CN214402956U - Intermediate double-wheel drive holding type vehicle carrier - Google Patents
Intermediate double-wheel drive holding type vehicle carrier Download PDFInfo
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- CN214402956U CN214402956U CN202120264644.7U CN202120264644U CN214402956U CN 214402956 U CN214402956 U CN 214402956U CN 202120264644 U CN202120264644 U CN 202120264644U CN 214402956 U CN214402956 U CN 214402956U
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Abstract
The utility model discloses a middle double-wheel drive holding type vehicle carrier, which comprises two groups of carriers which are relatively independent and are connected through a flexible connecting device; each group of carriers respectively comprises a frame, and the middle parts of the frames are symmetrically provided with middle double-wheel driving devices for driving the whole carriers to move; the holding mechanism is symmetrically arranged on two sides of the top of the frame, a holding rod structure used for holding wheels tightly is arranged at the tail end of the holding mechanism, and the holding mechanism is connected with a holding power device used for driving the holding mechanism to realize holding action. The middle double-wheel drive carrier structure is characterized in that the middle double wheels are driving wheels, the four wheels on the two sides are driven wheels, the drive mounting structure is controlled by the two driving mechanisms to steer, the drive mounting structure is flexible, the bearing gravity center and the driving wheels are on the same vertical line, and the drive mounting structure is not easy to slip.
Description
Technical Field
The utility model relates to a formula vehicle carrier is held in middle double round drive belongs to vehicle transport technical equipment field.
Background
In the intelligent parking field system, the vehicle carrier is divided into a comb tooth type, a clamping type and a holding type.
The comb-tooth type carrier finishes vehicle lifting or falling through interaction of the comb-tooth plates on the mounting carrier and the vehicle carrying plates, the carrier needs to be provided with the comb-tooth plates at each parking place, and the cost is high
The clamping type carrier directly clamps and extrudes the wheels through the relative rotation of the two clamping rods, so that the vehicle is lifted, and the clamping type carrier has the defects that the clamping force of the inner side and the outer side of the vehicle tire is different during clamping, the vehicle is lifted unstably, and the wheels are easily damaged. The holding type is that two holding rods firstly rotate to be in a parallel state and then relatively translate to hold and clamp the tire, so that the inner side and the outer side of the vehicle tire are uniformly stressed, and the lifting is stable.
The clasping type carrier is generally divided into two carriers which are independent from each other and are connected by a flexible device. Each carrier is provided with an independent driving device, the general driving devices are four-wheel drives at two sides, four servo motors arranged at four corners of the frame respectively drive one wheel, and the driving mode has higher cost and large occupied space. Two motor drives are needed for the middle two-wheel drive carrier, four corners of the carrier are driven, and space and cost are saved by the driving mode.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a middle double-wheel drive holding type vehicle carrier, which adopts two groups of relatively independent carriers, the middle of the carrier is connected by a flexible device, and the distance between the two independent carriers can be automatically adjusted according to the axle distance of the vehicle; and moreover, the middle double-wheel driving carrier structure is that the middle double wheels are driving wheels, and the four wheels on the two sides are driven wheels.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: a middle double-wheel drive holding type vehicle carrier comprises two groups of carriers which are relatively independent, wherein the two groups of carriers are connected through a flexible connecting device;
each group of carriers respectively comprises a frame, and the middle parts of the frames are symmetrically provided with middle double-wheel driving devices for driving the whole carriers to move;
the holding mechanism is symmetrically arranged on two sides of the top of the frame, a holding rod structure used for holding wheels tightly is arranged at the tail end of the holding mechanism, and the holding mechanism is connected with a holding power device used for driving the holding mechanism to realize holding action.
The middle double-wheel driving device adopts a four-motor driving device, the four-motor driving device comprises four groups of independent walking power, each group comprises a first walking motor, a main shaft of each first walking motor is connected with a first wheel shaft, and a first walking wheel is arranged on each first wheel shaft in a matched mode.
