CN205380658U - Transformer station inspection robot and system with arm - Google Patents
Transformer station inspection robot and system with arm Download PDFInfo
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- CN205380658U CN205380658U CN201521039861.7U CN201521039861U CN205380658U CN 205380658 U CN205380658 U CN 205380658U CN 201521039861 U CN201521039861 U CN 201521039861U CN 205380658 U CN205380658 U CN 205380658U
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- electromagnetic lock
- lock
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- 238000007689 inspection Methods 0.000 title claims abstract description 10
- 230000003028 elevating effect Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 32
- 210000000078 claw Anatomy 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004088 simulation Methods 0.000 claims description 4
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000001727 in vivo Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The utility model discloses a transformer station inspection robot and system with arm, the robot with install in the outside automation system of unblanking of box, automatically, the system of unblanking includes electromagnetic lock and controlling means, and controlling means includes singlechip, wireless communication module, electromagnetic relay, limit switch and alarm module close the door, automatically, unblank ystem installation on the box door, controlling means installs in the lock body, and the electromagnetic lock can also can use the key to open and cut out through the manual work in order to open and to cut out through the remote control of robot. Through the communication with the automatic system of unblanking, can open the box lock automatically to realization equipment inspection and operation in to the box, automatically, the compatible ordinary key mode of unblanking of the system of unblanking makes the automatic mode of patrolling and examining of robot can coexist with traditional manual work mode of patrolling and examining, the yun tai of robot has elevating system, has expanded the equipment scope of robot detectable greatly.
Description
Technical field
This utility model relates to a kind of Intelligent Mobile Robot with mechanical arm and system thereof.
Background technology
In recent years, development along with science and technology, Intelligent Mobile Robot is utilized to be automatically performed the work such as transformer station's everyday devices tour, infrared measurement of temperature, equipment state inspection, have become as the important supplementary means of inspecting substation equipment, and along with the large-scale promotion of Intelligent Mobile Robot, unattended operation transformer station also becomes increasingly prevalent.Equipment visual in transformer station, mainly through the mode of autonomous operation, along the route set, is detected by existing Intelligent Mobile Robot, but for the power equipment in casing, existing Intelligent Mobile Robot then cannot be carried out detection.And if need the equipment in casing is operated, existing robot cannot realize especially, thus greatly reduces the practicality of Intelligent Mobile Robot so that transformer station realize real unattended become difficulty.
Simultaneously as the casing in transformer station is typically equipped with lock, it is necessary to artificial use key just can be opened, and therefore cannot open casing only by the simple fitting machine mechanical arm of crusing robot.Robot used for intelligent substation patrol as involved by utility model patent that the patent No. is ZL200910016781.2, although be provided with mechanical arm, but the detection to case in-vivo device and operation cannot be realized.
Utility model content
This utility model is in order to solve the problems referred to above, it is proposed that a kind of Intelligent Mobile Robot with mechanical arm and system thereof, and this system comprises the Intelligent Mobile Robot with mechanical arm and the automatic door opening system two parts being arranged on casing.Wherein, described electric control lock can pass through automatically opening up and closing of robot remote control realization casing door lock, and described robot and mechanical arm can carry instrument and the equipment in casing is detected and operated.
To achieve these goals, this utility model adopts the following technical scheme that
A kind of Intelligent Mobile Robot with mechanical arm, including walking mechanism, mechanical arm, industrial computer and harvester, wherein, walking mechanism carrying robot body walking, mechanical arm is arranged in walking mechanism, and industrial computer controls the operation of harvester and walking mechanism；
Described harvester, including video camera, thermal infrared imager, vision sensor and laser sensor, described video camera and thermal infrared imager are arranged on The Cloud Terrace, The Cloud Terrace is arranged on The Cloud Terrace elevating mechanism, The Cloud Terrace elevating mechanism is fixed on the support being arranged on walking mechanism front end, described support arranges vision sensor and laser sensor, the size shape of detection casing and robot present position.
Described walking mechanism includes wheel shoe formula chassis.
Described The Cloud Terrace elevating mechanism is arranged on wheel shoe formula chassis by support, drives The Cloud Terrace to rise or declines, and The Cloud Terrace has level and two degree of freedom of pitching.
Described video camera and thermal infrared imager are respectively arranged in the both sides of The Cloud Terrace, and power equipment in transformer station is detected.
Described laser sensor is used for location and the navigation of robot so that robot can rest in appointment position accurately.
