CN115102125B - Transmission line walking deicing robot with locking arm component - Google Patents
Transmission line walking deicing robot with locking arm component Download PDFInfo
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- CN115102125B CN115102125B CN202210823057.6A CN202210823057A CN115102125B CN 115102125 B CN115102125 B CN 115102125B CN 202210823057 A CN202210823057 A CN 202210823057A CN 115102125 B CN115102125 B CN 115102125B
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- arm
- hinge
- connecting arm
- piece
- walking
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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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
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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
- B25J19/0008—Balancing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a transmission line walking deicing robot with a locking arm component; a power line walk deicing robot having a locking arm assembly comprising: two sets of walking components, wherein a set of walking components is connected with first linking arm, and another set of walking components is connected with the second linking arm, and first linking arm and/or second linking arm are equipped with and are used for with walking component complex compress tightly the subassembly, connect through the exhibition arm subassembly between first linking arm lower extreme and the second linking arm lower extreme, are equipped with the locking arm subassembly between first linking arm and the exhibition arm subassembly in order to lock the relative angle of exhibition arm subassembly of first linking arm to/or be equipped with the locking arm subassembly between second linking arm and the exhibition arm subassembly. According to the invention, the locking arm component is arranged to lock the angle of the first connecting arm relative to the expanding arm component and the angle of the second connecting arm relative to the expanding arm component, so that the gravity center of the transmission line walking deicing robot is stable and the transmission line walking deicing robot can travel easily.
Description
Technical Field
The invention relates to a transmission line walking deicing robot with a locking arm component.
Background
The existing transmission line robot is mainly used for line inspection and deicing operation in a power grid. Outdoor transmission lines are located at outdoor high altitudes and are subjected to severe environments such as wind wave vibration or frost, dew, rain, snow and the like, outdoor temperature is changed frequently, and due to the factors, the robot can shake unstably when walking, and the walking of the robot is hindered.
Disclosure of Invention
In order to solve the technical problems, the invention provides a transmission line walking deicing robot with a locking arm component.
The invention adopts the following technical scheme:
the utility model provides a transmission line walking deicing robot with locking arm assembly, is including being used for driving its two sets of walking components that move on the circuit, walking components is including the walking wheel that is used for walking on the circuit, and wherein a set of walking components is connected with first linking arm, and another set of walking components is connected with the second linking arm, first linking arm and/or second linking arm be equipped with be used for with walking wheel complex compress tightly the subassembly, be connected through the exhibition arm subassembly between first linking arm lower extreme and the second linking arm lower extreme, first linking arm with be equipped with the locking arm subassembly between the exhibition arm subassembly in order to lock first linking arm is relative the angle of exhibition arm subassembly, and/or be equipped with the locking arm subassembly between second linking arm with the exhibition arm subassembly is in order to lock the second linking arm is relative the angle of exhibition arm subassembly.
Optionally, the deployment arm assembly is provided with a first hinge part for being hinged with the first connecting arm, the locking arm assembly comprises a locking arm telescopic motor installed on one of the first hinge part and the first connecting arm and a locking hole arranged on the other of the first hinge part and the first connecting arm, the locking arm telescopic motor is provided with a telescopic shaft, the locking hole is a non-circular hole, the telescopic shaft is a non-circular shaft matched with the locking hole, and after the first connecting arm rotates by a fixed angle relative to the first hinge part, the telescopic shaft stretches into the locking hole to lock the relative position of the first connecting arm and the first hinge part;
and/or, the unfolding arm assembly is provided with a second hinge part used for being hinged with the second connecting arm, the locking arm assembly comprises a locking arm telescopic motor arranged on one of the second hinge part and the second connecting arm and a locking hole arranged on the other of the second hinge part and the second connecting arm, and after the second connecting arm rotates by a fixed angle relative to the second hinge part, the telescopic shaft stretches into the locking hole to lock the relative positions of the second connecting arm and the second hinge part.
Optionally, a movable electric cabinet is arranged at the bottom of the unfolding arm assembly.
Optionally, the electric cabinet is connected with the arm unfolding assembly through a second screw rod driving mechanism.
Optionally, first articulated elements are articulated to first linking arm tip, first articulated elements with the mobilizable connection of exhibition arm subassembly, the tip of second linking arm is equipped with the second articulated elements, the second articulated elements with the mobilizable connection of exhibition arm subassembly, all be equipped with first lead screw actuating mechanism between first articulated elements and the exhibition arm subassembly between second articulated elements and the exhibition arm subassembly.
Optionally, the first lead screw actuating mechanism includes the second motor, and rotatable locates the second lead screw of exhibition arm assembly, with second lead screw complex second feed nut and with second lead screw complex third feed nut, the second motor with second lead screw transmission is connected, second feed nut with first articulated member fixed connection, third feed nut with second articulated member fixed connection, first articulated member with second articulated member all with exhibition arm assembly slidable connects, first feed nut with the screw thread spiral direction in the second feed nut is opposite, so that when the second lead screw rotates to one side, first articulated member with second articulated member is close to, when the second lead screw reverse rotation, first articulated member with second articulated member separates.
Optionally, the first hinge is fixedly connected with the second feed nut through a first moving member, and the first moving member is slidably connected with the deployment arm assembly.
Optionally, the first moving member includes a holding groove, the second feeding nut includes a cylindrical portion and a fixed baffle, the cylindrical portion is disposed in the holding groove, and the fixed baffle abuts against an end surface of the holding groove and is in screw connection with the first moving member.
Optionally, the first moving member includes a bending connection portion and a flat plate portion, the arm expanding assembly includes a second shell, the bending connection portion forms a bending groove, an edge of the second shell is disposed in the bending groove so that the first moving member and the arm expanding assembly are slidably connected, and the flat plate portion is disposed at a bottom of the first hinge member and is in screw connection with the first hinge member.
Optionally, the second screw rod driving mechanism includes third motor, rotatable locate the third screw rod of exhibition arm subassembly, with the fourth feed nut of third screw rod complex, the third motor with third screw rod transmission connection, fourth feed nut with electric cabinet fixed connection, the electric cabinet with exhibition arm subassembly slidable connection.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
by adopting the technical scheme, through setting up the locking arm subassembly, the angle of locking arm subassembly can lock the relative exhibition arm subassembly of first linking arm, the angle of locking second linking arm relative exhibition arm subassembly, when transmission line walking deicing robot advances, take place to rock easily to the focus is undulant to be unfavorable for advancing, and the angle of locking arm subassembly locking first linking arm relative exhibition arm subassembly, the angle of locking second linking arm relative exhibition arm subassembly can make transmission line walking deicing robot focus stable do benefit to transmission line walking deicing robot to advance.
Drawings
FIG. 1 is an exploded view of a transmission line walking deicing robot of the present invention;
FIG. 2 is a cross-sectional view of the transmission line walk deicing robot of the present invention;
FIG. 3 is a schematic diagram of a transmission line walking deicing robot of the present invention;
FIG. 4 is a schematic view of a walking assembly of the present invention;
FIG. 5 is a cross-sectional view of the walking assembly and additional functional assembly of the present invention;
FIG. 6 is an exploded view of the compression assembly of the present invention;
FIG. 7 is a cross-sectional view of a compression assembly of the present invention;
FIG. 8 is a schematic view of the junction of the compression assembly and the first lifter of the present invention;
FIG. 9 is a simplified diagram of the mechanism of the transmission line walking deicing robot of the present invention;
fig. 10 shows a transmission line walking deicing robot with a ramp angle of the present inventionθA simplified stress model diagram of the travel on the line;
fig. 11-17 are schematic diagrams of obstacle crossing processes of the transmission line walking deicing robot.
Reference numerals in the schematic drawings illustrate:
1. a dual arm assembly; 11. a first connecting arm; 111. a first hinge; 112. a third shell; 1121. a slide rail; 1122. a slide block; 1123. a vertical chute; 12. a second connecting arm; 2. a walking assembly; 21. a driver; 22. a walking motor; 23. a motor fixing plate; 24. a motor housing; 241. a connecting seat; 25. a motor shell cover; 26. a walking wheel; 261. a hub; 262. a tire; 27. a first flange; 28. a second flange; 29. a first bearing; 3. a support frame; 31. a left support arm; 32. a cross arm; 33. a right support arm; 331. an induction electric conductive wheel; 34. attaching a motor shell; 35. a third flange; 36. a fourth flange; 37. a swinging piece; 38. a second bearing; 39. an additional motor; 4. a compression assembly; 41. a base; 411. a charging contact; 412. a pin shaft; 413. a force sensor; 414. triangular blocks; 42. swing arms; 43. a pinch roller; 44. a first elastic member; 45. a first slide bar; 451. a receiving groove; 452. an anti-falling member; 453. a penetration hole; 46. a second slide bar; 461. anti-falling nails; 462. a protective member; 5. a first inductor; 51. a first shell; 511. a first slide hole; 52. a first sensor; 521. triggering a spring plate; 53. impact buffering member; 531. a first strut; 532. triggering a baffle; 54. a second elastic member; 6. a screw rod lifting mechanism; 61. a first lifting member; 611. an elastic block; 612. a copper sleeve; 613. a contact plate; 62. a first screw rod; 63. a first feed nut; 64. a first motor; 7. an arm; 71. a second motor; 72. a second screw rod; 73. a second feed nut; 731. a cylindrical portion; 732. a fixed baffle; 75. a first moving member; 751. a receiving groove; 752. bending the connecting part; 7521. a bending groove; 753. a flat plate portion; 76. a third motor; 77. a second case; 81. a locking arm telescopic motor; 82. an electric control box; 83. a line; 831. side track; 9. a deicing mechanism; 10. and (5) a damper.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to FIGS. 1-17 and examples.
Referring to fig. 1-17, a power transmission line walking deicing robot with a locking arm assembly of the present embodiment includes a walking assembly 2, a double arm assembly 1, a compacting assembly 4, a walking steering assembly, a locking arm assembly, an additional function assembly and a spreading arm assembly. The travelling unit 2 is provided with two groups and is arranged on a line 83 for power transmission at intervals. The double-arm assembly 1 comprises a connecting arm, the connecting arm is provided with a first connecting arm 11 and a second connecting arm 12, the upper ends of the first connecting arm 11 and the second connecting arm 12 are respectively provided with a group of walking assemblies 2, and the walking assemblies 2 are used for driving a transmission line walking deicing robot to move on a line 83. The pressing assembly 4 is provided with two mechanisms which are respectively arranged on the first connecting arm 11 and the second connecting arm 12, and the first connecting arm 11 and the second connecting arm 12 are respectively provided with a mechanism which can enable the pressing assembly 4 to ascend and descend. The walking steering assembly is arranged between the walking assembly 2 and the connecting arm and used for controlling the rotation activity degree of the walking assembly 2 and the connecting arm. The deployment arm assembly comprises a deployment arm 7, the deployment arm 7 being provided with a mechanism for adjusting the distance between the second connecting arms 12 of the first connecting arms 11. The locking arm component is arranged between the connecting arm and the unfolding arm component and used for adjusting the rotation mobility between the connecting arm and the unfolding arm component. The additional functional components are arranged on the walking component 2, in this embodiment, the additional functional components include a supporting frame 3 and an induction electric conduction wheel 331, and in other embodiments, the additional functional components can also be an anti-drop functional component or a deicing mechanism 9 for deicing a line, and the deicing mechanism 9 removes ice on the line through clamping or shoveling actions.
The walking assembly 2 comprises a driver 21, a walking motor 22, a motor fixing disc 23, a motor casing 24, a motor casing cover 25 and walking wheels 26. The first connecting arm 11 and the second connecting arm 12 have the same structure, and the first connecting arm 11 will be described as an example.
The motor case 24, the motor case cover 25 and the motor fixing plate 23 enclose a housing space for housing the driver 21 and the travel motor 22. The driver 21 is electrically connected with the traveling motor 22, and the traveling motor 22 is in transmission connection with the traveling wheel 26. The walking motor 22 is fixed on a motor fixing disc 23, the motor fixing disc 23 is fixed on a motor shell 24, and the end part of the motor shell 24 is fixedly connected with a motor shell cover 25.
The output shaft of the walking motor 22 extends out of the motor fixing plate 23, the output shaft of the walking motor 22 is fixedly connected with a first flange 27, the first flange 27 is fixedly connected with a second flange 28, and the second flange 28 is fixedly connected with the walking wheel 26. The part of the structure of the motor fixing disc 23 is in a cylindrical structure, the part of the structure of the second flange 28 is in a cylindrical structure, so that the second flange 28 can be sleeved outside the motor fixing disc 23, the second flange 28 is connected with the motor fixing disc 23 through the first bearing 29, and the travelling wheel 26 can rotate relative to the motor fixing disc 23. The travelling wheel 26 comprises a wheel hub 261 and a tire 262, wherein the wheel hub 261 is sleeved outside the second flange 28 and fixedly connected with the second flange 28. The cross section of the hub 261 is of a V-shaped structure, and the cross section of the corresponding tire 262 is of a V-shaped structure, so that the cross section of the running surface of the running wheel 26 is of a V shape, the line 83 is arranged in a crack of the V-shaped structure of the tire 262, and the bottom width of the running surface is smaller than the diameter of the line 83, so that a gap is reserved between the bottom of the running surface and the line 83 when the running wheel 26 runs on the line, and the running is facilitated. In operation, the driver 21 sends an electrical signal to the travel motor 22, and the travel motor 22 drives the travel wheels 26 to rotate through the first flange 27 and the second flange 28. In particular applications, the tire 262 is made of a highly resilient, high friction polyurethane material to increase the friction between the tire 262 and the track 83 so that the road wheel 26 does not slip when it is rotated on the track 83. The first flange 27 is made of an alloy steel material, and the second flange 28 and the hub 261 are made of a lightweight aluminum alloy material.
Referring to fig. 4 and 5, one end of the support frame 3 is fixedly connected with the motor casing 24, the other end of the support frame 3 is connected with an additional motor casing 34, the support frame 3 comprises a left support arm 31, a right support arm 33 and a cross arm 32, the left support arm 31 is fixedly connected with the motor casing 24, the right support arm 33 is fixedly connected with the additional motor casing 34, and the cross arm 32 is arranged between the left support arm 31 and the right support arm 33. An additional motor 39 is fixed in the additional motor shell 34, an output shaft of the additional motor 39 is fixedly connected with a third flange 35, the third flange 35 is fixedly connected with a fourth flange 36, the fourth flange 36 is fixedly connected with a swinging piece 37, and the fourth flange 36 is connected with the first flange 27 through a second bearing 38. Rotation of the additional motor 39 drives the swing of the swing 37. The end of the ornament 37 is rotatably provided with an induction electric conduction wheel 331, and the induction electric conduction wheel 331 is made of wear-resistant copper alloy or graphite material in specific application. In this embodiment, two pieces of the swinging member 37 are provided, another piece of the swinging member 37 is rotatably arranged on the motor fixing disc 23, one end of the swinging member 37 is provided with an induction electric conductive wheel support, the other end of the swinging member 37 is provided with an induction electric conductive wheel support, a rotating shaft is arranged between the induction electric conductive wheel support and the induction electric conductive wheel support, and the induction electric conductive wheel 331 is arranged on the rotating shaft. The induction electric conduction wheel 331 can make the whole power transmission line walking deicing robot form equipotential with the line 83 so as to avoid causing electric shock hazard. The support frame 3 is a gantry structure or an arch structure for avoiding the travelling wheels 26, and the travelling wheels 26 are positioned between the left support arm 31 and the right support arm 33.
Referring to fig. 1 and 2, the walking steering assembly includes a steering motor, wherein the motor housing 24 is fixed with a connecting seat 241, the steering motor is arranged on one of the connecting seat 241 and the connecting arm, and the steering motor shaft is connected with the other one, so that the connecting seat 241 and the connecting arm can be driven to rotate relatively or locked relatively and cannot rotate; alternatively, the first connecting arm 11 and the connecting base 241 may be rotatably connected, in particular applications, by bearings. The connection base 241 may be a housing or a block.
Referring to fig. 6 and 7, the compression assembly 4 is configured to cooperate with the travel assembly 2 to compress the line 83. The pressing assembly 4 comprises a base 41, a swing arm 42 and a pressing wheel 43, the swing arm 42 is rotatably connected with the base 41, the pressing wheel 43 is arranged at the end part of the swing arm 42, and a circuit 83 is arranged between the travelling wheel 26 and the pressing wheel 43. The surface of the compression wheel 43 is a concave cambered surface, so that the middle part of the surface of the compression wheel 43 is lower than the two sides and is used for being matched with the V-shaped structure of the travelling wheel 26 so as to prevent the line 83 from falling off. The two swing arms 42 are arranged, a first elastic piece 44 is arranged between the two swing arms 42, the two swing arms 42 are oppositely arranged, the middle parts of the two swing arms 42 are hinged with the base 41, two pressing wheels 43 are rotatably arranged at one ends of the two swing arms 42 respectively, and a first elastic piece 44 is arranged between the other ends of the two swing arms 42. The two swing arms 42 are in an open V-shaped structure, and the two swing arms 42 are provided with bending structures, so that the two swing arms 42 are bent back to form the V-shaped structure. In operation, the opening of the V-shaped structure formed by the two swing arms 42 and the line 83 are opposite to each other, so that the compression wheel 43 compresses the line 83. When there is a protruding obstacle on the line 83, the hinge point between the two swing arms 42 and the base 41 is used as the rotation center, and the two swing arms 42 rotate to expand the opening of the V-shaped structure, so that the first elastic member 44 is compressed. The first elastic piece 44 enables the two swing arms 42 to be elastically expanded, so that the two compression wheels 43 are always compressed on the line 83, and the transmission line walking deicing robot is prevented from falling off the line 83. The pinch roller 43 is provided with an odometer for odometry, which detects the travel of the pinch roller 43 on the line 83.
In a specific application, the other end of one swing arm 42 is hinged with a first slide rod 45, the other end of the other swing arm 42 is hinged with a second slide rod 46, and the first slide rod 45 is provided with a containing groove 451 for containing one end of the second slide rod 46 so as to enable the first slide rod 45 to be slidably connected with the second slide rod 46. The first elastic member 44 is sleeved on the second slide bar 46, the end of the accommodating groove 451 is provided with a drop-preventing member 452, the drop-preventing member 452 is provided with a penetrating hole 453 through which one end of the second slide bar 46 extends, one end of the second slide bar 46 is provided with a drop-preventing nail 461, and the size of the drop-preventing nail 461 is larger than that of the penetrating hole 453 so as to prevent the second slide bar 46 from falling out of the accommodating groove 451. The second slide rod 46 is provided with a protecting member 462, one end of the first elastic member 44 abuts against the drop-off preventing member 452, and the other end of the first elastic member 44 abuts against the protecting member 462. The first elastic member 44 is a compression spring in this embodiment. In other embodiments, the first elastic member 44 is disposed between the swing arm 42 and the base 41, and the first elastic member 44 is a torsion spring disposed at a hinge point of the swing arm 42 and the base 41.
The first slide bar 45, the second slide bar 46 and the first elastic piece 44 are formed into an elastic connecting rod, and the elastic connecting rod plays a role in buffering and damping, can adapt to the thickness change of the line 83 or small barriers on the line 83, and has small abrasion damage to the line 83.
The base 41 is a housing when it is specifically applied, and the left and right sides of the base 41 are provided with first sensors 5 for detecting obstacles. The first inductor 5 includes a first shell 51 fixedly coupled to the base 41. The first case 51 has a space therein for accommodating the first sensor 52. The first shell 51 is slidably provided with an impact buffer member 53, the impact buffer member 53 is provided with a first slide post 531, the first shell 51 is provided with a first slide hole 511, the first slide post 531 extends into the first slide hole 511, the impact buffer member 53 can slide relative to the first shell 51, and a second elastic member 54 is arranged between the first slide post 531 and the first shell 51. The first sensor 52 is provided with a trigger spring 521, the first spool 531 is provided with a trigger baffle 532, and the trigger baffle 532 is disposed in the first housing 51. When the impact buffer 53 impacts an obstacle on the line 83, the first sliding post 531 slides to enable the trigger baffle 532 to impact the trigger elastic piece 521, the trigger elastic piece 521 deforms to trigger the first sensor 52, and the first sensor 52 controls the whole first connecting arm 11 to move backwards through the controller of the power transmission line walking deicing robot. After the first connecting arm 11 moves backward, the impact buffer 53 returns to the initial position under the action of the second elastic member 54, so that the trigger baffle 532 and the trigger elastic piece 521 are separated. After the first connecting arm 11 moves backwards, the pressing assembly 4 of the first connecting arm 11 is controlled to wholly descend, so that obstacles are avoided in the advancing process of the transmission line walking deicing robot. After the first connecting arm 11 passes over the obstacle, the pressing assembly 4 of the first connecting arm 11 is controlled to press up the tightening line 83.
The base 41 is also provided with a charging contact 411 for charging the whole transmission line walking deicing robot, a plurality of charging mechanisms are arranged on the line 83 at intervals, and when the transmission line walking deicing robot moves to the position of the charging mechanism, the charging contact 411 can be in electrical contact with the charging mechanism.
In other embodiments, the charging contact 411 may be provided on the base 41 to be resiliently floatable, such that the charging contact 411 is held in resilient contact with the charging mechanism or line 83 so that power may be maintained during operation.
Referring to fig. 1 and 2, the first connecting arm 11 includes a third housing 112, and the third housing 112 is slidably provided with a first lifting member 61, and the first lifting member 61 is rotatably connected to the base 41, so that the pressing assembly 4 can swing slightly back and forth, and the pressing assembly 4 can adapt to the curvature change of the line 83. The third shell 112 is provided with a sliding rail 1121 therein, the first lifter 61 is connected with a slider 1122 engaged with the sliding rail 1121, and the third shell 112 is further provided with a vertical chute 1123 through which the first lifter 61 can enter the interior and be connected with the slider 1122. A screw lifting mechanism 6 is provided between the first lifting member 61 and the first connecting arm 11. The screw lifting mechanism 6 comprises a first screw 62 rotatably arranged in a third shell 112, a first feed nut 63 matched with the first screw 62, and a first motor 64, wherein the first feed nut 63 is fixedly connected with the first lifting piece 61, and the first motor 64 is in transmission connection with the first screw 62 through a gear set/synchronous belt. The lower end of the third shell 112 is provided with a first motor mount to which the first motor 64 is mounted.
Referring to fig. 8, the first elevating member 61 and the base 41 are connected by a pin 412. The base 41 is fixedly connected with the pin shaft 412, the first lifting member 61 is provided with a copper sleeve 612 sleeved outside the pin shaft 412, and the pin shaft 412 is in clearance fit with the copper sleeve 612 so that the pin shaft 412 can axially displace relative to the copper sleeve 612. The first lifting member 61 is provided with an abutting plate 613, and a force sensor 413 is arranged on the abutting plate 613 or at the bottom of the pin 412. When the pressing wheel 43 presses the line 83, the pin 412 moves downwards under the action of pressure to press the force sensor 413, or the pin 412 drives the force sensor 413 to press the pressing plate 613, and the pressure from the line 83 is transmitted to the force sensor 413. The force sensor 413 transmits a pressure signal to the controller, and the controller adjusts the height of the compacting assembly 4 according to the received pressure signal, so as to properly adjust the compacting force, so as to ensure that the walking wheel 26 does not slip and the compacting force is not excessive when walking.
The upper end of the pin 412 is also provided with a triangular block 414, and when the pin 412 rotates, the triangular block 414 rotates clockwise or counterclockwise along with the pin 412. The first lifting member 61 is provided with an elastic block 611, the triangular block 414 acts on the elastic block 611, and when the pin 412 rotates, the triangular block 414 presses the elastic block 611 back and forth, so that the pressing assembly 4 can elastically swing when swinging, and the pressing assembly 4 always has a tendency of aligning.
The first motor mounting seat is hinged with a first hinge part 111, and a first screw rod driving mechanism is arranged between the first hinge part 111 and the unfolding arm 7. The spreader arm 7 includes a second housing 77, and the first screw driving mechanism includes a second motor 71 mounted to the second housing 77, a second screw 72 rotatably provided in the second housing 77, and a second feed nut 73 engaged with the second screw 72. The second motor 71 is in driving connection with the second screw 72 through a gear set/timing belt, and the second feed nut 73 is fixedly connected with the first hinge member 111 through the first moving member 75. The first moving member 75 has a receiving groove 751 at one end, and the second feed nut 73 includes a cylindrical portion 731 and a fixing stopper 732, the cylindrical portion 731 being provided in the receiving groove 751, and the fixing stopper 732 being screwed against an end surface of the receiving groove 751 and the first moving member 75. The middle part of the first moving member 75 is provided with a bending connection part 752, the bending connection part 752 is provided with a bending groove 7521, and the edge of the second shell 77 is arranged in the bending groove 7521 so that the first moving member 75 and the second shell 77 can be connected in a sliding manner. The other end of the first moving member 75 is provided with a flat plate portion 753, and the flat plate portion 753 is provided at the bottom of the first hinge member 111 and is screw-coupled to the first hinge member 111.
The first connecting arm 11 and the second connecting arm 12 are connected with the same spreading arm 7, the other end of the second connecting arm 12 is hinged with a second hinge part, the first screw rod 62 is further provided with a third feeding nut, the third feeding nut is fixedly connected with the second hinge part through a second moving part, the third feeding nut is identical in structure with the second feeding nut 73, and the first moving part 75 is identical in structure with the second moving part. The difference is that the screw threads in the first and second feed nuts 63 and 73 are threaded in opposite directions, so that the first hinge 111 and the second hinge are brought close to each other when the second screw 72 is rotated to one side, and the first hinge 111 and the second hinge are separated from each other when the second screw 72 is rotated in opposite directions. The bottom of the spreading arm 7 is also provided with an electric cabinet 82, and a second screw rod driving mechanism (not shown in the figure) is arranged between the spreading arm 7 and the electric cabinet 82. The second screw rod driving mechanism comprises a third screw rod which is rotatably arranged on the display arm 7, a third motor 76 and a fourth feed nut matched with the third screw rod, the third motor 76 is in transmission connection with the third screw rod, the fourth feed nut is fixedly connected with the electric control box 82, and the electric control box 82 is slidably connected with the display arm 7. A third motor 76 is mounted outside the spreader arm 7.
The first connecting arm 11 and the second connecting arm 12 are arranged substantially in parallel, and when the horizontal section of the line 83 is passed, the line 83, the first connecting arm 11, the second connecting arm 12 and the spreader arm 7 form a substantially square structure. In the horizontal section of the line 83, the travelling assembly 2 travels faster and the first connecting arm 11, the second connecting arm 12 and the spreader arm 7 may shake due to inertia when accelerating or decelerating. In order to improve the stability of the transmission line walking deicing robot, a locking arm assembly is arranged between the first hinge part 111 and the first connecting arm 11, and a locking arm assembly is also arranged between the same second connecting arm 12 and the second hinge part. Specifically, the locking arm assembly includes a locking arm telescopic motor 81 mounted on one of the first hinge member 111 and the first connecting arm 11, the locking arm telescopic motor 81 has a telescopic shaft (not shown in the figure), the other is provided with a locking hole (not shown in the figure), the locking hole is a non-circular hole, the telescopic shaft is a non-circular shaft matched with the locking hole, and the telescopic shaft extends into the locking hole to lock the relative positions of the first connecting arm 11 and the first hinge member 111; the locking arm assembly further comprises a locking arm telescopic motor arranged on one of the second hinge piece and the second connecting arm and a locking hole arranged on the other of the second hinge piece and the second connecting arm, and the telescopic shaft stretches into the locking hole to lock the relative positions of the second connecting arm and the second hinge piece after the second connecting arm rotates by a fixed angle relative to the second hinge piece. The arm extension motor 81 can maintain the square structure of the first connecting arm 11, the second connecting arm 12 and the deployment arm 7. When the transmission line walking deicing robot passes through the inclined section of the line 83, the transmission line walking deicing robot performs climbing or downhill movement, and the locking arm component is controlled to unlock, so that the first hinge part 11 and the first connecting arm 11 and the second hinge part and the second connecting arm 12 can relatively rotate, and the square structure is changed into a parallelogram structure due to passive rotation between the first hinge part 11 and the first connecting arm 11 and between the second hinge part and the second connecting arm 12 caused by gravity.
The rotation direction between the walking component 2 and the connecting arm and the rotation direction between the connecting arm and the unfolding arm component are mutually perpendicular. The walking assembly 2 and the connecting arm can axially rotate, and the connecting arm and the unfolding arm assembly can horizontally rotate.
Limit switches for limiting the lowest position of the pressing assembly 4 are arranged on the first connecting arm 11 and the second connecting arm 12. The electric cabinet 82 is internally provided with an electrically connected power supply battery and a controller, and the controller is electrically connected with a limit switch, a first sensor 52, a charging contact 411, the walking motor 22, a first motor 64, a second motor 71, a third motor 76, an additional motor 39, a locking arm telescopic motor 81 and a steering motor.
With reference to fig. 9, J1 is a revolute pair of walking wheels 26 of the walking assembly 2, J2 is a revolute pair between the connecting arm and the walking assembly 2, J3 is a revolute pair between the additional functional assembly and the walking assembly 2, J4 is a revolute pair between the pressing assembly 4 and the connecting arm, J5 is a revolute pair between the pressing assembly 4 and the connecting arm, J6 is a revolute pair between the connecting arm and the extension arm 7, J7 is a revolute pair between the connecting arm and the extension arm 7, and J8 is a revolute pair between the extension arm 7 and the electric cabinet 82.
With reference to fig. 10, the traveling assembly 22 is provided with two groups, two corresponding traveling wheels 26 and traveling motors 22 are provided, the right traveling wheel 26 is a front traveling wheel 26, the left traveling wheel 26 is a rear traveling wheel 26, the right traveling motor 22 is a front traveling motor 22, and the left traveling motor 22 is a rear traveling motor 22. In fig. 10, the distance from the center of gravity of the whole machine to the front travelling wheel 26 in the direction of the connecting line of the front travelling wheel 26 and the rear travelling wheel 26 isL F The method comprises the steps of carrying out a first treatment on the surface of the The distance from the center of gravity to the rear travelling wheel 26 in the direction of the connecting line of the front travelling wheel 26 and the rear travelling wheel 26 isL R The method comprises the steps of carrying out a first treatment on the surface of the The tread of the front travelling wheel 26 and the rear travelling wheel 26 isLThe method comprises the steps of carrying out a first treatment on the surface of the The weight of the whole machine is G; the supporting force of the line 83 borne by the front travelling wheel 26 is thatF F The method comprises the steps of carrying out a first treatment on the surface of the The traction force of the front walking wheel 26 isf F The method comprises the steps of carrying out a first treatment on the surface of the The supporting force of the line 83 borne by the rear travelling wheel 26 is thatF R The method comprises the steps of carrying out a first treatment on the surface of the The adhesion force of the rear walking wheel 26 isf R The method comprises the steps of carrying out a first treatment on the surface of the The distance from the center of gravity of the transmission line walking deicing robot to the line 83 is H.
Listing force and moment balance equations
Relationship of bond adhesion to positive pressure
The method can be characterized by comprising the following steps:
it can be seen that whenHAfter the design is determined, aiming at a certain ramp angleθThe distribution ratio of the adhesion force of the front road wheels 26 and the rear road wheels 26 depends onL R And (3) withL F I.e. the position of the centre of gravity in the direction of the line connecting the two road wheels 26. In the prior art, there are generallyL R ≈L F Therefore, the above is generally greater than 1, i.e. the adhesive force of the front travelling wheel 26 is greater than that of the rear travelling wheel 26 when climbing a slope, the driving power of the front travelling wheel 26 is greater than that of the rear travelling wheel 26, and the angle of the slope is equal to that of the rear travelling wheel 26θThe larger the front and rear road wheels 26 the larger the difference in drive motor output power.
Further, let the
For the first derivative, it can be seen thatZ(L R )Is aboutL R Is within the range of the actual effective value, i.eL R The larger the size of the product,Z(L R )the larger the front-rear road wheel 26 adhesion distribution ratio is, the larger the front-rear road wheel 26 adhesion distribution difference is, and the larger the front-rear road wheel 22 output power difference is.
Because the same model is usually used for the front and rear traveling motors 22 during the model selection of the traveling motors 22 of the traveling wheels 26, the load of one traveling wheel 26 is higher while the other traveling wheel 26 is in full load or overload operation in order to ensure that the output power of the front and rear traveling motors 22 is as similar as possible during the climbing processThe low severe conditions should be such that the traction of the front and rear road wheels 26 is as similar as possible. Thus, by reducingL R Thereby reducingZ(L R )Namely, the distribution ratio of the adhesive force of the front travelling wheel 26 and the rear travelling wheel 26 is reduced, so that the output power difference of the front travelling wheel and the rear travelling wheel 22 is reduced, and the purposes of optimizing the distribution of the adhesive force of the front travelling wheel 26 and the rear travelling wheel 22, optimizing the distribution of the output power of the front travelling wheel and the rear travelling wheel 22, preventing the front travelling wheel and the rear travelling wheel 26 from skidding in the climbing process and improving the climbing capacity of the whole machine are realized.
With reference to fig. 11-17, the line 83 is typically provided with an obstruction such as the damper 10 or the side track 831. In the implementation process of the invention, taking the upper side track 831 as an example, when the front travelling wheel 26 needs to be on the side track 831, the electric cabinet 82 moves backwards firstly, the rear travelling wheel 26 is pressed tightly, and at the moment, the center of gravity distribution is deviated, so that the side track 831 on the front travelling wheel 26 is facilitated, the running of the transmission line travelling deicing robot is stable, and the obstacle crossing capacity of the front travelling wheel 26 is improved; after the front travelling wheel 26 successfully goes on the side track 831, the electric cabinet 82 assembly moves forward, the front travelling wheel 26 is pressed, the gravity center distribution is biased forward, the rear travelling wheel 26 goes on the side track 831, the whole machine is stable at the moment, and the obstacle crossing capability of the rear travelling wheel 26 is relatively improved. Taking the lower side track 831 as an example, when the front travelling wheel 26 needs to lower the side track 831, the electric cabinet 82 moves backwards first, the rear travelling wheel 26 compresses tightly, and at the moment, the gravity center distribution is biased, so that the lower side track 831 of the front travelling wheel 26 is facilitated, the running of the transmission line travelling deicing robot is stable, and the obstacle crossing capability of the front travelling wheel 26 is improved; after the front travelling wheel 26 successfully descends the side track 831, the electric cabinet 82 assembly moves forward, the front travelling wheel 26 is compressed, the gravity center distribution is biased forward, the rear travelling wheel 26 descends the side track 831, the whole machine is stable at the moment, and the obstacle crossing capability of the rear travelling wheel 26 is relatively improved.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (5)
1. The transmission line walking deicing robot is characterized by comprising two groups of walking components for driving the transmission line walking deicing robot to move on the transmission line, wherein one group of walking components is connected with a first connecting arm, the other group of walking components is connected with a second connecting arm, the first connecting arm and/or the second connecting arm is provided with a pressing component for being matched with the walking wheels, the lower ends of the first connecting arm and the lower ends of the second connecting arm are connected through a spreading arm component, a locking arm component is arranged between the first connecting arm and the spreading arm component to lock the angle of the first connecting arm relative to the spreading arm component, and/or a locking arm component is arranged between the second connecting arm and the spreading arm component to lock the angle of the second connecting arm relative to the spreading arm component; the end part of the first connecting arm is hinged with a first hinge part, the first hinge part is movably connected with the unfolding arm assembly, the end part of the second connecting arm is provided with a second hinge part, the second hinge part is movably connected with the unfolding arm assembly, and a first screw rod driving mechanism is arranged between the first hinge part and the unfolding arm assembly and between the second hinge part and the unfolding arm assembly; the first screw rod driving mechanism comprises a second motor, a second screw rod rotatably arranged on the spreading arm assembly, a second feed nut matched with the second screw rod and a third feed nut matched with the second screw rod, the second motor is in transmission connection with the second screw rod, the second feed nut is fixedly connected with the first hinge piece, the third feed nut is fixedly connected with the second hinge piece, the first hinge piece and the second hinge piece are both in slidable connection with the spreading arm assembly, the screw threads in the third feed nut and the second feed nut are opposite in screw direction, so that when the second screw rod rotates to one side, the first hinge piece and the second hinge piece are close, and when the second screw rod rotates reversely, the first hinge piece and the second hinge piece are separated; the first hinge part is fixedly connected with the second feed nut through a first moving part, and the first moving part is slidably connected with the unfolding arm assembly; the first moving part comprises a containing groove, the second feeding nut comprises a cylindrical part and a fixed baffle, the cylindrical part is arranged in the containing groove, and the fixed baffle is propped against the end face of the containing groove and is connected with the first moving part through screws; the first moving part further comprises a bending connecting part and a flat plate part, the unfolding arm assembly comprises a second shell, the bending connecting part forms a bending groove, the edge of the second shell is arranged in the bending groove so that the first moving part and the unfolding arm assembly can be connected in a sliding mode, and the flat plate part is arranged at the bottom of the first hinge part and connected with the first hinge part through screws; the pressing component comprises a base, two swing arms and a pressing wheel, wherein the swing arms are rotatably connected with the base, the two swing arms are oppositely arranged, the middle parts of the two swing arms are hinged with the base, one ends of the two swing arms are rotatably provided with the pressing wheel, a first elastic piece is arranged between the other ends of the two swing arms, one of the other ends of the swing arms is hinged with a first slide rod, the other one of the other ends of the swing arms is hinged with a second slide rod, the first slide rod is provided with a containing groove for containing one end of the second slide rod so as to enable the first slide rod to be connected with the second slide rod in a sliding way, the end part of the containing groove is provided with an anti-falling piece, the anti-falling piece is provided with a penetrating hole for enabling one end of the second slide rod to extend in, one end of the second slide rod is provided with an anti-falling nail, the size of the anti-falling nail is larger than that of the penetrating hole so as to prevent the second sliding rod from falling out of the accommodating groove, the second sliding rod is provided with a protecting piece, one end of the first elastic piece is abutted against the anti-falling piece, the other end of the first elastic piece is abutted against the protecting piece, the base is provided with a first sensor for detecting an obstacle, the first sensor comprises a first shell fixedly connected with the base, a space for accommodating the first sensor is arranged in the first shell, the first shell is slidably provided with an impact buffer piece, the impact buffer piece is provided with a first sliding column, the first shell is provided with a first sliding hole, the first sliding column is slidably arranged in the first sliding hole, a second elastic piece is arranged between the first sliding column and the first shell, the first sensor is provided with a trigger spring, the first sliding column is provided with a trigger baffle, when the impact buffer piece impacts the obstacle, the first sliding column slides to enable the trigger baffle to impact the trigger spring, the triggering spring plate deformation can trigger the first sensor.
2. A power line walking deicing robot having a lock arm assembly according to claim 1, wherein said spreader arm assembly is provided with a first hinge member for hinge-connecting with said first connecting arm, said lock arm assembly comprising a lock arm telescoping motor mounted to one of said first hinge member and said first connecting arm and a locking hole provided in the other, said lock arm telescoping motor having a telescoping shaft, said locking hole being a non-circular hole, said telescoping shaft being a non-circular shaft mating with said locking hole, said telescoping shaft extending into said locking hole after rotation of said first connecting arm relative to said first hinge member by a fixed angle to lock the relative positions of said first connecting arm and said first hinge member; and/or, the unfolding arm assembly is provided with a second hinge part used for being hinged with the second connecting arm, the locking arm assembly comprises a locking arm telescopic motor arranged on one of the second hinge part and the second connecting arm and a locking hole arranged on the other of the second hinge part and the second connecting arm, and after the second connecting arm rotates by a fixed angle relative to the second hinge part, the telescopic shaft stretches into the locking hole to lock the relative positions of the second connecting arm and the second hinge part.
3. The power transmission line walking deicing robot with a lock arm assembly as recited in claim 1, wherein a movable electric cabinet is provided at the bottom of said deployment arm assembly.
4. A power line walk deicing robot having a lock arm assembly according to claim 3, wherein said electric cabinet and said deployment arm assembly are connected by a second screw drive mechanism.
5. The power transmission line walking deicing robot with a lock arm assembly according to claim 4, wherein the second screw driving mechanism comprises a third motor, a third screw rotatably arranged on the arm spreading assembly, and a fourth feed nut matched with the third screw, the third motor is in transmission connection with the third screw, the fourth feed nut is fixedly connected with the electric cabinet, and the electric cabinet is slidably connected with the arm spreading assembly.
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Address after: No. 58 Shengli East Road, Shaoxing City, Zhejiang Province 312008 Applicant after: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. Applicant after: Hangzhou Shenhao Technology Co.,Ltd. Address before: No.6, Changsong street, Cangqian street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Shenhao Technology Co.,Ltd. Applicant before: STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. SHAOXING POWER SUPPLY Co. |
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