113 results about "Front-wheel drive" patented technology

The utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.

To effectively use heat generated in a transaxle for heating inside a cabin.SOLUTION: A vehicle is a four-wheel-drive vehicle based on front-wheel driving. A front-wheel transaxle includes a front-wheel motor, a reduction gear, and a differential gear, and transmits drive power of the front-wheel motor to front wheels. The front-wheel transaxle includes a disconnect mechanism. An air-conditioner uses heat (waste heat) that is generated in the front-wheel transaxle for heating inside a cabin. In a case where heating is requested (a positive determination at S10) and the disconnect mechanism is disconnected (a positive determination at S11) and if a first condition (a travel state with a heat dissipation to outside air from the front-wheel transaxle being equal to or higher than a given value) does not hold (a negative determination at S12), a control ECU requests connection of the disconnect mechanism. It is therefore possible to use the heat generated by co-rotation of the front-wheel transaxle for heating the inside of the cabin.SELECTED DRAWING: Figure 3

The invention relates to a small paddy field intelligent weeding machine and a weeding method thereof. The small paddy field intelligent weeding machine comprises a satellite navigation system, a master control box, a three-wheel type chassis, a rice row guide device, a rice seedling robustness evaluation device, a weeding and detection integrated plant protection device and a pressing and swinging device. The satellite navigation system and the main control box are mounted above the three-wheel type chassis, and the rice row guide device for detecting the transverse position of rice seedlings, the rice seedling robustness evaluation device, the removal and detection integrated plant protection device and the pressing and swinging device are sequentially mounted below the three-wheel type chassis from front to back; the removing and detecting integrated plant protection device inclines from the front upper part to the rear lower part, and the pressing and swinging device presses the inclined part above the inclined part or further presses the inclined part downwards, so that the removing and detecting integrated plant protection device enters a seedling protection mode or a weeding mode; the three-wheel type chassis adopts a front wheel driving mode to realize steering or straight movement through differential control of a pair of driving wheels. According to the invention, high-quality mechanical weed control in the rice field is realized, and the seedling damage rate is reduced.

The application provides a vehicle pitch angle determination method, device, controller, vehicle and storage medium. The method comprises the following steps: acquiring a front wheel measured wheel speed, a rear wheel measured wheel speed, a front wheel torque, a rear wheel torque and a vehicle displacement of a vehicle; determining a front wheel driving wheel speed and a rear wheel driving wheel speed respectively according to the front wheel torque and the rear wheel torque; determining a front wheel wheel speed difference value according to the front wheel measured wheel speed and the front wheel driving wheel speed; determining a rear wheel wheel speed difference value according to the rear wheel measured wheel speed and the rear wheel driving wheel speed; and determining an estimated pitch angle according to the front wheel wheel speed difference value, the rear wheel wheel speed difference value and the vehicle displacement. According to the method, only the vehicle wheel speed, the torque and the displacement are needed to know, so that the effect of estimating the pitch angle is achieved without using a pitch angle test sensor. Moreover, the influence of the torque, the load fluctuation and the suspension disturbance fluctuation is introduced, so that the estimation accuracy is improved.

The utility model discloses a child engineering vehicle dual-drive front wheel steering mechanism which comprises a machine frame, a steering rod, a steering shaft and a front wheel steering assembly, the steering rod is installed on the machine frame, and the steering rod is connected with the front wheel steering assembly through the steering shaft. The front wheel steering assembly comprises a spindle, the lower end of the spindle is fixedly connected with a connecting plate, and the spindle extends downwards and is transversely and integrally connected with a wheel connecting rod. A supporting plate and a reinforcing plate which are integrally connected are fixedly mounted on the wheel connecting rod, and the reinforcing plate is fixedly connected to the lower side of the connecting plate; the front wheel steering assembly further comprises a driver, the driver is provided with a rotating output end and a driving motor, the rotating output end and the wheel connecting rod are coaxially arranged and used for driving the front wheels, and the outer side of the driving motor is fixedly connected with the supporting plate. The supporting plate and the reinforcing plate which are integrally connected are fixedly mounted on the wheel connecting rod to support and limit the driving motor, so that the connecting strength of the driving motor is improved, the applicability of the baby carriage to a complex environment is enhanced, and the driving safety coefficient of children is improved.

The invention provides a wheel and foot switching device suitable for a robot. The wheel and foot switching device comprises an instep bearing structure, a front wheel driving assembly, a rear wheel driven assembly and a sole movement assembly. The front-wheel driving assembly comprises a front-wheel motor and a front wheel; a front wheel motor and a foot wheel switching motor are mounted in the instep bearing structure; the sole movement assembly is mounted at the bottom of the instep bearing structure through a connecting rod mechanism; the front wheel is located outside the instep bearing structure and rotationally connected with an output shaft of the front wheel motor. A rear wheel in the rear wheel driven assembly is rotationally mounted on the instep bearing structure; in the wheel type movement mode, the front wheel motor drives the front wheel to rotate and drives the rear wheel to be driven, and the foot wheel switching motor drives the connecting rod mechanism to drive the sole movement assembly to be retracted into the instep bearing structure; in the foot type movement mode, the foot wheel switching motor drives the connecting rod mechanism to drive the sole movement assembly to extend out of the bottom of the instep bearing structure. The adaptive capacity and motion performance of the robot in diversified terrain environments are improved.

Disclosed is a battery replacement vehicle without intermediate transmission shaft, including: a frame, a front axle assembly provided at a front end of the frame and used for driving front wheels of the vehicle; a drive synthesis device including a drive synthesis box integrated with at least two power sources and an axle package assembly for driving rear wheels of the vehicle; and a quick-change battery detachably provided at a bottom of the frame and located between the front axle assembly and the drive synthesis device. In the present disclosure, the power source is moved backwards and infinitely close to the axle in the rear end of the frame, the transmission shaft used for connecting the electric drive assembly and the axle is canceled.

To provide a traveling device capable of transferring from a horizontal surface to a vertical surface without stopping.SOLUTION: A traveling apparatus (1) that travels on a surface of an inspection target for non-destructive inspection of an inspection target (P) including a magnetic body includes a front drive vehicle (11) having front wheels (16), a front drive source (17) that drives the front wheels, and a front magnet, a rear drive vehicle (12) having rear wheels (26), a rear drive source (27) that drives the rear wheels, and a rear magnet, a hinge (13) that rotatably connects the front drive vehicle and the rear drive vehicle, and a hinge wheel (15) rotatably attached to a hinge shaft (14) of the hinge.SELECTED DRAWING: Figure 2

Vehicle (10), comprising: a chassis (12); a drive train (14) supported by the chassis (12), wherein the drive train (14) includes a drive motor (18) and a transmission (24) which is mechanically connected to the drive motor (18); at least one dynamically adjustable motor mount (40, 42) connecting the drive train (14) to the chassis (12), wherein the at least one dynamically adjustable motor mount (40, 42) includes a selectively adjustable parameter; one or more sensors (54, 55, 61) assigned to the vehicle (10), wherein the one or more sensors (54, 55, 61) are operable to detect one or more vehicle parameters; and a control system (64) that is functionally connected to the at least one dynamically adjustable motor mount (40, 42) and the one or more sensors (54, 55, 61), wherein the control system (64) is functional to change the selectively adjustable parameter of the at least one dynamically adjustable motor mount (40, 42) in order to isolate the chassis (12) from lateral vibrations of the powertrain (14) depending on the one or more vehicle parameters; characterized by the fact that the drive train (14) is a transversely mounted drive train (14) with front-wheel drive, wherein the at least one dynamically adjustable motor mount (40, 42) includes a first dynamically adjustable motor mount (40) that functionally connects the drive motor (18) and the chassis (12), and a second dynamically adjustable motor mount (42) that functionally connects the transmission (24) and the chassis (12); wherein the at least one dynamically adjustable motor mount (40, 42) includes a standard tuning characteristic, wherein the control system (64) is operable to return to the standard tuning characteristic when a predetermined vehicle speed threshold is exceeded.

