CN104631893A - Longitudinal parking robot - Google Patents
Longitudinal parking robot Download PDFInfo
- Publication number
- CN104631893A CN104631893A CN201510073282.2A CN201510073282A CN104631893A CN 104631893 A CN104631893 A CN 104631893A CN 201510073282 A CN201510073282 A CN 201510073282A CN 104631893 A CN104631893 A CN 104631893A
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- Prior art keywords
- robot
- wheel
- bearing end
- parallel
- guide rail
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
Abstract
The invention relates to a longitudinal parking robot comprising a robot base. A robot main body is connected with robot lateral bodies to form a U-shaped cavity for accommodating a vehicle body, and driving wheels are arranged at the bottom of the robot base; two mutually-parallel lifting mechanisms are arranged on the robot main body, wheel bearing mechanisms parallel to each other are arranged on the two lifting mechanisms respectively, a wheel bearing end is arranged on each wheel bearing mechanism, and each wheel bearing end is provided with a first U-shaped wheel support part and a second U-shaped wheel support part which are perpendicular to the wheel bearing end and parallel to each other. During parking, the parking robot is located in front of or behind the vehicle body, the two wheel bearing ends extend into the bottom of the vehicle body, four wheels are located on the first and second U-shaped wheel support parts, the wheels and the vehicle body are lifted upwards with the wheel bearing mechanisms and get off the ground, and then the parking robot transports a vehicle to a specified parking space through the driving wheels so as to achieve the purpose of longitudinal parking.
Description
[technical field]
The present invention relates to a kind of automatic robot, particularly a kind of longitudinal parking robot.
[background technology]
The automobile pollution of existing big and medium-sized cities gets more and more, parking is a very large difficult problem, particularly parking lot, inner city is limited, park to driving personnel and cause very large difficulty, in order to effectively utilize limited parking lot, need to use the robot of automatic parking to realize automatic parking, due to different parking lot structures, need to arrange different types of parking to improve the berth capacity in parking lot.
[summary of the invention]
The invention provides a kind of longitudinal parking robot, so that the parking lot being set to longitudinal parking position uses, to improve efficiency of parking.
In order to solve the problems of the technologies described above, the invention provides a kind of longitudinal parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement, described robot body is provided with two elevating mechanisms be parallel to each other, the wheel load carrier in zigzag elevating mechanism being respectively equipped with and being parallel to each other is stated at described two, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described two wheel load carriers are respectively equipped with the wheel bearing end parallel with described robot lateral body, one side of described each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described two the first U-shaped wheel supporting parts and the line between the center of described two the second U-shaped wheel supporting parts parallel, described robot also comprises the transversal stretching mechanism driving described two wheel load carrier transverse shiftings.
The invention has the beneficial effects as follows: because robot body is provided with elevating mechanism, elevating mechanism is provided with two wheel load carriers, two wheel load carriers are respectively equipped with the wheel bearing end parallel with robot lateral body, each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, the line between the center of two the first U-shaped wheel supporting parts and the line between the center of two the second U-shaped wheel supporting parts parallel, when parking the vehicle, parking robot is positioned at the front or below of car body, two wheel bearing ends are stretched into the bottom of car body, U-shaped wheel supporting parts on wheel bearing end are aimed at the tire of car body, then transversal stretching mechanism mobile wheel bearing end is started, four wheels are made all to be in first, on two U-shaped wheel supporting parts, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, then vehicle is transported to the parking position of specifying by parking robot by driving wheel, to reach the object of longitudinally parking.
Further, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
Adopt the beneficial effect of above-mentioned further scheme to be: to change the distance between the second U-shaped wheel supporting parts and the first U-shaped wheel supporting parts by bearing end telescoping mechanism, put requirement with the vehicle pool adapting to different wheel wheelbase.
Further, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
The beneficial effect of above-mentioned further scheme is adopted to be: the moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail.
Further, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
The beneficial effect of above-mentioned further scheme is adopted to be: two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Further, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
The beneficial effect of above-mentioned further scheme is adopted to be: by the transversal stretching mechanism of slide block and guide rail, the distance realized between two wheel load carriers changes.
