CN108394166B - A kind of numerical control foil pasting machine detects feeding device automatically - Google Patents
A kind of numerical control foil pasting machine detects feeding device automatically Download PDFInfo
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- CN108394166B CN108394166B CN201810185907.8A CN201810185907A CN108394166B CN 108394166 B CN108394166 B CN 108394166B CN 201810185907 A CN201810185907 A CN 201810185907A CN 108394166 B CN108394166 B CN 108394166B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B39/00—Layout of apparatus or plants, e.g. modular laminating systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B41/00—Arrangements for controlling or monitoring lamination processes; Safety arrangements
- B32B41/02—Safety arrangements
Abstract
The invention discloses a kind of numerical control foil pasting machines to detect feeding device, including swing mechanism, swing driving mechanism, inflatable body, material fetching mechanism, feeding driving mechanism and control device automatically.The swing mechanism is driven by swing driving mechanism according to the track of setting and is swung, the buffering detection module that swings is measured in real time continuous swing of the swing mechanism under swing driving mechanism driving, when swinging the detected value of buffering lower than the buffer threshold set, swing driving mechanism carries out next wheel drive, the feeding driving mechanism driving material fetching mechanism clamping workpiece is simultaneously moved according to the track of setting, the swing angle of swing angle detection module detection material fetching mechanism swing mechanism in blowing, when swing angle is less than the threshold value of setting, air blowing drive module driving inflatable body is blown, workpiece is blown into the position to setting.The present invention provides a kind of manipulator and the integrated device of blowning installation, saves space, guarantees the efficiency of feeding.
Description
Technical field
The invention belongs to numerical control foil pasting machine technical fields, and in particular to a kind of numerical control foil pasting machine detects feeding device automatically.
Background technique
Existing automatic fetching device common mechanical hand carries out crawl feeding, and in numerical control foil pasting machine, manipulator, which is matched, to be closed
Material taking platform and lifting device form a stable reclaimer system, in many use processes, the stroke of manipulator by
The limitation of installation space, therefore requirement cannot be reached, therefore, has carry out feeding using air blowing cylinder cooperative mechanical hand on the market
System, still, blowning installation and manipulator separation, be unfavorable for rationally utilizing space, blowing effect can not reach feeding
Requirement.
Summary of the invention
In view of this, the main object of the present invention is to provide a kind of manipulator and the integrated device of blowning installation, save
Space guarantees the efficiency of feeding.
Used technical solution of the invention are as follows:
A kind of numerical control foil pasting machine detects feeding device automatically, including swing mechanism, swing driving mechanism, inflatable body, takes
Expect mechanism, feeding driving mechanism and control device, air blowing drive module is provided on the control device, swings buffering detection
Module and swing angle detection module, the swing mechanism is driven by swing driving mechanism according to the track of setting and is swung, described
Buffering detection module is swung to be measured in real time continuous swing of the swing mechanism under swing driving mechanism driving, it is slow when swinging
When the detected value of punching is lower than the buffer threshold set, swing driving mechanism carries out next wheel drive, and the feeding driving mechanism is driven
Dynamic material fetching mechanism clamping workpiece is simultaneously moved according to the track of setting, and the swing angle detection module detection material fetching mechanism exists
The swing angle of swing mechanism when blowing, when swing angle is less than the threshold value of setting, air blowing drive module drives inflatable body
It blows, workpiece is blown into the position to setting, when swing angle is greater than the threshold value of setting, the direct blowing of material fetching mechanism is
It can reach the position of setting.
Further, the swing mechanism includes the attachment device for being connected and fixed with external equipment, and setting is even
Swing seat on connection device, is arranged in the angle board of swing seat bottom, and the swing mechanism further includes angle adjustment plate, the angle
Degree adjustment plate is fixedly connected with angle board, and the top for pedestal of setting a table is arranged in the angle adjustment plate.
Further, the swing driving mechanism includes the Y-axis cylinder that angle board bottom is arranged in, and the Y-axis cylinder is set
It sets on Y-axis cylinder block, bottom and the slide unit Y-axis cylinder attachment base of the Y-axis cylinder block are fixed, and the slide unit Y-axis cylinder connects
The side of joint chair is fixed on slide unit, and the 4th gas-tpe fitting is provided on the Y-axis cylinder, is arranged on the 4th gas-tpe fitting
There is the 4th electromagnetic flow valve, is provided with the 4th flow harvester in the 4th electromagnetic flow valve.
Further, the slide unit is fixed on the sliding rail of wiring cover upper end setting, and by slide unit upper and lower ends are arranged in
Driving cylinder driving slide unit move left and right on the slide rail, be provided with the 5th gas-tpe fitting at the driving cylinder, the described 5th
It is provided with the 5th electromagnetic flow valve on gas-tpe fitting, is provided with the 5th flow harvester in the 5th electromagnetic flow valve.
Further, the side of the wiring cover is provided with pedestal of setting a table, and the pedestal upper end of setting a table is provided with slide unit limit
Position seat, is provided with slide unit limit plate on the slide unit limit base.
Further, the inflatable body includes the gas blow pipe that pedestal side of setting a table is arranged in, the gas blow pipe with set a table
The fixing end of pedestal, which is provided at air blowing limit base and the gas blow pipe, is provided with the first gas-tpe fitting, the first gas-tpe fitting
On be provided with the first electromagnetic flow valve, be provided with first flow acquisition device in first electromagnetic flow valve.
Further, feeding driving mechanism includes that the bottom of pedestal of setting a table is arranged in be provided with pawl dish driving cylinder, described
It is provided with the second gas-tpe fitting on pawl dish driving cylinder, is provided with the second electromagnetic flow valve on the second gas-tpe fitting, described second
It is provided with to be arranged on second flow acquisition device and the pawl dish driving cylinder in electromagnetic flow valve and set a table on base side
On the shifting sledge at end, limit sensors are provided on the shifting sledge.
Further, the feeding device includes that the clamping jaw fixed plate of the bottom for pedestal of setting a table is arranged in, and the clamping jaw is solid
Clamping jaw cylinder is provided on fixed board, the clamping jaw cylinder bottom is provided with gripper disk, is provided with third on the clamping jaw cylinder
Gas-tpe fitting is provided with third electromagnetic flow valve on third gas-tpe fitting, is provided with third stream in the third electromagnetic flow valve
Measure acquisition device.
Further, the inside of wiring cover is arranged in the control device, and the control device further includes processing module, end
Mouth detection module and data acquisition module, the port detecting module are used to detect the input terminal of different flow acquisition device
Mouthful, and the data on flows of different input ports is transmitted to data acquisition module, the data acquisition module is by data on flows
It is transmitted to digital analog converter to be converted, the data place of being input to after conversion is swung into buffering detection module or swing angle detects
Module is calculated, according to setting in the result and processing module for swinging buffering detection module or the calculating of swing angle detection module
Threshold value be compared, drive different cylinder to be acted according to comparison result selection.
Further, swing shaft is provided in the attachment device.
The invention has the benefit that
The present invention is by detecting the swing buffering capacity in swing process, so that whole device will not be because continuously swinging
Inertia generate buffering cause device movement unstability, meanwhile, also protect the mechanical damage of device.
The present invention is measured in real time by swing angle of the swing angle detection module to swing mechanism, is avoided in blowing
When be not sent to the position of setting.
The present invention provides a kind of manipulator and the integrated device of blowning installation, saves space, guarantees the efficiency of feeding.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the systematic schematic diagram of control device of the present invention.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, the present invention will be described in detail, herein illustrative examples of the invention
And explanation is used to explain the present invention, but not as a limitation of the invention.
Referring to figs. 1 to Fig. 2, feeding device is detected automatically the invention discloses a kind of numerical control foil pasting machine, including swing mechanism,
Swing driving mechanism, inflatable body, material fetching mechanism, feeding driving mechanism and control device.
The swing mechanism includes the attachment device 300 for being connected and fixed with external equipment, is arranged in attachment device
Swing seat 302 on 300, is arranged in the angle board 303 of 302 bottom of swing seat, and the swing mechanism further includes angle adjustment plate
319, the angle adjustment plate 319 is fixedly connected with angle board 303, and pedestal 309 of setting a table is arranged in the angle adjustment plate 319
Top is provided in the attachment device 300 and swings shaft 301.
The swing driving mechanism includes the Y-axis cylinder 304 that 303 bottom of angle board is arranged in, and the Y-axis cylinder 304 is set
It sets on Y-axis cylinder block 305, the bottom of the Y-axis cylinder block 305 and slide unit Y-axis cylinder attachment base 306 are fixed, the slide unit Y
The side of axis cylinder attachment base 306 is fixed on slide unit 308, and the 4th gas-tpe fitting is provided on the Y-axis cylinder 304, described
It is provided with the 4th electromagnetic flow valve on 4th gas-tpe fitting, the 4th flow collection dress is provided in the 4th electromagnetic flow valve
It sets.The slide unit 308 is fixed on the sliding rail 325 of 324 upper end of wiring cover setting, and by 308 upper and lower ends of slide unit are arranged in
Driving cylinder 307 drives slide unit 308 to move left and right on sliding rail 325, is provided with the 5th tracheae at the driving cylinder 307 and connects
Head is provided with the 5th electromagnetic flow valve on the 5th gas-tpe fitting, is provided with the 5th flow in the 5th electromagnetic flow valve
Acquisition device.The side of the wiring cover 324 is provided with pedestal 309 of setting a table, and 309 upper end of pedestal of setting a table is provided with slide unit limit
Position seat, is provided with slide unit limit plate 320 on the slide unit limit base.
The inflatable body includes the gas blow pipe 315 that 309 side of pedestal of setting a table is arranged in, the gas blow pipe 315 with set a table
The fixing end of pedestal 309, which is provided at air blowing limit base 317 and the gas blow pipe 315, is provided with the first gas-tpe fitting 316,
It is provided with the first electromagnetic flow valve on first gas-tpe fitting 316, first flow acquisition is provided in first electromagnetic flow valve
Device.
Feeding driving mechanism includes that the bottom of pedestal 309 of setting a table is arranged in be provided with pawl dish driving cylinder 310, the pawl disk
It is provided with the second gas-tpe fitting 321 on driving cylinder 310, the second electromagnetic flow valve is provided on the second gas-tpe fitting 321, it is described
It is provided on second flow acquisition device and the pawl dish driving cylinder 310 and is arranged at bottom of setting a table in second electromagnetic flow valve
On the shifting sledge 323 of 309 side upper ends of seat, limit sensors 322 are provided on the shifting sledge 323.
The feeding device includes that the clamping jaw fixed plate 312 of the bottom for pedestal 309 of setting a table is arranged in, the clamping jaw fixed plate
Clamping jaw cylinder 313 is provided on 312,313 bottom of clamping jaw cylinder is provided with gripper disk, sets on the clamping jaw cylinder 313
It is equipped with third gas-tpe fitting 311, third electromagnetic flow valve, the third electromagnetic flow valve are provided on third gas-tpe fitting 311
Inside it is provided with third flow harvester.
It is provided with air blowing drive module on the control device, swings buffering detection module and swing angle detection module,
The swing mechanism is driven by swing driving mechanism according to the track of setting and is swung, and the swing buffering detection module is to oscillating machine
Continuous swing of the structure under swing driving mechanism driving is measured in real time, when buffering of the detected value lower than setting for swinging buffering
When threshold value, swing driving mechanism carries out next wheel drive, the feeding driving mechanism driving material fetching mechanism clamping workpiece and according to
The track of setting is moved, the angle of oscillation of swing angle detection module detection material fetching mechanism swing mechanism in blowing
Degree, when swing angle is less than the threshold value of setting, air blowing drive module driving inflatable body is blown, and workpiece is blown to setting
Fixed position, when swing angle is greater than the threshold value of setting, the direct blowing of material fetching mechanism is the position that can reach setting.
Among the above, the inside of wiring cover 324 is arranged in the control device, and the control device further includes processing module
106, port detecting module 100 and data acquisition module 101, the port detecting module 100 are adopted for detecting different flow
The input port of acquisition means, and the data on flows of different input ports is transmitted to data acquisition module 101, the data are adopted
Data on flows is transmitted to digital analog converter and converted by collection module 101, and the data place of being input to after conversion is swung buffering inspection
It surveys module 104 or swing angle detection module 105 is calculated, buffer detection module 104 or swing angle detection according to swinging
The result that module 105 calculates is compared with the threshold value set in processing module 106, different according to comparison result selection driving
Cylinder acted.
Specific working principle are as follows:
Before being worked, by the first gas-tpe fitting 316, the second gas-tpe fitting 321, third gas-tpe fitting the 311, the 4th
Gas-tpe fitting and the 5th pipe fitting are connect with air-source pump respectively, pass through the key initialization control dress being arranged on control device
Interior original state is set, accurately to load the initial information of setting, meanwhile, check swing mechanism and pawl dish driving cylinder
Whether 310 in initial position, and both whether pawl dish driving cylinder 310 located in the bottom of shifting sledge 323 and swing mechanism
Whether it is in nature upright position in center position or angle board 303, if it is not, being adjusted.
When work, control device controls clamping jaw cylinder 313 and gripper disk is driven to open, and workpiece is clamped, then control claw
Dish driving cylinder 310 acts, and moves obliquely along shifting sledge 323, and when moving to 322 position of limit sensors, limit is passed
The signal received is transferred to control device by sensor 322, is controlled driving cylinder 307 by control device and is driven slide unit 308 in cunning
It is moved left and right on rail 325, so that whole device is swung along shaft 301 is swung, at this point, the port detecting module 100 is used
In the input port of detection different flow acquisition device, both first flow acquisition device, second flow acquisition device, third flow
Acquisition device, the 4th flow harvester and the 5th flow harvester act on different cylinder movements respectively, it is therefore desirable to
Identification is carried out to the data on flows of different flow acquisition device acquisition and is transmitted respectively, the port detecting module 100 will be different
The data on flows of input port is transmitted to data acquisition module 102, and data on flows is transmitted to number by the data acquisition module 102
Mode converter is converted, and the data place of being input to after conversion is swung buffering detection module or swing angle detection module carries out
Calculate, according to swing buffering detection module or swing angle detection module calculate result and processing module in set threshold value into
Row compares, and drives different cylinders to be acted according to comparison result selection.Specifically: when the detected value for swinging buffering is lower than
When the buffer threshold of setting, control control driving driving cylinder 307 carries out next wheel drive；Or when swing angle is less than setting
When threshold value, air blowing drive module driving inflatable body is blown, and workpiece is blown the position to setting, when swing angle is greater than
When the threshold value of setting, the direct blowing of material fetching mechanism is the position that can reach setting.
The present invention is by detecting the swing buffering capacity in swing process, so that whole device will not be because continuously swinging
Inertia generate buffering cause device movement unstability, meanwhile, also protect the mechanical damage of device.
The present invention is measured in real time by swing angle of the swing angle detection module to swing mechanism, is avoided in blowing
When be not sent to the position of setting, the present invention is provided with gravitation by setting a gas blow pipe 315 on gas blow pipe 315
Blowing nozzle 314, the gravitation blowing nozzle 314 make gas blow pipe 315 not float swing in air blowing process, will not be because of device
Swing and shake, when swing angle be less than setting threshold value when, 103 air blowing drive module 102 of controller drives gravitation blow
Gas nozzle 314 is blown, and workpiece is blown the position to setting, and when swing angle is greater than the threshold value of setting, controller 103 is controlled
The direct blowing of material fetching mechanism processed is the position that can reach setting.
Technical solution disclosed in the embodiment of the present invention is described in detail above, specific implementation used herein
Example is expounded the principle and embodiment of the embodiment of the present invention, and the explanation of above embodiments is only applicable to help to understand
The principle of the embodiment of the present invention；At the same time, for those skilled in the art is being embodied according to an embodiment of the present invention
There will be changes in mode and application range, in conclusion the content of the present specification should not be construed as to limit of the invention
System.
Claims (6)
1. a kind of numerical control foil pasting machine detects feeding device automatically, which is characterized in that including swing mechanism, swing driving mechanism, blow
Mechanism of qi structure, material fetching mechanism, feeding driving mechanism and control device, the swing mechanism include for connecting with external equipment
The swing seat in attachment device is arranged in fixed attachment device, and the angle board of swing seat bottom, the swing mechanism is arranged in
It further include angle adjustment plate, the angle adjustment plate is fixedly connected with angle board, and the angle adjustment plate is arranged in pedestal of setting a table
Top；It is provided with air blowing drive module on the control device, swings buffering detection module and swing angle detection module, institute
It states swing mechanism and swing is driven by swing driving mechanism according to the track of setting, the swing buffering detection module is to swing mechanism
Continuous swing under swing driving mechanism driving is measured in real time, when buffering threshold of the detected value lower than setting for swinging buffering
When value, swing driving mechanism carries out next wheel drive, the feeding driving mechanism driving material fetching mechanism clamping workpiece and according to setting
Fixed track is moved, the swing angle of swing angle detection module detection material fetching mechanism swing mechanism in blowing,
When swing angle is less than the threshold value of setting, air blowing drive module driving inflatable body is blown, and workpiece is blown to setting
Position, when swing angle is greater than the threshold value of setting, the direct blowing of material fetching mechanism is that can reach the position of setting.
2. numerical control foil pasting machine according to claim 1 detects feeding device automatically, which is characterized in that the inflatable body packet
The gas blow pipe that pedestal side of setting a table is set is included, the fixing end of the gas blow pipe and pedestal of setting a table is provided with air blowing limit base, with
And the first gas-tpe fitting is provided at the gas blow pipe, and it is provided with the first electromagnetic flow valve on the first gas-tpe fitting, described first
First flow acquisition device is provided in electromagnetic flow valve；
Feeding driving mechanism includes that the bottom of pedestal of setting a table is arranged in be provided with pawl dish driving cylinder, on the pawl dish driving cylinder
It is provided with the second gas-tpe fitting, the second electromagnetic flow valve is provided on the second gas-tpe fitting, is set in second electromagnetic flow valve
It is equipped with the shifting sledge that base side upper end of setting a table is set on second flow acquisition device and the pawl dish driving cylinder
On, limit sensors are provided on the shifting sledge；
The feeding device includes that the clamping jaw fixed plate of the bottom for pedestal of setting a table is arranged in, and is provided with folder in the clamping jaw fixed plate
Pawl cylinder, the clamping jaw cylinder bottom are provided with gripper disk, third gas-tpe fitting, third gas are provided on the clamping jaw cylinder
It is provided with third electromagnetic flow valve on pipe fitting, is provided with third flow harvester in the third electromagnetic flow valve；
The swing driving mechanism includes the Y-axis cylinder that angle board bottom is arranged in, and the Y-axis cylinder is arranged in Y-axis cylinder block
On, bottom and the slide unit Y-axis cylinder attachment base of the Y-axis cylinder block are fixed, and the side of the slide unit Y-axis cylinder attachment base is fixed
On slide unit, it is provided with the 4th gas-tpe fitting on the Y-axis cylinder, is provided with the 4th Electromagnetic Flow on the 4th gas-tpe fitting
Valve is provided with the 4th flow harvester in the 4th electromagnetic flow valve.
3. numerical control foil pasting machine according to claim 2 detects feeding device automatically, which is characterized in that the slide unit is fixed on
On the sliding rail of wiring cover upper end setting, and the driving of the driving cylinder by slide unit upper and lower ends are arranged in slide unit moves left and right on the slide rail
It is dynamic, it is provided with the 5th gas-tpe fitting at the driving cylinder, is provided with the 5th electromagnetic flow valve, institute on the 5th gas-tpe fitting
It states in the 5th electromagnetic flow valve and is provided with the 5th flow harvester.
4. numerical control foil pasting machine according to claim 3 detects feeding device automatically, which is characterized in that the one of the wiring cover
Side is provided with pedestal of setting a table, and the pedestal upper end of setting a table is provided with slide unit limit base, is provided with slide unit on the slide unit limit base
Limit plate.
5. numerical control foil pasting machine according to claim 1 detects feeding device automatically, which is characterized in that the control device is set
It sets in the inside of wiring cover, the control device further includes processing module, port detecting module and data acquisition module, described
Port detecting module is used to detect the input port of different flow acquisition device, and the data on flows of different input ports is passed
Data acquisition module is transported to, data on flows is transmitted to digital analog converter and converted by the data acquisition module, after conversion
Data be input to swing buffering detection module or swing angle detection module calculated, according to swing buffering detection module or
The result that swing angle detection module calculates is compared with the threshold value set in processing module, is driven according to comparison result selection
Different cylinders is moved to be acted.
6. numerical control foil pasting machine according to claim 1 detects feeding device automatically, which is characterized in that in the attachment device
It is provided with swing shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810185907.8A CN108394166B (en) | 2018-03-07 | 2018-03-07 | A kind of numerical control foil pasting machine detects feeding device automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810185907.8A CN108394166B (en) | 2018-03-07 | 2018-03-07 | A kind of numerical control foil pasting machine detects feeding device automatically |
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| Publication Number | Publication Date |
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| CN108394166A CN108394166A (en) | 2018-08-14 |
| CN108394166B true CN108394166B (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810185907.8A Active CN108394166B (en) | 2018-03-07 | 2018-03-07 | A kind of numerical control foil pasting machine detects feeding device automatically |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3466849A (en) * | 1965-11-16 | 1969-09-16 | Franklin Electric Co Inc | Wrapping machine |
| CN102468513A (en) * | 2010-11-19 | 2012-05-23 | 深圳市吉阳自动化科技有限公司 | Material fetching method and material fetching device of sheet materials |
| CN203545064U (en) * | 2013-09-05 | 2014-04-16 | 产台股份有限公司 | Blowback separation device for materials |
| CN104016157A (en) * | 2014-05-28 | 2014-09-03 | 浙江华岳包装机械有限公司 | Synchronous sticking film automatic takeup and putdown mechanism |
| CN105772412A (en) * | 2016-05-06 | 2016-07-20 | 深圳市朝阳光科技有限公司 | Full-automatic surface-mounted LED sorting machine with cam |
| CN107696669A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | Automatic foil pasting machine |
-
2018
- 2018-03-07 CN CN201810185907.8A patent/CN108394166B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3466849A (en) * | 1965-11-16 | 1969-09-16 | Franklin Electric Co Inc | Wrapping machine |
| CN102468513A (en) * | 2010-11-19 | 2012-05-23 | 深圳市吉阳自动化科技有限公司 | Material fetching method and material fetching device of sheet materials |
| CN203545064U (en) * | 2013-09-05 | 2014-04-16 | 产台股份有限公司 | Blowback separation device for materials |
| CN104016157A (en) * | 2014-05-28 | 2014-09-03 | 浙江华岳包装机械有限公司 | Synchronous sticking film automatic takeup and putdown mechanism |
| CN105772412A (en) * | 2016-05-06 | 2016-07-20 | 深圳市朝阳光科技有限公司 | Full-automatic surface-mounted LED sorting machine with cam |
| CN107696669A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | Automatic foil pasting machine |
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| Publication number | Publication date |
|---|---|
| CN108394166A (en) | 2018-08-14 |
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Effective date of registration: 20201211 Address after: No. 357, bonded Road, Airport Economic Zone, Dongli District, Tianjin Patentee after: TIANJIN JINHANG INSTITUTE OF COMPUTING TECHNOLOGY Address before: Room 1402, building 7, Gaoxin daduohui, 305 Keji Road, Yanta District, Xi'an City, Shaanxi Province Patentee before: Tian Ye |
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