CN102941570A - Patrol robot for power transmission lines - Google Patents

Patrol robot for power transmission lines Download PDF

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Publication number
CN102941570A
CN102941570A CN2012105121605A CN201210512160A CN102941570A CN 102941570 A CN102941570 A CN 102941570A CN 2012105121605 A CN2012105121605 A CN 2012105121605A CN 201210512160 A CN201210512160 A CN 201210512160A CN 102941570 A CN102941570 A CN 102941570A
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China
Prior art keywords
robot
driving
rotating shaft
fixed
joint
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Application number
CN2012105121605A
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Chinese (zh)
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CN102941570B (en
Inventor
郭锐
曹雷
张峰
贾永刚
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State Grid Intelligent Technology Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
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Priority to CN201210512160.5A priority Critical patent/CN102941570B/en
Publication of CN102941570A publication Critical patent/CN102941570A/en
Application granted granted Critical
Publication of CN102941570B publication Critical patent/CN102941570B/en
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Abstract

The invention discloses an patrol robot for power transmission lines. The patrol robot comprises a plurality of driving arms with the same structure, a connection plate and battery control boxes. Each driving arm comprises a driving wheel mechanism, a lifting joint and a rotating joint and the driving wheel mechanism comprises a driving wheel. The driving arms are distributed on one side of the robot and are suspended on a splitting lead wire through the driving wheels; the lower ends of the driving wheel mechanisms are connected with the lifting joints through the rotating joints; and the lifting joints and the battery control boxes are fixed on the connection plate. By adopting a plurality of driving arms with the same structure, the patrol robot is simple and compact in structure and high in interchangeability and can run on a single-strand grounding wire and cross over various obstacles on power transmission lines. Since the structures of the arms are the same, during obstacle crossing, path planning is relatively easy; the operability is high; and during obstacle crossing, equipment does not need to be manually controlled.

Description

A kind of power transmission line inspection robot
Technical field
The present invention relates to a kind of Work robot of patrolling and examining, especially along wire walk, detect, the overhead transmission line of operation patrols and examines Work robot.
Background technology
Extra high voltage network is the important component part of high-voltage fence, for guaranteeing its safety and stability in running, needs the regular work of patrolling and examining of carrying out; Because the transmission line of electricity distributed points is many, and is away from cities and towns, with a varied topography, and wire is sudden and violent to be leaked in the open air, long-term wind and weather, and the mechanical tension that is continued, electric sudden strain of a muscle is ironed, the impact of material aging causes wearing and tearing easily, disconnected strand, the corrosion equivalent damage, if untimely reparation is changed, easily cause serious accident, cause the loss of large-area power-cuts and economic asset.So, must carry out regular walkaround inspection to transmission line of electricity, grasp at any time and understand the safe operation situation of transmission line of electricity, in order in time find and remove a hidden danger trouble-saving generation;
For a long time, China is artificial to the main dependence of patrolling and examining of transmission line of electricity, or telescope, or infrared thermography, see that while walking patrolling and examining that some are special also needs the power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually can't be patrolled and examined at all.Utilize the robot inspection of power transmission line and safeguard the EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and livewire work, and can improve accuracy of detection and detection efficiency, replace people's on-line operation in the occasion of high-risk, greatly reduce simultaneously human resources, to improving the grid automation level of operation, ensureing that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot that travels along aerial high-voltage power transmission line, comprise a pair of forearm manipulator mechanism that moves along power transmission line, the lower end of two forearm manipulators is connected in respectively on the transmission mechanism of a large arm that can change two forearm relative distances, each forearm has respectively 4 frees degree; the forearm top is end effector mechanism, and this end effector mechanism has the driving wheel and the first driving mechanism, a driven pulley and the clamp mechanism that can grasp power transmission line that hang on the power transmission line.Analysis-by-synthesis, this patent mainly contains following shortcoming: this patent robot is when running into stockbridge damper or insulator chain, and the slide unit by the bottom replaces former and later two forearms mutually, realizes the function of obstacle detouring.This forearm becomes postbrachium, and postbrachium becomes forearm, replaces the form of obstacle detouring, and obstacle detouring efficient is very low, and is particularly when the crossing insulator string, consuming time longer, moreover, in the obstacle detouring process, the power of holding that adds of end effector mechanism is had relatively high expectations.
Chinese patent 201010525761.0 discloses a kind of suspended line walking robot, it by, comprise the walking and gondola two parts.Running gear is comprised of two joint trunks and three driving tires.Two nodal pattern trunks become two parallelogram sturcutres, guarantee three driving tires towards identical, and 5 motor-driven trunk pitch on the trunk, yaw and flexible make each obstacle detouring driving wheel can realize rolling off the production line in the Three Degree Of Freedom translation.Each drives tire and comprises driving wheel and clamping device, and the driven by motor driving wheel makes robot mobile on line.The clamping device that is made of motor, ball wire bar pair, spring and pinch wheels etc. guarantees between driving wheel and the line enough frictional force is arranged.Gondola is connected by two steel bands with running gear, and two motors on the gondola are adjusted self with respect to the position of centre of gravity of trunk by steel band, the flexibility of mechanism during with the assurance leaping over obstacles.Analysis-by-synthesis, this patent mainly contains following shortcoming: need 5 motors to drive pitch, yaw and flexible on the trunk of this patent robot drive part, the trunk complicated in mechanical structure, wayward; Simultaneously, need to adjust by the steel strip driving gondola position of centre of gravity of whole robot in the obstacle detouring process, this mode very easily causes robot to topple in the centre of gravity adjustment process, and control is complicated.
Summary of the invention
The objective of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of power transmission line inspection robot is provided, it is simple and compact for structure, interchangeability is strong, can be across moving at single cords such as ground wire, split conductors, can cross over various barriers on the transmission pressure (stockbridge damper, conductor spacer, suspension insulator etc.), the equipment such as camera, infrared radiation detection apparatus that carry carry out fault detect to wire, gold utensil, steel tower etc.
For achieving the above object, the present invention adopts following technical proposals.
A kind of power transmission line inspection robot comprises the identical actuating arm of several structures, yoke plate and battery control cabinet, and wherein actuating arm comprises drive wheel mechanism, lifting joint and rotary joint; Drive wheel mechanism comprises driving wheel, described actuating arm is distributed in robot one side, on split conductor, described drive wheel mechanism lower end is connected with the lifting joint by rotary joint actuating arm by drive wheel suspension, and lifting joint and battery control cabinet are fixed on the yoke plate.
The battery control cabinet can comprise the lithium battery group, is the robot power supply.
Described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described fixed head one end is connected with the lifting joint by rotary joint, the hinged driving shaft of the other end; Described driving shaft two ends are respectively equipped with driving wheel and transmission device; Transmission device can be gear drive or toothed belt transmission or turbine and worm transmission etc.; Drive motors and transmission device are connected and fixed.
Described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current generator, connecting plate, limit switch and bearing block; Described leading screw links to each other with base plate by bearing block, and leading screw one end links to each other with direct current generator, is provided with feed screw nut on the leading screw; Described line slideway is fixed on the base plate, and is parallel with leading screw, is provided with the slide block that can be free to slide on the line slideway, and connecting plate is fixed together feed screw nut and slide block, and connecting plate connects rotary joint; The leading screw bottom is fixed with limit switch, is used for the extreme position of control lower end, lifting joint.
Described rotary joint comprises rotating shaft holder, rotating shaft, U-shaped connector and electric rotating machine; The two ends of described rotating shaft are erected on two rotating shaft holders, and described rotating shaft holder links to each other with the connecting plate in lifting joint; Be fixed with U-shaped connector in the middle of the rotating shaft, U-shaped connector links to each other with the fixed head of drive wheel mechanism; Rotating shaft one end links to each other with electric rotating machine.
Described actuating arm is distributed in robot one side, and the coverage between actuating arm is a bit larger tham the length of biggest obstacle thing on the power transmission line.
The present invention mainly is made of several actuating arms that are distributed in homonymy, and each actuating arm can provide driving force for robot, and each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint and rotary joint; Drive wheel mechanism all links to each other with the lifting joint by rotary joint.
Operation principle of the present invention:
The present invention can move at the single cord of ground wire, split conductor, and each actuating arm can both provide driving force for robot, and need not to do the obstacle detouring action when running into stockbridge damper in robot can press.
In robot during near conductor spacer, suspension insulator, at first the actuating arm of front end begins to carry out the obstacle detouring action, and the direct current generator in lifting joint drives leading screw and rotates, and drives drive wheel mechanism by line slideway and slide block and rises, after driving wheel broke away from wire, the lifting joint stopped action; Then, the electric rotating machine forward on the rotary joint drives the outer side oscillation of drive wheel mechanism guiding line by rotating shaft, thereby makes driving wheel arrange wire and barrier.
Robot centre and rear end two actuating arm bands mobile robot advance under automatically controlling, halt until two actuating arms of front end rear robot that clears the jumps, electric rotating machine counter-rotating on the rotary joint, institute's gyration is identical during with forward, then, lifting joint on the front-end driven arm begins to descend, and drives driving wheel and descends, and driving wheel is ridden on the wire again.
Afterwards, the actuating arm of in the middle of the robot and rear end all clears the jumps in the identical mode of front end actuating arm.
The invention has the beneficial effects as follows that the present invention is owing to adopt the identical actuating arm of several structures, simple and compact for structure, interchangeability is strong, can move in the sub-thread lead wire and earth wire, crosses over various barriers (stockbridge damper, conductor spacer, suspension insulator etc.) on the transmission pressure.Because the structure of each arm is identical, path planning is relatively simple when obstacle detouring, and is workable, need not manually equipment to be controlled in the process of leaping over obstacles.
Description of drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is actuating arm of the present invention and drive wheel mechanism structural representation.
Fig. 3 lifting articulation structure of the present invention schematic diagram.
Fig. 4 rotation joint structure schematic diagram of the present invention.
Wherein: 1 actuating arm, 2 yoke plates, 3 battery control cabinets, 4 transmission devices, 5 drive motors, 6 driving wheels, 7 driving shafts, 8 fixed heads, 9 rotary joints, 10 lifting joints, 11 bearing blocks, 12 leading screws, 13 base plates, 14 feed screw nuts, 15 connecting plates, 16 limit switches, 17 direct current generators, 18 line slideways, 19 slide blocks, 20 first rotating shaft holders, 21U type connector, 22 second rotating shaft holders, 23 electric rotating machines, 24 rotating shafts.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
The present invention can move at ground wire, single cord, as shown in Figure 1, 2, comprises three actuating arm 1, yoke plate 2 and battery control cabinets 3 that structure is identical, and wherein each actuating arm comprises the identical drive wheel mechanism of structure, lifting joint 10 and rotary joint 9; Actuating arm 1 is suspended on the split conductor by driving wheel 6, and the drive wheel mechanism lower end is connected with lifting joint 10 by rotary joint 9, and lifting joint 9 is fixed on the yoke plate 2.
As shown in Figure 2, drive wheel mechanism comprises transmission device 4, drive motors 5, driving wheel 6, driving shaft 7 and fixed head 8; Wherein, driving shaft 7 two ends are respectively equipped with driving wheel 6 and transmission device 4, and are hinged on the fixed head 8, and transmission device 4 is arranged on the fixed head 8, and drive motors 5 is arranged on transmission device 4 shells; Fixed head 8 lower ends link to each other with rotary joint 9.
As shown in Figure 3, lifting joint 10 comprises bearing block 11, leading screw 12, base plate 13, feed screw nut 14, connecting plate 15, limit switch 16, direct current generator 17, line slideway 18 and slide block 19; Wherein, leading screw 12 two ends are fixed on the base plate 13 by bearing block 11, and leading screw 12 1 ends link to each other with direct current generator 17 by bearing block 11; Be arranged with line slideway 18 in parallel in leading screw 12 1 sides, but the slide block 19 that has easy on and off to slide on the line slideway 18, and slide block 19 is connected and fixed by connecting plate 15 with the feed screw nut 14 that is arranged on the leading screw 12, is fixed with rotary joint 9 at connecting plate 15; Leading screw 12 bottoms are fixed with limit switch 16, are used for the extreme position of control 10 lower ends, lifting joint.
As shown in Figure 4, rotary joint 9 comprises the first rotating shaft holder 20, U-shaped connector 21, the second rotating shaft holder 22, electric rotating machine 23 and rotating shaft 24, the two ends of rotating shaft 24 are erected on the first rotating shaft holder 20 and the second rotating shaft holder 22, be fixed with U-shaped connector 21 in the middle of the rotating shaft 24, rotating shaft 24 1 ends link to each other with electric rotating machine 23.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the 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 do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.

Claims (4)

1. a power transmission line inspection robot is characterized in that, comprises the identical actuating arm of several structures, yoke plate and battery control cabinet, and wherein actuating arm comprises drive wheel mechanism, lifting joint and rotary joint; Drive wheel mechanism comprises driving wheel, described actuating arm is distributed in robot one side, on split conductor, described drive wheel mechanism lower end is connected with the lifting joint by rotary joint actuating arm by drive wheel suspension, and lifting joint and battery control cabinet are fixed on the yoke plate.
2. power transmission line inspection as claimed in claim 1 robot is characterized in that described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described fixed head one end is connected with the lifting joint by rotary joint, the hinged driving shaft of the other end; Described driving shaft two ends are respectively equipped with driving wheel and transmission device; Drive motors and transmission device are connected and fixed.
3. power transmission line inspection as claimed in claim 1 robot is characterized in that described lifting joint comprises base plate, leading screw, feed screw nut, line slideway, slide block, direct current generator, connecting plate, limit switch and bearing block; Described leading screw links to each other with base plate by bearing block, and leading screw one end links to each other with direct current generator, is provided with feed screw nut on the leading screw; Described line slideway is fixed on the base plate, and is parallel with leading screw, is provided with the slide block that can be free to slide on the line slideway, and connecting plate is fixed together feed screw nut and slide block; Connecting plate connects rotary joint; The leading screw bottom is fixed with limit switch.
4. power transmission line inspection as claimed in claim 1 robot is characterized in that described rotary joint comprises rotating shaft holder, rotating shaft, U-shaped connector and electric rotating machine; The two ends of described rotating shaft are erected on two rotating shaft holders, and described rotating shaft holder links to each other with the connecting plate in lifting joint; Be fixed with U-shaped connector in the middle of the rotating shaft, U-shaped connector links to each other with the fixed head of drive wheel mechanism; Rotating shaft one end links to each other with electric rotating machine.
CN201210512160.5A 2012-12-05 2012-12-05 Patrol robot for power transmission lines Active CN102941570B (en)

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Application Number Priority Date Filing Date Title
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CN102941570B CN102941570B (en) 2015-03-04

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104022458A (en) * 2014-05-22 2014-09-03 山东科技大学 Suspended inspection robot on superhigh-voltage power transmission line
CN104811672A (en) * 2015-05-19 2015-07-29 国家电网公司 Intelligent video fault detecting instrument
CN106329391A (en) * 2016-11-04 2017-01-11 国网山东省电力公司济南市长清区供电公司 Circuit inspection robot
CN107511845A (en) * 2017-09-08 2017-12-26 国网山东省电力公司电力科学研究院 A kind of rotary joint positioning lockable mechanism, method of work and line robot
CN110000816A (en) * 2019-04-16 2019-07-12 中科开创(广州)智能科技发展有限公司 A kind of inspection robot New-type charge method
CN110253534A (en) * 2019-06-05 2019-09-20 大连沃隆峰英鸿纳米科技有限公司 A kind of nanofiber production device of going downstairs in inspection robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3545635B2 (en) * 1999-03-17 2004-07-21 財団法人鉄道総合技術研究所 Self-propelled electric wire inspection device
CN201075610Y (en) * 2007-08-01 2008-06-18 北京深浪电子技术有限公司 Aerial circuit over barrier polling robot
CN101574983A (en) * 2009-06-12 2009-11-11 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN102074915A (en) * 2010-12-09 2011-05-25 山东电力研究院 Split line moving platform
CN202930832U (en) * 2012-12-05 2013-05-08 山东电力集团公司电力科学研究院 Line patrol robot for power transmission line

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3545635B2 (en) * 1999-03-17 2004-07-21 財団法人鉄道総合技術研究所 Self-propelled electric wire inspection device
CN201075610Y (en) * 2007-08-01 2008-06-18 北京深浪电子技术有限公司 Aerial circuit over barrier polling robot
CN101574983A (en) * 2009-06-12 2009-11-11 中国电力科学研究院 Lead obstacle-crossing robot walking device
CN102074915A (en) * 2010-12-09 2011-05-25 山东电力研究院 Split line moving platform
CN202930832U (en) * 2012-12-05 2013-05-08 山东电力集团公司电力科学研究院 Line patrol robot for power transmission line

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104022458A (en) * 2014-05-22 2014-09-03 山东科技大学 Suspended inspection robot on superhigh-voltage power transmission line
CN104811672A (en) * 2015-05-19 2015-07-29 国家电网公司 Intelligent video fault detecting instrument
CN106329391A (en) * 2016-11-04 2017-01-11 国网山东省电力公司济南市长清区供电公司 Circuit inspection robot
CN107511845A (en) * 2017-09-08 2017-12-26 国网山东省电力公司电力科学研究院 A kind of rotary joint positioning lockable mechanism, method of work and line robot
CN110000816A (en) * 2019-04-16 2019-07-12 中科开创(广州)智能科技发展有限公司 A kind of inspection robot New-type charge method
CN110000816B (en) * 2019-04-16 2020-12-29 中科开创(广州)智能科技发展有限公司 Novel charging method for inspection robot
CN110253534A (en) * 2019-06-05 2019-09-20 大连沃隆峰英鸿纳米科技有限公司 A kind of nanofiber production device of going downstairs in inspection robot
CN110253534B (en) * 2019-06-05 2021-07-02 北京英鸿光大科技有限公司 Nanofiber production is with inspection robot device of going upstairs or downstairs

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Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan

Co-patentee after: State Grid Corporation of China

Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan

Co-patentee before: State Grid Corporation of China

Patentee before: Electric Power Research Institute of Shandong Electric Power Corporation

Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan

Co-patentee after: State Grid Corporation of China

Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan

Co-patentee before: State Grid Corporation of China

Patentee before: Electric Power Research Institute of Shandong Electric Power Corporation

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Application publication date: 20130227

Assignee: National Network Intelligent Technology Co., Ltd.

Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company

Contract record no.: X2019370000006

Denomination of invention: Patrol robot for power transmission lines

Granted publication date: 20150304

License type: Exclusive License

Record date: 20191014

Application publication date: 20130227

Assignee: National Network Intelligent Technology Co., Ltd.

Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company

Contract record no.: X2019370000006

Denomination of invention: Patrol robot for power transmission lines

Granted publication date: 20150304

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Effective date of registration: 20201030

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: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan

Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co.

Patentee before: STATE GRID CORPORATION OF CHINA

TR01 Transfer of patent right
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EC01 Cancellation of recordation of patent licensing contract

Assignee: National Network Intelligent Technology Co.,Ltd.

Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co.

Contract record no.: X2019370000006

Date of cancellation: 20210324