167 results about "Front-wheel drive" patented technology

The invention relates to the field of vehicle automatic control, in particular to a vehicle ultimate in-out method, which comprises the following steps of: judging whether a vehicle has an out-of-garage condition or not; if yes, the one-key car moving function is activated, the ABS, the TCS and the driving anti-skid function are temporarily closed, meanwhile, a steering wheel is controlled to hit to the bottom towards the steering side, and wheels on the inner side of steering are locked; the front wheel driving torque is controlled to make the wheel end driving force break through the road surface limit adhesive force, so that the front wheel slips, and the vehicle rotates with the inner side rear wheel as the circle center; and when the preset expected angle is reached, driving is stopped, and wheel braking is locked. According to the invention, parking-out assistance for assisting in parking-out of the vehicle is executed according to the surrounding condition of the vehicle, automatic parking and parking-out are realized, tedious operation is avoided, and the convenience of using the vehicle by a user is improved; and in the warehouse-out process, the execution speed of the warehouse-out action can be judged, so that the discomfort of passengers is reduced, and meanwhile, the stability and safety of operation are also improved.

The invention relates to the technical field of motor assembly lines, in particular to a front wheel driving motor assembly line which comprises a base and a first sliding block, and the first sliding block is horizontally installed on the base in a sliding mode. The device comprises a base and further comprises a driving device, a supporting device, a clamping device, a conveying device, a first chuck, a second chuck and a third chuck, the driving device is arranged on the base and used for driving the first sliding block to move horizontally, the first chuck is installed at the top end of the first sliding block, the second chuck is installed on the supporting device, and the supporting device is used for driving the second chuck to move in a lifting mode. The clamping device is installed on the supporting device, the supporting device is used for driving the clamping device to move up and down, the clamping device is used for clamping and fixing the motor shell, and the third chuck is installed on the conveying device; the assembling operation convenience of a motor stator, a motor rotor and a motor outer shell is improved, the assembling efficiency of assembling different parts of the driving motor at the same time is improved, and the labor intensity of workers is reduced.

The invention discloses a vehicle steer-by-wire redundancy control method, which belongs to the technical field of automobile steering and comprises the following steps: judging whether a current vehicle starts redundancy control or not, when the redundancy control is started to realize steering of the vehicle, enabling wheels to enter a differential steering mode I, judging whether a vehicle steering angle is consistent with a vehicle expected steering angle or not, and if yes, starting a differential steering mode II; if yes, the wheels are kept in the first differential steering mode, if not, whether the current turning angle of the vehicle changes or not is judged, if not, the wheels enter the second differential steering mode, and if yes, the wheels enter the third differential steering mode; and when the wheels enter the differential steering mode I, the differential steering mode II or the differential steering mode III, outputting the optimal left front wheel driving force and the optimal right front wheel driving force in the corresponding steering mode by utilizing the fuzzy sliding mode controller and the lower-layer controller according to the expected steering angle of the vehicle. When the steer-by-wire system loses efficacy or key components in the steering system break down, the automobile can steer stably.

The invention provides an energy recovery control method and device, a vehicle and a storage medium. According to the method, when a target vehicle is braked, energy is recycled through a front wheel driving motor, and recycled electric quantity is obtained. And when the recycled electric quantity is greater than the first target electric quantity, charging the first electric quantity in the recycled electric quantity into the high-voltage battery through the first line, and storing the electric energy of the second electric quantity in the recycled electric quantity into an energy storage device in the rear wheel driving motor through the second line. Namely, the front wheel driving motor is used for energy recovery, and the rear wheel driving motor is used for temporary energy storage. Therefore, when the high-voltage battery cannot accommodate the recycled electric quantity, the electric energy of the rest electric quantity can be recycled through the rear wheel driving motor, so that the recycled electric quantity is fully absorbed. Therefore, when the vehicle is braked, heat energy originally generated by kinetic energy can be converted into electric energy, and abrasion to the brake disc is reduced. In addition, when the recycled electric quantity is large, the recycled electric quantity is absorbed as much as possible, the target vehicle can be assisted in braking rapidly, and the braking efficiency is improved.

The present invention discloses an electric folding wheelchair capable of ascending and descending steps. The wheelchair seat assembly is installed on the upper part of the wheelchair chassis assembly in a manner that the wheelchair seat lifting assembly can be lifted and lowered; the wheelchair wheel assembly and the wheelchair ascending and descending steps assembly are installed on the wheelchair chassis assembly; wherein the wheelchair seat assembly is composed of mutually connected foldable armrests, a foldable backrest and a wheelchair seat plate that can be translated; the wheelchair seat lifting assembly is a scissor-type mechanical structure, the upper end of the scissor-type mechanical structure matches the bottom of the wheelchair seat assembly, and the lower end of the scissor-type mechanical structure matches the wheelchair chassis assembly; the wheelchair wheel assembly is composed of a front wheel drive motor, a rear wheel drive motor and the front wheelchair wheel and the rear wheelchair wheel driven by the motor; the wheelchair ascending and descending steps assembly is composed of a front auxiliary wheel, a rear auxiliary wheel, a large motor and its power transmission mechanism. The present invention can be folded, saves space, and the seat can be freely translated and lifted, and has the function of ascending and descending steps, which is safe and reliable.

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

A vehicle control apparatus includes a front-wheel drive system, a rear-wheel drive system, and a control system. The front-wheel drive system includes one or two front-wheel motors coupled to a front wheel. The rear-wheel drive system includes two rear-wheel motors coupled to a rear wheel. The control system controls the front-wheel drive system and the rear-wheel drive system. If a front-wheel slip rate is greater than a start threshold upon coasting, the control system executes a rear-wheel slip suppression control of reducing regenerative torque of each rear-wheel motor toward initial rear-wheel torque. If a yaw rate of the vehicle is greater than a behavior determination threshold after the rear-wheel slip suppression control has been started, the control system executes an attitude stabilization control of controlling the regenerative torque of at least one of the rear-wheel motors and thereby expanding a difference in the regenerative torque between the two rear-wheel motors.

The invention provides a vehicle pitch angle determination method and device, a controller, a vehicle and a storage medium. The method comprises the steps that the front wheel actual measurement wheel speed, the rear wheel actual measurement wheel speed, the front wheel torque, the rear wheel torque and the vehicle displacement of the vehicle are obtained; according to the front wheel torque and the rear wheel torque, the front wheel driving wheel speed and the rear wheel driving wheel speed are determined respectively; a front wheel speed difference value is determined according to the front wheel actually-measured wheel speed and the front wheel driving wheel speed; according to the rear wheel actual measurement wheel speed and the rear wheel driving wheel speed, the rear wheel speed difference value is determined; and according to the front wheel speed difference value, the rear wheel speed difference value and the vehicle displacement, an estimated pitch angle is determined. According to the method, the effect of estimating the pitch angle under the condition that a pitch angle test sensor is not used is achieved only by knowing the wheel speed, the torque and the displacement of the vehicle, the influence of torque, load fluctuation and suspension deflection fluctuation is introduced, and the estimation accuracy is improved.

A motor grader in which a motive power source of an electric motor can appropriately be arranged is provided. The motor grader includes a front frame, a rear frame, and a coupling shaft. The rear frame is arranged in the rear of the front frame. The coupling shaft couples the front frame to the rear frame as being pivotable with respect to the rear frame. The motor grader includes a front wheel rotationally driven to run the motor grader, the electric motor that generates driving force for rotationally driving the front wheel, and a battery in which electric power supplied to the electric motor is stored. The battery is arranged in front of the coupling shaft.

Drifting karts in accordance with embodiments of the invention are described that include a front wheel drive train and rear caster wheels that can be dynamically engaged to induce and control drift during a turn. One embodiment of the invention includes a chassis to which a steering column is mounted, where the steering column includes at least one front steerable wheel configured to be driven by an electric motor, a battery housing mounted to the chassis, where the battery housing contains a controller and at least one battery, wiring configured to provide power from the at least one battery to the electric motor, two caster wheels mounted to the chassis, where each caster wheel is configured to rotate around a rotational axis and swivel around a swivel axis, and a hand lever configured to dynamically engage the caster wheels to induce and control drift during a turn.

The present invention presents an electric drive system that charges the batteries using the hydrogen fuel cell when the vehicle is parked and efficiently distributes and supplies power to front and rear-wheel motors by adjusting the discharge and the regeneration of the batteries according to the driving sections when the vehicle is driven.The said electric drive system comprises a frame; the front and rear wheels installed on the said frame; the first motor for providing driving force to the said front wheel when driven and generating electricity using the rotation of the same at rest; the second motor for providing driving force to the said rear wheel when driving and generating electricity using the rotation of the same at rest; the first battery that is discharged to supply power to the said first motor and is charged by the power generated by the same; the second battery that is discharged to supply power to the said second motor and is charged by the power generated by the same; hydrogen fuel cell for charging the said first and second batteries; the first motor controller for controlling the operation of the said first motor; the second motor controller for controlling the operation of the said second motor mentioned above; and the battery management system for preventing the overcharging of the said first and second batteries and stores and supplies the power for the same.

The invention provides a pivot steering control method of a vehicle and the vehicle, the method is applied to the technical field of vehicles, the method is applied to the vehicle provided with three motors, and the method comprises the following steps: responding to a pivot steering request; according to the preset driving torque step length of the vehicle, the initial front wheel driving torque, the initial rear wheel driving torque and the maximum wheel driving torque, the in-situ steering constraint relation matched with the road surface where the vehicle is located currently is determined, and the in-situ steering constraint relation is used for constraining driving torques applied to front wheels and rear wheels of the vehicle; the initial front wheel driving torque and the initial rear wheel driving torque are opposite in direction and the same in size, and the in-situ steering request carries the steering direction of in-situ steering; acquiring the actual wheel rotating speed of the vehicle; according to the actual wheel rotating speed, the pivot steering direction and the pivot steering constraint relation, the vehicle is controlled to conduct pivot steering, and the method can improve the stability of pivot steering of the vehicle.

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 utility model discloses a robot chassis which comprises a frame, a front wheel driving assembly and a rear wheel driving assembly. According to the robot chassis, the two front wheel driving assemblies and the two rear wheel driving assemblies are arranged on the front portion and the rear portion of the two sides of the frame respectively, and the two rear wheel driving assemblies can be switched between the universal wheels and the driving wheels. The robot chassis is matched with the robot chassis to complete in-situ steering through differential speed between the two front wheel driving assemblies and rotation of the rear wheel driving assemblies in a universal wheel mode. According to the robot chassis, on the premise that the pivot steering function is guaranteed, a tedious steering mechanism and a tedious steering motor of a traditional chassis are completely omitted, and the manufacturing cost and the structural complexity are greatly reduced; meanwhile, during in-situ steering, compared with a differential steering chassis, tires and the ground can be well protected, and the abrasion degree of the tires and the ground is greatly 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 relates to the technical field of hybrid power gearboxes, in particular to a front-wheel driving single-motor hybrid power gearbox and a hydraulic cooling and lubricating system, which are constructed on the basis that a vehicle is provided with a rear-wheel pure electric driving system. The system comprises two power sources, namely a generator and an engine, a gear transmission system and a clutch system for transmitting power of the two power sources, and a hydraulic system and a cooling and lubricating system for assisting the generator, the gear transmission system and the clutch system to work, a clutch system is composed of two clutches, opening and closing control of the first clutch determines separation and connection of engine power, and opening and closing control of the second clutch determines whether power of two power sources participates in vehicle driving or not. A rear wheel pure electric driving system is matched, four-wheel pure electric driving and four-wheel hybrid driving are achieved, and the dynamic property and off-road performance of the vehicle are improved; according to the modular design scheme, the same-platform development of multiple types of hybrid power gearboxes with different functions is realized.

A robotic cart platform with a navigation and movement system that integrates into a conventional utility cart to provide both manual and autonomous modes of operation. The platform includes a drive unit with drive wheels replacing the front wheels of the cart. The drive unit has motors, encoders, a processor and a microcontroller. The system has a work environment mapping sensor and a cabled array of proximity and weight sensors, lights, control panel, battery and on / off, "GO" and emergency stop buttons secured throughout the cart. The encoders obtain drive shaft rotation data that the microcontroller periodically sends to the processor. When in autonomous mode, the system provides navigation, movement and location tracking with or without wireless connection to a server. Stored destinations are set using its location tracking to autonomously navigate the cart. When in manual mode, battery power is off, and back-up power is supplied to the encoders and microcontroller, which continue to obtain shaft rotation data. When in autonomous mode, the shaft rotation data obtained during manual mode is used to determine the present cart location.

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.

A method for controlling a driving force of a vehicle includes setting and providing a filter simulation map for simulating a filter to a control unit of the vehicle, determining a required driving force command based on vehicle driving information collected while the vehicle is driven, determining a final front wheel driving force command and a final rear wheel driving force command from the determined required driving force command through a limit application process of using a limit determined in accordance with a vehicle driving variable in the filter simulation map, and controlling a driving force which is applied to front wheels and rear wheels of the vehicle by a driving device configured to drive the vehicle in accordance with the determined final front wheel driving force command and the determined final rear wheel driving force command.

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.

The invention relates to an electric vehicle power transmission system and a working mode thereof, an energy storage system is provided with an electromagnetic coupler and an energy storage flywheel, the electromagnetic coupler adopts a double-rotor motor, and is provided with an outer rotor shaft, an inner rotor shaft and an electrical terminal which are used for output and input; the outer rotor shaft is in driving connection with an energy storage brake wheel through a first transmission mechanism, the inner rotor shaft is in driving connection with an energy storage flywheel through a second transmission mechanism, the electrical terminal is connected with a battery through a battery management system, and a flywheel clutch is arranged between the inner rotor shaft and the second transmission mechanism. By controlling the working states of the flywheel clutch and the electromagnetic coupler, braking energy can be recycled in the form of mechanical energy and electric energy during deceleration, and a flywheel is used as a power source to assist in driving a rear wheel during acceleration under partial conditions. The two energy storage modes of flywheel energy storage and electrochemical energy storage are considered at the same time, and the method is suitable for rear wheel braking energy recovery of the front-wheel-driven pure electric vehicle.

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.