CN105552780A - Power patrol robot capable of riding over obstacle - Google Patents
Power patrol robot capable of riding over obstacle Download PDFInfo
- Publication number
- CN105552780A CN105552780A CN201610066987.6A CN201610066987A CN105552780A CN 105552780 A CN105552780 A CN 105552780A CN 201610066987 A CN201610066987 A CN 201610066987A CN 105552780 A CN105552780 A CN 105552780A
- Authority
- CN
- China
- Prior art keywords
- fixture
- fixedly connected
- leading screw
- arm
- fixed seat
- 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
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a power patrol robot capable of riding over an obstacle. The patrol robot comprises a rack, an arm mechanism and a control terminal, wherein the arm mechanism is arranged on the top surface of the rack, the control terminal is arranged on the rack, the arm mechanism comprises two side arm mechanisms and an intermediate arm mechanism, and the intermediate arm mechanism is arranged between the two side arm mechanisms. With a clamping design, a clamping mechanism arranged at a lower part is directly released when an obstacle with a protruding lower end such as a vibration prevention hammer is passed, an arm is not needed to loosen and lay down to pass through the obstacle, the power patrol robot is simple and high-efficiency in action; and an evading mode of rotating the arm is adopted when an obstacle with a protruding upper end such as an isolation bar and a hammer selection wire clip is passed, the arm is also not needed to loosen and lay down to pass through the obstacle, and the power patrol robot is high-efficiency in operation.
Description
Technical field
The present invention relates to line data-logging device, refer to a kind of electric inspection process robot of energy across obstacle particularly.
Background technology
After entering 21 century, the science of China and economy are at a high speed forward, society's all trades and professions day by day increase for the demand of electric power, also more and more higher requirement is proposed to power industry, power equipment operation and maintenance becomes more and more important work, and the reliability of electric power transport becomes important indicator.
Owing to being subject to the impact of itself feature, the environment residing for power equipment is usually very severe, and affect comparatively large by natural environment and climate, equipment damage reason is more, is also the principal element in electric power system fault.Therefore the operation maintenance of power equipment and troubleshooting are become to the emphasis of maintenance work.In the past, the operation maintenance of power equipment is mainly regularly patrolled by patrolling and examining teams and groups, but some local patrol officer cannot arrive, and manual inspection exists problems such as efficiency is low, duty cycle is long, precision is poor, under-enumeration situation is serious, therefore, equipment is utilized progressively to replace manual inspection operation to become power industry research tendency.To effectively solve the problem of above-mentioned manual inspection across barrier robot, and significantly reduce power equipment O&M cost.
At present, power-line patrolling robot, particularly electric power cable robot, mainly with telescopic adjustment arm, depart from the mode obstacle detouring of cable, and need during obstacle detouring arm departed from one by one cable and hid barrier from below, complicated operation, efficiency are lower.
Summary of the invention
Object of the present invention is exactly the electric inspection process robot that will provide a kind of energy across obstacle, the electric inspection process robot of this across obstacle utilizes clipping design, below fixture is directly decontroled when breaking the barriers, fall through obstacle without the need to being unclamped by arm, action is simply efficient, simple to operate, patrol and examine job safety.
For achieving the above object, the electric inspection process robot of a kind of energy across obstacle designed by the present invention, it is characterized in that: comprise frame, be arranged on the arm mechanism of frame end face and be arranged in frame and the control terminal that in arm mechanism, each motor runs can be controlled, arm mechanism comprise Liang Ge side arm mechanism and between Liang Ge side arm mechanism in arm mechanism;
The first arm rotating mechanism that Liang Ge side arm mechanism includes the first traveling wheel mechanism, the first fixture, first transfer bar mechanism that can under the first push rod drive motors of correspondence drives, corresponding first traveling wheel mechanism and the first fixture be moved up and down and can under the first rotary drive motor of correspondence drives, corresponding first fixture be rotated relative to the first transfer bar mechanism;
Each first traveling wheel mechanism includes the first row travelling wheel drive motors, the first shaft joint, the first rotating shaft, the first row travelling wheel, the first motor fixed frame and the first row travelling wheel fixed frame;
In each first traveling wheel mechanism, the output shaft of the first row travelling wheel drive motors is connected with the first rotating shaft transmission by the first shaft joint, first rotating shaft is installed the first row travelling wheel, the output shaft of the first row travelling wheel drive motors is installed by bearing in first motor fixed frame upper end, the first row travelling wheel fixed frame is arranged in the first rotating shaft by bearing, and the first motor fixed frame is fixedly connected with the first row travelling wheel fixed frame;
Each first fixture includes the first fixture upper fixed seat, the first fixture lower fixed seat, the first leading screw, the first clamping wheel unit, the first grip unit support, the first leading screw slide, the first position-limit mechanism and the first clamping wheel drive motors;
In each first fixture, first fixture upper fixed seat is fixed on the top of the first motor fixed frame, first fixture lower fixed seat is fixed on the bottom of the first motor fixed frame, first leading screw upper end is rotationally connected by bearing and the first fixture upper fixed seat, and the first leading screw lower end is rotationally connected by bearing and the first fixture lower fixed seat;
In each first fixture, first clamping wheel unit comprises the first clamping wheel bearing and is separately positioned on two first clamping wheels at the first clamping wheel bearing two ends, can form the clamping zone for clamping power transmission line between two the first clamping wheels and the first row travelling wheel; First clamping wheel bearing bottom is fixedly connected with one end of the first grip unit support, and the other end of the first grip unit support is fixedly connected with the first leading screw slide, and the first leading screw slide is enclosed within the first leading screw and the first leading screw slide is connected with the first threads of lead screw; First position-limit mechanism is arranged on the both sides of the first leading screw slide for carrying out rotary spacing to the first grip unit support, first position-limit mechanism upper end is fixedly connected with the first fixture upper fixed seat, and the first position-limit mechanism lower end is fixedly connected with the first fixture lower fixed seat; First clamping wheel drive motors is arranged on the first fixture upper fixed seat, and the output shaft of the first clamping wheel drive motors is connected with the first lead screw transmission by gear;
Described first fixture lower fixed seat is fixedly connected with the round end of the first arm rotating mechanism, and the stiff end of the first arm rotating mechanism is fixedly connected with the telescopic end of the first transfer bar mechanism, and the stiff end of the first transfer bar mechanism is fixedly connected with frame end face;
The second arm rotating mechanism that described middle arm mechanism comprises the second traveling wheel mechanism, the second fixture, second transfer bar mechanism that can under the second push rod drive motors of correspondence drives, corresponding second traveling wheel mechanism and the second fixture be moved up and down and can under the second rotary drive motor of correspondence drives, corresponding second fixture be rotated relative to the second transfer bar mechanism;
Described second traveling wheel mechanism comprises the second rotating shaft, the second road wheel, middle arm fixed frame and the second road wheel fixed frame;
Wherein, described second rotating shaft is fixedly connected with the second road wheel, and described second rotating shaft is arranged on the second road wheel fixed frame by bearing, and described middle arm fixed frame is fixedly connected with the second road wheel fixed frame;
Described second fixture comprises the second fixture upper fixed seat, the second fixture lower fixed seat, the second leading screw, the second clamping wheel unit, the second grip unit support, the second leading screw slide, the second position-limit mechanism and the second clamping wheel drive motors;
Wherein, second fixture upper fixed seat is fixed on the top of middle arm fixed frame, second fixture lower fixed seat is fixed on the bottom of middle arm fixed frame, second leading screw upper end is rotationally connected by bearing and the second fixture upper fixed seat, and the second leading screw lower end is rotationally connected by bearing and the second fixture lower fixed seat;
Described second clamping wheel unit comprises the second clamping wheel bearing and is separately positioned on two second clamping wheels at the second clamping wheel bearing two ends, can form the clamping zone for clamping power transmission line between two the second clamping wheels and the second road wheel; Second clamping wheel bearing bottom is fixedly connected with one end of the second grip unit support, and the other end of the second grip unit support is fixedly connected with the second leading screw slide, and the second leading screw slide is enclosed within the second leading screw and the second leading screw slide is connected with the second threads of lead screw; Second position-limit mechanism is arranged on the both sides of the second leading screw slide for carrying out rotary spacing to the second grip unit support, second position-limit mechanism upper end is fixedly connected with the second fixture upper fixed seat, and the second position-limit mechanism lower end is fixedly connected with the second fixture lower fixed seat; Second clamping wheel drive motors is arranged on the second fixture upper fixed seat, and the output shaft of the second clamping wheel drive motors is connected with the second lead screw transmission by gear;
Described second fixture lower fixed seat is fixedly connected with the round end of the second arm rotating mechanism, and the stiff end of the second arm rotating mechanism is fixedly connected with the telescopic end of the second transfer bar mechanism, and the stiff end of the second transfer bar mechanism is fixedly connected with frame end face.
In technique scheme, each first arm rotating mechanism comprises the first rotating mechanism and the first rotary drive motor, each first rotating mechanism comprises the first rotating disk connecting axle, first lower rotary table and first top rotary table that can rotate relative to the first lower rotary table, the first rotation supporter is provided with between first lower rotary table and the first top rotary table, be rotatably connected by rotating supporter between first lower rotary table with the first top rotary table, first lower rotary table is arranged on the first rotating disk connecting axle bottom by bearing, first top rotary table is fixedly connected on the first rotating disk connecting axle top, first top rotary table is fixedly connected with the first motor fixed frame bottom, first rotary drive motor is fixed on the first fixture lower fixed seat, the output shaft of the first rotary drive motor is connected by gear drive with the first rotating disk connecting axle,
First flexible push rod of each first transfer bar mechanism is fixedly connected with the first push rod holder bottom, first push rod holder is fixedly connected with the first lower rotary table, the stiff end of each first transfer bar mechanism is fixed in frame, and the stiff end of each first transfer bar mechanism is provided with the first push rod drive motors for driving the first flexible push rod flexible.
In technique scheme, described second arm rotating mechanism comprises the second rotating mechanism and the second rotary drive motor, second rotating mechanism comprises the second rotating disk connecting axle, second lower rotary table and second top rotary table that can rotate relative to the second lower rotary table, the second rotation supporter is provided with between second lower rotary table and the second top rotary table, second lower rotary table rotates supporter with the second top rotary table by second and is rotatably connected, second lower rotary table is arranged on the second rotating disk connecting axle bottom by bearing, second top rotary table is fixedly connected on the second rotating disk connecting axle top, second top rotary table is fixedly connected with middle arm fixed frame bottom, second rotary drive motor is fixed on the second fixture lower fixed seat, the output shaft of the second rotary drive motor is connected by gear drive with the second rotating disk connecting axle,
Second flexible push rod of described second transfer bar mechanism is fixedly connected with the second push rod holder bottom, second push rod holder is fixedly connected with the second lower rotary table, the stiff end of the second transfer bar mechanism is fixed in frame, and the stiff end of the second transfer bar mechanism is provided with the second push rod drive motors for driving the second flexible push rod flexible.
In technique scheme, obstacle sensor assembly is provided with in described control terminal, controller and driver element, the signal input part of the signal output part connection control device of described obstacle sensor assembly, the control signal output of described controller connects the control signal input of driver element, the output of described driver element connects the second clamping wheel drive motors, second rotary drive motor, second push rod drive motors, two the first row travelling wheel drive motors, two the first clamping wheel drive motors, the control end of two the first rotary drive motors and two the first push rod drive motors.
Compared with prior art, tool of the present invention has the following advantages:
One, the present invention is clipping to be designed the lower ends such as stockbridge damper and gives prominence to barrier and directly decontrol below fixture, and fall through obstacle without the need to being unclamped by arm, action is simply efficient; By conductor spacer, select the upper ends such as plumb line folder give prominence to barrier adopt full wind-up dodge mode, also fall through without the need to being unclamped by arm, operation is efficient;
Its two, upper and lower clamp structure of the present invention and rotational structure avoid traditional barrier-surpassing robot to be needed arm to stretch the shortcoming of complete getaway, and mechanical mechanism is simple, space occupancy rate is low;
Its three, the present invention, in polling transmission line operation process, patrols and examines mechanism and clamps cable by clamping device, and operation process fail safe is high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of side arm mechanism of the present invention;
Fig. 3 is the side elevational cross-section schematic diagram of side arm mechanism of the present invention;
Fig. 4 is the plan structure schematic diagram of the present invention first traveling wheel mechanism;
Fig. 5 is the structural representation of arm mechanism in the present invention;
Fig. 6 is the side elevational cross-section schematic diagram of arm mechanism in the present invention;
Fig. 7 is the plan structure schematic diagram of the present invention second traveling wheel mechanism;
Fig. 8 is the structural representation of control circui of the present invention;
Wherein: arm mechanism, 6-first traveling wheel mechanism, 6.1-the first row travelling wheel drive motors, 6.2-first shaft joint, 6.3-first rotating shaft, 6.4-the first row travelling wheel, 6.5-first motor fixed frame, 6.6-the first row travelling wheel fixed frame in 1-frame, 2-arm mechanism, 3-control terminal, 4-side arm mechanism, 5-, 7-first fixture, 7.1-first fixture upper fixed seat, 7.2-first fixture lower fixed seat, 7.3-first leading screw, 7.4-first clamping wheel unit, 7.41-first clamping wheel bearing, 7.42-the first clamping wheel, 7.5-first grip unit support, 7.6-first leading screw slide, 7.6-first position-limit mechanism, 7.8-first clamping wheel drive motors, 8-first arm rotating mechanism, 8.1-first rotating mechanism, 8.11-first rotating disk connecting axle, 8.12-the first lower rotary table, 8.13-the first top rotary table, 8.14-first rotates supporter, 8.2-first rotary drive motor, 9-first transfer bar mechanism, 9.1-first stretches push rod, 9.2-first push rod drive motors, 9.3-first push rod holder, 10-second traveling wheel mechanism, 10.1-the second rotating shaft, 10.2-the second road wheel, arm fixed frame in 10.3-, 10.4-second road wheel fixed frame, 11-second fixture, 11.1-second fixture upper fixed seat, 11.2-second fixture lower fixed seat, 11.3-the second leading screw, 11.4-second clamping wheel unit, 11.41-the second clamping wheel bearing, 11.42-the second clamping wheel, 11.5-second grip unit support, 11.6-second leading screw slide, 11.6-the second position-limit mechanism, 11.8-second clamping wheel drive motors, 12-second arm rotating mechanism, 12.1-the second rotating mechanism, 12.11-the second rotating disk connecting axle, 12.12-the second lower rotary table, 12.13-the second top rotary table, 12.14-second rotates supporter, 12.2-the second rotary drive motor, 13-second transfer bar mechanism, 13.1-second stretches push rod, 13.2-second push rod drive motors, 13.3-second push rod holder, 14-obstacle sensor assembly, 15-controller, 16-driver element.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The electric inspection process robot of a kind of energy across obstacle as shown in Fig. 1 ~ 8, comprise frame 1, be arranged on the arm mechanism 2 of frame 1 end face and be arranged in frame 1 and the control terminal 3 that in arm mechanism 2, each motor runs can be controlled, arm mechanism 2 comprise Liang Ge side arm mechanism 4 and between Liang Ge side arm mechanism 4 in arm mechanism 5;
The first arm rotating mechanism 8 that Liang Ge side arm mechanism 4 includes the first traveling wheel mechanism 6, first fixture 7, first transfer bar mechanism 9 that can under the first push rod drive motors 9.2 of correspondence drives, corresponding first traveling wheel mechanism 6 and the first fixture 7 be moved up and down and can under the first rotary drive motor 8.2 of correspondence drives, corresponding first fixture 7 be rotated relative to the first transfer bar mechanism 9;
Each first traveling wheel mechanism 6 includes the rotating shaft 6.3 of the first row travelling wheel drive motors 6.1, first shaft joint 6.2, first, the first row travelling wheel 6.4, first motor fixed frame 6.5 and the first row travelling wheel fixed frame 6.6;
In each first traveling wheel mechanism 6, the output shaft of the first row travelling wheel drive motors 6.1 is in transmission connection by the first shaft joint 6.2 and the first rotating shaft 6.3, the first row travelling wheel 6.4 is installed in first rotating shaft 6.3, the output shaft of the first row travelling wheel drive motors 6.1 is installed by bearing in first motor fixed frame 6.5 upper end, the first row travelling wheel fixed frame 6.6 is arranged in the first rotating shaft 6.3 by bearing, and the first motor fixed frame 6.5 is fixedly connected with the first row travelling wheel fixed frame 6.6;
Each first fixture 7 includes the first fixture upper fixed seat 7.1, first fixture lower fixed seat 7.2, first leading screw 7.3, first clamping wheel unit 7.4, first grip unit support 7.5, first leading screw slide 7.6, first position-limit mechanism 7.7 and the first clamping wheel drive motors 7.8;
In each first fixture 7, first fixture upper fixed seat 7.1 is fixed on the top of the first motor fixed frame 6.5, first fixture lower fixed seat 7.2 is fixed on the bottom of the first motor fixed frame 6.5, first leading screw 7.3 upper end is rotationally connected by bearing and the first fixture upper fixed seat 7.1, and the first leading screw 7.3 lower end is rotationally connected by bearing and the first fixture lower fixed seat 7.2;
In each first fixture 7, first clamping wheel unit 7.4 comprises the first clamping wheel bearing 7.41 and is separately positioned on the clamping zone that can be formed between two the first clamping wheels, 7.42, two first clamping wheels 7.42 at the first clamping wheel bearing 7.41 two ends and the first row travelling wheel 6.4 for clamping power transmission line; First clamping wheel bearing 7.41 bottom is fixedly connected with one end of the first grip unit support 7.5, the other end of the first grip unit support 7.5 is fixedly connected with the first leading screw slide 7.6, and the first leading screw slide 7.6 is enclosed within the first leading screw 7.3 and the first leading screw slide 7.6 is threaded with the first leading screw 7.3; First position-limit mechanism 7.7 is arranged on the both sides of the first leading screw slide 7.6 for carrying out rotary spacing to the first grip unit support 7.5, first leading screw 7.3 is rotated can drive the first leading screw slide 7.6 and the first grip unit support 7.5 to move up and down, first position-limit mechanism 7.7 upper end is fixedly connected with the first fixture upper fixed seat 7.1, and the first position-limit mechanism 7.7 lower end is fixedly connected with the first fixture lower fixed seat 7.2; First clamping wheel drive motors 7.8 is arranged on the first fixture upper fixed seat 7.1, the output shaft of the first clamping wheel drive motors 7.8 is in transmission connection by gear and the first leading screw 7.3, the output shaft of the first clamping wheel drive motors 7.8 can drive the first leading screw 7.3 to rotate, and the rotation of the first leading screw 7.3 can drive the first leading screw slide 7.6 and the first grip unit support 7.5 to move up and down;
Described first fixture lower fixed seat 7.2 is fixedly connected with the round end of the first arm rotating mechanism 8, the stiff end of the first arm rotating mechanism 8 is fixedly connected with the telescopic end of the first transfer bar mechanism 9, and the stiff end of the first transfer bar mechanism 9 is fixedly connected with frame 1 end face;
The second arm rotating mechanism 12 that described middle arm mechanism 5 comprises the second traveling wheel mechanism 10, second fixture 11, second transfer bar mechanism 13 that can under the second push rod drive motors 13.2 of correspondence drives, corresponding second traveling wheel mechanism 10 and the second fixture 11 be moved up and down and can under the second rotary drive motor 12.2 of correspondence drives, corresponding second fixture 11 be rotated relative to the second transfer bar mechanism 13;
Described second traveling wheel mechanism 10 comprises the second rotating shaft 10.1, second road wheel 10.2, middle arm fixed frame 10.3 and the second road wheel fixed frame 10.4;
Wherein, described second rotating shaft 10.1 is fixedly connected with the second road wheel 10.2, and described second rotating shaft 10.1 is arranged on the second road wheel fixed frame 10.4 by bearing, and described middle arm fixed frame 10.3 is fixedly connected with the second road wheel fixed frame 10.4;
Described second fixture 11 comprises the second fixture upper fixed seat 11.1, second fixture lower fixed seat 11.2, second leading screw 11.3, second clamping wheel unit 11.4, second grip unit support 11.5, second leading screw slide 11.6, second position-limit mechanism 11.7 and the second clamping wheel drive motors 11.8;
Wherein, second fixture upper fixed seat 11.1 is fixed on the top of middle arm fixed frame 10.3, second fixture lower fixed seat 11.2 is fixed on the bottom of middle arm fixed frame 10.3, second leading screw 11.3 upper end is rotationally connected by bearing and the second fixture upper fixed seat 11.1, second leading screw 11.3 lower end is rotationally connected by bearing and the second fixture lower fixed seat 11.2, makes the rotation of the second leading screw 11.3 that the second leading screw slide 11.6 and the second grip unit support 11.5 can be driven to move up and down; Described second fixture lower fixed seat 11.2 is fixedly connected with the round end of the second arm rotating mechanism 12, the stiff end of the second arm rotating mechanism 12 is fixedly connected with the telescopic end of the second transfer bar mechanism 13, and the stiff end of the second transfer bar mechanism 13 is fixedly connected with frame 1 end face.
In technique scheme, each first arm rotating mechanism 8 comprises the first rotating mechanism 8.1 and the first rotary drive motor 8.2, each first rotating mechanism 8.1 comprises the first rotating disk connecting axle 8.11, first lower rotary table 8.12 and first top rotary table 8.13 that can rotate relative to the first lower rotary table 8.12, the first rotation supporter 8.14 is provided with between first lower rotary table 8.12 and the first top rotary table 8.13, be rotatably connected by rotating supporter 8.14 between first lower rotary table 8.12 with the first top rotary table 8.13, first lower rotary table 8.12 is arranged on the first rotating disk connecting axle 8.11 bottom by bearing, first top rotary table 8.13 is fixedly connected on the first rotating disk connecting axle 8.11 top, first top rotary table 8.13 is fixedly connected with the first motor fixed frame 6.5 bottom, first rotary drive motor 8.2 is fixed on the first fixture lower fixed seat 7.2, the output shaft of the first rotary drive motor 8.2 is connected by gear drive with the first rotating disk connecting axle 8.11,
First flexible push rod 9.1 of each first transfer bar mechanism 9 is fixedly connected with the first push rod holder 9.3 bottom, first push rod holder 9.3 is fixedly connected with the first lower rotary table 8.12, the stiff end of each first transfer bar mechanism 9 is fixed in frame 1, and the stiff end of each first transfer bar mechanism 9 is provided with the first push rod drive motors 9.2 for driving the first flexible push rod 9.1 flexible.
In technique scheme, described second arm rotating mechanism 12 comprises the second rotating mechanism 12.1 and the second rotary drive motor 12.2, second rotating mechanism 12.1 comprises the second rotating disk connecting axle 12.11, second lower rotary table 12.12 and second top rotary table 12.13 that can rotate relative to the second lower rotary table 12.12, the second rotation supporter 12.14 is provided with between second lower rotary table 12.12 and the second top rotary table 12.13, second lower rotary table 12.12 rotates supporter 12.14 with the second top rotary table 12.13 by second and is rotatably connected, second lower rotary table 12.12 is arranged on the second rotating disk connecting axle 12.11 bottom by bearing, second top rotary table 12.13 is fixedly connected on the second rotating disk connecting axle 12.11 top, second top rotary table 12.13 is fixedly connected with middle arm fixed frame 10.3 bottom, second rotary drive motor 12.2 is fixed on the second fixture lower fixed seat 11.2, the output shaft of the second rotary drive motor 12.2 is connected by gear drive with the second rotating disk connecting axle 12.11,
Second flexible push rod 13.1 of described second transfer bar mechanism 13 is fixedly connected with the second push rod holder 13.3 bottom, second push rod holder 13.3 is fixedly connected with the second lower rotary table 12.12, the stiff end of the second transfer bar mechanism 13 is fixed in frame 1, and the stiff end of the second transfer bar mechanism 13 is provided with the second push rod drive motors 13.2 for driving the second flexible push rod 13.1 flexible.
In technique scheme, obstacle sensor assembly 14 is provided with in described control terminal 3, controller 15 and driver element 16, the signal input part of the signal output part connection control device 15 of described obstacle sensor assembly 14, the control signal output of described controller 15 connects the control signal input of driver element 16, the output of described driver element 16 connects the second clamping wheel drive motors 11.8, second rotary drive motor 12.2, second push rod drive motors 13.2, two the first row travelling wheel drive motors 6.1, two the first clamping wheel drive motors 7.8, the control end of two the first rotary drive motors 8.2 and two the first push rod drive motors 9.2.
Use procedure of the present invention: during installation, the lifting of this electric inspection process robot is reached the standard grade, the road wheel of middle arm mechanism 5 and Liang Ge side arm mechanism 4 tangles cable to be checked, clamping wheel drive motors drives leading screw to drive grip unit support and grip unit to move up until clamp with cable contact simultaneously, equipment installation.Under the driving of the first row travelling wheel drive motors 6.1 of Liang Ge side arm mechanism 4, crusing robot is moved on cable forward or backward.Crusing robot is by being arranged on corridor environment on the real-time monitoring power electric cable of multiple cameras on fuselage and power equipment most common failure.
Need the problem solving common impairments thing obstacle detouring when electric power cable is patrolled and examined, common circuitry obstacle thing comprises: stockbridge damper, conductor spacer, suspending hammer wire clamp etc.
When in the process of patrolling and examining, when obstacle sensor assembly 14 detects barrier (as the stockbridge damper) on the downside of cable, obstacle detouring strategy is as follows: the obstacle signal received is passed to controller 15 by obstacle sensor assembly 14, controller 15 controls the first clamping wheel drive motors 7.8 in the side arm mechanism 4 of front side, make the first clamping wheel 7.42 move downward disengaging cable, only top end the first row travelling wheel 6.4 rotates and the first row travelling wheel 6.4 is rolled over from stockbridge damper and connecting position of wires; When walking to middle arm mechanism 5, when obstacle sensor assembly 14 detects stockbridge damper, controller 15 controls the second clamping wheel drive motors 11.8 makes the second clamping wheel 11.42 move downward disengaging cable; When obstacle sensor assembly 14 detect front side side arm mechanism 4 completely by stockbridge damper after, control the first clamping wheel 7.42 rise to clamping cable move forward, the side arm mechanism 4 of rear side is in like manner.
When in the process of patrolling and examining, obstacle sensor assembly 14 to detect on the upside of cable or barrier (as the conductor spacer and select plumb line to press from both sides) of oblique side time, obstacle detouring strategy is as follows: the obstacle signal received is passed to controller 15 by obstacle sensor assembly 14, controller 15 control the first push-rod electric machine 9.2 in the side arm mechanism 4 of front side by the first flexible push rod 9.1 upwardly arm make it to extend, control the first clamping wheel drive motors 7.8 first clamping wheel 7.42 is moved downward simultaneously, make cable depart from the first row travelling wheel 6.4 of top and the first clamping wheel 7.42 of below simultaneously, side arm mechanism 4 half-twist is controlled again by the first rotary drive motor 8.2, now the first row travelling wheel 6.4 driven forward device of the side arm mechanism 4 of rear side advances, walk to the side arm mechanism 4 of front side by going back to origin-location after obstacle and clamping cable, middle arm mechanism 5 unclamps and half-twist passes through obstacle, the side arm mechanism 4 of rear side in like manner.The present invention crosses that barrier structure is efficient, mechanical mechanism is simple, space occupancy rate is low, operational security is high.
Claims (6)
1. the electric inspection process robot of an energy across obstacle, it is characterized in that: comprise frame (1), be arranged on the arm mechanism (2) of frame (1) end face and be arranged on the upper control terminal (3) that also can control each motor operation in arm mechanism (2) of frame (1), arm mechanism (2) comprises Liang Ge side arm mechanism (4) and is arranged in the arm mechanism (5) between Liang Ge side arm mechanism (4);
Liang Ge side arm mechanism (4) includes the first traveling wheel mechanism (6), first fixture (7), first transfer bar mechanism (9) that can under the first push rod drive motors (9.2) of correspondence drives, corresponding first traveling wheel mechanism (6) and the first fixture (7) be moved up and down, and the first arm rotating mechanism (8) that can under first rotary drive motor (8.2) of correspondence drives, corresponding first fixture (7) be rotated relative to the first transfer bar mechanism (9),
Each first traveling wheel mechanism (6) includes the first row travelling wheel drive motors (6.1), the first shaft joint (6.2), the first rotating shaft (6.3), the first row travelling wheel (6.4), the first motor fixed frame (6.5) and the first row travelling wheel fixed frame (6.6);
In each first traveling wheel mechanism (6), the output shaft of the first row travelling wheel drive motors (6.1) is in transmission connection by the first shaft joint (6.2) and the first rotating shaft (6.3), first rotating shaft (6.3) is upper installs the first row travelling wheel (6.4), the output shaft of the first row travelling wheel drive motors (6.1) is installed by bearing in first motor fixed frame (6.5) upper end, the first row travelling wheel fixed frame (6.6) is arranged in the first rotating shaft (6.3) by bearing, first motor fixed frame (6.5) is fixedly connected with the first row travelling wheel fixed frame (6.6),
Each first fixture (7) includes the first fixture upper fixed seat (7.1), the first fixture lower fixed seat (7.2), the first leading screw (7.3), the first clamping wheel unit (7.4), the first grip unit support (7.5), the first leading screw slide (7.6), the first position-limit mechanism (7.7) and the first clamping wheel drive motors (7.8);
In each first fixture (7), first fixture upper fixed seat (7.1) is fixed on the top of the first motor fixed frame (6.5), first fixture lower fixed seat (7.2) is fixed on the bottom of the first motor fixed frame (6.5), first leading screw (7.3) upper end is rotationally connected by bearing and the first fixture upper fixed seat (7.1), and the first leading screw (7.3) lower end is rotationally connected by bearing and the first fixture lower fixed seat (7.2);
In each first fixture (7), first clamping wheel unit (7.4) comprises the first clamping wheel bearing (7.41) and is separately positioned on two first clamping wheels (7.42) at the first clamping wheel bearing (7.41) two ends, can form the clamping zone for clamping power transmission line between two the first clamping wheels (7.42) and the first row travelling wheel (6.4); First clamping wheel bearing (7.41) bottom is fixedly connected with one end of the first grip unit support (7.5), the other end of the first grip unit support (7.5) is fixedly connected with the first leading screw slide (7.6), and the first leading screw slide (7.6) is enclosed within upper and the first leading screw slide (7.6) of the first leading screw (7.3) and is threaded with the first leading screw (7.3); The both sides that first position-limit mechanism (7.7) is arranged on the first leading screw slide (7.6) are used for carrying out rotary spacing to the first grip unit support (7.5), first position-limit mechanism (7.7) upper end is fixedly connected with the first fixture upper fixed seat (7.1), and the first position-limit mechanism (7.7) lower end is fixedly connected with the first fixture lower fixed seat (7.2); First clamping wheel drive motors (7.8) is arranged on the first fixture upper fixed seat (7.1), and the output shaft of the first clamping wheel drive motors (7.8) is in transmission connection by gear and the first leading screw (7.3);
Described first fixture lower fixed seat (7.2) is fixedly connected with the round end of the first arm rotating mechanism (8), the stiff end of the first arm rotating mechanism (8) is fixedly connected with the telescopic end of the first transfer bar mechanism (9), and the stiff end of the first transfer bar mechanism (9) is fixedly connected with frame (1) end face;
Described middle arm mechanism (5) comprises the second traveling wheel mechanism (10), second fixture (11), second transfer bar mechanism (13) that can under the second push rod drive motors (13.2) of correspondence drives, corresponding second traveling wheel mechanism (10) and the second fixture (11) be moved up and down, and the second arm rotating mechanism (12) that can under second rotary drive motor (12.2) of correspondence drives, corresponding second fixture (11) be rotated relative to the second transfer bar mechanism (13),
Described second traveling wheel mechanism (10) comprises the second rotating shaft (10.1), the second road wheel (10.2), middle arm fixed frame (10.3) and the second road wheel fixed frame (10.4);
Wherein, described second rotating shaft (10.1) is fixedly connected with the second road wheel (10.2), described second rotating shaft (10.1) is arranged on the second road wheel fixed frame (10.4) by bearing, and described middle arm fixed frame (10.3) is fixedly connected with the second road wheel fixed frame (10.4);
Described second fixture (11) comprises the second fixture upper fixed seat (11.1), the second fixture lower fixed seat (11.2), the second leading screw (11.3), the second clamping wheel unit (11.4), the second grip unit support (11.5), the second leading screw slide (11.6), the second position-limit mechanism (11.7) and the second clamping wheel drive motors (11.8);
Wherein, second fixture upper fixed seat (11.1) is fixed on the top of middle arm fixed frame (10.3), second fixture lower fixed seat (11.2) is fixed on the bottom of middle arm fixed frame (10.3), second leading screw (11.3) upper end is rotationally connected by bearing and the second fixture upper fixed seat (11.1), and the second leading screw (11.3) lower end is rotationally connected by bearing and the second fixture lower fixed seat (11.2);
Described second clamping wheel unit (11.4) comprises the second clamping wheel bearing (11.41) and is separately positioned on two second clamping wheels (11.42) at the second clamping wheel bearing (11.41) two ends, can form the clamping zone for clamping power transmission line between two the second clamping wheels (11.42) and the second road wheel (10.2); Second clamping wheel bearing (11.41) bottom is fixedly connected with one end of the second grip unit support (11.5), the other end of the second grip unit support (11.5) is fixedly connected with the second leading screw slide (11.6), and the second leading screw slide (11.6) is enclosed within upper and the second leading screw slide (11.6) of the second leading screw (11.3) and is threaded with the second leading screw (11.3); The both sides that second position-limit mechanism (11.7) is arranged on the second leading screw slide (11.6) are used for carrying out rotary spacing to the second grip unit support (11.5), second position-limit mechanism (11.7) upper end is fixedly connected with the second fixture upper fixed seat (11.1), and the second position-limit mechanism (11.7) lower end is fixedly connected with the second fixture lower fixed seat (11.2); Second clamping wheel drive motors (11.8) is arranged on the second fixture upper fixed seat (11.1), and the output shaft of the second clamping wheel drive motors (11.8) is in transmission connection by gear and the second leading screw (11.3);
Described second fixture lower fixed seat (11.2) is fixedly connected with the round end of the second arm rotating mechanism (12), the stiff end of the second arm rotating mechanism (12) is fixedly connected with the telescopic end of the second transfer bar mechanism (13), and the stiff end of the second transfer bar mechanism (13) is fixedly connected with frame (1) end face.
2. the electric inspection process robot of energy across obstacle according to claim 1, it is characterized in that: each first arm rotating mechanism (8) comprises the first rotating mechanism (8.1) and the first rotary drive motor (8.2), each first rotating mechanism (8.1) comprises the first rotating disk connecting axle (8.11), first lower rotary table (8.12) and first top rotary table (8.13) that can rotate relative to the first lower rotary table (8.12), the first rotation supporter (8.14) is provided with between first lower rotary table (8.12) and the first top rotary table (8.13), first lower rotary table (8.12) is arranged on the first rotating disk connecting axle (8.11) bottom by bearing, first top rotary table (8.13) is fixedly connected on the first rotating disk connecting axle (8.11) top, first top rotary table (8.13) is fixedly connected with the first motor fixed frame (6.5) bottom, first rotary drive motor (8.2) is fixed on the first fixture lower fixed seat (7.2), the output shaft of the first rotary drive motor (8.2) is connected by gear drive with the first rotating disk connecting axle (8.11).
3. the electric inspection process robot of energy across obstacle according to claim 1, it is characterized in that: the first flexible push rod (9.1) of each first transfer bar mechanism (9) is fixedly connected with the first push rod holder (9.3) bottom, first push rod holder (9.3) is fixedly connected with the first lower rotary table (8.12), the stiff end of each first transfer bar mechanism (9) is fixed in frame (1), the stiff end of each first transfer bar mechanism (9) is provided with the first push rod drive motors (9.2) for driving the first flexible push rod (9.1) flexible.
4. the electric inspection process robot of energy across obstacle according to claim 1, it is characterized in that: described second arm rotating mechanism (12) comprises the second rotating mechanism (12.1) and the second rotary drive motor (12.2), second rotating mechanism (12.1) comprises the second rotating disk connecting axle (12.11), second lower rotary table (12.12) and second top rotary table (12.13) that can rotate relative to the second lower rotary table (12.12), the second rotation supporter (12.14) is provided with between second lower rotary table (12.12) and the second top rotary table (12.13), second lower rotary table (12.12) is arranged on the second rotating disk connecting axle (12.11) bottom by bearing, second top rotary table (12.13) is fixedly connected on the second rotating disk connecting axle (12.11) top, second top rotary table (12.13) is fixedly connected with middle arm fixed frame (10.3) bottom, second rotary drive motor (12.2) is fixed on the second fixture lower fixed seat (11.2), the output shaft of the second rotary drive motor (12.2) is connected by gear drive with the second rotating disk connecting axle (12.11).
5. the electric inspection process robot of energy across obstacle according to claim 4, it is characterized in that: the second flexible push rod (13.1) of described second transfer bar mechanism (13) is fixedly connected with the second push rod holder (13.3) bottom, second push rod holder (13.3) is fixedly connected with the second lower rotary table (12.12), the stiff end of the second transfer bar mechanism (13) is fixed in frame (1), the stiff end of the second transfer bar mechanism (13) is provided with the second push rod drive motors (13.2) for driving the second flexible push rod (13.1) flexible.
6. the electric inspection process robot of energy across obstacle according to claim 1, it is characterized in that: in described control terminal (3), be provided with obstacle sensor assembly (14), controller (15) and driver element (16), the signal input part of the signal output part connection control device (15) of described obstacle sensor assembly (14), the control signal output of described controller (15) connects the control signal input of driver element (16), the output of described driver element (16) connects the second clamping wheel drive motors (11.8), second rotary drive motor (12.2), second push rod drive motors (13.2), two the first row travelling wheel drive motors (6.1), two the first clamping wheel drive motors (7.8), the control end of two the first rotary drive motors (8.2) and two the first push rod drive motors (9.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066987.6A CN105552780B (en) | 2016-01-29 | 2016-01-29 | A kind of electric inspection process robot of energy across obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066987.6A CN105552780B (en) | 2016-01-29 | 2016-01-29 | A kind of electric inspection process robot of energy across obstacle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105552780A true CN105552780A (en) | 2016-05-04 |
| CN105552780B CN105552780B (en) | 2017-07-21 |
Family
ID=55831801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610066987.6A Active CN105552780B (en) | 2016-01-29 | 2016-01-29 | A kind of electric inspection process robot of energy across obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105552780B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN108347010A (en) * | 2018-02-12 | 2018-07-31 | 江西省送变电工程有限公司 | Mounting robot walking machine arm is assisted for high voltage cable conductor spacer |
| CN110154055A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | A kind of crusing robot |
| CN110474253A (en) * | 2019-08-27 | 2019-11-19 | 芜湖裕优机械科技有限公司 | A kind of electric inspection process robot of energy across obstacle |
| CN110649507A (en) * | 2019-10-11 | 2020-01-03 | 国网山东省电力公司潍坊供电公司 | Transmission line damper replacement system |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof |
| 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 |
| CN112454322A (en) * | 2020-11-17 | 2021-03-09 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
| CN114696260A (en) * | 2022-04-18 | 2022-07-01 | 贵州电网有限责任公司 | Ice observation robot for power transmission line and obstacle crossing method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59148504A (en) * | 1983-02-10 | 1984-08-25 | 藤井電工株式会社 | Self-traveling wire extending machine |
| CN101362331A (en) * | 2008-08-22 | 2009-02-11 | 武汉大学 | Mobile robot mechanism |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | Robot for polling transmission line |
| CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
| CN103594967A (en) * | 2013-11-21 | 2014-02-19 | 北京国网富达科技发展有限责任公司 | Overturning obstacle crossing type overhead line work robot |
| CN205543957U (en) * | 2016-01-29 | 2016-08-31 | 国家电网公司 | Can stride across electric power inspection robot of barrier |
-
2016
- 2016-01-29 CN CN201610066987.6A patent/CN105552780B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59148504A (en) * | 1983-02-10 | 1984-08-25 | 藤井電工株式会社 | Self-traveling wire extending machine |
| CN101362331A (en) * | 2008-08-22 | 2009-02-11 | 武汉大学 | Mobile robot mechanism |
| CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
| CN101859990A (en) * | 2010-06-02 | 2010-10-13 | 武汉大学 | Robot for polling transmission line |
| CN103594967A (en) * | 2013-11-21 | 2014-02-19 | 北京国网富达科技发展有限责任公司 | Overturning obstacle crossing type overhead line work robot |
| CN205543957U (en) * | 2016-01-29 | 2016-08-31 | 国家电网公司 | Can stride across electric power inspection robot of barrier |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN107553461B (en) * | 2017-09-08 | 2019-11-15 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN108347010A (en) * | 2018-02-12 | 2018-07-31 | 江西省送变电工程有限公司 | Mounting robot walking machine arm is assisted for high voltage cable conductor spacer |
| CN110154055B (en) * | 2019-06-17 | 2024-05-17 | 国网福建省电力有限公司泉州供电公司 | Inspection robot |
| CN110154055A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | A kind of crusing robot |
| CN110474253A (en) * | 2019-08-27 | 2019-11-19 | 芜湖裕优机械科技有限公司 | A kind of electric inspection process robot of energy across obstacle |
| CN110649507A (en) * | 2019-10-11 | 2020-01-03 | 国网山东省电力公司潍坊供电公司 | Transmission line damper replacement system |
| 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 |
| CN112165029A (en) * | 2020-10-20 | 2021-01-01 | 云南电网有限责任公司怒江供电局 | Overhead transmission conductor inspection obstacle crossing robot and obstacle crossing method thereof |
| CN112454322A (en) * | 2020-11-17 | 2021-03-09 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
| CN112454322B (en) * | 2020-11-17 | 2022-11-11 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
| CN114696260A (en) * | 2022-04-18 | 2022-07-01 | 贵州电网有限责任公司 | Ice observation robot for power transmission line and obstacle crossing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105552780B (en) | 2017-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105552780A (en) | Power patrol robot capable of riding over obstacle | |
| CN205098937U (en) | Robot device is patrolled and examined to rail mounted | |
| CN109808499B (en) | Current collector and have its rail vehicle | |
| CN103616893B (en) | A kind of inspection robot control system | |
| CN103848248A (en) | Lifting grabbing and turning mechanism | |
| CN205543957U (en) | Can stride across electric power inspection robot of barrier | |
| CN110034518B (en) | Autonomous obstacle-crossing type power transmission line inspection vehicle and working method | |
| CN202952262U (en) | High-altitude quality inspection robot for power transmission lines | |
| CN109659862A (en) | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot | |
| CN109698476A (en) | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot | |
| CN108638079A (en) | A kind of power line connecting plate disconnects robot automatically | |
| CN202763841U (en) | Inspection robot mechanism suitable for narrow inspection working space | |
| CN209250076U (en) | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot | |
| CN110376228B (en) | Detection system applied to overhead high-voltage transmission line | |
| CN203095209U (en) | Lifting, gripping and turning mechanism | |
| CN102962834A (en) | Inspection robot mechanism for high-voltage transmission line | |
| CN203544187U (en) | Inspection robot suitable for electric transmission line with strain section | |
| CN206775079U (en) | A kind of aerial cables deicing robot | |
| CN206490364U (en) | Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear | |
| CN209313302U (en) | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot | |
| CN107171269A (en) | A kind of aerial cables deicing robot | |
| CN104973091B (en) | A kind of anti-band brake apparatus of electric locomotive | |
| CN103754724B (en) | Device and method for driving speed limiter rope wheel during checking of elevator speed limiter | |
| CN107116530A (en) | A kind of robot device with holding function | |
| CN112448313B (en) | Walking claw of high-voltage transmission and guide line inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yin Pengxiang Inventor after: Gu Shanqiang Inventor after: Wang Haitao Inventor after: Zhao Chun Inventor after: Yan Biwu Inventor after: Zheng Lei Inventor after: Luo Hao Inventor after: Chen Hanchao Inventor after: Zhang Zongfeng Inventor before: Yin Pengxiang Inventor before: Gu Shanqiang Inventor before: Wang Haitao Inventor before: Zhao Chun Inventor before: Yan Biwu Inventor before: Zheng Lei Inventor before: Luo Hao Inventor before: Chen Hanchao |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160719 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant after: State Grid Corporation of China Applicant after: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute Applicant after: Rizhao Power Supply Company of State Grid Shandong Province Electric Power Company Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant before: State Grid Corporation of China Applicant before: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute |
|
| GR01 | Patent grant |