CN107511845A - A kind of rotary joint positioning lockable mechanism, method of work and line robot - Google Patents
A kind of rotary joint positioning lockable mechanism, method of work and line robot Download PDFInfo
- Publication number
- CN107511845A CN107511845A CN201710806891.3A CN201710806891A CN107511845A CN 107511845 A CN107511845 A CN 107511845A CN 201710806891 A CN201710806891 A CN 201710806891A CN 107511845 A CN107511845 A CN 107511845A
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- CN
- China
- Prior art keywords
- rotating shaft
- rotary joint
- guide clip
- guide
- lockable mechanism
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rotary joint positioning lockable mechanism, method of work and line robot, including：Motor group, lead screw guide rails group and guide clip are sequentially connected, and the lead screw guide rails group drives guide clip to be run along before and after guide rail direction；It is arranged with and can be contacted in the guide clip running with the first carriage and produce relative motion along the first carriage of guide clip opening inner side relative motion in rotating shaft, drives rotating shaft to be oriented rotation；Rotating shaft and the concentric setting of rotary joint fixing end, the rotary joint fixing end are provided with the first stopping means, and the rotating shaft rotates in the range of the first stopping means limits.Beneficial effect of the present invention：Positioning locking can be carried out to the rotary joint in certain rotation angle range, meet the positioning locking demand of robot arm rotary joint under particular/special requirement.
Description
Technical field
The present invention relates to Work robot technical field, and in particular to a kind of rotary joint positioning lockable mechanism, work side
Method and line robot.
Background technology
With greatly developing for China's super-pressure, system for ultra-high voltage transmission and power industry, to the maintenance needs of circuit
It is more and more urgent, to ensure that the safe operation, route inspecting robot etc. of ultra-high-tension power transmission line is arisen at the historic moment, each research institution
With increasing using also putting into, line robot replaces the application of manual work more and more general for research to line robot
And the security of line robot on-line operation is also increasingly taken seriously, this requires line robot to have safety and stability
Alignment system, pass is such as rotated when especially toggling job state during circuit robot manipulating task to key position
Positioning lockable mechanism at section.
Line robot is walked along high-voltage line and operation, and its road wheel and place mechanical arm need in the process of walking
The switching of job state is carried out according to the track of circuit, and ensures that mechanical arm is rotated in certain angle.Traditional lock
Locking mechanism uses the limitation of object because of it, it is impossible to the locking requirement of line robot is fully met, such as in certain anglec of rotation
Positioning locking is carried out in degree.
The content of the invention
The purpose of the present invention is exactly to solve above-mentioned problem, there is provided a kind of rotary joint positioning lockable mechanism, work
Method and line robot, it disclosure satisfy that mechanism is rotated and positioned locking in a rotation angle range.
To achieve the above object, concrete scheme of the invention is as follows：
A kind of rotary joint positions lockable mechanism, including：Motor group, lead screw guide rails group, guide clip, rotating shaft and rotation
Arthrodesis end；
The motor group, lead screw guide rails group and guide clip are sequentially connected, and the lead screw guide rails group drives guide clip edge
Guide rail direction is front and rear to be run；
Being arranged with the rotating shaft can be along the first carriage of guide clip opening inner side relative motion, the guiding
Contacted in folder running with the first carriage and produce relative motion, drive rotating shaft to be oriented rotation；
The rotating shaft and the concentric setting of rotary joint fixing end, the rotary joint fixing end are provided with the first spacing dress
Put, the rotating shaft rotates in the range of the first stopping means limits.
Further, the lead screw guide rails group includes：Leading screw, guide rail, pedestal, sliding block and the second stopping means；
The leading screw and guide rail are separately fixed on pedestal, and the sliding block is connected with guide clip, and the sliding block is arranged on silk
On thick stick, and moved along leading screw axis direction；The pedestal is provided with the second stopping means, and the sliding block limits in the second stopping means
Moved in the range of system.
Further, second stopping means is the transmitter for being separately fixed at pedestal stroke both ends；On the sliding block
Provided with catch, the catch coordinates with transmitter to be realized to the spacing of slide block movement.
Further, first stopping means is the block for being symmetrically mounted on rotary joint fixing end；Outside the rotating shaft
Limited block is fixed with edge, the limited block is engaged with the recess of block, realize limited block between two symmetrical blocks with turn
Axle freely rotates.
Further, the guide clip is bayonet-like recess structure, and opening angle and depth and the rotating shaft of guide clip rotate
Angle matches.
Further, first carriage is arranged on some groups of rollers in rotating shaft, the rolling for eccentric symmetrical expression
Wheel is with rotating shaft synchronous rotary；
In guide clip motion process, guide clip opening first contacts outermost side wheel, and pushing rolling wheels rotate along locking direction,
During guide clip row to extreme limit of travel, guide clip pushing rolling wheels drive rotating shaft to go to lock position, and keep lockup state.
Further, the rotating shaft rotates around rotary joint axle center.
A kind of method of work of rotary joint positioning lockable mechanism, including：
Under normal operating conditions, rotary joint can not be rotated, and in lockup state, now guide clip is in rotating shaft
The locked state not rotated；
When needing rotary joint to be rotated in the range of certain angle, start motor and drive leading screw rotation, pulling is led
Retreated to folder, leave rotating shaft；When guide clip is fully retracted and close to end of travel, triggering motor is out of service, is now oriented to
Folder does not act on, and rotating shaft is in complete free rotation state；
When needing rotating shaft without rotating and being held in a predetermined position, start motor and drive leading screw rotation, promote
Guide clip is moved to rotor shaft direction, when touching first carriage in outside, in the presence of thrust, promotes first to slide
Axle center is toward initial position gyration around the shaft for device, until the first carriage side axis and leading screw diameter parallel；
Now, guide clip moves to opposite side end of travel, and triggering motor is out of service, and guide clip carries out rotating shaft
Locking simultaneously remains stationary as.
Further, be symmetrically installed the first stopping means in rotary joint fixing end, rotating shaft during rotating freely by
To the limitation of the first stopping means, in the angular range internal rotation of setting.
A kind of line robot, include the rotary joint positioning lockable mechanism described in claim 1；The rotating shaft surrounds
The axle center rotation of line robot rotary joint.
Beneficial effects of the present invention：
Simple structure of the present invention, the friction of mechanism operation can be reduced using roller rolling friction and the sliding friction of guide rail
Power, operating efficiency and the life-span of mechanism are improved, positioning locking can be carried out to the rotary joint in certain rotation angle range, it is full
The positioning locking demand of robot arm rotary joint under sufficient particular/special requirement.
Brief description of the drawings
Fig. 1 (a)-(b) is the locking operation principle schematic diagram of the present invention；
Fig. 2 is spindle portion schematic diagram of the present invention；
Fig. 3 drive part schematic diagrames of the present invention；
Fig. 4-Fig. 6 is present invention positioning locking operating diagram；
Wherein, 1 motor group, 2 lead screw guide rails groups, 3 guide clips, 4 rotating shafts, 5 rollers, 6 blocks, 7 limited blocks, 8 rotations
Arthrodesis end, 9 motors, 10 decelerators, 11 shaft couplings, 12 leading screws, 13 guide rails, 14 pedestals, 15 sliding blocks, 16 transmitters,
17 catch.
Embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
On the one hand, the invention discloses a kind of rotary joint to position lockable mechanism, as shown in Fig. 1 (a) and Fig. 1 (b), bag
Include：9 group 1 of motor, 13 group 2 of 12 guide rail of leading screw, guide clip 3, rotating shaft 4 and rotary joint fixing end 8；
9 group 1 of motor, 13 group 2 of 12 guide rail of leading screw and guide clip 3 are sequentially connected, and 13 group 2 of 12 guide rail of leading screw is with action-oriented
Folder 3 is run along before and after the direction of guide rail 13；Being arranged with rotating shaft 4 can slide along the first of the opening inner side relative motion of guide clip 3
Device is moved, is contacted in the running of guide clip 3 with the first carriage and produces relative motion, drives rotating shaft 4 to be oriented rotation
Turn；Rotating shaft 4 is a structure rotated around rotary joint axle center, rotating shaft 4 and the 8 concentric setting of rotary joint fixing end, is rotated
Arthrodesis end 8 is provided with the first stopping means, and rotating shaft 4 rotates in the range of the first stopping means limits.
9 group of 1 12 guide rail of connection leading screw of motor drives guide clip 3 to move for 13 group 2, and guide clip 3 drives the anglec of rotation of rotating shaft 4
Lock position shown in Fig. 1 (b) is reached after spending t, the wherein haul distance of guide clip 3 is L, and the stroke of guide clip 3 determines to launch in Fig. 3
The installation site of device 16.
In the present embodiment, the first carriage be eccentric symmetrical expression be arranged on rotating shaft 4 on some groups of rollers 5, roller 5 with
The synchronous rotary of rotating shaft 4；
Roller 5 has several, is arranged around rotating shaft 4, and keeps eccentric symmetrical expression to install, can be with the synchronous rotary of rotating shaft 4.
In the motion process of guide clip 3, guide clip 3 is open and first contacts outermost side wheel 5, and pushing rolling wheels 5 revolve along locking direction
Turn, in the row of guide clip 3 to extreme limit of travel, the pushing rolling wheels 5 of guide clip 3 drive rotating shaft 4 to go to lock position, and keep locking shape
State.
First stopping means is the block 6 for being symmetrically mounted on rotary joint fixing end 8；Rotating shaft 4 fixes limited location on outer
Block 7, limited block 7 are engaged with the recess of block 6, realize that limited block 7 freely rotates between two symmetrical blocks 6 with rotating shaft 4.
Block 6 is symmetrically mounted on rotary joint fixing end 8, has relative rotation with rotating shaft 4, the within angle of block 6 is according to rotation
Joint rotation angle is set.
Second stopping means is the transmitter 16 for being separately fixed at the stroke both ends of pedestal 14；Sliding block 15 is provided with catch 17,
Catch 17 coordinates with transmitter 16 to be realized to the spacing of the motion of sliding block 15.
As shown in Fig. 2 block 6 is symmetrically mounted on rotary joint fixing end 8, rotating shaft 4 and rotary joint fixing end 8 are coaxial
The heart, limited block 7 are arranged on the outside of rotating shaft 4 and protruded, be engaged with recess in block 6, limited block 7 can two symmetrical blocks 6 it
Between freely rotated with rotating shaft 4, roller 5 is symmetrically mounted in rotating shaft 4, and 7 arrangement in a center of symmetry of limited block, and same with rotating shaft 4
Step rotates.
As shown in figure 3, motor driving group 1 is connected for 13 group 2 with 12 guide rail of leading screw by shaft coupling 11,13 groups of 12 guide rail of leading screw
21 are connected with guide clip 3 by sliding block 15, and motor driving group 1 is made up of end motor 9, decelerator 10, shaft coupling 11, silk
12 guide rail of thick stick is made up of for 13 group 2 leading screw 12, guide rail 13, pedestal 14, sliding block 15, transmitter 16, catch 17, the one end of leading screw 12 and connection
Axle device 11 is connected, and one end is fixed on pedestal 14, and sliding block 15 can move back and forth on leading screw 12 and asymmetrical track 13, and with guiding
The connection of folder 3, drives guide clip 3 to be moved back and forth in the axis direction of leading screw 12.Transmitter 16 is arranged on pedestal 14, and in stroke two
Each installation one is held, the peace of catch 17 17 moves back and forth on sliding block 15 with sliding block 15, the start-stop driving when row is to transmitter 16
Motor 9 operates.
Mutually fitted with the anglec of rotation of rotating shaft 4 as shown in figure 4, guide clip 3 is bayonet-like recess structure, opening angle and depth
Should, in position fixing process, under the impetus of leading screw 12, guide clip 3 is moved ahead along the axis of leading screw 12, and guide clip 3, which is open, first to be contacted most
Outer side wheel 5, pushing rolling wheels 5 rotate along locking direction, in the row of guide clip 3 to extreme limit of travel, the band of 3 pushing rolling wheels of guide clip 5
Turn axle 4 goes to lock position, and keeps lockup state.
When original position does not carry out locking work to rotary joint, rotating shaft 4 drives roller 5 and limited block 7 can be in two gears
Rotated freely in angular range residing for block 6, the greatest limit rotated freely when limited block 7 contacts with block 6 for rotating shaft 4,
As shown in Figure 4.When rotary joint needs locking, guide clip 3 is axially moved under the effect of motor 9 along leading screw 12, and by
Outer side wheel 5c is gradually contacted, as shown in figure 5, when guide clip 3 continues motion, just pushing rolling wheels 5c counter clockwise directions along Fig. 5
Rotation, the synchronous rotary of rotating shaft 4 is driven, when the row of guide clip 3 to end 16 position of transmitter, that is, the spacing limit is reached, now leads
Symmetrical roller 5 is just pushed into the position axially in parallel with leading screw 12 to folder 3 and keeps not rotating, then rotating shaft 4 is directed to folder 3
Locking, as shown in Figure 6.
Second aspect, the invention discloses a kind of method of work of rotary joint positioning lockable mechanism, including：
Under normal operating conditions, rotary joint can not be rotated, and in lockup state, i.e. guide clip 3 is in roller 5
With the locked state not rotated of rotating shaft 4, when needing rotary joint to be rotated in the range of certain angle, then start motor 9
Drive leading screw 12 to rotate, pull guide clip 3 to retreat, rotating shaft 4 and roller 5 are left, when guide clip 3 is fully retracted and close to the end of pedestal 14
Transmitter 16 when, triggering motor 9 it is out of service, then guide clip 3 does not act on, rotating shaft 4 drive roller 5 be in completely freely
Rotation status.
Now, in order to ensure that rotating shaft 4 only rotates in certain angular range internal rotation rather than absolute liBerty, closed in rotation
Section fixing end 8 be symmetrically installed block 6, have in rotating shaft 4 a raised limited block 7 during rotating freely just with block
6 are in contact, to limit the angle of the rotation of rotating shaft 4.
When needing rotating shaft 4 without rotating and being held in a predetermined position, start motor 9 and drive leading screw 12 to rotate,
Promote guide clip 3 move to the direction of rotating shaft 4, during roller 5 on the outside of touch, then in the presence of thrust, pushing rolling wheels 5 around
The axle center of rotating shaft 4 is toward initial position gyration, and until the axis of a side wheel 5 and the diameter parallel of leading screw 12, now at sliding block 15
The triggering motor 9 of end transmitter 16 that catch 17 reaches the side of rotating shaft 4 is out of service, then guide clip 3 is locked rotating shaft 4
Only and remain stationary as.
Equally because roller 5 is symmetrical expression arrangement, under free rotation state, when limited block 7 is in above-mentioned symmetric position, lead
When carrying out locking action to folder 3, it can equally promote outer side wheel 5 to drive rotating shaft 4 to be turned round, reach locking effect.
The third aspect, the invention discloses a kind of line robot, and that includes rotary joint to position lockable mechanism；It will turn
Axle 4 is arranged around the axle center rotation of line robot rotary joint.
For other kinds of robot, if it needs the rotational positioning locking in progress joint, this hair can also be used
Bright rotary joint positioning lockable mechanism, equally falls into protection scope of the present invention.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. a kind of rotary joint positions lockable mechanism, it is characterised in that including：Motor group, lead screw guide rails group, guide clip,
Rotating shaft and rotary joint fixing end；
The motor group, lead screw guide rails group and guide clip are sequentially connected, and the lead screw guide rails group drives guide clip along guide rail
Direction is front and rear to be run；
Being arranged with the rotating shaft can be along the first carriage of guide clip opening inner side relative motion, the guide clip fortune
Contacted during row with the first carriage and produce relative motion, drive rotating shaft to be oriented rotation；
The rotating shaft and the concentric setting of rotary joint fixing end, the rotary joint fixing end are provided with the first stopping means,
The rotating shaft rotates in the range of the first stopping means limits.
A kind of 2. rotary joint positioning lockable mechanism as claimed in claim 1, it is characterised in that the lead screw guide rails group bag
Include：Leading screw, guide rail, pedestal, sliding block and the second stopping means；
The leading screw and guide rail are separately fixed on pedestal, and the sliding block is connected with guide clip, and the sliding block is arranged on leading screw,
And moved along leading screw axis direction；The pedestal is provided with the second stopping means, and the sliding block limits in the second stopping means
Range of motion.
3. a kind of rotary joint positioning lockable mechanism as claimed in claim 2, it is characterised in that second stopping means is
It is separately fixed at the transmitter at pedestal stroke both ends；The sliding block is provided with catch, and the catch coordinates realization pair with transmitter
Slide block movement it is spacing.
4. a kind of rotary joint positioning lockable mechanism as claimed in claim 1, it is characterised in that first stopping means is
It is symmetrically mounted on the block of rotary joint fixing end；Limited block is fixed with the rotating shaft outer, the limited block and block
Recess is engaged, and realizes that limited block freely rotates between two symmetrical blocks with rotating shaft.
5. a kind of rotary joint positioning lockable mechanism as claimed in claim 1, it is characterised in that the guide clip is open type
Groove structure, the opening angle and depth of guide clip match with the rotating shaft anglec of rotation.
6. a kind of rotary joint positioning lockable mechanism as claimed in claim 1, it is characterised in that first carriage is
Eccentric symmetrical expression is arranged on some groups of rollers in rotating shaft, and the roller is with rotating shaft synchronous rotary；
In guide clip motion process, guide clip opening first contacts outermost side wheel, and pushing rolling wheels rotate along locking direction, are being oriented to
When folder row is to extreme limit of travel, guide clip pushing rolling wheels drive rotating shaft to go to lock position, and keep lockup state.
7. a kind of rotary joint positioning lockable mechanism as claimed in claim 1, it is characterised in that the rotating shaft is closed around rotation
The nodal axisn heart rotates.
A kind of 8. method of work of rotary joint positioning lockable mechanism, it is characterised in that including：
Under normal operating conditions, rotary joint can not be rotated, and in lockup state, now guide clip is in rotating shaft is locked
The state not rotated；
When needing rotary joint to be rotated in the range of certain angle, start motor and drive leading screw rotation, pull guide clip
Retreat, leave rotating shaft；When guide clip is fully retracted and close to end of travel, triggering motor is out of service, and now guide clip is not
Effect, rotating shaft are in complete free rotation state；
When needing rotating shaft without rotating and being held in a predetermined position, start motor and drive leading screw rotation, promote and be oriented to
Press from both sides and moved to rotor shaft direction, when touching first carriage in outside, in the presence of thrust, promote the first carriage
Axle center is toward initial position gyration around the shaft, until the first carriage side axis and leading screw diameter parallel；
Now, guide clip moves to opposite side end of travel, and triggering motor is out of service, and rotating shaft is carried out locking by guide clip
And remain stationary as.
9. the method for work of a kind of rotary joint positioning lockable mechanism as claimed in claim 8, it is characterised in that closed in rotation
Section fixing end is symmetrically installed the first stopping means, and rotating shaft is limited during rotating freely by the first stopping means, is setting
Fixed angular range internal rotation.
10. a kind of line robot, it is characterised in that include the rotary joint positioning lockable mechanism described in claim 1；Institute
Rotating shaft is stated to rotate around the axle center of line robot rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710806891.3A CN107511845B (en) | 2017-09-08 | 2017-09-08 | A kind of rotary joint positioning lockable mechanism, working method and line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710806891.3A CN107511845B (en) | 2017-09-08 | 2017-09-08 | A kind of rotary joint positioning lockable mechanism, working method and line robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107511845A true CN107511845A (en) | 2017-12-26 |
| CN107511845B CN107511845B (en) | 2019-09-10 |
Family
ID=60725265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710806891.3A Active CN107511845B (en) | 2017-09-08 | 2017-09-08 | A kind of rotary joint positioning lockable mechanism, working method and line robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107511845B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109037140A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | A kind of grabbing device for the semiconductor haulage equipment having anti-collision |
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
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| CN102941570A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
| CN103001151A (en) * | 2012-12-05 | 2013-03-27 | 山东电力集团公司电力科学研究院 | Line robot drive arm with obstacle crossing function |
| KR20130092853A (en) * | 2012-02-13 | 2013-08-21 | 현대중공업 주식회사 | Apparatus for rail driving and operating method thereof |
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| KR20130092853A (en) * | 2012-02-13 | 2013-08-21 | 현대중공업 주식회사 | Apparatus for rail driving and operating method thereof |
| CN102938544A (en) * | 2012-12-05 | 2013-02-20 | 山东电力集团公司电力科学研究院 | Autonomous obstacle negotiation line-inspection robot for electric transmission lines |
| CN102941570A (en) * | 2012-12-05 | 2013-02-27 | 山东电力集团公司电力科学研究院 | Patrol robot for power transmission lines |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109037140A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | A kind of grabbing device for the semiconductor haulage equipment having anti-collision |
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
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| Publication number | Publication date |
|---|---|
| CN107511845B (en) | 2019-09-10 |
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Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 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: Ji'nan City, Shandong Province Wang Yue Road 250003 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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| TR01 | Transfer of patent right |
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: Ji'nan City, Shandong Province Wang Yue Road 250003 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 |
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