CN203881556U - Bolt-screwing robot test bench - Google Patents
Bolt-screwing robot test bench Download PDFInfo
- Publication number
- CN203881556U CN203881556U CN201420316665.9U CN201420316665U CN203881556U CN 203881556 U CN203881556 U CN 203881556U CN 201420316665 U CN201420316665 U CN 201420316665U CN 203881556 U CN203881556 U CN 203881556U
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- bolt
- kingbolt
- robot
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- nut
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- Expired - Lifetime
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- 238000000034 method Methods 0.000 abstract description 8
- 238000007789 sealing Methods 0.000 description 8
- 238000004088 simulation Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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Abstract
The utility model discloses a bolt-screwing robot test bench. The bolt-screwing robot test bench comprises a support frame, a main bolt hanging device, a large-cap nut rotating device, a working platform, a threaded sleeve, a main bolt and a large-cap nut; the main bolt hanging device and the large-cap nut rotating device are disposed on the support frame, the large-cap nut rotating device is disposed below the main bolt hanging device, the working platform is disposed at the upper end of the support frame, and the large-cap nut is in a threaded connection relationship with the main bolt; and a bolt-screwing robot controls the main bolt to be screwed into or out of the threaded sleeve, the main bolt hanging device is movably connected or disconnected with the main bolt to position the main bolt, and the large-cap nut rotating device drives the large-cap nut to rotate so that the large-cap nut moves up and down relative to the main bolt. The bolt-screwing robot test bench assists working of the bolt-screwing robot, simulates the working process of the bolt-screwing robot on a reactor pressure vessel, and tests identification of the bolt-screwing robot to the main bolt and various screwing performance parameters.
Description
Technical field
The utility model relates to a kind of plant equipment, relates in particular to a kind of test-bed.
Background technology
Sealing surface between the each parts of nuclear power plant reactor pressure vessel fits, and by the sealing surface between kingbolt connecting components, makes reactor pressure vessel keep sealing.High for the sealing surface precision of fitting and connect between each parts, slightly collide with and have influence on the precision of sealing surface, very likely cause reactor pressure vessel kernel radiant matter to overflow.
At present, the work that screws kingbolt is operation manually, and operation quality is unstable, and the sealing property of reactor pressure vessel cannot ensure; In addition,, after nuclear reactor shutdown, in reactor pressure vessel, radiation dose is still higher, operating personnel needs the exposure suit of heavy wearing to carry out operation, even and wear exposure suit and still can be subject to higher radiation, operating environment very severe is larger to personal injury.To this, need a kind of bolt screwing device, replace operation manually by the mechanically actuated of bolt screwing device; Also need a kind of experiment detection device, so that bolt screwing device is detected and simulation test, to ensure the performance of bolt screwing device, reduce fault and occur simultaneously.
Utility model content
The purpose of this utility model is to provide a kind of test-bed, carry out simulation test by bolt being screwed to robot on this test-bed, and in process of the test, detect bolt and screw each parameter of robot and debug, make bolt screw the kingbolt that robot can be screwed into smoothly and back-out on reactor pressure vessel.
To achieve these goals, the utility model discloses a kind of bolt and screw robot test-bed, it comprises bracing frame, kingbolt suspender, large box nut whirligig, workbench, screw shell, kingbolt and large box nut; Described kingbolt suspender and described large box nut whirligig are arranged on support frame as described above, and described large box nut whirligig is arranged at described kingbolt suspender below, described workbench is arranged at support frame as described above upper end and screws robot with bearing bolt, and described large box nut is threadedly connected to described kingbolt; Described bolt screws kingbolt described in robot control and is screwed into or the described screw shell of back-outing, described kingbolt suspender movably connects or departs from described kingbolt to locate described kingbolt, and described large box nut whirligig drives described large box nut rotation so that the relatively described kingbolt of described large box nut moves up and down.
The bolt providing according to the utility model screws robot test-bed, and workbench bearing bolt screws robot, makes bolt screw robot to be positioned at the top of kingbolt; When screwing robot control kingbolt, bolt is screwed into after screw shell, kingbolt is located by screw shell, when screwing robot control kingbolt, back-outs after screw shell by bolt, kingbolt is suspended in the first back up pad by the flag nut of kingbolt suspender, makes kingbolt be positioned in the top of screw shell; The bolt providing according to the utility model screws robot test-bed, and no matter kingbolt is screwed into screw shell or back-outs screw shell, and kingbolt is the state in reliably being located all; Large box nut whirligig drives the relative kingbolt of large box nut to move up and down, and to simulate, large box nut and kingbolt is unscrewed mutually or is tightened; This bolt screws robot test-bed auxiliary bolt and screws robot work, simulation bolt screws the course of work of robot on reactor pressure vessel, test bolt screws the various performance parameters of robot, even avoids bolt to screw robot contingent fault at work thereby reduce.
Preferably, described kingbolt suspender comprise be fixedly connected on support frame as described above the first back up pad, be positioned at the flag nut of described the first back up pad upside and drive described flag nut to rotate so that the first nut rotating mechanism that described flag nut vertically moves relative to kingbolt; The axle center of described flag nut and described screw shell is located along the same line, and offers first perforation of passing for described kingbolt in described the first back up pad; Back-out after screw shell when bolt screws robot control kingbolt, the mechanical arm that bolt screws robot continues to drive kingbolt to move up and passes the first perforation, and flag nut moves upward under the drive of kingbolt; When kingbolt is promoted to after predeterminated position, the first nut rotating mechanism drives flag nut rotation, so that the relative kingbolt of flag nut screws downwards to initial position, the supported and suspended nut of the first back up pad and the kingbolt being threaded with flag nut, make kingbolt remain on the top of screw shell.
Particularly, described kingbolt upper end is provided with for screwing with described bolt the adapter that robot is connected; Kingbolt screws robot with bolt and is connected by adapter, make bolt screw robot and drive easily kingbolt rotation and lifting, to be screwed into or the screw shell of back-outing, simultaneously also can be in vertical direction to the kingbolt application of force, to reduce the stressed of the screw thread that is connected with kingbolt, avoid screw thread stressed excessive and impaired.
Preferably, described large box nut whirligig comprises and is fixedly connected on support frame as described above to carry the second back up pad of described large box nut, and drives described large box nut to rotate so that the large box nut rotating mechanism that the relatively described kingbolt of described large box nut moves up and down; In described the second back up pad, offer the second perforation, described kingbolt is arranged in described the second perforation; Large box nut whirligig is positioned at kingbolt suspender below, and is positioned at screw shell top, and large box nut whirligig drives the relative kingbolt of large box nut to move up and down, and to simulate, large box nut and kingbolt is unscrewed mutually or is tightened.
Particularly, the curved structure of described workbench, described kingbolt suspender, described screw shell and described kingbolt are along the center camber line spread configuration of described workbench arcuate structure; The shape of the workbench simulation reaction core pressure vessel of arcuate structure, thus simulate easily bolt and screw the moving process of robot; Bolt screws Robot workbench and moves to drive being successively screwed into and back-outing of multiple kingbolts, thereby detects the performance of spiral rotating robot.
Particularly, described workbench two ends are respectively arranged with limit damper; Described limit damper prevents that bolt from screwing robot and departing from workbench, and buffering is provided may hit limit damper for robot time.Further, described bolt screws in robot and is provided with apart from infrared sensor; Limit damper analog obstacle thing, with match apart from infrared sensor, screw the detection of obstacles function of robot with test bolt, and screw while having barrier on robot direct of travel when record bolt apart from infrared sensor, control bolt screws robot to be stopped advancing and reporting to the police.
Particularly, promising described bolt being set on described workbench screws robot and moves horizontally the track that guiding is provided.
Particularly, be provided with adjustable limiter of moment on described workbench, described limiter of moment is connected for screwing robot with described bolt; Limiter of moment restriction and test bolt screw performance and the force moment protection function that robot drives kingbolt to rotate.
Particularly, described workbench is provided with a bolt recognizer in position corresponding to arbitrary described kingbolt, by being used in conjunction with of described alignment sensor and described bolt recognizer, realizing bolt and screw the accurate location of level of robot and automatically identify kingbolt and number.
Brief description of the drawings
Fig. 1 is the vertical view that the utility model bolt screws robot test-bed.
Fig. 2 be the utility model bolt screw package assembly that robot test-bed and bolt screw robot in Fig. 1 in A-A direction cut-open view.
Fig. 3 is the enlarged drawing of C portion in Fig. 2.
Fig. 4 is the enlarged drawing of D portion in Fig. 2.
Fig. 5 is the enlarged drawing of E portion in Fig. 2.
Fig. 6 is the cut-open view in B-B direction in Fig. 1.
Embodiment
By describing technology contents of the present utility model, structural attitude in detail, being realized object and effect, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
As the bolt of Fig. 1-2 screws robot test-bed, comprise bracing frame 100, kingbolt suspender 200, large box nut whirligig 300, workbench 400, screw shell 500, kingbolt 600 and large box nut 800; Wherein, screw shell 500 is bolted to connection with base plate, with the threaded hole on mock-up reactor sealing for pressure vessels face; Kingbolt 600 is vertically arranged at bolt and screws between robot 700 and screw shell 500, kingbolt suspender 200 and large box nut whirligig 300 are arranged on bracing frame 100, and large box nut whirligig 300 is arranged at kingbolt suspender 200 belows, workbench 400 is arranged at bracing frame 100 upper ends and screws robot 700 with bearing bolt, and large box nut 800 is threadedly connected to the middle part of kingbolt 600; Bolt screws robot 700 and controls that kingbolt 600 is screwed into or the screw shell 500 of back-outing, kingbolt suspender 200 movably connects or departs from kingbolt 600 with location kingbolt 600, and large box nut whirligig 300 drives large box nut 800 to rotate so that the large relative kingbolt 600 of box nut 800 moves up and down.Shown in Fig. 3-Fig. 6, more specifically:
The curved structure of workbench 400, the shape of the workbench 400 simulation reaction core pressure vessels of arcuate structure; Be carried on bolt on workbench 400 and screw robot 700 and do movement in a curve along workbench 400, thereby simulate easily bolt and screw the process that moves horizontally of robot 700.As shown in Figure 3 and Figure 6, workbench 400 tops are provided with track 420, track 420 is arranged to arc according to the shape of workbench 400, and track 420 screws the loading end of robot 700 on the one hand as bolt, also move guiding is provided along track 420 for bolt screws robot 700 simultaneously; Further, track 420 sides are provided with chain 421, the downside that bolt screws robot 700 is provided with sprocket wheel 720, sprocket wheel 720 rotates the chain 421 that sprocket wheel 720 is engaged with is relatively rolled, move relative to workbench 400 to drive bolt to screw robot 700, move to target location thereby control bolt screws robot 700.The two ends of workbench 400 have limit damper 410, to prevent that bolt from screwing robot 700 and departing from workbench 400, simultaneously screw buffering is provided when robot 700 clashes into workbench 400 two ends at bolt; Bolt screws in robot 700 and is provided with apart from infrared sensor (not shown), match with limit damper 410 apart from infrared sensor, screw the detection of obstacles function of robot 700 with test bolt, and screw while having barrier on robot 700 direct of travels when record bolt apart from infrared sensor, control bolt and screw robot 700 and stops advancing and reporting to the police.As shown in Figure 1, on workbench 400, be provided with bolt recognizer 440 in the corresponding position of kingbolt 600, this bolt recognizer 440 be arranged at the alignment sensor that bolt screws in robot 700 and match, realize accurately location and the automatic numbering of identifying kingbolt 600 of automatic horizontal that bolt screws robot 700, thereby judge that bolt screws the current location of robot 700; On workbench 400, be also provided with adjustable limiter of moment 430, limiter of moment 430 screws robot 700 with bolt and is connected, and by the moment restriction value of Torque-adjusting limiter 430, screws the force moment protection function of robot 700 to test bolt.
Kingbolt suspender 200, large box nut whirligig 300, screw shell 500, kingbolt 600 and large box nut 800 are equidistantly disposed with multiple along the center camber line of workbench 400 arcuate structures; Bolt screws robot 700 and moves along track 420 on workbench 400, thereby detection bolt screws tangential movement and the positioning function of robot 700.
As shown in Figure 2, kingbolt 600 upper ends are provided with for screwing with bolt the adapter 610 that robot 700 is connected; Kingbolt 600 screws robot 700 with bolt and is connected by adapter 610, make bolt screw robot 700 and can connect easily or depart from kingbolt 600, thereby drive kingbolt 600 to be screwed into or the screw shell 500 of back-outing, simultaneously also can be in vertical direction to kingbolt 600 application of forces, threaded hole on the pressure vessel being threaded with kingbolt 600 with minimizing is stressed, avoids the flank of thread of threaded hole stressed excessive and impaired.
As shown in Figure 2 and Figure 4, kingbolt suspender 200 comprises the first back up pad 210, flag nut 220 and the first nut rotating mechanism 230.The first back up pad 210 is fixedly connected on bracing frame 100, and the first back up pad 210 parallels with workbench 400; The top of the first back up pad 210 offers detent 211, and flag nut 220 is movably arranged in detent 211, and flag nut 220 is located along the same line with the axle center of screw shell 500; The corresponding flag nut 220 of the first back up pad 210 and screw shell 500 also offer the first perforation 212, the first perforation 212 for passing for kingbolt 600; The first nut rotating mechanism 230 is fixedly connected on bracing frame 100, and the output terminal of the first nut rotating mechanism 230 is connected by gear with flag nut 220, to drive flag nut 220 rotations that flag nut 220 is vertically moved relative to kingbolt 600.Particularly, the output terminal of the first nut rotating mechanism 230 is a gear, and the outer wall of flag nut 220 is provided with engaging tooth, and the output terminal of the first nut rotating mechanism 230 is meshed with the engaging tooth of flag nut 220 outer walls, thereby drives flag nut 220 to rotate.Control kingbolt 600 and back-out after screw shell 500 when bolt screws robot 700, bolt screws robot 700 continuation lifting kingbolts 600 and moves up and pass the first perforation 212, flag nut 220 moves upward under the drive of kingbolt 600, when kingbolt 600 is promoted to after predeterminated position, the first nut rotating mechanism 230 drives flag nut 220 to rotate, so that the relative kingbolt 600 of flag nut 220 is moved downward to elemental height position, the supported and suspended nut 220 of the first back up pad 210 and the kingbolt 600 being threaded with flag nut 220, make kingbolt 600 remain on the top of screw shell 500.
Further, in the time that kingbolt 600 is threaded with screw shell 500, flag nut 220 is positioned at the top of kingbolt 600, and flag nut 220 does not contact with kingbolt 600; The mechanical arm 710 that bolt screws robot 700 moves down through the first perforation 212, and be connected with kingbolt 600 by adapter 610, the driving backspin that kingbolt 600 screws robot 700 at bolt turns to and departs from screw shell 500, kingbolt 600 departs from after screw shell 500, mechanical arm 710 stops screwing and operates and continue to promote kingbolt 600 upwards vertical motion, and flag nut 220 moves up under the ejection of kingbolt 600 simultaneously; When kingbolt 600 is promoted to after predeterminated position, flag nut 220 rotates and is threaded with kingbolt 600 under the first nut rotating mechanism 230 drives, until being moved downward to flag nut 220, the relative kingbolt 600 of flag nut 220 is placed in detent 211, the downside of flag nut 220 is supported mutually with the bottom surface of detent 211, thereby kingbolt 600 is suspended to the top of screw shell 500.
As shown in Figure 2 and Figure 6, large box nut whirligig 300 is positioned at kingbolt suspender 200 belows.Large box nut whirligig 300 comprises the second back up pad 310 and large box nut rotating mechanism 320, wherein, the second back up pad 310 is fixedly connected on bracing frame 100, and large box nut 800 is arranged at the upper side of the second back up pad 310,, the second back up pad 310 is carried large box nut 800; Large box nut rotating mechanism 320 drives large box nut 800 to rotate so that the large relative kingbolt 600 of box nut 800 moves up and down, to simulate the process that large box nut 800 and kingbolt 600 are unscrewed mutually or tightened.The corresponding large box nut 800 of the second back up pad 310 and screw shell 500 also offer the second perforation 311, and kingbolt 600 is arranged in the second perforation 311.
When kingbolt 600 is threaded with screw shell 500, kingbolt 600 is through the second perforation 311, large box nut 800 is threaded with kingbolt 600, and the downside of large box nut 800 is resisted against the upper side of the second back up pad 310, the state of tightening to simulate the relative kingbolt 600 of large box nut 800; Control kingbolt 600 and back-out before screw shell 500 when bolt screws robot 700, large box nut rotating mechanism 320 drives large box nut 800 to rotate so that the downside of large box nut 800 is not supported mutually with the upper side of the second back up pad 310,, large box nut 800 is unscrewed, subsequently, bolt screws robot 700 and controls kingbolt 600 screw shell 500 of back-outing; Control kingbolt 600 and be screwed into after screw shell 500 when bolt screws robot 700, large box nut rotating mechanism 320 drives large box nut 800 to rotate, so that the large relative kingbolt 600 of box nut 800 is moved downward to elemental height position, the process of tightening to simulate the relative kingbolt 600 of large box nut 800.
Shown in Fig. 1-Fig. 6, the course of work that the utility model bolt is screwed to robot test-bed is described in detail:
Bolt screws robot 700 and moves to along track 420 top of a kingbolt 600; The mechanical arm 710 that bolt screws robot 700 moves down through the first perforation 212, and is connected with kingbolt 600 by adapter 610; Large box nut rotating mechanism 320 drives large box nut 800 to rotate so that the downside of large box nut 800 is not supported mutually with the upper side of the second back up pad 310, that is, large box nut 800 is unscrewed; The driving backspin that kingbolt 600 screws robot 700 at bolt turns to and departs from screw shell 500, kingbolt 600 departs from after screw shell 500, bolt screws robot 700 and stops screwing kingbolt 600, and continue to promote kingbolt 600 straight up, flag nut 220 moves up under the ejection of kingbolt 600, and large box nut 800 moves up with kingbolt 600; When kingbolt 600 is promoted to after predeterminated position, the first nut rotating mechanism 230 drives flag nut 220 to rotate, so that flag nut 220 is threaded with kingbolt 600 and relative kingbolt 600 is moved downward to elemental height position,, flag nut 220 is placed in detent 211, the downside of flag nut 220 is supported mutually with the bottom surface of detent 211, thereby kingbolt 600 is suspended to the top of screw shell 500; The mechanical arm 710 that bolt screws robot 700 departs from adapter 610, mechanical arm 710 rises to elemental height, completed the behaviour that back-outs to a kingbolt 600, bolt screws robot 700 and moves horizontally and be positioned to next kingbolt 600, carries out same operation; Aforesaid operations repeatedly carries out, until whole kingbolts 600 of back-outing.
Bolt screws robot 700 when kingbolt 600 is screwed into screw shell 500, only needs reverse operating above-mentioned steps.
The bolt providing according to the utility model screws robot test-bed, the shape of the workbench 400 simulation reaction core pressure vessels of arcuate structure, be carried on bolt on workbench 400 and screw robot 700 and do movement in a curve along workbench 400, thereby simulate easily bolt and screw the moving process of robot 700; Threaded hole on the screw shell 500 mock-up reactor sealing for pressure vessels faces that are fixedly connected with base plate; Kingbolt suspender 200 hangs location kingbolt 600, and kingbolt 600 is back-outed after screw shell 500, kingbolt 600 is suspended on to the top of screw shell 500, can back and forth screw easily kingbolt 600 thereby make bolt screw robot 700; Large box nut whirligig 300 drives the relative kingbolt 600 of large box nut 800 to move up and down, to simulate the process that large box nut 800 and kingbolt 600 are unscrewed mutually or tightened.This bolt screws robot test-bed auxiliary bolt and screws robot 700 and work, and simulation bolt screws the course of work of robot 700 on reactor pressure vessel, and test bolt screws the various performance parameters of robot 700.
Above disclosed is only preferred embodiment of the present utility model, certainly can not limit with this interest field of the utility model, and the equivalent variations of therefore doing according to the utility model claim, still belongs to the scope that the utility model is contained.
Claims (9)
1. bolt screws a robot test-bed, it is characterized in that: comprise bracing frame, kingbolt suspender, large box nut whirligig, workbench, screw shell, kingbolt and large box nut; Described kingbolt suspender and described large box nut whirligig are arranged on support frame as described above, and described large box nut whirligig is arranged at described kingbolt suspender below, described workbench is arranged at support frame as described above upper end and screws robot with bearing bolt, and described large box nut is threadedly connected to described kingbolt; Described bolt screws kingbolt described in robot control and is screwed into or the described screw shell of back-outing, described kingbolt suspender movably connects or departs from described kingbolt to locate described kingbolt, and described large box nut whirligig drives described large box nut rotation so that the relatively described kingbolt of described large box nut moves up and down.
2. bolt as claimed in claim 1 screws robot test-bed, it is characterized in that: described kingbolt suspender comprise be fixedly connected on support frame as described above the first back up pad, be positioned at the flag nut of described the first back up pad upside and drive described flag nut to rotate so that the first nut rotating mechanism that described flag nut vertically moves relative to described kingbolt; The axle center of described flag nut and described screw shell is located along the same line, and offers first perforation of passing for described kingbolt in described the first back up pad.
3. bolt as claimed in claim 2 screws robot test-bed, it is characterized in that: described kingbolt upper end is provided with for screwing with described bolt the adapter that robot is connected.
4. bolt as claimed in claim 1 screws robot test-bed, it is characterized in that: described large box nut whirligig comprises and is fixedly connected on support frame as described above to carry the second back up pad of described large box nut, and drives described large box nut to rotate so that the large box nut rotating mechanism that the relatively described kingbolt of described large box nut moves up and down; In described the second back up pad, offer the second perforation, described kingbolt is arranged in described the second perforation.
5. bolt as claimed in claim 1 screws robot test-bed, it is characterized in that: the curved structure of described workbench, described kingbolt suspender, described screw shell and described kingbolt are along the center camber line spread configuration of described workbench arcuate structure.
6. bolt as claimed in claim 5 screws robot test-bed, it is characterized in that: described workbench two ends are respectively arranged with limit damper.
7. bolt as claimed in claim 5 screws robot test-bed, it is characterized in that: promising described bolt is set on described workbench and screws robot and move horizontally the track that guiding is provided.
8. bolt as claimed in claim 5 screws robot test-bed; it is characterized in that: on described workbench, be provided with adjustable limiter of moment; described limiter of moment is connected for the mechanical arm that screws robot with described bolt, and the mechanical arm that screws robot to test described bolt screws the force moment protection function of described kingbolt.
9. bolt as claimed in claim 5 screws robot test-bed, it is characterized in that: described workbench is provided with a bolt recognizer in position corresponding to arbitrary described kingbolt, described bolt recognizer is for matching with being arranged at the alignment sensor that described bolt screws in robot, with kingbolt numbering described in fixation and recognition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420316665.9U CN203881556U (en) | 2014-06-13 | 2014-06-13 | Bolt-screwing robot test bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420316665.9U CN203881556U (en) | 2014-06-13 | 2014-06-13 | Bolt-screwing robot test bench |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203881556U true CN203881556U (en) | 2014-10-15 |
Family
ID=51682042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420316665.9U Expired - Lifetime CN203881556U (en) | 2014-06-13 | 2014-06-13 | Bolt-screwing robot test bench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203881556U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109781400A (en) * | 2019-02-27 | 2019-05-21 | 大连洁能重工股份有限公司 | A kind of test-bed for examining kingbolt rotary machine people |
| WO2019104872A1 (en) * | 2017-11-30 | 2019-06-06 | 蔚来汽车有限公司 | Battery swapping locking and unlocking control system and method |
-
2014
- 2014-06-13 CN CN201420316665.9U patent/CN203881556U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104872A1 (en) * | 2017-11-30 | 2019-06-06 | 蔚来汽车有限公司 | Battery swapping locking and unlocking control system and method |
| CN109781400A (en) * | 2019-02-27 | 2019-05-21 | 大连洁能重工股份有限公司 | A kind of test-bed for examining kingbolt rotary machine people |
| CN109781400B (en) * | 2019-02-27 | 2023-11-24 | 大连洁能重工股份有限公司 | Test bench for testing main bolt rotary robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 Guangdong province Futian District Shangbu Road West of the city of Shenzhen Shenzhen science and technology building 15 layer (1502-1504, 1506) Patentee after: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Patentee after: CHINA GENERAL NUCLEAR POWER Corp. Address before: 518000 Guangdong province Futian District Shangbu Road West of the city of Shenzhen Shenzhen science and technology building 15 layer (1502-1504, 1506) Patentee before: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Patentee before: CHINA GENERAL NUCLEAR POWER Corp. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170905 Address after: Three road CGN building Futian District Shennan Road 518000 Shenzhen City, Guangdong Province, No. 2002 17 floor Co-patentee after: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Patentee after: LING'AO NUCLEAR POWER Co.,Ltd. Co-patentee after: CHINA GENERAL NUCLEAR POWER Corp. Address before: 518000 Guangdong province Futian District Shangbu Road West of the city of Shenzhen Shenzhen science and technology building 15 layer (1502-1504, 1506) Co-patentee before: CHINA GENERAL NUCLEAR POWER Corp. Patentee before: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20141015 |