CN108045189A - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
- Publication number
- CN108045189A CN108045189A CN201711436801.2A CN201711436801A CN108045189A CN 108045189 A CN108045189 A CN 108045189A CN 201711436801 A CN201711436801 A CN 201711436801A CN 108045189 A CN108045189 A CN 108045189A
- Authority
- CN
- China
- Prior art keywords
- support plate
- guide rod
- guided vehicle
- automatic guided
- positioning column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 21
- 238000000429 assembly Methods 0.000 claims abstract description 21
- 230000009184 walking Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000011068 loading method Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/43—Mechanical actuator
- B60G2202/432—Spring motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention discloses a kind of automatic guided vehicle, including：Chassis；Drive component, the driving component include：Two support plates；Driving device, the driving device are fixed on the support plate and between two support plates；Driving wheel, the driving wheel are connected with the driving device；Precompressed mechanism, the precompressed mechanism include：Guide rod, the guide rod are fixed on through the upper and lower surface of the support plate and one end on the chassis, and the relatively described guide rod of the support plate can move up and down；Crimp assemblies, the crimp assemblies are connected to the support plate to apply downward precompression to the support plate, so as to ensure that the driving wheel is contacted with ground.Automatic guided vehicle according to embodiments of the present invention, drive component can be done along guide rod moves along a straight line the needs for being adapted to different road conditions up and down, and precompressed mechanism can always apply support plate downward precompression, so that driving wheel keeps contacting with ground, travel with ensure that automatic guided vehicle normal table.
Description
Technical field
The present invention relates to a kind of automatic guided vehicles.
Background technology
The pure driving devices of AGV with precompressed adjusting mechanism, the driving device are not subject to AGV loadings and the weight of its own
Amount is provided solely for the required driving force of AGV walkings.The pure driving devices of AGV with precompressed adjusting mechanism are by driving device
It is separately used alone with bogey, drive part is not subject to the gravity of vehicle-mounted cargo, is provided solely for the required drive of AGV walkings
Kinetic moment；Correspondingly, the bearing part of AGV is then acted on without power, the quality of AGV loadings is solely subjected to.Wherein AGV driving devices
Required precompression is provided for driving wheel with self precompressed adjusting mechanism, can be matched according to the size of AGV payload mass
The size of precompression can be carried out according to being uneven for road surface above and below small-scale with adapting to the demand of different driving power
Bounce keeps the required driving force of AGV walkings in real time to keep contact of the real-time driving wheel with ground.
However in the pure driving devices of existing precompressed adjusting mechanism AGV, left and right drive system is to be integrated and connected, i.e., left
Right driving wheel cannot move alone well, reduce the road surface adaptability of AGV；Or drive system is passed through into hinge and vehicle
Body connects so that the running orbit that wheel is moved up and down when adapting to road roughness is a bit of camber line, recessed when running into road surface
Wheel cannot move downward the minimum end in contact with depressed area well when cheating larger, can only be connect with the side of depressed area
It touches, the size for reducing driving force easily occurs dallying or slipping phenomenon.
The content of the invention
It is contemplated that one of above-mentioned technical problem is solved at least to a certain extent.
For this purpose, the present invention proposes a kind of automatic guided vehicle, which is adapted to different road conditions conditions, and
It runs smooth.
Automatic guided vehicle according to embodiments of the present invention includes：Chassis；Drive component, the driving component include：Two
Support plate；Driving device, the driving device are fixed on the support plate and between two support plates；Driving
Wheel, the driving wheel are connected with the driving device；Precompressed mechanism, the precompressed mechanism include：Guide rod, the guide rod run through institute
It states the upper and lower surface of support plate and one end is fixed on the chassis, the relatively described guide rod of the support plate can move up and down；Pressure
Connected components, the crimp assemblies are connected to the support plate to apply downward precompression to the support plate, so as to ensure
Driving wheel is stated to contact with ground.
Automatic guided vehicle according to embodiments of the present invention, drive component can be done along guide rod to move along a straight line to adapt to up and down
In the needs of different road conditions, and precompressed mechanism can always apply support plate downward precompression so that driving wheel and ground
Contact is kept, is travelled with ensure that automatic guided vehicle normal table.