The invention provides a variable-aperture deep-hole part contour dimension detection robot, and relates to the technical field of deep-hole part measurement. Comprising a front side wheel type driving structure, a hollow rotary table scanning mechanism, a rear side wheel type driving structure and the like. The front side wheel type driving structure is connected with the hollow rotary table scanning mechanism through a front side fixing flange, the rear side wheel type driving structure and the front side wheel type driving structure are completely the same, and only the connection directions of all parts are opposite. When the robot moves in the axial direction of the deep hole part with the variable inner diameter, the front side wheel type driving structure and the rear side wheel type driving structure are matched with each other to achieve radial automatic adjustment and inner wall supporting, and the hollow rotary table scanning mechanism drives a mounting wheel frame through a rotary table driving motor, so that four distance measuring sensors evenly distributed in the circumferential direction obtain contour point information. According to the invention, the problems that the detection precision and efficiency of the inner contour of the existing deep hole part are low, the measured aperture cannot be changed, the hole depth range is small, and the detection requirements of related industries on variable-diameter deep hole parts cannot be met can be solved.

A saddle-riding type motor vehicle comprises steerable and rollable front wheels, a drive rolling wheel, an articulated rolling quadrilateral connected to a frame, and a steering assembly pivotably connected to the frame to control the front wheels. A suspension assembly is interposed between the front wheels and the quadrilateral to allow a sussultatory movement of the wheels with respect to the quadrilateral. The latter comprises lower and upper cross-members hinged to the frame to oscillate about rolling median axes parallel and substantially lying on a center plane of the motor vehicle. The articulated rolling quadrilateral further comprises first and second uprights hinged to the cross-members to rotate about further rolling axes parallel to the median rolling axes. A front-end fairing is directly and rigidly connected to one of the cross-members of the articulated roll quadrilateral, and comprises two wheel arch portions arranged above the front wheels.

The invention provides a harvester with a cutting disc driven by a front wheel. The harvester comprises an excavating chain; the first front wheel is arranged on the first side of the excavating chain; the first cutting disc is arranged on the first side of the digging chain and corresponds to the first front wheel; the center shaft of the first front wheel is connected with the center shaft of the first cutting disc through the first transmission device, and when the first front wheel rotates, the first transmission device can transmit power from the first front wheel to the center shaft of the first cutting disc so as to drive the first cutting disc to rotate.

To maintain the traveling performance of a four wheel drive vehicle as good as possible by increasing the degree of freedom in selecting the torque distribution ratio of front and rear wheels.SOLUTION: A front-rear torque distribution control device for a four-wheel drive vehicle in which rotor shafts of front and rear drive motors are rotatably supported by rolling bearings, and a resonance range which is a predetermined bandwidth including a resonance point determined by rigidity of the rolling bearings of a drive system including the rolling bearings changes according to torque of the rotor shafts, the front-rear torque distribution control device comprising: The controller includes a drive torque setting unit (step S5) configured to set a drive torque of the front wheel drive motor and a drive torque of the rear wheel drive motor at a predetermined speed to a torque having a resonance range in a frequency band outside a frequency band at the predetermined speed and satisfying a torque required for the four wheel drive hybrid vehicle to travel.SELECTED DRAWING: Figure 6

The utility model relates to the technical field of mopping vehicles, in particular to a three-wheel mopping vehicle. Comprising a vehicle body, a mopping assembly, a clean water tank and a sewage tank, the vehicle body comprises a vehicle frame, a direction steering assembly, steering front wheels, driving rear wheels and a driving device, the clean water tank and the sewage tank are installed on the vehicle frame, the steering front wheels and the driving rear wheels are sequentially installed below the vehicle frame, the driving device is connected with the driving rear wheels, and the mopping assembly is installed below the vehicle frame. The clean water tank and the sewage tank are both communicated with the mopping assembly, the direction steering assembly is arranged on the vehicle frame and used for controlling the angle of a steering front wheel relative to the vehicle frame, and the mopping direction of the mopping assembly is perpendicular to the advancing direction of the vehicle body. By designing the small integrated mopping assembly, the mopping assembly can be directly installed on the lower rear portion of the vehicle body, the mopping direction of the mopping assembly is perpendicular to the advancing direction of the vehicle body, and dirt which cannot be recycled during mopping can be pushed to one side of the vehicle body and is swept by the mopping assembly or a special sweeper when a lower wheel passes through.

The present disclosure relates to a dual battery system (1) comprising a first battery (B1) and a second battery (B2), for balancing charge level of the first battery and the second battery, the dual battery system being adapted for powering propulsion of an electric vehicle (3) comprising a first electric motor (E1) coupled in driving relationship with one or more rear wheels of the electric vehicle and a second electric motor (E2) coupled in driving relationship with one or more front wheels of the electric vehicle. The first battery is adapted to provide electric power for driving the first electric motor and the second battery is adapted to provide electric power for driving the second electric motor. The dual battery system obtains (100) at least one of data or information of a predetermined and / or imminent charging event of the electric vehicle. The dual battery system furthermore obtains (200) at least one of data or information of charge level of the first battery and second battery respectively. Moreover the dual battery system selects (300), when the charge level of the first battery and the second battery are unbalanced, a driving scenario which comprises charging and / or discharging of at least one of the first battery and the second battery, the driving scenario balancing the charge level of the first battery and the second battery prior to arriving at the predetermined and / or imminent charging event. The disclosure also relates to a dual battery system in accordance with the foregoing, and an electric vehicle comprising such a dual battery system.

The utility model relates to the technical field of vertical double-layer parking devices, in particular to a vehicle horizontal moving mechanism for a double-layer parking space system, which comprises translation rails symmetrically arranged on two sides of a ground parking space and a parking frame capable of horizontally moving relative to the translation rails. The parking frame comprises a vehicle inlet and a vehicle outlet which are formed in the two ends, and a vehicle moving space is formed between the vehicle inlet and the vehicle outlet. Translation front wheels adjacent to the vehicle inlet and translation rear wheels adjacent to the vehicle outlet are symmetrically arranged at the bottom of the parking frame, and the translation front wheels and the translation rear wheels are matched with the translation rails. The two translation front wheels are driven by a frame translation driving assembly arranged on the parking frame. The horizontal moving mechanism not only is simple in structure and convenient to operate, but also can effectively solve the technical problem that an existing parking device adopting vehicle lateral moving occupies large vehicle lateral space.

In an electric drive device for a vehicle having a rear wheel drive mode and a four-wheel drive mode, the rear wheel side of a four-wheel drive vehicle is provided with: a rear wheel drive device including a permanent magnet motor that is powered by a battery, is driven, and transmits a drive rotational force to the rear wheels, and a first power transmission mechanism; and a power conversion module in which a first inverter for operating the rear wheel drive device and a power supply unit connected to the battery and performing power conversion are integrated, the front wheel side of the four-wheel drive vehicle being provided with: a front wheel drive device including a winding excitation motor for transmitting drive rotational force to the front wheels and a second power transmission mechanism; and a heat exchange system having a heat transfer mechanism for using waste heat from the front wheel drive device and the second inverter in the air conditioning device, the rear wheel drive device being integrated with the power conversion module.

The utility model relates to the technical field of hybrid power gearboxes, in particular to a front wheel driving system hybrid power gearbox with a longitudinally arranged engine and a vehicle, which are the front wheel driving system hybrid power gearbox constructed for the vehicle with the longitudinally arranged engine and provided with a rear wheel pure electric driving system. The system comprises three power sources, namely a generator, an engine and a driving motor, and further comprises a gear clutch transmission system for transmitting the power of the three power sources, the clutch system comprises two clutches which are respectively connected with a high-speed engine driving gear and a low-speed engine driving gear; the front-drive differential mechanism and the spiral bevel gear driving and driven gears are transversely arranged, and the front wheel driving function of the longitudinal transmission box is achieved. Meanwhile, a low-speed-gear driving gear and a clutch of the engine are canceled respectively, or a high-speed-gear driving gear, a low-speed-gear driving gear, a clutch and an output shaft of the engine are canceled, so that two hybrid power transmissions with different functions of engine single-gear driving or range extending driving can be evolved to be involved on the same platform, and collinear production is achieved.

This utility model relates to the field of hybrid power transmission technology, and in particular to a front-wheel drive single-motor single-speed hybrid power transmission. It is a front-wheel drive single-motor single-speed hybrid power transmission built upon a vehicle already equipped with a rear-wheel pure electric drive system. It includes two power sources: an engine and a generator. It also includes a gear-clutch transmission system that performs power transmission. The gear-clutch transmission system contains two clutches: a first clutch connects to the engine and determines whether the engine participates in operation; the second clutch connects to the vehicle's output end and determines whether the engine and generator participate in vehicle driving. This utility model allows the generator to both generate electricity to provide power to the vehicle and provide driving torque. Furthermore, the engine can drive the generator to generate electricity and also participate in vehicle driving. Combined with the rear-wheel pure electric drive system, it enables single-speed four-wheel pure electric drive, range-extended drive, and single-speed four-wheel hybrid drive.

The invention relates to a method for operating a two-wheeled vehicle, wherein, when cornering through a bend using a front-wheel drive (202) of the two-wheeled vehicle, a banking-position-increasing propulsion torque (100) is provided on the front wheel (200) of the two-wheeled vehicle when it is detected that the two-wheeled vehicle is driving out of the bend.

The invention relates to the field of vehicle power systems, in particular to a hybrid power system and a vehicle with the hybrid power system, and the hybrid power system comprises a front drive unit, a rear drive unit and a battery unit; the front driving unit is used for driving front wheels; the rear drive unit is used for driving a rear wheel; the front driving unit comprises an engine, a first motor and a second motor; the rear drive unit comprises a third motor; the first motor, the second motor and the third motor are all connected with the battery unit; the engine is connected with the first motor through the first clutch; the four power units of the engine, the first motor, the second motor and the third motor are ingeniously mechanically and electrically coupled, intelligent switching of working modes is achieved, the purpose of'full-working-condition optimization 'is finally achieved, the system can automatically select the mode with the highest energy efficiency or the strongest power at any vehicle speed and load, and the energy efficiency of the system is greatly improved. Therefore, the energy consumption is comprehensively reduced.

According to the intelligent transfer trolley for the intelligent manufacturing workshop, articles are placed on a carrying plate, a second motor is started, the second motor drives a first rotating wheel to rotate, the first rotating wheel drives a second rotating wheel to rotate through a belt, the second rotating wheel drives a wheel shaft to rotate, the wheel shaft drives two front wheels to rotate, and the front wheels drive a chassis to move forwards; the two rear wheels rotate along with the rotating shaft; when the vehicle arrives at a designated unloading point, a first motor is started, the first motor drives a driving gear to rotate, the driving gear drives a driven gear to rotate, the driven gear drives a rotating shaft to rotate, the two driving gears rotate along with the rotating shaft, the driving gears drive a lifting rack to move upwards, the lifting rack drives an outer frame to move upwards, and the outer frame drives a first sliding rod to move upwards relative to a sliding rail. In the upward moving process of the outer frame, the carrying plate rotates and inclines, the second sliding rod leaves the clamping groove and slides in the sliding groove at the same time, and the objects slide to the ground from the carrying plate.

The present invention discloses a vehicle steer-by-wire redundant control method, belonging to the technical field of automobile steering. The method comprises: determining whether redundant control is currently activated for the vehicle; when redundant control is activated to achieve vehicle steering, the wheels enter differential steering mode one; and simultaneously determining whether the vehicle steering angle is consistent with the desired vehicle steering angle. If so, the wheels maintain differential steering mode one; if not, determining whether the current vehicle steering angle has changed; if not, the wheels enter differential steering mode two; if so, the wheels enter differential steering mode three; when the wheels enter differential steering mode one, two, or three, a fuzzy sliding mode controller and a lower-level controller are used to output the optimal left and right front wheel driving forces in the corresponding steering mode according to the desired vehicle steering angle. The present invention enables the vehicle to steer smoothly when the steer-by-wire system fails or when a key component within the steering system malfunctions.

The drive unit is positioned close to the steering gear unit. [Solution] The electric vehicle comprises a vehicle body, a plurality of wheels including a pair of front wheels, a drive unit, a steering gear unit positioned in front of the vehicle relative to the drive unit and extending along the vehicle width direction, which steers the pair of front wheels, a steering shaft extending from the steering gear unit toward the rear of the vehicle, which transmits steering operations by the user to the steering gear unit, and a plurality of mounts that support the drive unit on the vehicle body. The plurality of mounts include a first mount attached to one side of the housing in the vehicle width direction. A portion of the steering shaft is positioned above the first mount.

The utility model discloses a driving assembly and a vehicle, relates to the technical field of new energy vehicles, and aims to solve the technical problem that the endurance mileage of the vehicle is shortened. The driving assembly comprises a front wheel driving motor and a rear wheel driving motor; the first performance index of the front wheel driving motor is weaker than the first performance index of the rear wheel driving motor, the second performance index of the front wheel driving motor is better than the second performance index of the rear wheel driving motor, and the first performance index and the second performance index can influence the endurance time of the vehicle.

