CN103802086B - Crusing robot - Google Patents
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- CN103802086B CN103802086B CN201410053703.0A CN201410053703A CN103802086B CN 103802086 B CN103802086 B CN 103802086B CN 201410053703 A CN201410053703 A CN 201410053703A CN 103802086 B CN103802086 B CN 103802086B
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Abstract
A kind of crusing robot, comprise supporting frame, driving mechanism and be adjacent to the type leading wheel framework of orbit sidewall, driving mechanism comprises the adjustable drive unit of actuating speed, differential mechanism and at least two group travel wheel, drive unit is connected with differential drive, differential mechanism is arranged between travel wheel, and be in transmission connection with travel wheel, drive unit, differential mechanism and travel wheel are all installed on supporting frame, be adjacent to the type leading wheel framework of orbit sidewall, comprise at least two group guide wheel assemblies, guide wheel assemblies is installed on supporting frame.Above-mentioned crusing robot, drive unit drives differential mechanism, differential drive travel wheel, realizes driving driving more, and avoiding goes up a slope skids, the phenomenon of resetting difficulty, and braking ability strengthens, and improves cornering ability.Type leading wheel framework is adjacent to track, and crusing robot is not rocked, and can play the shake of damping and the crusing robot caused by the out-of-flatness of cushioning effect absorption orbit sidewall and rock, improve the operating stability of crusing robot and security.
Description
Technical field
The present invention relates to power circuit polling apparatus field, particularly relate to a kind of crusing robot.
Background technology
Along with construction and the fast development of urban electric power facility, domestic many cities adopt buried cable electric energy transmitting in succession, improve urban look, alleviate the contradiction between ground erection and space.The safe operation of the power cable in electric power tunnel and various electric power facility directly affects the reliability and stability of power supply, so patrolling and examining of tunnel is most important.
There are the hazards such as fire, water logging, pernicious gas in cable tunnel, traditional routine inspection mode based on manually, dangerous large, efficiency is low.Therefore, crusing robot arises at the historic moment.Crusing robot can realize the automatic monitoring of fire, pernicious gas etc. to electric power tunnel, changes the mode of personal monitoring in the past, decreases labour intensity, reduce the danger of work, improve operating efficiency and reduce cost.
Usually, crusing robot adopts electric hoist walking mechanism, is made up of two driving wheels, two driven pulleys, travelling gear and motors, but when electric hoist walking mechanism is turned, rigid gear and track generation extruding make vehicle body cornering difficulties and serious wear.
Summary of the invention
Based on this, when being necessary to turn for electric hoist walking mechanism, rigid gear and track generation extruding make vehicle body cornering difficulties and serious wear problem, provide a kind of crusing robot.
A kind of crusing robot, comprising:
Supporting frame;
Driving mechanism, comprise the adjustable drive unit of actuating speed, differential mechanism and at least two group travel wheel, described drive unit is connected with described differential drive, described differential mechanism is arranged between described travel wheel, and be in transmission connection with described travel wheel, described drive unit, differential mechanism and travel wheel are all installed on support frame as described above body;
Be adjacent to the type leading wheel framework of orbit sidewall, comprise at least two group guide wheel assemblies, described guide wheel assemblies is all installed on support frame as described above body.
Wherein in an embodiment, support frame as described above body comprises base plate, and be vertically connected at the first side plate and second side plate of described base plate, described drive unit is installed on described first side plate, described differential mechanism is installed on described base plate, described travel wheel is installed on described first side plate and the second side plate by runner shaft, and described guide wheel assemblies is installed on described first side plate and the second side end.
Wherein in an embodiment, described drive unit comprises drive motors and decelerator, described drive motors and described decelerator are in transmission connection, and described decelerator is connected with described differential drive, and described drive motors and described decelerator are all installed on described first side plate.
Wherein in an embodiment, described drive unit also comprises transmission component, described transmission component comprises driving gearshaft, first gear and the second gear, described driving gearshaft one end is connected rotationally with described second side plate, the other end and described decelerator are in transmission connection, described differential mechanism and described driving gearshaft are in transmission connection, described first gear and the second gear are installed on described first side plate, described first gear is connected with described differential drive, described second gear and described first gears meshing, described runner shaft is rotationally connected with described first side plate and the second side plate, described travel wheel is installed on described runner shaft, described travel wheel is connected with described second gear drive.
Wherein in an embodiment, described guide wheel assemblies comprises installing rack, hinge mount, bolster and directive wheel, described installing rack is fixedly connected on support frame as described above body, described hinge mount is articulated with described installing rack, described installing rack is fixed in described bolster one end, the other end is fixed on described hinge mount, and described directive wheel is connected to described hinge mount rotationally.
Wherein in an embodiment, described guide wheel assemblies also comprises the first mandrel, described installing rack comprises fixed part and installation portion, described installation portion is convexly equipped in described fixed part end, and relatively described installation portion axis is symmetrical arranged, described installation portion offers installing hole, and described hinge mount offers hinge axis hole, described first mandrel through described installing hole and hinge axis hole by described hinge mount and described installation portion hinged.
Wherein in an embodiment, described bolster comprises torsion spring, and described torsion spring set is located at described hinge mount and the hinged hinge of described installing rack, and described one end is fixed on described installing rack, and the other end is fixed on described hinge mount.
Wherein in an embodiment, described guide wheel assemblies also comprises stop screw, and described stop screw is arranged at described installing rack end, is positioned at described hinge mount along on the path that hinge rotates.
Wherein in an embodiment, described hinge mount end is provided with the second mandrel, and described directive wheel is sheathed on described second mandrel.
Wherein in an embodiment, described second mandrel end is provided with jump ring.
Above-mentioned crusing robot, comprise driving mechanism and type leading wheel framework, driving mechanism comprises the adjustable drive unit of actuating speed, differential mechanism and at least two group travel wheel, and differential mechanism is arranged between travel wheel, and the type leading wheel framework that can be adjacent to track is installed on supporting frame.So, drive unit drives differential mechanism, differential drive travel wheel, realize driving driving more, avoid the skidding of crusing robot upward slope, uphill gradient is little, the phenomenon of resetting difficulty, and robot runs more steady, prevent the unsettled idle running of driving wheel and cause situation about cannot walk, braking ability strengthens, and improves cornering ability.Interior outer row can be made to enter wheel driving simultaneously for differential mechanism and speed is different, and outside is accelerated, and slows down in inner side, realizes stable, flipper turn.Type leading wheel framework can be adjacent to track, when crusing robot is turned, crusing robot is not rocked, and ensures steady excessively curved, improves the operating stability of crusing robot and security.
Accompanying drawing explanation
Fig. 1 is the structural representation of the crusing robot of an embodiment;
Fig. 2 is the operating diagram that the crusing robot of an embodiment is installed on track;
Fig. 3 is the structural representation of the guide wheel assemblies of the crusing robot of an embodiment.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Preferred embodiment of the present invention is given in accompanying drawing.But the present invention can realize in many different forms, is not limited to embodiment described herein.On the contrary, provide the object of these embodiments be make the understanding of disclosure of the present invention more comprehensively thorough.
It should be noted that, when element is called as " being fixed on " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe specific embodiment, is not intended to be restriction the present invention.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
As shown in figures 1 and 3, a kind of crusing robot, comprises supporting frame 110, driving mechanism 120 and type leading wheel framework, and driving mechanism 120 comprises the adjustable drive unit of actuating speed 122, differential mechanism 124 and at least two group travel wheel 126.Drive unit 122 and differential mechanism 124 are in transmission connection, and differential mechanism 124 is arranged between travel wheel 126, and is in transmission connection with travel wheel 126, and drive unit 122, differential mechanism 124 and travel wheel 126 are all installed on supporting frame 110.Type leading wheel framework comprises at least two group guide wheel assemblies 130, and guide wheel assemblies 130 is all installed on supporting frame 110.
Supporting frame 110 can adopt metal to make, and the macromolecular material with higher mechanical strength also can be adopted to make, as carbon fibre material is made.In the present embodiment, adopt carbon fibre material, supporting frame 110 tensile strength that carbon fibre material is made is high, density is little, lightweight, not only play a supporting role in crusing robot motion process, also reduce the weight of crusing robot and play the effect of damping.
Drive unit 122 and differential mechanism 124 are in transmission connection, and differential mechanism 124 and travel wheel 126 are in transmission connection.Being appreciated that is in transmission connection can comprise the connected modes such as bearing connection and gear connection, as long as realize the Power output between mechanical organ.
It may be noted that, driving mechanism 120 at least comprises two groups of travel wheel 126, differential mechanism 124 is arranged between travel wheel 126, and often organize travel wheel 126 and be divided into differential mechanism 124 both sides, differential mechanism 124 drives with the 4 wheel driven realizing crusing robot that is in transmission connection of travel wheel 126.Due to crusing robot turn time, outboard wheel is larger than nearside wheel displacement, and outboard wheel has sliding drags phenomenon, and nearside wheel trackslips phenomenon, and so, the slip of wheel causes serious wear and increases power and energy consumption, makes to turn to difficulty, and braking ability is deteriorated.Differential mechanism 124 can make interior outer row enter wheel 126 to drive and speed is different simultaneously, and outside is accelerated, and slows down in inner side, realizes stable, flipper turn, drives driving more and can realize stable climbing fast, solve skid serious, the problem of resetting.
Above-mentioned crusing robot, comprise driving mechanism 120 and type leading wheel framework, driving mechanism 120 comprises the adjustable drive unit of actuating speed 122, differential mechanism 124 and at least two group travel wheel 126, differential mechanism 124 is arranged between travel wheel 126, and the type leading wheel framework that can be adjacent to track 140 is installed on supporting frame 110.Drive unit 122 drives differential mechanism 124, differential mechanism 124 transmission travel wheel 126, realize driving driving more, avoid the skidding of crusing robot upward slope, uphill gradient is little, the phenomenon of resetting difficulty, and robot runs more steady, prevent the unsettled idle running of driving wheel and cause situation about cannot walk, in addition, in turning process, braking ability strengthens, and improves cornering ability.Differential mechanism 124 can make interior outer row enter wheel 126 to drive and speed is different simultaneously, and outside is accelerated, and slows down in inner side, realizes stable, flipper turn.
Type leading wheel framework can be adjacent to track 140, when crusing robot is turned, crusing robot is not rocked, ensure steady excessively curved, and the shake of damping and the crusing robot caused by the out-of-flatness of cushioning effect absorption track 140 sidewall can be played and rock, improve the operating stability of crusing robot and security.
Refer to Fig. 1, wherein in an embodiment, supporting frame 110 comprises base plate 112 and is vertically connected at the first side plate 114 and the second side plate 116 of base plate 112, drive unit 122 is installed on the first side plate 114, differential mechanism 124 is installed on base plate 112, travel wheel 126 is installed on the first side plate 114 and the second side plate 116 by runner shaft 128, and guide wheel assemblies 130 is installed on the first side plate 114 and the second side plate 116 end.So, the first side plate 114 and the second side plate 116 can support travel wheel 126, add rigidity, decrease crusing robot vibrations at the volley.
Be appreciated that the first side plate 114 and the second side plate 116 also out of plumb can be connected to base plate 112, as long as realize the connection of the first side plate 114 and the second side plate 116 and base plate 112, travel wheel 126 and drive unit 122 can be supported.In other embodiments, also can not comprise base plate 112, adopt fixed central spindle etc. to be connected with the second side plate 116 by the first side plate 114, realize that there is supporting role.
Refer to Fig. 1 and Fig. 3, wherein in an embodiment, drive unit 122 comprises drive motors 1222 and decelerator 1224, drive motors 1222 and decelerator 1224 are in transmission connection, decelerator 1224 and differential mechanism 124 are in transmission connection, and drive motors 1222 and decelerator 1224 are all installed on the first side plate 114.Drive motors 1222 is selected has higher high low speed overall efficiency, and the motor having very strong overload capacity, large detent torque, torque response fast.Because tunnel environment is relatively poor, drive motors 1222 also should be reliably firm, has certain dust and water protection ability.
Due to crusing robot starting and climbing hourly velocity lower, but require that moment is larger, when normal operation, moment is less, and speed is very high, the characteristic of invariable power during high speed, decelerator 1224 can reduce motor speed and increase torque, to satisfy the demands, also can be used to speedup under specific circumstances, as adopted gear reduction unit.So, drive unit 122 can ensure the speed of crusing robot and moment adjustable, and ensure climb and turn time operate steadily, braking is high, improves the stability of crusing robot.
Refer to Fig. 1, wherein in an embodiment, driving mechanism 120 also comprises transmission component 1226, transmission component 1226 comprises driving gearshaft 1225, first gear 1227, second gear 1228 and runner shaft 128, driving gearshaft 1225 one end is connected rotationally with the second side plate 116, the other end and decelerator 1224 are in transmission connection, differential mechanism 124 and driving gearshaft 1225 are in transmission connection, first gear 1227 and the second gear 1228 are installed on the first side plate 114, first gear 1227 is in transmission connection with differential mechanism 124, second gear 1228 engages with the first gear 1227, runner shaft 128 is connected to the first side plate 114 and the second side plate 116 rotationally, travel wheel 126 and the second gear 1228 are in transmission connection, travel wheel 126 is installed on runner shaft 128.
In the present embodiment, driving gearshaft 1225 one end is inserted in decelerator 1224, the other end is connected to the second side plate 116 rotationally, gear is provided with in the middle part of driving gearshaft 1225, differential mechanism 124 is divided into the both sides of driving gearshaft 1225, with driving gearshaft 1225 gear drive, the output shaft of differential mechanism 124 is connected to the first side plate 114 and the second side plate 116 respectively rotationally, fixing hole is offered in the middle part of first gear 1227, match with the output shaft of differential mechanism 124, first gear 1227 is fixed on the first side plate 114 and the second side plate 116 by the output shaft of differential mechanism 124.
The wheel hub of travel wheel 126 is connected with the second gear 1228 by positioning boss (not shown), travel wheel 126 and the second gear 1228 are fixed through boss by bolt, second gear 1228 engages with the first gear 1227, and the runner shaft 128 of travel wheel 126 is fixed on the first side plate 114 and the second side plate 116 by flange.So, drive unit 122 drives differential mechanism 124, differential mechanism 124 transmission travel wheel 126, realizes driving driving more, avoid the skidding of crusing robot upward slope, uphill gradient is little, the phenomenon of resetting difficulty, and robot runs more steady, prevents the unsettled idle running of driving wheel and causes situation about cannot walk, in addition, in turning process, braking ability strengthens, and improves cornering ability.Differential mechanism 124 can make interior outer row enter wheel 126 to drive and speed is different simultaneously, and outside is accelerated, and slows down in inner side, realizes stable, flipper turn.
Be appreciated that the output shaft etc. of driving gearshaft 1225, runner shaft 128, differential mechanism 124 is all fixedly connected with the second side plate 116 with the first side plate 114 by bearing.In the present embodiment, supporting frame 110 can not need base plate 112, first side plate 114 and the second side plate 116 are fixed by the output shaft of fixed central spindle, driving gearshaft 1225, differential mechanism 124, the runner shaft 128 etc. of travel wheel 126 by the first side plate 114 and the second side plate 116, play support and connection function, save processing cost.
Refer to Fig. 2, wherein in an embodiment, guide wheel assemblies 130 comprises installing rack 132, hinge mount 134, bolster 136 and directive wheel 138, installing rack 132 is fixed on supporting frame 110 end, hinge mount 134 is articulated with installing rack 132, installing rack 132 is fixed in bolster one end, and the other end is fixed on hinge mount 134, and directive wheel 138 is connected to hinge mount 134 rotationally.
Directive wheel 138 can be held in the sidewall of tunnel track 140, in turning process, directive wheel 138 is subject to the resist force of track 140 sidewall, hinge mount 134 is mounted opposite frame 132 and rotates, produce displacement, bolster 136 one end and installing rack 132 are fixed, and the other end is fixedly connected with hinge mount 134, hinge mount 134 be mounted opposite frame 132 rotate time, bolster 136 stretches, and directive wheel 138 is adjacent to track 140 sidewall.When crusing robot runs to straight rail, hinge mount 134 is still adjacent to track 140 sidewall under the effect of the restoring force of bolster 136.So, directive wheel 138 can be adjacent to track 140, has both ensured that crusing robot does not rock, and effectively absorbs again the shake because track 140 side out-of-flatness causes, ensures that crusing robot is steady excessively curved.
It should be noted that, directive wheel 138 can adopt flexible material to make, high temperature resistant, wear-resisting, can adapt to the environment that tunnel track 140 is poor, as polyformaldehyde (Polyoxymethylene, POM).Also in employing, directive wheel 138 skin can be provided with flexible layer, play cushioning effect, be adjacent to track 140 sidewall, crusing robot do not rocked, improves safety and stability.
Refer to Fig. 3, wherein in an embodiment, directive wheel 138 assembly 130 also comprises the first mandrel (figure does not mark), installing rack 132 comprises fixed part 1322 and installation portion 1324, installation portion 1324 is convexly equipped in fixed part 1322 end, and fixed part 1322 axis is symmetrical arranged relatively, installation portion 1324 offers installing hole (not shown), hinge mount 134 offers hinge axis hole (figure do not look), the first mandrel through installing hole and hinge axis hole by hinge mount 134 and installation portion 1324 hinged.
In the present embodiment, as shown in Figure 3, fixed part 1322 offers four installing holes, by bolt, fixed part 1322 is fixed on supporting frame 110, and installation portion 1324 is convexly equipped in the lateral margin of the end of fixed part 1322, and relative fixed part 1322 axis is symmetrical arranged.So, hinge mount 134 can be articulated with installing rack 132, when turning, frame 132 can be mounted opposite rotate, make directive wheel 138 can be adjacent to track 140, can not wear and tear when turning because of directive wheel 138 rigid structure and rock, make crusing robot Absorbable organic halogens flipper turn.
Refer to Fig. 2, wherein in an embodiment, described bolster 136 comprises torsion spring, and torsion spring set is located at hinge mount 134 hinge hinged with installing rack 132, and one end is fixed on installing rack 132, and the other end is fixed on hinge mount 134.When turning, directive wheel 138 is adjacent to tunnel track 140 sidewall, and be subject to the effect of track 140 sidewall resist force, hinge mount 134 is mounted opposite frame 132 and rotates, and torsion spring is reversed, and produces torsional moment, plays shock absorbing effect.When crusing robot is to straight way, under the effect of the restoring force of torsion spring, hinge mount 134 rotates, and directive wheel 138 is still adjacent to track 140 sidewall.So, crusing robot can be made to turn fast and stable.Be understandable that, in other embodiments, bolster 136 also can comprise other springs and realize, as leaf spring, as long as realize the object that directive wheel 138 flexible can be adjacent to tunnel track 140 sidewall.
Refer to Fig. 3, wherein in an embodiment, bolster 136 also comprises stop screw 133, and stop screw 133 is arranged at installation portion 1324 end, is positioned at hinge mount 134 along on the path that hinge rotates.So, stop screw 133 can carry out spacing to hinge mount 134, in turning process, directive wheel 138 is subject to the resist force of tunnel track 140, and drive bolster 136 to move along the hinge direction of tunnel track 140 sidewall that directive wheel 138 supports dorsad, stop screw 133 pairs of hinge mounts 134 carry out spacing, limit the angle that directive wheel 138 deflects, the deflection angle making directive wheel 138 within the specific limits, flexibility can be close to track 140 sidewall, steady trun to make directive wheel 138.Can also avoid because of angle of turn and speed excessive and cause directive wheel 138 deflection angle excessive, by the problem that bolster 136 damages.
Refer to Fig. 2, wherein in an embodiment, hinge mount 134 end is also provided with the second mandrel 135, and directive wheel 138 is sheathed on the second mandrel 135.So, directive wheel 138 is connected to hinge mount 134 rotationally, and to make to be close to track 140 sidewall during turning, rolling friction, and force of rolling friction is less than force of sliding friction, avoids the wearing and tearing of directive wheel 138.
Refer to Fig. 2, wherein in an embodiment, the second mandrel 135 end is provided with jump ring 137, and jump ring 137 can position the second mandrel 135, prevents the second mandrel 135 from coming off.In the present embodiment, hinge mount 134 end opens has core axle hole, and the second mandrel 135 two ends are installed on hinge mount 134 by core axle hole, and jump ring 137 is installed on core axle hole, to prevent the second mandrel 135 from moving vertically, comes off from hinge mount 134.So, the stability of directive wheel 138 mechanism can be increased further.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. a crusing robot, is characterized in that, comprising:
Supporting frame;
Driving mechanism, comprise the adjustable drive unit of actuating speed, differential mechanism and at least two group travel wheel, described drive unit is connected with described differential drive, described differential mechanism is arranged between described travel wheel, and be in transmission connection with described travel wheel, described drive unit, differential mechanism and travel wheel are all installed on support frame as described above body;
Be adjacent to the type leading wheel framework of orbit sidewall, comprise at least two group guide wheel assemblies, described guide wheel assemblies is all installed on support frame as described above body, described guide wheel assemblies comprises installing rack, hinge mount, bolster and directive wheel, described installing rack is fixedly connected on support frame as described above body, and described hinge mount is articulated with described installing rack, and described installing rack is fixed in described bolster one end, the other end is fixed on described hinge mount, and described directive wheel is connected to described hinge mount rotationally;
Support frame as described above body comprises base plate, and be vertically connected at the first side plate and second side plate of described base plate, described drive unit is installed on described first side plate, described differential mechanism is installed on described base plate, described travel wheel is installed on described first side plate and the second side plate by runner shaft, and described guide wheel assemblies is installed on described first side plate and the second side end.
2. crusing robot according to claim 1, it is characterized in that, described drive unit comprises drive motors and decelerator, described drive motors and described decelerator are in transmission connection, described decelerator is connected with described differential drive, and described drive motors and described decelerator are all installed on described first side plate.
3. crusing robot according to claim 2, it is characterized in that, described drive unit also comprises transmission component, described transmission component comprises driving gearshaft, first gear and the second gear, described driving gearshaft one end is connected rotationally with described second side plate, the other end and described decelerator are in transmission connection, described differential mechanism and described driving gearshaft are in transmission connection, described first gear and the second gear are installed on described first side plate, described first gear is connected with described differential drive, described second gear and described first gears meshing, described runner shaft is rotationally connected with described first side plate and the second side plate, described travel wheel is installed on described runner shaft, described travel wheel is connected with described second gear drive.
4. crusing robot according to claim 1, it is characterized in that, described guide wheel assemblies also comprises the first mandrel, described installing rack comprises fixed part and installation portion, described installation portion is convexly equipped in described fixed part end, and relatively described installation portion axis is symmetrical arranged, and described installation portion offers installing hole, described hinge mount offers hinge axis hole, described first mandrel through described installing hole and hinge axis hole by described hinge mount and described installation portion hinged.
5. the crusing robot according to claim 1 or 4, it is characterized in that, described bolster comprises torsion spring, and described torsion spring set is located at described hinge mount and the hinged hinge of described installing rack, described one end is fixed on described installing rack, and the other end is fixed on described hinge mount.
6. crusing robot according to claim 1, is characterized in that, described guide wheel assemblies also comprises stop screw, and described stop screw is arranged at described installing rack end, is positioned at described hinge mount along on the path that hinge rotates.
7. crusing robot according to claim 1, is characterized in that, described hinge mount end is provided with the second mandrel, and described directive wheel is sheathed on described second mandrel.
8. crusing robot according to claim 7, is characterized in that, described second mandrel end is provided with jump ring.
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| CN201410053703.0A CN103802086B (en) | 2014-02-17 | 2014-02-17 | Crusing robot |
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| CN201410053703.0A CN103802086B (en) | 2014-02-17 | 2014-02-17 | Crusing robot |
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| CN103802086A CN103802086A (en) | 2014-05-21 |
| CN103802086B true CN103802086B (en) | 2016-04-20 |
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| CN103802086A (en) | 2014-05-21 |
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Address after: 510620, No. two, No. 2, Tianhe South Road, Guangzhou, Guangdong, Tianhe District Patentee after: GUANGZHOU POWER SUPPLY Co.,Ltd. Patentee after: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. Address before: 510620, No. two, No. 2, Tianhe South Road, Guangzhou, Guangdong, Tianhe District Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. Patentee before: SHENZHEN LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20230614 Address after: 510620, No. two, No. 2, Tianhe South Road, Guangzhou, Guangdong, Tianhe District Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Patentee after: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. Address before: 510620, No. two, No. 2, Tianhe South Road, Guangzhou, Guangdong, Tianhe District Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. Patentee before: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. |