CN108748168A - Truss-like information storage entity part manages robot and method - Google Patents
Truss-like information storage entity part manages robot and method Download PDFInfo
- Publication number
- CN108748168A CN108748168A CN201810404149.4A CN201810404149A CN108748168A CN 108748168 A CN108748168 A CN 108748168A CN 201810404149 A CN201810404149 A CN 201810404149A CN 108748168 A CN108748168 A CN 108748168A
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- China
- Prior art keywords
- information storage
- truss
- storage entity
- entity part
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of truss-like information storage entity part management robot and methods, including roof truss, positioning mechanical arm and mechanical gripper, truss mechanism is fixed on the roof of the locker room of information storage entity part, using X-Y coordinate form, it can be moved any position in roof plan, positioning mechanical arm includes fixed part and movable part, the fixed part end is connect with truss installa-tion pedestal, movable part is connect with mechanical gripper, movable part can move in vertical plane, together with truss, it is combined into tri- coordinate motion systems of X-Y-Z, it reaches at each cabinet accommodated in locker room；Mechanical gripper has rotary freedom, to adjust the position deviation between mechanical gripper and information storage entity part, and holds up information storage entity part, realizes the management of information storage entity part.
Description
Technical field
The present invention relates to a kind of truss-like information storage entity part management robot and methods.
Background technology
Information storage entity part, such as archives etc. are the true records of human history, reflect people to objective things with
The understanding of phenomenon, it is the crystallization of knowledge and technology, is the outstanding cultural heritage of the mankind.Archives are reasonably develop and useedd, no
Be only capable of accelerating the civilization of society, and can obtain and create new intellectual property, be push social history and civilization into
The important motivity of step.
However as the development of society, the quantity of archives is growing day by day, and the transmission of archives is that file clerk daily must
The hard work that must be faced, access archives labor intensity is big, and file accessing is less efficient, particularly with the shelves of some concerning security matters
Case, more undesirable people have more chances to go to contact, and due to the presence of these problems, accelerate archival automated system construction, real
The automatic management of each working link of existing archives has great significance.
At present for archival automation management, moving trolley AGV is mainly used to carry the pattern of manipulator, AGV trolleies
Shuttle between document shelf, using manipulator crawl storage archives.The characteristics of this mode be for archive office change it is smaller,
But need specifically to design file cabinet and file box, for example file cabinet has to fix between each archives
Separate, file box thickness must be consistent etc., but it is transported using AGV trolleies, the precision and stability of operation is limited to
The pose accuracy of AGV trolleies, it is difficult to the accurate crawl to archives is completed, an archives could be captured by generally requiring repeatedly to adjust,
Whole file administration efficiency is low.Although can ensure working efficiency by increasing more robots, more robots are again
Scheduling problem between robot is involved, and undesirably increases whole cost.In addition, by the machine of lithium battery power supply
People, cruising ability cause anxiety, and can not adapt to the centralized management of high-volume archives.
In addition, either bookcase is all to maintain archives to the file cabinet currently used for storage archives or books erect placement
Traditional posture is mostly used increase laterally spaced method greatly when being managed using robot, by the archives or books point in cabinet
It separates and, to facilitate access, however have several drawbacks using the method：
First, interval it is in the same size in the case of, then do not incline it is difficult to ensure that being stored in archives or books therein
Tiltedly, and inclined angle is indefinite, if archives or books inclination, the i.e. unfixed words of pose, it is fixed will to increase robot access
The difficulty of position；
Secondly, will not only there be the holding action of similar human hand in robot when accessing archives, in order to ensure archives or book
The posture of nationality is correct, it is also necessary in certain mechanism of the design up and down of paw, the posture for adjusting archives or books, then and machine
The structure of people can be more complicated, increases load, reduces the time of robot continuation of the journey, and crawl is required for more every time for robot
More adjustment actions and time, reduce the operational efficiency of robot；
In addition, archives or books are in storage, if robotic gripper spine is completed to store, then page can inevitably dissipate
It opens, easily causes the accidental damage of archives or books, for precious archives, this problem has to strongly avoid.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of truss-like information storage entity part management robot, machine
People grabbed by the truss, high accuracy positioning mechanical arm and hand on roof capture storage information storage entity part, robot integrally transports
Line efficiency is high, and relative cost is low, and round-the-clock can use.
