CN108284827A - Electronic automatic guided vehicle brake apparatus and braking method - Google Patents
Electronic automatic guided vehicle brake apparatus and braking method Download PDFInfo
- Publication number
- CN108284827A CN108284827A CN201711439004.XA CN201711439004A CN108284827A CN 108284827 A CN108284827 A CN 108284827A CN 201711439004 A CN201711439004 A CN 201711439004A CN 108284827 A CN108284827 A CN 108284827A
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- China
- Prior art keywords
- vehicle
- shell
- gear
- deceleration
- motor
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of electronic automatic guided vehicle brake apparatus, including vehicle frame, the horizontal screw bolt being connect with vehicle frame, shell set on screw rod lower part, motor in shell, first gear on motor rotation axis, the second gear engaged with first gear set on first gear top, second gear is rotatablely connected with horizontal screw bolt, push rod on the outside of housing bottom, push rod one end is connect with lower part of the housing, the push rod other end is connect with brake pad, set on the tire drive plate of frame downward, brake pad can be contacted with tire drive plate, position sensor on vehicle frame, Vehicle Controller on guiding vehicle, set on the gyroscope guided on vehicle and set on the console of control centre；Motor is fixed in shell inner surface；Console is electrically connected with Vehicle Controller, and Vehicle Controller is electrically connected with position sensor, motor and gyroscope respectively.The present invention is exported with that can be precisely controlled brake force, feature easy to operation.
Description
Technical field
The present invention relates to automatic guided vehicle braking technology fields, and brake force output can be precisely controlled more particularly, to one kind,
Electronic automatic guided vehicle brake apparatus easy to operation and braking method.
Background technology
Traditional braking system, using brake pedal, booster master cylinder, brake pipe, the pattern of rim brake, by driving
The person's of sailing brake activation pedal establishes oil pressure, oil pressure is transmitted to wheel side system by brake pipe after booster power-assisted in master cylinder
Dynamic device, realizes brake.Since transferring structure is more, it cannot be accurately controlled the brake force of output, cannot actively be braked.Automatically it leads
Draw vehicle compared to orthodox car, the requirement more controllable precise to brake force, and can actively brake.
Invention content
The goal of the invention of the present invention be in order to overcome brake force in the prior art output not accurate, it is complicated not
Foot, brake force output, electronic automatic guided vehicle brake apparatus easy to operation and braking method can be precisely controlled by providing one kind.
To achieve the goals above, the present invention uses following technical scheme：
A kind of electronic automatic guided vehicle brake apparatus, including vehicle frame, the horizontal screw bolt being connect with vehicle frame are set to screw rod lower part
Shell, be set to shell in motor, be set to motor rotation axis on first gear, be set to first gear top and the first tooth
Take turns the second gear of engagement, second gear and horizontal screw bolt are rotatablely connected, the push rod being set on the outside of housing bottom, push rod one end with
Lower part of the housing connects, and the push rod other end is connect with brake pad, is set to the tire drive plate of frame downward, and brake pad can be passed with tire
Moving plate contacts, the position sensor being set on vehicle frame, the Vehicle Controller being set on guiding vehicle, the gyroscope being set on guiding vehicle
With the console set on control centre；Motor is fixed in shell inner surface；Console is electrically connected with Vehicle Controller, vehicle-mounted control
Device processed is electrically connected with position sensor, motor and gyroscope respectively.
The present invention controls the position of brake structure by motor and gear structure, passes through console, Vehicle Controller, gyro
The control of instrument operates, and extremely can accurately control the size of brake force, as power source, may be implemented actively to brake.
Preferably, the number of teeth of first gear is less than the number of teeth of second gear.
Preferably, being equipped with external screw thread in the middle part of horizontal screw bolt, externally threaded left and right ends are equipped with rubber ring.
Preferably, the internal diameter of second gear is equipped with several internal tooths, second gear can be moved left and right along horizontal screw bolt；
Second gear lower part is located in shell and is fixedly connected with the casing.
Preferably, frame downward is equipped with through-hole, push rod passes through through-hole and stretches out except vehicle frame.
Preferably, brake pad, in the cylindric of one end open, one end of brake pad opening is socketed on push rod, brake pad
The surface of the one end being in contact with tire drive plate is equipped with the decorative pattern for increasing frictional force.
Preferably, the detecting head of position sensor is located in shell.
A kind of braking method based on electronic automatic guided vehicle brake apparatus, includes the following steps：
(8-1) console presets the driving trace of automatic electric guiding vehicle, travel speed v, operating range, retarder location
It sets, stop position, application position and stop position distance S1；
(8-2) when automatic electric guiding garage sails to application position, console guides the vehicle-mounted control of vehicle to automatic electric
Device processed issues braking instruction；
The Vehicle Controller control motor of (8-3) automatic electric guiding vehicle is rotated, after gear transmits, the second tooth
The internal tooth of wheel and the external screw thread of screw rod coordinate, and shell and push rod is driven to be moved to vehicle frame；
(8-4) brake pad is contacted with tire drive plate, and friction generates braking；
(8-5) vehicle-mounted gyroscope measures the deceleration a of automatic electric guiding vehicle；
(8-6) Vehicle Controller is calculated at deceleration a, and automatic electric guides vehicle to the required time t of stopping and arrives
Stop the distance S that automatic electric guiding vehicle is passed through：
T=v/a；
S=v*t-a*t*t/2；
(8-7) automatic electric guiding vehicle compares S and S1, and whether judgement deceleration a is suitable；
(8-8) Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, control brake pad and tire drive plate
Frictional force.
Preferably, (8-7) includes the following steps：
(9-1) illustrates that deceleration a is too small if S ＞ S1, and guiding vehicle is more than scheduled parking position；
(9-2) illustrates that deceleration a is excessive if S ＜ S1, and guiding vehicle, which does not reach when predetermined parking space is set, to be stopped；
(9-3) illustrates that deceleration a is suitble to, is denoted as a if S=S10, guiding vehicle, which reaches parking position, to be stopped.
Preferably, (8-8) includes the following steps：
(10-1) is if deceleration a ＜ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted control
Device processed increases the rotating speed of motor, reduces shell at a distance from vehicle frame, increases the frictional force of brake pad and tire drive plate, increases
Deceleration a；
(10-2) is if deceleration a ＞ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted control
The rotating speed of motor is reduced or is reversely rotated by device processed, is increased shell at a distance from vehicle frame, is reduced brake pad and tire drive plate
Frictional force, reduce deceleration a.
Therefore, the present invention has the advantages that：The present invention using console setting automatic guided vehicle wheelpath,
Travel speed v, operating range, application position, stop position and application position issue system with stop position distance S1, console
Dynamic instruction, the data control motor that Vehicle Controller is measured according to gyroscope, position sensor rotate, according to shell and vehicle frame
Distance increases or reduces the frictional force of brake pad, realizes and is precisely controlled brake force, actively brakes；The present invention is easy to operate,
It calculates accurate.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the present invention；
Fig. 2 is a kind of electrical connection schematic diagram of the present invention.
In figure：Vehicle frame 1, horizontal screw bolt 2, shell 3, motor 4, first gear 5, second gear 6, push rod 7, brake pad 8, wheel
Tire drive plate 9, position sensor 10, Vehicle Controller 11, gyroscope 12, console 13, external screw thread 14, rubber ring 15.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 is a kind of electronic automatic guided vehicle brake apparatus, including vehicle frame 1, is connect with vehicle frame
Horizontal screw bolt 2 is set to the shell 3 of screw rod lower part, the motor 4 being set in shell, the first gear 5 being set on motor rotation axis,
The second gear 6 engaged with first gear set on first gear top, second gear are rotatablely connected with horizontal screw bolt, are set to shell
The push rod 7 of body bottom outside, push rod one end are connect with lower part of the housing, and the push rod other end is connect with brake pad 8, are set to frame downward
Tire drive plate 9, brake pad can contact with tire drive plate, the position sensor 10 being set on vehicle frame, be set on guiding vehicle
Vehicle Controller 11, the gyroscope 12 and console 13 set on control centre being set on guiding vehicle；Motor is fixed on shell
On inner surface；Console is electrically connected with Vehicle Controller, and Vehicle Controller is electrically connected with position sensor, motor and gyroscope respectively
It connects.The number of teeth of first gear is less than the number of teeth of second gear.External screw thread 14, externally threaded left and right ends are equipped in the middle part of horizontal screw bolt
It is equipped with rubber ring 15.The internal diameter of second gear is equipped with several internal tooths, and second gear can be moved left and right along horizontal screw bolt；The
Two gear lower parts are located in shell and are fixedly connected with the casing.Frame downward is equipped with through-hole, and push rod passes through through-hole and stretches out vehicle frame
Except.Brake pad is cylindric in one end open, and one end of brake pad opening is socketed on push rod, brake pad and tire drive plate
The surface of the one end being in contact is equipped with the decorative pattern for increasing frictional force.The detecting head of position sensor is located in shell.
