CN105345819B - Adaptive gripping device - Google Patents
Adaptive gripping device Download PDFInfo
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- CN105345819B CN105345819B CN201510827763.8A CN201510827763A CN105345819B CN 105345819 B CN105345819 B CN 105345819B CN 201510827763 A CN201510827763 A CN 201510827763A CN 105345819 B CN105345819 B CN 105345819B
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- counterbore
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- driving mechanism
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- clamping device
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Abstract
A kind of adaptive gripping device,Including clamping device,Vertical driving mechanism and horizontal detection platform,The lower end of clamping device is the station for clamping detected workpiece,Horizontal detection platform is located at the underface of clamping device,The bottom surface for being detected workpiece is plane,In micro-adjusting mechanism,The bottom of lower interface plate is connect with clamping device,At least three are equipped on the outside of the top surface of lower interface plate for installing the first lower counterbore of helical spring,The bottom surface of upper interface board is equipped at least three for installing counterbore on the first of helical spring,The helical spring of confined state is placed on first be arranged in pairs in counterbore and the first lower counterbore,Positioning screw passes through counterbore on first,Helical spring,It is fixedly connected after first lower counterbore with clamping device,Adjustable range is equipped between upper interface board and lower interface plate,The motion end of upper interface board and vertical driving mechanism connects.The present invention is effectively ensured face between workpiece and horizontal detection platform and contacts, accuracy of detection is effectively ensured.
Description
Technical field
The present invention relates to detection field, the detection of especially a kind of gripping device of detection device, particularly plane-plane contact
Occasion.
Background technology
In automatic detection system, moving and being accurately positioned to workpiece is usually realized by workpiece gripping device, when
When workpiece needs are vertically captured and are accurately placed to horizontal detection platform and are detected, workpiece needs to protect with horizontal detection platform
Card plane-plane contact could realize accurate detection.Due to the presence of mechanical structure installation error, it is impossible to ensure clamped workpiece with
Horizontal detection platform keeps vertical, if using general rigid gripping device, measured workpiece is placed to horizontal monitor station
It is inclination contact with work top during face, this can have an impact the accuracy of detection of workpiece size.
Invention content
In order to overcome the gripping device of existing detection device can not ensure face contacts between workpiece and horizontal detection platform,
It can not ensure the deficiency of accuracy of detection, present invention offer one kind is effectively ensured face between workpiece and horizontal detection platform and contacts, has
Effect ensures the adaptive gripping device of accuracy of detection.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of adaptive gripping device, including clamping device, vertical driving mechanism and horizontal detection platform, the clamping machine
The lower end of structure is the station for clamping detected workpiece, and the horizontal detection platform is located at the underface of the clamping device,
The bottom surface of the detected workpiece is plane, and the adaptive gripping device further includes micro-adjusting mechanism, and the micro-adjusting mechanism includes
Lower interface plate, upper interface board helical spring and positioning screw, the bottom of the lower interface plate is connect with the clamping device, described
At least three are equipped on the outside of the top surface of lower interface plate for installing the first lower counterbore of the helical spring, the upper interface board
Center line is overlapped with the center line of the lower interface plate, and the bottom surface of the upper interface board is equipped at least three for installing the spiral shell
Counterbore on the first of spring is revolved, counterbore is located at the top of first lower counterbore on described first；The spiral shell of confined state
Rotation spring is placed on first be arranged in pairs in counterbore and the first lower counterbore, and positioning screw passes through counterbore, spiral bullet on first
It is fixedly connected after spring, the first lower counterbore with the clamping device, adjustable range is equipped between the upper interface board and lower interface plate,
The upper interface board is connect with the motion end of the vertical driving mechanism.
In the present embodiment, the intermediate segment length of the positioning screw is more than the sum of upper interface board and the thickness of lower interface plate,
Here difference is the adjustable range；The upper interface board, lower interface plate, which can slide up and down to, is sleeved on the positioning spiral shell
On the interlude of nail, under the action of bolt spring, upper interface board is topmost that nut is abutted against with positioning screw interlude, described
Lower interface plate and the bottom of the positioning screw interlude are abutted against, thus between upper interface board and lower interface plate it is spaced away from
From for the adjustable range.
Further, the second lower counterbore for installing the latch is equipped in the middle part of the top surface of the lower interface plate, it is described
Latch is mounted in second lower counterbore, and the middle part setting of the upper interface board is led to for the screw thread of installation and adjustment screw
Hole, the adjusting screw are mounted in the tapped through hole, the lower end of the adjusting screw be located at latch surface and
It is equipped with fine tuning gap, the upper end installation locking nut of the adjusting screw between each other.The fine tuning gap is less than or equal to described
Adjustable range, during original state, fine tuning gap be equal to the adjustable range (such as the lower end of the adjusting screw with it is described on connect
The bottom surface of oralia maintains an equal level, and the upper end of the latch and the top surface of the lower interface plate maintain an equal level), it is big if necessary to adjustable range
It is small, when by adjusting lock nut, can reduce fine tuning gap size, when finely tune gap be less than the adjustable range when, then
The regulated quantity of entire micro-adjusting mechanism is exactly the fine tuning gap.
Further, the motion end of the vertical driving mechanism is connect with horizontal connecting plate, the horizontal connecting plate and institute
It states interface board to be fixedly connected, the horizontal connecting plate is logical equipped with the nut of the positioning screw, adjusting screw is supplied to pass through
Hole.
Further, the upper interface board is connect with mounting bracket, the mounting bracket and the vertical driving mechanism
Motion end, the mounting bracket include horizontal connecting plate and horizontal connecting plate vertical center web connected vertically and horizontal connection
The sliding block of plate and vertical center web fixed support plate connected vertically, the vertical center web and vertical driving mechanism, which is fixed, to be connected
It connects, the vertical center web and horizontal connecting plate vertical connection, vertical center web are connect with vertical driving mechanism, the branch
Fagging is connect respectively with horizontal connecting plate and vertical center web perpendicular fastener.
Further, the vertical driving mechanism include single axis robot, two the linear guides and with guide rail cooperation
Sliding block, the linear guide erection support and driving mechanism installing plate, the single axis robot are to drive ball-screw by servo motor
Realize the drive component of the linear motion in vertical direction, the ball-screw connection sliding block, can entirely single axis machines it is man-machine
Structure is fixed on driving mechanism installing plate centre position, and described two the linear guide erection supports are separately mounted to a single axis robot left side
Right both sides, described two the linear guides are respectively fixed on the linear guide bearing, and the sliding block can be sleeved on left and right two
In the linear guide.Certainly, other vertical driving mechanisms can also be used.
The clamping device includes pneumatic scroll chuck and three mutually isostructural retaining structures, the pneumatic three-jaw card
Disk is hollow cylindrical structure, and centre has gas chamber, and air inlet and gas outlet, the screens knot are provided on outer chamber
Structure includes claw mounting base and claw.It is of course also possible to use other clamping devices.
There are three the pneumatic clamper collet for being uniformly distributed and connecting gas chamber, institutes for the pneumatic scroll chuck bottom setting
The pneumatic clamper collet stated can do open and close movement, the extended line point of three track groove center lines along the respective rail slot set on chuck
Do not intersect with the center line of chuck, at least three equally distributed standard threads are provided at the top of the pneumatic scroll chuck
Hole.
The claw mounting base is connect with the pneumatic clamper collet of scroll chuck bottom, and is provided in each claw mounting base
For the slot of claw installation, the claw is detachably connected with claw mounting base, and claw is inserted into the slot in claw mounting base
And it fastens.
Beneficial effects of the present invention are mainly manifested in：Being provided between clamping chuck and fixed vertical driving mechanism can
Realize the chuck micro-adjusting mechanism that adaptively adjusts, workpiece is vertically captured and be placed on horizontal detection platform by chuck, when being pressed from both sides
In the case that the workpiece and horizontal detection platform held cannot keep vertical, oneself of the location of workpiece can be realized using the micro-adjusting mechanism
Adjustment is adapted to, to ensure that workpiece and horizontal detection platform are that face contacts, so as to ensure that accuracy of detection.
Description of the drawings
Fig. 1 is the structure diagram of adaptive gripping device.
Fig. 2 is the vertical view of clamping device.
Fig. 3 is A-A partial sectional views in Fig. 2.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~Fig. 3, a kind of adaptive gripping device, including clamping device, vertical driving mechanism and horizontal monitor station
Face 16, the lower end of the clamping device are the station for clamping detected workpiece, and the horizontal detection platform 16 is located at described
The underface of clamping device, the bottom surface of the detected workpiece 17 is plane, and the adaptive gripping device further includes freqency fine adjustment machine
Structure, the micro-adjusting mechanism include lower interface plate 7, latch 19, upper interface board 8, adjusting screw 20, helical spring 22 and positioning spiral shell
Nail 23, the bottom of the lower interface plate 7 is connect with the clamping device, and at least three are equipped on the outside of the top surface of the lower interface plate 7
A the first lower counterbore for being used to install the helical spring 22, the top surface middle part of the lower interface plate 7 is equipped with described for installing
Second lower counterbore of latch 19, the latch 19 are mounted in second lower counterbore, the center line of the upper interface board 8
It is overlapped with the center line of the lower interface plate 7, the bottom surface of the upper interface board 8 is equipped at least three for installing the spiral bullet
Counterbore on the first of spring, counterbore is located at the top of first lower counterbore, the middle part setting of the upper interface board 8 on described first
For the tapped through hole of installation and adjustment screw 20, the adjusting screw 20 is mounted in the tapped through hole, the adjusting screw
20 lower end is located at right over the latch 19, the upper end installation locking nut 21 of the adjusting screw 20；Confined state
The helical spring 22 be placed on first be arranged in pairs in counterbore and the first lower counterbore, positioning screw 23 pass through first on
It is fixedly connected after counterbore, helical spring 22, the first lower counterbore with the clamping device, the upper interface board 5 and the vertical drive
The motion end connection of motivation structure.
In the present embodiment, the clamping device includes pneumatic scroll chuck, three mutually isostructural retaining structures, described
Pneumatic scroll chuck 1 be hollow cylindrical structure, centre has gas chamber, is provided with air inlet 3 and outlet on outer chamber
Mouth 4, there are three the pneumatic clamper collet 2 for being uniformly distributed and connecting gas chamber, the gas for pneumatic scroll chuck bottom setting
Claw clip head can do open and close movement along the respective rail slot set on chuck, the extended lines of three track groove center lines respectively with card
The center line of disk intersects, and there are three equally distributed standard threaded apertures for setting at the top of the pneumatic scroll chuck.The screens knot
Structure includes claw mounting base 5 and claw 6, and the claw mounting base 5 is connected by screw and the pneumatic clamper collet 2 of scroll chuck bottom
It connects, and the slot installed for claw 6 is provided in each claw mounting base, the claw 6 detachably connects with claw mounting base 5
It connects, the slot that claw is inserted into claw mounting base is simultaneously fastened with screw.It is of course also possible to use other clamping devices.
The micro-adjusting mechanism includes lower interface plate 7, latch 19 (preferably press-in type latch), upper interface board 8, adjusts
Screw assembly and helical spring 21 (preferably circular helical spring), it is (excellent that the adjusting screw component includes adjusting screw 20
It is selected as hexangle type adjusting screw in full thread) and lock nut 21, center line and the chuck hub line weight of the lower interface plate 7
It closes, bottom surface is bonded with scroll chuck, and there are three same sizes for installing the first of helical spring 22 for setting on another side
Lower counterbore, the center line of the center line of first lower counterbore respectively with threaded hole equally distributed at the top of scroll chuck overlap,
In addition, being set in the center of lower interface plate 7 there are one for installing the second lower counterbore of latch 19, the latch 19 is pacified
In on lower interface plate 7 its second lower counterbore of corresponding installation.8 center line of upper interface board and 7 center of lower interface plate
Line overlaps, and three and the first sinking of lower interface plate hole site are again provided on the bottom surface that it is contacted with lower interface plate 7
It is corresponding to be used to that counterbore on the first of helical spring 22 to be installed, in addition, there are one be used to pacify in the setting of upper 8 center of interface board
The tapped through hole of adjusting screw 20 is filled, the center line of the threaded hole is overlapped with the center line of latch 19 on lower interface plate 7, institute
The adjusting screw 20 stated is mounted on upper interface board 8 by tapped through hole and uses lock nut on the groove profile top surface of upper interface board
21 fix, and the helical spring 11 is placed between the corresponding counterbore of interface board up and down and in confined state.Described determines
Position screw 23 passes through the helical spring between counterbore and counterbore on upper and lower interface board to be fixed in the threaded hole on scroll chuck.
