CN106379436B - Wheel type barrier-crossing mechanism, substation, robot and its method - Google Patents
Wheel type barrier-crossing mechanism, substation, robot and its method Download PDFInfo
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- CN106379436B CN106379436B CN201611052045.9A CN201611052045A CN106379436B CN 106379436 B CN106379436 B CN 106379436B CN 201611052045 A CN201611052045 A CN 201611052045A CN 106379436 B CN106379436 B CN 106379436B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims abstract description 43
- 230000004888 barrier function Effects 0.000 claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 2
- 210000000056 organ Anatomy 0.000 description 14
- 238000010586 diagram Methods 0.000 description 9
- 230000001681 protective effect Effects 0.000 description 8
- 238000007689 inspection Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000124008 Mammalia Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
- B62D57/028—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 having wheels and mechanical legs
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses wheel type barrier-crossing mechanisms, substation, robot and its method, including walking mechanism, its chassis is provided with guide rail mechanism, chassis is configured to move along guide rail mechanism, one end of the tray bottom is provided with elevating mechanism, the elevating mechanism, which is configured to lift walking mechanism, to move vertically, the two sides on the chassis of walking mechanism are respectively arranged with a range sensor, walking mechanism upper end is provided with binocular vision module, when binocular vision module detects barrier, range sensor measurement is apart from barrier when setting in length, elevating mechanism lifts walking mechanism and rises to height higher than barrier, chassis is moved along guide rail mechanism to barrier direction, so that walking mechanism chassis reaches barrier upper end, realize obstacle detouring.The present invention had not only guaranteed the speed of travel requirement of wheeled robot, but also the obstacle crossing function no containing common wheeled robot.
Description
Technical field
The present invention relates to a kind of substation's wheel type barrier-crossing mechanism, robot and its methods.
Background technique
Substation is the hinge of electric power transmission network, and the safety of equipment running status is most important, is had to equipment
Effect inspection is to guarantee that substation well runs and to the important guarantee of users' power supply reliability.With Power Robot skill
The development of art, robot inspection gradually replace manual inspection, greatly reduce labour.Current mobile crusing robot master
Structure is wanted to have: wheeled, crawler type, leg-foot formula, creeping motion type etc., wherein being most widely used with wheeled and crawler type.Wheeled tool
Have the advantages that structure is simple, the speed of service is fast, high-efficient, but be generally only applicable to relatively flat and hard road environment, more
Barrier ability is poor, and on soft and muddy ground, ability to act is poor.Leg-foot formula divides creeping-type and walk type again, and creeping-type is to imitate to climb
A kind of bionic movement mode of row class insect motion, is typically in static-stability state, is suitable for discrete complex environment, but row
It is generally slow to walk speed, and internal structure design get up it is more complicated；Walk type is to imitate mammal quick walk
A kind of bionic movement mode, be suitable for discrete complex environment, but when high speed is walked is in unsteady state, control system
Extremely complex with mechanical structure, there is presently no functionizations.
It is greatly mainly at present wheeled robot, fast speed, but environmental suitability in the mobile robot of substation inspection
It is poor, kerb cannot be crossed and cannot be in the complex environments downward driving such as meadow；Another kind is the crawler-type mobile with support arm
Robot, it can use support arm crossing over blockage, but be to move the drawbacks of caterpillar type robot under common flat cement road surface
It is dynamic slow, it is inefficient, and crawler belt is larger with frictional ground force, crawler belt is easy to damage, in addition the caterpillar type robot with support arm is set
Count complex, also inconvenient control.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes a kind of substation's wheel type barrier-crossing mechanism, robot and its method, this
Invention is in the wheeled normal walking of common flat pavement usage；When encountering kerb etc. has the barrier of certain altitude, liter is used
It drops platform and guide rail mechanism carries out leaping over obstacles.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of substation's wheel type barrier-crossing mechanism, including walking mechanism, the chassis of walking mechanism is provided with guide rail mechanism, described
Chassis is configured to move along guide rail mechanism, and one end of the tray bottom is provided with elevating mechanism, the elevator
Structure, which is configured to lift walking mechanism, to move vertically；
The two sides on the chassis of walking mechanism are respectively arranged with a range sensor, and the walking mechanism upper end is provided with double
Mesh vision module, when the binocular vision module detects barrier, range sensor measurement is apart from barrier in setting length
When interior, elevating mechanism lifts walking mechanism and rises to height higher than barrier, and the chassis is along guide rail mechanism to obstacle object space
To movement, so that walking mechanism chassis reaches barrier upper end, obstacle detouring is realized.
