CN110787935A - Substation insulator RTV uniform spraying system and control method - Google Patents
Substation insulator RTV uniform spraying system and control method Download PDFInfo
- Publication number
- CN110787935A CN110787935A CN201911253568.3A CN201911253568A CN110787935A CN 110787935 A CN110787935 A CN 110787935A CN 201911253568 A CN201911253568 A CN 201911253568A CN 110787935 A CN110787935 A CN 110787935A
- Authority
- CN
- China
- Prior art keywords
- spraying
- insulator
- coating
- spray gun
- surrounding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 182
- 239000012212 insulator Substances 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 174
- 239000007921 spray Substances 0.000 claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000000576 coating method Methods 0.000 claims description 42
- 239000011248 coating agent Substances 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 17
- 238000013135 deep learning Methods 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000001502 supplementing effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000011410 subtraction method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses a substation insulator RTV uniform spraying system, which comprises: the surrounding mechanism and at least one spraying mechanism; the encircling mechanism is in a fan-shaped or annular shape, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the spraying mechanism comprises a spray gun frame used for installing a spray gun, and the spray gun frame can radially reciprocate along the diameter direction of the encircling mechanism. The invention realizes the automatic RTV spraying of the insulator and the spraying is uniform.
Description
Technical Field
The invention belongs to the technical field of live working of transformer substations, and particularly relates to a transformer substation insulator RTV uniform spraying system and a control method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
High-voltage electrical equipment of a transformer substation is mostly installed outdoors, and the surface of equipment operating throughout the year is polluted. Under the influence of atmospheric environment, flashover often occurs under the humid meteorological condition, causing power failure accidents. The method is an effective means for keeping the original insulation level of the equipment, preventing pollution flashover accidents and ensuring the reliable operation of the power grid. RTV spraying of the post insulator of the transformer substation is a method for improving the surface hydrophobicity of the insulator by spraying RTV coating on the surface of the post insulator of the transformer substation, is an effective and necessary anti-pollution flashover means, and has obvious economic and social benefits. At present, the RTV spraying of the post insulator is mainly realized by manual spraying of workers. However, the manual spraying has the problems of paint waste, dependence on experience, poor spraying quality and the like.
Although the related technology of RTV automatic spraying of the insulator has appeared at present, the inventor knows that the concave part of the insulator is easy to have a blind spraying area due to the unique appearance of the insulator, and the uniformity of the spraying is difficult to guarantee.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a system and a control method for uniformly spraying an RTV coating on the surface of an insulator of a transformer substation.
In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
the utility model provides an insulator RTV uniform spraying system of transformer substation, includes: the surrounding mechanism and at least one spraying mechanism; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the spraying mechanism comprises a spray gun frame used for installing a spray gun, and the spray gun frame can radially reciprocate along the diameter direction of the encircling mechanism.
Furthermore, the embracing mechanism is semi-annular and comprises an annular inner cavity and an annular piece capable of moving along the annular inner cavity, and an annular opening is arranged below the annular inner cavity; at least one spraying mechanism is arranged below the encircling mechanism, is connected with the annular piece and can reciprocate along the annular opening along with the annular piece.
Further, the device also comprises a supporting mechanism; the encircling mechanism is connected with the supporting mechanism and can vertically lift relative to the supporting mechanism.
Further, the spray gun frame is connected with the annular piece through a connecting mechanism; the connecting mechanism comprises a connecting rod and a horizontal sliding table, and the direction of the horizontal sliding table is consistent with the diameter direction of the encircling mechanism; wherein, connecting rod one end is connected with the loop forming element, and horizontal slip table is connected to the other end, the spray gun frame can follow horizontal slip table radial reciprocating motion.
Furthermore, be equipped with two spray gun positions that are upper and lower distribution and are used for installing the spray gun on the spray gun frame, and every spray gun position all can with spray gun swivelling joint.
Furthermore, the supporting mechanism is connected with the surrounding mechanism through a connecting bracket; a vertical rack is arranged on one side of the supporting mechanism far away from the surrounding mechanism; the connecting bracket is sleeved outside the supporting mechanism, and a first gear meshed with the rack is arranged on one side far away from the encircling mechanism; the connecting bracket is also provided with a first stepping motor connected with the gear;
one side of the supporting mechanism connected with the encircling mechanism is also provided with a vertical guide groove, and the connecting bracket is provided with a sliding block matched with the guide groove.
Furthermore, one side of the annular inner cavity of the encircling mechanism, which is opposite to the connecting support, is provided with an opening, and the annular part is a ring gear; a second gear meshed with the ring gear is arranged at the position, corresponding to the opening, of the connecting bracket; the connecting bracket is also provided with a second stepping motor connected with the gear;
the upper surface of the annular inner cavity is provided with an annular guide groove, and a sliding block matched with the annular guide groove is arranged on a gear ring of the annular gear.
Further, still include 2 spacing sensors, locate supporting mechanism's top and bottom respectively.
Further, still include range finding sensor, locate on the supporting mechanism base for real-time measurement embraces the height of mechanism.
Further, still include thickness measurement sensor, locate the inboard one end of embracing the mechanism of orientation on the spraying mechanism for the thickness of real-time measurement spraying.
Further, the device also comprises a controller connected with the wireless remote controller.
One or more embodiments provide a spraying control method based on the substation insulator RTV uniform spraying system, which receives a control instruction and executes a spraying task; and the control instruction comprises the surrounding spraying times and speed of the current spraying task.
Further, after each spraying is finished, the spraying tool controller judges the uniformity of the coating, and if the non-uniformity exists, the spraying tool is controlled to move to a corresponding position for coating supplement.
Further, the coating uniformity judgment comprises:
receiving the coating thickness of the current spraying position obtained in real time based on a thickness measuring sensor in the spraying process, the height of the current spraying position obtained based on a distance measuring sensor, and the angle of the current spraying position calculated based on the speed of the circumferential reciprocating motion by taking the initial position of the circumferential reciprocating motion as a reference, so as to obtain the coating thickness of all positions of the insulator to be sprayed;
and judging whether a position with the coating thickness smaller than a set threshold value exists or not, if so, acquiring the corresponding height and angle of the position, and controlling the spraying mechanism to move to the corresponding position for coating supplement.
The above one or more technical solutions have the following beneficial effects:
the spraying mechanism disclosed by the invention moves circumferentially based on the fan-shaped surrounding mechanism, so that the 360-degree all-dimensional spraying of the insulator is realized, and the spraying mechanism can reciprocate radially along the diameter direction of the surrounding mechanism, namely, a spray gun is continuously far away from and close to the insulator in the spraying process, so that the manual spraying is well simulated in the spraying process, the comprehensive coverage of the surface of the insulator is ensured, and the phenomenon of missing coating is avoided;
the spraying mechanism is provided with the two spray guns which are distributed up and down, and the angles of the spray guns are adjustable, so that the spraying system has higher flexibility, and for insulators with different diameters, the spraying quality can be ensured by adjusting the distance between the spraying mechanism and the insulator and the angle between the two spray guns;
according to the invention, the upper part and the lower part of the supporting mechanism are both provided with the limiting sensors, and the distance measuring sensors are arranged on the base of the supporting mechanism, so that double protection is provided for the encircling mechanism, and the encircling mechanism cannot exceed the limiting position;
and the distance measuring sensor also measures the height of the surrounding mechanism in real time, the height is combined with the rotating angle, the current spraying position can be accurately positioned, and the coating thickness measured by the thickness measuring sensor realizes the one-to-one correspondence between the spraying thickness and the insulator spraying position, so that the uniformity detection can be carried out, and the uniformity of the spraying is ensured.
The invention provides a control method integrating deep learning, binocular stereo vision and visual servo technologies, realizes the real-time identification and positioning of the transformer substation insulator and the acquisition of position information based on three-dimensional image semantics, can effectively identify and spray uneven parts, and ensures the quality of RTV spraying.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a perspective view of a spray tool in accordance with one or more embodiments of the invention;
FIG. 2 is a schematic diagram of the connection between the spray tool embracing mechanism and the spray mechanism in accordance with one or more embodiments of the present invention;
FIG. 3 is an enlarged view of a portion of the injection mechanism in accordance with one or more embodiments of the present disclosure;
FIG. 4 is a schematic view of a spray tool module connection in accordance with one or more embodiments of the invention;
FIG. 5 is a schematic diagram of a remote control according to one or more embodiments of the present invention;
FIG. 6 is a flow chart for controlling a spray tool to perform a spray operation based on a wireless remote control in accordance with one or more embodiments of the present invention;
the device comprises a support mechanism 1, a surrounding mechanism 2, a spraying mechanism 3, an installation base 4, a connecting support 5, a first stepping motor 6, a ring gear 7, a rotating gear 8, a second stepping motor 9, a spray gun frame 10, a spray gun 11, a spray gun 12, a connecting rod 13, a horizontal sliding table 14, an electric cylinder 14, a proximity switch 15, a distance measuring sensor 16, a vertical connecting rod 17 and a spray gun position 18.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
The embodiment discloses insulator RTV uniform spraying system of transformer substation, as figure 1, include: the device comprises a supporting mechanism 1, an encircling mechanism 2 and at least one spraying mechanism 3; the surrounding mechanism 2 is connected with the supporting mechanism 1 and can perform vertical lifting motion relative to the supporting mechanism 1. The surrounding mechanism 2 is in a fan-shaped or annular shape, at least one spraying mechanism 3 is arranged on the surrounding mechanism 2, and the spraying mechanism 3 can perform circumferential reciprocating motion along the surrounding mechanism 2 to perform RTV spraying; the spraying mechanism 3 comprises a spray gun rack 10 for mounting a spray gun 11, and the spray gun rack can radially reciprocate along the diameter direction of the encircling mechanism 2.
The RTV spraying tool further comprises a mounting base 4 for mounting the RTV spraying tool on a robot operation terminal. In particular, the support mechanism 1 is fixedly connected to a mounting base 4, the mounting base 4 is used for bearing the weight of the RTV painting tool, and can be fixed to a lifting platform of the robot during the painting operation, so that the lifting platform can bring the painting device to a high position to contact the post insulator. Therefore, the mounting base is provided with a connecting structure such as a connecting hole for connecting with the lifting platform.
