CN103795203A - Novel two-section type seven-phase permanent magnet fault-tolerant motor - Google Patents
Novel two-section type seven-phase permanent magnet fault-tolerant motor Download PDFInfo
- Publication number
- CN103795203A CN103795203A CN201410030855.9A CN201410030855A CN103795203A CN 103795203 A CN103795203 A CN 103795203A CN 201410030855 A CN201410030855 A CN 201410030855A CN 103795203 A CN103795203 A CN 103795203A
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- phase
- motor
- fault
- stator
- 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.)
- Granted
Links
Images
Landscapes
- Permanent Magnet Type Synchronous Machine (AREA)
- Linear Motors (AREA)
Abstract
The invention provides a novel two-section type seven-phase permanent magnet fault-tolerant motor and belongs to the technical field of permanent-magnet synchronous motors. The motor comprises a motor shell, two rotor assemblies, two stator assemblies, a rotary shaft, a bearing, a bush, an insulating sleeve, a magnet isolating board and an end cover. The two stator assemblies and the two rotor assemblies are coaxially installed on the same shell. The two stator assemblies are a three-phase winding and a four-phase winding respectively and connected with the rotary shaft through the rotor assemblies respectively, so that a three-phase permanent magnet fault-tolerant motor section and a four-phase permanent magnet fault-tolerant motor section are formed. The magnet isolating board is installed between the two motor sections. Phase windings of the stator assemblies are in a concentrated single-layer winding mode and are embedded separately through teeth. Power is supplied to each phase winding through an independent H-bridge driving mode. The novel two-section type seven-phase permanent magnet fault-tolerant motor is good in physical isolation capacity, magnetic field isolation capacity, thermal field isolation capacity and electric isolation capacity and can effectively restrain short circuit currents of the permanent magnet motor, greatly improve the reliability of the permanent magnet motor and satisfy the requirements for primary fault work, secondary fault work and third fault safety.
Description
Technical field
The invention belongs to permanent magnet synchronous motor technical field, be specifically related to a kind of highly reliable permanent magnet synchronous motor based on dissimilar redundancy and fault-toleranr technique.
Background technology
Along with power-by-wire (Power-By-Wire, PBW) proposition of concept, and the development of high energy product permanent magnetic material, high-power driving device, the advantages such as the electro-mechanical actuator directly being driven by magneto is lightweight with it, efficiency is high, maintainability is good, overall life cycle cost is low, are widely used in the highly reliable servo start fields such as Aero-Space, electric automobile, medicine equipment, industrial automation.
As the developing direction of highly reliable servoactuation system in future, higher reliability and fault-tolerant ability have become the prerequisite technical characterictic of novel electric power actuator.And permanent magnet synchronous motor is as the core component of electro-mechanical actuator, its reliability directly determines the reliability of whole servoactuation system.Therefore the research of, carrying out highly reliable permanent magnet synchronous motor has important theory significance and practical value.
At present, in order to improve the reliability of permanent magnet synchronous motor, for the highest winding failure of motor fault rate, permanent magnet synchronous motor generally adopts redundance structural design, realizes the failure tolerant operation of system.But traditional redundance permanent magnet synchronous motor, owing to there is serious electricity, magnetic, thermal coupling problem between remaining, causes phase mutual interference between system margin, trouble isolation serviceability is poor; In the time that permanent magnet synchronous motor is short-circuited fault, due to permanent magnet demagnetization in time, the short circuit current of amplitude will produce very large brake torque simultaneously, and these all have a strong impact on system survivability.
Summary of the invention
For the phase mutual interference between system margin that causes of above-mentioned traditional redundance permanent magnet synchronous motor existence, trouble isolation serviceability is poor, and have a strong impact on the problems such as system survivability, the invention provides a kind of novel two-part seven phase fault tolerant permanent magnet motor.The present invention is by the design innovation to permanent magnet motor structure and critical component, make designed permanent magnet motor, there is good physical isolation, magnetic isolation, heat isolation and electrical isolation ability, and can effectively suppress the short circuit current of motor, greatly improve the reliability of permanent magnet synchronous motor.
A kind of novel two-part seven phase fault tolerant permanent magnet motor of the present invention, adopt coaxial two section structure, and motor comprises: casing, two rotor assembly, two stator modules, rotating shaft, bearing, lining, insulating sleeve, magnetic isolation plate and end caps.Rotor assembly comprises Halbach version permanent magnet and rotor core.The stator winding of first stator module is three phase windings, and the stator winding of second stator module is four phase windings.First stator module is connected with rotating shaft by first rotor assembly, forms the fault-tolerant motor section of three-phase permanent.Second stator module is connected with rotating shaft by second rotor assembly, forms 4 phase permanent magnet fault tolerant motor section.Between two motor section, magnetic isolation plate is installed.The rotor core of two rotor assembly is spacing fixing by the key in rotating shaft, and carries out axial location by the lining being enclosed within rotating shaft; The stator core of two stator modules is carried out axial location by the insulating sleeve that is arranged on internal side of shell; Together with rotating shaft is fixing with end cap with casing by bearing.
The phase winding of stator module adopts the concentrated single layer winding mode embedding every tooth, between phase winding, mutually isolates by fault-tolerant teeth, and every phase winding is by independently H bridge type of drive power supply.
Two-part seven phase fault tolerant permanent magnet motor of the present invention, prior art relatively, tool has the following advantages and good effect:
(1) the present invention adopts the coaxially housing installation altogether of two sections of stator and rotor, two sections of motor are respectively the fault-tolerant motor of three-phase permanent and 4 phase permanent magnet fault tolerant motor, form mechanical dissimilar redundancy structure, effectively solved the problem that similar redundancy architecture cannot suppress homomorphism fault; Every section of motor stator winding adopts the concentrated single-layer winding structure of single embedding every tooth, between seven phase windings in two sections of stators, backup forms electric fault-tolerant architecture form mutually, greatly improve the fault-tolerant ability of motor, realize physical isolation good between the each winding of motor interior, magnetic isolation, heat isolation and electrical isolation ability, can meet the fault-tolerant requirement of system " primary fault work; secondary failure work, three failure safes ".
(2) in stator module of the present invention, stator slot is designed to narrow and dark grooved and notch, improve the machine winding coil number of turn simultaneously as far as possible, can significantly improve the phase winding inductance of motor, effectively to suppress the short circuit current of permanent magnet motor, torque pulsation while reducing motor fault, realizes the fault-tolerant operation of permanent magnet motor in the time of short trouble.
(3) rotor permanent magnet adopts Halbach array structure form, has improved the sinusoidal degree of air-gap field, has reduced the torque pulsation of motor, has effectively lowered the rotor eddy current loss of permanent magnet motor simultaneously.
Accompanying drawing explanation
The overall structure schematic diagram of Fig. 1 two-part seven phase fault tolerant permanent magnet motor of the present invention;
Fig. 2 is the fault-tolerant motor section stator and rotor sructure of three-phase permanent of the present invention schematic diagram;
Fig. 3 is 4 phase permanent magnet fault tolerant motor section stator and rotor sructure schematic diagram of the present invention;
Fig. 4 is the fault-tolerant motor permanent magnet of three-phase permanent of the present invention magnetizing direction schematic diagram;
Fig. 5 is 4 phase permanent magnet fault tolerant motor permanent magnet magnetizing direction schematic diagram of the present invention;
Fig. 6 is pivot structure schematic diagram of the present invention.
In figure:
1, stator core 2, stator winding 3, Halbach array permanent magnet 4, rotor core 5, bearing
6, rotating shaft 7, lining 8, insulating sleeve 9, magnetic isolation plate 10, end cap
11, the key 13 of casing 12, rotating shaft, fault-tolerant teeth 14, rotor location notch
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further details.
As shown in Figure 1, novel two-part seven phase fault tolerant permanent magnet motor provided by the invention, adopt coaxial two section structure, comprising: two stator modules, two rotor assembly, bearing 5, rotating shaft 6, lining 7, insulating sleeve 8, magnetic isolation plate 9, end cap 10 and the casings 11 of coaxial series connection.Stator module comprises stator core 1 and stator winding 2.Rotor assembly comprises Halbach version permanent magnet 3 and rotor core 4.
Two stator modules and two coaxially housing installations altogether of rotor assembly, wherein first stator module and first rotor assembly form the fault-tolerant motor section of three-phase permanent, second stator module and second rotor assembly form 4 phase permanent magnet fault tolerant motor section, form non-similar mechanical redundancy architecture form.Between two motor section, magnetic isolation plate 9 is installed.Non-similar mechanical redundancy architecture form has solved the problem that similar remaining cannot suppress homomorphism fault effectively; Backup mutually between the phase winding of two sections of fault tolerant permanent magnet motor simultaneously, forms electric fault-tolerant architecture form, greatly improves fault-tolerant ability and the reliability of permanent magnet motor.The magnetic isolation plate 9 of making by the soft magnetic material of high magnetic permeability, high resistivity between two sections of motor, realizes isolation, effectively solves the problem that similar redundancy architecture cannot suppress homomorphism fault, has greatly improved the reliability of system.
As shown in Figure 2, the stator winding 2 of the fault-tolerant motor section of three-phase permanent is three phase windings, and in figure, A1, B1 and C1 represent the phase winding of the fault-tolerant motor of three-phase permanent.As shown in Figure 3, the stator winding 2 of 4 phase permanent magnet fault tolerant motor section is four phase windings, and A2, B2, C2 and D2 represent the phase winding of 4 phase permanent magnet fault tolerant motor.
Stator core 1 adopts the electrical steel of high magnetic saturation, low core loss to make.Stator winding 2 adopts high-temperature resistant enamelled wire.Phase winding in stator core 1 adopts the concentrated single layer winding mode embedding every tooth, makes to only have in each stator slot a phase winding of motor, effectively realizes the physical isolation between phase winding.Between phase winding, mutually isolate by the fault-tolerant teeth 13 that embeds formation every tooth, the magnetic field that fault-tolerant teeth 13 is each phase winding provides closed-loop path, make not exist between phase winding magnetic Field Coupling phenomenon, realize the magnetic isolation of fault tolerant permanent magnet motor, this winding construction has very strong hot isolating power simultaneously, the heat that fault phase winding produces is delivered to casing by stator tooth and the fault-tolerant teeth of phase winding coiling, and is difficult to be delivered to other phase windings.Every phase winding, by independently H bridge type of drive power supply, has been realized the electrical isolation between phase winding.Therefore, two-part seven phase fault tolerant permanent magnet motor of the present invention can be realized physical isolation, magnetic field isolation, thermal field isolation and the electrical isolation between phase winding effectively, not only there is very strong trouble isolation serviceability, and effectively solved and between two sections of motors, have the insoluble problem of homomorphism fault.
A1 phase winding in the stator core 1 of two sections of motor and A2 phase winding in a circumferential direction mutual deviation 45 are spent, the torque pulsation while as far as possible having reduced phase-defect of motor operation.
The fault-tolerant motor section of three-phase permanent of the present invention adopts the fault-tolerant electric motor structure form of the three-phase permanent of 8 utmost point 6 grooves, another section of stator and rotor assembly adopts the 4 phase permanent magnet fault tolerant motor version of 6 utmost point 8 grooves, phase winding in two sections of stator modules backs up mutually, forms electric fault-tolerant architecture.
The present invention is by the tooth slot structure size design of rational fault tolerant permanent magnet motor, stator slot is designed to narrow and dark grooved and notch, increase the phase winding leakage inductance of fault tolerant permanent magnet motor, thereby reach the object of increasing motor phase winding inductance, effectively to suppress the short circuit current of motor.
According to motor stator pilot trench leakage reactance X
slotcomputing formula:
By appropriate design stator teeth groove physical dimension b
0, h
0, h
sand W
s, reduce width of rebate and groove width as far as possible, increase groove depth and notch height, can enlarge markedly the groove leakage reactance of motor, effectively suppress the short circuit current of motor.Wherein, f is frequency; N
sfor the number of turn that is often in series of armature winding; μ
0for air permeability; l
efffor the axial effective length of armature winding; b
0for width of rebate; h
0for notch height; h
sfor groove high; W
sfor the mean breadth of groove.
As shown in Figures 2 and 3, the permanent magnet in each rotor assembly adopts the mounted Halbach array permanent magnet of face version, has increased motor effective air gap, weakens the magnetic field of being coupled to rotor-side from stator side, has further improved the magnetic isolating power between phase winding; Permanent magnet adopts Halbach array permanent magnet structural design simultaneously, has effectively improved the sinusoidal degree of air-gap field, reduce the torque pulsation of motor, and the permanent magnet of this sectional type can reduce motor rotor eddy current loss well.
Fig. 4 is the schematic diagram of fault-tolerant motor section permanent magnet 3 magnetizing directions of three-phase permanent; Fig. 5 is 4 phase permanent magnet fault tolerant motor section permanent magnet 3 magnetizing direction schematic diagrames.
Rotating shaft 6 adopts non-magnetic round steel, processes, as shown in Figure 6 by turning.In rotating shaft 6, be processed with key 12, for realizing the location of rotor assembly at circumferencial direction.
Lining 7 adopts non-magnetic aluminium bar material, processes by turning.Lining 7 is enclosed within rotating shaft 6, realizes the axial location of two rotor assembly.
Insulating sleeve 8 adopts not magnetic conduction, resistant to elevated temperatures insulating material epoxy resin bonded fiber, processes by turning.Insulating sleeve 8 is arranged on the inner side of casing 11, realizes the axial location of two stator modules.
Magnetic isolation plate 9 adopts the soft magnetic material of high magnetic permeability, high resistivity, process by turning, it is isolated the magnetic field between two sections of permanent magnet synchronous motors completely, makes every section of permanent magnet synchronous motor form independently magnetic circuit, shields the magnetic interference between two sections of motor.
End cap 10 and casing 11 adopt steel plate, process by turning, by end cap processing location hole, can realize the installation of mechanical connection and the displacement transducer of motor and other mechanisms.
In the bearing chamber of casing 11 and end cap 10, bearing 5 is all set, realizes the support of countershaft 6.
As shown in Figure 1, stator module is fixing by rotor assembly and rotating shaft 6, rotor core 4 is spacing fixing by the key 12 of rotating shaft, two rotor cores 4 are carried out axial location by lining 7, two stator cores 1 are carried out axial location by insulating sleeve 8, together with rotating shaft 6 is fixing with end cap 10 with casing 11 by bearing 5.
Two-part seven phase fault tolerant permanent magnet motor of the present invention, by the design innovation to electric motor structure and critical component, make designed fault tolerant permanent magnet motor, there is good trouble isolation serviceability, can effectively suppress the short circuit current of permanent magnet motor simultaneously, realize the fault-tolerant operation of permanent magnet motor short trouble, greatly improve the reliability of permanent magnet synchronous motor, be applicable to the servo start such as high reliability, high power density field.
Claims (6)
1. two-part seven phase fault tolerant permanent magnet motor, is characterized in that, comprising: two stator modules, two rotor assembly, rotating shaft, bearing, insulating sleeve, magnetic isolation plate, lining, casing and end caps; Rotor assembly comprises Halbach version permanent magnet and rotor core; The rotor core of two rotor assembly is spacing fixing by the key in rotating shaft, and carries out axial location by the lining being enclosed within rotating shaft; The stator core of two stator modules is carried out axial location by the insulating sleeve that is arranged on internal side of shell; Together with rotating shaft is fixing with end cap with casing by bearing;
Described stator module and rotor assembly are coaxial, and the stator winding of first stator module is three phase windings, and the stator winding of second stator module is four phase windings; First stator module is connected with rotating shaft by first rotor assembly, forms the fault-tolerant motor section of three-phase permanent; Second stator module is connected with rotating shaft by second rotor assembly, forms 4 phase permanent magnet fault tolerant motor section; Between two motor section, magnetic isolation plate is installed;
The phase winding of described stator module adopts the concentrated single layer winding mode embedding every tooth, between phase winding, mutually isolates by fault-tolerant teeth, and every phase winding is by independently H bridge type of drive power supply.
2. two-part seven phase fault tolerant permanent magnet motor according to claim 1, is characterized in that, the first-phase winding of first described stator module and the first-phase winding of second stator module, and mutual deviation 45 is spent in a circumferential direction.
3. two-part seven phase fault tolerant permanent magnet motor according to claim 1, is characterized in that, the magnetizing direction of every permanent magnet in described Halbach version permanent magnet is according to formula θ
mi=(1 ± p) θ
iobtain, wherein, θ
iit is the angle of i piece permanent magnet center line and horizontal direction; θ
mibe the magnetizing direction of i piece permanent magnet, p is number of pole-pairs.
4. according to the two-part seven phase fault tolerant permanent magnet motor described in claim 1 or 3, it is characterized in that, described insulating sleeve adopts epoxy resin bonded fiber.
5. according to the two-part seven phase fault tolerant permanent magnet motor described in claim 1 or 3, it is characterized in that, described magnetic isolation plate adopts soft magnetic material.
6. according to the two-part seven phase fault tolerant permanent magnet motor described in claim 1 or 3, it is characterized in that, described lining adopts non-magnetic aluminium bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030855.9A CN103795203B (en) | 2014-01-22 | 2014-01-22 | A kind of novel two-part seven phase fault tolerant permanent magnet motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030855.9A CN103795203B (en) | 2014-01-22 | 2014-01-22 | A kind of novel two-part seven phase fault tolerant permanent magnet motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103795203A true CN103795203A (en) | 2014-05-14 |
| CN103795203B CN103795203B (en) | 2016-04-20 |
Family
ID=50670620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410030855.9A Active CN103795203B (en) | 2014-01-22 | 2014-01-22 | A kind of novel two-part seven phase fault tolerant permanent magnet motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103795203B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104753272A (en) * | 2015-02-05 | 2015-07-01 | 南京航空航天大学 | Combined type brushless direct-current permanent magnet magnetic flow switching motor and axial proportion calculation method |
| DE102015226106A1 (en) * | 2015-12-18 | 2017-06-22 | Robert Bosch Gmbh | Electric machine and engine system with an electric machine |
| US20200381984A1 (en) * | 2019-05-31 | 2020-12-03 | MagniX USA, Inc. | High-torque electric motor assembly |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1652438A (en) * | 2005-01-24 | 2005-08-10 | 北京航空航天大学 | Low power consumption brushless DC motor with Halbach magnet structure |
| CN1658478A (en) * | 2005-01-19 | 2005-08-24 | 南京航空航天大学 | Mixed excitation bisalient-pole permanent-magnet synchronous machine |
| CN101005227A (en) * | 2007-01-16 | 2007-07-25 | 北京航空航天大学 | Coaxial two section four margin brushless DC torque motor |
| CN101030717A (en) * | 2007-01-16 | 2007-09-05 | 北京航空航天大学 | DC brushless torque motor of coaxial triple-segment and redundancy |
| CN102868266A (en) * | 2012-09-17 | 2013-01-09 | 北京航空航天大学 | High-reliability permanent-magnet synchronous motor based on redundancy and fault-tolerant technology |
| CN103280939A (en) * | 2013-04-18 | 2013-09-04 | 河海大学 | Double-stator linear rotation Hal Bach permanent magnetic actuator |
-
2014
- 2014-01-22 CN CN201410030855.9A patent/CN103795203B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1658478A (en) * | 2005-01-19 | 2005-08-24 | 南京航空航天大学 | Mixed excitation bisalient-pole permanent-magnet synchronous machine |
| CN1652438A (en) * | 2005-01-24 | 2005-08-10 | 北京航空航天大学 | Low power consumption brushless DC motor with Halbach magnet structure |
| CN101005227A (en) * | 2007-01-16 | 2007-07-25 | 北京航空航天大学 | Coaxial two section four margin brushless DC torque motor |
| CN101030717A (en) * | 2007-01-16 | 2007-09-05 | 北京航空航天大学 | DC brushless torque motor of coaxial triple-segment and redundancy |
| CN102868266A (en) * | 2012-09-17 | 2013-01-09 | 北京航空航天大学 | High-reliability permanent-magnet synchronous motor based on redundancy and fault-tolerant technology |
| CN103280939A (en) * | 2013-04-18 | 2013-09-04 | 河海大学 | Double-stator linear rotation Hal Bach permanent magnetic actuator |
Non-Patent Citations (1)
| Title |
|---|
| 司宾强 等: "四相永磁容错电机的两种容错控制方法", 《控制与决策》, vol. 28, no. 7, 31 July 2013 (2013-07-31), pages 1007 - 1012 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104753272A (en) * | 2015-02-05 | 2015-07-01 | 南京航空航天大学 | Combined type brushless direct-current permanent magnet magnetic flow switching motor and axial proportion calculation method |
| CN104753272B (en) * | 2015-02-05 | 2017-04-19 | 南京航空航天大学 | Combined type brushless direct-current permanent magnet magnetic flow switching motor and axial proportion calculation method |
| DE102015226106A1 (en) * | 2015-12-18 | 2017-06-22 | Robert Bosch Gmbh | Electric machine and engine system with an electric machine |
| US20200381984A1 (en) * | 2019-05-31 | 2020-12-03 | MagniX USA, Inc. | High-torque electric motor assembly |
| US11711003B2 (en) | 2019-05-31 | 2023-07-25 | MagniX USA, Inc. | High voltage converter for use as electric power supply |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103795203B (en) | 2016-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10700561B2 (en) | Double-rotor flux-switching machine | |
| CN102868266B (en) | High-reliability permanent-magnet synchronous motor based on redundancy and fault-tolerant technology | |
| CN104779758B (en) | Modularization multiphase permanent magnet synchronous motor based on single two-layer hybrid winding | |
| CN101299560B (en) | Flux switching type axial magnetic field permanent magnet brushless motor | |
| CN101834506B (en) | Electrical machine with dual radial airgaps | |
| CN104218763A (en) | Multi-phase reluctance machine | |
| CN101895180B (en) | Three-phase alternating current permanent magnet motor | |
| CN101578749A (en) | Axial flux permanent magnet (afpm) coreless multi-generator and motor | |
| CN104767340B (en) | Modularization disc type multiphase permanent magnet synchronous motor based on single two-layer hybrid winding | |
| CN102754317A (en) | Rotor having a short circuit cage | |
| CN102405584A (en) | Electrical machine and method for the manufacturing of stator sections therefor | |
| CN104935095A (en) | U-shaped stator hybrid-excitation switch reluctance machine | |
| CN102522865B (en) | Multi-stator arc linear motor capable of reducing torque fluctuation | |
| WO2018212828A1 (en) | Dual magnetic phase material rings for ac electric machines | |
| CN105119454A (en) | Halbach array permanent magnet DC brushless motor | |
| CN105656228A (en) | Transverse flux permanent magnet motor | |
| CN112994390A (en) | Birotor radial permanent magnet motor | |
| CN110838779B (en) | Mixed excitation wound rotor and mixed excitation wound synchronous motor | |
| CN103795203B (en) | A kind of novel two-part seven phase fault tolerant permanent magnet motor | |
| US20130285499A1 (en) | Rotor magnet engagement assembly | |
| CN111786523A (en) | Double-air-gap permanent magnet auxiliary synchronous reluctance motor | |
| CN106505760A (en) | A kind of Consequent pole permanent magnet motor of rotor segment | |
| CN203691089U (en) | Rotor core and stator core | |
| CN203261211U (en) | Stator self-excitation synchronous motor with dual cage barrier rotors | |
| CN203339911U (en) | Stator double-winding alternating-current motor with double cage barrier rotors |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170413 Address after: 100191 Beijing, Xueyuan Road, No. 37, inside the Patentee after: Beijing northern sky long hawk UAV Technology Co. Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: Beihang University |
|
| TR01 | Transfer of patent right |