Preferably, the walking mechanism is wheel type traveling mechanism.
Preferably, the guide rail mechanism includes support plate, several screw type guide rails are fixed in the support plate, described
One end of screw type guide rail is provided with motor, and motor is connected with incremental encoder, realizes closed-loop control to the operating of motor.
Preferably, it is provided with reinforcing rib in the support plate, to enhance the intensity of support plate.
Preferably, multiple sliding blocks are provided on the screw type guide rail, the chassis of the walking mechanism is fixed on sliding block.
Preferably, the guide rail mechanism both ends are provided with shield, to protect the end construction and motor of guide rail mechanism.
Preferably, the elevating mechanism includes upper and lower supporting element, and X-type scissors fork is provided between the upper and lower supporting element
Frame elevating mechanism is provided with electric cylinder on the upper supporting piece and X-type scissors crotch elevating mechanism is driven to move up and down.
Absolute encoder is provided on the elevating mechanism.
A kind of substation's wheel type barrier-crossing robot, including above-mentioned barrier getting over mechanism.
A kind of obstacle-detouring method based on above-mentioned barrier getting over mechanism, binocular vision module find barrier, and walking mechanism is guided to arrive
Up to the edge of barrier, the range sensor measurement walking mechanism at the both ends of walking mechanism passes through two at a distance from barrier
Range sensor distance difference adjusts walking mechanism posture, makes its face barrier, and control elevating mechanism makes it be lifted vehicle with walking machine
Structure chassis calculates the rising height of elevating mechanism by absolute encoder, after supporting to specified altitude assignment, is hindered according to distance at this time
Object distance and walking mechanism dimension information is hindered to calculate the distance that need to move forward, driving guide rail mechanism makes chassis translation until barrier
Elevating mechanism is shunk in upper end, and walking mechanism is made to contact ground, completes obstacle detouring.
After the completion of obstacle detouring, walking mechanism, which moves forward to certain position, makes elevating mechanism have sufficient space support, elevator
Chassis is propped up in structure expansion, and controls guide rail mechanism, and chassis is made to return to the initial position of guide rail mechanism, and controls elevating mechanism recovery
Initial position.
It is being opened up by the expanded angle that absolute encoder measures elevating mechanism with the bearing height of real-time computer device people
Two range sensor of open procedure continues measurement apart from barrier Edge Distance, when range data increases suddenly, in conjunction with vehicle with walking machine
Structure chassis size, range sensor installation site and real-time bearing height calculate barrier actual height and robot and need to support
Height.
The invention has the benefit that
(1) when wheel-pedrail robot is in substation inspection, the wheeled normal walking of common flat pavement usage ensure that machine
Normal walking speed when device people's inspection；When encountering the obstacles such as kerb, by elevating mechanism and lead screw guide rails mechanism assists
Wheeled robot completes obstacle detouring；
(2) obstacle-detouring method of the invention is simple, reliable, and design is simple, eliminates the links such as crawler haulage, has both guaranteed wheeled
The speed of travel requirement of robot, and the obstacle crossing function no containing common wheeled robot；
(3) due to wheeled robot lighter in weight, elevating mechanism can small design hoistable platform, reduce robot investment
Cost, and high degree of automation.
Detailed description of the invention
Fig. 1 is wheel type barrier-crossing robot, substation schematic diagram of the invention；
Fig. 2 is wheel type barrier-crossing robot front view；
Fig. 3 is the lead screw guide rails structural scheme of mechanism of wheel type barrier-crossing robot；
Fig. 4 is the hoistable platform mechanism schematic diagram of wheel type barrier-crossing robot；
Schematic diagram when Fig. 5 is wheel type barrier-crossing robot normal walking；
Fig. 6 is schematic diagram before wheel type barrier-crossing robot obstacle detouring；
Fig. 7 props up the schematic diagram of robot for the hoistable platform in wheel type barrier-crossing robot obstacle detouring；
Fig. 8 is that hoistable platform props up robot, and by lead screw guide rails, mechanism makes robot move forward, robot rear-wheel to step
The schematic diagram of just upper position；
Fig. 9 is that hoistable platform mechanism is packed up, and the schematic diagram on step road surface is fallen under robot；
Figure 10 is the schematic diagram that robot moves to forward home；
Figure 11 is after kerb step is crossed by wheel type barrier-crossing robot, to return to initial position and start normal walking, obstacle detouring mistake
The schematic diagram that journey terminates.
1, wheeled robot chassis；2, right organ type protective cover；3, lead screw guide rails mechanism, 4, elevating mechanism；5, Zuo Fengqin
Formula shield；6, binocular camera；7, left range sensor；8, right range sensor；9, incremental encoder；10, motor；11, wind
Qin shield connecting plate；12, sliding block；13, guide rail；14, lead screw；15, feed screw nut sliding block；16, support plate；17, reinforcing rib；
18, upper supporting piece；19, electric cylinder；20, hold-down support；21, lower support element；22, slide bar slot；23, slide bar；24, absolute coding
Device；25, flat road surface；26, kerb road surface.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
The invention proposes a kind of novel wheel type barrier-crossing robots, substation.The wheeled robot is on common flat road surface
Use wheeled normal walking；When encountering kerb (kerb height be 100-200mm), wheeled robot using hoistable platform and
Its leaping over obstacles of lead screw guide rails mechanism assists.
Wheeled robot chassis 1 is common Intelligent Mobile Robot, and internal drive mode is bi-motor front wheel driving
It is dynamic.Wheeled robot chassis 1 is cooperatively connected by four sliding blocks, 12, two feed screw nut sliding blocks 15 and lead screw guide rails mechanism 3, wheel
Formula robot, 1 bottom, chassis can be connected by screw to four sliding blocks, 12, two feed screw nut sliding blocks 15, wheeled robot chassis
Left range sensor 7 and right range sensor 8 are installed in 1 lower section, symmetrical, apart from ground 80mm.Lead screw guide rails mechanism 3 and liter
4 secure weld of descending mechanism is together.State when robot normal walking is as shown in Figure 1, wheeled robot 1 and elevator in Fig. 1
The position of structure 4 is initial position.
Lead screw guide rails mechanism 3 is mainly by incremental encoder 9, motor 10, organ shield connecting plate 11, sliding block 12, guide rail
13, lead screw 14, feed screw nut sliding block 15, support plate 16, reinforcing rib 17 form, and motor 10 is servo motor.Motor 10 is set to
One end of support plate 16,16 lower end of support plate are provided with reinforcing rib 17, and incremental encoder 9 is set on motor 10, on lead screw 14
It is provided with sliding block 12 and feed screw nut sliding block 15, wheeled robot chassis 1 passes through four sliding blocks, 12, two feed screw nut sliding blocks 15
It is cooperatively connected with lead screw guide rails mechanism 3.16 two sides of support plate are provided with organ shield connecting plate 11, anti-to connect left organ type
Shield 5 and right organ type protective cover 2.
Elevating mechanism 4 is mainly by upper supporting piece 18, electric cylinder 19, hold-down support 20, lower support element 21, slide bar slot 22, cunning
Bar 23, absolute encoder 24 form, support plate 16, reinforcing rib 17 in the upper supporting piece 18 and lead screw guide rails mechanism of elevating mechanism 4
Welding is organized integral together.Electric cylinder 19 is mounted on upper supporting piece 18, is connected by support base, each connecting rod in elevating mechanism 4
Between connected by articulated manner, slide bar slot 22 opens up slotted hole, and slide bar 23 stretches with electric cylinder 19 in slide bar slot 22
It is moved forward and backward in groove type hole, hold-down support 20 play fixed supporting role, which is carried out using common scissors platform lifting principle
Design.
Electric cylinder 18 is scalable, and when electric cylinder 18 is shunk, hoistable platform is increased, and is measured and is gone up and down by absolute encoder 24
Corner dimension is unfolded in platform, and lead screw guide rails mechanism 3 is increased with wheeled robot chassis 1, and ground is left in wheeled robot chassis 1
Face, when electric cylinder 18 stretches, hoistable platform is shunk, and wheeled robot chassis 1 contacts ground, and elevating mechanism 4 returns to initial bit
It sets.
When another elevating mechanism 4 is unfolded, when motor 10 rotates forward clockwise, motor drives two feed screw nut sliding blocks 15 to the left
It is mobile, since 12, the two feed screw nut sliding blocks 15 in wheeled robot chassis 1 and four sliding blocks closely connect, so wheeled
Robot is moved to the left together with two feed screw nut sliding blocks 15, when wheeled robot chassis 1 is moved to the left, left organ type
Shield 5 compresses, and right organ type protective cover 2 is unfolded, and organ type protective cover 5 and 2 exterior material of right organ type protective cover can be selected
PVC board may be selected in nylon cloth, internal backing material, primarily serves dust-proof, rain-proof effect；When motor 10 inverts counterclockwise, electricity
Machine drives two feed screw nut sliding blocks 15 to move right, due to 12, two feed screw nuts in wheeled robot chassis 1 and four sliding blocks
Sliding block 15 closely connects, so wheeled robot returns to initial bit as two feed screw nut sliding blocks 15 move right together
It sets, when wheeled robot chassis 1 moves right, left organ type protective cover 5 is unfolded, and right organ type protective cover 2 is flexible.Left organ
Formula shield 5 is closely connect with the side of right organ type protective cover 2 with wheeled robot by screw, and the other side and organ protect
Cover connecting plate 11 is closely connected by screw.
Specific obstacle detouring process is as follows:
In common 25 normal walking of smooth-riding surface, wheeled robot chassis 1 and elevating mechanism 4 are equal for wheel type barrier-crossing robot
In initial position, 4 bottom of elevating mechanism is higher by road surface certain altitude, and 3 bottom of lead screw guide rails mechanism is higher than step (100-200mm
Highly) road surface, when normal walking, which relies on running on wheels, and walking states are as shown in Fig. 5.
As shown in figure 5, kerb road surface 26 is crossed in robot preparation when robot need to carry out inspection to battery limits inside
Into battery limits, binocular camera 6 finds barrier at a distance, and guides robot barriers to entry object edge, due to binocular camera
There are visual dead angles, when robot is closer apart from barrier, as shown in fig. 6, using left range sensor 7 and right Distance-sensing
Device 8 measures the distance apart from kerb road surface 26, and adjusts robot by two range sensor distance differences, makes its face
Barrier measures the angle of spread by absolute encoder 24 as shown in fig. 7, being unfolded under the driving of electric cylinder 19 with rear lifting mechanism 4
Degree, the bearing height of Data Computation Unit real-time computer device people, in the expansion left range sensor 7 of process and right range sensor
8 continue measurement apart from 26 distance of kerb road surface, when range data increases suddenly, in conjunction with robot size, range sensor
Height (the traveling wheel on robot chassis 1 that installation site, bearing height calculate barrier actual height and robot need to support
The height on a little higher than kerb road surface 26 of lowest part), when robot supports to specified altitude assignment, as shown in figure 8, according to Distance-sensing
The robot of device measurement, which calculates robot apart from obstacle distance and robot dimension information, need to move forward distance, pass through servo
Motor 10 drives the effect of lead screw guide rails mechanism 3 to keep robot mobile, and incremental encoder 9 realizes position closed loop, until wheeled machine
The rear-wheel on device people chassis 1 is in the top on kerb road surface 26, and wheeled robot chassis 1 rises not in contact with kerb road surface 26 at this time
Descending mechanism 4 is shunk, and wheeled robot chassis 1 contacts ground, completes obstacle detouring.
But also need to follow the steps below to make all parts of wheel type barrier-crossing robot return to initial position: such as Fig. 9, figure
Shown in 10, wheel type barrier-crossing robot, which moves forward to certain position, makes elevating mechanism 4 have sufficient space support, and elevating mechanism 4 is opened up
It opens and props up wheeled robot 1, be moved to the left wheeled robot chassis 1 by lead screw guide rails mechanism 3, until arriving initial position
Afterwards, elevating mechanism 4 is shunk, and wheeled robot chassis 1 declines, and elevating mechanism 4 returns to initial position, and wheel type barrier-crossing robot starts
Normal walking, as shown in figure 11, so far, entire obstacle detouring process all terminates.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of substation's wheel type barrier-crossing mechanism, including walking mechanism, it is characterized in that: the chassis of walking mechanism is provided with guide rail machine
Structure, the chassis are configured to move along guide rail mechanism, and one end of the tray bottom is provided with elevating mechanism, described
Elevating mechanism, which is configured to lift walking mechanism, to move vertically；
The two sides on the chassis of walking mechanism are respectively arranged with a range sensor, and the walking mechanism upper end is provided with binocular vision
Feel module, when the binocular vision module detects barrier, range sensor measures walking mechanism at a distance from barrier, leads to
Two range sensor distance difference adjustment walking mechanism postures are crossed, its face barrier, range sensor measurement distance barrier are made
Hinder object when setting in length, elevating mechanism lifts walking mechanism and rises to height higher than barrier, and the chassis is along guide rail
Mechanism is moved to barrier direction, so that walking mechanism chassis reaches barrier upper end, realizes obstacle detouring.
2. a kind of substation's wheel type barrier-crossing mechanism as described in claim 1, it is characterized in that: the guide rail mechanism includes support
Plate, several screw type guide rails are fixed in the support plate, and one end of the screw type guide rail is provided with motor, motor connection
There is incremental encoder, closed-loop control is realized to the operating of motor.
3. a kind of substation's wheel type barrier-crossing mechanism as claimed in claim 2, it is characterized in that: being provided on the screw type guide rail
The chassis of multiple sliding blocks, the walking mechanism is fixed on sliding block.
4. a kind of substation's wheel type barrier-crossing mechanism as described in claim 1, it is characterized in that: the guide rail mechanism both ends are provided with
Shield, to protect the end construction and motor of guide rail mechanism.
5. a kind of substation's wheel type barrier-crossing mechanism as described in claim 1, it is characterized in that: the elevating mechanism includes upper and lower
Supporting element is provided with X-type scissors crotch elevating mechanism between the upper and lower supporting element, is provided on the upper supporting piece electronic
Cylinder drives X-type scissors crotch elevating mechanism to move up and down.
6. a kind of substation's wheel type barrier-crossing mechanism as described in claim 1, it is characterized in that: being provided on the elevating mechanism absolutely
To encoder.
7. a kind of substation's wheel type barrier-crossing robot, it is characterized in that: including such as obstacle detouring machine of any of claims 1-6
Structure.
8. a kind of obstacle-detouring method based on barrier getting over mechanism such as of any of claims 1-6, it is characterized in that: binocular vision
Module finds barrier, and walking mechanism is guided to reach the edge of barrier, and the range sensor at the both ends of walking mechanism measures row
Mechanism is walked at a distance from barrier, walking mechanism posture is adjusted by two range sensor distance differences, makes its face obstacle
Object, control elevating mechanism make it be lifted walking mechanism chassis, the rising height of elevating mechanism are calculated by absolute encoder, works as branch
After supportting specified altitude assignment, according to the distance that need to move forward is calculated apart from obstacle distance and walking mechanism dimension information at this time, drive
Dynamic guide rail mechanism makes chassis translation until barrier upper end, shrinks elevating mechanism, and walking mechanism is made to contact ground, completes obstacle detouring.
9. obstacle-detouring method as claimed in claim 8, it is characterized in that: walking mechanism moves forward to a positioning after the completion of obstacle detouring
Setting makes elevating mechanism have sufficient space support, and chassis is propped up in elevating mechanism expansion, and controls guide rail mechanism, and chassis is made to return to guide rail
The initial position of mechanism, and control elevating mechanism and restore initial position.
10. obstacle-detouring method as claimed in claim 8, it is characterized in that: measuring the angle of spread of elevating mechanism by absolute encoder
Degree, with the bearing height of real-time computer device people, two range sensor of expansion process continue measurement apart from barrier edge away from
From when range data increases suddenly, in conjunction with walking mechanism chassis size, range sensor installation site and real-time bearing height
Calculate barrier actual height and height that robot need to support.
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| CN201611052045.9A CN106379436B (en) | 2016-11-24 | 2016-11-24 | Wheel type barrier-crossing mechanism, substation, robot and its method |
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| CN201611052045.9A CN106379436B (en) | 2016-11-24 | 2016-11-24 | Wheel type barrier-crossing mechanism, substation, robot and its method |
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| CN106379436B true CN106379436B (en) | 2019-08-06 |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |