CN107543451A - It can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body - Google Patents

Abstract

It can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body：The pole of hub-type electric locomotive wheel with bearing be installed on chassis and on lean out head, head installation fluted disc；Chain or belt are wound on four fluted discs；The rotating shaft of concentric coupling direction controlled motor, motor housing are connected in chassis on fluted disc behind the left back or right side；The reflexive quick-fried swollen cartridge case of body after setting car overturns；Fire control system is anterior above chassis；Power-supply system, integrated controller are fixed on above chassis；Armoring type car bonnet snaps onto above chassis and exposes muzzle, gun muzzle, and car bonnet is a part for spherical shell or is a part for ellipsoid shell；Car bonnet has hatchcover and sets camera；Radar detection apparatus, guider, car attitude transducer, wheel speed sensor, fire control system, power-supply system, the motor of wheel, braking mechanism, radar detection apparatus, guider, direction controlling motor, wheel speed sensor, car appearance sensor, quick-fried swollen cartridge case is set to be connected with integrated controller on car.

Description

It can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body

Technical field

Can be rotated in place the present invention relates to armored vehicle technology, particularly one kind, arbitrarily translation, can be automatic The unmanned battlebus turned over.

Background technology

Following war is the war of advanced IT application.It is in combat system that information-based war, which mainly shows, Unmanned platform, it is a kind of networked system, is made up of multiple systems.Wherein unmanned systems include： Unmanned Ground Vehicle, unmanned plane, unattended weapon station.Unmanned Ground Vehicle is particularly important.Both at home and abroad A variety of military unmanned cars have been have developed, but it is most for scouting, transporting, rescuing, be explosive, be static Shooting, and the fight of dynamic change on battlefield can hardly be used for.

The content of the invention

In order to overcome the drawbacks described above of existing military unmanned car, present invention design one kind can be rotated in place, appointed Meaning translation, the unmanned battlebus of energy automatic turn-over body, maneuverability, protective is good, has from advocating peace and is remotely-controlled Operational efficiency, can be used for scouting, transport, rescue.

The present invention is achieved through the following technical solutions..

Fig. 1 be motor wheel can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus it is outer Shape schematic diagram.As Fig. 1 shows, four drives are symmetrical arranged in the front, rear, left and right of the bottom surface on chassis 1 Driving wheel wheel mechanism I (4 × 4 i.e. usually said driving wheels).Driving wheel wheel mechanism I is by being fixed on The pole 7 of the bottom surface on chassis 1, be installed on pole 7 bottom shock absorber 6, be connected in shock absorber 6 Sleeve 3, wheel 4, the axle 2 of wheel 4 form；Wheel 4 is hub-type electric locomotive wheel, i.e., outside Tire composition is put outside rotor motor；The braking mechanism (not drawn in figure) of wheel 4 is set；Shock absorber 6 It can be relatively rotated with pole 7, the axis 2 of sleeve 3 and wheel 4, which is made into, to be rotatably assorted, and the one of sleeve 3 Diameter extended line overlaps with the center line of shock absorber 6；The upper end of wheel protecting crust 5 and the lower end on chassis 1 Face is coupled, and its periphery is alignd with the periphery on chassis 1, and its inwall gets out of the way driving wheel wheel mechanism I, Its upward out ground in lower end allows a part for wheel 4 to expose.Front car light 8, rear vehicle lamp 12 are distinguished Installed in the front on chassis 1, back；Armoring type car bonnet 10 is snapped onto above chassis 1, armoring type car Lid 10 is a part for spherical shell or is a part for ellipsoid shell；In armoring car bonnet 10, hatchcover 10-1 is set, Hatchcover 10-1 is opened, is easy to the assembling, maintenance, maintenance of car.Armoring type car bonnet 10 set it is forward and backward, Left and right camera 11 totally four.

Fig. 2 be motor wheel can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus structure Make schematic diagram.As Fig. 2 shows, Automatic Target Tracking sighting stabilization system 21 is fixed on the front portion on chassis 1 Face；Machine gun is combined into cannon and shoots weapon 20 to death, shoots weapon 20 to death and is arranged on Automatic Target Tracking In sighting stabilization system 21, it is fire to shoot weapon 20 and the composition of Automatic Target Tracking sighting stabilization system 21 to death Control system, shoot the gun barrel of weapon 20 to death, gun tube stretches out from the opening 18 in the armoring front of car bonnet 10；Institute Gun barrel, the covering plate 9 of gun tube head attachment openings 18 are stated, covering plate 9 is slided before opening 18； Target optical sensor 19 be arranged on covering plate 9 on and with Automatic Target Tracking sighting stabilization system 21 System.

As Fig. 2 shows, power-supply system 28, integrated controller 27 are fixed on above chassis 1；Power-supply system 28 are battery or are storage capacitor or are internal combustion engine type TRT, and integrated controller 27 has distant Control manipulates work functions and utonomous working function, is selected in utonomous working pattern/remote operation mode of operation Or switching, realized by being remotely controlled.Pole 7 through chassis 1 and is arranged on chassis 1 with bearing 17, props up The upper end installation fluted disc 25 of bar 7；Driving chain or belt 26 are wound on four fluted discs 25 and are made into engagement and pass It is dynamic.(being in figure 3 upper right, Fig. 3 the is Fig. 2 A-A sectional views) fluted disc 25 behind the left back or right side The rotating shaft of upper concentric coupling direction controlled motor 23, the stator casing of direction controlling motor 23 use preceding prop up Plate 22, rear carrier plate 24 are fixed on above chassis 1, and front supporting plate 22, rear carrier plate 24 are respectively at driving-chain Inside and outside bar or belt 26 (such as Fig. 3 shows).Automatic Target Tracking sighting stabilization system 21, power-supply system 28, Controller 27 is in driving chain or belt 26 (such as Fig. 3 shows).Forward and backward, left on chassis 1, About four holes penetrated 14 are made a call on the right side, and the bottom in hole 14 is taper, and four holes 14 are in the symmetrical of chassis 1 On center line, it is distributed symmetrically in the vertical centre on chassis 1；In the quick-fried load hole 14 of swollen cartridge case 15, top Covered with cover plate 13, and cover plate 13 is connected on chassis 1 with screw 16.Radar detection is onboard set Device, guider, car attitude transducer (such as level meter or gyroscope), the speed probe of wheel 4 (not drawn in figure).

Camera 11, front car light 8, rear vehicle lamp 12, the fire control system, power-supply system 28, wheel 4 Motor, braking mechanism, radar detection apparatus, guider, direction controlling motor 23, wheel 4 Speed probe, car appearance sensor, quick-fried swollen cartridge case 15 are connected with integrated controller 27.

Camera 11, radar detection apparatus, guider, the speed probe of wheel 4, respectively by environment Information, traffic information, azimuth information, speed information, car attitude information are transmitted to integrated controller 27, comprehensive Hop controller 27 by analysis, processing, judge.Then, the control direction of integrated controller 27 control electricity The direction and rotating speed, that fluted disc 25 coupled with direction controlling motor 23 that machine 23 rotates pass through driving-chain Bar or belt 26 drive other three fluted discs 25 synchronous axial systems, realize garage direction, left and right translation direction Control (when wheel plane and car original travel direction are at an acute angle, car is by Turning travel；Work as wheel When rotational plane and car original travel direction in 90 °, car will translate to the left or to the right, and translation direction passes through control Realize the direction of rotation of wheel 4 processed).During car Turning travel, the rotating speed of each wheel 4 is by integrated controller 27 E-Diff control.Integrated controller 27 control each wheel 4 rotating speed and different groups of direction Close, the travel speed of controllable car, reversing, the rotation of 360 ° of original place (make the vehicle wheel rotation direction in left side with Right side it is opposite).Integrated controller 27 judges car rollover according to car attitude information or is inverted, and is powered and ignites Some quick-fried swollen cartridge case 15, high-voltage high-speed medicine gas spray from hole 14, and the arc that the moment of reaction makes to contact to earth fills A type car bonnet 10 rotates, and reaches car normotopia.Fig. 4 to Fig. 7 illustrates most car appearances after car is inverted State, the information that integrated controller 27 is transmitted by each sensor, which kind of car appearance shape is entirely capable of judging is State.Fig. 4 is the state that is to be fully inverted of car, and now, integrated controller 27 only connects on the right of electric initiation (or left Side) quick-fried swollen cartridge case 15, the reaction force (direction is as shown) when quick-fried swollen medicine gas blowout goes out, car bonnet is contacted to earth Point produces torque, and car bonnet makes car normotopia in ground rolling.Fig. 5 is the inverted state in car side, is at this moment only drawn The quick-fried swollen cartridge case 15 on the quick-fried left side can make car normotopia.State shown in Fig. 6 is similar to Fig. 5's, unlike State of ground is different, and car bonnet contacts to earth simultaneously in bottom surface and side, at this moment and only ignites the quick-fried swollen medicine on the left side Cylinder 15 can make car normotopia.Fig. 7 is the state that car is to be fully inverted and left and right bilateral contacts to earth, and at this moment, is only connect The quick-fried swollen cartridge case 15 on electric initiation Chinese herbaceous peony side (or car back) can make car normotopia, and after normotopia, car can ride over Rolled away from ditch.Certainly, in state shown in Fig. 7, according to topographic features, also can only connect on the right of electric initiation (or The left side) quick-fried swollen cartridge case 15, car is overturn to the left or to the right, the left side of car or the wheel on right side jump out ditch Ride on level land, then roll ditch away from.

When integrated controller 27 is braked by braking mechanism, the motor of wheel 4 is become into generator, returned Receive electric energy feed-in power-supply system 28.

During fight, the fire control system is controlled by integrated controller 27.Integrated controller 27 is according to passing through The information that each sensor transmits, it can judge that car appearance state, car driving cycle, ambient conditions, target are moved Emotionally condition, and the order of militant leadership is responded, control fire control system shooting.Because the front portion of car bonnet 10 has Opening 18, shoot to death weapon 20 can left and right strafe about 60 ° of scopes, swing up and down -10 °~+45 °.

It is described rotate in place, arbitrarily translation, can the unmanned battlebus of automatic turn-over body state Comprehensive Control utensil There is autonomous control ability and be remotely-controlled function.So it is described rotate in place, arbitrarily translation, can be automatic The unmanned battlebus turned over has capacity of will and is remotely-controlled.

It is described rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus traveling, fight, detect Looking into can be autonomous, can also be remotely controlled, can also be according to wartime concrete condition, autonomous, remote control flexible combination Completion task.Horizontal with regard to current intellectuality and identification technology, still difficult realize can rotate in place, be arbitrarily flat Move, the unmanned battlebus of energy automatic turn-over body completes task entirely autonomously.Remote control can rotate in place, be arbitrarily flat Move, the unmanned battlebus of energy automatic turn-over body, data transmission period delay be present and can not reflect in real time changeable Combat situations problem, exist radio signal shielded (as enemy artificially measure, in urban streets and lanes Build dead angle or basement etc.) problem.So autonomous, remote control flexible combination is can to rotate in place, appoint Meaning translates, the action model of the unmanned battlebus most fighting capacity of energy automatic turn-over body.

Beneficial effect of the present invention：

1st, can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus it is less spherical or ellipse Spherical armoring car bonnet, smooth outer surface and curvature is larger, when shell gets to car bonnet surface, easily cause to send out Give birth to ricochet or splash down, greatly reduce the lethality of shell.Existing tank is typically all for loss of weight Front armor is thick and heavy, behind both sides it is weaker, top surface is more fragile, and can rotate in place, arbitrarily translation, energy Spherical or elliposoidal the armoring car bonnet of the unmanned battlebus of automatic turn-over body is without plane of weakness, more resistant against each side To attack, particularly can resist be referred to as tank killer helicopter attack.The crawler belt of existing tank is most It is subject to overwhelm and destroy, and can rotates in place, arbitrarily translate, the car of the unmanned battlebus of energy automatic turn-over body The side of wheel 4 only has small part to be exposed, and can rotate in place, arbitrarily translate, the nothing of energy automatic turn-over body People's battlebus is without crawler belt, therefore without this suffering.Can rotate in place, arbitrarily translation, can automatic turn-over body nobody The small volume of battlebus, for attacker, target is smaller to be not easy to hit.The firearms of existing wheeled battlebus are all It is exposed, is easily hit, and can rotates in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body Shoot weapon and equipment to death, will be covered by spherical or elliposoidal armoring car bonnet.In a word, can rotate in place, Any translation, can automatic turn-over body unmanned battlebus protective it is more preferable.

3rd, can rotate in place, arbitrarily translation, can the unmanned battlebus of automatic turn-over body distinctive be inverted from normotopia Ability, it is in once execution task, if meeting with four overturnings, oneself may turn over every time.This is It can rotate in place, arbitrarily translate, a kind of incomparable superior function of unmanned battlebus of energy automatic turn-over body.

4th, it is well known that can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus it is spherical Or the armoring car bonnet of elliposoidal can produce foot than other any shape plate armour car bonnets with less armour material Enough big volume spaces.Can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus without gun turret, But there is provided the Automatic Target Tracking sighting stabilization system for following chassis rotation and machine gun and machine-operated battery Weapon is shot in synthesis to death, and this can rotate in place equivalent to the gun turret and fire control system of existing tank, be arbitrarily flat Move, the rotation of the gun turret of the existing tank of rotation substitution of the unmanned battlebus of energy automatic turn-over body, eliminate existing The servo rotating mechanism of the bulky gun turret of tank.So it can rotate in place, arbitrarily translate, energy automatic turn-over body Unmanned battlebus proportion (density) it is more much smaller than existing tank, so can rotate in place, be arbitrarily flat Shifting, the unmanned battlebus of energy automatic turn-over body are slimmer and more graceful.

5th, because can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body is relatively slim and graceful, volume It is small, in addition using the transmission configuration of optimization, make its motion flexible；So can rotate in place, arbitrarily translate, Can the strategic maneuver of unmanned battlebus of automatic turn-over body, operational mobility, battlefield mobility than existing tank Strategic maneuver it is big, operational mobility is high, battlefield mobility is good.

6th, translated due to that can rotate in place, arbitrarily, the unmanned battlebus small volume of energy automatic turn-over body makes the visual field Blind area is small, and energy original place moves in parallel around middle rotation and left and right, thus easily finds target；It was found that target Afterwards, make to rotate in place, arbitrarily translate, the unmanned battlebus rotary alignment of energy automatic turn-over body, then by micro- Automatic track aiming systems stabilisation is adjusted, can make to shoot to death after weapon is accurately aligned with target and open fire, its hit rate It is high.Easily find target and to shoot straight, show to rotate in place, arbitrarily translation, can automatic turn-over body The attack efficiency of unmanned battlebus is high.

7th, due to above-mentioned advantage, so can rotate in place, arbitrarily translation, the unmanned war of energy automatic turn-over body The great protective of car, aggressiveness, flexibility, especially suitable for military operations in urban terrain, it is more suitable for strategy and war Art is dropped from the air.

Although the 8th, can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus yield-to-weight ratio it is existing Tank is poor, but excellent mobility and stronger armor facing have no small counteracting to this weakness.Can original place rotation Turn, any translation, can the unmanned battlebus of automatic turn-over body can not substitute existing tank, but can rotate in place, Any translation, the great unique protective of unmanned battlebus of energy automatic turn-over body, aggressiveness, flexibility, if It will can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body combines coordination fortune with existing tank With incomparable power and war readiness benefit will be produced.This very likely makes the following land mode of operation that weight occur It is big to change.

9th, utilization can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus, independently made War, remote control fight, are remotely controlled and are independently combined operation, necessarily greatly reduce one's own side's casualties in war.

10th, utilization can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus, can perform scout, The task such as patrol, demarcation or irradiation target, warning, killing enemy.Can rotate in place, arbitrarily translate, Can automatic turn-over body unmanned battlebus, a kind of new operational weapon equipment will be provided for ground force, will for it is anti-riot, Anti-terrorism, peacekeeping provide a kind of new police military hardware.

Brief description of the drawings

Fig. 1 be can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus appearance schematic diagram；

Fig. 2 be can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus organigram；

Fig. 3 is Fig. 2 A-A sectional views；

Fig. 4 is the view that car is to be fully inverted；

Fig. 5 is the inverted view in car side；

Fig. 6 is the inverted view in car another kind side；

Fig. 7 is the view that car is to be fully inverted and left and right bilateral contacts to earth.

Embodiment

Fig. 1 be motor wheel can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus it is outer Shape schematic diagram.As Fig. 1 shows, four drives are symmetrical arranged in the front, rear, left and right of the bottom surface on chassis 1 Driving wheel wheel mechanism I (4 × 4 i.e. usually said driving wheels).Driving wheel wheel mechanism I is by being fixed on The pole 7 of the bottom surface on chassis 1, be installed on pole 7 bottom shock absorber 6, be connected in shock absorber 6 Sleeve 3, wheel 4, the axle 2 of wheel 4 form；Wheel 4 is hub-type electric locomotive wheel, i.e., outside Tire composition is put outside rotor motor；The braking mechanism (not drawn in figure) of wheel 4 is set；Shock absorber 6 It can be relatively rotated with pole 7, the axis 2 of sleeve 3 and wheel 4, which is made into, to be rotatably assorted, and the one of sleeve 3 Diameter extended line overlaps with the center line of shock absorber 6；The upper end of wheel protecting crust 5 and the lower end on chassis 1 Face is coupled, and its periphery is alignd with the periphery on chassis 1, and its inwall gets out of the way driving wheel wheel mechanism I, Its upward out ground in lower end allows a part for wheel 4 to expose.Front car light 8, rear vehicle lamp 12 are distinguished Installed in the front on chassis 1, back；Armoring type car bonnet 10 is snapped onto above chassis 1, armoring type car Lid 10 is a part for spherical shell or is a part for ellipsoid shell；In armoring car bonnet 10, hatchcover 10-1 is set, Hatchcover 10-1 is opened, is easy to the assembling, maintenance, maintenance of car.Armoring type car bonnet 10 set it is forward and backward, Left and right camera 11 totally four.

Fig. 2 be motor wheel can rotate in place, arbitrarily translation, can automatic turn-over body unmanned battlebus structure Make schematic diagram.As Fig. 2 shows, Automatic Target Tracking sighting stabilization system 21 is fixed on the front portion on chassis 1 Face；Machine gun is combined into cannon and shoots weapon 20 to death, shoots weapon 20 to death and is arranged on Automatic Target Tracking In sighting stabilization system 21, it is fire to shoot weapon 20 and the composition of Automatic Target Tracking sighting stabilization system 21 to death Control system, shoot the gun barrel of weapon 20 to death, gun tube stretches out from the opening 18 in the armoring front of car bonnet 10；Institute Gun barrel, the covering plate 9 of gun tube head attachment openings 18 are stated, covering plate 9 is slided before opening 18； Target optical sensor 19 be arranged on covering plate 9 on and with Automatic Target Tracking sighting stabilization system 21 System.

As Fig. 2 shows, power-supply system 28, integrated controller 27 are fixed on above chassis 1；Power-supply system 28 are battery or are storage capacitor or are internal combustion engine type TRT, and integrated controller 27 has distant Control manipulates work functions and utonomous working function, is selected in utonomous working pattern/remote operation mode of operation Or switching, realized by being remotely controlled.Pole 7 through chassis 1 and is arranged on chassis 1 with bearing 17, props up The upper end installation fluted disc 25 of bar 7；Driving chain or belt 26 are wound on four fluted discs 25 and are made into engagement and pass It is dynamic.(being in figure 3 upper right, Fig. 3 the is Fig. 2 A-A sectional views) fluted disc 25 behind the left back or right side The rotating shaft of upper concentric coupling direction controlled motor 23, the stator casing of direction controlling motor 23 use preceding prop up Plate 22, rear carrier plate 24 are fixed on above chassis 1, and front supporting plate 22, rear carrier plate 24 are respectively at driving-chain Inside and outside bar or belt 26 (such as Fig. 3 shows).Automatic Target Tracking sighting stabilization system 21, power-supply system 28, Controller 27 is in driving chain or belt 26 (such as Fig. 3 shows).Forward and backward, left on chassis 1, About four holes penetrated 14 are made a call on the right side, and the bottom in hole 14 is taper, and four holes 14 are in the symmetrical of chassis 1 On center line, it is distributed symmetrically in the vertical centre on chassis 1；In the quick-fried load hole 14 of swollen cartridge case 15, top Covered with cover plate 13, and cover plate 13 is connected on chassis 1 with screw 16.Radar detection is onboard set Device, guider, car attitude transducer (such as level meter or gyroscope), the speed probe of wheel 4 (not drawn in figure).

Camera 11, front car light 8, rear vehicle lamp 12, the fire control system, power-supply system 28, wheel 4 Motor, braking mechanism, radar detection apparatus, guider, direction controlling motor 23, wheel 4 Speed probe, car appearance sensor, quick-fried swollen cartridge case 15 are connected with integrated controller 27.

Claims (1)

1. it can rotate in place, arbitrarily translate, the unmanned battlebus of energy automatic turn-over body, it is characterized in that：

Four driving wheel wheel mechanisms (I) are symmetrical arranged in the front, rear, left and right of the bottom surface of chassis (1)； Driving wheel wheel mechanism (I) is by being fixed on the pole (7) of the bottom surface on chassis (1), being installed on pole (7) The shock absorber (6) of bottom, the sleeve (3) for being connected in shock absorber (6), wheel (4), wheel (4) Axle (2) form；Wheel (4) is hub-type electric locomotive wheel, i.e., is taken turns on external rotor electric machine overcoat Tire is formed；The braking mechanism of wheel (4) is set；Shock absorber (6) can relatively rotate with pole (7), set The axis (2) of cylinder (3) and wheel (4), which is made into, to be rotatably assorted, a diameter extended line of sleeve (3) and The center line of shock absorber (6) overlaps；The upper end of wheel protecting crust (5) is coupled with the lower surface of chassis (1), Its periphery is alignd with the periphery of chassis (1), and its inwall gets out of the way driving wheel wheel mechanism (I), it The upward out ground in lower end allows a part for wheel (4) to expose；Front car light (8), rear vehicle lamp (12) point Not An Zhuan chassis (1) front, back；Armoring type car bonnet (10) is snapped onto above chassis (1), Armoring type car bonnet (10) is a part for spherical shell or is a part for ellipsoid shell；Set in armoring car bonnet (10) Hatchcover (10-1) is put, hatchcover (10-1) is opened, is easy to the assembling, maintenance, maintenance of car；In armoring type car Cover (10) and front, rear, left and right camera (11) totally four is set；

Automatic Target Tracking sighting stabilization system (21) is fixed on the front portion on chassis (1) above；Machine gun with Cannon, which is combined into, shoots weapon (20) to death, shoots weapon (20) to death and is arranged on Automatic Target Tracking sighting stabilization system Unite on (21), it is fire control to shoot weapon (20) and Automatic Target Tracking sighting stabilization system (21) composition to death System, shoot the gun barrel of weapon (20) to death, gun tube stretches out from the opening (18) in front of armoring car bonnet (10)； In the gun barrel, gun tube head attachment openings (18) covering plate (9), make covering plate (9) can be in opening (18) Above slide；Target optical sensor (19) is arranged on covering plate (9) and aimed at Automatic Target Tracking Systems stabilisation (21) contacts；

Power-supply system (28), integrated controller (27) are fixed on chassis (1) above；Power-supply system (28) For battery or it is storage capacitor or is internal combustion engine type TRT；Pole (7) is through chassis (1) and uses Bearing (17) is arranged on chassis (1), the upper end installation fluted disc (25) of pole (7)；Driving chain or skin Band (26) is wound on four fluted discs (25) and is made into engaged transmission；It is same on left back or right rear tooth disk (25) The rotating shaft of axle center coupling direction controlled motor (23), the stator casing of direction controlling motor (23) use preceding prop up Plate (22), rear carrier plate (24) are fixed on chassis (1) above, front supporting plate (22), rear carrier plate (24) point Other places are inside and outside in driving chain or belt (26)；Automatic Target Tracking sighting stabilization system (21), power supply system System (28), controller (27) are in driving chain or belt (26)；Gone forward in chassis (1), Afterwards, left and right to make a call to about four holes penetrated (14), the bottom of hole (14) is taper, four holes (14) In the symmetrical center line of chassis (1), it is distributed symmetrically in the vertical centre of chassis (1)；Quick-fried swollen cartridge case (15) In load hole (14), top is covered with cover plate (13), and cover plate (13) is connected to screw (16) On chassis (1)；Radar detection apparatus, guider, car attitude transducer, wheel (4) are onboard set Speed probe；

Camera (11), front car light (8), rear vehicle lamp (12), the fire control system, power-supply system (28), The motor of wheel (4), braking mechanism, radar detection apparatus, guider, direction controlling motor (23), Wheel (4) speed probe, car appearance sensor, quick-fried swollen cartridge case (15) connect with integrated controller (27) Connect.