The vertical driving mechanism includes 12, two the linear guides 15 of single axis robot and the sliding block with guide rail cooperation
14, the linear guide erection support 13, driving mechanism installing plate 18, the single axis robot 1 drives ball wire by servo motor
Thick stick realizes the linear motion in vertical direction, is connected with the sliding block coordinated with it on the ball-screw, can use screw and its
His mechanism connects, and entire single axis machines robot mechanism is fixed by screws in 18 centre position of installing plate, and described two straight lines are led
Rail erection support 13 is separately mounted at left and right sides of single axis robot, and described two the linear guides 15 are fixed respectively by screw
Onto the linear guide bearing 13, the sliding block 14 can be sleeved in two the linear guides in left and right, and described is separately mounted to
Sliding block 14 in two the linear guides in left and right must be in same plane with the sliding block on single axis robot.The chuck installation
Stent includes horizontal connecting plate 9 and horizontal connecting plate vertical center web 11 connected vertically and horizontal connecting plate and vertical connection
Plate fixed support plate 10 connected vertically, the vertical center web 11 can be fixedly connected by screw with three sliding blocks.Institute
The horizontal connecting plate 9 stated is connect by screw with upper interface board 8, which is provided with for the nut of positioning screw 22 and adjusting screw 20
The through-hole passed through, by screw vertical connection, which can be with for the vertical center web 11 and horizontal connecting plate 9
Vertical driving mechanism is connected by screw, described to realize that driving mechanism drive clamping device does the linear motion of vertical direction
Support plate 10 connect respectively with horizontal connecting plate 9 and 11 perpendicular fastener of vertical center web.It is of course also possible to use other are vertical
Driving mechanism.
In use, upper interface board and lower interface plate are set as same thickness, it, can be in upper interface in order to realize fine position
Certain adjustable range is reserved between plate and lower interface plate, the length of positioning screw interlude is thickness and the adjusting of two interface boards
The summation of distance.Clamping device drives clamping device vertical by the vertical clamping workpiece of scroll chuck, and by vertical driving mechanism
It moves down, since there are installation error, clamped workpiece and horizontal detection platform cannot keep vertical, workpiece and level table
It is point contact when just starting to contact, there are an inclined angle between workpiece and horizontal plane, when clamped workpiece continues down
During movement, the spring in micro-adjusting mechanism close to contact point side is further compressed, and makes the distance between two interface boards of the side
Shorten relative to opposite side, so as to achieve the purpose that reduce workpiece angle of inclination, under the action of the spring, the position of workpiece is adjusted
Straightening to and horizontal plane, it is face contact to ensure workpiece and horizontal detection platform.If desired the width of chuck angle adjustment is adjusted
Degree can make it screw out the bottom surface certain distance of upper interface board with adjusting screw, at this time between two interface boards it is practical it is adjustable away from
From shortening.
Claims (5)
1. a kind of adaptive gripping device, including clamping device, vertical driving mechanism and horizontal detection platform, the clamping device
Lower end be for the station that clamps detected workpiece, the horizontal detection platform is located at the underface of the clamping device, institute
The bottom surface for stating detected workpiece is plane, it is characterised in that：The adaptive gripping device further includes micro-adjusting mechanism, the fine tuning
Mechanism includes lower interface plate, upper interface board helical spring and positioning screw, bottom and the clamping device of the lower interface plate
Connection, the top surface outside of the lower interface plate is equipped at least three for installing the first lower counterbores of the helical spring, described
The center line of upper interface board is overlapped with the center line of the lower interface plate, and the bottom surface of the upper interface board is used for equipped at least three
Counterbore on the first of the helical spring is installed, counterbore is located at the top of first lower counterbore on described first；By compression shape
The helical spring of state is placed on first be arranged in pairs in counterbore and the first lower counterbore, and positioning screw passes through sinks on first
It is fixedly connected with the clamping device after hole, helical spring, the first lower counterbore, is equipped between the upper interface board and lower interface plate
Adjustable range, the upper interface board are connect with the motion end of the vertical driving mechanism；It is set in the middle part of the top surface of the lower interface plate
The second lower counterbore of installation latch is useful for, the latch is mounted in second lower counterbore, the upper interface board
Middle part setting is for the tapped through hole of installation and adjustment screw, and the adjusting screw is in the tapped through hole, the adjusting
The lower end of screw is located at right over the latch and is equipped with fine tuning gap between each other, the upper end installation lock of the adjusting screw
Tight nut；The motion end of the vertical driving mechanism is connect with horizontal connecting plate, the horizontal connecting plate and the upper interface board
It is fixedly connected, the through-hole that the horizontal connecting plate is equipped with the nut for the positioning screw, adjusting screw passes through；It is connect on described
Oralia is connect with mounting bracket, and the mounting bracket and the motion end of the vertical driving mechanism, the mounting bracket include water
Flushconnection plate and horizontal connecting plate vertical center web connected vertically and horizontal connecting plate and the equal vertical connection of vertical center web
Fixed support plate, the vertical center web is fixedly connected with the sliding block of vertical driving mechanism, the vertical center web and water
Flushconnection plate vertical connection, vertical center web are connect with vertical driving mechanism, the support plate respectively with horizontal connecting plate and
Vertical center web perpendicular fastener connects.
2. adaptive gripping device as described in claim 1, it is characterised in that：The vertical driving mechanism includes single axis machines
People, two the linear guides and sliding block, the linear guide erection support and driving mechanism installing plate with guide rail cooperation, the single shaft
Robot is ball-screw to be driven to realize the drive component of the linear motion in vertical direction, the ball wire by servo motor
Thick stick connection sliding block entirely can be fixed on driving mechanism installing plate centre position, described two the linear guides by single axis machines robot mechanism
Erection support is separately mounted at left and right sides of single axis robot, and described two the linear guides are respectively fixed to the linear guide bearing
On, the sliding block can be sleeved in two the linear guides in left and right.
3. adaptive gripping device as described in claim 1, it is characterised in that：The clamping device includes pneumatic scroll chuck
With three mutually isostructural retaining structures, the pneumatic scroll chuck is hollow cylindrical structure, and centre has gas chamber,
Air inlet and gas outlet are provided on outer chamber, the retaining structure includes claw mounting base and claw.
4. adaptive gripping device as claimed in claim 3, it is characterised in that：The pneumatic scroll chuck bottom is provided with
Three pneumatic clamper collets for being uniformly distributed and connecting gas chamber, the pneumatic clamper collet can be corresponding along what is set on chuck
Track groove does open and close movement, and the extended line of three track groove center lines intersects respectively with the center line of chuck, the pneumatic three-jaw
At least three equally distributed standard threaded apertures are provided at the top of chuck.
5. adaptive gripping device as claimed in claim 4, it is characterised in that：The claw mounting base and scroll chuck bottom
The pneumatic clamper collet connection in portion, and the slot installed for claw is provided in each claw mounting base, the claw is pacified with claw
Dress seat is detachably connected, and claw is inserted into the slot in claw mounting base and fastening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510827763.8A CN105345819B (en) | 2015-11-25 | 2015-11-25 | Adaptive gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510827763.8A CN105345819B (en) | 2015-11-25 | 2015-11-25 | Adaptive gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105345819A CN105345819A (en) | 2016-02-24 |
| CN105345819B true CN105345819B (en) | 2018-06-29 |
Family
ID=55321953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510827763.8A Active CN105345819B (en) | 2015-11-25 | 2015-11-25 | Adaptive gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105345819B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234558B (en) * | 2016-03-28 | 2018-08-31 | 沈阳海默数控机床有限公司 | The aligning device and method that the datum line of workpiece coincides |
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| JPH07314375A (en) * | 1994-05-23 | 1995-12-05 | Saitama Nippon Denki Kk | Robot hand floating unit |
| JP2008284652A (en) * | 2007-05-18 | 2008-11-27 | Yokogawa Electric Corp | Floating mechanism |
| CN204414131U (en) * | 2014-12-31 | 2015-06-24 | 无锡贝斯特精机股份有限公司 | Truss hand hard and soft transfer posting machine structure |
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| CN100592093C (en) * | 2007-03-26 | 2010-02-24 | 鸿劲科技股份有限公司 | Diaphragm type floating apparatus |
| CN101362328B (en) * | 2008-09-19 | 2010-08-25 | 浙江大学 | Vacuum adsorption type three-coordinate flexible attitude-adjusting unit |
| CN202114733U (en) * | 2011-05-19 | 2012-01-18 | 上海发那科机器人有限公司 | Magnetic sucker of stator punching sheet carrying paw of robot |
| CN203236382U (en) * | 2012-12-17 | 2013-10-16 | 鸿准精密模具（昆山）有限公司 | Clamping device |
| CN103213120B (en) * | 2013-03-26 | 2016-05-18 | 东莞市德瑞精密设备有限公司 | Mechanical arm |
| CN203293202U (en) * | 2013-05-29 | 2013-11-20 | 金石机器人常州有限公司 | Automatically and finely adjustable mechanical arm |
| CN203510241U (en) * | 2013-09-18 | 2014-04-02 | 伟祥实业有限公司 | Horizontally-moving mechanical arm device for power tool |
| CN203526924U (en) * | 2013-11-13 | 2014-04-09 | 苏州凯弘橡塑有限公司 | Pneumatic tool for copper ring frame |
| CN205325691U (en) * | 2015-11-25 | 2016-06-22 | 浙江工业大学 | Self -adaptation is grabbed and is held device |
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- 2015-11-25 CN CN201510827763.8A patent/CN105345819B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5148610A (en) * | 1986-12-15 | 1992-09-22 | Gte Valenite Corporation | Precision parallel mechanical float |
| JPH07314375A (en) * | 1994-05-23 | 1995-12-05 | Saitama Nippon Denki Kk | Robot hand floating unit |
| JP2008284652A (en) * | 2007-05-18 | 2008-11-27 | Yokogawa Electric Corp | Floating mechanism |
| CN204414131U (en) * | 2014-12-31 | 2015-06-24 | 无锡贝斯特精机股份有限公司 | Truss hand hard and soft transfer posting machine structure |
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| Publication number | Publication date |
|---|---|
| CN105345819A (en) | 2016-02-24 |
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Effective date of registration: 20201110 Address after: Room 406, no.3020 Huling Road, Linghu Town, Nanxun District, Huzhou City, Zhejiang Province Patentee after: Huzhou lingchuang Technology Co.,Ltd. Address before: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee before: ZHEJIANG University OF TECHNOLOGY |
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Effective date of registration: 20220107 Address after: Room 501, office building, Langchuan Avenue, Jianping Town, Langxi County, Xuancheng City, Anhui Province Patentee after: Langxi pinxu Technology Development Co.,Ltd. Address before: 313000 No.39, Limin Road, Zhili Town, Wuxing District, Huzhou City, Zhejiang Province Patentee before: Zhejiang creation Intellectual Property Service Co.,Ltd. Effective date of registration: 20220107 Address after: 310000 Zhaohui District 6, Xiacheng District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG University OF TECHNOLOGY Address before: Room 406, no.3020 Huling Road, Linghu Town, Nanxun District, Huzhou City, Zhejiang Province Patentee before: Huzhou lingchuang Technology Co.,Ltd. Effective date of registration: 20220107 Address after: 313000 No.39, Limin Road, Zhili Town, Wuxing District, Huzhou City, Zhejiang Province Patentee after: Zhejiang creation Intellectual Property Service Co.,Ltd. Address before: 310000 Zhaohui District 6, Xiacheng District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG University OF TECHNOLOGY |
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