A kind of braking method based on electronic automatic guided vehicle brake apparatus, includes the following steps：
Step 100, console presets the driving trace of automatic electric guiding vehicle, travel speed v, operating range, system
Dynamic position, stop position, application position and stop position distance S1；
Step 200, when automatic electric guiding garage sails to application position, console guides the vehicle-mounted of vehicle to automatic electric
Controller issues braking instruction；
Step 300, the Vehicle Controller control motor of automatic electric guiding vehicle is rotated, after gear transmits, the
The internal tooth of two gears and the external screw thread of screw rod coordinate, and shell and push rod is driven to be moved to vehicle frame；
Step 400, brake pad is contacted with tire drive plate, and friction generates braking；
Step 500, vehicle-mounted gyroscope measures the deceleration a of automatic electric guiding vehicle；
Step 600, Vehicle Controller is calculated at deceleration a, automatic electric guide vehicle to stop required time t with
The distance S that vehicle is passed through is guided to automatic electric is stopped：
T=v/a；
S=v*t-a*t*t/2；
Step 700, automatic electric guiding vehicle compares S and S1, and whether judgement deceleration a is suitable：
Step 710, if S ＞ S1, illustrate that deceleration a is too small, guiding vehicle is more than scheduled parking position；
Step 720, if S ＜ S1, illustrate that deceleration a is excessive, guiding vehicle, which does not reach when predetermined parking space is set, to be stopped；
Step 730, if S=S1, illustrate that deceleration a is suitble to, be denoted as a0, guiding vehicle, which reaches parking position, to be stopped；
Step 800, Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, and control brake pad is passed with tire
The frictional force of Moving plate：
Step 810, if deceleration a ＜ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted
Controller increases the rotating speed of motor, reduces shell at a distance from vehicle frame, increases the frictional force of brake pad and tire drive plate, increases
Acceleration-deceleration a；
Step 820, if deceleration a ＞ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted
The rotating speed of motor is reduced or is reversely rotated by controller, increases shell at a distance from vehicle frame, is reduced brake pad and is driven with tire
The frictional force of disk reduces deceleration a.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (10)
1. a kind of electronic automatic guided vehicle brake apparatus, characterized in that including vehicle frame (1), the horizontal screw bolt being connect with vehicle frame
(2), it is set to the shell (3) of screw rod lower part, the motor (4) being set in shell, the first gear (5) being set on motor rotation axis,
The second gear (6) engaged with first gear set on first gear top, second gear are rotatablely connected with horizontal screw bolt, are set to
Push rod (7) on the outside of housing bottom, push rod one end are connect with lower part of the housing, and the push rod other end is connect with brake pad (8), are set to vehicle
The tire drive plate (9) of frame lower part, brake pad can be contacted with tire drive plate, the position sensor (10) being set on vehicle frame, if
Vehicle Controller (11) on guiding vehicle, the gyroscope (12) and the console set on control centre being set on guiding vehicle
(13)；Motor is fixed in shell inner surface；Console is electrically connected with Vehicle Controller, Vehicle Controller respectively with position sensing
Device, motor and gyroscope electrical connection.
2. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that the number of teeth of first gear is less than the
The number of teeth of two gears.
3. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that be equipped with outer spiral shell in the middle part of horizontal screw bolt
Line (14), externally threaded left and right ends are equipped with rubber ring (15).
4. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that the internal diameter of second gear is equipped with
Several internal tooths, second gear can be moved left and right along horizontal screw bolt；Second gear lower part is located in shell and is fixed with shell and connected
It connects.
5. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that frame downward is equipped with through-hole, pushes away
Bar passes through through-hole and stretches out except vehicle frame.
6. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that brake pad is in the circle of one end open
One end of column, brake pad opening is socketed on push rod, and the surface of one end that brake pad is in contact with tire drive plate is equipped with
Decorative pattern for increasing frictional force.
7. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that the detecting head position of position sensor
In in shell.
8. a kind of braking method based on electronic automatic guided vehicle brake apparatus described in claim 1, characterized in that including with
Lower step：
(8-1) console preset automatic electric guiding vehicle driving trace, travel speed v, operating range, application position,
Stop position, application position and stop position distance S1；
(8-2) when automatic electric guiding garage sails to application position, console guides the Vehicle Controller of vehicle to automatic electric
Issue braking instruction；
The Vehicle Controller control motor of (8-3) automatic electric guiding vehicle is rotated, after gear transmits, second gear
The external screw thread of internal tooth and screw rod coordinates, and shell and push rod is driven to be moved to vehicle frame；
(8-4) brake pad is contacted with tire drive plate, and friction generates braking；
(8-5) vehicle-mounted gyroscope measures the deceleration a of automatic electric guiding vehicle；
(8-6) Vehicle Controller is calculated at deceleration a, and automatic electric guides vehicle to the required time t of stopping and arrives stopping
The distance S that automatic electric guiding vehicle is passed through：
T=v/a；
S=v*t-a*t*t/2；
(8-7) automatic electric guiding vehicle compares S and S1, and whether judgement deceleration a is suitable；
(8-8) Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, and control brake pad rubs with tire drive plate
Wipe power.
9. the braking method based on electronic automatic guided vehicle brake apparatus according to any one of claims 8, characterized in that (8-7) includes
Following steps：
(9-1) illustrates that deceleration a is too small if S ＞ S1, and guiding vehicle is more than scheduled parking position；
(9-2) illustrates that deceleration a is excessive if S ＜ S1, and guiding vehicle, which does not reach when predetermined parking space is set, to be stopped；
(9-3) illustrates that deceleration a is suitble to, is denoted as a if S=S10, guiding vehicle, which reaches parking position, to be stopped.
10. the braking method based on electronic automatic guided vehicle brake apparatus according to any one of claims 8, characterized in that (8-8) includes
Following steps：
(10-1) is if deceleration a ＜ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, Vehicle Controller
The rotating speed of motor is increased, reduces shell at a distance from vehicle frame, increases the frictional force of brake pad and tire drive plate, increase and slow down
Spend a；
(10-2) is if deceleration a ＞ a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, Vehicle Controller
The rotating speed of motor is reduced or reversely rotated, increases shell at a distance from vehicle frame, reduction brake pad rubs with tire drive plate
Power is wiped, deceleration a is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439004.XA CN108284827B (en) | 2017-12-26 | 2017-12-26 | Electronic automatic guided vehicle brake apparatus and braking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439004.XA CN108284827B (en) | 2017-12-26 | 2017-12-26 | Electronic automatic guided vehicle brake apparatus and braking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108284827A true CN108284827A (en) | 2018-07-17 |
| CN108284827B CN108284827B (en) | 2019-08-23 |
Family
ID=62832405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711439004.XA Active CN108284827B (en) | 2017-12-26 | 2017-12-26 | Electronic automatic guided vehicle brake apparatus and braking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284827B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645788A (en) * | 2020-06-09 | 2020-09-11 | 嘉兴优加车业科技有限公司 | Four-wheel baby carriage with anti-lock disc brake mechanism |
| CN113665552A (en) * | 2021-09-26 | 2021-11-19 | 苏州绿控传动科技股份有限公司 | Electronic parking device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5145041A (en) * | 1990-06-01 | 1992-09-08 | Teijin Seiki Co., Ltd. | Motion converting mechanism |
| WO1994024453A1 (en) * | 1993-04-16 | 1994-10-27 | Robert Bosch Gmbh | Wheel brake for vehicles, especially motor vehicles |
| CN205469001U (en) * | 2015-12-14 | 2016-08-17 | 深圳市华威精密机械有限公司 | AGV dolly with braking system |
| CN206633986U (en) * | 2017-03-15 | 2017-11-14 | 江苏安力电动车有限公司 | A kind of tractor brake apparatus |
-
2017
- 2017-12-26 CN CN201711439004.XA patent/CN108284827B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5145041A (en) * | 1990-06-01 | 1992-09-08 | Teijin Seiki Co., Ltd. | Motion converting mechanism |
| WO1994024453A1 (en) * | 1993-04-16 | 1994-10-27 | Robert Bosch Gmbh | Wheel brake for vehicles, especially motor vehicles |
| CN205469001U (en) * | 2015-12-14 | 2016-08-17 | 深圳市华威精密机械有限公司 | AGV dolly with braking system |
| CN206633986U (en) * | 2017-03-15 | 2017-11-14 | 江苏安力电动车有限公司 | A kind of tractor brake apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645788A (en) * | 2020-06-09 | 2020-09-11 | 嘉兴优加车业科技有限公司 | Four-wheel baby carriage with anti-lock disc brake mechanism |
| CN113665552A (en) * | 2021-09-26 | 2021-11-19 | 苏州绿控传动科技股份有限公司 | Electronic parking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108284827B (en) | 2019-08-23 |
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Address after: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee after: Zhejiang Zero run Technology Co.,Ltd. Address before: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee before: ZHEJIANG LEAPMOTOR TECHNOLOGY Co.,Ltd. |
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