The supporting mechanism 1 is connected with the surrounding mechanism 2 through a connecting bracket 5. Specifically, a sliding rod is vertically arranged on the supporting mechanism 1, one end of the connecting support 5 is a sliding block sleeved on the sliding rod, and the other end of the connecting support is connected with the encircling mechanism 2. The upper and lower sliding of the sliding block of the connecting bracket 5 on the supporting mechanism 1 drives the embracing mechanism 2 to move up and down relative to the supporting mechanism 1. Can move up and down along the supporting mechanism 1 under the driving of the first stepping motor 6, thereby driving the connecting bracket 5 and the embracing mechanism 2 to move up and down. It will be appreciated by those skilled in the art that the connection between the connection mechanism and the support mechanism 1 is not limited to the manner of a slide bar and a slide block, and any other manner capable of achieving the up-and-down movement of the connection mechanism relative to the support mechanism 1 may be adopted.
The embracing mechanism 2 includes an embracing frame, a ring gear 7, a second stepping motor 9, and a rotary gear 8. Wherein, the surrounding frame is in a semi-ring shape and is provided with a semi-ring inner cavity, and two end parts of the surrounding frame are in an opening shape. The ring gear 7 is disposed in the inner cavity of the surrounding frame, and one side of the gear is exposed through an opening disposed on a side surface of the surrounding frame (in this embodiment, the ring gear 7 is an outer ring gear 7, so the side surface is an outer side surface, but not limited thereto), and the ring gear 7 is also semi-annular and can horizontally move in the inner cavity of the surrounding frame to penetrate through the end portion of the surrounding frame. The connecting bracket 5 is also provided with a rotary gear 8 and a second stepping motor 9 for driving the gear. The rotating gear 8 is engaged with the ring gear 7 exposed through the opening on the outer side surface of the embracing bracket to form a second transmission pair, and the second transmission pair can drive the ring gear 7 to horizontally rotate around the axis of the embracing bracket (namely, the axis of the ring where the embracing bracket is located) in the inner cavity of the embracing bracket under the driving of a second stepping motor 9.
In this embodiment, the surrounding frame, the ring gear 7 and the rotating gear 8 are made of insulating materials to perform an insulating protection function. The mechanism frame is formed by welding hard aluminum alloy.
The bottom surface of the encircling frame is provided with an annular sliding groove, and two ends of the encircling frame are not blocked. The two spraying mechanisms 3 are respectively arranged below the encircling mechanism 2 and are respectively connected with two ends of a ring gear 7 in an inner cavity of the encircling frame, and when the ring gear 7 is driven to rotate, the two spraying mechanisms 3 can be driven to horizontally rotate around the axis of the encircling support along the annular sliding groove. Because the two ends of the encircling frame and the annular sliding groove are not blocked, the annular gear 7 drives the two spraying mechanisms 3 to rotate, so that the 360-degree spraying of the pillar insulation can be realized.
In order to limit the running position of the ring gear 7 in the encircling support and prevent the ring gear from moving in the encircling support and deviating from the running position so as not to be tightly matched with the encircling support, a T-shaped guide groove is arranged at the top of an inner cavity of the encircling support, and a T-shaped sliding block matched with the T-shaped guide groove is arranged on a gear ring of the ring gear 7; the positioning and sliding of the gear ring are realized through the T-shaped guide groove, so that the positioning of the gear ring can be realized, the friction resistance in the motion process can be reduced, and the head warping phenomenon of the encircling mechanism 2 in the motion process is avoided.
Referring to fig. 2 to 3, the spray mechanism 3 includes a connection mechanism, a gun rest 10, and a spray gun. The connecting mechanism comprises a connecting rod and a horizontal sliding table 13, the direction of the horizontal sliding table 13 is consistent with the diameter direction of the encircling mechanism 2, the connecting rod is connected with the ring gear 7, and a horizontal sliding rod is arranged below the horizontal sliding table 13; the spray gun rack 10 is connected with the connecting mechanism through a sliding block sleeved on the horizontal sliding rod. The spray gun rack 10 comprises two spray gun positions 18, and the two spray gun positions 18 are distributed up and down. The two lance positions 18 are used for mounting the lance and are both rotatably connected to the lance. In practical application, the two spray guns form an acute angle along the axis of the gun head direction. And an electric cylinder 14 is arranged at one end of the horizontal sliding table 13, which is positioned outside the surrounding mechanism 2, and is used for driving the sliding block to drive the spray gun to do radial reciprocating motion and to be close to and far away from the insulator, so that the manual spraying process is simulated, and the RTV paint with the same thickness can be sprayed at the edge and the center of the insulator. Surround the insulator outside of locating of mechanism 2 cover, through the rotation of surrounding mechanism 2 and the spraying of RTV spray gun, can realize the insulating 360 degrees spraying of pillar.
Specifically, the spray gun rack 10 includes a vertical connecting rod connected with the sliding block, two spray gun positions 18 are connected below the connecting rod, and the two spray gun positions 18 are respectively located at two sides of the sliding rod in the direction and are distributed up and down. It will be appreciated by those skilled in the art that the connection of the horizontal linkage to the spray gun stand 10 is not limited to a slide bar and a slide block, and any other means that enables the linkage to move up and down relative to the support mechanism 1 may be used.
The radial movement of the spraying mechanism 3 and the adjustable angle of the spray guns enable the spraying system to be more flexible and applicable to insulators with different diameters, and the spraying quality is guaranteed by adjusting the distance between the spraying mechanism 3 and the insulator and the angle between the two spray guns.
In the embodiment, two spray guns are arranged and distributed up and down, and the two spray guns form an acute angle along the axis of the gun head direction. The arrangement of the two spray guns can realize the double-sided dead-angle-free spraying of the insulator. The spray gun can realize radial reciprocating motion, and the edge and the center of the insulator can be sprayed with RTV paint with the same thickness. Surround the insulator outside of locating of mechanism 2 cover, through the rotation of surrounding mechanism 2 and the spraying of RTV spray gun, can realize the insulating 360 degrees spraying of pillar.
When the ring gear 7 rotates 90 degrees from the initial position (i.e. the ring gear 7 is completely positioned in the encircling support, and the two spraying mechanisms 3 are respectively positioned at two end parts of the encircling support), the proximity switch 15 senses the metal electric cylinder 14 of the spraying mechanism 3 close to the central position of the encircling support, the proximity switch 15 immediately sends an electric signal to the motor controller to commutate the second stepping motor 9, so that the rotating gear 8 turns, and the ring gear 7 is driven to rotate reversely. When the ring gear 7 rotates 180 degrees in the reverse direction, the proximity switch 15 senses the other electric cylinder 14, sends an electric signal to the motor controller, and enables the second stepping motor 9 to commutate again, so that the reciprocating circulation is carried out, and the spray gun continuously rotates around the insulator in the axial reciprocating manner. Thereby realized 3 circumference's of spraying mechanism reciprocal, guaranteed the abundant spraying of insulator.
In order to guarantee the safety of the spraying tool and facilitate accurate control, the spraying tool is further provided with a distance measuring sensor 16, a limiting sensor and a thickness measuring sensor.
The distance measuring sensor 16 is arranged on the mounting base and used for measuring the distance of the embracing mechanism 2 moving up and down in real time, on one hand, the quality of RTV spraying in the process of RTV spraying in uniform motion is guaranteed, on the other hand, the maximum movable distance of the embracing mechanism 2 is limited to ensure that the embracing mechanism 2 cannot exceed the limit position, and therefore the spraying tool is protected.
The number of the limiting sensors is 2, the limiting sensors are respectively arranged at the top end and the bottom end of the supporting mechanism 1 and used for limiting the limit positions of the surrounding mechanism 2 in up-and-down motion.
Laser range finder and spacing sensor provide duplicate protection for the spraying instrument, if laser sensor damages or when breaking down, spacing sensor can protect environmental protection mechanism can not surpass extreme position.
The thickness measuring sensor is arranged on the spraying mechanism 3 and used for monitoring the thickness of spraying in real time. When the encircling mechanism 2 rotates, the thickness measuring sensor can monitor the distance between the sensor and the surface of the insulator in real time, data is transmitted to the control system, the thickness of the coating can be calculated in real time, and the thickness of the coating at each angle position can be recorded according to the rotating angle.
Referring to fig. 4, an ARM controller is further arranged on the RTV spraying tool, and the ARM controller is connected with the thickness measuring sensor, the distance measuring sensor 16, the limit sensor, the stepping motor driver and the stepping motor encoder. The output signals of the thickness measuring sensor and the distance measuring sensor 16 are 0-10V voltage, and are converted into 0-3.3V voltage through a circuit, and the voltage enters an AD input interface of the ARM controller, so that the thickness and the distance are measured. The limit sensor is a switching value signal, is connected with an IO port of the ARM controller after signal processing, and is used for judging whether the RTV spraying tool runs to a limit position.
The stepping motor driver is connected with the stepping motor, the stepping motor is connected with the stepping motor encoder, and the encoded data is fed back to the ARM controller, so that double-loop closed-loop control of a speed loop and a position loop of the stepping motor is realized. And the step motor driver receives the instruction sent by the ARM controller, and accurately controls the step motor to complete the accurate motion control of the RTV spraying tool.
Still be equipped with wireless receiver on the RTV spraying instrument, in this embodiment, wireless receiver adopts DC24V power supply, and communication interface is RS485, Modbus RTU. The wireless receiver is connected with the ARM controller through RS 485.
The wireless receiver is also connected with a wireless remote controller through wireless radio frequency. Referring to fig. 5, the wireless remote controller of the RTV spraying mechanism 3 mainly includes a universal three-axis analog measuring rod for controlling the upper and lower surrounding movements of the RTV spraying tool; an analog potentiometer mainly used for controlling the movement speed of each movement joint; four switching value buttons, namely a power switch, manual/automatic mode selection, left radial movement and right radial movement; a power indicator light, a signal indicator light; a scram switch. The power indicator light is used for indicating the opening and closing of the power switch, and the signal indicator light represents the data transmission between the wireless remote controller and the wireless receiver. The wireless remote controller is powered by a lithium battery.
In order to further ensure the uniformity of spraying, in the encircling mechanism 2, two cameras are arranged on the encircling frame, and the two cameras are positioned on the same diameter of the circle where the encircling mechanism 2 is positioned, namely, positioned at two ends of the semicircular encircling frame respectively. The two cameras have the same resolution (resolution is M multiplied by N), the lens directions are opposite, and the two cameras can acquire images in the surrounding range. The two cameras are used for identifying and positioning the insulator and the parts which are not sprayed on the insulator. And the uneven part of the spraying is fed back to the controller, and the controller controls the spraying mechanism to reach the appointed position without additional coating, thereby ensuring the RTV spraying quality.
Specifically, the two cameras are RGBD cameras. And in combination with a deep learning method, depth recovery and three-dimensional image reconstruction are performed according to the images acquired by the two cameras. The insulator in the three-dimensional image and the part of the insulator which is not uniformly sprayed are identified and positioned by the transformer substation equipment autonomous identification detection algorithm based on the three-dimensional image semantics.
And a visual servo system is constructed by a shooting technology of moving objects of the scanning mirror based on a background subtraction method, so that the insulator of the transformer substation and the non-uniform parts sprayed on the insulator are tracked at high speed in real time, and finally, the insulator of the transformer substation is identified and positioned in real time and the position information is obtained.
Fixing a spraying tool on a working terminal of an operating robot, wherein the spraying process based on the spraying tool is as follows:
step 1: the position of the robot and the posture of the lifting platform are adjusted, and the insulator to be sprayed is located in the range surrounded by the surrounding mechanism 2 through video auxiliary adjustment acquired by the two cameras on the surrounding mechanism 2.
Step 2: starting the wireless remote controller, and establishing connection between the wireless remote controller and the RTV spraying tool; and the RTV spraying tool receives the control command sent by the wireless remote controller, and spraying is completed. See 6, the specific procedure is as follows:
firstly, selecting a working mode: manual/automatic;
when the spraying mode is in the automatic spraying mode, the RTV spraying tool carries out surrounding spraying from top to bottom, and gradually moves downwards to carry out horizontal spraying after 360-degree spraying is finished; those skilled in the art will appreciate that the thickness of each layer of insulator can be determined by presetting the number and speed of the surrounding spray.
When the spraying mechanism is in a manual spraying mode, the RTV spraying mechanism 3 is controlled to move up and down or move around through a wireless remote control system, and the radial reciprocating motion can be opened or closed. The speed of up-and-down movement is determined through the universal three-axis analog measuring rod, and the spraying thickness of each layer of insulator is mastered by controlling the surrounding spraying times and speed.
On the basis of spraying thickness based on spraying number of times and speed control, in order to further improve the homogeneity, in the spraying instrument from top to bottom and rotatory spraying process, the spraying instrument controller still judges whether inhomogeneous place exists, treats this spraying and accomplishes after, controls the spraying instrument and moves the assigned position and carry out the repainting, specifically includes:
the coating thickness of the current spraying position is obtained in real time based on the thickness measuring sensor;
meanwhile, the height of the current spraying position is obtained based on the distance measuring sensor 16; calculating the rotation angle of the current spraying position based on the speed of the circumferential reciprocating motion by taking the initial position of the circumferential reciprocating motion as a reference;
after the spraying task is completed, obtaining the thicknesses of the coatings of all positions of the insulator to be sprayed, judging whether the positions with the thicknesses of the coatings smaller than a set threshold exist, if so, obtaining the corresponding height and angle of the positions, and if not, obtaining the heights and angles of the positions; wherein, the set threshold value can be set as the average value of all the spraying thicknesses;
and controlling the spraying mechanism 3 to return to each position to be subjected to coating supplementing in sequence, monitoring the thickness in real time based on a thickness measuring sensor in the coating supplementing process of each position to be subjected to coating supplementing, and finishing coating supplementing at the position when the set threshold is reached.
In the spraying process, acquiring images of the insulator shot by the two cameras in real time, judging whether the insulator is positioned in the center of the range surrounded by the surrounding mechanism or not, and if the insulator is deviated from the center, adjusting the position of the surrounding mechanism relative to the insulator until the insulator is positioned in the center of the range surrounded by the surrounding mechanism; and performing stereo matching by combining with deep learning, recovering three-dimensional information, judging whether uneven parts exist or not according to the three-dimensional information, if so, acquiring the corresponding height and angle of the position, and controlling the spraying mechanism to move to the corresponding position for coating supplement.
Further, those skilled in the art can understand that on the basis of judging the uneven spraying position based on the thickness measured by the thickness sensor, the embodiment further combines the binocular vision technology to obtain the uneven spraying position, and performs the coating compensation on the positions obtained in the two modes, and in the coating compensation process, the thickness is monitored in real time based on the thickness sensor, and when the set threshold is reached, the coating compensation at the position is finished.
The limit sensor adopts a Keynes PZ-G strong light type photoelectric sensor, the detection distance is 300mm, the reaction time is 500us, and the input and output circuit is PNP output. The distance measuring sensor 16 adopts a SICK mid-range distance sensor Dx35, the measuring range is adjustable from 50mm to 12000mm, the resolution is 0.1mm, and the output can be 4-20mA or 0-10V. The thickness measuring sensor adopts a Ginzhi IL-600CMOS laser displacement sensor, the measuring range from a sensor probe is 200mm-1000mm, and the measuring distance is 800 mm. The measuring accuracy is 50um for measure the distance between sensor and the insulator before and after the RTV spraying to calculate the thickness of RTV spraying.
The stepping motors are selected from 42 series stepping motors and 86 series stepping motors, the 42 series stepping motors are adopted for radial reciprocating motion, the lead is 5mm, and the stroke is 150 mm; the vertical direction movement adopts 86 series stepping motors, the lead is 5mm, and the stroke is 750 mm. The step motor driver adopts 32 subdivision step motor drivers, and the step motor encoder adopts a 600-wire encoder. The encoder collects the motion data of the stepping motor and feeds the motion data back to the ARM controller, and PID closed-loop control is formed.
The ARM controller adopts an STM32F407IGT6 chip, an isolation output and input circuit, a common mode rejection circuit, a plug-in wiring terminal and a stepping motor interpolation algorithm are designed in the circuit to control the motion of each shaft of the stepping motor.
The wireless receiver mainly comprises a receiving antenna, a wireless receiving controller and a wireless receiving data power line, wherein the wireless receiving data power line mainly comprises DC24V +, DC24V-, RS-485A +, RS-485B-and GND.
One or more of the above embodiments have the following technical effects:
the spraying mechanism disclosed by the invention moves circumferentially based on the surrounding mechanism, so that the 360-degree all-dimensional spraying of the insulator is realized, and the spraying mechanism can reciprocate radially along the diameter direction of the surrounding mechanism, namely, a spray gun is continuously far away from and close to the insulator in the spraying process, so that the manual spraying is well simulated in the spraying process, the comprehensive coverage of the surface of the insulator is ensured, and the phenomenon of missing coating is avoided;
the spraying mechanism is provided with the two spray guns which are distributed up and down, and the angles of the spray guns are adjustable, so that the spraying system has higher flexibility, and for insulators with different diameters, the spraying quality can be ensured by adjusting the distance between the spraying mechanism and the insulator and the angle between the two spray guns;
according to the invention, the upper part and the lower part of the supporting mechanism are both provided with the limiting sensors, and the distance measuring sensors are arranged on the base of the supporting mechanism, so that double protection is provided for the encircling mechanism, and the encircling mechanism cannot exceed the limiting position;
and the distance measuring sensor also measures the height of the surrounding mechanism in real time, the height is combined with the rotating angle, the current spraying position can be accurately positioned, and the coating thickness measured by the thickness measuring sensor realizes the one-to-one correspondence between the spraying thickness and the insulator spraying position, so that the uniformity detection is carried out, and the spraying uniformity is ensured.
The invention provides a control method integrating deep learning, binocular stereo vision and visual servo technologies, realizes the real-time identification and positioning of the transformer substation insulator and the acquisition of position information based on three-dimensional image semantics, can effectively identify and spray uneven parts, and ensures the quality of RTV spraying.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (13)
1. The utility model provides an insulator RTV uniform spraying system of transformer substation which characterized in that includes: the surrounding mechanism and at least one spraying mechanism; the encircling mechanism is in a fan-shaped or annular shape with a central angle not less than 180 degrees, at least one spraying mechanism is arranged on the encircling mechanism, and the spraying mechanism can perform circumferential reciprocating motion along the encircling mechanism; the spraying mechanism comprises a spray gun frame used for installing a spray gun, and the spray gun frame can radially reciprocate along the diameter direction of the encircling mechanism.
2. The substation insulator RTV uniform spraying system of claim 1, wherein the surrounding mechanism is semi-annular and comprises an annular inner cavity and an annular piece capable of moving along the annular inner cavity, and an annular opening is formed below the annular inner cavity; at least one spraying mechanism is arranged below the encircling mechanism, is connected with the annular piece and can reciprocate along the annular opening along with the annular piece.
3. The substation insulator RTV uniform spraying system of claim 1, further comprising a support mechanism; the encircling mechanism is connected with the supporting mechanism and can vertically lift relative to the supporting mechanism.
4. The substation insulator RTV uniform spraying system of claim 2, wherein the spray gun rack is connected with the ring-shaped member through a connecting mechanism; the connecting mechanism comprises a connecting rod and a horizontal sliding table, and the direction of the horizontal sliding table is consistent with the diameter direction of the encircling mechanism; wherein, connecting rod one end is connected with the loop forming element, and horizontal slip table is connected to the other end, the spray gun frame can follow horizontal slip table radial reciprocating motion.
5. The substation insulator RTV uniform spraying system of claim 2, wherein the spray gun rack is provided with two spray gun positions which are distributed up and down and used for installing the spray gun, and each spray gun position can be rotatably connected with the spray gun.
6. The substation insulator RTV uniform spraying system of claim 2, wherein the support mechanism is connected with the surrounding mechanism through a connecting bracket; a sliding rod is vertically arranged on the supporting mechanism, one end of the connecting bracket is a sliding block sleeved on the sliding rod, and the other end of the connecting bracket is connected with the encircling mechanism; the slider is connected with a first stepping motor.
7. The substation insulator RTV uniform spraying system of claim 1, wherein the side of the annular inner cavity of the surrounding mechanism opposite to the connecting support is open, and the annular member is a ring gear; a second gear meshed with the ring gear is arranged at the position, corresponding to the opening, of the connecting bracket; the connecting bracket is also provided with a second stepping motor connected with the gear;
the upper surface of the annular inner cavity is provided with an annular guide groove, and a sliding block matched with the annular guide groove is arranged on a gear ring of the annular gear.
8. The substation insulator RTV uniform spraying system of claim 1, further comprising a thickness measuring sensor disposed at an end of the spraying mechanism facing the inside of the surrounding mechanism for measuring the thickness of the spraying in real time.
9. The substation insulator RTV uniform spraying system of claim 8, wherein the surrounding mechanism is provided with two cameras, and the two cameras face towards the surrounding range and are used for monitoring the position of the insulator and the spraying uniformity in real time.
10. A spraying control method based on the substation insulator RTV uniform spraying system of any one of claims 1-9 is characterized by receiving a control command and executing a spraying task; the control instruction comprises the surrounding spraying times and speed of the current spraying task;
and in the spraying process, acquiring images of the insulator shot by the two cameras in real time, judging whether the insulator is positioned in the center of the range surrounded by the surrounding mechanism, and if the insulator deviates from the center, adjusting the position of the surrounding mechanism relative to the insulator until the insulator is positioned in the center of the range surrounded by the surrounding mechanism.
11. The coating control method according to claim 12, wherein the coating tool controller performs the coating uniformity judgment after each coating is completed, and controls the coating tool to move to a corresponding position for the additional coating if there is an unevenness.
12. The coating control method of claim 11, wherein the coating uniformity determination is based on insulator images taken by two cameras:
in the spraying process, insulating subimages shot by the two cameras are acquired in real time, deep learning is combined for stereo matching, three-dimensional information is recovered, whether uneven parts exist is judged according to the three-dimensional information, if the uneven parts exist, the corresponding height and angle of the positions are acquired, and the spraying mechanism is controlled to move to the corresponding positions for coating supplement.
13. The coating control method according to claim 11, wherein the coating uniformity judgment is made based on a thickness sensor:
receiving the coating thickness of the current spraying position obtained in real time based on a thickness measuring sensor in the spraying process, the height of the current spraying position obtained based on a distance measuring sensor, and the angle of the current spraying position calculated based on the speed of the circumferential reciprocating motion by taking the initial position of the circumferential reciprocating motion as a reference, so as to obtain the coating thickness of all positions of the insulator to be sprayed;
and judging whether a position with the coating thickness smaller than a set threshold value exists or not, if so, acquiring the corresponding height and angle of the position, and controlling the spraying mechanism to move to the corresponding position for coating supplement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253568.3A CN110787935A (en) | 2019-12-09 | 2019-12-09 | Substation insulator RTV uniform spraying system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253568.3A CN110787935A (en) | 2019-12-09 | 2019-12-09 | Substation insulator RTV uniform spraying system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110787935A true CN110787935A (en) | 2020-02-14 |
Family
ID=69448057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911253568.3A Pending CN110787935A (en) | 2019-12-09 | 2019-12-09 | Substation insulator RTV uniform spraying system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110787935A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644300A (en) * | 2020-06-22 | 2020-09-11 | 刘根深 | Quick paint spraying maintenance equipment for outdoor traffic indication column |
| CN111871663A (en) * | 2020-08-04 | 2020-11-03 | 国网山东省电力公司电力科学研究院 | Insulating paint brushing device and using method |
| CN112705386A (en) * | 2020-12-23 | 2021-04-27 | 广东冠能电力科技发展有限公司 | Spray gun device of rotary spraying device |
| CN113019784A (en) * | 2021-04-29 | 2021-06-25 | 醴陵市高力特电瓷电器有限公司 | Coating device for insulator |
| CN113751239A (en) * | 2021-09-10 | 2021-12-07 | 国网山东省电力公司枣庄供电公司 | Novel 110kVGIS outlet sleeve insulator spraying RTV device |
| CN114505195A (en) * | 2022-02-25 | 2022-05-17 | 江苏晶瑞玻璃有限公司 | Paint spraying apparatus is used in glass bottle processing |
| CN114589135A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司济南供电公司 | Live-line radial feeding cleaning device, robot and method for transformer substation insulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070199506A1 (en) * | 2006-02-28 | 2007-08-30 | Csl Silicones Inc. | Method and apparatus for automated coating of electrical insulators with a silicone composition |
