CN106314585A - Intelligent electric pole climbing robot - Google Patents
Intelligent electric pole climbing robot Download PDFInfo
- Publication number
- CN106314585A CN106314585A CN201610845594.5A CN201610845594A CN106314585A CN 106314585 A CN106314585 A CN 106314585A CN 201610845594 A CN201610845594 A CN 201610845594A CN 106314585 A CN106314585 A CN 106314585A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- gear
- support
- link
- mechanical
- 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
- 230000009194 climbing Effects 0.000 title claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent electric pole climbing robot. The intelligent electric pole climbing robot comprises a rack, a driving device, a first mechanical arm, a second mechanical arm, a walking device and the like. The intelligent electric pole climbing robot is characterized in that a first gear and a second gear are connected with a gear shaft through keys, the second mechanical arm and a fourth mechanical arm are installed on hinge shafts of a machine base in a hinged mode, the rear end of a first electric cylinder body is installed on the outer side of a first rod in a hinged mode through a first hinge frame, the end of a telescopic rod of a first electric cylinder is hinged to the outer side of the first mechanical arm, the first mechanical arm is driven by the first electric cylinder to be opened and closed, the mechanical arms on the two sides are driven by a servo motor to continuously and alternately move, and the mechanical arms are controlled by four electric cylinders to be opened and closed. The structure is simple, and finally stable and continuous movement of the robot can be guaranteed.
Description
Technical background
The present invention relates to power domain, be specifically related to a kind of intelligence electric pole climbing robot.
Background technology
Along with economic fast development, city occurs more high bar apparatus, such as street lamp, electric pole, the column of billboard
Deng, these equipment need fixed time cleaning and maintenance, mostly are manpower now and complete work, and efficiency is low, cost is high and has high-risk
Property, present climbing level robot is of a great variety, and the Electromechanical Control relying primarily on complexity is climbed realizing moving one's steps of robot, has
Double clamping devices, often having the half even more time during pole-climbing is at the clamping device of lifting bottom, does next step
Climb preparation, well imagine that climbing speed is the slowest, and the present invention be able to solve these problems.
Summary of the invention
For the problems referred to above, the present invention provides a kind of intelligence electric pole climbing robot, and it uses the first mechanical arm, the second machine
Robot is adjacent to by mechanical arm, three-mechanical arm and the 4th mechanical arm with electric pole, by driven by servomotor the first mechanical arm and
Two mechanical arms alternately hold electric pole tightly, continuously by 6 driven pulley driven machine people's continuous movings.
The technical solution adopted in the present invention is: a kind of intelligence electric pole climbing robot, including frame, driving means, the
One mechanical arm, the second mechanical arm, running gear, three-mechanical arm, the 4th mechanical arm, it is characterised in that: described frame includes machine
Seat, the first mechanical arm support, on the right side of described support, two ends are distributed 2 jointed shafts, and its left vertical is provided with first in support
Mechanical arm support, on the left of described first mechanical arm support, two ends are distributed 2 jointed shafts respectively；Described driving means includes first
Link, 2 the first tooth bar fixed mounts, the first tooth bar, gear shaft, the first gear, the second gear, servomotor, the 3rd gear,
Motor fixing frame, bracing strut, the second tooth bar, 2 the second tooth bar fixed mounts, the second links, described first tooth bar passes through first
Tooth bar fixed mount is fixedly mounted on to the right on the right side of the first link, and described second tooth bar is by 2 the second tooth bar fixed mounts to the left
Being fixedly mounted on the left of the second link, described bracing strut is fixedly mounted on support rear portion, and described gear shaft two ends rotate respectively
Being arranged in the middle part of bracing strut and support rear portion, described first gear and the second gear pass through bonded with gear shaft, and described first
Gear is only distributed involute teeth on 90 degree of angles of circumference, and operationally it engages with the first tooth bar or the second tooth bar, described in watch
Taking motor to be fixedly mounted on support by motor fixing frame, described 3rd gear is fixedly mounted on servo motor output shaft,
It engages with the second gear, is rotated by driven by servomotor gear shaft；Described first mechanical arm includes the first bar, the first electricity
Cylinder, the first body cradle, the first mechanical hand, the 3rd link, described first mechanical arm and three-mechanical arm rear end are hingedly mounted on
On the jointed shaft of the first mechanical arm support, described first link two ends are respectively articulated with and are arranged on the first mechanical arm and the 3rd machinery
In the middle part of arm, described 3rd link two ends are respectively hinged at the first mechanical arm and three-mechanical arm front end, described first mechanical hand
Being hingedly mounted on the first bar leading section, described first electricity cylinder rear end of the cylinder block portion is hingedly mounted on outside the first bar by the first body cradle
Side, the expansion link end of the first electricity cylinder is hinged on outside the first mechanical hand, is driven the folding of the first mechanical hand by the first electricity cylinder,
Described second mechanical arm and the 4th mechanical arm are respectively articulated with on 2 jointed shafts being arranged on support, described second link two ends
Being respectively articulated with and be arranged on the second mechanical arm and the rear end of the 4th mechanical arm, described 4th link two ends are respectively articulated with and are arranged on
In the middle part of two mechanical arms and the 4th mechanical arm, described second mechanical hand is hingedly mounted on the second bar front end, described second electricity cylinder cylinder body
Rear end is hingedly mounted on outside the second bar by the second body cradle, and the second electricity cylinder expansion link end is hinged on outside the second mechanical hand
Side, drives the folding of the second mechanical hand by the second electricity cylinder；Described running gear include 4 springs, driven pulley support, 6 from
Driving wheel, described both ends of the spring is fixedly mounted between driven pulley support and support, and described driven pulley is rotatably installed in driven pulley and props up
On frame.
Owing to present invention employs technique scheme, the invention have the advantages that first gear of the present invention only exists
Involute teeth is distributed so that it is only with an engagement in the first tooth bar and the second tooth bar in transmission process on 90 degree of circumference,
By the continuous alternating movement of mechanical arm of driven by servomotor both sides, controlled the folding of mechanical hands by 4 electric cylinders, simple in construction,
Operationally can stablize and firmly hold electric pole tightly, by arranging spring by driven pulley clamping pole, be that robot will not be from bar
Fall down, driven by driven pulley mobile, finally can guarantee that robot stabilized continuous print moves.
Accompanying drawing explanation
Fig. 1, Fig. 2 are the overall structure schematic diagram of the present invention.
Fig. 3 is the structural representation of running gear.
Fig. 4 is the structural representation of the first gear.
Drawing reference numeral: 1-frame；2-driving means；3-the first mechanical arm；4-the second mechanical arm；5-running gear；6-
Three-mechanical arm；7-the 4th mechanical arm；；101-support；102-the first mechanical arm support；201-the first link；202-the first tooth
Bar fixed mount；203-the first tooth bar；204-gear shaft；205-the first gear；206-the second gear；207-servomotor；208-
3rd gear；209-motor fixing frame；210-bracing strut；211-the second tooth bar；212-the second tooth bar fixed mount；213-second is even
Connect frame；301-the first bar；302-the first electricity cylinder；303-the first body cradle；304-the first mechanical hand；305-the 3rd link；
401-the second bar；402-the 4th link；403-the second body cradle；404-the second electricity cylinder；405-the second mechanical hand；501-bullet
Spring；502-driven pulley support；503-driven pulley.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of intelligence electric pole climbing robot, including frame 1, driving means 2, first
Mechanical arm the 3, second mechanical arm 4, running gear 5, three-mechanical arm the 6, the 4th mechanical arm 7, it is characterised in that: described frame 1 is wrapped
Including support the 101, first mechanical arm support 102, on the right side of described support 101, two ends are distributed 2 jointed shafts, and its left vertical is in machine
Seat 101 is provided with the first mechanical arm support 102, on the left of described first mechanical arm support 102 two ends be distributed respectively 2 hinged
Axle；Described driving means 2 include 201,2 first tooth bar fixed mount the 202, first tooth bars 203 of the first link, gear shaft 204,
First gear the 205, second gear 206, servomotor the 207, the 3rd gear 208, motor fixing frame 209, bracing strut 210, second
211,2 second tooth bar fixed mount the 212, second links 213 of tooth bar, described first tooth bar 203 is by the first tooth bar fixed mount
202 are fixedly mounted on to the right on the right side of the first link 201, described second tooth bar 211 by 2 the second tooth bar fixed mounts 212 to
A left side is fixedly mounted on the left of the second link 213, and described bracing strut 210 is fixedly mounted on support 101 rear portion, described gear shaft
204 two ends are rotatably installed in the middle part of bracing strut 210 and support 101 rear portion respectively, described first gear 205 and the second gear 206
With gear shaft 204 by bonded, described first gear 205 is only distributed involute teeth, operationally on 90 degree of angles of circumference
It engages with the first tooth bar 203 or the second tooth bar 211, and described servomotor 207 is fixedly mounted on machine by motor fixing frame 209
On seat 101, described 3rd gear 208 is fixedly mounted on servomotor 207 output shaft, and it engages with the second gear 206, passes through
Servomotor 207 gear shaft 204 rotates；Described first mechanical arm 3 includes that first bar the 301, first electricity cylinder 302, first cuts with scissors
Connect frame the 303, first mechanical hand the 304, the 3rd link 305, the described first hinged installation of mechanical arm 3 and three-mechanical arm 6 rear end
On the jointed shaft of the first mechanical arm support 102, described first link 201 two ends are respectively articulated with and are arranged on the first mechanical arm 3
In the middle part of three-mechanical arm 6, before described 3rd link 305 two ends are respectively hinged at the first mechanical arm 3 and three-mechanical arm 6
End, described first mechanical hand 304 is hingedly mounted on the first bar 301 leading section, and described first electricity cylinder 302 rear end of the cylinder block portion is by the
One body cradle 303 is hingedly mounted on outside the first bar 301, and the expansion link end of the first electricity cylinder 302 is hinged on the first mechanical hand 304
Outside, drives the folding of the first mechanical hand 304 by the first electricity cylinder 302, and described second mechanical arm 4 and the 4th mechanical arm 7 are respectively
Being hingedly mounted on 2 jointed shafts of support 101, described second link 213 two ends are respectively articulated with and are arranged on the second mechanical arm 4
With the rear end of the 4th mechanical arm 7, described 4th link 402 two ends are respectively articulated with and are arranged on the second mechanical arm 4 and the 4th machinery
In the middle part of arm 7, described second mechanical hand 405 is hingedly mounted on the second bar 401 front end, and described second electricity cylinder 404 rear end of the cylinder block passes through
Second body cradle 403 is hingedly mounted on outside the second bar 401, and the second electricity cylinder 404 expansion link end is hinged on the second mechanical hand 405
Outside, drives the folding of the second mechanical hand 405 by the second electricity cylinder 404；Described running gear 5 includes 4 springs 501, driven
502,6 driven pulleys 503 of wheel support, described spring 501 two ends are fixedly mounted between driven pulley support 502 and support 101, institute
State driven pulley 503 to be rotatably installed on driven pulley support 502.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Operation principle of the present invention: the present invention is by first mechanical arm the 3, second mechanical arm 4, three-mechanical arm 6 and the 4th machine
Robot is adjacent to by mechanical arm 7 with electric pole, drives the first mechanical arm 3 and the second mechanical arm 4 to embrace the most continuously by servomotor 207
Tight electric pole, makes robot be close on electric pole by 6 driven pulleys 503, finally realizes robot climbing work on electric pole.
Claims (1)
1. an intelligent electric pole climbing robot, including frame (1), driving means (2), the first mechanical arm (3), the second mechanical arm
(4), running gear (5), three-mechanical arm (6), the 4th mechanical arm (7), it is characterised in that: described frame (1) includes support
(101), the first mechanical arm support (102), described support (101) right side two ends 2 jointed shafts are distributed, its left vertical is in machine
Seat (101) is provided with the first mechanical arm support (102), and described first two ends, mechanical arm support (102) left side are distributed 2 respectively
Jointed shaft；Described driving means (2) includes the first link (201), 2 the first tooth bar fixed mounts (202), the first tooth bars
(203), gear shaft (204), the first gear (205), the second gear (206), servomotor (207), the 3rd gear (208), electricity
Machine fixed mount (209), bracing strut (210), the second tooth bar (211), 2 the second tooth bar fixed mounts (212), the second links
(213), described first tooth bar (203) is fixedly mounted on to the right the first link (201) right side by the first tooth bar fixed mount (202)
Side, it is left that described second tooth bar (211) is fixedly mounted on the second link (213) to the left by 2 the second tooth bar fixed mounts (212)
Side, described bracing strut (210) is fixedly mounted on support (101) rear portion, and described gear shaft (204) two ends are rotatably installed in axle respectively
Support (210) middle part and support (101) rear portion, described first gear (205) and the second gear (206) lead to gear shaft (204)
Crossing bonded, described first gear (205) is only distributed involute teeth on 90 degree of angles of circumference, and operationally it is with the first tooth bar
(203) or the second tooth bar (211) engages, and described servomotor (207) is fixedly mounted on support by motor fixing frame (209)
(101), on, described 3rd gear (208) is fixedly mounted on servomotor (207) output shaft, and it is nibbled with the second gear (206)
Close, rotated by servomotor (207) gear shaft (204)；Described first mechanical arm (3) include the first bar (301), first
Electricity cylinder (302), the first body cradle (303), the first mechanical hand (304), the 3rd link (305), described first mechanical arm (3) and
Three-mechanical arm (6) rear end is hingedly mounted on the jointed shaft of the first mechanical arm support (102), described first link (201)
Two ends are respectively articulated with and are arranged on the first mechanical arm (3) and three-mechanical arm (6) middle part, and described 3rd link (305) two ends are divided
Not being hinged on the first mechanical arm (3) and three-mechanical arm (6) front end, described first mechanical hand (304) is hingedly mounted on the first bar
(301) leading section, described first electricity cylinder (302) rear end of the cylinder block portion is hingedly mounted on the first bar by the first body cradle (303)
(301) outside, the expansion link end of the first electricity cylinder (302) is hinged on the first mechanical hand (304) outside, by the first electricity cylinder
(302) folding of the first mechanical hand (304), described second mechanical arm (4) is driven to be respectively articulated with the 4th mechanical arm (7) and be arranged on
On 2 jointed shafts of support (101), described second link (213) two ends are respectively articulated with and are arranged on the second mechanical arm (4) and
The rear end of four mechanical arms (7), described 4th link (402) two ends are respectively articulated with and are arranged on the second mechanical arm (4) and the 4th machine
Mechanical arm (7) middle part, described second mechanical hand (405) is hingedly mounted on the second bar (401) front end, described second electricity cylinder (404) cylinder
Body rear end is hingedly mounted on the second bar (401) outside, the second electricity cylinder (404) expansion link end hinge by the second body cradle (403)
It is connected on the second mechanical hand (405) outside, is driven the folding of the second mechanical hand (405) by the second electricity cylinder (404)；Described walking dress
Put (5) and include 4 springs (501), driven pulley support (502), 6 driven pulleys (503), the fixing peace in described spring (501) two ends
Being contained between driven pulley support (502) and support (101), described driven pulley (503) is rotatably installed in driven pulley support (502)
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845594.5A CN106314585B (en) | 2016-09-25 | 2016-09-25 | A kind of intelligence electric pole climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845594.5A CN106314585B (en) | 2016-09-25 | 2016-09-25 | A kind of intelligence electric pole climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106314585A true CN106314585A (en) | 2017-01-11 |
| CN106314585B CN106314585B (en) | 2019-01-11 |
Family
ID=57819982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610845594.5A Expired - Fee Related CN106314585B (en) | 2016-09-25 | 2016-09-25 | A kind of intelligence electric pole climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106314585B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926911A (en) * | 2017-03-07 | 2017-07-07 | 华南理工大学 | A kind of self-locking robot capable of climbing trees and its method of climbing tree |
| CN107053174A (en) * | 2017-02-18 | 2017-08-18 | 许建芹 | A kind of cable installs auxiliary robot |
| CN108482504A (en) * | 2018-05-17 | 2018-09-04 | 广东电网有限责任公司 | The safe pole-climbing elevating mechanism of working at height |
| CN109066461A (en) * | 2018-08-24 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | The inspection car of electric pole can be climbed automatically |
| CN111130016A (en) * | 2020-02-19 | 2020-05-08 | 刘任穷 | High-voltage electric power tower climbing robot |
| CN112517453A (en) * | 2020-11-16 | 2021-03-19 | 周包勇 | Pole-climbing cleaning device for flagpole |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| US20130042706A1 (en) * | 2011-08-21 | 2013-02-21 | Electric Power Research Institute, Inc. | Apparatus and method for inspecting high voltage insulators |
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
| CN205168688U (en) * | 2015-10-26 | 2016-04-20 | 中国人民解放军装甲兵工程学院 | Ball gear drive pole -climbing robot |
-
2016
- 2016-09-25 CN CN201610845594.5A patent/CN106314585B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| US20130042706A1 (en) * | 2011-08-21 | 2013-02-21 | Electric Power Research Institute, Inc. | Apparatus and method for inspecting high voltage insulators |
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
| CN205168688U (en) * | 2015-10-26 | 2016-04-20 | 中国人民解放军装甲兵工程学院 | Ball gear drive pole -climbing robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053174A (en) * | 2017-02-18 | 2017-08-18 | 许建芹 | A kind of cable installs auxiliary robot |
| CN106926911A (en) * | 2017-03-07 | 2017-07-07 | 华南理工大学 | A kind of self-locking robot capable of climbing trees and its method of climbing tree |
| CN106926911B (en) * | 2017-03-07 | 2023-04-21 | 华南理工大学 | Self-locking type tree climbing robot and tree climbing method thereof |
| CN108482504A (en) * | 2018-05-17 | 2018-09-04 | 广东电网有限责任公司 | The safe pole-climbing elevating mechanism of working at height |
| CN108482504B (en) * | 2018-05-17 | 2023-04-25 | 广东电网有限责任公司 | Safety climbing rod lifting mechanism for high-altitude operation |
| CN109066461A (en) * | 2018-08-24 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | The inspection car of electric pole can be climbed automatically |
| CN111130016A (en) * | 2020-02-19 | 2020-05-08 | 刘任穷 | High-voltage electric power tower climbing robot |
| CN112517453A (en) * | 2020-11-16 | 2021-03-19 | 周包勇 | Pole-climbing cleaning device for flagpole |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106314585B (en) | 2019-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106314585A (en) | Intelligent electric pole climbing robot | |
| CN102351018B (en) | Leg joint for quadruped robot | |
| CN205829043U (en) | A kind of concrete bar inspection platform rotates in a circumferential direction device | |
| CN103247990B (en) | Double-ratchet-wheel cable deicing robot | |
| CN105905183A (en) | Upper body-halving walking device | |
| CN102525782A (en) | Waist movement rehabilitation control mechanism | |
| CN204436126U (en) | Electric foldable hangs thing blind patch | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN104527829A (en) | Combined ladder climbing robot | |
| CN203169919U (en) | Crawling bodybuilding machine | |
| CN106809292B (en) | A kind of deformable Lun Lv coupling driving mechanism | |
| CN101574698A (en) | Glass cleaner | |
| CN202707002U (en) | Folding belt oil pumping unit | |
| CN208618934U (en) | A kind of road guard constructing device | |
| CN201900646U (en) | Wireless explosion-removal rescue robot | |
| CN201973200U (en) | Mechanical power-saving device | |
| CN104088610A (en) | Pumping unit with novel driving mechanism | |
| CN106253129A (en) | A kind of high tension cable crusing robot | |
| CN209684674U (en) | A kind of pipeline horizontal translating device | |
| CN207986610U (en) | It is a kind of can XY axis movement hydraulic spraying workbench | |
| CN108775116B (en) | Electric telescopic arc-shaped awning | |
| CN204355186U (en) | Combined type steps climbing robot | |
| CN201953260U (en) | Single-motor-driven split folded plate door | |
| CN105774942B (en) | Semi-passive biped running gear based on link mechanism | |
| CN202222857U (en) | Electric model capable of swinging both arms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181126 Address after: 211106 No. 7 Yingcui Road, Jiangning District, Nanjing City, Jiangsu Province (Jiangning Development Zone) Applicant after: NANJING XIANGNING INTERNATIONAL ARTIFICIAL INTELLIGENCE AND INTELLIGENT MANUFACTURING RESEARCH INSTITUTE Co.,Ltd. Address before: 054900 224 Yao Lou village, Luzhai Township, Linxi County, Xingtai, Hebei Applicant before: Zheng Yunchang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190111 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |