CN102608474A - Robot for electrified detection insulator string - Google Patents
Robot for electrified detection insulator string Download PDFInfo
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- CN102608474A CN102608474A CN2012100961777A CN201210096177A CN102608474A CN 102608474 A CN102608474 A CN 102608474A CN 2012100961777 A CN2012100961777 A CN 2012100961777A CN 201210096177 A CN201210096177 A CN 201210096177A CN 102608474 A CN102608474 A CN 102608474A
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Abstract
The invention discloses a robot for electrified detection of an insulator string. The robot comprises a plurality of guide rod mechanisms, at least one insulator detection device, a control device and at least one rotary driving device, wherein the guide rod mechanisms are connected on the two sides of the rotary driving device, the control device and the insulator detection device are all fixed on the guide rod mechanisms, and the insulator detection device and a driving motor of the rotary driving device are all electrically connected with the control device. According to the robot, the structure is compact, the movement speed is quick, the number of short-circuit insulator sheets is few, the abrasion on the insulators is little, the safety protection is good, the using range is wide, and the robot is suitable for duplex-parallel insulator strings, single strain insulator strings, suspension insulator strings and V-shaped insulator strings.
Description
Technical field
The present invention relates to a kind of mobile detection machine, especially a kind ofly can be used to accomplish the high-tension line level, dangle, the testing of V-type insulator, to replace the charged detection machine people of edge substring of manual work.
Background technology
Along with the continuous development of China's electric system, power grid security, stable operation more and more come into one's own.Especially in the UHV (ultra-high voltage) of greatly developing in recent years, system for ultra-high voltage transmission; The safe operation of insulator has directly determined the investment and the security level of total system; For guaranteeing the electrical safety of ultra-high-tension power transmission line, after a period of time is used in the ultra-high-tension power transmission line operation, need the electric property of detection line; Particularly the insulation safety performance of insulator prevents the generation of phenomenons such as short circuit or short circuit.
The present domestic traditional detection mode that basically still adopts artificial work high above the ground; The staff carries instruments such as insulator detector and climbs up shaft tower; Detect all insulators on the tower by string, this mode labour intensity is big, the operation surrounding enviroment are abominable, and the hot line job security is low.
Chinese patent ZL200820232350.0 discloses a kind of insulator detecting robot; Comprise first Athey wheel, casing, second Athey wheel, displacement telescoping mechanism and probe driving mechanism; The displacement telescoping mechanism is installed on the casing; First and second Athey wheel is positioned at the casing both sides, is hinged with the displacement telescoping mechanism respectively, is connected with first and second stroke sensor on first and second Athey wheel respectively; The below of casing is provided with the probe driving mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: its travel mechanism adopts the form of two Athey wheels, can only walk along the two insulator string serials of level, can't detect detection level list string strain insulator string, suspension insulator and V-type insulator chain.
Chinese patent ZL201120069946.5 discloses the insulator checkout equipment of a kind of high pressure and extra high voltage network; Comprise symmetrically arranged two ring supports; Be respectively arranged with climbing mechanism on two ring supports, connect through web joint between two climbing mechanisms; Climbing mechanism comprises symmetrically arranged two guide rails, on two guide rails card base mechanism is set respectively; Card base mechanism comprises carriage and pendulous device, and carriage comprises the card base slide block that is slidingly arranged on the guide rail, and pendulous device comprises the rocking key cover, and the rocking key cover is connected on the card base slide block through bearing; The rocking key cover is set on the rocking key axle, and rocking key puts and is installed with card base; The card base slide block is connected with the active drive step-servo motor, and the rocking key axle is connected with card base wobble drive servo control mechanism.Analysis-by-synthesis, this patent mainly contains following shortcoming: it is primarily aimed at the high pressure also detection of vertically disposed insulator in pairs, can't on level single string strain insulator string and V-type insulator chain, move; And its travel mechanism adopts claw to block alternately rising of insulator, and translational speed is slow, and detection efficiency is low.
One Chinese patent application 01102273.6 discloses a kind of high-voltage transmission line insulator live intelligent monitor; It includes the ring support that can be set in the insulator body periphery; The body of ring support is provided with can be along the insulator bottle along the climbing mechanism of creeping; Detection probe is arranged on ring support or the climbing mechanism, and its control circuit output connects the control end of control climbing mechanism, probe, and input connects the output terminal of probe; The detection action of control circuit control climbing mechanism, probe, and the output signal of receiving transducer.Analysis-by-synthesis, this patent mainly contains following shortcoming: its its travel mechanism has adopted claw to block the insulator edge equally, alternately rises, and translational speed is slow, and detection efficiency is low; Main detection level insulator chain dangles in detection, during the V-type insulator chain, because very smooth of insulator surface, caterpillar belt structure is creeped and skidded easily, operation inconvenience.
U.S. Patent Application Publication is: US2010/0100239A 1 discloses a kind of insulator chain detection machine people machinery structure; Robot body is along charged suspension insulator to-and-fro movement; Comprise that scalable is installed in the driver module that robot body moves, the detection of electrons module around the insulator support up and down; Be used for robot body with the link block that feel trim actuator is connected is installed; The switch wing module of manually robot being removed from insulator, the measurement module of both sides insulator electrical characteristics, the controller of control robot action and the damaged damaged probe unit of detection insulator.But; What this patented claim was primarily aimed at is the detection of charged suspension insulator, and its structure comprises 3 driver modules, and each driver module is respectively by 3 motor-driven; 3 motor synchronous of control are relatively more difficult in control procedure, are easy to cause the whole centre-of gravity shift of robot to be difficult to control.
Summary of the invention
The objective of the invention is provides a kind of insulator chain charged detection machine people, its compact conformation for overcoming the deficiency of above-mentioned prior art; Translational speed is fast; Short circuit insulator sheet number is few, and little to the insulator wearing and tearing, security protection is good; Usable range is wide, can adapt to duplex level insulation substring, single string strain insulator string, suspension insulator and V-type insulator chain.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
The charged detection machine people of a kind of insulator chain; Comprise some guide poles mechanism, at least one insulator pick-up unit, control device and at least one cover rotating driving device; Said guide pole mechanism is connected in the both sides of rotating driving device; Control device and insulator pick-up unit all are fixed in the guide pole mechanism, and the drive motor on said insulator pick-up unit, the rotating driving device all is electrically connected with control device.
Said rotating driving device comprises at least one group of running gear; Said running gear comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement; Said gearing comprises gear wheel and pinion wheel, and said bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft; Said motor cabinet is fixed on the yoke plate inboard, and back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, through bearing holder (housing, cover) gear wheel is housed on the back shaft between motor cabinet and the driving arm; Be installed with drive motor on the said motor cabinet; Be connected with pinion wheel on the output shaft of drive motor, the pinion wheel gear wheel is meshed, and the gear wheel outside surface is fixed with driving arm; At the terminal fixing some rolling wheel supports of driving arm, rolling wheel support is provided with at least one roller.
Said driving arm is one or more, and the driving arm shape can be triangle (3 bars) or cross type or five bar types, as long as its shape can realize that in the robot operational process rotation is creeped and do not interfered with insulator continuously.
Equal front and back are misplaced and are distributed with two rollers on each end of said rolling wheel support, and roller adopts nylon material, reduces the friction to insulator surface, certainly, also roller and rolling wheel support can be set, directly utilize the supporting leg of driving arm as whole travel mechanism.
Said drive motor is one or two, can be rotated by an all driving arm of driven by motor, is perhaps driven by two drive motor.
The gear drive part of rotating driving device also can be by replacements such as synchronous band transmission or chain sprocket transmissions, and perhaps drive motor directly links to each other with the driving arm of rotation.
Said yoke plate is provided with and is positioned at the peripheral framework of drive motor, fixing suspension ring on the framework.
Said each guide pole mechanism includes two sled type guide poles, connects through coupling arrangement between said two sled type guide poles, and one of them sled type guide pole is provided with the cantilever that links to each other with rotating driving device.
Said coupling arrangement comprises that two web joints, connecting link, the outsides turn round frame, register pin, torsion spring and inboard and turn round frame; Said two web joints are arranged at respectively on two sled type guide poles; Each web joint outside is all turned round frame and the outside with the inboard respectively through connecting link and is turned round frame and fix; Medial and lateral are turned round the frame center and are run through through register pin and torsion spring, also are fixed with cantilever on the outside of one of them web joint.
The length of said sled type guide pole is greater than two and less than the axial length of three insulator chains.
But the place that said sled type guide pole contacts with insulator surface is the some needle rollers of design distribution also, reduce the friction of guide pole and insulator.
Said insulator pick-up unit comprises steering wheel, steering wheel seat, probe rotating shaft, crank connecting link and two probes; The probe rotating shaft links to each other with the steering wheel seat through bearing; Probe rotating shaft two ends are respectively arranged with probe; Steering wheel is fixed on an end of steering wheel seat, and links to each other with one of them probe through toggle; Probe links to each other with insulator charged detection instrument through lead.
Insulator charged detection instrument among the present invention is commercial product, and used structure adopts structure described in the Chinese granted patent ZL200510063334.4 patent.
The present invention includes at least one cover rotating driving device, guide pole mechanism and insulator pick-up unit; Guide pole mechanism divides the both sides that are located at rotating driving device; Entire machine people leans on the torsion spring in the guide pole mechanism to hold insulator chain tightly; The robot integral body insulator pick-up unit that plays a protective role is fixed on a side of guide pole; Drive the probe contact, arrange insulator chain through steering wheel, realize that insulator detects.
Principle of work of the present invention:
When the present invention went here and there work on not, under the effect of torsion spring, the guide pole mechanism of both sides all departed from toward the centre, and opening is less, less than the diameter of insulator chain; When going here and there in the robot, be lifted on the suspension ring place with the insulation rope and get final product, behind the arrival installation site; Push away suspension ring with strength with insulating bar; Letting insulator chain that the opening of guide pole mechanism is strutted, is that insulator chain gets into the robot open centre, and robot can hold insulator tightly through 4 guide poles around the insulator chain under the effect of both sides torsion spring; Guide pole all adopts nylon material, reduces the wearing and tearing to insulator; Move up and down robot this moment, guarantee that the terminal roller of rotating driving device steps down on the upper surface of insulator.
After insulator chain held tightly by robot, drive motor work, the rotating driving device that drives and be fixed on the gear wheel rotates, and is fixed on terminal roller and alternately rises or descend, and slams the surface of insulator, realizes advancing or retreating of entire machine people; Roller all adopts nylon material, reduces the wearing and tearing to insulator surface.The insulator pick-up unit that wherein is fixed on guide pole one side robot whenever advance an insulator sheet apart from the time; Steering wheel receives action command; Drive two probe actions through toggle, the steel of connect insulator sheet emits, and detected value is carried out self storage; After detecting complete insulator chain, can artificially contrast with database; Probe is two elastic metallic bars.
The invention has the beneficial effects as follows that the present invention is owing to adopt said structure, two cover guide pole mechanisms encircle in insulator chain, adopt the guide pole mechanism of nylon material, and little to the insulator wearing and tearing, motion continuity is good, smooth running; Easy for installation, safe, short circuit insulator sheet number is few, and 3 insulator chains of short circuit meet the electric operating rule at most, and the testing of High-Voltage Insulation substring has been become the robot manipulating task that the person is safe from harm by artificial work high above the ground; Applied widely, applicable to the insulator testing of all porcelains and glass.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is a rotating driving device structural representation of the present invention;
Fig. 3 uses perspective view for two groups of rotating driving device combinations of the present invention;
Fig. 4 is a guide pole mechanism structure synoptic diagram of the present invention;
Fig. 5 is an insulator pick-up unit structural representation of the present invention;
Wherein: 1 guide pole mechanism, 2 rotating driving devices, 3 control device, 4 is the insulator pick-up unit, and 5 is sled type guide pole, and 6 is web joint; 7 is cantilever, and 8 is connecting link, and 9 for turning round frame in the outside, and 10 is register pin, and 11 is torsion spring, and 12 for turning round frame in the inboard; 13 is probe, and 14 is connecting rod, and 15 is crank, and 16 is steering wheel, and 17 is the probe rotating shaft, and 18 is the steering wheel seat; 19 is roller, and 20 is rolling wheel support, and 21 is driving arm, and 22 is back shaft, and 23 is yoke plate, and 24 is framework; 25 is suspension ring, and 26 is drive motor, and 27 is pinion wheel, and 28 is gear wheel, and 29 is motor cabinet.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The present invention moves on the level insulation substring, and is as shown in Figure 1, comprises guide pole mechanism 1, rotating driving device 2, control device 3 and insulator pick-up unit 4; Insulator pick-up unit 4 and control device 3 are fixed on the outside of guide pole mechanism 1; The guide pole of guide pole mechanism 1 is close to the surface of insulator, and 2 guide pole mechanisms 1 are distributed in the both sides of rotating driving device 2.Drive motor 26 on insulator pick-up unit, the drive unit all is electrically connected with control device.
Like Fig. 1, shown in 2, rotating driving device 2 comprises roller 19, rolling wheel support 20, driving arm 21, back shaft 22, yoke plate 23, framework 24, suspension ring 25, drive motor 26, pinion wheel 27, gear wheel 28, motor cabinet 29.Wherein, motor cabinet 29 is fixed on yoke plate 23 inboards, and back shaft 22 passes motor cabinet 29 centers, and is fixedly connected with yoke plate 23; Motor cabinet 29 is provided with drive motor 26, and pinion wheel 27 is fixed on the output shaft of drive motor 26, on back shaft 22, is arranged with the gear wheel 28 with pinion wheel 27 engagements; Driving arm 21 is fixed on the outside of gear wheel 28, forms the travel mechanism skeleton; Rolling wheel support 20 is provided with at least one roller 19, and is fixed on the end of driving arm 21.
The present invention can also be used by the textural association of many groups previous embodiment.As shown in Figure 3, be to use by two groups of textural associations.
Driving arm 21 is one or more, and driving arm 21 shapes can be triangle (3 bars) or cross type or five bar types, as long as its shape can realize that in the robot operational process rotation is creeped and do not interfered with insulator continuously.
Equal front and back are misplaced and are distributed with two rollers 19 on rolling wheel support 20 each end, and roller 19 adopts nylon materials, reduces the friction to insulator surface, certainly, also roller can be set, directly utilizes the supporting leg of driving arm 21 as whole travel mechanism.
Drive motor 26 is one or two, can be rotated by an all driving arm 21 of driven by motor, is perhaps driven by two drive motor 26.
The gear drive part of rotating driving device 2 also can be by replacements such as synchronous band transmission or chain sprocket transmissions, and perhaps drive motor directly links to each other with the driving arm 21 of rotation.
Like Fig. 1, shown in 4, guide pole mechanism 1 has 2, and structure is identical, is fixed on the both sides of rotating driving device 2 respectively; Form robot body, guide pole mechanism 1 is close to the surface of insulator when moving in robot, and its structure comprises sled type guide pole 5, web joint 6; Cantilever 7, connecting link 8, frame 9 is turned round in the outside; Register pin 10, torsion spring 11, frame 12 is turned round in the inboard; Wherein, guide pole mechanism 1 forms main skeleton by two sled type guide poles 5 of the left and right sides, and web joint 6 all is installed above it, and web joint 6 is fixed on an end of connecting link 8, turns round frame 9 outside connecting link 8 other ends are fixed with respectively and turns round frame 12 with the inboard; Register pin 10 passes the outside and turns round frame 9 and the inboard center of turning round frame 12, forms it into an integral body, and on register pin 10, is arranged with torsion spring 11.The length of sled type guide pole 5 is greater than two and less than the axial length of three insulator chains 2, when guaranteeing robot ambulation steadily and security;
As shown in Figure 5, insulator pick-up unit 4 comprises probe 13, connecting rod 14, crank 15, steering wheel 16, probe rotating shaft 17, steering wheel seat 18; Wherein, probe rotating shaft 17 is set on the steering wheel seat 18, and probe rotating shaft 17 two ends are arranged with probe 13; Steering wheel 16 is fixed on steering wheel seat 18 tops, and its output shaft is connected with crank 15, connecting rod 14, and the end of connecting rod 14 links to each other with probe 13 wherein, forms toggle, drives swinging of probe.Probe 13 links to each other with insulator charged detection instrument through lead.
Principle of work of the present invention:
When the present invention went here and there work on not, under the effect of torsion spring 11, the guide pole mechanism 1 of both sides all departed from toward the centre, and opening is less, less than the diameter of insulator chain; When going here and there in the robot, be lifted on suspension ring 25 places with the insulation rope and get final product, behind the arrival installation site; Push away suspension ring 25 with strength with insulating bar; Let insulator chain that the opening of guide pole mechanism 1 is strutted, make insulator chain get into the robot open centre, robot can hold insulator tightly through 4 guide poles 5 around the insulator chain under the effect of both sides torsion spring 11; Guide pole 5 all adopts nylon material, reduces the wearing and tearing to insulator; Move up and down robot this moment, guarantee that rotating driving device 2 terminal rollers step down on the upper surface of insulator.
After insulator chain held tightly by robot, drive motor 26 work, the rotating driving device 2 that drives and be fixed on the gear wheel 28 rotates, and is fixed on terminal roller and alternately rises or descend, and slams the surface of insulator, realizes advancing or retreating of entire machine people; Roller 19 all adopts nylon material, reduces the wearing and tearing to insulator surface.The insulator pick-up unit 4 that wherein is fixed on guide pole 5 one sides robot whenever advance an insulator sheet apart from the time; Steering wheel 16 receives action command; Drive 13 actions of two probes through toggle, the steel of connect insulator sheet emits, and detected value is carried out self storage; After detecting complete insulator chain, can artificially contrast with database; Probe 13 is two elastic metallic bars.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. charged detection machine people of insulator chain; It is characterized in that; Comprise some guide poles mechanism, at least one insulator pick-up unit, at least one cover rotating driving device and control device; Said guide pole mechanism is connected in the both sides of rotating driving device, and control device and insulator pick-up unit all are fixed in the guide pole mechanism, and the drive motor of said insulator pick-up unit, driven in rotation device all is electrically connected with control device.
2. the charged detection machine people of insulator chain as claimed in claim 1; It is characterized in that; Said rotating driving device comprises at least one group of running gear; Said running gear comprises driving arm, rolling wheel support, some rollers, drive motor, gearing and bracing or strutting arrangement, and said bracing or strutting arrangement comprises yoke plate, motor cabinet and back shaft, and said motor cabinet is fixed on the yoke plate inboard; Back shaft runs through the center of motor cabinet and is fixedly connected with yoke plate, through bearing holder (housing, cover) gearing is housed on the back shaft between motor cabinet and the driving arm; Be installed with drive motor on the said motor cabinet, link to each other with gearing on the output shaft of drive motor, the gearing other end is fixed with driving arm, and at the terminal fixing some rolling wheel supports of driving arm, rolling wheel support is provided with at least one roller.
3. the charged detection machine people of insulator chain as claimed in claim 2 is characterized in that, said driving arm is one, and driving arm is shaped as triangle or cross type or five bar types.
4. the charged detection machine people of insulator chain as claimed in claim 2 is characterized in that, equal front and back are misplaced and are distributed with two rollers on each end of said rolling wheel support.
5. the charged detection machine people of insulator chain as claimed in claim 2 is characterized in that, said drive motor is one or two;
Said gearing is gear drive or is with transmission or chain sprocket transmission or turbine and worm synchronously that perhaps drive motor directly links to each other with the driving arm of rotation;
Said gear drive comprises gear wheel and pinion wheel, and said gear wheel is loaded on the back shaft between motor cabinet and the driving arm through bearing holder (housing, cover), and pinion wheel is arranged on the output shaft of drive motor.
6. the charged detection machine people of insulator chain as claimed in claim 2 is characterized in that, said yoke plate is provided with and is positioned at the peripheral framework of drive motor, fixing suspension ring on the framework.
7. like the charged detection machine people of each described insulator chain among the claim 1-6; It is characterized in that; Said each guide pole mechanism includes two sled type guide poles; Connect through coupling arrangement between said two sled type guide poles, one of them sled type guide pole is provided with the cantilever that links to each other with rotating driving device.
8. the charged detection machine people of insulator chain as claimed in claim 7; It is characterized in that; Said coupling arrangement comprises that two web joints, connecting link, the outsides turn round frame, register pin, torsion spring and inboard and turn round frame, and said two web joints are arranged at respectively on two sled type guide poles, and each web joint outside is all turned round frame and the outside with the inboard respectively through connecting link and turned round frame and fix; Medial and lateral are turned round the frame center and are run through through register pin and torsion spring, also are fixed with cantilever on the outside of one of them web joint.
9. the charged detection machine people of insulator chain as claimed in claim 7 is characterized in that, the length of said sled type guide pole is greater than two and less than the axial length of three insulator chains.
10. the charged detection machine people of insulator chain as claimed in claim 1; It is characterized in that; Said insulator pick-up unit comprises steering wheel, steering wheel seat, probe rotating shaft, crank connecting link and two probes, and the probe rotating shaft links to each other with the steering wheel seat through bearing, and probe rotating shaft two ends are respectively arranged with probe; Steering wheel is fixed on an end of steering wheel seat, and links to each other with one of them probe through toggle; Said probe links to each other with insulator charged detection instrument through lead.
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| CN201210096177.7A CN102608474B (en) | 2012-04-01 | 2012-04-01 | Robot for electrified detection insulator string |
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| CN201210096177.7A CN102608474B (en) | 2012-04-01 | 2012-04-01 | Robot for electrified detection insulator string |
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| CN102608474A true CN102608474A (en) | 2012-07-25 |
| CN102608474B CN102608474B (en) | 2015-06-03 |
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| CN103042000A (en) * | 2013-01-11 | 2013-04-17 | 山东鲁能智能技术有限公司 | Robot system for intelligently cleaning insulator chains |
| CN103158154A (en) * | 2013-03-29 | 2013-06-19 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot system and control method thereof |
| CN103921272A (en) * | 2013-01-12 | 2014-07-16 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot and control method thereof |
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| CN104198848A (en) * | 2014-08-22 | 2014-12-10 | 国家电网公司 | Improved horizontal single connection insulator chain detection robot |
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| CN104198849B (en) * | 2014-08-22 | 2017-02-15 | 国家电网公司 | Horizontal single-connection insulator string detection robot system |
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| CN109901033A (en) * | 2019-04-01 | 2019-06-18 | 上海华群实业股份有限公司 | Detection device is used in a kind of maintenance of substation |
| CN114089133A (en) * | 2021-11-18 | 2022-02-25 | 国网江苏省电力有限公司扬州供电分公司 | Horizontal simply connected strain insulator string live-line detection robot terminal tool |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 B, block 1-202, Qilu Software Park, Ji'nan hi tech Zone, Shandong Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |