CN107363826A - A kind of mechanical grabbing device - Google Patents
A kind of mechanical grabbing device Download PDFInfo
- Publication number
- CN107363826A CN107363826A CN201710459018.1A CN201710459018A CN107363826A CN 107363826 A CN107363826 A CN 107363826A CN 201710459018 A CN201710459018 A CN 201710459018A CN 107363826 A CN107363826 A CN 107363826A
- Authority
- CN
- China
- Prior art keywords
- motor
- connection
- signal
- electric motors
- linear electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of mechanical grabbing device, described control box I（3）With power supply box（4）Between pole is set（6）, described pole（6）Top motor I（7）, described motor I（7）Output axis connection shaft coupling I（8）, described shaft coupling I（8）Outer surface be fixedly connected with extension rod I（9）, described extension rod I（9）Top connection motor II（10）, described motor II（10）Output axis connection shaft coupling II（11）, described shaft coupling II（11）Upper connection extension rod II（12）, described extension rod II（12）Outer end be connected rhombus by fixing glue（13）, described fixation rhombus（13）Lateral outer ends connection motor-driven diamond extension block（14）, described motor-driven diamond extension block（14）Lateral outer ends connection support block（15）；The present invention can increase chucking power, and Electronic control, use range are extensive.
Description
Technical field
The invention belongs to mechanical manufacturing field, is a kind of mechanical grabbing device specifically.
Background technology
Present mechanical grabbing device is mostly that function is single, and crawl chucking power is non-adjustable, the product of narrow application range, still
For existing article, article is more and more diversified so that the requirement more and more higher for mechanical grabbing device, existing production
Product can not meet the market demand.
The content of the invention
The present invention provides a kind of mechanical grabbing device, can effectively solve the problem that above mentioned problem, increases chucking power, and electronic control
System, use range are extensive.
To reach above-mentioned purpose, technological means that the present invention uses for：
A kind of mechanical grabbing device, its composition include：Supporting plate 1, roller 2, the bottom of described supporting plate 1 are equipped with four rolling
2, the top surface of described supporting plate 1 places control box I 3 and power supply box 4, and the top of described power supply box 4 sets control box II 5,
Between described control box I 3 and power supply box 4 set pole 6, the top motor I 7 of described pole 6, described motor I 7 it is defeated
Go out axis connection shaft coupling I 8, the outer surface of described shaft coupling I 8 is fixedly connected with extension rod I 9, the top of described extension rod I 9
Motor II 10 is connected, the output axis connection shaft coupling II 11 of described motor II 10, connects on described shaft coupling II 11 and prolongs
Stock II 12, the outer end of described extension rod II 12 are connected rhombus 13 by fixing glue, the horizontal stroke of described fixation rhombus 13
Motor-driven diamond extension block 14 is connected outward, and the lateral outer ends connection support block 15 of described motor-driven diamond extension block 14 is described
Motor-driven diamond extension block 14 on connect L-type folding rod I 32 and L-type folding rod II 33 respectively, described L-type folding rod I 32 connects
Camera 34 is connect, described L-type folding rod II 33 connection distance measuring sensor 35, the upper surface of described support block 15 sets straight line
Motor I 16, sets rotating shaft I 17 on described linear electric motors I 16, and one end of cylinder lever connecting rod I 18, described in described rotating shaft I 17
Pull bar I 18 other end connection manipulator on tong 19, the centrally disposed motor III 20 of tong 19, institute on described manipulator
The output shaft for the motor III 20 stated is fixedly connected with externally threaded screw rod 21, and described screw rod 21 coordinates swivel nut 22 to use, described
Swivel nut 22 the upper arc clip 23 of bottom connection, the lower surface of described upper arc clip 23 sets pressure sensor 24, institute
The lower surface for the support block 15 stated sets linear electric motors II 25, and rotating shaft II 26 is set on described linear electric motors II 25, described
One end of cylinder lever connecting rod II 27 in rotating shaft II 26, the other end of described pull bar II 27 connects tong 28 under manipulator, described
One group of spring 29 of the inner surface setting of tong 28 under manipulator, the top connection arc lower intermediate plate 30 of described spring 29, institute
The arc lower intermediate plate 30 stated is used with closing arc clip 23.
Further, described control box I 3 is arranged on the front end of supporting plate 1, and described power supply box 4 is arranged on supporting plate 1
Rear end, described pole 6 is arranged at the rear end 1/3 of supporting plate 1.
Further, rotating shaft III 31 and rotating shaft set are passed through between tong 28 under tong 19 and manipulator on described manipulator
32 are connected.
Further, described upper arc clip 23 and arc lower intermediate plate 30 are shell fragment.
Further, wireless receiver I is loaded in described control box I 3, described wireless receiver I receives wireless remote
The signal of device I is controlled, signal is passed to PLC by described wireless receiver I, and described PLC receives the signal of camera, institute simultaneously
Signal is passed to roller drive module by the PLC stated, and signal is passed to roller 2 by described roller drive module.
Further, single-chip microcomputer is loaded in described control box II 5, described single-chip microcomputer receives pressure sensor 24, surveyed
Signal away from sensor 35, camera 34, Smoke Sensor and wireless receiver II,
Described wireless receiver II receives the signal of Digiplex II, and described Digiplex II also controls motor-driven diamond
Signal is passed to linear electric motors I 16, linear electric motors II 25, memory, data-interface and electricity by extension block 14, described single-chip microcomputer
Machine starting module, described electric motor starting module controlled motor I 7, motor II 10 and motor III 20, described data-interface pass through
RS232 connection host computers, described power supply box 4 is to linear electric motors I 16, linear electric motors II 25, motor I 7, motor II 10, motor
III 20 power with single-chip microcomputer, and described single-chip microcomputer also receives keyboard input signal.
Beneficial effects of the present invention are as follows：
1. the pressure sensor of the present invention can ensure chucking power, reduce manipulator according to arc clip in sub- blue or green big minor adjustment
Damage；
2. the present invention motor I be used cooperatively with motor II, can not only adjust highly but also can be wide with adjustment length, use range；
3. rangefinder of the present invention coordinates camera to use, monitoring personnel is helped to be inconvenient to the place reached, it is applied widely.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Fig. 1 close-up schematic view；
Fig. 3 is Fig. 1 fragmentary front view；
Fig. 4 is the signal flow graph in control box I of the present invention；
Fig. 5 is the signal flow graph in control box II of the present invention.
The structure of the present invention is further described in detail below in conjunction with the drawings and specific embodiments, in this specification
Front, rear, left and right be consistent with the direction in accompanying drawing.
Embodiment
As shown in figure 1, a kind of mechanical grabbing device, its composition includes：Supporting plate 1, roller 2, the bottom of described supporting plate 1
End is equipped with four rolling 2, and the top surface of described supporting plate 1 places control box I 3 and power supply box 4, the top of described power supply box 4
Control box II 5 is set, pole 6, the top motor I 7 of described pole 6, institute are set between described control box I 3 and power supply box 4
The output axis connection shaft coupling I 8 for the motor I 7 stated, the outer surface of described shaft coupling I 8 is fixedly connected with extension rod I 9, described
The top connection motor II 10 of extension rod I 9, the output axis connection shaft coupling II 11 of described motor II 10, described shaft coupling
Connect extension rod II 12 on device II 11, the outer end of described extension rod II 12 is connected rhombus 13 by fixing glue, described
The lateral outer ends connection motor-driven diamond extension block 14 of fixed rhombus 13, the lateral outer ends connection of described motor-driven diamond extension block 14
Support block 15, L-type folding rod I 32 and L-type folding rod II 33, described L are connected respectively on described motor-driven diamond extension block 14
Type folding rod I 32 connects camera 34, and described L-type folding rod II 33 connects distance measuring sensor 35, described support block 15
Upper surface sets linear electric motors I 16, sets rotating shaft I 17 on described linear electric motors I 16, cylinder lever connecting rod I in described rotating shaft I 17
18 one end, tong 19 on the other end connection manipulator of described pull bar I 18, the center of tong 19 is set on described manipulator
Motor III 20 is put, the output shaft of described motor III 20 is fixedly connected coordinates spiral shell with externally threaded screw rod 21, described screw rod 21
Set 22 uses, and the upper arc clip 23 of bottom connection of described swivel nut 22, the lower surface of described upper arc clip 23 sets pressure
Force snesor 24, the lower surface of described support block 15 set linear electric motors II 25, set and turn on described linear electric motors II 25
Axle II 26, one end of cylinder lever connecting rod II 27 in described rotating shaft II 26, under the other end connection manipulator of described pull bar II 27
Tong 28, one group of spring 29 of inner surface setting of tong 28 under described manipulator, under the top connection of described spring 29
Arc clip 30, described arc lower intermediate plate 30 are used with closing arc clip 23.
Further, described control box I 3 is arranged on the front end of supporting plate 1, and described power supply box 4 is arranged on supporting plate 1
Rear end, described pole 6 is arranged at the rear end 1/3 of supporting plate 1.
Further, rotating shaft III 31 and rotating shaft set are passed through between tong 28 under tong 19 and manipulator on described manipulator
32 are connected.
Further, described upper arc clip 23 and arc lower intermediate plate 30 are shell fragment.
Further, wireless receiver I is loaded in described control box I 3, described wireless receiver I receives wireless remote
The signal of device I is controlled, signal is passed to PLC by described wireless receiver I, and described PLC receives the signal of camera, institute simultaneously
Signal is passed to roller drive module by the PLC stated, and signal is passed to roller 2 by described roller drive module.
Further, single-chip microcomputer is loaded in described control box II 5, described single-chip microcomputer receives pressure sensor 24, surveyed
Signal away from sensor 35, camera 34, Smoke Sensor and wireless receiver II,
Described wireless receiver II receives the signal of Digiplex II, and described Digiplex II also controls motor-driven diamond
Signal is passed to linear electric motors I 16, linear electric motors II 25, memory, data-interface and electricity by extension block 14, described single-chip microcomputer
Machine starting module, described electric motor starting module controlled motor I 7, motor II 10 and motor III 20, described data-interface pass through
RS232 connection host computers, described power supply box 4 is to linear electric motors I 16, linear electric motors II 25, motor I 7, motor II 10, motor
III 20 power with single-chip microcomputer, and described single-chip microcomputer also receives keyboard input signal.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (6)
1. a kind of mechanical grabbing device, its composition includes：Supporting plate（1）, roller（2）, it is characterised in that：Described supporting plate
（1）Bottom four rolling is housed（2）, described supporting plate（1）Top surface place control box I（3）With power supply box（4）, it is described
Power supply box（4）Top set control box II（5）, described control box I（3）With power supply box（4）Between pole is set（6）,
Described pole（6）Top motor I（7）, described motor I（7）Output axis connection shaft coupling I（8）, described shaft coupling
Ⅰ（8）Outer surface be fixedly connected with extension rod I（9）, described extension rod I（9）Top connection motor II（10）, described electricity
Machine II（10）Output axis connection shaft coupling II（11）, described shaft coupling II（11）Upper connection extension rod II（12）, it is described
Extension rod II（12）Outer end be connected rhombus by fixing glue（13）, described fixation rhombus（13）Lateral outer ends connect
Connect motor-driven diamond extension block（14）, described motor-driven diamond extension block（14）Lateral outer ends connection support block（15）, it is described
Motor-driven diamond extension block（14）It is upper to connect L-type folding rod I respectively（32）With L-type folding rod II（33）, described L-type folding rod I
（32）Connect camera（34）, described L-type folding rod II（33）Connect distance measuring sensor（35）, described support block（15）'s
Upper surface sets linear electric motors I（16）, described linear electric motors I（16）Upper setting rotating shaft I（17）, described rotating shaft I（17）On
Cylinder lever connecting rod I（18）One end, described pull bar I（18）The other end connection manipulator on tong（19）, described manipulator
Upper tong（19）Centrally disposed motor III（20）, described motor III（20）Output shaft be fixedly connected with externally threaded screw rod
（21）, described screw rod（21）Coordinate swivel nut（22）Use, described swivel nut（22）The upper arc clip of bottom connection（23）, institute
The upper arc clip stated（23）Lower surface set pressure sensor（24）, described support block（15）Lower surface set straight line
Motor II（25）, described linear electric motors II（25）Upper setting rotating shaft II（26）, described rotating shaft II（26）Upper cylinder lever connecting rod II
（27）One end, described pull bar II（27）The other end connection manipulator under tong（28）, tong under described manipulator
（28）One group of spring of inner surface setting（29）, described spring（29）Top connection arc lower intermediate plate（30）, it is described
Arc lower intermediate plate（30）With closing arc clip（23）Use.
A kind of 2. mechanical grabbing device according to claim 1, it is characterised in that：Described control box I（3）It is arranged on branch
Fagging（1）Front end, described power supply box（4）It is arranged on supporting plate（1）Rear end, described pole（6）It is arranged on supporting plate
（1）Rear end 1/3 at.
A kind of 3. mechanical grabbing device according to claim 1, it is characterised in that：Tong on described manipulator（19）With
Tong under manipulator（28）Between pass through rotating shaft III（31）With rotating shaft set（32）It is connected.
A kind of 4. mechanical grabbing device according to claim 1, it is characterised in that：Described upper arc clip（23）With under
Arc clip（30）It is shell fragment.
A kind of 5. mechanical grabbing device according to claim 1, it is characterised in that：Described control box I（3）Interior loading nothing
Line receiver I, described wireless receiver I receive the signal of Digiplex I, and described wireless receiver I transmits signal
To PLC, described PLC receives the signal of camera simultaneously, and signal is passed to roller drive module by described PLC, described
Signal is passed to roller by roller drive module（2）.
A kind of 6. mechanical grabbing device according to claim 1, it is characterised in that：Described control box II（5）Interior loading
Single-chip microcomputer, described single-chip microcomputer receive pressure sensor（24）, distance measuring sensor（35）, camera（34）, Smoke Sensor with
The signal of wireless receiver II, described wireless receiver II receive the signal of Digiplex II, described Digiplex
II also controls motor-driven diamond extension block（14）, signal passes to linear electric motors I by described single-chip microcomputer（16）, linear electric motors II
（25）, memory, data-interface and electric motor starting module, described electric motor starting module controlled motor I（7）, motor II（10）
With motor III（20）, described data-interface passes through RS232 connection host computers, described power supply box（4）To linear electric motors I
（16）, linear electric motors II（25）, motor I（7）, motor II（10）, motor III（20）Powered with single-chip microcomputer, described single-chip microcomputer is also
Receive keyboard input signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710459018.1A CN107363826B (en) | 2017-06-16 | 2017-06-16 | Mechanical grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710459018.1A CN107363826B (en) | 2017-06-16 | 2017-06-16 | Mechanical grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107363826A true CN107363826A (en) | 2017-11-21 |
| CN107363826B CN107363826B (en) | 2020-06-09 |
Family
ID=60305262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710459018.1A Active CN107363826B (en) | 2017-06-16 | 2017-06-16 | Mechanical grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363826B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050219A (en) * | 2017-12-07 | 2018-05-18 | 哈尔滨工业大学 | A kind of high-mechanic truss-like high flexibility mechanism |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| GB2606991A (en) * | 2021-03-31 | 2022-11-30 | Alumatlq As | Electrolytic cell lid handling system and method of use |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0947992A (en) * | 1995-08-02 | 1997-02-18 | Ishikawajima Harima Heavy Ind Co Ltd | Clamp device |
| CN102944443A (en) * | 2012-11-23 | 2013-02-27 | 天津出入境检验检疫局工业产品安全技术中心 | Step-control mechanical sampling device |
| JP2013039637A (en) * | 2011-08-16 | 2013-02-28 | Tokai Kyohan Co Ltd | Robot hand, robot hand parts, and robot hand unit |
| CN205310292U (en) * | 2016-01-26 | 2016-06-15 | 杨伟峰 | Mechanical arm |
| CN205497519U (en) * | 2016-04-18 | 2016-08-24 | 魏仕槚 | Self -adaption manipulator |
| CN106425938A (en) * | 2016-12-15 | 2017-02-22 | 徐州顺予木业有限公司 | Overturnable fixing device for plate processing |
| CN106695670A (en) * | 2016-12-27 | 2017-05-24 | 天津艳萍科技有限公司 | Inner-clamping type three-claw puller |
| CN106826880A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of mechanical grip for being applied to bearing ring |
-
2017
- 2017-06-16 CN CN201710459018.1A patent/CN107363826B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0947992A (en) * | 1995-08-02 | 1997-02-18 | Ishikawajima Harima Heavy Ind Co Ltd | Clamp device |
| JP2013039637A (en) * | 2011-08-16 | 2013-02-28 | Tokai Kyohan Co Ltd | Robot hand, robot hand parts, and robot hand unit |
| CN102944443A (en) * | 2012-11-23 | 2013-02-27 | 天津出入境检验检疫局工业产品安全技术中心 | Step-control mechanical sampling device |
| CN205310292U (en) * | 2016-01-26 | 2016-06-15 | 杨伟峰 | Mechanical arm |
| CN205497519U (en) * | 2016-04-18 | 2016-08-24 | 魏仕槚 | Self -adaption manipulator |
| CN106425938A (en) * | 2016-12-15 | 2017-02-22 | 徐州顺予木业有限公司 | Overturnable fixing device for plate processing |
| CN106695670A (en) * | 2016-12-27 | 2017-05-24 | 天津艳萍科技有限公司 | Inner-clamping type three-claw puller |
| CN106826880A (en) * | 2017-02-15 | 2017-06-13 | 东莞市圣荣自动化科技有限公司 | A kind of mechanical grip for being applied to bearing ring |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050219A (en) * | 2017-12-07 | 2018-05-18 | 哈尔滨工业大学 | A kind of high-mechanic truss-like high flexibility mechanism |
| GB2606991A (en) * | 2021-03-31 | 2022-11-30 | Alumatlq As | Electrolytic cell lid handling system and method of use |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN113715008B (en) * | 2021-08-31 | 2023-01-24 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107363826B (en) | 2020-06-09 |
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Effective date of registration: 20200515 Address after: 325000 room 2203, building a, Shunjin commercial building, Wangjiang East Road, Songtai street, Lucheng District, Wenzhou City, Zhejiang Province Applicant after: Shen Yili Address before: 241002 Anhui Province, Wuhu city Yijiang District Higher Education Park Wenjin Road No. 16 Applicant before: ANHUI TECHNICAL COLLEGE OF MECHANICAL AND ELECTRICAL ENGINEERING |
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Effective date of registration: 20210930 Address after: 223600 Suqian Town, Shuyang County, Jiangsu Province Patentee after: Shuyang Hongye Machinery Co.,Ltd. Address before: 325000 room 2203, building a, Shunjin commercial building, Wangjiang East Road, Songtai street, Lucheng District, Wenzhou City, Zhejiang Province Patentee before: Shen Yili |