CN107117005B - A kind of power transmission integrated electric wheel - Google Patents
A kind of power transmission integrated electric wheel Download PDFInfo
- Publication number
- CN107117005B CN107117005B CN201710284972.1A CN201710284972A CN107117005B CN 107117005 B CN107117005 B CN 107117005B CN 201710284972 A CN201710284972 A CN 201710284972A CN 107117005 B CN107117005 B CN 107117005B
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- Prior art keywords
- planet carrier
- shell
- gear
- power transmission
- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A kind of power transmission integrated electric wheel, comprising: outer rotor hub motor (1), planetary reducer, reducer shell, elastic element (36) turn to column (7), disk brake, wheel；Power is generated by outer rotor hub motor (1), power inputs planetary reducer from the sun gear (27) being connected with outer rotor hub motor (1), gear ring (16) maintains on-position, it is output to wheel rim (10) by planetary gear (26) and planet carrier one (19), drives wheel.Elastic element (36) is placed in shell (11) and turns between column (7), damping processing is integrally carried out to outer rotor hub motor (1) and planetary reducer, mating surface is designed between shell (11) and steering column (7), the freedom of motion of outer rotor hub motor (1) and planetary reducer is limited in vertical direction.Integrated level of the present invention is high, good damping effect, solves the problems, such as the damping of integrated electric wheel.
Description
Technical field
The invention belongs to vehicle drive-train technical fields, and in particular to a kind of wheel set comprising hub motor.
Background technique
In vehicle drive-train field, distribution driving is an important technological development direction.Currently, distributed driving
Structure type be broadly divided into two kinds: wheel motor structure and hub motor structure.Compared to wheel motor, the collection of hub motor
Higher at change degree, transmission chain is shorter, more efficient, however has biggish unsprung mass, and this point is for the smooth of vehicle
Property have a certain impact, need to make up by carrying out certain adjustment to suspension design parameter.Meanwhile hub motor eliminates ten thousand
To transmission mechanism, enable the arrangement of chassis and suspension freer, but also the distribution of power is more accurate and free, Neng Gougeng
The torque output of four-wheel is controlled well, and then controls the yaw moment of vehicle, improves the control stability of vehicle.
However, being arranged on automobile chassis compared to by motor, motor is arranged in inside wheel for the power of motor
It is proposed higher requirement with torque density, otherwise influence of the excessive unsprung mass for ride comfort is possibly can not be by right
The complete effacement of the improvement of suspension frame structure is fallen.Meanwhile motor is arranged in inside wheel, the installation pedestal of motor is made to lack elasticity
The support of element and damping original part, the vibration that expanded motor is subject to.And the vibration that motor is subject to will cause motor stator and turn
Gap variation between son, causes the motor gas-gap distortion of field, after revolving speed increases to a certain extent, the amplitude of imbalance vibration
It is possible that being more than protection air gap, the damage of motor is in turn resulted in.
Therefore, for above two o'clock reason the considerations of, needs to carry out damping processing to wheel set inside.So on the one hand
A part of unsprung mass can be equivalent to sprung mass, promote the ride comfort in vehicle operation；On the other hand can subtract
Impact suffered by the components such as light motor, effectively improves vehicle reliability of operation and reduces vehicle maintenance cost.
At present hub motor scheme often without for motor install additional damping, only by suspension system to motor into
The a degree of damping of row, the also or independent installing damping device inside motor.Thus unsprung mass is larger, it is difficult to meet vehicle
The requirement of ride comfort.Meanwhile the damping device of installation can be such that the freedom degree of inside wheel structure increases, in the mistake of vehicle driving
The variation of wheel parameter is caused in journey.
Summary of the invention
The technical problems to be solved by the present invention are: overcome the deficiencies in the prior art, the present invention provides a kind of power biographies
Movement and motor-driven integrative Electric Motor Wheel provides a kind of high integrated level, good damping effect and the power transmission that can guarantee wheel alignment parameter
Integrated hub motor drives Electric Motor Wheel, solves the problems, such as the damping of integrated electric wheel construction.
