CN216101515U - Driving module of transport vehicle and transport vehicle - Google Patents
Driving module of transport vehicle and transport vehicle Download PDFInfo
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- CN216101515U CN216101515U CN202122997245.4U CN202122997245U CN216101515U CN 216101515 U CN216101515 U CN 216101515U CN 202122997245 U CN202122997245 U CN 202122997245U CN 216101515 U CN216101515 U CN 216101515U
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Abstract
The utility model provides a driving module of a transport vehicle and the transport vehicle. The outer ring is fixedly connected with a steering driving device, and the steering driving device is meshed with the outer gear ring. The inner ring is rotatably connected with a driving wheel, and the axis of the driving wheel is vertical to the axis of the inner ring. And a running driving device for driving the driving wheel to rotate is arranged in the driving wheel. By adopting the slewing bearing as a supporting structure of the driving wheel and the steering driving device, the steering driving device can drive the outer gear ring to rotate, thereby realizing the steering of the driving wheel and reducing the slewing diameter; the driving device is integrated in the driving wheel, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle is reduced, and the driving module can be suitable for occasions with high space requirements.
Description
Technical Field
The utility model relates to the technical field of intelligent transportation, in particular to a driving module of a transport vehicle and the transport vehicle.
Background
With the development of smart technology, smart technology is gradually introduced into an AGV (Automated Guided Vehicle). The AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.
The AGV comprises a driving module, wherein the driving module is a power driving mechanism for the AGV to walk, and the AGV can travel. The traveling performance of the AGV is an important index for evaluating the quality of the AGV. The drive module integration level of present AGV car is lower, and occupation space is great, and the gyration diameter is great.
SUMMERY OF THE UTILITY MODEL
The utility model provides a driving module of a transport vehicle and the transport vehicle, which are used for improving the integration level of the driving module, reducing the space occupied by the driving module, reducing the rotation diameter, facilitating the arrangement and control cost of the whole vehicle, reducing the height of the whole vehicle of the transport vehicle and enabling the driving module to be suitable for occasions with high space requirements.
In a first aspect, the present invention provides a drive module for a transportation vehicle, the drive module comprising a slewing bearing, the slewing bearing comprising an outer ring and an inner ring fitted within the outer ring, wherein an outer rim of the inner ring is provided with an outer gear ring, and an axial lead of the outer gear ring coincides with an axial lead of the inner ring. The outer ring is fixedly connected with a steering driving device, and the steering driving device is meshed with the outer gear ring. The driving wheel is connected in the inner ring in a rotating way, and the axis of the driving wheel is vertical to the axis of the inner ring. A running driving device for driving the driving wheel to rotate is arranged in the driving wheel.
In the scheme, a slewing bearing is used as a supporting structure of the driving wheel and the steering driving device, so that the steering driving device can realize steering of the driving wheel by driving the outer gear ring to rotate, the rotating angle of the driving module is controlled, and the slewing diameter is reduced; the driving device is integrated in the driving wheel, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle can be reduced, and the driving module can be suitable for occasions with high space requirements.
In a particular embodiment, the steering drive includes a steering motor; the steering motor is fixedly connected with the outer ring, and an output shaft of the steering motor is meshed with the outer gear ring through the steering gear transmission mechanism, so that the steering motor and the outer ring are arranged side by side, the height of the whole driving module can be further reduced, and the driving module can be suitable for occasions with high space requirements.
In one particular embodiment, the steering gear train comprises: the steering gear is fixedly connected to the output shaft of the steering motor and meshed with the outer gear ring, so that the output shaft of the steering motor directly transmits driving force to the outer gear through the steering gear, and transmission efficiency is improved.
In one particular embodiment, the steering gear train comprises: a steering gear fixedly connected to an output shaft of the steering motor; the transition gear is connected to the outer ring in a rotating mode, the transition gear is meshed with the steering gear, the transition gear is further meshed with the outer gear ring, driving force is transmitted to the transition gear through the steering gear by an output shaft of the steering motor, and then the driving force is transmitted to the outer gear through the transition gear, so that torque output by the output shaft of the steering motor is further increased, and practical use is guaranteed; meanwhile, a steering gear and a transition gear with smaller sizes can be used, so that the space occupied by the driving module is further reduced, and the integration level is further improved.
In one embodiment, the steering motor is a low-speed high-torque motor to provide a sufficient steering driving force to the inner race.
In a specific embodiment, the inner edge of the driving wheel is provided with an inner gear ring, the axis of the inner gear ring is coincident with the axis of the driving wheel, and the driving device is meshed with the inner gear ring so that the driving device drives the driving wheel to rotate.
In a specific embodiment, the driving device comprises a driving motor, the driving motor is fixedly connected to the inner edge of the inner ring, an output shaft of the driving motor is meshed with the inner gear ring through a driving gear transmission mechanism, and the driving force output by the driving motor is transmitted to the inner gear ring through the driving gear transmission mechanism, so that the driving module is controlled to move, and the transmission efficiency and the stability are improved.
In a specific embodiment, the traveling motor comprises a traveling motor stator and a traveling motor rotor assembled in the traveling motor stator, wherein the traveling motor stator is fixedly connected to the inner edge of the inner ring, and the traveling motor rotor is fixedly connected with the output shaft of the traveling motor, so that the traveling driving device is conveniently integrated into the driving wheel, and the integration level is improved.
In a specific embodiment, the running gear transmission mechanism is a planetary gear transmission mechanism, and a planetary gear in the planetary gear transmission mechanism is meshed with the inner gear ring, so that the planetary gear and the sun gear which are small in size can be realized, and the integration level is improved.
In a specific embodiment, the planetary gear transmission mechanism is a primary planetary gear transmission mechanism or a secondary planetary gear transmission mechanism, and can perform primary or secondary speed reduction on the rotating speed of the output shaft of the running motor, perform primary or secondary increase on the torque of the output shaft of the running motor, ensure that a large enough running driving force is provided for the driving wheel, and ensure that the actual use requirement is met.
In one specific embodiment, the travel motor is a low-speed high-torque motor to provide a sufficiently large travel driving force to the drive wheels.
In a second aspect, the utility model further provides a transport vehicle, which comprises a frame and any one of the drive modules of the transport vehicle, wherein the outer ring is fixed on the frame.
In the scheme, a slewing bearing is used as a supporting structure of the driving wheel and the steering driving device, so that the steering driving device can realize steering of the driving wheel by driving the outer gear ring to rotate, the rotating angle of the driving module is controlled, and the slewing diameter is reduced; the driving device is integrated in the driving wheel, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle can be reduced, and the driving module can be suitable for occasions with high space requirements.
Drawings
Fig. 1 is an overall assembly view of a driving module of a transportation vehicle according to an embodiment of the present invention;
fig. 2 is a sectional structural view of a driving module of a transportation vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a planetary gear transmission mechanism according to an embodiment of the present invention.
Reference numerals:
11-outer ring 12-inner ring 13-outer gear ring
20-driving wheel 21-inner gear ring 30-steering motor
31-output shaft of steering motor 32-steering gear 33-transition gear
40-running motor 41-output shaft of running motor 42-stator of running motor
43-running motor rotor 44-sun gear 45-planetary gear
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to facilitate understanding of the driving module of the transport vehicle provided by the embodiment of the present invention, an application scenario of the driving module provided by the embodiment of the present invention is first described below, where the driving module is applied to a transport vehicle, and the transport vehicle may be an AGV vehicle, an intelligent parking robot, or another type of transport vehicle. The driving module of the transportation vehicle will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, 2 and 3, the drive module of the transport vehicle according to the embodiment of the present invention includes a slewing bearing, which includes an outer ring 11 and an inner ring 12 assembled in the outer ring 11, wherein an outer edge of the inner ring 12 is provided with an outer gear ring 13, and an axial line of the outer gear ring 13 coincides with an axial line of the inner ring 12. The outer ring 11 is fixedly connected with a steering driving device, and the steering driving device is meshed with the outer gear ring 13. A driving wheel 20 is rotatably connected in the inner ring 12, and the axis of the driving wheel 20 is perpendicular to the axis of the inner ring 12. A travel drive device for driving the drive wheel 20 to rotate is provided in the drive wheel 20.
In the above scheme, a slewing bearing is used as a support structure for the driving wheel 20 and the steering driving device, so that the steering driving device can realize steering of the driving wheel 20 by driving the outer gear ring 13 to rotate, thereby controlling the rotation angle of the driving module, and further reducing the slewing diameter; the driving device is integrated in the driving wheel 20, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle can be reduced, and the driving module can be suitable for occasions with high space requirements. The above-described respective structures will be described in detail with reference to the accompanying drawings.
In providing the slewing bearing, referring to fig. 2 and 3, the slewing bearing comprises an outer ring 11 and an inner ring 12, wherein the inner ring 12 is assembled in the outer ring 11 and can rotate relative to the outer ring 11, and the axial lines of the two coincide. Specifically, as shown in fig. 2 and 3, the inner ring 12 is fitted into the outer ring 11 via rolling elements, so that the inner ring 12 and the outer ring 11 can rotate relative to each other. Referring to fig. 1 to 3, an outer ring gear 13 is provided on an outer edge of the inner ring 12, and the outer ring gear 13 is located above the outer ring 11 so that the outer ring gear 13 can be at least partially exposed to the outside of the outer ring 11. And the axis of the external gear ring 13 is coincident with the axis of the inner ring 12, so that the inner ring 12 can be driven to synchronously rotate when the external gear ring 13 rotates. In addition, referring to fig. 2 and 3, the outer ring gear 13 and the inner ring 12 may be formed by integrally machining the inner ring 12 and the outer ring gear 13 together.
Referring to fig. 1 and 2, a steering driving device is fixedly connected to an outer side of the outer ring 11, and the steering driving device is engaged with the outer ring gear 13 to drive the inner ring 12 to rotate, so as to control the steering of the driving wheel 20 in the inner ring 12, and control the steering of the driving wheel 20, so as to control the rotation angle of the driving module, and thus reduce the rotation diameter of the driving module. When the steering driving apparatus is provided, referring to fig. 1 and 2, the steering driving apparatus may include a steering motor 30 to provide a driving force. The steering motor 30 may be a low-speed high-torque motor to provide a sufficient steering driving force to the inner race 12. The steering motor 30 is fixedly connected with the outer ring 11, the steering motor 30 can be fixed on the outer side of the outer ring 11 in a bolt fastening mode as shown in fig. 1, the steering motor 30 and the outer ring 11 are arranged side by side, the height of the whole driving module can be further reduced, and the driving module can be suitable for occasions with high space requirements. And the output shaft 31 of the steering motor is engaged with the outer ring gear 13 through the steering gear 32 transmission mechanism, so that the driving force output from the steering motor 30 is transmitted to the outer ring gear 13 through the steering gear 32 transmission mechanism.
When the steering gear 32 transmission is provided, various ways may be used. For example, referring to fig. 1 and fig. 2, a steering gear 32 may be fixedly connected to the output shaft 31 of the steering motor, and specifically, the steering gear 32 may be fixed to the output shaft 31 of the steering motor in a key connection manner, so that the output shaft 31 of the steering motor can drive the steering gear 32 to rotate. A transition gear 33 may be rotatably coupled to the outer race 11 such that the transition gear 33 is rotatable relative to the outer race 11. The transition gear 33 is meshed with the steering gear 32, and the transition gear 33 is also meshed with the outer gear ring 13, so that the output shaft 31 of the steering motor firstly transmits the driving force to the transition gear 33 through the steering gear 32, and then transmits the driving force to the outer gear through the transition gear 33, so that the torque output by the output shaft of the steering motor 30 is further increased, and the actual use is ensured to be met; meanwhile, the steering gear 32 and the transition gear 33 with smaller sizes can be used, so that the space occupied by the driving module is further reduced, and the integration level is further improved.
It should be understood that the arrangement of the transmission mechanism of the steering gear 32 is not limited to the above-described arrangement, and other arrangements may be adopted. For example, the transmission efficiency may be improved by directly engaging the steering gear 32 rotatably coupled to the output shaft 31 of the steering motor with the outer ring gear 13 without providing the transition gear 33, and directly transmitting the driving force from the output shaft 31 of the steering motor to the outer gear via the steering gear 32.
Referring to fig. 1, 2 and 3, a driving wheel 20 is rotatably connected in the inner ring 12, and the axis of the driving wheel 20 is perpendicular to the axis of the inner ring 12, that is, the driving wheel 20 can rotate in the inner ring 12, and the axis of the driving wheel 20 when rotating is perpendicular to the axis of the inner ring 12, so that the driving direction of the driving wheel 20 is perpendicular to the steering direction. As shown in fig. 2, both ends of the driving wheel 20 may be rotatably coupled to the inner periphery of the inner race 12 through a shaft and a bearing, respectively. And the driving wheel 20 is internally provided with a hollow chamber so as to arrange a driving device for driving the driving wheel 20 to rotate in the driving wheel 20, thereby improving the integration level of the whole driving module, reducing the space occupied by the driving module, being beneficial to the arrangement and control cost of the whole vehicle, being capable of reducing the height of the whole vehicle of the transport vehicle and enabling the driving module to be suitable for occasions with high space requirements.
When the running drive means is embodied to drive the driving wheel 20 to rotate, various manners can be adopted. For example, as shown in fig. 1 and 2, a ring gear 21 may be disposed at an inner edge of the driving wheel 20, a shaft axis of the ring gear 21 coincides with a shaft axis of the driving wheel 20, and the driving device is engaged with the ring gear 21, such that the driving device drives the driving wheel 20 to rotate by driving the ring gear 21 to rotate, so that the driving device drives the driving wheel 20 to rotate.
When the travel driving apparatus is provided, referring to fig. 2 and 3, the travel driving apparatus may include a travel motor 40, the travel motor 40 being located inside the driving wheel 20, the travel motor 40 being fixedly connected to an inner edge of the inner race 12 to fix the travel motor 40. The output shaft 41 of the running motor can be meshed with the inner gear ring 21 through the running gear transmission mechanism, and the driving force output by the running motor 40 is transmitted to the inner gear ring 21 through the running gear transmission mechanism, so that the running motion of the driving module is controlled, and the transmission efficiency and the stability are improved. A low-speed large-torque motor may be employed as the running motor 40 to provide a sufficiently large running driving force to the driving wheels 20.
When the traveling motor 40 is provided, various modes can be also adopted. In one arrangement, such as that shown in fig. 2, the travel motor 40 includes a travel motor stator 42 and a travel motor stator 43 fitted within the travel motor stator 42. The traveling motor stator 42 is fixedly connected to the inner edge of the inner ring 12, that is, the traveling motor stator 42 is fixed to the inner edge of the inner ring 12, and the traveling motor stator 42 is fixed. When a current is supplied to the travel motor stator 42 and the travel motor stator 43, an electromagnetic force is generated between the travel motor stator 42 and the travel motor stator 43 to rotate the travel motor stator 43. Referring to fig. 2, the driving motor stator 43 is fixedly connected to the output shaft 41 of the driving motor, so that the driving motor stator 43 can drive the output shaft 41 of the driving motor to rotate together, thereby transmitting the rotational driving force, and simultaneously facilitating the integration of the driving device into the driving wheel 20, thereby improving the integration level.
When a travel gear transmission is provided, a planetary gear 45 transmission may be employed as the travel gear transmission between the output shaft 41 of the travel motor and the ring gear 21. The planetary gear 45 transmission mechanism may be a primary planetary gear 45 transmission mechanism or a secondary planetary gear 45 transmission mechanism, and can perform primary or secondary speed reduction on the rotation speed of the output shaft of the running motor 40, perform primary or secondary increase on the torque of the output shaft of the running motor 40, and ensure that a sufficiently large running driving force is provided for the driving wheel 20. Of course, the planetary gear 45 transmission mechanism may be a three-stage or more planetary gear 45 transmission mechanism. In summary, it is necessary to engage a set of planetary gears 45 in the planetary gear 45 transmission mechanism with the ring gear 21, so that the planetary gears 45 and the sun gear 44 can be realized in a smaller size, and the integration can be improved.
For example, fig. 2 and 3 show a one-stage planetary gear 45 transmission mechanism as a running gear transmission mechanism, the one-stage planetary gear 45 transmission mechanism comprises a sun gear 44 fixedly connected to an output shaft 41 of a running motor, and further comprises a group of planetary gears 45, the number of the planetary gears 45 in the group of planetary gears 45 can be 3, 4 and the like, and the same group of planetary gears 45 are assembled together through a planet carrier, so that the planetary gears 45 in the same group can synchronously rotate. Referring to fig. 3, each planet gear 45 may be mounted on the planet carrier by a needle bearing. And each planetary gear 45 in the same group of planetary gears 45 is meshed with the sun gear 44, and each planetary gear 45 is meshed with the inner gear ring 21, so that when the output shaft 41 of the running motor rotates, the inner gear ring 21 can be driven to rotate through the sun gear 44 and the planetary gears 45 in sequence, the rotation of the driving wheel 20 is realized, the primary speed reduction of the rotating speed of the output shaft of the running motor 40 is realized, the primary increase of the torque of the output shaft of the running motor 40 is realized, the sufficient running driving force is guaranteed to be provided for the driving wheel 20, and the actual use requirement is guaranteed to be met.
Of course, when a two-stage planetary gear 45 transmission is used as the driving gear transmission, two sun gears 44 and two sets of planetary gears 45 are required, wherein one sun gear 44 is fixedly connected with the output shaft 41 of the driving motor, and one set of planetary gears 45 is meshed with the sun gear 44. The axis of the other sun gear 44 is collinear with the axis of the output shaft 41 of the running motor but can rotate relative to the output shaft 41 of the running motor, and the rotating shaft of the sun gear 44 is fixedly connected with the planet carrier of the planetary gear set 45, so that the sun gear 44 can be driven to rotate. The other set of planetary gears 45 is meshed with the sun gear 44 and simultaneously meshed with the inner gear ring 21, so that the rotation speed of the output shaft of the running motor 40 is subjected to secondary speed reduction, the torque of the output shaft of the running motor 40 is subjected to secondary increase, sufficient running driving force is guaranteed to be provided for the driving wheel 20, and the actual use requirement is guaranteed to be met.
