CN106094825A - A kind of leg swinging based on electric unicycle balance puppet - Google Patents
A kind of leg swinging based on electric unicycle balance puppet Download PDFInfo
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- CN106094825A CN106094825A CN201610510048.6A CN201610510048A CN106094825A CN 106094825 A CN106094825 A CN 106094825A CN 201610510048 A CN201610510048 A CN 201610510048A CN 106094825 A CN106094825 A CN 106094825A
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 58
- 230000005484 gravity Effects 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of leg swinging based on electric unicycle to balance puppet, including puppet body 24, anteversion and retroversion module, the legs and feet module of puppet, electronic control module, can realize balancing that the electric unicycle that puppet drives is left-leaning by left lower limb module, right lower limb module, Right deviation and balance and then realize the left-hand rotation of electric unicycle, turn right and keep straight on, the center of gravity that balance beam can be made even by anteversion and retroversion module leans forward, swings back, upright and then realize advancing, retreating and stand.
Description
Technical field
The present invention relates to balanced robot's technical field, a kind of leg swinging based on electric unicycle balance puppet
Device.
Background technology
The Self-balancing electronic wheelbarrow sold on current market is called for short: electric unicycle, is that a kind of driver stands in electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stands onboard, electric unicycle cannot be walked, say, that when
Electric unicycle before although have certain before and after balanced capacity but not there is left-right balance ability, the most current electronic solely
Wheel car does not have unmanned automatic driving function.Typically demonstrated by people when selling electric unicycle and demonstrating to client and how to ride,
And needing certain skill, when special client is more, the demonstration of a time a time is also the most arduous, is one for salesman
Plant burden.A kind of based on electric unicycle the leg swinging balance puppet that this patent provides has left-right balance and automatic Pilot merit
People can be replaced to carry out riding electric unicycle by remote control, significantly alleviate burden when salesman is demonstrated；Should be based on electricity
The arm balanced type balance puppet of dynamic wheelbarrow can show unpiloted auto-steering, automatic Pilot, has amusement function；As
Fruit coordinates charging socket can also realize automatic charging function.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the existing electric unicycle can not the problem of automatic running, it is provided that a kind of
The balance puppet that can drive electric unicycle with automatic balance function.
In order to solve the problems referred to above the technical solution used in the present invention it is: a kind of leg swinging based on electric unicycle is provided
Balance puppet, it is characterised in that include puppet body 24, anteversion and retroversion module, the legs and feet module of puppet, electronic control module.
The further technical scheme that the present invention uses is: the legs and feet module of described puppet includes left lower limb module, right lower limb mould
Block and support 21, left lower limb module and right lower limb module are fixed together by support 21, and described left lower limb module is by left balance
Block 1, connecting rod 1, hinged 1, hinged 24, connecting rod 25, screw mandrel 6, slide block 7, hinged 38, left fixed mount 9, motor 1, solid
Fixed pole 11, upper limit sensor 22, lower limit sensor 23 form, and connecting rod 1 is fixing with left balance weight 1 to be connected, connecting rod 1 and
Connecting rod 25 connects by hinged 1, and connecting rod 1 is connected by hinged 24 with fixing bar 11, and connecting rod 25 is hinged with slide block 7, sliding
Block 7 is arranged on screw mandrel 6, and screw mandrel 6 is arranged on fixing bar 11 by hinged 24 and hinged 38, screw mandrel 6 and motor 1
Axle is fixing to be connected, and left fixed mount 9 is fixed on fixing bar 11, and fixing bar 11 fixedly mounts on the stent 21, upper limit sensor
22, lower limit sensor 23, motor 1 are arranged on fixing bar 11 and electrically connect with electronic control module；Described right lower limb module and
The structure of left lower limb module is identical.
The further technical scheme that the present invention uses is: described anteversion and retroversion module is by bearing 1, bearing 2 19, rotary shaft
18, motor 2 20 composition, rotary shaft 18 is fixing with puppet body 24 to be connected, and rotary shaft 18 is fixing with the axle of motor 2 14 to be connected,
Rotary shaft 18 is connected with support 21 by bearing 1, bearing 2 19, motor 2 20 fix with support 21 be connected and with automatically controlled mould
Block electrically connects.
The further technical scheme that the present invention uses is: described electronic control module includes: described electronic control module includes: controller
14, battery 13, charging inlet 12, attitude transducer 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver
And remote controller, described controller 14 and attitude transducer 15, upper limit sensor 22, lower limit sensor 23, motor 1,
Motor 2 20, the wireless receiver of wireless remote control module 16, battery 13, electrically connect and be fixedly mounted on puppet body 24；Fill
Electrical interface 12 electrically connects with battery 13 and is fixedly mounted on puppet body 24, described attitude transducer 15 includes gyroscope
And/or Gravity accelerometer, described remote controller include wireless transmitter, screen, starting key, shutdown button, stand by
Key, automatic running button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, institute
Stating button is mechanical type, touch and/or touch screen；The wireless signal of described wireless receiver and wireless transmitter be infrared,
Ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme that the present invention uses is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 22, lower limit sensor 23 the most normally, and inspection
The value surveying attitude transducer is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 20 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 20 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for fast forwarding through, then controller 14 controls motor 2 20 and increases balance puppet forward leaning angle；If remote controller is sent out
The information content come is for standing, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance puppet keep
Uprightly；If the information content that remote controller is sent is for turning left, then controller 14 controls motor 1 and makes the left balance weight 1 of left lower limb module
Lift；If the information content that remote controller is sent is for turning right, then controller 14 makes right lower limb module lift, if the information that remote controller is sent
Content is for accelerating, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance puppet accelerated motion, if distant
The control information content sent of device is for slowing down, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance beam
Even retarded motion, if the information content that remote controller is sent is automatic running, then controller 14 control left lower limb module, right lower limb module and
Anteversion and retroversion module makes balance puppet carry out turning left, turn right, advance, retreat, stand；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
The invention have the advantages that: the present invention can realize balancing puppet by left lower limb module, right lower limb module and drive
Electric unicycle "Left"-deviationist, Right deviation and the balance sailed and then realization are turned left, are turned right and keep straight on, and can be made by anteversion and retroversion module
The center of gravity of balance puppet leans forward, swings back, upright and then realize electric unicycle and advance, retreat and stand, by the lower limb of puppet
Foot module makes puppet can be fixed on electric unicycle；Receive the information sent of remote controller by electronic control module and control left lower limb
Module, right lower limb module and anteversion and retroversion module, it is achieved the purpose of electric unicycle driven by remote control balance puppet.
Accompanying drawing explanation
Fig. 1 is that a kind of leg swinging based on electric unicycle of the present invention balances puppet structural representation.
Detailed description of the invention
Be illustrated in figure 1 a kind of leg swinging based on electric unicycle balance puppet embodiment, including puppet body 24,
Anteversion and retroversion module, the legs and feet module of puppet, electronic control module.
The further technical scheme that the present invention uses is: the legs and feet module of described puppet includes left lower limb module, right lower limb mould
Block and support 21, left lower limb module and right lower limb module are fixed together by support 21, and described left lower limb module is by left balance
Block 1, connecting rod 1, hinged 1, hinged 24, connecting rod 25, screw mandrel 6, slide block 7, hinged 38, left fixed mount 9, motor 1, solid
Fixed pole 11, upper limit sensor 22, lower limit sensor 23 form, and connecting rod 1 is fixing with left balance weight 1 to be connected, connecting rod 1 and
Connecting rod 25 connects by hinged 1, and connecting rod 1 is connected by hinged 24 with fixing bar 11, and connecting rod 25 is hinged with slide block 7, sliding
Block 7 is arranged on screw mandrel 6, and screw mandrel 6 is arranged on fixing bar 11 by hinged 24 and hinged 38, screw mandrel 6 and motor 1
Axle is fixing to be connected, and left fixed mount 9 is fixed on fixing bar 11, and fixing bar 11 fixedly mounts on the stent 21, upper limit sensor
22, lower limit sensor 23, motor 1 are arranged on fixing bar 11 and electrically connect with electronic control module；Described right lower limb module and
The structure of left lower limb module is identical.
The further technical scheme that the present invention uses is: described anteversion and retroversion module is by bearing 1, bearing 2 19, rotary shaft
18, motor 2 20 composition, rotary shaft 18 is fixing with puppet body 24 to be connected, and rotary shaft 18 is fixing with the axle of motor 2 14 to be connected,
Rotary shaft 18 is connected with support 21 by bearing 1, bearing 2 19, motor 2 20 fix with support 21 be connected and with automatically controlled mould
Block electrically connects.
The further technical scheme that the present invention uses is: described electronic control module includes: described electronic control module includes: controller
14, battery 13, charging inlet 12, attitude transducer 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver
And remote controller, described controller 14 and attitude transducer 15, upper limit sensor 22, lower limit sensor 23, motor 1,
Motor 2 20, the wireless receiver of wireless remote control module 16, battery 13, electrically connect and be fixedly mounted on puppet body 24；Fill
Electrical interface 12 electrically connects with battery 13 and is fixedly mounted on puppet body 24, described attitude transducer 15 includes gyroscope
And/or Gravity accelerometer, described remote controller include wireless transmitter, screen, starting key, shutdown button, stand by
Key, automatic running button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, institute
Stating button is mechanical type, touch and/or touch screen；The wireless signal of described wireless receiver and wireless transmitter be infrared,
Ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme that the present invention uses is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 22, lower limit sensor 23 the most normally, and inspection
The value surveying attitude transducer is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 20 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 20 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for fast forwarding through, then controller 14 controls motor 2 20 and increases balance puppet forward leaning angle；If remote controller is sent out
The information content come is for standing, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance puppet keep
Uprightly；If the information content that remote controller is sent is for turning left, then controller 14 controls motor 1 and makes the left balance weight 1 of left lower limb module
Lift；If the information content that remote controller is sent is for turning right, then controller 14 makes right lower limb module lift, if the information that remote controller is sent
Content is for accelerating, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance puppet accelerated motion, if distant
The control information content sent of device is for slowing down, then controller 14 controls left lower limb module, right lower limb module and anteversion and retroversion module and makes balance beam
Even retarded motion, if the information content that remote controller is sent is automatic running, then controller 14 control left lower limb module, right lower limb module and
Anteversion and retroversion module makes balance puppet carry out turning left, turn right, advance, retreat, stand；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
Can also be with arm on the puppet body 24 of the present invention, hands, head；Mainly play decoration function.
Claims (5)
1. leg swinging based on an electric unicycle balance puppet, it is characterised in that include puppet body (24), anteversion and retroversion mould
Block, the legs and feet module of puppet, electronic control module.
A kind of leg swinging based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described
The legs and feet module of puppet includes that left lower limb module, right lower limb module and support (21), left lower limb module and right lower limb module are by support (21)
Being fixed together, described left lower limb module is by left balance weight (1), connecting rod one (2), hinged one (3), hinged two (4), connecting rod
Two (5), screw mandrel (6), slide block (7), hinged three (8), left fixed mount (9), motor one (10), fixing bar (11), upper limit sensing
Device (22), lower limit sensor (23) form, and connecting rod one (2) is fixing with left balance weight (1) to be connected, connecting rod one (2) and connecting rod two
(5) connecting by hinged one (3), connecting rod one (2) is connected by hinged two (4) with fixing bar (11), connecting rod two (5) and slide block
(7) hinged, slide block (7) is arranged on screw mandrel (6), and screw mandrel (6) is arranged on fixing bar by hinged two (4) and hinged three (8)
(11), on, screw mandrel (6) is fixing with the axle of motor one (10) to be connected, and left fixed mount (9) is fixed on fixing bar (11), fixing bar
(11) being fixedly mounted on support (21), upper limit sensor (22), lower limit sensor (23), motor one (10) are arranged on solid
Fixed pole (11) is upper and electrically connects with electronic control module；Described right lower limb module is identical with the structure of left lower limb module.
A kind of leg swinging based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: before described
Hypsokinesis module is made up of bearing one (17), bearing two (19), rotary shaft (18), motor two (20), and rotary shaft (18) is with puppet originally
Body (24) is fixing to be connected, and rotary shaft (18) is fixing with the axle of motor two (14) to be connected, and rotary shaft (18) is passed through bearing one (17), propped up
Seat two (19) is connected with support (21), and motor two (20) is fixing with support (21) to be connected and electrically connects with electronic control module.
A kind of leg swinging based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described electricity
Control module includes: controller (14), battery (13), charging inlet (12), attitude transducer (15), wireless remote control module (16)；
Wireless remote control module (16) includes wireless receiver and remote controller, described controller (14) and attitude transducer (15), the upper limit
Level sensor (22), lower limit sensor (23), motor one (10), motor two (20), wireless the connecing of wireless remote control module (16)
Receive device, battery (13), electrically connect and be fixedly mounted on puppet body (24)；Charging inlet (12) electrically connects also with battery (13)
Be fixedly mounted on puppet body (24), described attitude transducer (15) includes gyroscope and/or Gravity accelerometer,
Described remote controller include wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, advance by
Key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch
And/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
A kind of leg swinging based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described control
Device processed (14) is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor (22), lower limit sensor (23) the most just
Often, the value of test pose sensor is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content that remote controller is sent is for advancing, then controller (14) control motor two (20) makes balance puppet
Lean forward；If the information content that remote controller is sent is for retreating, then controller (14) control motor two (20) makes balance puppet hypsokinesis；If
The information content that remote controller is sent is for fast forwarding through, then controller (14) controls motor two (20) and increases balance puppet top rake
Degree；If the information content that remote controller is sent is for standing, then controller (14) controls left lower limb module, right lower limb module and anteversion and retroversion module
Balance puppet is made to be kept upright；If the information content that remote controller is sent is for turning left, then controller (14) control motor one (10) makes
The left balance weight (1) of left lower limb module lifts；If the information content that remote controller is sent is for turning right, then controller (14) makes right lower limb module
Lifting, if the information content that remote controller is sent is for accelerating, then controller (14) controls left lower limb module, right lower limb module and anteversion and retroversion mould
Block makes balance puppet accelerated motion, if the information content that remote controller is sent is for slowing down, then controller (14) controls left lower limb module, the right side
Lower limb module and anteversion and retroversion module make balance puppet retarded motion, if the information content that remote controller is sent is automatic running, then control
Device (14) controls left lower limb module, right lower limb module and anteversion and retroversion module makes balance puppet carry out turning left, turn right, advance, retreat, stand
Vertical；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510048.6A CN106094825B (en) | 2016-07-03 | 2016-07-03 | A kind of leg swinging balance puppet based on electric unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510048.6A CN106094825B (en) | 2016-07-03 | 2016-07-03 | A kind of leg swinging balance puppet based on electric unicycle |
Publications (2)
| Publication Number | Publication Date |
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| CN106094825A true CN106094825A (en) | 2016-11-09 |
| CN106094825B CN106094825B (en) | 2018-10-09 |
Family
ID=57212776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610510048.6A Active CN106094825B (en) | 2016-07-03 | 2016-07-03 | A kind of leg swinging balance puppet based on electric unicycle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2858016Y (en) * | 2005-12-30 | 2007-01-17 | 北京市通用依耐特技术开发有限公司 | Robot rider |
| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
-
2016
- 2016-07-03 CN CN201610510048.6A patent/CN106094825B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2858016Y (en) * | 2005-12-30 | 2007-01-17 | 北京市通用依耐特技术开发有限公司 | Robot rider |
| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
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| CN106094825B (en) | 2018-10-09 |
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Address after: 545616 No. 266, No. 3, A plant, No. 19, No. 19, Yang Yang Road, Liu Dong District, Liuzhou, the Guangxi Zhuang Autonomous Region Patentee after: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. Address before: 545006 the Guangxi Zhuang Autonomous Region City, Liuzhou, 268 East Ring Road, Guangxi science and Technology University automotive College Patentee before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20191126 Address after: 221000 room 607, block B, University Pioneer Park, No. 99, University Road, Tongshan District, Xuzhou high tech Industrial Development Zone, Jiangsu Province Patentee after: Jiangsu Luzi Mali Food Co.,Ltd. Address before: 545616 No. 266, No. 3, A plant, No. 19, No. 19, Yang Yang Road, Liu Dong District, Liuzhou, the Guangxi Zhuang Autonomous Region Patentee before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221220 Address after: 221000 B716, Zone B, No. 99, University Road, High tech Industrial Development Zone, Xuzhou, Jiangsu Patentee after: Jiangsu Yurun Water Research Institute Co.,Ltd. Address before: Room 607, building B, University Pioneer Park, 99 University Road, Tongshan District, Xuzhou hi tech Industrial Development Zone, Jiangsu Province, 221000 Patentee before: Jiangsu Luzi Mali Food Co.,Ltd. |