The middle double-wheel driving device adopts synchronous belt driving devices, the synchronous belt driving devices are two groups and are installed at the middle part of the frame in a reverse symmetrical mode, each group of synchronous belt driving devices comprises a second walking motor, a synchronous belt wheel and a second walking wheel are installed on an output shaft of the second walking motor, and the synchronous belt wheel is in meshing transmission with a synchronous belt wheel installed on the shaft of a third walking wheel through a synchronous belt.
The middle double-wheel driving device adopts gear driving devices, the gear driving devices are two groups and are symmetrically arranged in the middle of the frame in a reverse direction, each gear driving device comprises a third walking motor, a fourth walking wheel is arranged on an output shaft of the third walking motor, and the output shaft is in meshing transmission with a wheel shaft of the fifth walking wheel through a gear pair.
The holding mechanism comprises linear guide rails symmetrically fixed on the top of the frame, a driving plate and a driven plate are respectively supported on the linear guide rails in a sliding mode through a sliding seat, a lead screw nut is fixed in the middle of the bottom of the driving plate, and the lead screw nut and a lead screw of the holding power device form lead screw transmission fit; two ends of the driving plate are respectively hinged with a connecting rod through a first pin shaft, and the other end of the connecting rod is hinged with the holding rod structure through a second pin shaft; the holding rod structure is hinged at two ends of the driven plate.
The holding rod structure comprises a holding arm, rollers are rotatably arranged on the holding arm through two roller shafts which are arranged in parallel, and the holding arm is hinged to a driven plate of the holding mechanism through a third pin shaft; the back of the holding arm is hinged with the connecting rod.
The holding power device comprises a holding motor, the holding motor is fixed on the outer side wall of the frame through a motor mounting seat, a main shaft of the holding motor is provided with a lead screw in a transmission fit mode through a key, and two ends of the lead screw are supported on the frame through lead screw bearing seats; and threads with opposite rotation directions are symmetrically processed on the screw rod and are respectively matched with the two screw rod nuts of the holding mechanism.
The flexible connecting device comprises a first connecting rod and a second connecting rod, and the middle parts of the first connecting rod and the second connecting rod are hinged through a central pin shaft; the other end of the first connecting rod is hinged on the frame of one carrier through a first hinge seat, and the other end of the second connecting rod is hinged on the frame of the other carrier matched with the second connecting rod through a second hinge seat.
The use method of the intermediate two-wheel drive clasping type vehicle carrier comprises the following steps:
the method comprises the following steps: the carrier is driven to a designated parking space and is level to the parking space, the two-wheel driving device in the middle of the carrier is started simultaneously, and torque is transmitted to the traveling wheels through the speed reducer and the driving shaft to drive the carrier to travel to the bottom of a vehicle;
step two: at the moment, the four pairs of holding rod structures on the carrier are in an open state, the radar in the parking space detects the vehicle wheelbase information and feeds the vehicle wheelbase information back to the carrier, and after the front part and the rear part of the carrier are adjusted to a proper distance through the flexible connecting device, the holding power device is started;
step three: the two screw rods are respectively driven to rotate by the holding motor, screw rod nuts assembled on the screw rods are fixed on the driving plate to drive the driving plate to translate along the linear guide rail, and the holding rod structure is pushed to rotate by a connecting rod hinged on the driving plate;
step four: when the four pairs of holding rod structures are parallel to each other, the driving plate continuously pushes the driven plate to move, so that the holding rod structures on each carrier are close to each other, the tires of the vehicle are held, and the vehicle is lifted;
step five: after the carrier completely lifts the vehicle, a double-wheel driving device in the middle of the carrier is started, torque is transmitted to a driving wheel through a speed reducer and a driving shaft, and the vehicle is driven to travel to a designated position and then stops;
step six: starting a holding motor to drive two lead screws to rotate, fixing lead screw nuts assembled on the lead screws on a driving plate to drive the driving plate to translate along a linear guide rail, pulling a driven plate to move through a connecting rod, opening a holding rod structure, and enabling vehicle tires to fall;
step seven: after the holding rod structure is completely opened, the carrier walking motor is started, leaves the bottom of the vehicle and finishes the falling action.
The utility model has the advantages that:
1. the vehicle carrier adopts two groups of relatively independent carriers, the middle of the carrier is connected by a flexible device, and the distance between the two independent carriers can be automatically adjusted according to different wheel bases of vehicles.
2. The middle double-wheel driving device can be used for driving the whole carrier to move. The middle double-wheel drive carrier structure is characterized in that the middle double wheels are driving wheels, the four wheels on the two sides are driven wheels, the drive mounting structure is controlled by the two driving mechanisms to steer, the drive mounting structure is flexible, the bearing gravity center and the driving wheels are on the same vertical line, and the drive mounting structure is not easy to slip.
3. The holding mechanism can be used for driving the holding rod structure to hold the vehicle tightly.
4. The holding rod structure can be used for matching with the tire of the automobile to be carried, so that the holding rod structure can be tightly held and clamped, and the whole automobile is lifted.
5. The holding power device can provide holding action.
6. Through foretell flexible connection device, can realize the flexonics between two sets of carriers for distance between the two can adjust in certain extent, and then adapts to the vehicle of different wheel bases.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a structure diagram of a single carrier of the present invention.
Fig. 2 is a diagram showing the activity state of the holding pole structure of a single carrier of the present invention.
Fig. 3 is a diagram showing the movement process of the holding rod structure of a single carrier of the present invention.
Fig. 4 is a state diagram of the present invention after two carriers are connected by the flexible connecting means and unfolded.
Fig. 5 is a state diagram of the two carriers of the present invention after they are connected and folded by the flexible connecting device.
Fig. 6 is a structure diagram of a single carrier when the four-motor driving device of the present invention is used.
Fig. 7 is a single carrier structure diagram of the synchronous belt driving device of the present invention.
Fig. 8 is a structure diagram of a single carrier when the gear driving device of the present invention is used.
In the figure: the device comprises a holding power device 1, a holding mechanism 2, a holding rod structure 3, a middle double-wheel driving device 4, a frame 5, a flexible connecting device 6, a four-motor driving device 7, a synchronous belt driving device 8 and a gear driving device 9;
the device comprises a screw rod nut 201, a driving plate 202, a sliding seat 203, a first pin shaft 204, a connecting rod 205, a linear guide rail 206, a driven plate 207 and a second pin shaft 208;
the clamping arm 301, the roller 302, the roller shaft 303 and the third pin shaft 304;
the first hinge base 601, the first connecting rod 602, the second connecting rod 603, the second hinge base 604 and the center pin shaft 605;
a first traveling motor 701, a first wheel axle 702, a first traveling wheel 703;
a second traveling motor 801, a synchronous pulley 802, a second traveling wheel 803, a synchronous belt 804, and a third traveling wheel 805;
a third traveling motor 901, a fourth traveling wheel 902, a gear pair 903, and a fifth traveling wheel 904.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-5, a middle two-wheel driven clasping type vehicle carrier comprises two groups of relatively independent carriers, each group of carriers respectively comprises a frame 5, and middle two-wheel driving devices 4 for driving the whole carrier to move are symmetrically arranged on two sides of the middle part of the frame 5 in a reverse direction; the bicycle frame is characterized in that the two sides of the top of the frame 5 are symmetrically provided with holding mechanisms 2, the tail ends of the holding mechanisms 2 are provided with holding rod structures 3 used for holding wheels tightly, and the holding mechanisms 2 are connected with holding power devices 1 used for driving the holding mechanisms to realize holding actions. In addition, the middle double-wheel driving device 4 arranged in the middle can be used for driving the whole carrier to move, the middle double-wheel driving carrier structure is a driving wheel for the middle double wheel, four wheels on two sides are driven wheels, the driving and mounting structure is controlled by two driving mechanisms to steer, the driving and mounting structure is flexible, the bearing gravity center and the driving wheels are arranged on the same vertical line, and the carrier is not easy to slip.
Further, referring to fig. 6, the middle two-wheel driving device 4 adopts a four-motor driving device 7, the four-motor driving device 7 includes four groups of independent walking power, each group includes a first walking motor 701, a main shaft of the first walking motor 701 is connected to a first wheel axle 702, and a first walking wheel 703 is mounted on the first wheel axle 702 in a matching manner. In the working process, the four first traveling motors 701 respectively and correspondingly drive the corresponding first wheel shafts 702, the corresponding first traveling wheels 703 are driven by the first wheel shafts 702, and the whole frame is driven to move by the first traveling wheels 703.
Further, referring to fig. 7, the middle two-wheel driving device 4 employs synchronous belt driving devices 8, two groups of synchronous belt driving devices 8 are installed at the middle position of the frame 5 in a reverse symmetry manner, each group of synchronous belt driving device 8 includes a second walking motor 801, a synchronous pulley 802 and a second walking wheel 803 are installed on an output shaft of the second walking motor 801, and the synchronous pulley 802 is in meshing transmission with the synchronous pulley installed on a wheel shaft of a third walking wheel 805 through a synchronous belt 804. In the working process, the second walking motor 801 drives the synchronous pulley 802, the synchronous pulley 802 and the synchronous belt 804 synchronously drive the third walking wheel 805, and the whole device is driven to move and walk in an intermediate driving mode.
Further, referring to fig. 8, the middle two-wheel driving device 4 adopts gear driving devices 9, the gear driving devices 9 are arranged at the middle part of the frame 5 in two groups in a reverse symmetry manner, each group of gear driving devices 9 includes a third traveling motor 901, an output shaft of the third traveling motor 901 is provided with a fourth traveling wheel 902, and the output shaft is in meshing transmission with a wheel axle of the fifth traveling wheel 904 through a gear pair 903. In the operation process, the fourth traveling wheel 902 and the gear pair 903 are driven by the third traveling motor 901, and the fifth traveling wheel 904 is driven synchronously by the gear pair 903.
Further, the holding mechanism 2 comprises linear guide rails 206 symmetrically fixed on the top of the frame 5, a driving plate 202 and a driven plate 207 are respectively slidably supported on the linear guide rails 206 through a sliding seat 203, a lead screw nut 201 is fixed at the middle part of the bottom of the driving plate 202, and the lead screw nut 201 and a lead screw of the holding power device 1 form lead screw transmission fit; two ends of the driving plate 202 are respectively hinged with a connecting rod 205 through a first pin shaft 204, and the other end of the connecting rod 205 is hinged with the holding rod structure 3 through a second pin shaft 208; the holding rod structures 3 are hinged at both ends of the driven plate 207. The holding mechanism 2 can be used for driving the holding rod structure 3 to hold the vehicle tightly. In the working process, the driving plate 202 can drive the connecting rod 205, the connecting rod 205 drives the holding rod structure 3 hinged with the connecting rod 205, and then the holding rod structure 3 is rotated to open to clamp the tire.
Further, the holding pole structure 3 comprises a holding arm 301, a roller 302 is rotatably mounted on the holding arm 301 through two parallel roller shafts 303, and the holding arm 301 is hinged to a driven plate 207 of the holding mechanism 2 through a third pin shaft 304; the back of the clasping arm 301 is hingedly connected to the link 205. Through foretell holding pole structure 3 can be used for and treat the tire cooperation of transport car, and then hug tightly the centre gripping with it to make whole platform vehicle lift.
Further, the clasping power device 1 comprises a clasping motor 101, the clasping motor 101 is fixed on the outer side wall of the frame 5 through a motor mounting seat 102, a main shaft of the clasping motor 101 is provided with a screw rod 103 in a transmission fit manner through a key, and two ends of the screw rod 103 are supported on the frame 5 through a screw rod bearing seat 105; the screw 103 is symmetrically provided with threads with opposite rotation directions, and the threads are respectively matched with the two screw nuts 201 of the holding mechanism 2. The holding power device 1 described above can provide holding operation. In the working process, the holding motor 101 drives the screw rod 103, the screw rod 103 synchronously drives the driving plate 202 of the holding mechanism 2, finally the driving plate 202 drives the connecting rod 205, and the connecting rod 205 drives the holding rod structure 3.
Furthermore, the two groups of carriers are connected through a flexible connecting device 6. The vehicle carrier adopts two groups of relatively independent carriers, the middle of the carrier is connected by a flexible device, and the distance between the two independent carriers can be automatically adjusted according to different wheel bases of vehicles. In a specific use process, the flexible connecting device 6 can be used for adjusting the positions of two groups of relatively independent carriers, so that the positions of the two groups of relatively independent carriers correspond to the positions of the wheels.
Further, the flexible connecting device 6 comprises a first connecting rod 602 and a second connecting rod 603, and the middle parts of the first connecting rod 602 and the second connecting rod 603 are hinged through a central pin 605; the other end of the first connecting rod 602 is hinged to the frame 5 of one of the carriers through a first hinge base 601, and the other end of the second connecting rod 603 is hinged to the frame 5 of the other carrier through a second hinge base 604. Through foretell flexible connection device 6, can realize the flexonics between two sets of carriers for the distance between the two can be adjusted in certain extent, and then adapts to the vehicle of different wheel bases.
Example 2:
the use method of the intermediate two-wheel drive holding type vehicle carrier comprises the following steps:
the method comprises the following steps: the carrier is driven to a designated parking space and is level to the parking space, the two-wheel driving device 4 in the middle of the carrier is started at the same time, and torque is transmitted to the traveling wheels through the speed reducer and the driving shaft to drive the carrier to travel to the bottom of a vehicle;
step two: at the moment, four pairs of holding rod structures 3 on the carrier are in an open state, the radar in the parking space detects the vehicle wheelbase information and feeds the vehicle wheelbase information back to the carrier, and after the front part and the rear part of the carrier are adjusted to a proper distance through the flexible connecting device 6, the holding power device 1 is started;
step three: the two screw rods are respectively driven to rotate by the holding motor 101, screw rod nuts assembled on the screw rods are fixed on the driving plate 202, the driving plate 202 is driven to translate along the linear guide rail 206, and the holding rod structure 3 is driven to rotate by a connecting rod 205 hinged on the driving plate 202;
step four: when the four pairs of holding rod structures 3 are parallel to each other, the driving plate 202 continues to push the driven plate 207 to move, so that the holding rod structures 3 on each carrier approach to each other, and the tires of the vehicle are held up to lift the vehicle;
step five: after the carrier completely lifts the vehicle, a double-wheel driving device 4 in the middle of the carrier is started, torque is transmitted to a driving wheel through a speed reducer and a driving shaft, and the vehicle is driven to travel to a designated position and then stops;
step six: the holding motor 101 is started to drive the two screw rods to rotate, screw rod nuts assembled on the screw rods are fixed on the driving plate to drive the driving plate to translate along the linear guide rail, the driven plate is pulled to move through the connecting rod, the holding rod structure 3 is opened, and the vehicle tire falls;
step seven: after the holding rod structure 3 is completely opened, the carrier walking motor is started, leaves the bottom of the vehicle and finishes the falling action.
Claims (9)
1. The utility model provides a middle double round drive formula vehicle carrier of clasping which characterized in that: the device comprises two groups of relatively independent carriers, wherein each group of carriers respectively comprises a frame (5), and the middle part of the frame (5) is symmetrically provided with a middle double-wheel driving device (4) for driving the whole carrier to move;
the bicycle wheel holding structure is characterized in that holding mechanisms (2) are symmetrically arranged on two sides of the top of a bicycle frame (5), holding rod structures (3) used for holding wheels tightly are arranged at the tail ends of the holding mechanisms (2), and the holding mechanisms (2) are connected with holding power devices (1) used for driving the holding mechanisms to achieve holding actions.
2. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the middle double-wheel driving device (4) adopts a four-motor driving device (7), the four-motor driving device (7) comprises four groups of independent walking power, each group respectively comprises a first walking motor (701), a main shaft of each first walking motor (701) is respectively connected with a first wheel shaft (702), and a first walking wheel (703) is arranged on each first wheel shaft (702) in a matching mode.
3. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: middle double round drive arrangement (4) adopt synchronous belt drive arrangement (8), synchronous belt drive arrangement (8) are two sets of in total and are reverse symmetry and install the middle part at frame (5), and every group synchronous belt drive arrangement (8) include second walking motor (801), install synchronous pulley (802) and second walking wheel (803) on the output shaft of second walking motor (801), synchronous pulley (802) through synchronous belt (804) with install at the epaxial synchronous pulley meshing transmission of third walking wheel (805) wheel.
4. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the middle double-wheel driving device (4) adopts gear driving devices (9), the gear driving devices (9) are arranged at the middle part of the frame (5) in a reverse symmetry mode, each gear driving device (9) comprises a third traveling motor (901), a fourth traveling wheel (902) is arranged on an output shaft of the third traveling motor (901), and the output shaft is in meshing transmission with a wheel shaft of the fifth traveling wheel (904) through a gear pair (903).
5. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the holding mechanism (2) comprises linear guide rails (206) symmetrically fixed on the top of the frame (5), a driving plate (202) and a driven plate (207) are respectively supported on the linear guide rails (206) in a sliding mode through a sliding seat (203), a lead screw nut (201) is fixed at the middle of the bottom of the driving plate (202), and the lead screw nut (201) and a lead screw of the holding power device (1) form lead screw transmission fit; two ends of the driving plate (202) are respectively hinged with a connecting rod (205) through a first pin shaft (204), and the other end of the connecting rod (205) is hinged with the holding rod structure (3) through a second pin shaft (208); the holding rod structures (3) are hinged at two ends of the driven plate (207) at the same time.
6. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the holding pole structure (3) comprises a holding arm (301), a roller (302) is rotatably arranged on the holding arm (301) through two roller shafts (303) which are arranged in parallel, and the holding arm (301) is hinged on a driven plate (207) of the holding mechanism (2) through a third pin shaft (304); the back of the holding arm (301) is hinged with the connecting rod (205).
7. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the holding power device (1) comprises a holding motor (101), the holding motor (101) is fixed on the outer side wall of the frame (5) through a motor mounting seat (102), a main shaft of the holding motor (101) is provided with a lead screw (103) in a transmission fit mode through a key, and two ends of the lead screw (103) are supported on the frame (5) through a lead screw bearing seat (105); and threads with opposite rotation directions are symmetrically processed on the screw rod (103) and are respectively matched with the two screw rod nuts (201) of the holding mechanism (2).
8. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 1, wherein: the two groups of carriers are connected through a flexible connecting device (6).
9. An intermediate two-wheel drive clasping vehicle carrier as defined in claim 8, wherein: the flexible connecting device (6) comprises a first connecting rod (602) and a second connecting rod (603), and the middle parts of the first connecting rod (602) and the second connecting rod (603) are hinged through a central pin shaft (605); the other end of the first connecting rod (602) is hinged on the vehicle frame (5) of one carrier through a first hinge seat (601), and the other end of the second connecting rod (603) is hinged on the vehicle frame (5) of the other carrier matched with the second connecting rod through a second hinge seat (604).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120264644.7U CN214402956U (en) | 2021-01-30 | 2021-01-30 | Intermediate double-wheel drive holding type vehicle carrier |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120264644.7U CN214402956U (en) | 2021-01-30 | 2021-01-30 | Intermediate double-wheel drive holding type vehicle carrier |
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| CN214402956U true CN214402956U (en) | 2021-10-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112727201A (en) * | 2021-01-30 | 2021-04-30 | 武汉智象机器人有限公司 | Intermediate double-wheel drive holding type vehicle carrier and using method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112727201A (en) * | 2021-01-30 | 2021-04-30 | 武汉智象机器人有限公司 | Intermediate double-wheel drive holding type vehicle carrier and using method |
| CN112727201B (en) * | 2021-01-30 | 2022-05-27 | 武汉智象机器人有限公司 | Intermediate double-wheel drive holding type vehicle carrier and using method |
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Denomination of utility model: A middle double wheel drive holding type vehicle carrier Effective date of registration: 20231128 Granted publication date: 20211015 Pledgee: Wuhan Pacific Bank of Communications Co.,Ltd. Pledgor: WUHAN ZHIXIANG ROBOT Co.,Ltd. Registration number: Y2023980068151 |