In addition, automatic guided vehicle according to embodiments of the present invention, can also have following technical characteristic：
According to some embodiments of the present invention, the crimp assemblies include：Spring, the spring pocket are arranged on the guide rod
The other end and it is connected to the support plate；Pressing plate, the pressing plate, which is sheathed on the guide rod, applies the spring in downward work
Firmly.
According to some embodiments of the present invention, the crimp assemblies further include：Limiting plate, the limiting plate are fixed on described
Upper surface on guide rod with the pressing plate is oppositely arranged.
According to some embodiments of the present invention, the precompressed mechanism further includes：Adjusting screw rod, the adjusting screw rod are rotatable
Ground is arranged on the limiting plate, and the lower end of the adjusting screw rod is connected on the pressing plate.
According to some embodiments of the present invention, one end of the support plate is equipped with the first positioning with guide rod cooperation
Column, first positioning column are arranged on the inside of the support plate, and the other end of the support plate is equipped with and guide rod cooperation
Second positioning column, second positioning column are arranged on the outside of the support plate.
According to some embodiments of the present invention, multiple bushings are equipped in first positioning column and second positioning column,
The bushing is interference fitted respectively with first positioning column and second positioning column.
According to some embodiments of the present invention, the limiting plate is connected with the guide rod by screw fit.
According to some embodiments of the present invention, the driving device includes：The driving motor and retarder of interconnection, institute
Retarder is stated equipped with terminal pad, the terminal pad is fixed on the support plate.
According to some embodiments of the present invention, the support plate is equipped with through hole, and the axis of the retarder stretches out the through hole
It is connected with the driving wheel.
According to some embodiments of the present invention, the driving component further includes：Side end lid is taken turns, the wheel side end lid is crimped on
On the axis of the retarder.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the partial perspective view of automatic guided vehicle according to some embodiments of the invention；
Fig. 2 is the partial exploded view of automatic guided vehicle according to some embodiments of the invention.
Reference numeral：
Drive component 10；Support plate 11；First positioning column 111；Second positioning column 112；Through hole 113；Driving device 12；It drives
Dynamic motor 121；Retarder 122；Driving wheel 13；Bushing 14；Take turns side end lid 15；
Guide rod 21；Crimp assemblies 22；Spring 221；Pressing plate 222；Limiting plate 223；Adjusting screw rod 23.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar component or has the function of same or like component.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Automatic guided vehicle according to embodiments of the present invention is described referring to Fig. 1-Fig. 2, which substantially can be with
Including：Chassis (not shown), drive component 10 and precompressed mechanism.
As shown in Figure 1 with Figure 2, drive component 10 can include：Support plate 11, driving device 12 and driving wheel 13.It drives
Dynamic device 12 is fixed on support plate 11 and between two support plates 11, driving wheel 13 is connected with driving device 12.It is i.e. logical
Over-driving device 12 drives driving wheel 13 to walk on road surface.
Precompressed mechanism can include：Guide rod 21 and crimp assemblies 22.Guide rod 21 runs through the upper and lower surface and one of support plate 11
End is fixed on chassis, and support plate 11 can move up and down with respect to guide rod 21.I.e. support plate 11 has through the hole of its upper and lower surface,
One end of guide rod 21 inserts in the hole and is connected to chassis, and guide rod 21 is stationary with respect to chassis, and support plate 11 is movably arranged
In on guide rod 21.In this way, automatic guided vehicle, during ground run, if running into the convex situation in road surface, support plate 11 can
It moves along a straight line upwards along guide rod 21 and driving device 12 and driving wheel 13 is driven synchronously to move upwards；If run into what is dipped
Situation, support plate 11 can downwards move along a straight line along guide rod 21 and driving device 12 and driving wheel 13 driven synchronously to move downward.
In other words, drive component 10 can do linear motion up and down, guide rod with the variation of landing ground height as an entirety along guide rod 21
21 length determines scope of activities of the drive component 10 in vertical direction, since drive component 10 only moves along a straight line up and down,
There is no movement in a curve, it can thus be avoided the phenomenon that interim card occurs during exercise in driving wheel 13.
Crimp assemblies 22 are connected to support plate 11 to apply downward precompression to support plate 11 so that driving wheel 13 is always
It keeps contacting with ground.That is, support plate 11, in any position of guide rod 21, crimp assemblies 22 can be to support plate 11
Apply downward precompression, and precompression is passed into driving wheel 13 so that there are frictional force, Jin Erbao with ground for driving wheel 13
The phenomenon that travelling, avoid the occurrence of idle running or skid card automatic guided vehicle normal table.In other words, support plate 11 is located at guide rod 21
Most lower position and most upper limit position, the precompression that crimp assemblies 22 apply support plate 11 can meet driving wheel 13
In ground normally travel.
In short, automatic guided vehicle according to embodiments of the present invention, drive component 10 can do straight up and down along guide rod 21
Line movement is to be adapted to the needs of different road conditions, and precompressed mechanism can always apply support plate 11 downward precompression, make
It obtains driving wheel 13 to keep contacting with ground, travel with ensure that automatic guided vehicle normal table.
In some embodiments of the invention, crimp assemblies 22 include：Spring 221 and pressing plate 222.Wherein, 221 sets of spring
Arranged on guide rod 21 the other end and be connected to support plate 11.Pressing plate 222, which is sheathed on guide rod 21, applies spring 221 in downward work
Firmly.That is, pressing plate 222 presses spring 221 tighter, the decrement of spring 221 is bigger, and crimp assemblies 22 are to support plate
The 11 downward precompressions applied are bigger；Pressing plate 222 presses spring 221 more loose, and the compression of spring 221 is smaller, crimp assemblies 22
The downward precompression applied to support plate 11 is smaller, and therefore, in the changeless situation in 222 position of pressing plate, support plate 11 is upward
During movement, spring 221 is compressed, and crimp assemblies 22 gradually increase the precompression of support plate 11；When support plate 11 moves downward,
Spring 221 gradually extends, and crimp assemblies 22 are gradually reduced the precompression of support plate 11, therefore, can adjust according to actual needs
The precompressed length of spring 221 is saved, ensures spring 221 in the most lower position of guide rod 21 it is also possible that driving wheel 13 is kept with ground
It contacts and with enough frictional force, travels with ensureing automatic guided vehicle normal table.
In some alternative embodiments, crimp assemblies 22 can also include：Limiting plate 223.Limiting plate 223 is fixed on guide rod 21
The upper upper surface with pressing plate 222 is oppositely arranged.In other words, spring 221 and pressing plate 222 are defined to support plate 11 and limiting plate
Between 223, limiting plate 223 can limit pressing plate 222 and depart from from guide rod 21.
In further optional example, precompressed mechanism further includes：Adjusting screw rod 23.Adjusting screw rod 23 is rotatably disposed within /V
On plate 223, and the lower end of adjusting screw rod 23 is connected on pressing plate 222.When i.e. adjusting screw rod 23 is screwed down, adjusting screw rod 23
Lower end is bigger to the active force of pressing plate 222, and pressing plate 222 also presses spring 221 tighter；When adjusting screw rod 23 unscrews upwards, adjust
The lower end of section screw rod 23 is smaller to the active force of pressing plate 222, and pressing plate 222 is smaller to the pressure of spring 221, the compression of spring 221
Amount is also smaller.Therefore, can pressure of the pressing plate 222 to spring 221 be adjusted by adjusting screw rod 23, so as to change crimp assemblies
The precompression of 22 pairs of support plates 11, and then change the frictional force between driving wheel 13 and ground.
Wherein, limiting plate 223 can be connected with guide rod 21 by screw fit.For example, on guide rod 21 and limiting plate 223
It can be respectively equipped with screw hole, it is during assembling, guide rod 21 and 223 screw hole of limiting plate is corresponding and with screw lock.By
This, can improve the efficiency assembled between limiting plate 223 and guide rod 21.
In other alternative embodiments, one end of support plate 11 is equipped with the first positioning column 111 coordinated with guide rod 21, the
One positioning column 111 is arranged on the inside of support plate 11, and the other end of support plate 11 is equipped with the second positioning column coordinated with guide rod 21
112, the second positioning column 112 is arranged on the outside of support plate 11.As shown in Figure 1 with Figure 2, guide rod 21 is inserted into the first positioning column respectively
111 and second in positioning column 112, and spring 221 is arranged on each guide rod 21, and precompressed mechanism includes two pressing plates 222 and one
A limiting plate 223, one of pressing plate 222 press spring 221 arranged on the upper surface of two the first positioning columns 111, another pressure
Plate 222 presses spring 221 arranged on the upper surface of two the second positioning columns 112.Limiting plate 223 is fixed on guide rod 21 and is crimped on
On pressing plate 222.Adjusting screw 23 is respectively equipped at the both ends of limiting plate 223, two adjusting screws 23 are respectively for a pressing plate
222, so as to adjust pressure size of the crimping plate to spring 221 respectively by two adjusting screws 23, and cause support plate
Precompression suffered by 11 both ends is equal, moves with ensureing automatic guided vehicle normal table.
Still optionally further, multiple bushings 14 are equipped in the first positioning column 111 and the second positioning column 112, bushing 14 is distinguished
It is interference fitted with the first positioning column 111 and the second positioning column 112.I.e. bushing 14 is located at 21 and first positioning column 111 of guide rod and
Between two positioning columns 112, thus, it is possible to avoid generating mill between 21 and first positioning column 111 of guide rod and the second positioning column 112
Damage.
In still other embodiments of the present invention, driving device 12 includes：The driving motor 121 and retarder of interconnection
122, retarder 122 is equipped with terminal pad, and terminal pad is fixed on support plate 11.Support plate 11 is equipped with through hole 113, retarder 122
Axis stretch out through hole 113 be connected with driving wheel 13.
In further alternative embodiment, drive component 10 further includes：Take turns side end lid 15.Wheel side end lid 15 is crimped on driving wheel
On 13 outer end face.Thus, it is possible to the stability coordinated between improving the axis of driving wheel 13 and retarder 122.
It forms and operation belongs to those of ordinary skill in the art and understands and easily obtain for automatic guided vehicle other
, it is no longer repeated herein.
In the description of the present invention, it is to be understood that the orientation or position of the instructions such as term " interior ", " outer ", " on ", " under "
Put relation be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplify description rather than
Indicate or imply that signified device or component there must be specific orientation, with specific azimuth configuration and operation, therefore cannot
It is interpreted as limitation of the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
It can be contacted directly including the first and second features, it is not to contact directly but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper or is merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature directly over second feature and oblique upper or be merely representative of
Fisrt feature level height is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art are not departing from the principle of the present invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (10)
1. a kind of automatic guided vehicle, which is characterized in that including：
Chassis；
Drive component, the driving component include：
Two support plates；
Driving device, the driving device are fixed on the support plate and between two support plates；
Driving wheel, the driving wheel are connected with the driving device；
Precompressed mechanism, the precompressed mechanism include：
Guide rod, the guide rod are fixed on through the upper and lower surface of the support plate and one end on the chassis, the support plate phase
It can move up and down to the guide rod；
Crimp assemblies, the crimp assemblies are connected to the support plate to apply downward precompression to the support plate, so as to
Ensure that the driving wheel is contacted with ground.
2. automatic guided vehicle according to claim 1, which is characterized in that the crimp assemblies include：
Spring, the spring pocket are arranged on the other end of the guide rod and are connected to the support plate；
Pressing plate, the pressing plate, which is sheathed on the guide rod, applies the spring downward active force.
3. automatic guided vehicle according to claim 2, which is characterized in that the crimp assemblies further include：Limiting plate, it is described
The upper surface that limiting plate is fixed on the guide rod with the pressing plate is oppositely arranged.
4. automatic guided vehicle according to claim 3, which is characterized in that the precompressed mechanism further includes：Adjusting screw rod, institute
It states adjusting screw rod to be rotatably disposed on the limiting plate, and the lower end of the adjusting screw rod is connected on the pressing plate.
5. automatic guided vehicle according to claim 1, which is characterized in that one end of the support plate is equipped with and the guide rod
First positioning column of cooperation, first positioning column are arranged on the inside of the support plate, the other end of the support plate be equipped with
Second positioning column of the guide rod cooperation, second positioning column are arranged on the outside of the support plate.
6. the automatic guided vehicle described in as requested 5, which is characterized in that set in first positioning column and second positioning column
There are multiple bushings, the bushing is interference fitted respectively with first positioning column and second positioning column.
7. automatic guided vehicle according to claim 3, which is characterized in that the limiting plate is matched somebody with somebody with the guide rod by screw
Close connection.
8. automatic guided vehicle according to claim 1, which is characterized in that the driving device includes：The drive of interconnection
Dynamic motor and retarder, the retarder are equipped with terminal pad, and the terminal pad is fixed on the support plate.
9. the automatic guided vehicle described in claim 8, which is characterized in that the support plate is equipped with through hole, the axis of the retarder
The through hole is stretched out to be connected with the driving wheel.
10. automatic guided vehicle according to claim 9, which is characterized in that the driving component further includes：Side end lid is taken turns,
The wheel side end lid is crimped on the axis of the retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436801.2A CN108045189A (en) | 2017-12-26 | 2017-12-26 | Automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436801.2A CN108045189A (en) | 2017-12-26 | 2017-12-26 | Automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108045189A true CN108045189A (en) | 2018-05-18 |
Family
ID=62128136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711436801.2A Pending CN108045189A (en) | 2017-12-26 | 2017-12-26 | Automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108045189A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790668A (en) * | 2018-07-23 | 2018-11-13 | 浙江大学滨海产业技术研究院 | A kind of AGV trolleies antiskid system and anti-slip regulation method |
| CN109703651A (en) * | 2019-01-26 | 2019-05-03 | 珠海达明科技有限公司 | A kind of vertical independent suspension structure of AGV ladder supports based on MECANUM wheel |
| CN110626428A (en) * | 2019-09-26 | 2019-12-31 | 广东博智林机器人有限公司 | Mobile chassis and construction robot |
| CN111976406A (en) * | 2020-09-15 | 2020-11-24 | 湖南中谷信息技术有限公司 | Shock-absorbing structure and AGV dolly |
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| CN207772823U (en) * | 2017-12-26 | 2018-08-28 | 广东美的智能机器人有限公司 | Automatic guided vehicle |
| CN113120123A (en) * | 2021-05-27 | 2021-07-16 | 上海发网云物流科技有限公司 | Driving wheel suspension system of AGV (automatic guided vehicle) carrying trolley for relay sorting |
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| WO2014094942A2 (en) * | 2012-12-21 | 2014-06-26 | Sew-Eurodrive Gmbh & Co. Kg | Vehicle and gearbox |
| CN203832182U (en) * | 2014-04-24 | 2014-09-17 | 歌尔声学股份有限公司 | Independent suspension system for automatic guided vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790668A (en) * | 2018-07-23 | 2018-11-13 | 浙江大学滨海产业技术研究院 | A kind of AGV trolleies antiskid system and anti-slip regulation method |
| CN108790668B (en) * | 2018-07-23 | 2023-12-08 | 浙江大学滨海产业技术研究院 | AGV trolley anti-skid system and anti-skid adjusting method |
| CN109703651A (en) * | 2019-01-26 | 2019-05-03 | 珠海达明科技有限公司 | A kind of vertical independent suspension structure of AGV ladder supports based on MECANUM wheel |
| CN110626428A (en) * | 2019-09-26 | 2019-12-31 | 广东博智林机器人有限公司 | Mobile chassis and construction robot |
| CN111976406A (en) * | 2020-09-15 | 2020-11-24 | 湖南中谷信息技术有限公司 | Shock-absorbing structure and AGV dolly |
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Effective date of registration: 20220620 Address after: 528311 area a, 2nd floor, building B1, 3 Liaoshen Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: 528311 Global Innovation Center of Penglai Road Industrial Avenue Mei, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant before: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. |
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Application publication date: 20180518 |