A transmission system for a vehicle, in particular a front wheel drive vehicle, having an input arranged for connection to a drive source, and an output arranged for connection to a load. The transmission system comprises a transmission which in turn comprises an output shaft connected to the output, a first input shaft and a first speed change transmission coupling the first input shaft to the output shaft, and a second input shaft and a second speed change transmission coupling the second input shaft to the output shaft.

To provide a vehicle control device, which can suppress a vehicle equipped with a wet start clutch from vibrating.SOLUTION: An electronic control device (control device) 90 of a vehicle 10, which is equipped with an engine (front wheel driving device) 12 that drives front wheels 14, a start clutch (wet start clutch) WSC arranged on a power transmission path PT between the front wheels 14 and the engine 12, and a rear wheel driving electric motor (rear wheel driving device) MGr that electrically drives rear wheels 34, controls the start clutch WSC so that the clutch transmits power in a slip state, when the vehicle 10 runs at predetermined low speed (a), and when front wheel driving torque is included in a predetermined torque range, in a slip state of the starting clutch WSC, changes the front wheel driving torque Trf by a predetermined amount so that the torque increases or decreases to prevent the torque from being included in the predetermined torque range, and decreases or increases the rear wheel driving torque Trr in accordance with the predetermined amount.SELECTED DRAWING: Figure 1

The invention relates to the technical field of geological exploration, and discloses a geological radar detector and a use method thereof.The geological radar detector comprises a vehicle frame, a rotating plate, a height adjusting mechanism, a hand-push support, a vehicle basket and a geological radar detector host, the rotating plate is rotatably installed on the vehicle frame, and rolling wheels are rotatably installed at the lower end of the rotating plate; fixing shafts are fixedly mounted at the two ends of the basket; according to the geological radar detector, by arranging the rear supporting shaft, the front supporting shaft, the rear wheel adjusting assembly and the front wheel driven assembly, the height of the vehicle frame can be flexibly adjusted, the vehicle frame is effectively prevented from rubbing or colliding with the protruding position of the ground when the detector walks on the uneven ground, and the mobility performance of equipment is guaranteed; meanwhile, due to the fact that the basket is rotationally connected with the frame, under the action of the self weight of the basket and the main machine of the geological radar detector, even if the frame inclines laterally, the main machine of the geological radar detector can keep balanced, signal emission angle deviation caused by inclination is effectively avoided, and detection precision and equipment moving performance are guaranteed.

To provide a vehicle control device that can control a posture of a vehicle so that the vehicle can easily run over an obstacle existing ahead of the vehicle, without necessarily needing a special suspension mechanism.SOLUTION: A vehicle 10 senses an obstacle 50 existing ahead of the vehicle and controls a rear wheel-side distribution ratio Xr between front wheel driving torque Trf and rear wheel driving torque Trr. An electronic control device 90 makes the vehicle run over the obstacle 50 while increasing a ratio of the rear wheel driving torque Trr in the rear wheel-side distribution ratio Xr when the obstacle 50 which the vehicle can run over is sensed, compared to when the obstacle 50 is not sensed. The increasing of the ratio of the rear wheel driving torque Trr in the rear wheel-side distribution ratio Xr enables the vehicle 10 to incline rearward easily. This enables the vehicle 10 to easily run over the obstacle 50.SELECTED DRAWING: Figure 2

The present invention relates to a wall-climbing robot, and in particular to a wheeled wall-climbing robot for use on high-curvature pipe surfaces. The robot comprises a robot control system, a detection and sensing system, a passive compliance system, a robot frame, and a drive system, wherein the passive compliance system and the robot control system are arranged at the front and rear ends of the robot frame; the drive system comprises left and right front wheel drive devices and left and right rear wheel drive devices, wherein the left and right front wheel drive devices are arranged below the passive compliance system, and the left and right rear wheel drive devices are arranged below the rear end of the robot frame; the detection and sensing system is installed on the passive compliance system and the robot frame, and is used to detect the posture information of the robot frame and the roll and yaw information of the passive compliance system and feed it back to the robot control system to perform speed control on the drive system. The present invention can adapt to crawling on high-curvature surfaces, complete the precise control of the robot's movement, and improve the reliability of the wall-climbing robot.