Certainly, in order to more clearly state technical scheme of the present invention, progress explanation of nouns is as follows, described information storage
Physical member, including but not limited to archives (or file box), books, image disc, image box and CD etc. are centainly accounted for using having
The entity information storage organization in ground space, and the present invention is especially suitable for be suitble to horizontal positioned physical member.
To achieve the goals above, the present invention adopts the following technical scheme that：
The first object of the present invention is to provide a kind of truss-like information storage entity part management robot, including roof purlin
Frame, positioning mechanical arm and mechanical gripper, wherein：
The truss mechanism is fixed on the roof of the locker room of information storage entity part, can be in room using X-Y coordinate form
Any position movement in plane is pushed up, in the effect of horizontal surface positioning；
The positioning mechanical arm includes fixed part and movable part, and the fixed part end connects with truss installa-tion pedestal
It connects, movable part is connect with mechanical gripper, and movable part can move in vertical plane, together with truss, is combined into X-Y-Z tri-
Coordinate motion system reaches at each cabinet accommodated in locker room；
The mechanical gripper has rotary freedom, inclined to adjust the position between mechanical gripper and information storage entity part
Difference, and the information storage entity part that center of gravity is located at horizontal direction is held up, realize the management of information storage entity part.
Further, include multiple memory spaces being laterally arranged in the cabinet, and memory space is hollow.Such energy
Enough ensure that the center of gravity of storage entity part reduces, the attitude offsets on longitudinal direction or inclination will not occur, robot is deposited in access
It only need to be by the way of lifting when storing up physical member, you can the separation for completing storage entity part and memory space, to complete to access
Management, greatly improve automatic management efficiency, and reduce the structural complexity of robot.
Center of gravity of the information storage entity part in storage box refer in the horizontal direction information storage entity part be length and width and/
Or when high different object, the side where ensureing amount minimum in three parameters of length is located at axial, makes information storage
The integral level of physical member is placed, and ensures that center of gravity is relatively low.
Further, robot can rest in the corner of locker room, the position for not interfering personnel to walk about automatically when standby
It sets.
Further, the mechanical gripper is connect by connecting seat with mechanical arm.
Preferably, the mechanical gripper is platy structure.
Further, the junction of the mechanical gripper and mechanical arm is provided with micro-adjusting mechanism, can adjust mechanical gripper
With the relative angle of mechanical arm.By rotary fine adjustment mechanism, the horizontal attitude of refinement information storage entity part ensures information storage
Physical member is not fallen out during transport.
Further, the junction of the mechanical gripper and mechanical arm is provided with angular transducer.
Preferably, it is provided with weight sensor on the mechanical gripper.
Further, the memory space of the cabinet is adapted with the thickness of information storage entity part to be stored, often
Hollow between certain altitude two holders of placement, two stands, the suspension of information storage entity part lies low between two supports.
Cabinet use goods-shelf type structure, storage entity part is horizontally arranged, and it is corresponding be designed to it is horizontal between
Every, can ensure in this way storage entity part center of gravity reduce, the attitude offsets on longitudinal direction or inclination, robot will not occur
It only need to be by the way of lifting when accessing storage entity part, you can the separation for completing storage entity part and memory space, to
The management for completing access, greatly improves automatic management efficiency, and reduce the structural complexity of robot, does not need
Extremely complex adjustment action and more adjustment time are all paid in crawl every time, while improving the continuation of the journey energy of robot
Power.
The second object of the present invention is to provide the working method based on above-mentioned robot, and robot is needed to capture information storage
When physical member, information storage entity part number to be captured is received, specific location is determined according to number, is adjusted to pair using truss
The X-Y coordinate position for answering cabinet, then makes mechanical gripper drop to corresponding position using mechanical arm, and truss is pushed ahead, and is made
Mechanical gripper is deep into information storage entity part lower part, and mechanical arm rises, and so that mechanical gripper is held up information storage entity part and leaves
Cabinet, truss movement, makes mechanical gripper that information storage entity part be driven to be left from cabinet, moves to and receives position, completes shelves
The crawl of case.