The adopted technical solution is that: a kind of power transmission integrated electric wheel, comprising: outer rotor wheel hub
Motor, planetary reducer, reducer shell, elastic element turn to column, disk brake, wheel；Planetary reducer packet
Include sun gear, planetary gear, gear ring, planet carrier one, planet carrier two, deep groove ball bearing；Reducer shell includes case lid, shell；
Disk brake includes brake caliper, brake disc, fixed pin；Wheel includes spoke, wheel rim；The outer rotor hub motor is located at
In shell, including inner stator, outer rotor, inner stator are connected with case lid, and case lid is mounted on shell one end；The side of sun gear is cut
Face be it is I-shaped, an end disc connect with outer rotor and passes through deep groove ball bearing and is supported in shell, and the other end is gear disk；
Planetary reducer uses single form, sun gear gear end disc and planetary gear external toothing, and planetary gear is along sun gear gear
Hold circumferentially distributed, again with gear ring internal messing, gear ring is mounted in shell planetary gear；It is connected in the middle part of one one end of planet carrier and spoke,
Spoke is mounted on wheel rim one end；One other end of planet carrier is connected by passing through the connection bolt at planetary gear center with planet carrier two,
Planet carrier two is ring-type, is covered on the coupling part between two disk of sun gear；Planet carrier one, planet carrier two pass through zanjon respectively
Ball bearing is supported in shell；It turns to column and is wrapped in hull outside；Elastic element is mounted on shell and turns between column, point
It is not looped around shell both ends；Brake caliper is connected with the bracket for turning to post end, and brake disc covers on planet carrier one and passes through
Fixed pin is connect with planet carrier one.
Described one one end of planet carrier is mounted at spoke centre by bolt and nut, and bolt head is mounted on planet carrier one end
It is fixed in card slot on portion's side wall, with planet carrier one, the other end passes through spoke, is fixed on spoke by nut.
The elastic element is annular tubbiness nitrile rubber, carries out axially position by the card slot turned in column.
The planetary reducer further includes circlip one, spline；Gear ring is immobilized in the shell by spline, by with shell
Between the circlip one installed carry out axially position.
The disk brake further includes circlip two, and fixed pin carries out axially position by circlip two, is symmetrically mounted on system
Between Moving plate and planet carrier one；There are gaps between circlip two and brake disc.
Ventilation tank filler sleeve is provided at one center of planet carrier.
Mounting framework oil sealing carries out dynamic sealing between the shell port and sun gear, between shell port and planet carrier one
Mounting framework oil sealing carries out dynamic sealing.
There are four the planetary gears, is circumferentially uniformly distributed along sun gear gear end.
The connection bolt head is stuck in the mounting hole of two side wall of planet carrier, and the other end passes through after passing through planetary gear
Nut is connect with planet carrier one end, and nut is stuck in the card slot of planet carrier one end side wall；It connects between bolt and planetary gear
Needle bearing is installed.
It further include attachment lug, attachment lug is fixed on steering post end, for by outer rotor hub motor, planet to subtract
Speed variator, reducer shell, elastic element turn to column, and the overall structure of disk brake, wheel composition is connect with suspension.
The advantages of the present invention over the prior art are that:
(1) present invention is under the premise of guaranteeing that impact suffered by motor stator and rotor sufficiently buffer, about
The beam freedom of motion of wheel hub, ensure that wheel parameter influences the operation stabilization of vehicle in the deficient change of vehicle travel process
Property.
(2) present invention uses planetary gear deceleration system, the characteristics of using planetary gear system, the power in transmission process is same
When distribute to multiple gears, compared with fixed shaft type gear train, be obviously improved the bearing capacity of gear train, and realize coaxial defeated
Out, entire Electric Motor Wheel system altitude is integrated, sufficiently improve the power density ratio of Electric Motor Wheel.Improve sprung mass and spring
The ratio of lower quality, and then improve the ride comfort of vehicle.
(3) planet carrier is designed as the two parts being bolted by the present invention, when being safeguarded, can remove spiral shell
After bolt, the planet carrier being interference fitted with bearing is directly removed.Reduce the difficulty of integral demounting, easy access.Meanwhile bolt
As the rotary shaft of planetary gear, the integrated level of system is further improved.
Detailed description of the invention
Fig. 1 is that power transmission integrated electric wheel of the present invention is driven schematic diagram.
Fig. 2 is the schematic diagram of power transmission integrated electric wheel of the present invention.
Fig. 3 is location A enlarged drawing in Fig. 2.
Specific embodiment
As shown in Figure 2 and Figure 3, a kind of power transmission integrated electric wheel of the invention, comprising: outer rotor hub motor 1,
Planetary reducer, reducer shell, elastic element 36 turn to column 7, disk brake and wheel.Planetary reducer
It include: sun gear 27, planetary gear 26, gear ring 16, planet carrier 1, planet carrier 2 29.Reducer shell includes: case lid 3, shell
Body 11.Disk brake includes: brake caliper 33, brake disc 32, fixed pin 30, circlip 2 31.Wheel includes: spoke 10, wheel
Rim 8.
The outer rotor hub motor 1 is located in shell 11, is made of inner stator and outer rotor two parts, inner stator passes through
Bolt is connected with case lid 3, and case lid 3 is connected by bolt with shell 11.Its lateral section of sun gear 27 is I-shaped, one end circle
Disk is bolted with 1 outer rotor of outer rotor hub motor, as the input terminal of planetary reducer, and passes through deep-groove ball axis
13 are held to be supported in shell 11.Support of the connection of deep groove ball bearing 13, stator and rear cover collectively as motor.Planetary reduction gear dress
It sets using single form, 27 gear end disc of sun gear and 26 external toothing of planetary gear, planetary gear 26 is along circumferential point of sun gear 27
Cloth, totally four, again with 16 internal messing of gear ring, gear ring 16 is mounted in shell 11 planetary gear 26.
For planet carrier as power output end, planet carrier is divided into planet carrier 1, planet carrier 2 29, and every part passes through depth respectively
Ditch ball bearing 13 is supported on shell 11, as power output end.Planet carrier is simultaneously instead of the structure of wheel hub.Planet carrier 1
Outer end is connect by bolt nut structure with 10 center of spoke, and bolt outer-hexagonal head passes through on one 19 outer end side wall of planet carrier
Card slot and planet carrier 1 it is fixed, the other end is fixed on spoke 10 by nut.Outer rotor hub motor 1, planetary reduction gear
Device, reducer shell, elastic element 36, steering column 7, disk brake are respectively positioned in wheel rim 8, and wheel rim 8 is mounted on spoke
10 one end, wheel rim 8 are bolted with spoke 10.Planet carrier 2 29 is annular, covers the company between 27 liang of disks of sun gear
Socket part point is connected by connection bolt 24 with one end that planet carrier 1 is not connected with spoke 10, and connection bolt 24 passes through planet
Wheel center, the connection bolt 24 of connection two parts planet carrier while the rotary shaft as planetary gear 26.In planetary gear 26 and connection
It is lubricated between bolt 24 by needle bearing 22.Gear ring 16 is attached by spline with shell 11, and circlip 1 is used
Carry out axially position.Planetary reducer uses bath lubrication, is refueled by the venthole at one 19 center of planet carrier, and in the sun
27 outside of wheel installs outside framework oil seal 12 additional with one 19 outside of planet carrier and shell 11 carries out dynamic sealing.
The brake caliper 33 of disk brake is connected by bolt with the bracket for turning to 7 end of column.Disk brake
32 sets of brake disc on planet carrier 1, the two is connected by fixed pin 30.It is axial fixed that fixed pin 30 is carried out by circlip 2 31
Position is mounted in brake disc 32.Retain certain interval between circlip 2 31 and brake disc 32, was being braked to avoid brake disc 32
Because overheat expansion is stuck or by 2 31 distending of circlip in journey.
It turns to column 7 to divide for symmetrical two parts, be bolted.It is wrapped in 11 outside of shell, in shell 11 and is turned
To installation elastic element 36 between column 7.Elastic element 36 is annular tubbiness nitrile rubber, is mounted on shell 11 and turns to column
It between 7, is looped around around shell 11, axially position is carried out by the boss structure turned on column 7, utilizes nitrile rubber itself
Elasticity damping is carried out to outer rotor hub motor 1 and planetary gear speed reducing mechanism with internally-damped.
7 end of column is turned to by attachment lug 4,38 is fixed using bolt 6,39, by attachment lug 4,38 by Electric Motor Wheel
It is whole to be connect with suspension, realize that Electric Motor Wheel integrally lifts.
As shown in Figure 1, working principle of the present invention is as follows:
(1) drive path: power is generated by outer rotor hub motor 1, and power with outer rotor hub motor 1 from being connected
Sun gear 27 inputs planetary reducer, and gear ring 16 maintains on-position, is output to wheel by planetary gear 26 and planet carrier 1
Rim 10 drives wheel.Planetary reducer is slowed down using the rotating ratio of planet carrier and sun gear 27, while being improved output and being turned round
Square is detailed in the transmission schematic diagram of Fig. 1 to adapt to vehicle demand.
(2) during wheel hop power transfer route: during vehicle driving, road excitation generate vibration meeting
By tire, spoke 10 and wheel rim 8 are transmitted on wheel hub i.e. planet carrier 1, and planet carrier 1 transfers force to planetary gear shaft
It connects on bolt 24 and planetary gear 26, and sun gear 27 and outer rotor hub motor 1 is passed to by planetary gear 26；
On the other hand, a part vibration is also transmitted on the shell 11 that gear ring 16 and gear ring 16 are connected in by planetary gear 26.Most
Eventually, all vibration is all collected on shell 11 and is further transferred on steering column 7.To avoid suspension and turning on column 7
The reaction force being subject to has a adverse impact to the outer rotor hub motor 1 in operating, is turning between column 7 and shell 11
It is added to elastic element 36 and carries out damping.But the increase of elastic element 36 also increases the freedom of motion of Electric Motor Wheel internal element
Degree, so that there may be large change, meetings in vehicle travel process for wheel alignment parameter (such as wheel leaning angle, wheel beam angle)
The control stability generation of vehicle is seriously affected.Therefore the freedom of motion for needing to fetter Electric Motor Wheel internal element, will be elastic
Element 36 is placed in shell 11 and turns between column 7, integrally carries out at damping to outer rotor hub motor 1 and planetary reducer
Reason, and mating surface is designed between shell 11 and steering column 7, further outer rotor hub motor 1 and planetary reduction gear are filled
The freedom of motion set is limited in vertical direction.Meanwhile corresponding damping force is also capable of providing inside elastic element 36.It is detailed in figure
Structure in 2.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (10)
1. a kind of power transmission integrated electric wheel characterized by comprising outer rotor hub motor (1), planetary reduction gear dress
It sets, reducer shell, elastic element (36), turns to column (7), disk brake, wheel；Planetary reducer includes sun gear
(27), planetary gear (26), gear ring (16), planet carrier one (19), planet carrier two (29), deep groove ball bearing (13)；Reducer shell
Including case lid (3), shell (11)；Disk brake includes brake caliper (33), brake disc (32), fixed pin (30)；Wheel
Including spoke (10), wheel rim (8)；The outer rotor hub motor (1) is located in shell (11), including inner stator, outer rotor, interior
Stator is connected with case lid (3), and case lid (3) is mounted on shell (11) one end；The lateral section of sun gear (27) be it is I-shaped, one
End disc connect with outer rotor and passes through deep groove ball bearing (13) and is supported in shell (11), and the other end is gear disk；Planet
Deceleration device uses single form, sun gear (27) gear end disc and planetary gear (26) external toothing, and planetary gear (26) is along too
Sun wheel (27) gear end is circumferentially distributed, and for planetary gear (26) again with gear ring (16) internal messing, it is interior that gear ring (16) is mounted on shell (11)；
It is connected in the middle part of planet carrier one (19) one end and spoke (10), spoke (10) is mounted on wheel rim (8) one end；Planet carrier one (19) is another
End is connected by passing through the connection bolt (24) at planetary gear (26) center with planet carrier two (29), and planet carrier two (29) is ring-type,
It covers on the coupling part between (27) two disk of sun gear；Planet carrier one (19), planet carrier two (29) pass through deep-groove ball respectively
Bearing (13) is supported in shell (11)；Column (7) are turned to be wrapped on the outside of shell (11)；Elastic element (36) is mounted on shell
(11) it and turns between column (7), is looped around shell (11) both ends respectively；Brake caliper (33) and steering column (7) end
Bracket is connected, and brake disc (32) is covered on planet carrier one (19) and connect by fixed pin (30) with planet carrier one (19).
2. a kind of power transmission integrated electric wheel according to claim 1, it is characterised in that: the planet carrier one (19)
One end is mounted at spoke (10) center by bolt and nut, and bolt head is mounted on the card in planet carrier one (19) end sidewalls
It is fixed in slot, with planet carrier one (19), the other end passes through spoke (10), is fixed on spoke (10) by nut.
3. a kind of power transmission integrated electric wheel according to claim 1 or 2, it is characterised in that: the elastic element
(36) it is annular tubbiness nitrile rubber, axially position is carried out by the card slot turned in column (7).
4. a kind of power transmission integrated electric wheel according to claim 3, it is characterised in that: the planetary reducer
It further include circlip one (15), spline；Gear ring (16) is fixed in shell (11) by spline, by installing between shell (11)
Circlip one (15) carry out axially position.
5. a kind of power transmission integrated electric wheel according to claim 1 or 2, it is characterised in that: the disc type brake
Device further includes circlip two (31), and fixed pin (30) carries out axially position by circlip two (31), is symmetrically mounted on brake disc (32)
Between planet carrier one (19)；There are gaps between circlip two (31) and brake disc (32).
6. a kind of power transmission integrated electric wheel according to claim 1 or 2, it is characterised in that: the planet carrier one
(19) ventilation tank filler sleeve is provided at center.
7. a kind of power transmission integrated electric wheel according to claim 1 or 2, it is characterised in that: the shell (11)
Mounting framework oil sealing (12) carries out dynamic sealing between port and sun gear (27), between shell (11) port and planet carrier one (19)
Mounting framework oil sealing (12) carries out dynamic sealing.
8. a kind of power transmission integrated electric wheel according to claim 1 or 2, it is characterised in that: the planetary gear
(26) there are four, along sun gear (27), gear end is circumferentially uniformly distributed.
9. a kind of power transmission integrated electric wheel according to claim 8, it is characterised in that: the connection bolt (24)
Head is stuck in the mounting hole of planet carrier two (29) side wall, and the other end passes through planetary gear (26) afterwards by nut (23) and row
The connection of carrier one (19) end, nut (23) are stuck in the card slot of planet carrier one (19) end sidewalls；Connect bolt (24) and row
Needle bearing (22,25) are installed between star-wheel (26).
10. a kind of power transmission integrated electric wheel according to claim 9, which is characterized in that further include attachment lug
(4,38), attachment lug (4,38), which is fixed on, turns to column (7) end, for by outer rotor hub motor (1), planetary reduction gear to be filled
It sets, reducer shell, elastic element (36), turns to column (7), disk brake, the overall structure and suspension of wheel composition connect
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710284972.1A CN107117005B (en) | 2017-04-27 | 2017-04-27 | A kind of power transmission integrated electric wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710284972.1A CN107117005B (en) | 2017-04-27 | 2017-04-27 | A kind of power transmission integrated electric wheel |
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| Publication Number | Publication Date |
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| CN107117005A CN107117005A (en) | 2017-09-01 |
| CN107117005B true CN107117005B (en) | 2019-06-14 |
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ID=59725890
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710284972.1A Active CN107117005B (en) | 2017-04-27 | 2017-04-27 | A kind of power transmission integrated electric wheel |
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Families Citing this family (11)
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|---|---|---|---|---|
| CN107901751A (en) * | 2017-11-16 | 2018-04-13 | 武汉理工大学 | Electric automobile coaxial-type In-wheel motor driving system synthesis integral structure |
| CN108340776B (en) * | 2018-03-02 | 2023-09-19 | 第一拖拉机股份有限公司 | A drive train rear box for paddy field type crawler tractor |
| CN108591305B (en) * | 2018-05-15 | 2019-08-06 | 北京理工大学 | A kind of Electric Motor Wheel with pellet pressure structure brake |
| CN110816254A (en) * | 2018-08-10 | 2020-02-21 | 岳克森 | Wheel independent driving assembly with motor positioned above wheel |
| BR102019000446A2 (en) * | 2019-01-09 | 2020-07-28 | CNH Industrial Brasil Ltda. | epicyclic reducer for a wheel hub and vehicle |
| CN109546799B (en) * | 2019-01-28 | 2024-01-26 | 大连创为电机有限公司 | Large-sized electric wheel direct-drive outer rotor wheel rim driving motor of mining dump truck |
| CN111845320B (en) * | 2019-04-28 | 2022-03-18 | 浙江万安科技股份有限公司 | Drive-brake integrated electric wheel integrating disc type hub motor and speed reducer and automobile |
| CN110978992A (en) * | 2019-12-24 | 2020-04-10 | 上海汇众汽车制造有限公司 | In-wheel motor driven brake device |
| CN111572332A (en) * | 2020-05-17 | 2020-08-25 | 上海智御动力技术有限公司 | Automobile chassis integrated module system |
| CN114148160A (en) * | 2021-12-23 | 2022-03-08 | 吉林大学 | Electric wheel and vehicle |
| CN115258984A (en) * | 2022-09-19 | 2022-11-01 | 杭州未名信科科技有限公司 | A gyration power module assembly and intelligent tower crane for intelligent tower crane |
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| Publication number | Publication date |
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| CN107117005A (en) | 2017-09-01 |
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Inventor after: Hu Jibin Inventor after: Yu Yingying Inventor after: Zhao Yue Inventor after: Ni Jun Inventor after: Li Yunxiao Inventor after: Pan Bo Inventor after: Ma Ning Inventor after: Fu Miaomiao Inventor after: Tian Hanqing Inventor after: Tian Daiying Inventor before: Hu Jibin Inventor before: Zhao Yue Inventor before: Ni Jun Inventor before: Li Yunxiao Inventor before: Pan Bo Inventor before: Ma Ning Inventor before: Fu Miaomiao Inventor before: Tian Hanqing Inventor before: Tian Daiying |
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Effective date of registration: 20200928 Address after: 102200 maker Plaza a1-06-190, 338 Huilongguan East Street, Huilongguan town, Changping District, Beijing Patentee after: BEIJING ZIVT TECHNOLOGY Co.,Ltd. Address before: 100081 No. 5, Zhongguancun South Street, Haidian District, Beijing Patentee before: BEIJING INSTITUTE OF TECHNOLOGY |