CN100526155C - Gliding movement underwater robot driven by temperature differential energy - Google Patents
Gliding movement underwater robot driven by temperature differential energy Download PDFInfo
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- CN100526155C CN100526155C CNB2005100131371A CN200510013137A CN100526155C CN 100526155 C CN100526155 C CN 100526155C CN B2005100131371 A CNB2005100131371 A CN B2005100131371A CN 200510013137 A CN200510013137 A CN 200510013137A CN 100526155 C CN100526155 C CN 100526155C
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- leather bag
- epitrochoidal chamber
- hot machine
- gliding
- energy
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- 230000033001 locomotion Effects 0.000 title claims description 5
- 239000010985 leather Substances 0.000 claims abstract description 37
- 239000012188 paraffin wax Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 46
- 238000004146 energy storage Methods 0.000 claims description 19
- 238000007789 sealing Methods 0.000 claims description 17
- LYCAIKOWRPUZTN-UHFFFAOYSA-N Ethylene glycol Chemical compound OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 210000003038 endothelium Anatomy 0.000 claims description 6
- 244000286663 Ficus elastica Species 0.000 claims description 5
- RRHGJUQNOFWUDK-UHFFFAOYSA-N Isoprene Chemical compound CC(=C)C=C RRHGJUQNOFWUDK-UHFFFAOYSA-N 0.000 claims description 5
- 229920001195 polyisoprene Polymers 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000011229 interlayer Substances 0.000 claims description 3
- 238000005304 joining Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 239000013535 sea water Substances 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 4
- 238000007667 floating Methods 0.000 abstract description 2
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- 239000003643 water by type Substances 0.000 description 5
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- 230000005484 gravity Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 208000002991 Ring chromosome 4 syndrome Diseases 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000007791 liquid phase Substances 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 238000010257 thawing Methods 0.000 description 2
- OENIXTHWZWFYIV-UHFFFAOYSA-N 2-[4-[2-[5-(cyclopentylmethyl)-1h-imidazol-2-yl]ethyl]phenyl]benzoic acid Chemical compound OC(=O)C1=CC=CC=C1C(C=C1)=CC=C1CCC(N1)=NC=C1CC1CCCC1 OENIXTHWZWFYIV-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 150000001335 aliphatic alkanes Chemical class 0.000 description 1
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- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 description 1
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Abstract
A gliding underwater robot driven by temp difference energy is composed of external leather bag and internal leather bag for floating up or sinking down, control circuit board, working chamber of heat machine, electromagnetic valve, check valve, energy accumulator, the external casing consisting of sealed bottom, sealed cylinder and sealed front spherical end, exchangeable horizontal wings, and GPS. The temp variation of seawater can make paraffin wax generate phase change to provide drive energy.
Description
Technical field
The invention belongs to electromechanical integration, be specifically related to a kind of gliding under-water robot that relies on thermal gradient energy to drive.
Technical background
Under-water robot can be used as monitoring platform and is used for ocean and other water environments are monitored, and therefore, is called the underwater monitoring platform again.By carrying different survey sensors, under-water robot can be used as different purposes.The drive energy that general under-water robot uses is electric energy, provides the energy by self-contained lithium cell or other alkaline battery.For example the electric energy of the self-sustaining glug Lang Ri detector ALACE of U.S.'s development and the production of Webb research company drives Slocum underwater glider etc., all adopts electric energy to drive.Their major defect is that because of being subjected to the restriction of the energy, production time is limited, is difficult to for a long time in the specified sea areas operation.The under-water robot that this thermal gradient energy drives is different with the under-water robot that electric energy drives, and its drive energy comes from thermal gradient energy, only uses the electric energy of fraction to provide the energy as control circuit and communication.In north and south latitude 30 degree scopes, there is the above temperature difference of about 10 degree in the waters of ocean surface and certain depth, and this under-water robot utilizes these naturally occurring abundant temperature difference energy as drive energy just.The now reported thermal gradient energy that utilizes is the Slocum underwater glider of being produced by U.S. Webb research company as the under-water robot of drive energy.The design and Slocum under-water robot compare, and it is wide, simple in structure to have the marine site of adaptation scope, and hang gliding is changed characteristics easily.The gliding under-water robot can be realized controlled horizontal direction and movement in vertical direction, and can realize the underwater engine location.
Summary of the invention
The objective of the invention is to propose a kind of Underwate self-navigation robot (AUV) that utilizes thermal gradient energy as drive energy control gliding, under-water robot by the hydrodynamism of self-contained horizontal hang gliding, makes robot realize gliding in the sink-float motion process.
The present invention is achieved by the following technical programs.With reference to accompanying drawing, the gliding under-water robot that thermal gradient energy drives mainly has: outer leather bag screened housing body; outer leather bag; sealed chassis; O shape ring seal ring; the bipass joint; battery bracket; control circuit board; hot machine epitrochoidal chamber; India rubber tube; the leather bag support; interior leather bag; endothelium rami capsulares frame loam cake; the valve support; two-way electromagnetic valve; plug; horizontal hang gliding; tee connection; the sealing cylinder housing; check valve; the energy storage support; energy storage; energy storage support loam cake; preceding sealed spheroid; antenna; servomotor; leading screw; attitude control weight; flow controller and counterweight.The outer integral body of under-water robot is made of sealed chassis 3, hot machine epitrochoidal chamber 8, sealing cylinder housing 18 and preceding sealed spheroid 23.Hot machine epitrochoidal chamber 8 is designed to have the column type sealing member of interlayer, and working medium loading and is shut with plug 15 in the interlayer of hot machine epitrochoidal chamber 8.Be provided with control circuit board 7 in hot machine epitrochoidal chamber 8, lithium cell and control circuit board 7 fit together.Finish ROBOT CONTROL and communication location by control circuit board 7 and the antenna 24 that is positioned at integral head.Hot machine epitrochoidal chamber 8 is connected to an end of bipass joint 5, and the other end of bipass joint 5 is connected to a port of tee connection 17 by India rubber tube 9.Input end that is connected to first check valve 19-1 of two other port of tee connection 17; Another port connects the mouth of second check valve 19-2.The mouth of first check valve 19-1 is divided into two-way: the one tunnel communicates with energy storage 21; Second the two-way electromagnetic valve 14-2 in another road is connected in outer leather bag 2.The input end of second check valve 19-2 also is divided into two-way: the one tunnel directly is connected to interior leather bag 11; Other has one tunnel first two-way electromagnetic valve of process 14-1 to be connected in outer leather bag 2.At hot machine epitrochoidal chamber 8 and sealing cylinder housing 18 joining places removable horizontal hang gliding 16 is housed.Control servomotor 25 is connected with 26 of leading screws and then drives attitude controls weight 27 motions.Sealed chassis 3 is connected in hot machine epitrochoidal chamber 8 bottoms, and hot machine epitrochoidal chamber 8 tops are connected in sealing cylinder housing 18.Sealing cylinder housing 18 is connected with preceding sealed spheroid 23.Between sealed chassis 3 and the hot machine epitrochoidal chamber 8, between sealing cylinder housing 18 and the preceding sealed spheroid 23, all be connected with bolt by O shape ring seal ring 4.In the bottom of sealed chassis 3 counterweight 29 is housed.Interior leather bag 11 is supported by endothelium rami capsulares frame 10 and is fixing with endothelium rami capsulares frame loam cake 12.Energy storage 21 supports with energy storage support loam cake 22 fixing by energy storage support 20.Select for use have temperature susceptibility the working medium paraffin class as working medium loading in described hot machine epitrochoidal chamber 8 inside.Can ethylene glycol or pure water are as transmitting medium in interior leather bag 11, outer leather bag 2 and remaining hydraulic system.Solid-state and liquid phase transformation can take place in working medium at normal temperatures.Liquefaction cubic expansion during high temperature solidifies volumetric shrinkage during low temperature.
The certain pressure of preliminary filling in the energy storage 21 when starting working, this pressure is a bit larger tham the pressure of working depth.The inner retaining part vacuum of seal casinghousing.The paraffin class working medium is melted to liquid state fully, and cubic expansion is to maximum.Open first two-way electromagnetic valve 14-1, leather bag 11 in the transmission medium (ethylene glycol or pure water) in the outer leather bag 2 enters, this moment, body buoyancy reduced, and under-water robot sinks.In the sinking process along with sea water advanced increase robot external environment temperature also in continuous reduction, when seawater during less than the phase transition temperature of working medium, the paraffin class working medium becomes solid-state mutually, volumetric shrinkage, flow into hot machine epitrochoidal chamber 8 as transmission medium ethylene glycol in the interior leather bag 11 or pure water through second check valve 19-2 this moment.In the process of under-water robot rise and fall,, realize gliding by the hydrodynamism of removable horizontal tail 16.Under-water robot is when sinking, and servomotor 25 is adjusted the position of attitude control weight 27 with respect to gliding machine people's center of gravity in real time.Robot is when doing gliding, and servomotor 25 is the position of fine setting weight attitude control weight 27 constantly, with control gliding machine people's attitude stabilization.When robot sank to desired depth, second two-way electromagnetic valve 14-2 opened, and the transfer medium stream in the energy storage 21 is gone into outer leather bag 2, and the crust capsule volume increases, and under-water robot rises.In uphill process, sea temperature raises gradually, when greater than the working medium phase transition temperature, undergoes phase transition the thawing cubic expansion, transmits medium and flows into energy storage 21 from hot machine epitrochoidal chamber 8 through first check valve 19-1, with energy reserve.When floating to water surface, robot just finishes a working cycle.
Description of drawings
Accompanying drawing is that each parts of the present invention assemble constructional drawing.Among the figure: outer leather bag screened housing body-1; Outer leather bag-2; Sealed chassis-3; O shape ring seal ring-4; Bipass joint-5; Battery bracket-6; Control circuit board-7; Hot machine epitrochoidal chamber-8; India rubber tube-9; Leather bag support-10; Interior leather bag-11; Endothelium rami capsulares frame loam cake-12; Valve support-13; First two-way electromagnetic valve 14-1 and second two-way electromagnetic valve 14-2; Plug-15; Horizontal hang gliding-16; Tee connection-17; Sealing cylinder housing-18; First check valve 19-1 and second check valve 19-2; Energy storage support-20; Energy storage-21; Energy storage support loam cake-22; Preceding sealed spheroid-23; Antenna-24; Servomotor-25; Leading screw-26; Attitude control weight-27; Flow controller-28; Counterweight-29.
The characteristics that the present invention has and useful effect are, utilize the temperature difference of the waters degree of depth as driving-energy, by being The variation of system external skin capsule volume and change system's buoyancy utilizes hydrodynamic force and GPS location to realize location under water, by Control system realizes that the underwater people is specifying the waters to finish under water observation and the task such as detection, and the present invention is carried different Sensor can also be realized the monitoring to the waters.
The specific embodiment
By the following examples and with reference to accompanying drawing structural principle of the present invention is described further.The outer whole pressure part of under-water robot is made of outer leather bag screened housing body 1, sealed chassis 3, hot machine epitrochoidal chamber 8, sealing cylinder housing 18, seals by O shape ring seal ring between each parts.The installation method of horizontal hang gliding 16 is: at hot machine epitrochoidal chamber 8 and sealing cylinder housing 18 joining places horizontal hang gliding is inserted in the U-lag, by dowel fixes (shown in accompanying drawing A-A section-drawing).For present embodiment, it is the barrier film energy storage of 2L operation pressure 10Mpa that energy storage 21 adopts actual displacement.The operation pressure of two electromagnetic valves and two check valves is 1.5Mpa.The hot machine epitrochoidal chamber 8 of under-water robot mainly seals as the part of pressure shell.Horizontal tail length is 1m, wide 20cm.The present embodiment temperature difference drives 100 meters of the gliding under-water robot design effort depth of waters, 20 ℃ of surface layer of water temperature, about 10 ℃ of 100 meters depth of water place temperature.Working medium is C16H34 (16 alkane), 16 ℃ of solid-liquid phase change temperature, and working medium loading is in the epitrochoidal chamber inside of hot machine 8.Transmitting medium adopts the pure water can in interior leather bag 11, outer leather bag 2 and hydraulic system.Energy storage 21 preliminary filling pressure are 1 MPa, 0.7 barometric pressure of sealing cylinder housing 18 inner maintenances.Replaceable horizontal tail 16 is installed on position, robot centre of buoyancy.Its working process is: when robot was in surface layer of water, its attitude kept level, and temperature is greater than 16 ℃, and working medium melts fully and is in liquid state, the cubic expansion maximum.Open first two-way electromagnetic valve 14-1, leather bag 11 in the pure water in the outer leather bag 2 enters, under-water robot sinks.In the sinking process along with sea water advanced increase robot external environment temperature also in continuous reduction, when seawater during less than 16 ℃, working medium C16H34 becomes solid-state mutually, volumetric shrinkage, and flow into hot machine epitrochoidal chamber 8 as the pure water in the interior leather bag 11 through second check valve 19-2 this moment.When sinking, servomotor 25 makes the relative position of gliding machine people center of gravity and centre of buoyancy change by adjusting the position of attitude control weight 27 with respect to center of gravity, thereby gliding machine people's attitude is changed.Owing to the existence of horizontal tail, the gliding machine people is subjected to the lift effect when moving downward simultaneously, glides according to predetermined course.When gliding, servomotor 25 is the position of fine setting attitude control weight 27 constantly, with control gliding machine people's attitude stabilization.When robot sinks to 100 meters of desired depths, second two-way electromagnetic valve 14-2 opens, and the pure water in the energy storage 21 flows into outer leather bag 2 increases its leather bag volume, and under-water robot begins rising.In uphill process, sea temperature raises gradually, and when greater than 16 ℃, C16H34 undergoes phase transition the thawing cubic expansion, and pure water flows into energy storage 21 with energy reserve from hot machine epitrochoidal chamber 8 through first check valve 19-1.In uphill process, by adjusting the position of attitude control weight 27, to guarantee gliding machine people's attitude stabilization.Owing to the effect of horizontal hang gliding 16, the gliding machine people is subjected to component effect forward equally when rising simultaneously, realizes glide effect upwards.When robot floats to water surface, finish a working cycle.The come-up of robot and dive are all by the communication contact of the control circuit board in the epitrochoidal chamber 87 with the location that is positioned at its top and communication antenna 24 maintenances and ground control system.
Claims (5)
1. the gliding under-water robot of thermal gradient energy driving mainly has outer leather bag screened housing body (1), outer leather bag (2), sealed chassis (3), O shape ring seal ring (4), bipass joint (5), battery bracket (6), control circuit board (7), hot machine epitrochoidal chamber (8), India rubber tube (9), interior leather bag (11), two two-way electromagnetic valve (14-1; 14-2), tee connection (17), two check valve (19-1; 19-2), energy storage (21), antenna (24), servomotor (25), leading screw (26), it is characterized in that under-water robot is outer whole by sealed chassis (3), hot machine epitrochoidal chamber (8), sealing cylinder housing (18) and preceding sealed spheroid (23) constitute, hot machine epitrochoidal chamber (8) is designed to have the column type sealing member of interlayer, in hot machine epitrochoidal chamber (8), be provided with control circuit board (7), hot machine epitrochoidal chamber (8) is connected to bipass joint (5), the other end of bipass joint (5) is connected to a port of tee connection (17), input end that is connected to first check valve (19-1) of two other port of tee connection (17) by India rubber tube (9); Another port connects the mouth of second check valve (19-2), the mouth of first check valve (19-1) is divided into two-way: the one tunnel communicates with energy storage (21), second two-way electromagnetic valve in another road (14-2) is connected in outer leather bag (2), the input end of second check valve (19-2) also is divided into two-way: the one tunnel directly is connected to interior leather bag (11), other has one tunnel first two-way electromagnetic valve of process (14-1) to be connected in outer leather bag (2), at hot machine epitrochoidal chamber (8) and sealing cylinder housing (18) joining place removable horizontal hang gliding (16) is housed, control servomotor (25) is connected with leading screw (26) axle and then drives attitude controls weight (27) motion.
2. the gliding under-water robot that drives according to the described thermal gradient energy of claim 1, it is characterized in that described sealed chassis (3) is connected in hot machine epitrochoidal chamber (8) bottom, hot machine epitrochoidal chamber (8) top is connected in sealing cylinder housing (18), sealing cylinder housing (18) is connected with preceding sealed spheroid (23), between described sealed chassis (3) and the hot machine epitrochoidal chamber (8), between sealing cylinder housing (18) and the preceding sealed spheroid (23), all be connected with bolt, counterweight (29) be housed in the bottom of described sealed chassis (3) by O shape ring seal ring (4).
3. the gliding under-water robot that drives according to claim 1 or 2 described thermal gradient energies is characterized in that described interior leather bag (11) is by endothelium rami capsulares frame (10) and endothelium rami capsulares frame loam cake (12) fixed pedestal.
4. the gliding under-water robot that drives according to the described thermal gradient energy of claim 1, it is characterized in that selecting for use paraffin class as working medium loading in described hot machine epitrochoidal chamber (8) inside.