| CN205550650U (en) * | 2016-04-27 | 2016-09-07 | 南方电网科学研究院有限责任公司 | Automatic spraying device for spraying RTV coating |
| CN207663857U (en) * | 2017-12-29 | 2018-07-27 | 华蓥市海通电子科技有限公司 | A kind of high-definition data line insulating layer spray equipment |
| CN207802141U (en) * | 2018-01-26 | 2018-08-31 | 东莞市全视光电科技有限公司 | A kind of camera module |
| CN108787263A (en) * | 2018-09-06 | 2018-11-13 | 华北电力大学（保定） | A kind of on-line automatic paint finishing of insulator |
| CN109449819A (en) * | 2018-10-31 | 2019-03-08 | 国家电网有限公司 | A kind of insulator surface on-Line Monitor Device |
| CN209271749U (en) * | 2018-10-29 | 2019-08-20 | 浙江国自机器人技术有限公司 | A kind of cable spray robot that cable is visual |
| CN110485684A (en) * | 2019-09-19 | 2019-11-22 | 云和县凯毅德电子设备厂 | A kind of wall surface spraying device of external wall |
-
2019
- 2019-12-09 CN CN201911253568.3A patent/CN110787935A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070199506A1 (en) * | 2006-02-28 | 2007-08-30 | Csl Silicones Inc. | Method and apparatus for automated coating of electrical insulators with a silicone composition |
| CN205550650U (en) * | 2016-04-27 | 2016-09-07 | 南方电网科学研究院有限责任公司 | Automatic spraying device for spraying RTV coating |
| CN207663857U (en) * | 2017-12-29 | 2018-07-27 | 华蓥市海通电子科技有限公司 | A kind of high-definition data line insulating layer spray equipment |
| CN207802141U (en) * | 2018-01-26 | 2018-08-31 | 东莞市全视光电科技有限公司 | A kind of camera module |
| CN108787263A (en) * | 2018-09-06 | 2018-11-13 | 华北电力大学（保定） | A kind of on-line automatic paint finishing of insulator |
| CN209271749U (en) * | 2018-10-29 | 2019-08-20 | 浙江国自机器人技术有限公司 | A kind of cable spray robot that cable is visual |
| CN109449819A (en) * | 2018-10-31 | 2019-03-08 | 国家电网有限公司 | A kind of insulator surface on-Line Monitor Device |
| CN110485684A (en) * | 2019-09-19 | 2019-11-22 | 云和县凯毅德电子设备厂 | A kind of wall surface spraying device of external wall |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644300A (en) * | 2020-06-22 | 2020-09-11 | 刘根深 | Quick paint spraying maintenance equipment for outdoor traffic indication column |
| CN111644300B (en) * | 2020-06-22 | 2021-06-15 | 刘根深 | Quick paint spraying maintenance equipment for outdoor traffic indication column |
| CN111871663A (en) * | 2020-08-04 | 2020-11-03 | 国网山东省电力公司电力科学研究院 | Insulating paint brushing device and using method |
| CN114589135A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司济南供电公司 | Live-line radial feeding cleaning device, robot and method for transformer substation insulator |
| CN112705386A (en) * | 2020-12-23 | 2021-04-27 | 广东冠能电力科技发展有限公司 | Spray gun device of rotary spraying device |
| CN113019784A (en) * | 2021-04-29 | 2021-06-25 | 醴陵市高力特电瓷电器有限公司 | Coating device for insulator |
| CN113751239A (en) * | 2021-09-10 | 2021-12-07 | 国网山东省电力公司枣庄供电公司 | Novel 110kVGIS outlet sleeve insulator spraying RTV device |
| CN114505195A (en) * | 2022-02-25 | 2022-05-17 | 江苏晶瑞玻璃有限公司 | Paint spraying apparatus is used in glass bottle processing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110787935A (en) | Substation insulator RTV uniform spraying system and control method | |
| CN110899027B (en) | Transformer substation insulator anti-pollution flashover coating spraying robot system and spraying method | |
| CN110961289B (en) | Transformer substation insulator anti-pollution flashover coating spraying tool and spraying method | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| CN102880179B (en) | Multifunctional intelligent crusing robot in a kind of electric power tunnel | |
| US20210223297A1 (en) | Live detection method and apparatus for a high-voltage switch cabinet | |
| CN105234943B (en) | A kind of industrial robot teaching device and method of view-based access control model identification | |
| CN106695748B (en) | A kind of double mechanical arms hot line robot | |
| CN107443355B (en) | Mechanical arm for detecting partial discharge of switch cabinet and control method | |
| CN106391373B (en) | A kind of insulator on-line spray control system and robot | |
| CN109590139B (en) | Multi-shaft linkage spraying device and method for thermal barrier coating on surface of special-shaped structural member | |
| CN107030693B (en) | A kind of hot line robot method for tracking target based on binocular vision | |
| CN110883764B (en) | Transformer substation insulator live working robot system and method | |
| CN106060527B (en) | A kind of method and apparatus of extension binocular camera orientation range | |
| CN106595762B (en) | A kind of hot line robot strain insulator detection method | |
| CN110586364B (en) | Industrial spraying robot based on video acquisition | |
| US20240139767A1 (en) | Movable electro-hydraulic composite drive spraying robot with large working space | |
| CN113561199A (en) | Transformer substation inspection robot with lifting type holder and mechanical arm | |
| CN111238379A (en) | Construction measuring equipment | |
| CN206192911U (en) | A manipulator device for surface defect detection | |
| CN112058556A (en) | Antifouling sudden strain of a muscle coating spraying instrument of transformer substation's insulator and robot | |
| CN111438022A (en) | Intelligent paint room based on teaching technology | |
| CN110802608A (en) | Live working robot and positioning method of high-voltage cable | |
| CN114274152A (en) | All-round robot of patrolling and examining | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200214 |