CN205685324U - A kind of gantry truss-like indoor substation crusing robot - Google Patents
A kind of gantry truss-like indoor substation crusing robot Download PDFInfo
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- CN205685324U CN205685324U CN201620526444.3U CN201620526444U CN205685324U CN 205685324 U CN205685324 U CN 205685324U CN 201620526444 U CN201620526444 U CN 201620526444U CN 205685324 U CN205685324 U CN 205685324U
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Abstract
The utility model discloses a kind of gantry truss-like Intelligent Mobile Robot, including X to track, Y-direction track, mechanical arm and detection components；Described Y-direction track installation and can move back and forth along X to track at X on track；Described mechanical arm is arranged on Y-direction track by a mobile platform and mobile platform can move back and forth along Y-direction track；Described mechanical arm is provided with detection components, realizes the comprehensive of indoor equipment is patrolled and examined to the compound motion of track, Y-direction track and mechanical arm by X.
Description
Technical field
This utility model relates to a kind of Intelligent Measurement robot, is specifically related to a kind of gantry truss-like transformer station indoor and patrols and examines
Robot, belongs to intelligent testing technology field.
Background technology
Power system indoor equipment properly functioning most important, on the one hand needs enough reliabilities, on the other hand
It is also required to patrol and examine in time to find and the potential risk of repair apparatus existence in time, it is ensured that system is properly functioning.Indoor power
The detection in real time of equipment is to ensureing that its reliable and secure operation is significant.By the interior space and other monitored equipment layout
Limit, the function of detection comprehensive to equipment will be realized, need robot all can be able to realize at horizontal space and vertical space
The motion of larger row journey, it is clear that existing in-wheel driving or crawler type type of drive are all difficult to.
In addition, the indoor device location to be checked surface higher, equipment component of part transformer station be also required to patrol and examine (as
Fa Ting water cooling chamber, GIS room), existing routine inspection mode is hung back especially.
Utility model content
For solving above-mentioned prior art problem, this utility model provides a kind of gantry truss-like transformer station indoor survey monitor
Device people, it uses ceiling mounting type or side dress mode to be arranged on ceiling, wall or column.By combined track and mechanical arm
Compound motion, detection components can accurately arrive the optional position in detection plane, it is achieved comprehensive to indoor equipment is patrolled and examined.
To achieve these goals, this utility model adopts the following technical scheme that
A kind of gantry truss-like Intelligent Mobile Robot, including X to track, Y-direction track, mechanical arm and detection group
Part；Described Y-direction track installation and can move back and forth along X to track at X on track；Described mechanical arm passes through one
Mobile platform is arranged on Y-direction track and mobile platform can move back and forth along Y-direction track；Described mechanical arm is installed
There is detection components, realize the comprehensive of indoor equipment is patrolled and examined to the compound motion of track, Y-direction track and mechanical arm by X；
The end of described mechanical arm is hinged with The Cloud Terrace, and the support of described The Cloud Terrace is provided with visible light camera, thermal infrared imager, cigarette
One or more in mist concentration detector, gas detector and Temperature and Humidity instrument.
Further, described X includes two the first X-axis being parallel to each other, the second X-axis, described Y-direction track to track
Y-axis that is vertical with the first X-axis, the second X-axis including one and that be connected；Described Y-axis can move back and forth along two X-axis；Two X
Axle is driven it to rotate by motor.
Further, two described X-axis use bi-motor Synchronization Control or single motor each to control.
Further, the equal scalable of stroke of described first X-axis, the second X-axis and Y-axis.
Further, described first X-axis, the second X-axis, Y-axis the most each include the first guide rail, the second guide rail, tooth bar, cunning
Block, connecting plate, motor, decelerator and basis section bar；
Further, described the first guide rail, the top being arranged on basis section bar of the second guide rail parallel, tooth bar is arranged on
Section bar side, basis, described motor is moved back and forth along tooth bar by retarder driver gear, and described motor, reductor are pacified
It is contained on connecting plate, is moved back and forth along two described guide rails by two slide blocks bottom connecting plate.Described basis section bar
It is arranged on ceiling, column or the auxiliary stand of indoor；Basis section bar, tooth bar etc. all can be lengthened by splicing, subsequent expansion
Property easily realizes.
Further, described Y-direction track is also equipped with support component, described support component include supporting section bar with
Roll wheel assembly；Described roll wheel assembly one end is affixed with Y-axis by the second support, and the other end is connected with supporting section bar by roller；
Described support section bar and the basis parallel installation of section bar.
Further, described support section bar is provided with retracting device, described retracting device include drivewheel, driven pulley,
Steel wire rope and recovering mechanism；Described recovering mechanism is arranged on the terminal supporting section bar；Described drivewheel is arranged on and supports section bar
Initiating terminal is connected with motor, and described drivewheel passes through Steel rope drive driven pulley, and steel wire rope is fixing with recovering mechanism even
Connect.
Cannot can enable retraction mechanism and robot is received after autonomous operation when Y-axis runs into fault during patrolling and examining
Return and safeguard；Concrete work process is as follows:
When running into fault, start motor and drive driving wheel motion, and then drive recovering mechanism edge by steel wire rope
Support section bar to run.In recovering mechanism runs, run into the robot broken down, then promote robot together toward initiating terminal
Run, until completing the withdrawal of robot.After robot maintenance, can be by robot autonomous operation, by retraction mechanism band
Return and support section bar terminal, complete the reset of retracting device, in case next time uses.
Further, described support component comprises identical one or more groups of structure, with specific reference to robot weight and Y-axis
Depending on span is comprehensive.
Further, described mechanical arm its mainly include control chamber, the first joint, the first arm, second joint, second
Arm, the 3rd joint；Control chamber is connected with the first arm by the first joint, and the first described arm passes through second joint and the
Two arms are connected, and the second described arm is connected with The Cloud Terrace by hinge, and described first joint and second joint have the most flat
Rotational freedom in face.
Further, the end of described mechanical arm is hinged with The Cloud Terrace, and The Cloud Terrace is in level all the time；Described The Cloud Terrace
Sonac and the human body infrared detector of multiple detection barrier are installed on support.
Robot powers and communication uses drag chain mode, and described drag chain is separately mounted to the first X-axis (or second X-axis) and Y
On axle.
This utility model mechanical arm has bigger expansion retraction stroke ratio, mechanical arm can reach with parallel press close to
The state of Y-axis, completes to patrol and examine equipment position directly above；Also can reach close to substantially vertical state, complete to equipment
Patrolling and examining of lower position.Multiple sonac and human body infrared detector are installed on The Cloud Terrace support, can realize surrounding obstacle
Thing and the detection of staff, will not collide equipment and the staff of surrounding.Described The Cloud Terrace and monitoring device are replaced by machine
Tool hands is grabbed, and then completes the crawl to indoor foreign material, workpiece etc. and carrying work.
In order to increase the connection rigidity of Y-axis, this utility model the first X-axis and the second X-axis drive system have been respectively adopted 2
Guide rail and 4 slide blocks, then the size of connecting plate increases accordingly, and overall bonding strength and rigidity increase accordingly.
When robot carries out automatic detecting, robot system calls the path planning orbiting of storage.Work as robot
When moving to target detection point, complete the work state information to this monitoring point equipment or ring by self-contained detection equipment
Environment information, records the current position and posture of moving body simultaneously.And by the real-time data transmission that collects to backstage, and then complete
The process of data and the automatic alarm of fault.
The beneficial effects of the utility model are as follows:
(1) this utility model by the compound motion of X-axis, Y-axis and mechanical arm realize the real-time online to indoor equipment,
Comprehensive, patrol and examine without dead angle.
(2) this utility model props up support component and only limits the deformation on Y-axis vertical direction, does not results in location.
(3) carrying fluted on the section bar of this utility model basis, the equipment such as tooth bar is easy for installation, quick, attractive in appearance, it is not necessary to beat
Hole；
(4) this utility model The Cloud Terrace support surrounding installs multiple sonacs and human body infrared detector, in robot
Run and mechanical arm course of action will not collide with indoor equipment, construction Work tool and staff etc..
(5) this utility model The Cloud Terrace and monitoring assembly are replaced by gripper of manipulator, and then complete indoor foreign material, workpiece etc.
Crawl and carrying work.
(6) this utility model can carry different detection equipment, and adapt to different substation cell patrols and examines requirement.
(7) this utility model uses drag chain to power, and communication robust is reliable, and occurs electricity fire when avoiding slide wire power supply
The situation of flower, it is adaptable to there is transformer station's cell of fuel gas.
The stroke scalable of (8) first X-axis, the second X-axis and Y-axis, basis section bar, tooth bar etc. all can be lengthened by splicing,
Subsequent expansion easily realizes, operability is stronger.
(9) both sides of equipment can not only be patrolled and examined by this utility model, when mechanical arm is contracted to parallel task scheduling Y-axis
After position directly over equipment can also be patrolled and examined, transformer station's indoor large equipment, GIS device are had superior when patrolling and examining
Property.
(10) this utility model can reclaim by tracking pipeline robot, when robot occurs in the region being manually difficult to arrive
After fault, can reclaim by starting retracting device, decrease operating risk.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is this utility model the first X-axis driving system structure schematic diagram；
Fig. 3 is the side view that this utility model props up support component；
Fig. 4 is that this utility model props up the structural representation of roll wheel assembly in support component；
Fig. 5 is the structural representation of this utility model mechanical arm；
Fig. 6 is the control structure figure of this utility model mechanical arm；
Fig. 7 is this utility model retracting device structural representation；
Fig. 8 is the motor control planning chart of this utility model robot.
Wherein, the 1, first X-axis；2, the second X-axis；3, Y-axis；4, support component is propped up；5, mechanical arm；6, The Cloud Terrace；7, detection group
Part；8, mobile platform；101, basis section bar；102, the first guide rail；103, the second guide rail；104, connecting plate；105, slide block；106、
Adaptor；107, motor；108, decelerator；109, gear is driven；110, tooth bar；401, section bar is supported；402, roller；403,
One support；404, the second support；501, control chamber；504, the first joint；506, the first arm；505, second joint；507,
Two arms；508, hinge；9, retracting device；901, drivewheel；902, steel wire rope；903, recovering mechanism；904, driven pulley；905、
Regulating wheel.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in detail.
It is structural representation of the present utility model as described in Figure 1.This utility model mainly includes XY combined track, support group
Part 4, mechanical arm 5, mobile platform 8, The Cloud Terrace 6, detection components 7；Installation manipulator arm 5 below described mobile platform 8, mechanical hand
Arm 5 has 4 degree of freedom, and its end is provided with detection components 7 and The Cloud Terrace 6.
Described XY combined track includes the first X-axis the 1, second X-axis 2 and Y-axis 3 that structure is identical；First X-axis 1 and second
Line X-axis 2 is arranged in parallel, orthogonal with Y-axis 3 respectively；Y-axis 3 is simultaneously connected with the first X-axis 1 and the second X-axis 2, and can be therewith along first
The axis direction rectilinear movement of X-axis 1 and the second X-axis 2；Described mobile platform 8 is arranged in Y-axis 3 by connecting plate, can be along Y-axis 3
Axis direction moves.
Detection components includes visible light camera, thermal infrared imager, smokescope detector, gas detector and humiture
One or more in detector.
This utility model the first X-axis, the second X-axis, Y-axis driving system structure figure identical, said as a example by the first X-axis
Bright.
It is illustrated in figure 2 this utility model the first X-axis driving system structure schematic diagram.
Motor 107 output shaft is connected with decelerator 108, and decelerator 108 output shaft is connected by flat key with driving gear 109
Connecing, decelerator 108 shell is connected by adaptor 106 is fixing with connecting plate 104.Connecting plate 104 is by 4 slide blocks 105 and the
One guide rail 102 and the second guide rail 103 connect, and what the first guide rail 102 was parallel with the second guide rail 103 is arranged on section bar 101 end, basis
In the groove in face.Tooth bar 110 side is contained in the groove of section bar 101 side, basis, and basis section bar 101 is arranged on ceiling or fixing
On column, support.
When motor 107 works, drive gear 109 to move along tooth bar 110, and then drive logical with the first guide rail and the second guide rail
The connecting plate 104 crossing slide block 105 connection moves.
For the first X-axis and the second X-axis, affixed Y-axis on keyset；For Y-axis, affixed mobile platform on keyset.
When Y-axis stroke is longer, for preventing flexural deformation this utility model of Y-axis from have employed a support component, as shown in Figure 3
The side view of support component is propped up for this utility model.Prop up support component 4 mainly to include supporting section bar (401) and roll wheel assembly, support type
Material can use the profile shapes in I-shaped aluminum section or other cross section.
Being illustrated in figure 4 this utility model and prop up the structure chart of roll wheel assembly in support component, roll wheel assembly mainly includes 4 rollings
Wheel the 402, first support 403 and the second support 404, roller 402 is arranged on the first support 403, the second support 404 and Y-axis 3
Basis section bar is affixed.Described support section bar is installed in parallel on ceiling, column or the auxiliary stand of indoor with basis section bar；Institute
State support section bar and can use the profile shapes in I-shaped aluminium section bar or other cross section.
When the first X-axis and the second X-axis drive system work, drive Y-axis along the first X-axis and the second X-axis by connecting plate
Axial-movement, and then Y-axis drive roll wheel assembly along support section bar move.Owing to the most restricted Y-axis of support component is in vertically side
Deformation upwards, thereby ensure that precision when installing would not cause crossing of Y-axis to position.
Wherein prop up the number of support component according to robot weight and Y-axis span comprehensive depending on, specifically refer to the mechanics of materials
The computational methods of middle simply supported beam amount of deflection.As Y-axis meets hard conditions, it may not be necessary to use a support component；Otherwise, then by reasonable cloth
The deformation of Y-axis can be limited in claimed range by the support component putting one or more groups structure identical.
It is illustrated in figure 5 the structural representation of this utility model mechanical arm.Mechanical arm 5 in the vertical direction has relatively
The big bearing capacity stretched stroke and possess requirement,
Mechanical arm its mainly include control chamber the 501, first joint the 504, first arm 506, second joint 505, second
Arm the 507, the 3rd joint 508；Control chamber is connected with the first arm by the first joint, and the first described arm is by the second pass
Joint is connected with the second arm, and the second described arm is connected with The Cloud Terrace 6 by the 3rd joint.
First joint and second joint are by motor, harmonic speed reducer, servo driver drives.Control chamber 501 is fixed in
On mobile platform 8, control chamber and the first arm are connected by the first joint, and it is rotatably mounted that the first joint has in perpendicular
Degree；First arm and the second arm are connected by second joint, and second joint has the rotational freedom in perpendicular.
The Cloud Terrace is connected with the hinge 508 of mechanical arm by support, and The Cloud Terrace is in level all the time.
It is illustrated in figure 6 the control structure figure of this utility model mechanical arm.PLC as the motion controller of mechanical hand,
It can receive from the motion control information on backstage and make corresponding actions；In addition, PLC can also be by reading from each
The activation bit of servo-driver, can monitor the first arm in real time and whether the second arm works well；If occurring different in Yun Dong
Normal or fault then can be reported to the police, and PLC can make action halt instruction in time, and feeds back to backstage.Motion controller passes through DMCnet
Bus cable and 2 servo-drivers connect, and servo-driver can control 2 servomotor motions of mechanical hand, motor process
In can be real-time adjustment movement velocity.
The Cloud Terrace 6 is connected with mechanical arm by hinge 508, it is ensured that The Cloud Terrace is in level all the time, and The Cloud Terrace 6 is installed inspection
Survey assembly 7.Send control instruction by control chamber 501, control the first joint of mechanical arm, second joint motor rotation, enter
And realize detection equipment is accurately positioned.By the compound motion of X-axis, Y-axis and mechanical arm 5 realize indoor equipment complete
Orientation is patrolled and examined.
This utility model mechanical arm has bigger expansion retraction stroke ratio, and mechanical arm can reach and parallel task scheduling
The state of Y-axis, completes to patrol and examine equipment position directly above；Also can reach close to substantially vertical state, complete to equipment
Patrolling and examining of lower position.Multiple sonac and human body infrared detector are installed on The Cloud Terrace support, can realize surrounding obstacle
Thing and the detection of staff, will not collide with surrounding devices and staff.Additionally, The Cloud Terrace and monitoring device are replaceable
For gripper of manipulator, and then complete the crawl to indoor foreign material, workpiece etc. and carrying work.
Robot powers and communication uses drag chain mode, and described drag chain is separately mounted to the first X-axis (or second X-axis) and Y
On axle, drag chain is prior art, is not describing in detail.
It is illustrated in figure 7 the structural representation of this utility model retracting device.Supporting on section bar 401, recovery is installed
Device, cannot can enable retraction mechanism and carry out robot regaining dimension after autonomous operation when Y-axis runs into fault during patrolling and examining
Protect maintenance.This retracting device mainly includes drivewheel, driven pulley, regulating wheel, steel wire rope and recovering mechanism.Recovering mechanism is arranged on
Supporting the terminal of section bar, recovering mechanism is that a high rigidity moves dolly, and drivewheel is arranged on the initiating terminal supporting section bar.Drivewheel
Being connected with motor, steel wire rope is fixing with recovering mechanism to be connected, and when running into fault, starts motor and drives driving wheel fortune
Dynamic, and then drive recovering mechanism to run along supporting section bar by steel wire rope.In recovering mechanism runs, run into and break down
Robot, then promote robot to run toward initiating terminal together, until completing the withdrawal of robot.After robot maintenance, can
By robot autonomous operation, retraction mechanism is taken back support section bar terminal, completes the reset of retracting device, in case next time makes
With.
As shown in Figure 8, for the motor control planning chart of this utility model robot.When robot carries out automatic detecting,
Robot system calls the path planning orbiting of storage.When robot moves to target detection point, taken by self
The detection equipment of band completes the work state information to this monitoring point equipment or environmental information, records the current of moving body simultaneously
Position and posture.And by the real-time data transmission that collects to backstage, and then complete the process of data and the automatic alarm of fault.Can
See, during motion, realize robot detection in whole space plane by the compound motion of X-axis, Y-axis and Z axis.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines, but not new to this practicality
The restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not to pay various amendments or deformation that creative work can make still at protection model of the present utility model
Within enclosing.
Claims (9)
1. gantry truss-like Intelligent Mobile Robot, it is characterised in that: include that X is to track, Y-direction track, mechanical arm
And detection components；Described Y-direction track installation and can move back and forth along X to track at X on track；Described mechanical arm
It is arranged on Y-direction track by a mobile platform and mobile platform can move back and forth along Y-direction track；At described mechanical hand
Detection components is installed on arm, realizes complete to indoor equipment by X to the compound motion of track, Y-direction track and mechanical arm
Orientation is patrolled and examined；The end of described mechanical arm is hinged with The Cloud Terrace, and the support of described The Cloud Terrace is provided with visible light camera, infrared
One or more in thermal imaging system, smokescope detector, gas detector and Temperature and Humidity instrument.
A kind of gantry the most according to claim 1 truss-like Intelligent Mobile Robot, it is characterised in that: described X to
Track includes two the first X-axis being parallel to each other, the second X-axis, and described Y-direction track includes one and the first X-axis, the second X-axis
Vertical and connected Y-axis；Described Y-axis can move back and forth along two X-axis；Two X-axis are driven it to rotate by motor.
A kind of gantry the most according to claim 2 truss-like Intelligent Mobile Robot, it is characterised in that: described two
X-axis uses bi-motor Synchronization Control or single motor each to control.
A kind of gantry the most according to claim 2 truss-like Intelligent Mobile Robot, it is characterised in that: a described X
The equal scalable of stroke of axle, the second X-axis and Y-axis.
A kind of gantry the most according to claim 2 truss-like Intelligent Mobile Robot, it is characterised in that: a described X
Axle, the second X-axis, Y-axis the most each include the first guide rail, the second guide rail, tooth bar, slide block, connecting plate, motor, decelerator and base
Plinth section bar；
Described the first guide rail, the top being arranged on basis section bar of the second guide rail parallel, tooth bar is arranged on section bar side, basis,
Described motor is moved back and forth along tooth bar by retarder driver gear, and described motor, reductor are arranged on connecting plate,
Moved back and forth along two described guide rails by two slide blocks bottom connecting plate.
A kind of gantry the most according to claim 5 truss-like Intelligent Mobile Robot, it is characterised in that: at described Y
Being also equipped with a support component on track, described support component includes supporting section bar and roll wheel assembly；
Described roll wheel assembly one end is affixed with Y-axis by the second support, and the other end is connected with supporting section bar by roller；
Described support section bar and the basis parallel installation of section bar.
A kind of gantry the most according to claim 6 truss-like Intelligent Mobile Robot, it is characterised in that: described support type
Being provided with retracting device on material, described retracting device includes drivewheel, driven pulley, steel wire rope and recovering mechanism；Described recycling machine
Structure is arranged on the terminal supporting section bar；Described drivewheel is arranged on the initiating terminal of support section bar and is connected with motor, described
Drivewheel passes through Steel rope drive driven pulley, and steel wire rope is fixing with recovering mechanism to be connected.
A kind of gantry the most according to claim 6 truss-like Intelligent Mobile Robot, it is characterised in that: described support group
Part comprises identical one or more groups of structure, with specific reference to robot weight and Y-axis span comprehensive depending on.
A kind of gantry the most according to claim 1 truss-like Intelligent Mobile Robot, it is characterised in that:
Described mechanical arm its mainly include control chamber, the first joint, the first arm, second joint, the second arm, SAN GUAN
Joint；Control chamber is connected with the first arm by the first joint, and the first described arm is connected by second joint and the second arm,
The second described arm is connected with The Cloud Terrace by hinge, and described first joint and second joint have the rotation in perpendicular certainly
By spending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620526444.3U CN205685324U (en) | 2016-06-03 | 2016-06-03 | A kind of gantry truss-like indoor substation crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620526444.3U CN205685324U (en) | 2016-06-03 | 2016-06-03 | A kind of gantry truss-like indoor substation crusing robot |
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| CN205685324U true CN205685324U (en) | 2016-11-16 |
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| CN201620526444.3U Active CN205685324U (en) | 2016-06-03 | 2016-06-03 | A kind of gantry truss-like indoor substation crusing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927811A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of linear motor type substation room |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN110854998A (en) * | 2019-10-24 | 2020-02-28 | 北京中润惠通科技发展有限公司 | Unattended inspection system of substation |
-
2016
- 2016-06-03 CN CN201620526444.3U patent/CN205685324U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927811A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of linear motor type substation room |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| CN110854998A (en) * | 2019-10-24 | 2020-02-28 | 北京中润惠通科技发展有限公司 | Unattended inspection system of substation |
| CN110854998B (en) * | 2019-10-24 | 2021-04-06 | 北京中润惠通科技发展有限公司 | Unattended inspection system of substation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 750000 Jinfeng District, Yinchuan City, Ningxia Hui Autonomous Region, west of Tongda South Street and north of Jinfeng Road Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: State Grid Ningxia Electric Power Co., Ltd. overhaul company Address before: 750011, No. 494 middle Beijing Road, Jinfeng District, the Ningxia Hui Autonomous Region, Yinchuan Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Maintenance Company, State Grid Ningxia Electric Power Company |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201208 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: 750000 Jinfeng District, Yinchuan City, Ningxia Hui Autonomous Region, west of Tongda South Street and north of Jinfeng Road Patentee before: STATE GRID NINGXIA ELECTRIC POWER CO., LTD. MAINTENANCE Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |