CN114536410B - Insulation protection structure for live working robot - Google Patents
Insulation protection structure for live working robot Download PDFInfo
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- CN114536410B CN114536410B CN202210032314.4A CN202210032314A CN114536410B CN 114536410 B CN114536410 B CN 114536410B CN 202210032314 A CN202210032314 A CN 202210032314A CN 114536410 B CN114536410 B CN 114536410B
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- rack
- worm
- working robot
- frame
- insulation
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- 238000009413 insulation Methods 0.000 title claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000007306 turnover Effects 0.000 claims description 15
- 238000013016 damping Methods 0.000 claims description 4
- 239000012212 insulator Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Building Awnings And Sunshades (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an insulating protection structure for a live working robot, which comprises a working robot body and a lifting platform, wherein the working robot body is connected with the lifting platform through an insulating frame, the insulating frame comprises a plurality of insulating rods, and a plurality of water-break guide bars which are obliquely arranged relative to the axis of the insulating rods are arranged on the outer side wall of the insulating rods. The invention provides an insulation protection structure for a live working robot, which is reliable and can be operated in rainy days.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to an insulation protection structure for a live working robot.
Background
Live working refers to carrying out testing, overhaul and other operations on a high-voltage power transmission cable and auxiliary equipment thereof under the condition of no power outage, and is an effective operation method for avoiding power failure during overhaul so as to ensure normal power supply. With the rapid development of the power grid, the live working of the ultra-high voltage and ultra-high voltage power transmission line is used as an important guarantee for the power supply reliability of the power grid, and the importance of the live working is increasingly outstanding.
At present, domestic live working robot can't operate in the rainy day owing to insulation protection structure's restriction, has restricted live working robot's accommodation. Therefore, there is a need for an insulation protection structure for a live working robot, which demonstrates the reliability of the insulation protection structure, so that the live working robot can operate in a rainy day.
Disclosure of Invention
The invention provides an insulation protection structure for a live working robot, which aims to solve the problem that the live working robot in the prior art cannot be practically used in a rainy day, and the reliability of the insulation protection structure is ensured, so that the live working robot can operate in the rainy day.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an insulating protective structure for live working robot, includes operation robot body and lift platform, and operation robot body and lift platform pass through the insulating frame and connect, and the insulating frame includes a plurality of insulator spindle, is equipped with a plurality of water-break conducting bar that sets up for the axis slope of insulator spindle on the insulator spindle lateral wall.
In the above technical solution, the inclination directions of the water-break guide bars may be the same or different. The mount of work robot can contact the high-voltage circuit in the operation in-process, needs to pass through the insulator spindle disconnection with lift platform, and live working robot if when operating in the rainy day, the rainwater can flow down along the insulator spindle, if the rainwater flows down along the insulator spindle in succession, has the risk of conveying the lift platform of below with the electric current. Through the water-break conducting bar, the water flow is transversely disconnected, and the outside is led, so that the upper water flow and the lower water flow cannot be connected into one, the current is disconnected from the transmission route, the fact that rainwater can not lead the operation robot body to be communicated with the lifting platform is guaranteed, the reliability of the insulation protection structure is guaranteed, and the live working robot can operate in rainy days is guaranteed.
Preferably, a plurality of water-break guide bars are arranged along the axial direction of the insulating rod, and adjacent water-break guide bars are arranged in a staggered manner on the axial projection surface of the insulating rod. The structure can ensure that the water flow can be disconnected at all circumferential positions.
Preferably, the lower ends of the water-break guide bars are suspended in the insulating rod. The structure can ensure that water flows along the water-break guide strip.
Preferably, the height of the side, close to the outer side wall of the insulating rod, of the water-break conducting bar is higher than the height of the side, far away from the outer side wall of the insulating rod, of the water-break conducting bar. The structure can enable the broken water flow to flow outwards, and the broken water cannot continue to flow downwards along the outer side wall of the insulating rod.