By adopting a slewing bearing as a supporting structure of the driving wheel 20 and the steering driving device, the steering driving device can realize the steering of the driving wheel 20 by driving the outer gear ring 13 to rotate, so as to control the rotation angle of the driving module, thereby reducing the slewing diameter; the driving device is integrated in the driving wheel 20, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle can be reduced, and the driving module can be suitable for occasions with high space requirements.
In addition, the embodiment of the utility model also provides a transport vehicle, and referring to fig. 1 to fig. 3, the transport vehicle comprises a frame and a driving module of any one of the transport vehicles, and the outer ring 11 is fixed on the frame. By adopting a slewing bearing as a supporting structure of the driving wheel 20 and the steering driving device, the steering driving device can realize the steering of the driving wheel 20 by driving the outer gear ring 13 to rotate, so as to control the rotation angle of the driving module, thereby reducing the slewing diameter; the driving device is integrated in the driving wheel 20, so that the integration level of the whole driving module is improved, the space occupied by the driving module is reduced, the whole vehicle arrangement and control cost is facilitated, the height of the whole vehicle of the transport vehicle can be reduced, and the driving module can be suitable for occasions with high space requirements.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A drive module for a transport vehicle, comprising:
a slewing bearing comprising an outer ring and an inner ring assembled within the outer ring; the outer edge of the inner ring is provided with an outer gear ring, and the axis of the outer gear ring is superposed with the axis of the inner ring;
the steering driving device is fixedly connected with the outer ring and meshed with the outer gear ring;
the driving wheel is rotationally connected in the inner ring, and the axis of the driving wheel is vertical to the axis of the inner ring;
and the running driving device is arranged in the driving wheel and is used for driving the driving wheel to rotate.
2. The drive module of claim 1, wherein the steering drive includes a steering motor;
the steering motor is fixedly connected with the outer ring, and an output shaft of the steering motor is meshed with the outer gear ring through a steering gear transmission mechanism.
3. The drive module of claim 2, wherein the steering gear train comprises:
and the steering gear is fixedly connected to an output shaft of the steering motor and is meshed with the outer gear ring.
4. The drive module of claim 2, wherein the steering gear train comprises:
a steering gear fixedly connected to an output shaft of the steering motor;
the transition gear is rotatably connected to the outer ring and meshed with the steering gear, and the transition gear is further meshed with the outer gear ring.
5. The drive module according to claim 1, wherein the inner edge of the drive wheel is provided with an inner gear ring, the axis of the inner gear ring coincides with the axis of the drive wheel, and the travel drive device is engaged with the inner gear ring.
6. The drive module of claim 5, wherein the travel drive includes a travel motor;
the running motor is fixedly connected to the inner edge of the inner ring, and an output shaft of the running motor is meshed with the inner gear ring through a running gear transmission mechanism.
7. The drive module of claim 6, wherein the travel motor comprises:
the traveling motor stator is fixedly connected to the inner edge of the inner ring;
and the running motor rotor is assembled in the running motor stator and is fixedly connected with an output shaft of the running motor.
8. The drive module as claimed in claim 6, characterized in that the running gear transmission is a planetary gear transmission, and planetary gears in the planetary gear transmission are in mesh with the ring gear.
9. The drive module of claim 8, wherein the planetary gear train is a primary planetary gear train or a secondary planetary gear train.
10. A transportation vehicle, comprising:
a frame;
and a drive module for a transport vehicle as claimed in any one of claims 1 to 9, wherein the outer race is fixed to the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122997245.4U CN216101515U (en) | 2021-11-29 | 2021-11-29 | Driving module of transport vehicle and transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122997245.4U CN216101515U (en) | 2021-11-29 | 2021-11-29 | Driving module of transport vehicle and transport vehicle |
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| CN216101515U true CN216101515U (en) | 2022-03-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771642A (en) * | 2022-03-29 | 2022-07-22 | 北京航空航天大学 | Rudder wheel structure of chassis of omnidirectional mobile robot |
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- 2021-11-29 CN CN202122997245.4U patent/CN216101515U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771642A (en) * | 2022-03-29 | 2022-07-22 | 北京航空航天大学 | Rudder wheel structure of chassis of omnidirectional mobile robot |
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Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Patentee after: Hangzhou Qianjiang Xincheng Investment Group Co.,Ltd. Address before: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. Patentee before: Hangzhou Qianjiang Xincheng Investment Group Co.,Ltd. |