5. the gliding under-water robot that drives according to the described thermal gradient energy of claim 1 is characterized in that in leather bag described in (11), outer leather bag (2) and the hydraulic system that can ethylene glycol or pure water are as the transmission medium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100131371A CN100526155C (en) | 2005-01-25 | 2005-01-25 | Gliding movement underwater robot driven by temperature differential energy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100131371A CN100526155C (en) | 2005-01-25 | 2005-01-25 | Gliding movement underwater robot driven by temperature differential energy |
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| CN1644451A CN1644451A (en) | 2005-07-27 |
| CN100526155C true CN100526155C (en) | 2009-08-12 |
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| CNB2005100131371A Active CN100526155C (en) | 2005-01-25 | 2005-01-25 | Gliding movement underwater robot driven by temperature differential energy |
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Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100431917C (en) * | 2006-04-29 | 2008-11-12 | 中国科学院沈阳自动化研究所 | Underwater robot sliding driven by buoyant force |
| CN100384693C (en) * | 2006-07-04 | 2008-04-30 | 浙江大学 | Underwater gliding detector |
| CN100431918C (en) * | 2006-12-19 | 2008-11-12 | 天津大学 | Mixed submarine navigation device |
| CN100445164C (en) * | 2006-12-21 | 2008-12-24 | 天津大学 | Self-holding underwater section buoy of using multiple sources of energy, and drive method |
| CN101867869A (en) * | 2010-06-01 | 2010-10-20 | 上海海洋大学 | Water mobile robot network water area monitoring pre-warning system and realization method thereof |
| CN102486633B (en) * | 2010-12-04 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Motion parameter optimization method for optimal energy consumption of underwater glider |
| CN102632980B (en) * | 2012-04-26 | 2014-09-17 | 中国船舶重工集团公司第七○二研究所 | Underwater glider utilizing ocean wave energy and charging method |
| CN102975836B (en) * | 2012-12-18 | 2015-09-02 | 天津大学 | A kind of Underwater glider energy source system and control method thereof |
| CN104895752A (en) * | 2015-05-20 | 2015-09-09 | 西北工业大学 | Novel ocean thermal energy utilization device |
| CN104990685A (en) * | 2015-07-01 | 2015-10-21 | 浙江海洋学院 | Combined wing motion control mechanism for water-power model test |
| CN105620654A (en) * | 2016-02-25 | 2016-06-01 | 西北工业大学 | Hybrid-propulsion underwater vehicle |
| CN107765265B (en) * | 2016-08-22 | 2023-04-25 | 中国科学院沈阳自动化研究所 | Streamline iridium satellite pressure-resistant device capable of bearing pressure of 100MPa and supplying water to power off |
| CN107061429B (en) * | 2017-03-23 | 2018-06-19 | 东南大学 | A kind of deepwater hydraulic system |
| CN107063667B (en) * | 2017-05-16 | 2019-03-29 | 浙江大学 | The phase transformation buoyancy engine performance test apparatus of temperature active control |
| CN107605677B (en) * | 2017-09-30 | 2023-11-17 | 王延辉 | Temperature difference energy power generation device for unmanned underwater vehicle |
| CN109751179A (en) * | 2019-03-13 | 2019-05-14 | 余姚市浙江大学机器人研究中心 | A kind of phase transformation buoyancy engine device |
| CN110053742B (en) * | 2019-04-26 | 2020-09-22 | 吉林大学 | Self-adaptive multifunctional double-body underwater glider |
| CN110641637B (en) * | 2019-09-10 | 2022-06-03 | 哈尔滨工程大学 | Ocean observation platform with controllable track based on thermoelectric power generation |
| CN111824377B (en) * | 2020-08-03 | 2022-08-23 | 江阴市大阪涂料有限公司 | Buoyancy adjusting device of underwater vehicle |
| CN114260924B (en) * | 2022-03-01 | 2022-05-03 | 广东海洋大学 | Underwater mechanical arm |
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2005
- 2005-01-25 CN CNB2005100131371A patent/CN100526155C/en active Active
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Effective date of registration: 20231212 Address after: 300384 Tianjin Binhai New Area Binhai High tech Zone Huayuan Industrial Zone (Outer Ring) Building 2, No. 2 Huake Fourth Road, Haitai, East Zone, 1st and 2nd floors Patentee after: Tianjin Huiyang Intelligent Equipment Co.,Ltd. Address before: 300072 Tianjin city Wei Jin Road No. 92 Patentee before: Tianjin University |