Preferably, the shielding device is arranged on the working robot body and comprises a shielding awning which is arranged above the working robot body. The shielding device can be unfolded in rainy days, rainwater is reduced or prevented from entering the operation position, and insulation protection of the operation position is increased.
Preferably, a water guide groove is arranged on the circumferential outer edge of the shielding awning. The structure can enable water flow on the shielding awning to be converged to the position of the water guide groove and flow away along the set direction.
Preferably, a cutting impeller is arranged below the water guide groove and is rotationally connected with the shielding awning, and one side of the cutting impeller is arranged below the water guide groove. The intercepting impeller can intercept rainwater flowing out of the water guide groove, so that rainwater connected into a strip is prevented from being connected into a conductive loop, and the reliability of the insulation protection structure is improved.
Preferably, a damping structure is arranged on the rotating shaft on the cutoff impeller. The damping structure can enable the resistance required by the rotation of the cutoff impeller to avoid the too fast rotation of the cutoff impeller and the loss of the cutoff effect.
Preferably, the shielding device further comprises a fixing frame, a horizontal rotating frame, a turnover mechanism and a rotating mechanism, wherein the shielding tent is rotationally connected with the horizontal rotating frame in a vertical plane, the turnover mechanism drives the shielding tent to rotate relative to the horizontal rotating frame, the horizontal rotating frame is rotationally connected with the fixing frame, the rotating shaft of the horizontal rotating frame is vertical, and the rotating mechanism drives the horizontal rotating frame to rotate relative to the fixing frame. The structure can enable the shielding awning to be overturned, and ensures the folding state of the shielding awning before the operation robot body is lifted to the operation position, so that interference with cables in the lifting process is avoided. After the operation robot body rises to the operation position, the turnover mechanism drives the shielding tent to rotate in the vertical plane to change the shielding tent from a vertical state to a horizontal state, and then the horizontal rotating frame is rotated through the rotating mechanism to enable the shielding tent to rotate from the rear of the operation robot body to the upper side of the operation robot body.
The beneficial effects of the invention are as follows: (1) The rain water is prevented from communicating the operation robot body with the lifting platform, the reliability of the insulation protection structure is guaranteed, and the live working robot can operate in rainy days; (2) The intercepting impeller can intercept rainwater flowing out of the water guide groove, so that rainwater connected into a strip is prevented from being connected into a conductive loop, and the reliability of the insulation protection structure is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of an insulating rod;
FIG. 3 is a top view of an insulating rod;
FIG. 4 is a schematic view of a partial structure of a shielding device;
fig. 5 is a schematic partial structure of embodiment 2.
In the figure: the operation robot comprises a operation robot body 1, a lifting platform 2, an insulating frame 3, an insulating rod 4, a water-break guide bar 4.1, a shielding device 5, a shielding awning 5.1, a fixing frame 5.2, a horizontal rotating frame 5.3, a turnover mechanism 5.4, a first worm gear 5.4.1, a first worm 5.4.2, a first rotation driving piece 5.4.3, a rotation mechanism 5.5, a second worm gear 5.5.1, a second worm 5.5.2, a second rotation driving piece 5.5.3, a driving motor 5.6, a driving gear 5.7, a transmission rack 5.8, a first rack 5.8.1, a second rack 5.8.2, a third rack 5.8.3, a fixing bar 5.8.4, a first transmission gear 5.9, a second transmission gear 5.10, a water guide groove 5.11 and a cutting impeller 5.12.
Detailed Description
The invention is further described below with reference to the drawings and specific embodiments.
Example 1:
as shown in fig. 1, 2 and 3, an insulation protection structure for a live working robot comprises a working robot body 1 and a lifting platform 2, wherein the working robot body 1 and the lifting platform 2 are connected through an insulation frame 3, the insulation frame 3 comprises a plurality of insulation rods 4, and a plurality of water-break guide bars 4.1 which are obliquely arranged relative to the axis of the insulation rods 4 are arranged on the outer side wall of the insulation rods 4. The water-break guide bars 4.1 are arranged along the axial direction of the insulating rod 4, and the adjacent water-break guide bars 4.1 are arranged in a staggered manner on the axial projection surface of the insulating rod 4. The lower ends of the water-break guide bars 4.1 are suspended in the insulating rod 4. The height of the water-break conducting bar 4.1, which is close to one side of the outer side wall of the insulating rod 4, is higher than the height of the water-break conducting bar 4.1, which is far away from one side of the outer side wall of the insulating rod 4.
The work robot body 1 is provided with a shielding device 5, and the shielding device 5 comprises a shielding awning 5.1. The awning 5.1 is arranged above the working robot body 1 when opened. The circumference outer edge of the shielding awning 5.1 is provided with a water guide groove 5.11. A cutoff impeller 5.12 is arranged below the water guide groove 5.11, the cutoff impeller 5.12 is rotationally connected with the shielding awning 5.1, and one side of the cutoff impeller 5.12 is arranged below the water guide groove 5.11. A damping structure is arranged on the rotating shaft on the cutoff impeller 5.12.
In the above technical scheme, the fixing frame of the operation robot may contact the high-voltage circuit in the operation process, and needs to be disconnected with the lifting platform 2 through the insulating rod 4, if the live operation robot operates in a rainy day, rainwater can flow down along the insulating rod 4, and if the rainwater continuously flows down along the insulating rod 4, there is a risk of transmitting current to the lifting platform 2 below. Through the water-break conducting bar 4.1, the water flow is transversely disconnected, the outside is led, the upper water flow and the lower water flow cannot be connected into one, the current is disconnected from the transmission route, the fact that rainwater can not enable the operation robot body 1 to be communicated with the lifting platform 2 is guaranteed, the reliability of an insulation protection structure is guaranteed, and the live working robot can operate in rainy days is guaranteed. The shielding device 5 can be unfolded in rainy days, so that rainwater can be reduced or prevented from entering the operation position, and insulation protection of the operation position is improved. The intercepting impeller 5.12 can intercept rainwater flowing out of the water guide groove 5.11, so that rainwater connected into a strip is prevented from being connected into a conductive loop, and the reliability of the insulation protection structure is improved.
Example 2:
as shown in fig. 4, on the basis of embodiment 1, the shielding device 5 further includes a fixing frame 5.2, a horizontal rotating frame 5.3, a turnover mechanism 5.4, a rotating mechanism 5.5, a driving motor 5.6, a driving gear 5.7, a transmission rack 5.8, a first transmission gear 5.9 and a second transmission gear 5.10, the shielding tent 5.1 is rotationally connected with the horizontal rotating frame 5.3 in a vertical plane, the turnover mechanism 5.4 drives the shielding tent 5.1 to rotate relative to the horizontal rotating frame 5.3, the horizontal rotating frame 5.3 is rotationally connected with the fixing frame 5.2, a rotating shaft of the horizontal rotating frame 5.3 is vertical, and the rotating mechanism 5.5 drives the horizontal rotating frame 5.3 to rotate relative to the fixing frame 5.2.
The turnover mechanism 5.4 comprises a first worm wheel 5.4.1, a first worm 5.4.2 and a first rotation driving piece 5.4.3, the shielding awning 5.1 is rotationally connected with the horizontal rotating frame 5.3 through a turnover shaft, the first worm wheel 5.4.1 is coaxially fixed with the turnover shaft, the first worm 5.4.2 is rotationally connected with the horizontal rotating frame 5.3, the first worm wheel 5.4.1 is meshed with the first worm 5.4.2, and the first rotation driving piece 5.4.3 drives the first worm 5.4.2 to rotate. The rotating mechanism 5.5 comprises a second worm wheel 5.5.1, a second worm 5.5.2 and a second rotation driving piece 5.5.3, the second worm wheel 5.5.1 is coaxially fixed with the horizontal rotating frame 5.3, the second worm 5.5.2 is rotationally connected with the fixed frame 5.2, the second worm wheel 5.5.1 is meshed with the second worm 5.5.2, and the second rotation driving piece 5.5.3 drives the second worm 5.5.2 to rotate.
The driving gear 5.7 is fixed with an output shaft of the driving motor 5.6, the driving motor 5.6 is fixed with the fixed frame 5.2, the transmission rack 5.8 is in sliding connection with the fixed frame 5.2, the first transmission gear 5.9 and the second transmission gear 5.10 are respectively meshed with the transmission rack 5.8, the first transmission gear 5.9 is fixed with the first worm 5.4.2, and the second transmission gear 5.10 is fixed with the second worm 5.5.2; the drive motor 5.6, the drive gear 5.7, the drive rack 5.8 and the first drive gear 5.9 form a first rotary drive 5.4.3, and the drive motor 5.6, the drive gear 5.7, the drive rack 5.8 and the second drive gear 5.10 form a second rotary drive 5.5.3. The transmission racks 5.8 comprise a first rack 5.8.1, a second rack 5.8.2, a third rack 5.8.3 and a fixed bar 5.8.4, the fixed bar 5.8.4 is in sliding connection with the fixed frame 5.2, the first rack 5.8.1, the second rack 5.8.2 and the third rack 5.8.3 are respectively fixed with the fixed bar 5.8.4, and the driving gear 5.7 is always meshed with the third rack 5.8.3; when the second transmission gear 5.10 is meshed with the second rack 5.8.2, the first transmission gear 5.9 is separated from the first rack 5.8.1; when the first transfer gear 5.9 is engaged with the first rack 5.8.1, the second transfer gear 5.10 is disengaged from the second rack 5.8.2.
According to the technical scheme, the shielding tent 5.1 can be turned over, and the folding state of the shielding tent 5.1 is ensured before the operation robot body 1 is lifted to the operation position, so that interference with cables in the lifting process is avoided. After the operation robot body 1 is lifted to the operation position, the turnover mechanism 5.4 drives the shielding tent 5.1 to rotate in the vertical plane, so that the shielding tent 5.1 is changed into a horizontal state from a vertical state, and then the horizontal rotating frame 5.3 is rotated through the rotating mechanism 5.5, so that the shielding tent 5.1 is rotated to the upper side of the operation robot body 1 from the rear of the operation robot body 1. When the shelter from the awning 5.1 needs to be unfolded, the driving motor 5.6 drives the driving gear 5.7 to rotate to drive the fixed bar 5.8.4 to slide, at the moment, the first transmission gear 5.9 is meshed with the first rack 5.8.1, the transmission rack 5.8 moves to drive the first transmission gear 5.9 and the first worm 5.4.2 to rotate, the first worm wheel 5.4.1 can drive the shelter from the awning 5.1 to rotate in a vertical plane to enable the shelter from the awning 5.1 to be changed into a horizontal state, then the fixed bar 5.8.4 continues to move, the first transmission gear 5.9 is separated from the first rack 5.8.1, the second transmission gear 5.10 is meshed with the second rack 5.8.2, and the second worm 5.5.2 can drive the horizontal rotating frame 5.3 to rotate to enable the shelter from the rear of the operation robot body 1 to be rotated above the operation robot body 1. When the device is retracted, the driving motor 5.6 drives the driving gear 5.7 to reversely rotate to drive the fixed bar 5.8.4 to reversely slide, at the moment, the second transmission gear 5.10 is meshed with the second rack 5.8.2, the first transmission gear 5.9 is separated from the first rack 5.8.1, and the second worm 5.5.2 can drive the horizontal rotating frame 5.3 to rotate so that the shielding tent 5.1 can rotate from the upper part of the working robot body 1 to the rear part of the working robot body 1; then the fixed bar 5.8.4 continues to move, the second transmission gear 5.10 is separated from the second rack 5.8.2, the first transmission gear 5.9 is meshed with the first rack 5.8.1, and the first worm gear 5.4.1 can drive the shielding awning 5.1 to rotate in the vertical plane so that the shielding awning 5.1 is changed from the horizontal state to the vertical state. The technical scheme strictly controls the sequence of the vertical overturning and horizontal rotating actions of the shielding awning 5.1, avoids the shielding awning 5.1 from touching the cable and avoids interference.
Claims (7)
1. The insulation protection structure for the live working robot is characterized by comprising a working robot body and a lifting platform, wherein the working robot body is connected with the lifting platform through an insulation frame, the insulation frame comprises a plurality of insulation rods, and a plurality of water-break guide bars which are obliquely arranged relative to the axis of the insulation rods are arranged on the outer side wall of the insulation rods; the shielding device is arranged on the working robot body and comprises a shielding awning which is arranged above the working robot body; the shielding device further comprises a fixing frame, a horizontal rotating frame, a turnover mechanism, a rotating mechanism, a driving motor, a driving gear, a transmission rack, a first transmission gear and a second transmission gear, wherein the shielding tent is rotationally connected with the horizontal rotating frame in a vertical plane, the turnover mechanism drives the shielding tent to rotate relative to the horizontal rotating frame, the horizontal rotating frame is rotationally connected with the fixing frame, the rotating shaft of the horizontal rotating frame is vertically arranged, and the rotating mechanism drives the horizontal rotating frame to rotate relative to the fixing frame; the turnover mechanism comprises a first worm wheel, a first worm and a first rotation driving piece, the shielding awning is rotationally connected with the horizontal rotating frame through a turnover shaft, the first worm wheel is coaxially fixed with the turnover shaft, the first worm is rotationally connected with the horizontal rotating frame, the first worm wheel is meshed with the first worm, and the first rotation driving piece drives the first worm to rotate; the rotating mechanism comprises a second worm wheel, a second worm and a second rotating driving piece, the second worm wheel is coaxially fixed with the horizontal rotating frame, the second worm is rotationally connected with the fixing frame, the second worm wheel is meshed with the second worm, and the second rotating driving piece drives the second worm to rotate; the driving gear is fixed with an output shaft of the driving motor, the driving motor is fixed with the fixed frame, the transmission rack is in sliding connection with the fixed frame, the first transmission gear and the second transmission gear are respectively meshed with the transmission rack, the first transmission gear is fixed with the first worm, and the second transmission gear is fixed with the second worm; the driving motor, the driving gear, the transmission rack and the first transmission gear form a first rotation driving piece, and the driving motor, the driving gear, the transmission rack and the second transmission gear form a second rotation driving piece; the driving rack comprises a first rack, a second rack, a third rack and a fixed bar, the fixed bar is in sliding connection with the fixed frame, the first rack, the second rack and the third rack are respectively fixed with the fixed bar, and the driving gear is always meshed with the third rack; when the second transmission gear is meshed with the second rack, the first transmission gear is separated from the first rack; when the first transmission gear is meshed with the first rack, the second transmission gear is separated from the second rack.
2. The insulation protection structure for a live working robot according to claim 1, wherein a plurality of water-break conducting bars are arranged along the axial direction of the insulation rod, and adjacent water-break conducting bars are arranged in a staggered manner on the axial projection surface of the insulation rod.
3. The insulation protection structure for a live working robot according to claim 1, wherein lower ends of the plurality of water breaking guide bars are suspended in an insulation rod.
4. The insulation protection structure for a live working robot according to claim 1, wherein the height of the side of the water break bar close to the outer side wall of the insulation rod is higher than the height of the side of the water break bar away from the outer side wall of the insulation rod.
5. The insulation protection structure for a live working robot according to claim 1, wherein a water guiding groove is provided on the circumferential outer edge of the shielding canopy.
6. The insulation protection structure for a live working robot according to claim 5, wherein a cutoff impeller is arranged below the water guide groove, the cutoff impeller is rotatably connected with the shielding awning, and one side of the cutoff impeller is arranged below the water guide groove.
7. The insulation protection structure for a live working robot of claim 6, wherein a damping structure is provided on a rotating shaft on the cutoff impeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210032314.4A CN114536410B (en) | 2022-01-12 | 2022-01-12 | Insulation protection structure for live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210032314.4A CN114536410B (en) | 2022-01-12 | 2022-01-12 | Insulation protection structure for live working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114536410A CN114536410A (en) | 2022-05-27 |
| CN114536410B true CN114536410B (en) | 2023-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210032314.4A Active CN114536410B (en) | 2022-01-12 | 2022-01-12 | Insulation protection structure for live working robot |
Country Status (1)
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| CN (1) | CN114536410B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203660405U (en) * | 2013-11-28 | 2014-06-18 | 国家电网公司 | Multifunctional insulation operating rod |
| CN205810588U (en) * | 2016-07-08 | 2016-12-14 | 邹平县供电公司 | A kind of all weathers dual-purpose hot line job compound inslation bar |
| CN110581033A (en) * | 2019-10-11 | 2019-12-17 | 国家电网有限公司 | Combined insulating operating rod |
| CN112388630A (en) * | 2020-10-12 | 2021-02-23 | 北京国电富通科技发展有限责任公司 | Distribution network live working wire stripping robot based on binocular vision and working method thereof |
| CN215009551U (en) * | 2021-07-01 | 2021-12-03 | 福建九鼎建设集团有限公司 | Lightning protection device of building |
-
2022
- 2022-01-12 CN CN202210032314.4A patent/CN114536410B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203660405U (en) * | 2013-11-28 | 2014-06-18 | 国家电网公司 | Multifunctional insulation operating rod |
| CN205810588U (en) * | 2016-07-08 | 2016-12-14 | 邹平县供电公司 | A kind of all weathers dual-purpose hot line job compound inslation bar |
| CN110581033A (en) * | 2019-10-11 | 2019-12-17 | 国家电网有限公司 | Combined insulating operating rod |
| CN112388630A (en) * | 2020-10-12 | 2021-02-23 | 北京国电富通科技发展有限责任公司 | Distribution network live working wire stripping robot based on binocular vision and working method thereof |
| CN215009551U (en) * | 2021-07-01 | 2021-12-03 | 福建九鼎建设集团有限公司 | Lightning protection device of building |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114536410A (en) | 2022-05-27 |
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Inventor after: Shen Beishi Inventor after: Ying Yongling Inventor after: Huang Bing Inventor after: Hu Yuhang Inventor after: Yu Jinwei Inventor after: Zheng Yu Inventor before: Shen Beishi Inventor before: Ying Yongling Inventor before: Huang Bing Inventor before: Hu Yuhang Inventor before: Yu Jinwei Inventor before: Zheng Yu Inventor before: Sun Xuexun Inventor before: Wang Haocong Inventor before: Li Chuang |
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Effective date of registration: 20240813 Address after: 315300 No.999, North Third Ring West Road, Zonghan street, Cixi City, Ningbo City, Zhejiang Province Patentee after: CIXI POWER TRANSMISSION AND TRANSFORMATION ENGINEERING CO.,LTD. Country or region after: China Address before: 315300 No.999, North Third Ring West Road, Zonghan street, Cixi City, Ningbo City, Zhejiang Province Patentee before: CIXI POWER TRANSMISSION AND TRANSFORMATION ENGINEERING CO.,LTD. Country or region before: China Patentee before: YIJIAHE TECHNOLOGY Co.,Ltd. |