Described vision sensor is binocular vision sensor, and for the size of casing, shape are detected, and the position of door handle positions.
Described industrial computer is connected with The Cloud Terrace and The Cloud Terrace elevating mechanism by RS485 bus, is connected with laser sensor by network, is connected with binocular vision sensor bus by 1394 buses, is connected with wheel shoe formula chassis by CAN.
Described mechanical arm is sixdegree-of-freedom simulation, and including 6 free-moving joints, each joint reaches the angle of accurate position and setting by the control of industrial computer.
Described mechanical arm front end is provided with electric claw, the finger of electric claw can free-open-close, under the control of industrial computer, realize the equipment opening, close in cabinet door and control box body.
Described mechanical arm front end is provided with photographic head, and the equipment in casing is detected.
A kind of inspection robot system in transformer substation with mechanical arm, including robot described above and be arranged on the auto-unlocking system outside casing, described auto-unlocking system includes electromagnetic lock and controls device, controls device and includes single-chip microcomputer, wireless communication module, electromagnetic relay, pass door limit switch and alarm module；Described auto-unlocking system is arranged on cabinet door, and described control device is arranged in lock body, and namely electromagnetic lock can pass through robot remote and control to open and close, it is also possible to by manually using key to open and close；
Wherein, described wireless communication module for the control command of real-time reception machine people, when receive unblank order time, Single-chip Controlling electromagnetic relay adhesive is so that electromagnetic lock energising, thus the locking bolt of electromagnetic lock is opened；
Whether described pass door limit switch is used for detecting cabinet door and closes and put in place, and when cabinet door is closed and put in place and receive locking order, Single-chip Controlling electromagnetic relay disconnects thus formula electromagnetic lock power-off, thus electromagnetic lock is locked；If cabinet door is not turned off putting in place and have received locking order, then Single-chip Controlling alarm module is reported to the police, and by wireless communication module, this warning message is sent to robot simultaneously.
The lock core of described electromagnetic lock can use key to open and close electromagnetic lock, and when detecting that key inserts common lock core, described control device temporarily ceases operation, no longer receives the control command of robot；After key is extracted, described control device restarts to run.
The beneficial effects of the utility model are:
(1) Intelligent Mobile Robot is mounted with sixdegree-of-freedom simulation and electric claw, it is possible to achieve the operation to station equipment；
(2) by the communication with auto-unlocking system, it is possible to automatically open up box lock, thus realizing equipment Inspection in casing and operation；
(3) auto-unlocking system compatible normal key is unblanked mode, makes robot automatic detecting mode and Traditional Man routine inspection mode to coexist；Robot The Cloud Terrace, with elevating mechanism, is greatly expanded the detectable equipment scope of robot.
Accompanying drawing explanation
Fig. 1 is this utility model crusing robot internal structure schematic diagram；
Fig. 2 (a) is the mounting structure schematic diagram of this utility model auto-unlocking system；
Fig. 2 (b) is the left view of this utility model auto-unlocking system；
Fig. 3 is the control principle of device block diagram of this utility model auto-unlocking system；
Wherein, 1. visible light camera, 2. The Cloud Terrace, 3. thermal infrared imager, 4. photographic head, 5. electric claw, 6. sixdegree-of-freedom simulation, 7. industrial computer, 8. main crawler belt, 9. support arm, 10. takes turns shoe formula chassis, 11. supports, 12. binocular vision sensor, 13. laser sensors, 14. The Cloud Terrace elevating mechanisms, 15. alarm module, 16. electromagnetic lock lock bodies, 17. cabinet doors, 18. door handle, 19. normal key holes, 20. electromagnetic lock locking bolts, 21. pass door limit switch, 22. wireless communication module, 23. single-chip microcomputers, 24. relays, 25. electromagnetic lock, 26. alarm modules.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is described in further detail with embodiment.
As shown in Figure 1, a kind of Intelligent Mobile Robot with mechanical arm, including inspection machine human body and the mechanical arm being arranged on body, wherein robot body includes wheel shoe formula chassis 10, The Cloud Terrace 2, The Cloud Terrace elevating mechanism 14, visible light camera 1, thermal infrared imager 3, laser sensor 13, binocular vision sensor 12 and industrial computer 7.Wherein, walking mechanism carrying robot body walking, mechanical arm is arranged in walking mechanism, and industrial computer 7 controls the operation of harvester and walking mechanism；
Harvester, including video camera, thermal infrared imager 3, vision sensor 12 and laser sensor 13, described visible light camera 1 and thermal infrared imager 3 are arranged on The Cloud Terrace 2, The Cloud Terrace 2 is arranged on The Cloud Terrace elevating mechanism 14, The Cloud Terrace elevating mechanism 14 is fixed on the support being arranged on walking mechanism front end, described support 11 arranges vision sensor and laser sensor 13, the size shape of detection casing and robot present position.
