CN207388965U - Substation equipment electrification cleaner device people's caterpillar chassis control system and robot - Google Patents
Substation equipment electrification cleaner device people's caterpillar chassis control system and robot Download PDFInfo
- Publication number
- CN207388965U CN207388965U CN201721241105.1U CN201721241105U CN207388965U CN 207388965 U CN207388965 U CN 207388965U CN 201721241105 U CN201721241105 U CN 201721241105U CN 207388965 U CN207388965 U CN 207388965U
- Authority
- CN
- China
- Prior art keywords
- driving motor
- central controller
- substation equipment
- device people
- cleaner device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The utility model discloses a kind of substation equipment electrification cleaner device people's caterpillar chassis control system and robots, wherein, substation equipment electrification cleaner device people caterpillar chassis drives entire bobbin movement by driving wheel, the driving wheel is respectively connected with left driving motor and right driving motor, left driving motor and right driving motor are connected respectively with central controller, the first encoder and second encoder are also separately installed in left driving motor and right driving motor, first encoder and second encoder are respectively used to the rotating speed of detection left driving motor and right driving motor in real time and are sent to central controller, the final control for realizing chassis rotating speed；Front side, left side and the right side of substation equipment electrification cleaner device people's caterpillar chassis are separately installed with distance measuring sensor, and the distance measuring sensor is used for detecting the location information on entire chassis in real time and is sent to central controller；The central controller is also connected with alarm.
Description
Technical field
The utility model belongs to robot field more particularly to a kind of substation equipment electrification cleaner device people's crawler type bottom
Disk control system and robot.
Background technology
Since industrial expansion is rapid, pollution is also increasingly severe, and power transmission and transforming equipment is exposed under this environment for a long time, dirty
Dye is serious easily to form pollution flashover, and pollution flashover can cause the tripping of power transmission and transforming equipment, cause the power failure of large area.The measure taken at present
Or mainly have a power failure the mode manually cleaned, the trial for also having charged water cleaning is main using similar fire-fighting bassinet structure side
The haulage vehicle of formula is cleaned, and body construction is big, is limited by substation equipment area, maneuverability is poor；Rinse angle and
Distance is difficult accurate ensures；And living water washing technology have it is very high technical, purging method and rinse distance grasp it is improper
It is easy to trigger security incident.
Manually charged cleaning, which needs flushing personnel that can reach accurate flush position, could complete to substation equipment
Ideal flushing effect.But the operation is dangerous high, substation equipment area narrow space, potential security risk is more
It is high.Therefore equipment region can be entered instead of operating personnel, and the high cleaning robot of flexibility is just very important.
Therefore, there is an urgent need for a kind of substation equipment electrification cleaner device people's caterpillar chassis control system, to ensure substation
The accurate operation of safety of equipment live cleaning robot caterpillar chassis.
Utility model content
In order to solve the deficiencies in the prior art, the utility model provides a kind of substation equipment electrification cleaner device people and carries out
Belt chassis control system can ensure the accurate operation of safety of substation equipment electrification cleaner device people's caterpillar chassis.
A kind of substation equipment electrification cleaner device people's caterpillar chassis control system of the utility model, wherein, power transformation
Station equipment electrification cleaner device people caterpillar chassis drives entire bobbin movement, the driving wheel and left driving motor by driving wheel
Be respectively connected with right driving motor, left driving motor and right driving motor are connected respectively with central controller, left driving motor and
The first encoder and second encoder are also separately installed in right driving motor, the first encoder and second encoder are respectively used to
The rotating speed of left driving motor and right driving motor is detected in real time and is sent to central controller, the final control for realizing chassis rotating speed
System；
Front side, left side and the right side of substation equipment electrification cleaner device people's caterpillar chassis are separately installed with ranging sensing
Device, the distance measuring sensor are used for detecting the location information on entire chassis in real time and are sent to central controller；The center control
Device processed is also connected with alarm.
Wherein, the distance measuring sensor is ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor
Or radar sensor.
Further, the left driving motor passes sequentially through the first driving circuit and the first driver and central controller；
The right driving motor passes sequentially through the second driving circuit and the second driver and central controller.
Wherein, the first driving circuit and the second driving circuit can be realized by pwm pulse generation circuit；
First driver and the second driver can be realized by digital control chip.
Further, the central controller is also connected by signal transceiver circuit with remote controler.
Wherein, the utility model can also be realized using remote controler come to substation equipment electrification cleaner device people's crawler type
The control of bobbin movement speed.
Further, image collecting device is also equipped on the chassis, is used to gathering in real time during bobbin movement
Chassis side image information and be sent to central controller, the central controller is also connected with alarm.
Wherein, camera can be used in image collecting device, and the image information of acquisition is sent to central controller processing,
If there is component wear situation, central controller prompts staff to be overhauled in time to alarm output alarm signal
With replacement element.
Further, the central controller is also connected with remote monitoring server, the remote monitoring server and prison
Control terminal is connected.
The utility model is also realized by remote monitoring server and monitor terminal to substation equipment electrification cleaner
The remote monitoring of device people's caterpillar chassis.
Further, the central controller is also connected with electric power management circuit.
Electric power management circuit is used for providing power supply to central controller.
Further, the electric power management circuit includes power management microprocessor, chargeable main power source and stand-by power supply,
The chargeable main power source and stand-by power supply are connected respectively by switching switch with central controller, the switching switch and power supply
Management microprocessor is connected；The power management microprocessor is also connected with measure voltage ＆amp, the voltage and current inspection
Module is surveyed to be used to detect the voltage and current signal of chargeable main power source output in real time and feed back to power management microprocessor.
Measure voltage ＆amp also detects chargeable main power source output in real time in the electric power management circuit of the utility model
Voltage and current signal and feed back to power management microprocessor, power management microprocessor output control signal cut to drive
Change switch motion so that central controller is connected with chargeable main power source or stand-by power supply, to ensure that substation equipment is charged
The stability of cleaning robot caterpillar chassis work.
Further, the measure voltage ＆amp is the voltage transformer and current transformer being integrated in one.
The utility model detects chargeable main electricity using the voltage transformer and current transformer being integrated in one respectively
The voltage signal and current signal of source output, to detect whether chargeable main power source under-voltage or other phenomena of the failure occurs in real time.
Further, the power management microprocessor is also connected with several indicator lights.
Wherein, power management microprocessor prompts the work of operative employee's electric power management circuit by controlling the brightness of indicator light
Make state.
The utility model additionally provides a kind of robot.
The robot of the utility model, including a kind of substation equipment electrification cleaner device people's crawler type bottom described above
Disk control system.
Compared with prior art, the beneficial effects of the utility model are：
(1) driving wheel of the utility model is also respectively connected with left driving motor and right driving motor, left driving motor and
Right driving motor is connected respectively with central controller, and the first encoder is also separately installed in left driving motor and right driving motor
And second encoder, the utility model detect left driving motor and the right side in real time respectively using the first encoder and second encoder
The rotating speed of driving motor is simultaneously sent to central controller, realizes the rotating speed of substation equipment electrification cleaner device people's caterpillar chassis
Closed-loop control；
And front side, left side and the right side of substation equipment electrification cleaner device people's caterpillar chassis are separately installed with ranging
Sensor, the utility model also using distance measuring sensor are detected the location information on entire chassis and are sent to central control in real time
Device differentiates the distance between crawler body and substation equipment using central controller, is carried reaching pre-determined distance alarm device
Go out to alert early warning.
(2) image collecting device is also equipped on the chassis of the utility model, image collecting device believes the image of acquisition
Breath is sent to central controller processing, if there is component wear situation, central controller comes to alarm output alarm signal
Staff is prompted to carry out overhauling and replacing element in time.
(3) also to detect chargeable main power source in real time defeated for measure voltage ＆amp in the electric power management circuit of the utility model
The voltage and current signal that goes out simultaneously feeds back to power management microprocessor, and power management microprocessor exports control signal to drive
Switching switch acts so that central controller is connected with chargeable main power source or stand-by power supply, to ensure substation equipment band
The stability of electric cleaning robot caterpillar chassis work.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not form the improper restriction to the application for explaining the application.
Fig. 1 is substation equipment electrification cleaner device people's caterpillar chassis front view of the utility model；
Fig. 2 is substation equipment electrification cleaner device people's caterpillar chassis top view of the utility model；
Fig. 3 is one knot of substation equipment electrification cleaner device people's caterpillar chassis control system embodiment of the utility model
Structure schematic diagram；
Fig. 4 is two knot of substation equipment electrification cleaner device people's caterpillar chassis control system embodiment of the utility model
Structure schematic diagram；
Fig. 5 is the electric power management circuit schematic diagram of the utility model.
Wherein：101. directive wheel, 102. auxiliary wheels, 103. oscillating arm brackets, 104. carrier wheels, 105. carrying rollers, 106. subtract
Shake device, 107. swing arms, 108. welding car bodies, 109. driving wheel mounting bases, 110. driving wheels, 111. crawler belts；201. right driving electricity
Machine, 202. left driving motors.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.It is unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
As depicted in figs. 1 and 2, a kind of substation equipment electrification cleaner device people caterpillar chassis is by directive wheel 101, auxiliary
Wheel 102, oscillating arm bracket 103, carrier wheel 104, carrying roller 105, damper 106, swing arm 107, welding car body 108, driving wheel peace
Dress seat 109, driving wheel 110 and crawler belt 111 form.
Wherein, directive wheel 101 is installed on the front end of welding car body 108, after driving wheel 110 is installed on welding car body 108
End；
Carrier wheel 104 be installed on oscillating arm bracket 103 top and the carrying roller 105 closest with it of directive wheel 101 it
Between, the purpose is to improve the distribution of force of caterpillar chassis Vehicular body front crawler belt, enhancing car body front-end architecture rigidity.