When needing robot to store information storage entity part, information storage entity part is lain on mechanical gripper, machine
Inverse movement when device people is by according to crawl, completes storage process.
Compared with prior art, beneficial effects of the present invention are：
1, the present invention provides a set of systems for solving file management automation application, improve robot and carry out such behaviour
The efficiency of work；
2, the configuration of the present invention is simple, it is highly practical, it is easy to accomplish；
3, the present invention can be applicable in the management of other precious documents, such as in addition to that can apply other than file administration
Books, the automatic management of electronic audiovisual data etc.；
4, the present invention provides the modes that storage entity part is horizontally arranged, and design the interval of corresponding level, this
Sample can ensure that the center of gravity of storage entity part reduces, and the attitude offsets on longitudinal direction or inclination will not occur, robot is depositing
It only need to be by the way of lifting when taking storage entity part, you can the separation for completing storage entity part and memory space, to complete
The management of access greatly improves automatic management efficiency, and reduces the structural complexity of robot, need not be each
Extremely complex adjustment action and more adjustment time are all paid in crawl, while improving the cruising ability of robot.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is overall structure of the present invention；
Fig. 2 is access facility schematic diagram of the present invention；
Fig. 3 is file cabinet structural schematic diagram of the present invention；
Fig. 4 is mechanical arm structural schematic diagram of the present invention；
Fig. 5 is mechanical gripper structural schematic diagram of the present invention.
Wherein, 1, robot truss, 2, mechanical arm, 3, mechanical gripper, 4, file cabinet, 5, archives, 6, mechanical arm link,
7, mechanical arm horizontal adjusting mechanism, 8, mechanical arm arm body, 9, mechanical gripper connecting seat, 10, mechanical gripper micro-adjusting mechanism, 11, machine
Tool handgrip archives supporting plate；
Specific implementation mode：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " shall be understood in a broad sense, and indicate may be a fixed connection,
Can also be to be integrally connected or be detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
In a particular embodiment, it is illustrated by information storage entity part of archives, but not limited to this, can also be preciousness
Document, such as books.
In specific embodiment, mechanical gripper or for mechanical paw etc..
A kind of truss-like file administration robot, as shown in Figure 1, robot by the horizontal movement of truss come control machinery
The horizontal coordinate of arm, by the lifting of mechanical arm come the upright position of control machinery handgrip, mechanical gripper can fine adjustment end
Supporting plate posture, the final automatic management realized robot and archives are taken out and stored from file cabinet.
It specifically,, can be in room using X-Y coordinate form as shown in Figure 1, robot truss 1 is fixed on archive office roof
Any position movement, installation pedestal in plane is pushed up to connect with high-accuracy mechanical arm, the entire mechanical arm of truss mechanism carrying,
The load of mechanical gripper and archives is played the role of positioning in horizontal surface；Mechanical arm 2 links together with robot truss 1,
Can random device people truss 1 do horizontal plane movement, mechanical gripper 3 links together with mechanical arm 2, can be done with mechanical arm 2 vertically
The movement in direction, so far, by the flexible cooperation of three components, it can be achieved that any position in three dimensions of mechanical gripper 3
It is mobile.
High-accuracy mechanical arm fixed part end is connect with truss installa-tion pedestal, and movable part is connect with mechanical gripper, is moved
Dynamic part can move in vertical plane, together with truss, be combined into tri- coordinate motion systems of X-Y-Z；
There are one rotary freedoms for archives mechanical gripper tool, for adjusting the position deviation between mechanical gripper and archives,
And archives can be held up；
Robot can rest in archive office corner or edge, the position for not interfering personnel to walk about automatically when standby.
File cabinet difference and daily common vertical setting of types structure cabinet, for convenience of capturing, archives are by the way of traverse, archives
The partition for storing archives of cabinet is lateral, and partition is intermediate for sky, feet there are two.
As shown in figure 3, the function of the access archives to realize robot, file cabinet 4 need to be fabricated to archives 5 and laterally lie low
The structure of placement, according to the thickness of archives 5, every hollow, shelves between certain altitude two archives holders of placement, two archives holders
The suspension of case 5 lies low between two archives holders.
When needing robot to capture archives, administrative staff need to only issue the number of one archives of robot, and robot is logical
Background system is crossed, archives specific location is determined according to number, the 50th interval of the third cabinet in being arranged such as third, robot
The X-Y coordinate position of this cabinet is adjusted to first with truss, then using mechanical arm make manipulator drop to two archives it
Between interstitial site, then truss push ahead, so that manipulator is deep into archives lower part, mechanical arm rises, and manipulator is made to hold up
Archives leave file cabinet archives feet, and archives are fully reclined on archives manipulator at this time, and then truss moves backward, are machinery
Hand-motion archives leave from file cabinet, and then truss moves, and makes manipulator motion at archives accession window, archivist
Receiving archives complete the crawl of archives；
When needing robot to store archives, what archives control staff need to only lie low archives is placed on mechanical gripper, shelves
Case robot completes the storage process of archives by according to the inverse movement of crawl archives.
Specifically, as shown in Fig. 2, after administrative staff send out the instruction for taking archives, robot first, in accordance with sending out from the background
Position command, 5 coordinate position of target folder is come by robot truss 1 and mechanical arm 2, at this point, mechanical arm 2 rely on vision
Feedback makes mechanical gripper 3 be directed at the gap between two archives 5, and then robot truss 1 travels forward, and mechanical gripper 3 is made to stretch
Enter to the lower part of target folder 5, then mechanical arm 2 moves upwards, and drives mechanical gripper 3 to hold up archives 5, archives 5 is made to leave shelves
4 holder certain altitude of case cabinet, then robot truss 1 move backward, so that archives 5 is left file cabinet 4 completely, then in robot
Under the movement of truss 1, archives 5 are transported to administrator position by robot, are taken for administrator.
When administrator needs to store books, only archives 5 need to lie low is placed on the supporting plate of mechanical gripper 3, then
Archive instructions are sent, robot can complete the archiving process of archives according to the negative actuation for transferring archives.
As shown in figure 4, the mechanical arm link 6 in mechanical arm 2 is T fonts, mechanical arm 2 and robot purlin can be greatly increased
Contact area between frame 1, to improve rigidity of the mechanical arm 2 in 1 motion process of robot truss, it is ensured that mechanical arm 2 is not
It shakes, ensures that archives 5 are not fallen out in transportational process；
As shown in figure 4, mechanical arm 2 further includes mechanical arm level(l)ing mechanism 7, it can be used for 5 placing attitude not timing of archives,
Mechanical gripper 3 can still be directed at archives 5；
As shown in figure 4, the movement of mechanical arm 2 relies primarily on mechanical arm arm body 8, mechanical arm arm body 8 can be used synchronous belt or
The isostructural module of person's ball-screw realizes that technology maturation, buying is conveniently；
As shown in figure 5, mechanical gripper 3 is connect by mechanical gripper connecting seat 9 with mechanical arm 2；Include one on mechanical gripper 3
Mechanical gripper micro-adjusting mechanism 10, this mechanism finely tune the horizontal attitude of archives 5 by rotation, ensure archives 5 during transport not
It can fall；
The present invention realizes archives of the robot under high efficiency, high-precision certainly by simple truss and mechanical arm mechanism
Dynamicization manages, simple in structure, reliable.
The present invention is both provided with the micro-adjusting mechanism for ensureing mechanical arm rigidity and pose on mechanical arm and mechanical gripper, into one
Step ensure that stabilization, safety when robot carries out file accessing.
This invention contemplates a kind of novel archiving cabinets, and the placement that laterally lies low is changed into from traditional vertical placement,
So reduce the difficulty of file accessing.
The present invention can be applied in other similar to books, image data except that can apply in addition to archival automation manages
Deng management, use scope is wide.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
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 truss-like information storage entity part manages robot, it is characterized in that：Including roof truss, positioning mechanical arm and machine
Tool handgrip, wherein：
The truss mechanism is fixed on the upper end of the locker room of information storage entity part, can be planar using X-Y coordinate form
Any position is moved, and is connected with positioning mechanical arm, in the effect of horizontal surface positioning；
The positioning mechanical arm includes fixed part and movable part, and the fixed part end is connect with truss installa-tion pedestal,
Movable part is connect with mechanical gripper, and movable part can move in vertical plane, together with truss, is combined into the seats of X-Y-Z tri-
Kinematic system is marked, is reached at each cabinet accommodated in locker room；
The mechanical gripper has rotary freedom, to adjust the position deviation between mechanical gripper and information storage entity part,
And hold up the information storage entity part that center of gravity is located at horizontal direction.
2. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The cabinet
Interior includes multiple memory spaces being laterally arranged, and memory space is hollow.
3. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：Robot is waiting for
When machine, the edge of locker room is rested in automatically.
4. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The mechanical gripping
Hand is connect by connecting seat with mechanical arm.
5. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The mechanical gripping
Hand is platy structure.
6. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The mechanical gripping
The junction of hand and mechanical arm is provided with micro-adjusting mechanism, can adjust the relative angle of mechanical gripper and mechanical arm.
7. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The mechanical gripping
The junction of hand and mechanical arm is provided with angular transducer.
8. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The mechanical gripping
It is provided with weight sensor on hand.
9. a kind of truss-like information storage entity part as described in claim 1 manages robot, it is characterized in that：The cabinet
Memory space be adapted with the thickness of information storage entity part to be stored, every certain altitude place two holders, two
Hollow between frame, the suspension of information storage entity part lies low between two supports.
10. based on the working method of robot as claimed in any one of claims 1-9 wherein, it is characterized in that：It receives to be captured
Information storage entity part is numbered, and determines its specific location, the X-Y coordinate position of corresponding cabinet is adjusted to using truss, then
Mechanical gripper is set to drop to corresponding position using mechanical arm, truss is pushed ahead, and mechanical gripper is made to be deep into information storage entity
Part lower part, mechanical arm rise, and so that mechanical gripper is held up information storage entity part and leave cabinet, truss movement makes mechanical gripper
It drives information storage entity part to be left from cabinet, moves to and receive position, complete the crawl of archives；
Or, when needing robot to store information storage entity part, information storage entity part is lain on mechanical gripper, machine
Inverse movement when people is by according to crawl, completes storage process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404149.4A CN108748168A (en) | 2018-04-28 | 2018-04-28 | Truss-like information storage entity part manages robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404149.4A CN108748168A (en) | 2018-04-28 | 2018-04-28 | Truss-like information storage entity part manages robot and method |
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| CN108748168A true CN108748168A (en) | 2018-11-06 |
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| CN201810404149.4A Pending CN108748168A (en) | 2018-04-28 | 2018-04-28 | Truss-like information storage entity part manages robot and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113142931A (en) * | 2021-04-13 | 2021-07-23 | 江苏新美星包装机械股份有限公司 | Automatic pot supply device |
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| CN101564241A (en) * | 2009-06-03 | 2009-10-28 | 东北大学 | Document automatic access device and control method |
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| CN104176554A (en) * | 2014-08-28 | 2014-12-03 | 电子科技大学 | Device for file sorting and classifying |
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| DE4028059A1 (en) * | 1990-09-05 | 1992-03-12 | Grau Gmbh & Co Holdingges | AUTOMATIC STORAGE SYSTEM |
| CN1299104A (en) * | 2001-01-05 | 2001-06-13 | 清华大学 | Personal optical disk library system and its automatic data processing method |
| CN101564241A (en) * | 2009-06-03 | 2009-10-28 | 东北大学 | Document automatic access device and control method |
| CN103208158A (en) * | 2013-03-20 | 2013-07-17 | 北京理工大学 | Full automatic storing and borrowing library |
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Address after: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant after: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. Applicant after: STATE GRID SHANDONG ELECTRIC POWER Co. Applicant after: State Grid Corporation of China Address before: 250101 B block 626, Yinhe building, 2008 Xinjie street, Ji'nan high tech Zone, Shandong. Applicant before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. Applicant before: STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: State Grid Corporation of China |
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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) Applicant after: National Network Intelligent Technology Co.,Ltd. Applicant after: STATE GRID SHANDONG ELECTRIC POWER Co. Applicant after: STATE GRID CORPORATION OF CHINA Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. Applicant before: STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: State Grid Corporation of China |
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Effective date of registration: 20201030 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) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 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) Applicant before: National Network Intelligent Technology Co.,Ltd. Applicant before: STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: STATE GRID CORPORATION OF CHINA |
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Application publication date: 20181106 |
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