 is installed on the lower surface of the moving vehicle body 1, and the upper surface of the limit sliding frame 15 is slidably installed inside the contact buffer frame 14. A fixed fitting contact plate 21 is installed on the outer surface of the limit rotating frame 10, and an inclined contact rotating rod 22 is installed on the outer surface of the fixed fitting contact plate 21. A hollow rotating frame 20 is installed on the lower surface of the moving vehicle body 1, and the inclined contact rotating rod 22 is rotatably installed inside the hollow rotating frame 20. An auxiliary support rod 23 is installed on the lower surface of the end of the inclined contact rotating rod 22, and an elastic traction rope 24 is installed on the upper surface of the end of the inclined contact rotating rod 22. A top support frame 17 is installed inside the moving vehicle 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 contact buffer frame 14 contacts the inner surface of the limit sliding frame 15 to form a sliding structure, and the inclined contact rotating rod 22 and the auxiliary support rod 23 are integrally designed. The limit rotating frame 10 and the fixed fitting contact plate 21 are integrally designed, and the fixed fitting contact plate 21 is fixedly connected to the upper end of the auxiliary support rod 23 through the lower surface of the end of the inclined contact rotating rod 22 to form a transmission structure. A rotating connecting rod 3 is installed on the outer surface of the front-wheel drive block 2, a transverse drive 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 drive block 4.

[0035] When the limit rotating frame 10 moves upward under the extrusion at the lower end, the limit rotating frame 10 will drive the fixed fitting contact plate 21 fixedly installed on the outer surface to move synchronously. And while the fixed fitting contact plate 21 moves up and down, the inclined contact rotating rod 22 that fits with the front end will be lifted passively. Since the inclined contact rotating rod 22 is rotatably installed inside the hollow rotating frame 20, and at the same time the hollow rotating frame 20 is fixedly installed on the lower surface of the moving vehicle body 1, so when the front end of the inclined contact rotating rod 22 is touched, the lower end will rotate correspondingly. When the lower end of the inclined contact rotating rod 22 rotates, the auxiliary support rod 23 fixedly installed on the lower surface of the end of the inclined contact rotating rod 22 will be driven to move synchronously. As the limit rotating frame 10 slides continuously, the end of the auxiliary support rod 23 will touch the ground, providing a greater range of support for the overall device. When the lower end of the inclined contact rotating rod 22 rotates downward, the elastic traction rope 24 fixedly installed at the upper end will be correspondingly extended and stretched. 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 moving vehicle body 1, so the elastic traction rope 24 will be extended and stretched synchronously due to the rotation of the lower end of the inclined contact rotating rod 22. While the powerful driving motor 6 is started, the front wheel drive block 2 will be completed for docking inside, and then the front wheel drive block 2 will be internally electrified and docked with the rotating connecting rod 3. The movement of the moving vehicle body 1 will directly push the rotating front wheel 5 forward, and the rotating front wheel 5 will rotate externally in a circular motion along the transverse drive block 4 rotatably installed inside the rotating connecting rod 3, ensuring the direction change and auxiliary movement of the device, making the operation stability of the device higher.

[0036] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "connected" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 also comprising an engagement elastic mechanism for rotating an inner concave transmission crawler (19); It is characterized in that: 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); 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); An auxiliary support rod (23) is installed on the lower surface of the end of the inclined abutting rotating rod (22), and an elastic traction rope (24) is installed on the upper surface of the end of the inclined abutting rotating rod (22); 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 inclined abutting rotating rod (22) and the auxiliary support rod (23) are of an integrated design; the limit rotating frame (10) and the fixed embedded abutment plate (21) are of an integrated design; the fixed embedded abutment plate (21) is fixed to the lower surface of the end of the inclined abutting rotating rod (22) and the upper end of the auxiliary support rod (23) to form a transmission structure; and a supporting fixed base (11) is installed on the lower surface of the mobile body (1); The outer surface of the supporting fixed base (11) is installed with a compression and contraction spring (12), and the end of the supporting fixed base (11) is slidably nested and installed inside the limiting rotating frame (10), the lower end of the compression and contraction spring (12) contacts the limiting rotating frame (10), and a central drive rod (16) is installed inside the limiting rotating frame (10), and a rotating circumferential frame (18) is installed on the left and right sides of the central drive rod (16), and an inner concave transmission crawler (19) is installed on the outer surface of the rotating circumferential frame (18).

2. The drive device of a heavy-duty unmanned vehicle for loading artillery according to claim 1, wherein: 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 limited position sliding frame (15) is mounted on the lower surface of the moving vehicle body (1).

3. The drive device of a heavy-duty unmanned vehicle for loading artillery according to claim 2, characterized in that: The outer surface of the abutting buffer frame (14) contacts the inner surface of the limiting sliding frame (15) to form a sliding structure, the outer surface of the front wheel driving block (2) is mounted with a rotating connecting rod (3), the front end of the rotating connecting rod (3) is internally mounted with a transverse driving block (4), and the outer surface of the transverse driving block (4) is mounted with a rotating front wheel (5).

4. The drive device of a heavy-duty unmanned vehicle for loading artillery according to claim 3, characterized in that: The other end of the inner surface of the series-connected drive belt (8) is slidably mounted on the outer surface of the output end of the powerful drive motor (6), and drives the lower end of the rotating rod (7) to pass through the lower surface of the moving vehicle body (1). A first bevel gear head (9) is installed at the lower end of the driven rotating rod (7).

5. A driving device for a heavy-duty unmanned vehicle loading artillery according to claim 4, characterized in that: A second bevel gear head (13) is installed on the outer surface of the middle-connected drive rod (16), and the second bevel gear head (13) meshes with the first bevel gear head (9).

6. The driving device of a heavy-duty unmanned vehicle for loading artillery according to claim 5, 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 powerful drive motor (6) contacts the inner surface of the series-connected drive belt (8) to form a sliding structure, and the driven rotating rod (7) forms a transmission structure through the contact between the outer surface of the first bevel gear head (9) and the outer surface of the second bevel gear head (13).

7. A driving device for a heavy-duty unmanned vehicle equipped with a gun according to claim 6, characterized in that: The inner surface of the limit rotating frame (10) contacts the outer surface of the middle-connected drive rod (16) to form a sliding structure. The middle-connected drive rod (16) and the rotating circumferential frame (18) are integrally designed. Two groups of the limit rotating frame (10), the middle-connected drive rod (16) and the rotating circumferential frame (18) are symmetrically installed around the center point of the moving vehicle body (1) in the left-right, front-back directions. Moreover, the limit rotating frame (10), the middle-connected drive rod (16) and the rotating circumferential frame (18) are respectively installed at both ends of the inner surface of the concave transmission track (19) in two groups.

Images