CN102941570B - Patrol robot for power transmission lines - Google Patents
Patrol robot for power transmission lines Download PDFInfo
- Publication number
- CN102941570B CN102941570B CN201210512160.5A CN201210512160A CN102941570B CN 102941570 B CN102941570 B CN 102941570B CN 201210512160 A CN201210512160 A CN 201210512160A CN 102941570 B CN102941570 B CN 102941570B
- Authority
- CN
- China
- Prior art keywords
- driving
- rotating shaft
- joint
- fixed
- leading screw
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000004020 conductor Substances 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 5
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 abstract description 2
- 210000000245 forearm Anatomy 0.000 description 8
- 239000012212 insulator Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
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
Technical field
The present invention relates to one and patrol and examine Work robot, especially along wire walking, carry out detecting, 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 ensureing its safety and stability in running, needs regular to carry out the work of patrolling and examining; Because transmission line of electricity distributed points is many, away from cities and towns, with a varied topography, and wire leaks in the wild cruelly, long-term wind and weather, and the mechanical tension continued, electric sudden strain of a muscle is ironed, the impact of material aging, easily causes wearing and tearing, disconnected stock, corrosion equivalent damage, if repair replacing not in time, easily cause serious accident, cause large-area power-cuts and economic asset loss.So, regular walkaround inspection must be carried out to transmission line of electricity, grasp and understand the safe operation situation of transmission line of electricity at any time, so that Timeliness coverage and removing a hidden danger, trouble-saving generation;
For a long time, China mainly relies on manually to patrolling and examining of transmission line of electricity, or telescope, or infrared thermography, walk while see, what some were special patrols and examines also needs power worker to climb up high-tension line inspection, wastes time and energy, greatly dangerous, some virgin forest, cliff circuit manually cannot be patrolled and examined at all.Utilize robot inspection of power transmission line and safeguard EHV transmission network, not only can alleviate the labour intensity of workman's a thousand li line walking and livewire work, and accuracy of detection and detection efficiency can be improved, replace the occasion of people's on-line operation in high-risk, greatly reduce human resources simultaneously, to raising grid automation level of operation, ensure that electric power netting safe running is significant.
Chinese patent ZL200410061316.8 discloses a kind of robot travelled along aerial high-voltage power transmission line, comprise the forearm manipulator mechanism moved along power transmission line for a pair, the lower end of two forearm manipulators is connected on a transmission mechanism that can change the large arm of two forearm relative distances respectively, each forearm has 4 frees degree respectively; be end effector mechanism above forearm, and this end effector mechanism has the clamp system that hangs over driving wheel on power transmission line and the first driving mechanism thereof, a driven pulley and can grasp power transmission line.Comprehensive analysis, this patent mainly contains following shortcoming: former and later two forearms, when running into stockbridge damper or insulator chain, are replaced by the slide unit of bottom, realize the function of obstacle detouring by this patent robot mutually.This forearm becomes postbrachium, and postbrachium becomes forearm, alternately the form of obstacle detouring, and obstacle detouring efficiency is very low, particularly when crossing insulator string, consuming time longer, moreover, in obstacle detouring process, require higher to the blessing power of end effector mechanism.
Chinese patent 201010525761.0 discloses a kind of suspended line walking robot, it by, comprise walking and gondola two parts.Running gear is made up of two joint trunks and three driving tires.Two nodal pattern trunks become two parallelogram sturcutre, ensure that three driving tires are towards identical, and 5 motors on trunk drive trunk pitch, yaw and stretch, and make each obstacle detouring driving wheel can realize Three Degree Of Freedom translation is rolled off the production line.Each driving tire comprises driving wheel and clamping device, and driven by motor driving wheel makes robot move on line.The clamping device be made up of motor, ball wire bar pair, spring and pinch wheels etc. ensures there is enough frictional force between driving wheel and line.Gondola is connected by two steel bands with running gear, two motors on gondola by steel band adjustment self relative to the position of centre of gravity of trunk, the flexibility of mechanism during to ensure leaping over obstacles.Comprehensive analysis, this patent mainly contains following shortcoming: the trunk of this patent robot drive part needs 5 motors to drive pitch, yaw and to stretch, trunk complicated in mechanical structure, wayward; Meanwhile, in obstacle detouring process, need the position of centre of gravity being adjusted whole robot by steel strip driving gondola, this mode very easily causes robot to topple in centre of gravity adjustment process, controls complicated.
Summary of the invention
The object 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 run across on the single cord such as ground wire, split conductor, can cross over various barrier on transmission pressure (stockbridge damper, conductor spacer, suspension insulator etc.), the equipment such as camera, infrared radiation detection apparatus that carries carries 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 side, actuating arm is by drive wheel suspension on split conductor, and described drive wheel mechanism lower end is connected with lifting joint by rotary joint, and lifting joint and battery control cabinet are fixed on yoke plate.
Battery control cabinet can comprise lithium battery group, for robot powers.
Described drive wheel mechanism comprises drive motors, driving wheel, driving shaft, transmission device and fixed head; Described fixed head one end is connected with 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 is connected with base plate by bearing block, and leading screw one end is connected with direct current generator, and leading screw is provided with feed screw nut; Described line slideway is fixed on base plate, parallel with leading screw, line slideway is provided with the slide block that can be free to slide, and feed screw nut and slide block are fixed together by connecting plate, and connecting plate connects rotary joint; Limit switch is fixed with, for controlling the extreme position being elevated lower end, joint bottom leading screw.
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 is connected with the connecting plate in lifting joint; Be fixed with U-shaped connector in the middle of rotating shaft, U-shaped connector is connected with the fixed head of drive wheel mechanism; Rotating shaft one end is connected with electric rotating machine.
Described actuating arm is distributed in robot side, and the coverage between actuating arm is a bit larger tham the length of biggest obstacle thing on power transmission line.
The present invention is formed primarily of several actuating arms being 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 is all connected with lifting joint by rotary joint.
Operation principle of the present invention:
The present invention can run on the single cord of ground wire, split conductor, and each actuating arm can provide driving force for robot, can press through without the need to doing obstacle detouring action when robot runs into stockbridge damper.
When robot is close to conductor spacer, suspension insulator, first the actuating arm of front end starts to carry out obstacle detouring action, the DC motor Driver screw turns in lifting joint, drives drive wheel mechanism to rise by line slideway and slide block, after driving wheel departs from wire, lifting joint stops action; Then, the electric rotating machine on rotary joint rotates forward, and drives the outer side oscillation of drive wheel mechanism guiding line, thus make driving wheel arrange wire and barrier by rotating shaft.
Two, in the middle of robot and rear end actuating arm band mobile robot advances under automatic control, after two, front end actuating arm clears the jumps, robot halts, electric rotating machine reversion on rotary joint, identical when institute's gyration and rotating forward, then, lifting joint on front-end driven arm starts to decline, and drives driving wheel to decline, driving wheel is ridden on wire again.
Afterwards, the actuating arm of in the middle of robot and rear end all clears the jumps in the mode that front end actuating arm is identical.
The invention has the beneficial effects as follows, the present invention is owing to adopting the identical actuating arm of several structures, simple and compact for structure, and interchangeability is strong, can run in sub-thread lead wire and earth wire, crosses over various barrier (stockbridge damper, conductor spacer, suspension insulator etc.) on transmission pressure.Because the structure of each arm is identical, when obstacle detouring, path planning is relatively simple, workable, without the need to manually controlling equipment in the process of leaping over obstacles.
Accompanying drawing explanation
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 the present invention is elevated articulation structure 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.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
The present invention can run on ground wire, single cord, as shown in Figure 1, 2, comprises actuating arm 1, yoke plate 2 and battery control cabinet 3 that three structures are 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 split conductor by driving wheel 6, and drive wheel mechanism lower end is connected with lifting joint 10 by rotary joint 9, and lifting joint 9 is fixed on 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 fixed head 8, and transmission device 4 is arranged on fixed head 8, and drive motors 5 is arranged on transmission device 4 shell; Fixed head 8 lower end is connected with rotary joint 9.
As shown in Figure 3, be elevated joint 10 and comprise 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 fixing on base 13 by bearing block 11, and leading screw 12 one end is connected with direct current generator 17 by bearing block 11; Be arranged with line slideway 18 in parallel in leading screw 12 side, line slideway 18 have the slide block 19 that can freely up and down slide, slide block 19 and the feed screw nut 14 be arranged on leading screw 12 are connected and fixed by connecting plate 15, and connecting plate 15 is fixed with rotary joint 9; Limit switch 16 is fixed with, for controlling the extreme position being elevated lower end, joint 10 bottom leading screw 12.
As shown in Figure 4, rotary joint 9 comprises the first rotating shaft holder 20, U-shaped connector 21, 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 rotating shaft 24, rotating shaft 24 one end is connected with electric rotating machine 23.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but 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 amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (2)
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 side, actuating arm is by drive wheel suspension on split conductor, and described drive wheel mechanism lower end is connected with lifting joint by rotary joint, and lifting joint and battery control cabinet are fixed on yoke plate;
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 is connected with base plate by bearing block, and leading screw one end is connected with direct current generator, and leading screw is provided with feed screw nut; Described line slideway is fixed on base plate, parallel with leading screw, line slideway is provided with the slide block that can be free to slide, and feed screw nut and slide block are fixed together by connecting plate; Connecting plate connects rotary joint; Limit switch is fixed with bottom leading screw;
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 is connected with the connecting plate in lifting joint; Be fixed with U-shaped connector in the middle of rotating shaft, U-shaped connector is connected with the fixed head of drive wheel mechanism; Rotating shaft one end is connected with electric rotating machine.
2. power transmission line inspection robot as claimed in claim 1, it 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 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210512160.5A CN102941570B (en) | 2012-12-05 | 2012-12-05 | Patrol robot for power transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210512160.5A CN102941570B (en) | 2012-12-05 | 2012-12-05 | Patrol robot for power transmission lines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102941570A CN102941570A (en) | 2013-02-27 |
| CN102941570B true CN102941570B (en) | 2015-03-04 |
Family
ID=47724607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210512160.5A Active CN102941570B (en) | 2012-12-05 | 2012-12-05 | Patrol robot for power transmission lines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102941570B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104022458B (en) * | 2014-05-22 | 2017-05-24 | 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 |
| CN106329391B (en) * | 2016-11-04 | 2017-11-24 | 国网山东省电力公司济南市长清区供电公司 | A kind of circuit inspection robot |
| CN108075410A (en) * | 2016-11-14 | 2018-05-25 | 沈彦南 | A kind of stranded charged conditioning machines people of grounded-line |
| CN107511845B (en) * | 2017-09-08 | 2019-09-10 | 国网山东省电力公司电力科学研究院 | A kind of rotary joint positioning lockable mechanism, working method and line robot |
| CN208584542U (en) * | 2018-05-29 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Installing mechanism and robot |
| CN109986534B (en) * | 2019-03-27 | 2024-04-23 | 深圳市人工智能与机器人研究院 | Double-cantilever hanging rail type tunnel inspection robot |
| 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 |
| 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 |
| CN110103200A (en) * | 2019-06-24 | 2019-08-09 | 杭州迈世歆智能机器人有限公司 | One kind is across barrier turning line climbing robot |
| CN111730580A (en) * | 2020-07-08 | 2020-10-02 | 王永亮 | Double-mechanical-arm high-voltage transmission and guide line inspection robot structure |
| CN112265004A (en) * | 2020-10-12 | 2021-01-26 | 合肥中科创奥数字科技有限公司 | High-altitude cable inspection robot |
| CN112873245B (en) * | 2021-03-25 | 2022-06-28 | 深圳亿嘉和科技研发有限公司 | Overhead line three-arm inspection robot |
| CN113746010B (en) * | 2021-08-31 | 2023-04-25 | 国网河南省电力公司博爱县供电公司 | Power supply device of equipment on transmission line iron tower |
Citations (5)
| 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 |
-
2012
- 2012-12-05 CN CN201210512160.5A patent/CN102941570B/en active Active
Patent Citations (5)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102941570A (en) | 2013-02-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102941570B (en) | Patrol robot for power transmission lines | |
| CN103001151B (en) | There is the line robot actuating arm of obstacle crossing function | |
| CN102938544B (en) | A kind of transmission line active obstacle travelling robot | |
| CN102941567B (en) | High-tension transmission line patrol and operation robot actuating arm | |
| CN102922530B (en) | Inspection robot platform of 500kV split conductors | |
| CN102975191B (en) | Line-walking robot system for overhead transmission line | |
| CN102946072B (en) | Bundle conductor inspection robot platform | |
| CN202964660U (en) | 500kV bundled conductor routing inspection operation robot platform | |
| CN202917899U (en) | Line robot actuating arm with obstacle crossing function | |
| CN202910857U (en) | Overhead transmission circuit inspection robot system | |
| CN101800403B (en) | Inspection robot for ultra-high voltage power transmission lines | |
| CN108748073B (en) | Live overhaul operation robot for substation equipment | |
| CN113824061B (en) | Use method of power transmission line outer sheath inspection repair device with good stability | |
| CN108714883B (en) | Transformer substation live overhaul autonomous operation robot platform | |
| CN101574983B (en) | Lead obstacle-crossing robot walking device | |
| CN201544221U (en) | Swing type wheel arm paw composite inspection robot mechanism | |
| CN109244934B (en) | Ground wire suspension inspection robot | |
| CN105846352B (en) | Adapt to the inspection robot mechanical structure and its obstacle-detouring method of solid conductor | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| CN109698475A (en) | A kind of aerial high-voltage power transmission line hot line robot | |
| CN110364961B (en) | Cable barrier-removing robot | |
| CN110994455B (en) | Inspection and maintenance robot for ultra-high voltage transmission line and operation method | |
| CN204021041U (en) | A kind of traveling gear for overhead power transmission line crusing robot | |
| CN202917898U (en) | Divided conductor patrol work robot platform | |
| CN202930832U (en) | Line patrol robot for power transmission line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
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 |
|
| CP01 | Change in the name or title of a patent holder | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
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 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| 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 |