CN207141224U - A kind of climbing robot for detecting cage guide multi-parameter - Google Patents
A kind of climbing robot for detecting cage guide multi-parameter Download PDFInfo
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- CN207141224U CN207141224U CN201721019451.5U CN201721019451U CN207141224U CN 207141224 U CN207141224 U CN 207141224U CN 201721019451 U CN201721019451 U CN 201721019451U CN 207141224 U CN207141224 U CN 207141224U
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Abstract
The utility model belongs to robotic technology field, and in particular to a kind of climbing robot for detecting cage guide multi-parameter, including：Drive mechanism, safety guard, carrying platform and control system, the drive mechanism include：Motor, planetary reduction box, toothed belt transmission, top magnet-wheel, guiding magnet-wheel, driving wheel and clamp system；The safety guard includes：Anti-dumping hook, guide rail clip and support empennage；The control system includes：Microcomputer system, wireless transport module and encoder, realize that the multi-parameter of cage guide detects and can realize controlled in wireless and data transfer outside well pit or hoistway, and the utility model is the climbing robot independent of scaffold or car, can preferably solve existing for current cage guide detection context of detection that efficiency is low, error is big, is difficult to the problem of complete detection, detection efficiency and the degree of accuracy can be improved, helps to scent a hidden danger.
Description
Technical field
The utility model belongs to robotic technology field, and electricity is realized available for a variety of cage guide parameter detection modules are carried
A kind of carrying platform of the multi-parameter detection of terraced guide rail, and in particular to climbing robot for detecting cage guide multi-parameter.
Background technology
Cage guide is similar with train guide rail property as elevator important component, is to influence security and comfortableness
An important factor for.Cage guide has the characteristics that reliability is high, rigidity is strong, cheap, and modem elevator commonly uses T-shaped guide rail.Elevator is led
Rail requires very high to plane, it is necessary to assure plane slickness（Elevator speed is higher, it is desirable to harsher）It just can guarantee that car is steady
Operation.But cage guide is manufacturing and can bring dimensional discrepancy unavoidably in installation process, if deviation may more than prescribed limit
Security threat is brought to elevator normal operation, or even triggers security incident.Therefore, elevator comes into operation after cage guide installation
Before, or it is very necessary that detection is carried out to guide rail in maintenance test in the future.
The guide rail bias factor for influenceing elevator safety operation mainly has slide rail verticality deviation, gauge deviation.Guide rail is vertical
Degree deviation crosses conference and causes elevator operation swing to jolt, and guide rail top surface spacing deviation crosses conference and causes car level to be rocked, too small
Car vertical vibration can be made.TSG7001-2009《Elevator surveillance is examined and periodic inspection rule --- traction is with forcing driving electricity
Ladder》It is required that each column working face of guide rail is per maximum deviation between 5m plumb line measured values：Car guide rail is led with the T-shaped counterweight for setting safety tongs
Rail is not more than 1.2mm, and the T-shaped counter weight guide track for not setting safety tongs is not more than 2mm；Two row guide rail top surface distances（Gauge）Deviation：Sedan-chair
Railway carriage or compartment guide rail is 0 ~+2mm, and counter weight guide track is 0 ~+3mm；Every guide rail at least two rail bracketses, distance one between two supports
As be no more than 2.5m（More than 2.5m, there is calculation basis）.
The detection to lift rail perpendicularity is wasted time and energy using the method for hanging vertical line, this method always for a long time,
And often one position of measurement will retighten benchmark, measurement efficiency is low, and error is very big.After especially elevator comes into operation
Maintenance phase, due to no scaffold, can not more operate.In recent years, tradition is replaced to draw although there is laser plumb line
Line, but need the installation of each measurement point to receive light target, then artificial reading, without scaffold so that operation is very dangerous,
Efficiency is also low.For the measurement of guide rail top surface distance, testing staff often carries out multimetering with tape measure or laser range finder at present,
And manually record one by one, efficiency is low, and labor intensity is big.Set currently for rail brackets and distance detection method is testing staff
At station tape measure is drawn in car top.An assuming that high rise elevator（Hoisting depth surpasses 100 meters）Need to carry out perpendicularity, rail to guide rail
Detected away from, support distance, will extremely waste time and energy such as using artificial detection, and can not accomplish accurately to measure.
Utility model content
In view of the shortcomings of the prior art, the utility model proposes a kind of climbing machine for detecting cage guide multi-parameter
People, available for a variety of cage guide parameter detecting moulds such as carrying lift rail perpendicularity detection module, guide rail gauge detection modules
Block, so as to realize the detection of the multi-parameter of cage guide and can realize that controlled in wireless and data pass outside well pit or hoistway
It is defeated.
In order to solve the above technical problems, the technical scheme that the utility model is taken is：
The utility model proposes a kind of climbing robot for detecting cage guide multi-parameter, including：Drive mechanism, safety
Protection device, carrying platform and control system, it is characterised in that wherein, the drive mechanism is used to drive climbing robot to exist
Moved on cage guide；The safety guard includes：Anti-dumping hook, guide rail clip and support empennage, the overturning-preventing
Hook one end is connected with the top of climbing robot, and the other end is located in the groove of cage guide, when the climbing robot inclines
When turning over so that the anti-dumping hook catches on the groove；Multiple guide rail clips are arranged on the cage guide, described
Empennage is supported to be connected with the bottom angled of climbing robot and positioned at the top of the guide rail clip, when the climbing robot is sent out
When life is fallen so that the support empennage is stuck on the guide rail clip nearest apart from the climbing robot；The carrying platform
Multiple parameters detection module is provided with, for detecting the perpendicularity of cage guide, guide rail gauge, rail joint position respectively and leading
Rail length；The control system includes：Microcomputer system, wireless transport module and encoder, wherein, the miniature calculating
Machine system is connected with the multiple parameter detection module, and the wireless transport module is connected with the microcomputer system, institute
Encoder is stated respectively with the drive mechanism and microcomputer system to be connected.
Further, the drive mechanism includes：Motor, planetary reduction box, toothed belt transmission, top magnet-wheel, be oriented to magnet-wheel,
Driving wheel and clamp system, wherein, the toothed belt transmission is located on the carrying platform of the climbing robot, and successively with institute
Planetary reduction box is stated with motor to be connected.
Further, two top magnet-wheels are located at the top and bottom of the climbing robot carrying platform respectively.
Further, four clamp systems are connected with the climbing robot carrying platform, and are symmetrical arranged.
Further, two magnet-wheels that are oriented to are distinguished on underlying two clamp systems；Two drives
Driving wheel is distinguished on two clamp systems above, and the driving wheel is connected with the toothed belt transmission.
Further, the clamp system includes：Bolt and spring, change the pressure of the spring by adjusting the bolt
Contracting amount, and then adjust the driving wheel and be oriented to the clamping force of magnet-wheel and cage guide.
Further, the top magnet-wheel includes：Magnet-wheel center magnetic patch, stainless steel annulus and copper coin ring, wherein, it is described stainless
Alternately superposition setting forms torus for steel annulus and copper coin ring, and magnet-wheel center magnetic patch is arranged in the torus.
Further, the encoder is connected with the motor.
Further, the microcomputer system is SCM system.
Further, the control system is located on the carrying platform of the climbing robot.
The beneficial effects of the utility model are：Climbing robot described in the utility model, it is a kind of more available for carrying
Kind of cage guide parameter detection module, so as to realize the detection of the multi-parameter of cage guide and can be outside well pit or hoistway
Realize controlled in wireless and data transfer, and the utility model is the climbing robot independent of scaffold or car, can be with
Preferably solve existing for current cage guide detection context of detection that efficiency is low, error is big, is difficult to the problem of complete detection, can carry
High detection efficiency and the degree of accuracy, help to scent a hidden danger.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the utility model climbing robot.
Fig. 2 is the bottom view of the utility model climbing robot.
Fig. 3 is the profile of the utility model climbing robot.
Fig. 4 is the side view of the internal structure for Fig. 1.
Fig. 5 is the structure chart for pushing up magnet-wheel.
Fig. 6 is the structure decomposition figure for pushing up magnet-wheel.
Wherein, encoder 1, motor 2, planetary reduction box 3, top magnet-wheel 4, magnet-wheel center magnetic patch 401, stainless steel annulus 402,
Copper coin ring 403, support empennage 5, anti-dumping hook 6, toothed belt transmission 7, clamp system 8, spring 801, bolt 802, shell one
803rd, shell 2 804, driving wheel 9, guiding magnet-wheel 10, control system 11, cage guide 12, carrying platform 13.
Embodiment
In order that those skilled in the art more fully understand the technical solution of the utility model, with reference to specific embodiment
The utility model is described in further detail.The embodiments described below is exemplary, is only used for explaining that this practicality is new
Type, and it is not intended that to limitation of the present utility model.Unreceipted particular technique or condition in embodiment, according in the art
Document described by technology or condition or carried out according to product description.
The utility model proposes a kind of climbing robot for detecting cage guide multi-parameter, including：Drive mechanism, safety
Protection device, carrying platform and control system；Wherein, it is described in the utility model micro- according to some embodiments of the utility model
Type computer system is STM32 SCM systems, and Fig. 2 is the bottom view of the utility model climbing robot, and Fig. 4 is for Fig. 1
Internal structure side view, shown in reference picture 2 and 4, the control system 11 is located at the carrying platform of the climbing robot
On 13.
According to embodiment of the present utility model, Fig. 1 is the axonometric drawing of the utility model climbing robot, reference picture 1 and Fig. 4
Shown, the drive mechanism includes：Motor 2, planetary reduction box 3, the guiding magnet-wheel of top magnet-wheel 4, two of toothed belt transmission 7, two
10th, two driving wheels 9 and four clamp systems 8, wherein, the toothed belt transmission is located at the carrying platform of the climbing robot
On 13, the upper end of the motor is connected with the encoder, and the lower end of the motor is connected with the planetary reduction box, the row
Star reduction box is connected with the toothed belt transmission；Two top magnet-wheels are respectively positioned at the upper of the climbing robot carrying platform
End and lower end；Four clamp systems are connected with the climbing robot carrying platform, and are carried in the climbing robot
The upper and lower part of platform is respectively provided with symmetrical two clamp systems, for installing described two guiding magnet-wheels respectively
With two driving wheels.
According to some embodiments of the utility model, shown in reference picture 1,2 and 4, two magnet-wheels that are oriented to are located at respectively
On two clamp systems of lower section；Two driving wheels are distinguished on two clamp systems above, and institute
State driving wheel with the toothed belt transmission to be connected, transferred power to by the transmission of the motor, planetary reduction box and timing belt
The driving wheel, the climbing robot is driven to be run on cage guide.
According to some embodiments of the utility model, Fig. 3 is the profile of the utility model climbing robot, reference picture 3
Shown, the clamp system 8 includes：Bolt 801, spring 802, shell 1 and shell 2 804, the spring is positioned at described
The inside of shell one, the inside that the shell one is stretched into one end of the bolt are connected with the spring, and the other end is positioned at described
The outside of shell one, the other end of the spring close to the driving wheel and are oriented to magnet-wheel setting, and the shell one is climbed with described
The carrying platform for climbing robot is connected, and the shell two is connected with the shell one, and can along the axial movement of the bolt,
The driving wheel and it is oriented to magnet-wheel and may be contained within the shell two, by adjustment bolt and spring to the shell two, described
Driving wheel and guiding magnet-wheel apply pressure, change the decrement of spring by the elasticity of adjustment bolt, so as to change to driving
Driving wheel and the pressure for being oriented to magnet-wheel, and then change the distance between described two guiding magnet-wheels between described two driving wheels
Distance, while change the clamping force of the guiding magnet-wheel and driving wheel to cage guide 12 so that using the clamp system
Climbing robot described in the utility model can use on the guide rail of different size.
According to some embodiments of the utility model, Fig. 5 is the structure chart for pushing up magnet-wheel, and Fig. 6 is the STRUCTURE DECOMPOSITION for pushing up magnet-wheel
Figure, shown in reference picture 5 and 6, the top magnet-wheel 4 includes：Magnet-wheel center magnetic patch 401, stainless steel annulus 402 and copper coin ring 403, its
In, alternately superposition setting forms torus for the stainless steel annulus and copper coin ring, and magnet-wheel center magnetic patch is arranged at the circle
In ring body；The thickness of wherein described copper coin ring has good more than the thickness of the stainless steel annulus, reduction cost of manufacture, and copper coin ring
Good magnetic property, it can be ensured that magnet-wheel entirety magnetic, while improve magnet-wheel cylindricity, protect magnet-wheel center magnetic patch and convenient pair
Magnet-wheel surface is processed, and guiding magnet-wheel described in the utility model can also take the top magnet-wheel, the wheel drive surfaces
Annular knurl, for increasing friction force.
According to some embodiments of the utility model, two tops described in the utility model magnet-wheel, two guiding magnet-wheels and two
Individual driving wheel, for ensuring that climbing robot is closely attached to guide rail, while the movement locus of climbing robot can fully, very
Parameter information on real reflection guide rail.
According to embodiment of the present utility model, shown in reference picture 1 and 4, the safety guard includes：Anti-dumping is hung upside down
Hook, guide rail clip and support empennage, described anti-dumping hook one end are connected with the top of climbing robot, and the other end is located at elevator
In the groove of guide rail, when the climbing robot magnet-wheel loss of excitation is tumbled, the anti-dumping hook catches on the groove, prevents from climbing
Robot is climbed to continue to tumble；Multiple guide rail clips are arranged on the cage guide, the support empennage and climbing machine
The bottom angled of people is connected and is located at the top of the guide rail clip, when magnet-wheel loss of excitation, which occurs, for the climbing robot falls,
The support empennage is stuck on the guide rail clip nearest apart from the climbing robot, prevents climbing robot from continuing to drop, should
Safety guard effectively prevent toppling for climbing robot and fall, and avoid the injures and deaths of staff, ensure work peace
Entirely.
According to embodiment of the present utility model, carrying platform described in the utility model is provided with multiple parameters detection module,
Preferably：Measuring for verticality module, guide rail gauge detection module, rail joint position detecting module and rail length detection mould
Block, perpendicularity, guide rail gauge, rail joint position and the rail length of cage guide are detected respectively；According to of the present utility model
Some embodiments, when needing to detect the other specification of elevator rail, also its corresponding detection module can be arranged on this reality
With on new carrying platform, detected by climbing robot described in the utility model.
According to embodiment of the present utility model, the control system includes：STM32 SCM systems, wireless transport module,
Encoder and portable computer, wherein, the STM32 SCM systems are examined with the measuring for verticality module, guide rail gauge
Survey module, rail joint position detecting module and rail length detection module are connected, the wireless transport module with it is described
STM32 SCM systems are connected, and the encoder is connected with the motor and STM32 SCM systems respectively, described portable
Computer realizes the real-time, interactive of data by wireless transport module and the STM32 SCM systems.
According to some embodiments of the utility model, the signal detected is fed back to STM32 single-chip microcomputers by the encoder
System, the climbing distance of the climbing robot, the measuring for verticality module, guide rail gauge detection mould are drawn by conversion
It is mono- that the relevant parameter of detection is transferred to the STM32 by block, rail joint position detecting module and rail length detection module
After piece machine system is handled, all detection parameters are real-time transmitted to outside hoistway or well by the STM32 SCM systems
On the portable computer of road pit, the hidden danger of elevator rail can be found in time.
According to another embodiment of the present utility model, the afterbody of climbing robot described in the utility model can also be installed
Laser range finder, realize positioning of the climbing robot on cage guide.
According to some embodiments of the utility model, the concrete operation step of climbing robot described in the utility model includes
Five steps below.
The first step, driving wheel and the bolt being oriented on four clamp systems of magnet-wheel are unclamped, to increase driving wheel and lead
To the wheelspan of magnet-wheel, it is easy to climbing robot being placed on cage guide.
Second step, support empennage are placed on guide rail by cage guide climbing robot anti-dumping hook upward down, and
Bolt on four clamp systems is tightened one by one, clamp system to driving wheel and is oriented to magnet-wheel application pressure by the spring of inside
Power, so as to increase driving wheel and be oriented to magnet-wheel to the frictional force of guide rail, bolt on until climbing robot not because of deadweight and under
Fall, untill driving wheel is non-slip during the climbing；Under the collective effect of clamp system and magnet-wheel, climbing robot is close to lead
Rail, the parameter information that the movement locus of climbing robot fully, truly can reflect on guide rail.
3rd step, anti-dumping hook and support empennage are adjusted according to the specification of guide rail, and simulate climbing robot pendant
Fall process, it is ensured that anti-dumping hook and support empennage are effective.
4th step, climbing robot and portable computer are opened, detection is wirelessly transferred whether connection succeeds, then in hoistway
Pit or hoistway external application portable computer carry out controlled in wireless to climbing robot, and the motor on climbing robot is subtracted by planet
Fast case, toothed belt transmission transmit power to driving wheel, and by portable computer controlled motor rotating, realization is climbed up or past
Decline；Climbing robot can by wireless transport module by robot location and other testing numbers factually when be sent to it is portable
On formula computer, and in portable computer human-computer interaction interface real-time display.
5th step, climbing robot complete detection work, drop to original position, close climbing robot power supply, will drive
Driving wheel and the bolt being oriented on four clamp systems of magnet-wheel are unclamped, and climbing robot is unloaded from guide rail, by robot and
Portable computer is well placed, and whole detection process is completed.
Inventor has found, according to climbing robot described in the utility model, be it is a kind of can be used for carrying a variety of elevators lead
Rail parameter detection module, so as to realize the detection of the multi-parameter of cage guide and can be realized outside well pit or hoistway wireless
Control and data transfer, and the utility model is the climbing robot independent of scaffold or car, can preferably be solved
Efficiency is low, error is big, is difficult to the problem of complete detection existing for certainly current cage guide detection context of detection, can improve detection effect
Rate and the degree of accuracy, help to scent a hidden danger.
In description of the present utility model, it is to be understood that the orientation of the instruction such as term " on ", " under ", "left", "right"
Or position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of description the utility model and simplification is retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not intended that to limitation of the present utility model.
In the utility model, unless otherwise clearly defined and limited, the term such as term " connected ", " connection " should be done extensively
Reason and good sense solution, for example, it may be fixedly connected or be detachably connected, or integrally；Can mechanically connect, can also
It is electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two element internals connection or
The interaction relationship of two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
Concrete meaning of the term in the utility model.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present utility model.In this manual, to the schematic table of above-mentioned term
Identical embodiment or example need not be directed to by stating.Moreover, specific features, structure, material or the feature of description can be
Combined in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting, this area
Technical staff can be carried out the different embodiments or example and the feature of different embodiments or example described in this specification
With reference to and combination.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as to limitation of the present utility model, one of ordinary skill in the art is in the scope of the utility model
It is interior above-described embodiment to be changed, changed, replaced and modification, meanwhile, for those of ordinary skill in the art, foundation
The thought of the application, in specific embodiments and applications there will be changes.
Claims (10)
1. a kind of climbing robot for detecting cage guide multi-parameter, including：Drive mechanism, safety guard, carrying platform
And control system, it is characterised in that wherein,
The drive mechanism is used to drive climbing robot to move on cage guide；
The safety guard includes：Anti-dumping hook, guide rail clip and support empennage, described anti-dumping hook one end is with climbing
The top for climbing robot is connected, and the other end is located in the groove of cage guide, when the climbing robot is tumbled so that described
Anti-dumping hook catches on the groove；Multiple guide rail clips are arranged on the cage guide, and the support empennage is with climbing
The bottom angled for climbing robot is connected and positioned at the top of the guide rail clip, when the climbing robot falls, made
The support empennage is obtained to be stuck on the guide rail clip nearest apart from the climbing robot；
The carrying platform is provided with multiple parameters detection module, for detect respectively the perpendicularity of cage guide, guide rail gauge,
Rail joint position and rail length；
The control system includes：Microcomputer system, wireless transport module and encoder, wherein, the microcomputer
System is connected with the multiple parameter detection module, and the wireless transport module is connected with the microcomputer system, described
Encoder is connected with the drive mechanism and microcomputer system respectively.
2. climbing robot according to claim 1, it is characterised in that the drive mechanism includes：Motor, planetary reduction gear
Case, toothed belt transmission, top magnet-wheel, guiding magnet-wheel, driving wheel and clamp system, wherein, the toothed belt transmission is climbed positioned at described
Climb on the carrying platform of robot, and be connected successively with the planetary reduction box and motor.
3. climbing robot according to claim 2, it is characterised in that two top magnet-wheels are located at the climbing respectively
The top and bottom of robot carrying platform.
4. climbing robot according to claim 2, it is characterised in that four clamp systems and the climbing machine
People's carrying platform is connected, and is symmetrical arranged.
5. climbing robot according to claim 4, it is characterised in that two guiding magnet-wheel difference are underlying
On two clamp systems；Two driving wheels are distinguished on two clamp systems above, and the driving
Wheel is connected with the toothed belt transmission.
6. climbing robot according to claim 5, it is characterised in that the clamp system includes：Bolt and spring, lead to
The decrement that the bolt changes the spring is overregulated, and then adjusts the driving wheel and is oriented to the folder of magnet-wheel and cage guide
Clamp force.
7. climbing robot according to claim 3, it is characterised in that the top magnet-wheel includes：Magnet-wheel center magnetic patch, no
Become rusty steel annulus and copper coin ring, wherein, alternately superposition setting forms torus for the stainless steel annulus and copper coin ring, in the magnet-wheel
Heart magnetic patch is arranged in the torus.
8. climbing robot according to claim 2, it is characterised in that the encoder is connected with the motor.
9. climbing robot according to claim 1, it is characterised in that the microcomputer system is single-chip microcomputer system
System.
10. climbing robot according to claim 1, it is characterised in that the control system is located at the climbing machine
On the carrying platform of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721019451.5U CN207141224U (en) | 2017-08-15 | 2017-08-15 | A kind of climbing robot for detecting cage guide multi-parameter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721019451.5U CN207141224U (en) | 2017-08-15 | 2017-08-15 | A kind of climbing robot for detecting cage guide multi-parameter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628138A (en) * | 2017-08-15 | 2018-01-26 | 广东省特种设备检测研究院珠海检测院 | A kind of climbing robot for detecting cage guide multi-parameter |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN110255431A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | It is a kind of can adaptive guide rail deviation guide rail climbing robot moving cell |
-
2017
- 2017-08-15 CN CN201721019451.5U patent/CN207141224U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628138A (en) * | 2017-08-15 | 2018-01-26 | 广东省特种设备检测研究院珠海检测院 | A kind of climbing robot for detecting cage guide multi-parameter |
| CN107628138B (en) * | 2017-08-15 | 2024-03-29 | 广东省特种设备检测研究院珠海检测院 | Climbing robot for detecting multiple parameters of elevator guide rail |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN110255431A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | It is a kind of can adaptive guide rail deviation guide rail climbing robot moving cell |
| CN110255431B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot motion unit capable of adapting to guide rail deviation |
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Effective date of registration: 20190319 Address after: 519000 No. 133 Renmin West Road, Xiangzhou District, Zhuhai City, Guangdong Province Patentee after: Zhuhai Inspection Institute of Guangdong Special Equipment Inspection and Research Institute Address before: 519000 No. 133 Renmin West Road, Xiangzhou District, Zhuhai City, Guangdong Province Co-patentee before: ZHUHAI ANYES TECHNOLOGY CO., LTD. Patentee before: Zhuhai Inspection Institute of Guangdong Special Equipment Inspection and Research Institute |