Further, described robot body is Split type structure, comprises the first robot body and the second robot body, and described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
The beneficial effect of above-mentioned further scheme is adopted to be: because robot body is Split type structure, and, between two Split type structures, this has transversal stretching mechanism, distance between the two split parts being changed robot body by transversal stretching mechanism, thus realize, adjust the distance between two wheel load carriers.
Further, described driving mechanism is gear-rack drive mechanism, and comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, described two gears are respectively by driven by servomotor.
Adopt the beneficial effect of above-mentioned further scheme to be: rack pinion mode, bearing capacity is comparatively large, and precision is higher, and the pool being convenient to vehicle is put; Servomotor rotates level and smooth, and moment is stablized, and is convenient to drived control.
Further, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
The beneficial effect of above-mentioned further scheme is adopted to be: the two outlet-rod hydraulic cylinder drives structure of dual Piston has higher activation point precision and supporting capacity.
[accompanying drawing explanation]
Fig. 1 is the three-dimensional structure diagram of longitudinal parking robot embodiment one,
Fig. 2 is the top view of embodiment one,
Fig. 3 is the top views of the robot second U-shaped wheel supporting parts in embodiment one when stretching out,
Fig. 4 is the top view of embodiment two,
Fig. 5 is the partial structurtes sectional view of bearing end telescoping mechanism,
Fig. 6 is the partial structurtes sectional views of the second U-shaped wheel supporting parts when stretching out,
Fig. 7 is the linear roller guide rail place transverse sectional view in the telescoping mechanism of bearing end,
Fig. 8 is the three-dimensional structure diagram of longitudinal parking robot embodiment three,
Fig. 9 is the three-dimensional structure diagram after the elevating mechanism of longitudinal parking robot promotes,
Figure 10 is the side sectional view of gear-rack drive mechanism,
Figure 11 is the vertical view cutaway drawing of gear-rack drive mechanism,
Figure 12 is the side sectional view of the two outlet-rod hydraulic cylinder driving mechanism of dual Piston,
Figure 13 is the partial structurtes sectional view of the two outlet-rod hydraulic cylinder of dual Piston.
In accompanying drawing, the list of parts representated by each label is as follows:
1, driving wheel, 2, robot base, 21, robot lateral body, 22, robot body, the 221, first robot body.222, second robot body, 3, elevating mechanism, 4, supporting seat, 5, transversal stretching mechanism, 51, guide rail, 52, rack structure, 53, gear, 54, wheel load bearing seat, 55, shell, 56, cavity, 57, servomotor, 58, hydraulic cylinder, 59, piston rod, 581, cylinder body, 582, oil inlet and outlet, 591, piston, 592, cylinder cap, 6, wheel load carrier, 61, wheel bearing end, 62, first U-shaped wheel supporting parts, 63, second U-shaped wheel supporting parts, 71, linear roller guide rail, 72, bearing end slide block, 73, screw rod, 74, bearing end servomotor, 75, roller
[detailed description of the invention]
Below in conjunction with drawings and Examples, the present invention is further illustrated.
Longitudinal parking robot structure chart is see Fig. 1-Fig. 3, comprise robot base 2, robot base 2 comprises two robot lateral bodys 21 be arranged in parallel, two robot lateral bodys 21 are connected to form the U-shaped chamber holding car body by robot body 22, the driving wheel 1 making robot base 2 movement is provided with in the bottom of robot base 2, on the position of corner, described driving wheel 1 is six, and at each robot lateral body 21 end, portion is respectively equipped with two driving wheels 1 away from robot body 22 end; On robot body, 22 are provided with two elevating mechanisms be parallel to each other 3, the top of two elevating mechanisms 3 is linked together by supporting seat 4, two wheel load carriers 6 in zigzag to be arranged on supporting base 4 and to be parallel to each other, and are provided with transversal stretching mechanism 5 between supporting seat 4 and wheel load carrier 6; The major part of two wheel load carriers 6 is positioned at the inside in U-shaped chamber, and near the side of robot body 2, two wheel load carriers 6 are provided with the wheel bearing end 61 parallel with robot lateral body 21, the line that a side adjacent with robot lateral body 21, each wheel bearing end 61 is respectively equipped with between line between the first perpendicular U-shaped wheel supporting parts 62 and the center of the second U-shaped wheel supporting parts 63, two the first U-shaped wheel supporting parts 62 and the center of two the second U-shaped wheel supporting parts 63 is parallel.
When parking the vehicle, parking robot is positioned at the front or below of car body, two wheel bearing ends are stretched into the bottom of car body, U-shaped wheel supporting parts on wheel bearing end are aimed at the tire of car body, then transversal stretching mechanism mobile wheel bearing end is started, four wheels are made all to be in first, on two U-shaped wheel supporting parts, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, then vehicle is transported to the parking position of specifying by parking robot by driving wheel, to reach the object of longitudinally parking.
Fig. 4 is the top view of embodiment two, and compared with embodiment one, the first U-shaped wheel supporting parts 62 are arranged on a relative side, two wheel bearing ends 61 with the second U-shaped wheel supporting parts 63.When parking, by wheel bearing end from the direction of the both sides external of car body, to the aligner wheel of car body, then transversal stretching mechanism mobile wheel bearing end is started, four wheels are made all to be on first and second U-shaped wheel supporting parts, then wheel load carrier is upwards promoted by elevating mechanism, such wheel and car body upwards will promote together along with wheel load carrier, and leave ground, then vehicle is transported to the parking position of specifying by parking robot by driving wheel, to reach the object of longitudinally parking.
The partial structurtes of bearing end telescoping mechanism are see Fig. 5-Fig. 7, bearing end telescoping mechanism comprises the linear roller guide rail 71 be arranged on wheel bearing end 61, linear roller guide rail 71 is arranged with two bearing end slide blocks 72 be parallel to each other, second U-shaped wheel supporting parts 63 are arranged on bearing end slide block 72, the center of bearing end slide block 72 is combined with screw rod 73, and screw rod 73 is parallel with linear roller guide rail 71; Also comprise bearing end servomotor 74, the turning cylinder of bearing end servomotor 74 is connected with screw rod 73.
The moving medium of linear roller guide rail, with line face Structure deformation, improves supporting capacity and the rigidity of guide rail; Two bearing end slide blocks increase the load-bearing moment of linear roller guide rail and bearing end slide block.
Three-dimensional structure diagram after the elevating mechanism lifting of longitudinal parking robot, see Fig. 7, can be promoted the terrain clearance of wheel load carrier, facilitate parking robot to move, to reach the object of parking smoothly by elevating mechanism.
The three-dimensional structure diagram of longitudinal parking robot embodiment three is see Fig. 8, robot body 22 is Split type structure, comprise the first robot body 221 and the second robot body 222, two elevating mechanism 3 is separately positioned on described first robot body 221 and described second robot body 222; Transversal stretching mechanism 5 is arranged between described first robot body 221 and described second robot body 222.
Change the distance between upper first robot body of robot body and the second robot body by transversal stretching mechanism, thus realize the distance between the wheel bearing end on adjustment two elevating mechanism, to reach the object of the automobile of the different wheelspan that berths.
Fig. 9 is the three-dimensional structure diagram after the elevating mechanism of longitudinal parking robot promotes, four wheels are all on first and second U-shaped wheel supporting parts, elevating mechanism upwards promotes wheel load carrier, wheel and car body upwards will be promoted together along with wheel load carrier, and leave ground.
The gear-rack drive mechanism of transversal stretching mechanism is see Figure 10-Figure 11, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are rack structure 52, two rack structures 52 are engaged with gear 53 respectively, two gears 53 drive respectively by servomotor 57, and two rack structures 52 are connected with wheel load carrier 6 respectively by wheel load bearing seat 54; Whole gear driven mechanism is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55.
When needing to adjust the distance between wheel load carrier, start servomotor, servomotor driven gear rotates, the rack structure that gear driven is engaged with moves horizontally along guide rail, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
The two outlet-rod hydraulic cylinder driving mechanism of dual Piston of transversal stretching mechanism is see Figure 12-Figure 13, comprise the guide rail 51 be arranged on supporting seat 4, guide rail 51 is provided with two slide blocks, two slide blocks are connected with wheel load bearing seat 54 respectively, the two outlet-rod hydraulic cylinder of dual Piston comprises the piston rod 59 at hydraulic cylinder 58 and two ends, two piston rods 59 are connected with two wheel load bearing seats 54 respectively, and wheel load bearing seat 54 is connected with wheel load carrier 6; The two outlet-rod hydraulic cylinder driving mechanism of whole dual Piston is coated by shell 55, is provided with the cavity 56 holding the movement of wheel load bearing seat 54 at the top of shell 55; Two piston rods 59 are arranged on cylinder body 581 li respectively by piston 591, and piston rod 59 passes cylinder barrel 58 by cylinder cap 592, and cylinder barrel 58 is provided with the turnover oilhole 582 be communicated with cylinder body 581.
When the two outlet-rod hydraulic cylinder driving mechanism of dual Piston works, by inputing or outputing hydraulic oil at turnover oilhole, promote piston rod movement, thus drive the movement of the wheel load carrier be connected with wheel load bearing seat, reach the distance between adjustment two wheel load carrier, to adapt to the vehicle parking of different width of the carbody.
Be described in detail longitudinal parking robot provided by the present invention above, apply specific case herein and set forth principle of the present invention and embodiment, the explanation of above embodiment just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (8)
1. a longitudinal parking robot, comprise robot base, described robot base comprises two robot lateral bodys be arranged in parallel, described two robot lateral bodys are connected to form the U-shaped chamber holding car body by robot body, be provided with in the bottom of described robot base, on the position of corner the driving wheel making robot base movement, it is characterized in that, described robot body is provided with two elevating mechanisms be parallel to each other, described two elevating mechanisms are respectively equipped with the wheel load carrier in zigzag be parallel to each other, the major part of described two wheel load carriers is positioned at the inside in described U-shaped chamber, and near the side of described robot body, described two wheel load carriers are respectively equipped with the wheel bearing end parallel with described robot lateral body, one side of described each wheel bearing end is respectively equipped with the first perpendicular U-shaped wheel supporting parts and the second U-shaped wheel supporting parts, line between the center of described two the first U-shaped wheel supporting parts and the line between the center of described two the second U-shaped wheel supporting parts parallel, described robot also comprises the transversal stretching mechanism driving described two wheel load carrier transverse shiftings.
2. longitudinal parking robot according to claim 1, is characterized in that, described second U-shaped wheel supporting parts and described wheel bearing end are provided with bearing end telescoping mechanism.
3. longitudinal parking robot according to claim 2, it is characterized in that, described bearing end telescoping mechanism comprises the linear roller guide rail be arranged on described wheel bearing end, described linear roller guide rail is provided with bearing end slide block, described second U-shaped wheel supporting parts are arranged on the slide block of described bearing end, the center of described bearing end slide block is combined with screw rod, described screw rod and described linear roller guide rail parallel; Also comprise bearing end servomotor, the turning cylinder of described bearing end servomotor is connected with described screw rod.
4. the longitudinal parking robot according to claim 3 claim, is characterized in that, described bearing end slide block is two, is arranged in parallel to each other on described linear roller guide rail.
5. the longitudinal parking robot according to the arbitrary claim of Claims 1-4, it is characterized in that, the top of described two elevating mechanisms is connected by supporting seat, described transversal stretching mechanism comprises the guide rail be arranged on described supporting seat, described guide rail is provided with two slide blocks, described two slide blocks are connected with described wheel load carrier respectively by wheel load bearing seat, described two slide blocks by driving mechanism at described slide on rails.
6. the longitudinal parking robot according to the arbitrary claim of Claims 1-4, it is characterized in that, described robot body is Split type structure, comprise the first robot body and the second robot body, described two elevating mechanisms are separately positioned on described first robot body and described second robot body; Described transversal stretching organization establishes is between described first robot body and described second robot body.
7. longitudinal parking robot according to claim 5, it is characterized in that, described driving mechanism is gear-rack drive mechanism, comprise on described two slide blocks and be set to rack structure respectively, described two rack structures are engaged with gear respectively, and described two gears are respectively by driven by servomotor.
8. longitudinal parking robot according to claim 5, is characterized in that, described driving mechanism is the two outlet-rod hydraulic cylinder of dual Piston, and two piston rods of described hydraulic cylinder are connected with described two wheel load bearing seats respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073282.2A CN104631893B (en) | 2015-02-10 | 2015-02-10 | A kind of longitudinal parking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073282.2A CN104631893B (en) | 2015-02-10 | 2015-02-10 | A kind of longitudinal parking robot |
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| Publication Number | Publication Date |
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| CN104631893A true CN104631893A (en) | 2015-05-20 |
| CN104631893B CN104631893B (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510073282.2A Active CN104631893B (en) | 2015-02-10 | 2015-02-10 | A kind of longitudinal parking robot |
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| CN (1) | CN104631893B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
| CN108316721A (en) * | 2018-04-10 | 2018-07-24 | 深圳精智机器有限公司 | A kind of c-type homing guidance carrying vehicle device |
| CN111032979A (en) * | 2017-08-25 | 2020-04-17 | 库卡德国有限公司 | Running platform for motor vehicle transportation |
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| JPH0640228Y2 (en) * | 1989-12-25 | 1994-10-19 | 新王子製紙株式会社 | Rotating clamp type forklift luggage holding device |
| CN101113643A (en) * | 2007-06-05 | 2008-01-30 | 李来友 | Sedan car parking boost sliding device |
| CN102828635A (en) * | 2012-09-14 | 2012-12-19 | 太仓市琛得工业自动化有限公司 | Road-occupation-free rotary parking space |
| US20130280018A1 (en) * | 2010-11-29 | 2013-10-24 | Serva Transport Systems Gmbh | Device and method for automatically laterally storing a motor vehicle in a storing device |
| CN204804421U (en) * | 2015-02-10 | 2015-11-25 | 广州信邦汽车装备制造有限公司 | Robot vertically parks |
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2015
- 2015-02-10 CN CN201510073282.2A patent/CN104631893B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0640228Y2 (en) * | 1989-12-25 | 1994-10-19 | 新王子製紙株式会社 | Rotating clamp type forklift luggage holding device |
| CN101113643A (en) * | 2007-06-05 | 2008-01-30 | 李来友 | Sedan car parking boost sliding device |
| US20130280018A1 (en) * | 2010-11-29 | 2013-10-24 | Serva Transport Systems Gmbh | Device and method for automatically laterally storing a motor vehicle in a storing device |
| CN102828635A (en) * | 2012-09-14 | 2012-12-19 | 太仓市琛得工业自动化有限公司 | Road-occupation-free rotary parking space |
| CN204804421U (en) * | 2015-02-10 | 2015-11-25 | 广州信邦汽车装备制造有限公司 | Robot vertically parks |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
| CN107355103B (en) * | 2017-07-31 | 2022-12-23 | 江西丹巴赫机器人股份有限公司 | Parking robot |
| CN111032979A (en) * | 2017-08-25 | 2020-04-17 | 库卡德国有限公司 | Running platform for motor vehicle transportation |
| CN108316721A (en) * | 2018-04-10 | 2018-07-24 | 深圳精智机器有限公司 | A kind of c-type homing guidance carrying vehicle device |
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| CN104631893B (en) | 2017-08-22 |
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Address after: 510800 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Applicant after: Guangzhou Xinbang intelligent equipment Limited by Share Ltd Address before: 510800 Guangdong province Guangzhou Huadu Auto City Road on the north side of city Applicant before: Guangzhou Xinbang Automobile Equipment Manufacturing Co., Ltd. |
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