Wheel shoe formula chassis comprises two main track unit and four support arm track unit, so that the barrier of certain altitude can be crossed by robot.
The Cloud Terrace 2 is arranged on The Cloud Terrace elevating mechanism 14, and The Cloud Terrace 2 has level and two degree of freedom of pitching.
The Cloud Terrace elevating mechanism 14 is arranged on wheel shoe formula chassis by support, it is possible to drive The Cloud Terrace automatically rise or fall certain altitude.
Visible light camera 1 and thermal infrared imager 3 are arranged on The Cloud Terrace 2 both sides, for realizing the detection of power equipment in transformer station.
Laser sensor 13 is used for navigation and the location of robot so that robot can rest in appointment position accurately.
Binocular vision sensor 12 is for detecting the size of casing, shape, and the position of door handle positions.
Industrial computer 7 is for gathering the data of each sensor above-mentioned and realizing corresponding algorithm, wherein industrial computer is connected with The Cloud Terrace 2 and The Cloud Terrace elevating mechanism 14 by RS485 bus, it is connected with laser sensor 13 by network, it is connected with binocular vision sensor 12 bus by 1394 buses, is connected with wheel shoe formula chassis by CAN.
According to the technical solution of the utility model, this crusing robot is also with mechanical arm, and mechanical arm is arranged on wheel shoe formula chassis.Mechanical arm comprise six can free-moving joint, each joint all can reach desired angle by accurate position control.
Mechanical arm front end is provided with electric claw 5, and electric claw 5 has one degree of freedom, it is possible to drive finger to realize folding, for opening and closing the equipment in cabinet door and control box body.
Mechanical arm front end is also equipped with photographic head, for the equipment in casing is detected.
Each joint of mechanical arm and described electric claw 5 are powered each through 24V DC source, are connected with industrial computer by CAN.
As shown in Fig. 2 (a), Fig. 2 (b), in order to realize the purpose of this utility model, additionally provide a kind of auto-unlocking system, this system includes electromagnetic lock lock body and controls device, wherein controls device and includes single-chip microcomputer 23, wireless communication module 22, electromagnetic relay 24, closes door limit switch 21 and alarm module 26.Auto-unlocking system is arranged on cabinet door 17, controls device and is arranged in lock body 16.Namely electromagnetic lock locking bolt 20 can pass through robot remote and control to open and close, it is also possible to by manually using key to open and close.
Wherein, wireless communication module 22 for the control command of real-time reception machine people, when receive unblank order time, Single-chip Controlling electromagnetic relay adhesive is so that electromagnetic lock energising, thus electromagnetic lock locking bolt 20 is opened.
Whether be used for detecting cabinet door 17 and close as it is shown on figure 3, close door limit switch 21 and put in place, when cabinet door 17 is closed and put in place and receive locking order, Single-chip Controlling electromagnetic relay disconnects thus formula electromagnetic lock power-off, thus electromagnetic lock is locked.If cabinet door 17 is not turned off putting in place and have received locking order, then Single-chip Controlling alarm module is reported to the police, and by wireless communication module 22, this warning message is sent to robot simultaneously.
Common lock core can use key to open and close electromagnetic lock, and when detecting that key inserts normal key hole 19, described control device temporarily ceases operation, no longer receives the control command of robot；After key is extracted, described control device restarts to run.
The step of the method for detection case in-vivo device is as follows:
1) robot rests in the appointment position in casing front by laser navigation, and is obtained the relative position of casing and door handle by binocular vision sensor；
2) robot control mechanical arm is automatically moved to the position of door handle, controls electric claw and clamps door handle；
3) robot sends, to auto-unlocking system, instruction of unblanking, and waits that auto-unlocking system returns the signal that puts in place of unblanking；
4), after receiving signal of unblanking to put in place, robot controls mechanical arm and opens cabinet door.
5) mechanical arm completes the detection of the appointment to case in-vivo device and operation content by thermal infrared imager, visible light camera and electric claw.
6) robot cuts out cabinet door by controlling mechanical arm, and waits that auto-unlocking system returns cabinet door and closes the signal put in place；
7), after cabinet door is closed and put in place, robot sends blocking order to auto-unlocking system, and waits that auto-unlocking system returns locking and puts in place signal；
8) robot receives locking and puts in place after signal, packs up mechanical arm, completes one-time detection task.
Detailed description of the invention of the present utility model is described in conjunction with accompanying drawing although above-mentioned; but the not restriction to this utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art need not pay various amendments or deformation that creative work can make still within protection domain of the present utility model.
Claims (9)
1. the Intelligent Mobile Robot with mechanical arm, it is characterized in that: include walking mechanism, mechanical arm, industrial computer and harvester, wherein, walking mechanism carrying robot body walking, mechanical arm is arranged in walking mechanism, and industrial computer controls the operation of harvester and walking mechanism；
Described harvester, including video camera, thermal infrared imager, vision sensor and laser sensor, described video camera and thermal infrared imager are arranged on The Cloud Terrace, The Cloud Terrace is arranged on The Cloud Terrace elevating mechanism, The Cloud Terrace elevating mechanism is fixed on the support being arranged on walking mechanism front end, described support arranges vision sensor and laser sensor, the size shape of detection casing and robot present position；Described video camera and thermal infrared imager are respectively arranged in the both sides of The Cloud Terrace, and power equipment in transformer station is detected；Described The Cloud Terrace elevating mechanism is arranged on wheel shoe formula chassis by support, drives The Cloud Terrace to rise or declines.
2. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, is characterized in that: described walking mechanism includes wheel shoe formula chassis.
3. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, is characterized in that: described vision sensor is binocular vision sensor, and for the size of casing, shape are detected, and the position of door handle positions.
4. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, it is characterized in that: described industrial computer is connected with The Cloud Terrace and The Cloud Terrace elevating mechanism by RS485 bus, it is connected with laser sensor by network, it is connected with binocular vision sensor bus by 1394 buses, is connected with wheel shoe formula chassis by CAN.
5. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, it is characterized in that: described mechanical arm is sixdegree-of-freedom simulation, including 6 free-moving joints, each joint reaches the angle of accurate position and setting by the control of industrial computer.
6. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, it is characterized in that: described mechanical arm front end is provided with electric claw, the finger of electric claw can free-open-close, under the control of industrial computer, realize the equipment opening, close in cabinet door and control box body.
7. a kind of Intelligent Mobile Robot with mechanical arm as claimed in claim 1, is characterized in that: described mechanical arm front end is provided with photographic head, and the equipment in casing is detected.
8. the inspection robot system in transformer substation with mechanical arm, it is characterized in that: include the robot as according to any one of claim 1-7 and be arranged on the auto-unlocking system outside casing, described auto-unlocking system includes electromagnetic lock and controls device, controls device and includes single-chip microcomputer, wireless communication module, electromagnetic relay, pass door limit switch and alarm module；Described auto-unlocking system is arranged on cabinet door, and described control device is arranged in lock body, and namely electromagnetic lock can pass through robot remote and control to open and close, it is also possible to by manually using key to open and close；
Wherein, described wireless communication module for the control command of real-time reception machine people, when receive unblank order time, Single-chip Controlling electromagnetic relay adhesive is so that electromagnetic lock energising, thus the locking bolt of electromagnetic lock is opened；
Whether described pass door limit switch is used for detecting cabinet door and closes and put in place, and when cabinet door is closed and put in place and receive locking order, Single-chip Controlling electromagnetic relay disconnects thus formula electromagnetic lock power-off, thus electromagnetic lock is locked；If cabinet door is not turned off putting in place and have received locking order, then Single-chip Controlling alarm module is reported to the police, and by wireless communication module, this warning message is sent to robot simultaneously.
9. a kind of inspection robot system in transformer substation with mechanical arm as described in claim 8, it is characterized in that: the lock core of described electromagnetic lock can use key to open and close electromagnetic lock, when detecting that key inserts common lock core, described control device temporarily ceases operation, no longer receives the control command of robot；After key is extracted, described control device restarts to run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201521039861.7U CN205380658U (en) | 2015-12-11 | 2015-12-11 | Transformer station inspection robot and system with arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521039861.7U CN205380658U (en) | 2015-12-11 | 2015-12-11 | Transformer station inspection robot and system with arm |
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| CN205380658U true CN205380658U (en) | 2016-07-13 |
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| CN201521039861.7U Active CN205380658U (en) | 2015-12-11 | 2015-12-11 | Transformer station inspection robot and system with arm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108081270A (en) * | 2017-12-15 | 2018-05-29 | 中国兵器装备集团自动化研究所 | One kind is used for dangerous goods processing system and control method |
| CN109676620A (en) * | 2018-12-29 | 2019-04-26 | 湘潭大学 | A kind of fire exit door deployment method based on firefighting robot |
| CN110782573A (en) * | 2019-11-27 | 2020-02-11 | 北京云迹科技有限公司 | Access control method, device and equipment |
| CN110800178A (en) * | 2017-06-28 | 2020-02-14 | Abb瑞士股份有限公司 | Medium-high voltage substation of unmanned operation and maintenance switch equipment or control equipment |
| CN110842890A (en) * | 2018-08-21 | 2020-02-28 | 广州弘度信息科技有限公司 | Robot and control method thereof |
| CN114165110A (en) * | 2021-12-06 | 2022-03-11 | 珠海优特电力科技股份有限公司 | Robot, electric power cabinet and unlocking and locking method of robot to electric power cabinet |
| US11581712B2 (en) | 2017-06-28 | 2023-02-14 | Abb Schweiz Ag | Robot for unmanned operation and maintenance in an indoor medium or high voltage switch-gear station |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
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2015
- 2015-12-11 CN CN201521039861.7U patent/CN205380658U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110800178B (en) * | 2017-06-28 | 2021-12-03 | Abb瑞士股份有限公司 | Medium-high voltage substation of unmanned operation and maintenance switch equipment or control equipment |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
| US11581712B2 (en) | 2017-06-28 | 2023-02-14 | Abb Schweiz Ag | Robot for unmanned operation and maintenance in an indoor medium or high voltage switch-gear station |
| US11451015B2 (en) | 2017-06-28 | 2022-09-20 | Abb Schweiz Ag | Substation containing switchgear or controlgear with unmanned operation and maintenance |
| CN110800178A (en) * | 2017-06-28 | 2020-02-14 | Abb瑞士股份有限公司 | Medium-high voltage substation of unmanned operation and maintenance switch equipment or control equipment |
| US11362489B2 (en) | 2017-06-28 | 2022-06-14 | Abb Schweiz Ag | Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance |
| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108081270B (en) * | 2017-12-15 | 2020-05-19 | 中国兵器装备集团自动化研究所 | Dangerous goods processing system and control method |
| CN108081270A (en) * | 2017-12-15 | 2018-05-29 | 中国兵器装备集团自动化研究所 | One kind is used for dangerous goods processing system and control method |
| CN110842890A (en) * | 2018-08-21 | 2020-02-28 | 广州弘度信息科技有限公司 | Robot and control method thereof |
| CN109676620A (en) * | 2018-12-29 | 2019-04-26 | 湘潭大学 | A kind of fire exit door deployment method based on firefighting robot |
| CN110782573A (en) * | 2019-11-27 | 2020-02-11 | 北京云迹科技有限公司 | Access control method, device and equipment |
| CN114165110A (en) * | 2021-12-06 | 2022-03-11 | 珠海优特电力科技股份有限公司 | Robot, electric power cabinet and unlocking and locking method of robot to electric power cabinet |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
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| C14 | Grant of patent or utility model | ||
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| CB03 | Change of inventor or designer information |
Inventor after: Luan Yiqing Inventor after: Xu Haijun Inventor after: Xiao Peng Inventor after: Yu Zhenqiu Inventor after: Yang Shangwei Inventor after: Wang Haipeng Inventor after: Mu Shiyou Inventor after: Hao Yongxin Inventor after: Fu Mengchao Inventor after: Lou Dianqiang Inventor after: Li Jianxiang Inventor after: Zhao Jinlong Inventor after: Li Li Inventor before: Luan Yiqing Inventor before: Xu Haijun Inventor before: Xiao Peng Inventor before: Yu Zhenqiu Inventor before: Yang Shangwei Inventor before: Wang Haipeng Inventor before: Mu Shiyou Inventor before: Hao Yongxin Inventor before: Fu Mengchao Inventor before: Lou Dianqiang Inventor before: Li Jianxiang Inventor before: Zhao Jinlong Inventor before: Li Li |
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| COR | Change of bibliographic data | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201102 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |