CN102765395B - A kind of Stereo tramcar - Google Patents
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Abstract
本发明涉及一种立体有轨电车，横跨1～2车道运行，所述的车道上设有与有轨电车相配合的钢轨，有轨电车车体的底架与地面的距离大于小汽车的高度，该有轨电车包括四个与车体连接的独立的走行部，所述的走行部向内倾斜与车体连接形成梯形结构，所述的走行部的顶端通过空气弹簧与车体上部连接，车体的重心低于空气弹簧与车体的接触面，所述的走行部的中部通过横向拉杆与车体下部连接，所述的走行部与车体之间设有Z形牵引装置。与现有技术相比，本发明具有良好的导向能力、横向平稳性好、适应道路能力强、安全可靠等优点。
The invention relates to a three-dimensional tram, which runs across 1 to 2 lanes. The lanes are provided with rails matched with the tram, and the distance between the chassis of the tram body and the ground is greater than that of a car. Height, the tram includes four independent running parts connected to the car body, the running parts are inwardly inclined to connect with the car body to form a trapezoidal structure, the top of the running parts is connected to the upper part of the car body through an air spring , the center of gravity of the car body is lower than the contact surface between the air spring and the car body, the middle part of the running part is connected to the lower part of the car body through a transverse tie rod, and a Z-shaped traction device is arranged between the running part and the car body. Compared with the prior art, the present invention has the advantages of good guiding ability, good lateral stability, strong ability to adapt to roads, safety and reliability, and the like.
Description
技术领域technical field
本发明涉及一种交通工具，尤其是涉及一种立体有轨电车。The invention relates to a vehicle, in particular to a three-dimensional tram.
背景技术Background technique
提高道路的使用效率，实现立体交通是解决大城市交通的有效措施之一。统计说明，目前城市道路上行驶数量最多的车辆是小汽车，但小汽车也是道路利用效率最低的车辆。小汽车的高度通常在1.5m左右，而城市人行立交桥的高度在4.6m以上，立体有轨电车正是充分利用了道路的这部分空间。立体有轨电车的车体底架很高，上部空间设置客室用于载客，下部空间允许小汽车通过，实现了道路的立体交通。立体有轨电车通常横跨1～2个车道，其轨道与路面高度相同，可与汽车共享道路资源。立体有轨电车的轨道可利用现有交通干道改造，因此造价低，建设周期短。立体有轨电车是一种全新的城市轨道交通车辆，它提供了一种新型的城市轨道交通模式。Improving the efficiency of road use and realizing three-dimensional traffic is one of the effective measures to solve the traffic in big cities. Statistics show that the vehicles with the largest number of vehicles on urban roads are cars, but cars are also the vehicles with the lowest road utilization efficiency. The height of a car is usually around 1.5m, while the height of an urban pedestrian overpass is above 4.6m. The three-dimensional tram takes full advantage of this part of the space on the road. The car body chassis of the three-dimensional tram is very high, the upper space is provided with a passenger room for carrying passengers, and the lower space allows cars to pass through, realizing the three-dimensional traffic of the road. The three-dimensional tram usually spans 1 to 2 lanes, and its track is at the same height as the road surface, so it can share road resources with cars. The track of the three-dimensional tram can be transformed by using the existing traffic arterial road, so the cost is low and the construction period is short. The three-dimensional tram is a brand-new urban rail transit vehicle, which provides a new urban rail transit mode.
中国实用新型专利ZL200920059314.3公开了一种宽体高架电车，包括车身、轮子、动力系统、驾驶系统和制动系统，动力系统通过连接导电线与外接电源线连接，车身设在底盘上，车身底盘与轮子之间设有长臂支架，支架及轮子分别设在车身底盘的两侧，两侧支架及轮子之间的距离大于普通小汽车的宽度，使得小汽车可以在车身下自由通行。该专利只是大致叙述了宽体高架电车的结构，并没有细化具体，本领域的技术人员无法根据其说明书制造出这样一种宽体高架电车。Chinese utility model patent ZL200920059314.3 discloses a wide body elevated tram, including body, wheels, power system, driving system and braking system. A long-arm bracket is arranged between the chassis and the wheels, and the bracket and the wheels are respectively arranged on both sides of the chassis of the vehicle body. The distance between the brackets on both sides and the wheels is greater than the width of an ordinary car, so that the car can pass freely under the vehicle body. This patent has only roughly described the structure of the wide-body elevated tram, and does not refine it specifically, and those skilled in the art cannot manufacture such a kind of wide-body elevated tram according to its instruction manual.
发明内容Contents of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种具有良好的导向能力、横向平稳性好、适应道路能力强、安全可靠的立体有轨电车。The object of the present invention is to provide a three-dimensional tram with good guiding ability, good lateral stability, strong ability to adapt to roads, and safety and reliability in order to overcome the above-mentioned defects in the prior art.
本发明的目的可以通过以下技术方案来实现：一种立体有轨电车，横跨1～2车道运行，所述的车道上设有与有轨电车相配合的钢轨，有轨电车车体的底架与地面的距离大于小汽车的高度，其特征在于，该有轨电车包括四个与车体连接的独立的走行部，所述的走行部向内倾斜与车体连接形成梯形结构，所述的走行部的顶端通过空气弹簧与车体上部连接，车体的重心低于空气弹簧与车体的接触面，所述的走行部的中部通过横向拉杆与车体下部连接，所述的走行部与车体之间设有Z形牵引装置。The purpose of the present invention can be achieved through the following technical solutions: a three-dimensional tram running across 1 to 2 lanes, said lanes are provided with rails matched with the tram, and the bottom of the tram body is The distance between the frame and the ground is greater than the height of the car. It is characterized in that the tram includes four independent running parts connected with the car body, and the running parts are inwardly inclined and connected with the car body to form a trapezoidal structure. The top of the running part is connected to the upper part of the car body through an air spring, the center of gravity of the car body is lower than the contact surface between the air spring and the car body, the middle part of the running part is connected to the lower part of the car body through a transverse tie rod, and the running part There is a Z-shaped traction device between it and the car body.
所述的每个独立的走行部包括构架、两个驱动装置、两个车轮、制动装置、轴箱，所述的构架的顶端通过空气弹簧与车体连接，所述的构架的下部前后端各设有一个驱动装置，每个驱动装置驱动一个车轮转动，所述的车轮通过轴箱与构架连接。Each of the independent running parts includes a frame, two driving devices, two wheels, a braking device, and an axle box. The top of the frame is connected to the vehicle body through an air spring, and the front and rear ends of the lower part of the frame are Each is provided with a driving device, and each driving device drives a wheel to rotate, and the said wheel is connected with the frame through the axle box.
所述的车轮具有双侧轮缘的凹形踏面，所述的钢轨采用截面为工字形的钢轨。The wheel has a concave tread on both sides of the rim, and the rail is an I-shaped rail.
所述的车轮具有单侧轮缘的磨耗型踏面，所述的钢轨采用槽型钢轨。The wheel has a wear-type tread on one side of the rim, and the rail adopts a grooved rail.
所述的驱动装置包括牵引电机、齿轮箱、联轴节，所述的制动装置包括盘形制动器、磁轨制动器，所述的盘形制动器的制动盘设置在齿轮箱的传动轴上，制动钳设置在构架上，所述的磁轨制动器设置在构架的下方、钢轨上方。The driving device includes a traction motor, a gearbox, and a shaft coupling, and the braking device includes a disc brake and a magnetic track brake. The brake disc of the disc brake is arranged on the transmission shaft of the gearbox, The brake caliper is arranged on the frame, and the magnetic track brake is arranged under the frame and above the steel rail.
所述的Z形牵引装置包括第一牵引拉杆、牵引梁、第二牵引拉杆、牵引销，所述的第一牵引拉杆、牵引梁、第二牵引拉杆依次连接形成Z形结构，所述的牵引梁通过牵引销固定在构架中部，所述的牵引梁通过球铰与牵引销连接，所述的第一牵引拉杆的一端通过球铰与车体连接，第一牵引拉杆的另一端通过球铰与牵引梁的一端连接，所述的第二牵引拉杆的一端通过球铰与牵引梁的另一端连接，第二牵引拉杆的另一端通过球铰与车体连接。The Z-shaped traction device includes a first traction rod, a traction beam, a second traction rod, and a traction pin, and the first traction rod, the traction beam, and the second traction rod are sequentially connected to form a Z-shaped structure, and the traction The beam is fixed in the middle of the frame through a traction pin, the traction beam is connected to the traction pin through a ball joint, one end of the first traction rod is connected to the vehicle body through a ball joint, and the other end of the first traction rod is connected to the vehicle body through a ball joint. One end of the traction beam is connected, one end of the second traction rod is connected with the other end of the traction beam through a ball joint, and the other end of the second traction rod is connected with the vehicle body through a ball joint.
所述的走行部与车体之间还设有垂向减振器、横向减振器、限制构架与车体间距过大的横向止档。A vertical shock absorber, a transverse shock absorber, and a transverse stop for limiting the distance between the frame and the car body are also provided between the running part and the car body.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、走行部车轮前、后布置，采用凹形踏面，具有良好的导向能力；1. The front and rear wheels of the running part are arranged, and the concave tread surface is adopted, which has good guiding ability;
2、车体重心低于空气弹簧的设置高度，形成重力摆结构，提高了横向平稳性；2. The center of gravity of the car is lower than the setting height of the air spring, forming a gravity pendulum structure and improving lateral stability;
3、走行部向内倾斜，依靠重力和横向拉杆实现了横向安定；3. The running part is inclined inward, and the lateral stability is achieved by gravity and lateral pull rods;
4、采用独立走行部结构，能够适应左、右轨之间的轨距不平顺和交叉不平顺。4. The independent running structure is adopted, which can adapt to the irregular gauge and crossing between the left and right rails.
附图说明Description of drawings
图1为本发明的主视结构示意图；Fig. 1 is the front view structure schematic diagram of the present invention;
图2为图1的侧视结构示意图；Fig. 2 is a side view structural schematic diagram of Fig. 1;
图3为车轮与钢轨的配合示意图；Fig. 3 is the cooperating schematic diagram of wheel and rail;
图4为另一种车轮与钢轨的配合示意图；Fig. 4 is the cooperating schematic diagram of another kind of wheel and rail;
图5为Z形牵引装置的结构示意图；Fig. 5 is the structural representation of Z-shaped traction device;
图6为立体有轨电车编组形式示意图。Fig. 6 is a schematic diagram of the marshalling form of a three-dimensional tram.
图中1为车体、2为走行部、3为车轮、4为轴箱、5为构架、6为空气弹簧、7为横向拉杆、8为横向止档、9为Z形牵引装置、10为垂直减振器、11为横向减振器、12为牵引电机、13为齿轮箱、14为磁轨制动器、15为客室、16为钢轨、17为第一牵引拉杆、18为牵引梁、19为第二牵引拉杆、20为牵引销、21为小汽车、22为路面、23为球铰、24为通过台、25为车钩。In the figure, 1 is the car body, 2 is the running part, 3 is the wheel, 4 is the axle box, 5 is the frame, 6 is the air spring, 7 is the transverse tie rod, 8 is the transverse stopper, 9 is the Z-shaped traction device, 10 is the Vertical shock absorber, 11 is transverse shock absorber, 12 is traction motor, 13 is gear box, 14 is magnetic rail brake, 15 is passenger compartment, 16 is rail, 17 is first traction rod, 18 is traction beam, 19 is The second traction rod, 20 is a traction pin, 21 is a car, 22 is a road surface, 23 is a spherical hinge, 24 is a passing platform, and 25 is a coupler.
具体实施方式detailed description
下面结合附图和具体实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例Example
如图1、图2所示，立体有轨电车是一种新型的城市轨道交通车辆，它提供了一种全新的城市轨道交通模式。立体有轨电车横跨在道路上运行，其车体的底架很高，上部空间设置客室用于载客，下部空间允许小汽车21通过，实现了道路的立体交通。立体有轨电车通常横跨1～2个车道，其轨道与路面22高度相同，可与汽车共享道路资源。立体有轨电车的轨道可利用现有交通干道改造，造价低，建设周期短。立体有轨电车由整体式车体1和四个独立的走行部2组成。车体1为整体承载结构，通过空气弹簧6支承在走行部2的构架5上。走行部2在钢轮16走行，两个车轮3纵向布置。车轮采用具有双侧轮缘的凹形踏面(与普通的工字形钢轨配合，如图3所示)，或单侧轮缘的磨耗型踏面(与槽型钢轨配合，如图4所示)，车轮可采用有橡胶缓冲层的弹性车轮。车轮3通过轴箱4与构架5连接，轴箱4内设置轴承，将车轮的滚动变为车辆的平动。构架5上设置空气弹簧6，用以支承车体1和缓和振动，空气弹簧6的安装高度高于车体重心高度，实现重力摆结构。走行部2的车轮3、构架5和空气弹簧6向内倾斜形成梯形结构，并在构架5与车体1之间设置横向拉杆7，依靠重力实现横向的安定。横向拉杆7端部均为球铰，能够旋转，横向拉杆7仅约束走行部2和车体1之间的横向运动，而不约束其它方向的运动。横向止档8用来限制构架5与车体1之间过大的横向位移。在构架5与车体1之间设置Z形牵引装置9，如图5所示，Z形牵引装置9包括第一牵引拉杆17、第二牵引拉杆19、牵引梁18和牵引销20。第一牵引拉杆17、牵引梁18、第二牵引拉杆19依次连接形成Z形结构。牵引梁18通过牵引销20固定在构架5中部。牵引梁18通过球铰23与牵引销20连接，第一牵引拉杆17的一端通过球铰23与车体1连接，第一牵引拉杆17的另一端通过球铰23与牵引梁18的一端连接，第二牵引拉杆19的一端通过球铰23与牵引梁18的另一端连接，第二牵引拉杆19的另一端通过球铰23与车体1连接。纵向牵引装置仅约束走行部与车体之间的纵向运动，而不约束其它方向的运动。As shown in Figure 1 and Figure 2, the three-dimensional tram is a new type of urban rail transit vehicle, which provides a new urban rail transit mode. The three-dimensional tram runs across the road, the underframe of its car body is very high, the upper space is provided with passenger compartments for carrying passengers, and the lower space allows cars 21 to pass through, realizing the three-dimensional traffic of the road. The three-dimensional tram usually spans 1 to 2 lanes, and its track is at the same height as the road surface 22, which can share road resources with cars. The track of the three-dimensional tram can be reconstructed by using the existing traffic arterial road, the cost is low, and the construction period is short. The three-dimensional tram is composed of an integral car body 1 and four independent running parts 2 . The vehicle body 1 is an integral bearing structure, and is supported on the frame 5 of the running part 2 through the air spring 6 . The running part 2 runs on steel wheels 16, and the two wheels 3 are arranged longitudinally. The wheels adopt concave treads with double-sided rims (matched with ordinary I-shaped rails, as shown in Figure 3), or wear-type treads with one-sided rims (matched with grooved steel rails, as shown in Figure 4), Wheel can adopt the elastic wheel that rubber buffer layer is arranged. The wheel 3 is connected to the frame 5 through the axle box 4, and a bearing is arranged in the axle box 4 to change the rolling of the wheel into the translational motion of the vehicle. An air spring 6 is arranged on the frame 5 to support the vehicle body 1 and ease vibration. The installation height of the air spring 6 is higher than the height of the center of gravity of the vehicle to realize the gravity pendulum structure. The wheels 3, the frame 5 and the air spring 6 of the running part 2 are inclined inwardly to form a trapezoidal structure, and a transverse tie rod 7 is arranged between the frame 5 and the vehicle body 1 to achieve lateral stability by gravity. The ends of the transverse tie rods 7 are all ball joints and can rotate. The transverse tie rods 7 only constrain the lateral movement between the running part 2 and the vehicle body 1, but not the movement in other directions. The lateral stopper 8 is used to limit excessive lateral displacement between the frame 5 and the vehicle body 1 . A Z-shaped traction device 9 is arranged between the frame 5 and the vehicle body 1. As shown in FIG. The first traction rod 17, the traction beam 18, and the second traction rod 19 are sequentially connected to form a Z-shaped structure. The tow beam 18 is fixed in the middle of the frame 5 by a tow pin 20 . The traction beam 18 is connected with the traction pin 20 through a ball joint 23, one end of the first traction rod 17 is connected with the vehicle body 1 through a ball joint 23, and the other end of the first traction rod 17 is connected with one end of the traction beam 18 through a ball joint 23, One end of the second traction rod 19 is connected to the other end of the traction beam 18 through a ball joint 23 , and the other end of the second traction rod 19 is connected to the vehicle body 1 through a ball joint 23 . The longitudinal traction device only constrains the longitudinal movement between the running part and the vehicle body, but not the movement in other directions.
立体有轨电车的车体为钢质或铝合金整体承载结构，通过空气弹簧6支承在走行部2的构架5上。车辆前端设置司机室，中部为客室15。在车体侧墙设置车门和车窗，车顶也可设置车窗。客室内设置座椅、扶手、空调、取暖、广播等服务设备。设备舱设置在车体底架外侧，用于放置电气设备。The car body of the three-dimensional tram is a steel or aluminum alloy overall bearing structure, which is supported on the frame 5 of the running part 2 through the air spring 6 . The front end of the vehicle is provided with a driver's cab, and the middle part is a passenger compartment 15. Car doors and car windows are arranged on the side walls of the car body, and car windows can also be arranged on the roof. The passenger room is equipped with service equipment such as seats, armrests, air conditioning, heating, and broadcasting. The equipment compartment is arranged outside the underframe of the vehicle body and is used for placing electrical equipment.
走行部采用钢轮走行，两个车轮纵向布置。由于走行部2与车体1之间在摇头方向是自由的，因此走行部2可利用重力刚度进行导向。车轮3可采用有橡胶缓冲层的弹性车轮，以减小轮轨噪声和缓和轮轨冲击。The running part adopts steel wheels to run, and the two wheels are arranged longitudinally. Since the running part 2 and the vehicle body 1 are free in the swinging direction, the running part 2 can be guided by gravity stiffness. Wheel 3 can adopt the elastic wheel that rubber buffer layer is arranged, to reduce wheel-rail noise and alleviate wheel-rail impact.
车轮3上设置车轴，车轮3与车轴采用过盈配合、刚性连接。车轴通过轴箱4与构架5连接，轴箱4内设置轴承，将车轮的滚动变为车辆的平动。轴箱4和构架5之间可设置弹性悬挂，进一步衰减振动。An axle is arranged on the wheel 3, and the wheel 3 and the axle adopt interference fit and rigid connection. The axle is connected to the frame 5 through the axle box 4, and the bearing is arranged in the axle box 4, which converts the rolling of the wheel into the translational motion of the vehicle. Elastic suspension can be set between the axle box 4 and the frame 5 to further attenuate the vibration.
构架5上设置空气弹簧6，用以支承车体1和缓和振动，空气弹簧6的安装高度应高于车体重心高度，以实现重力摆结构。空气弹簧6高于车体重心，使得车体1通过曲线时，可依靠重力平衡离心力，提高了运行舒适性。An air spring 6 is arranged on the frame 5 to support the vehicle body 1 and ease the vibration. The installation height of the air spring 6 should be higher than the height of the center of gravity of the vehicle to realize the gravity pendulum structure. The air spring 6 is higher than the center of gravity of the car body, so that when the car body 1 passes through a curve, the centrifugal force can be balanced by gravity, which improves the running comfort.
走行部2的车轮3、构架5和空气弹簧6需向内倾斜，并在构架5与车体1之间设置横向拉杆7。横向拉杆7约束了走行部2和车体1之间的横向运动，横向拉杆7的安装高度应低于空气弹簧6的安装高度，这样可依靠车体自身重力实现车辆在横向的安定。横向拉杆7端部均为球铰，能够旋转，使得横向拉杆7仅约束走行部2和车体1之间的横向运动，而不约束其它方向的运动。这样的结构使得车轮可绕横向拉杆7的铰接点转动，使车轮适应左、右轨的轨距不平顺，并通过空气弹簧6得到缓和。在构架5和车体1之间设置横向止档8，横向止档8的作用是限制构架5与车体1之间过大的横向位移，保证运行安全。The wheels 3 , the frame 5 and the air spring 6 of the running part 2 need to be inclined inwardly, and a transverse tie rod 7 is arranged between the frame 5 and the vehicle body 1 . The transverse tie rod 7 constrains the lateral movement between the running part 2 and the vehicle body 1, and the installation height of the transverse tie rod 7 should be lower than that of the air spring 6, so that the vehicle can be stabilized laterally by the gravity of the vehicle body itself. The ends of the transverse tie rods 7 are all ball joints, which can be rotated, so that the transverse tie rods 7 only constrain the lateral movement between the running part 2 and the vehicle body 1, but not the movement in other directions. Such a structure makes the wheel rotate around the hinge point of the transverse tie rod 7, so that the wheel adapts to the uneven gauge of the left and right rails, and is relieved by the air spring 6. A transverse stopper 8 is arranged between the frame 5 and the vehicle body 1, and the function of the transverse stopper 8 is to limit excessive lateral displacement between the frame 5 and the vehicle body 1, so as to ensure safe operation.
在走行部2的构架5与车体1之间设置垂向减振器10和横向减振器11，用于衰减振动。横向拉杆7和Z形牵引装置9的球铰尽量采用弹性结构，以缓和冲击和减少磨耗。A vertical shock absorber 10 and a lateral shock absorber 11 are provided between the frame 5 of the running part 2 and the vehicle body 1 for damping vibration. The spherical joint of transverse tie rod 7 and Z-shaped traction device 9 adopts elastic structure as far as possible, to ease impact and reduce wear and tear.
牵引电机12安装在构架5上，通过齿轮箱13和联轴节与车轮3连接，驱动车轮前进。每个车轮上都设置电机，以提高爬坡能力。驱动可采用交流异步电机，可根据空间垂向布置或纵向布置在构架上。由于走行部独立驱动，车体两侧位置对应的走行部的驱动电机需要同步控制技术。The traction motor 12 is installed on the frame 5, is connected with the wheel 3 through the gear box 13 and the coupling, and drives the wheel to advance. Motors are installed on each wheel to improve climbing ability. The drive can adopt AC asynchronous motor, which can be arranged vertically or vertically on the frame according to the space. Since the running part is driven independently, the driving motors of the running part corresponding to the positions on both sides of the car body need synchronous control technology.
采用受电弓，直流受电。受电弓应设置在走行部所对应的车顶，以减小受电弓相对接触网的运动。主逆变器为牵引系统提供电力，辅助逆变器为车体设备(空调、照明、通信)等提供电力。主逆变器和辅助逆变器悬挂于车体下方设备舱。Using pantograph, direct current receiving. The pantograph should be installed on the roof corresponding to the running part to reduce the movement of the pantograph relative to the catenary. The main inverter provides power for the traction system, and the auxiliary inverter provides power for vehicle body equipment (air conditioning, lighting, communication), etc. The main inverter and auxiliary inverter are suspended in the equipment compartment under the car body.
制动系统包括电气制动、盘形制动和磁轨制动。电气制动实现再生制动和电阻制动两种形式。制动盘安装在齿轮箱传动轴上，制动夹钳安装在构架上，实现盘形制动。盘形制动可使用压缩空气或液力作为动力。磁轨制动器安装在构架下方，以满足制动减速度的需求。The braking system includes electric brakes, disc brakes and magnetic track brakes. Electric braking realizes two forms of regenerative braking and resistance braking. The brake disc is installed on the transmission shaft of the gearbox, and the brake caliper is installed on the frame to realize disc braking. Disc brakes can be powered by compressed air or hydraulic power. A magnetic track brake is installed under the frame to meet the needs of braking deceleration.
立体有轨电车可单辆运行，也可编组成列运行。编组成列时，通过车钩25连挂，相邻车体之间可设通过台24，便于旅客在各节车之间流动，如图6所示。The three-dimensional trams can run individually or in trains. When forming into trains, they are connected by couplers 25, and passing platforms 24 can be established between adjacent car bodies, so that passengers can flow between each joint car, as shown in Figure 6.
Claims (6)
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| CN106143511B (en) * | 2015-05-15 | 2018-06-12 | 赵跃 | Contactlessly powered track elevated bus and operation method |
| CN106043332A (en) * | 2016-06-01 | 2016-10-26 | 邹燕燕 | Tramcar system |
| CN106114100B (en) * | 2016-07-11 | 2019-03-08 | 王赫奕 | The coupling structure of Ba Tie vehicle body and wheel |
| CN106043324B (en) * | 2016-08-01 | 2018-05-11 | 泰赫·库克 | Trolley structure of aerial bus and running track thereof |
| CN114475084B (en) * | 2022-02-18 | 2024-06-18 | 北京京东乾石科技有限公司 | Vehicle traveling system and vehicle |
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