Swing arm 107 is hinged with 103 one end of oscillating arm bracket, and other end carrying roller 105 is fixedly connected；
Damper 106 is installed, 106 other end of damper is fixed on oscillating arm bracket 103, forms one in swing arm 107
Shock-damping structure, this caterpillar chassis share six groups of damper arrangements, have very high damping performance.Damper 106 uses liquid
Damping shock absorber is pressed, there is response speed quickly and high bearing capacity.Car body 108 is welded using the weldering of section material framework structure
It connecing, frame structure intensity is high, and rigidity is good, light-weight, and convenient for the installation of other structures component.
Driving wheel 110 is installed on by driving wheel mounting base 109 on oscillating arm bracket 103, is detachable structure, convenient to driving
The Inspection and maintenance of driving wheel 110.
Crawler belt 111 is in contact respectively with driving wheel 110, directive wheel 101, carrying roller 105 and carrier wheel 104.
The driving wheel 110 of the utility model is respectively connected with left driving motor 202 and right driving motor 201.
Wherein, right driving motor 201, left driving motor 202 are installed on the inside of welding car body 108, right driving motor
201st, the drive shaft of left driving motor 202 is fixed with 110 phase of driving wheel.
In the concrete realization, the outside of the crawler belt 111 is provided with the decorative pattern of splayed shape, for adapting to substation equipment
Region landform.
It can not only so ensure the driveability of crawler belt, additionally it is possible to better adapt to substation equipment region landform.
As shown in figure 3, left driving motor and right driving motor are connected respectively with central controller, the left driving motor and
The first encoder and second encoder are also separately installed in right driving motor, the first encoder and second encoder are respectively used to
The rotating speed of left driving motor and right driving motor is detected in real time and is sent to central controller, and it is charged to finally constitute substation equipment
The speed closed loop control system of cleaning robot caterpillar chassis；
Front side, left side and the right side of substation equipment electrification cleaner device people's caterpillar chassis are separately installed with ranging sensing
Device, the distance measuring sensor are used for detecting the location information on entire chassis in real time and are sent to central controller；The center control
Device processed is also connected with alarm.
Wherein, the distance measuring sensor is ultrasonic distance-measuring sensor, laser range sensor, infrared distance measuring sensor
Or radar sensor.
In the concrete realization, left driving motor 202 passes sequentially through the first driving circuit and the first driver and is controlled with center
Device；
The right driving motor 201 passes sequentially through the second driving circuit and the second driver and central controller.
Wherein, the first driving circuit and the second driving circuit can be realized by pwm pulse generation circuit；
First driver and the second driver can be realized by digital control chip.
It is embodiment another, is also equipped with image collecting device on the chassis, is used to gather chassis fortune in real time
Chassis side image information during dynamic is simultaneously sent to central controller, and the central controller is also connected with alarm.
Wherein, camera can be used in image collecting device, and the image information of acquisition is sent to central controller processing,
If there is component wear situation, central controller prompts staff to be overhauled in time to alarm output alarm signal
With replacement element.
As shown in figure 4, central controller is also connected by signal transceiver circuit with remote controler.
Wherein, the utility model can also be realized using remote controler come to substation equipment electrification cleaner device people's crawler type
The control of bobbin movement speed.
It is embodiment another, the central controller is also connected with remote monitoring server, the remote monitoring clothes
Business device is connected with monitor terminal.
The utility model is also realized by remote monitoring server and monitor terminal to substation equipment electrification cleaner
The remote monitoring of device people's caterpillar chassis.
It is embodiment another, the central controller is also connected with electric power management circuit.
Electric power management circuit is used for providing power supply to central controller.
Specifically, as shown in figure 5, electric power management circuit includes power management microprocessor, chargeable main power source and spare
Power supply, the chargeable main power source and stand-by power supply are connected respectively by switching switch with central controller, the switching switch
It is connected with power management microprocessor；The power management microprocessor is also connected with measure voltage ＆amp, the voltage
Current detection module is used to detect the voltage and current signal of chargeable main power source output in real time and feeds back to the micro- place of power management
Manage device.
Measure voltage ＆amp also detects chargeable main power source output in real time in the electric power management circuit of the utility model
Voltage and current signal and feed back to power management microprocessor, power management microprocessor output control signal cut to drive
Change switch motion so that central controller is connected with chargeable main power source or stand-by power supply, to ensure that substation equipment is charged
The stability of cleaning robot caterpillar chassis work.
Wherein, the measure voltage ＆amp is the voltage transformer and current transformer being integrated in one.
The utility model detects chargeable main electricity using the voltage transformer and current transformer being integrated in one respectively
The voltage signal and current signal of source output, to detect whether chargeable main power source under-voltage or other phenomena of the failure occurs in real time.
In addition, the power management microprocessor is also connected with several indicator lights.
Wherein, power management microprocessor prompts the work of operative employee's electric power management circuit by controlling the brightness of indicator light
Make state.
51 microcontrollers or ARM microcontrollers can be used in power management microprocessor.
The realization of accumulator group can be used in stand-by power supply.
In the concrete realization, power management microprocessor is also connected with remote monitoring server, the remote monitoring service
Device is connected with monitor terminal.
The utility model receives the chargeable main power source of power management microprocessor output using remote monitoring server
Working state signal is resent to monitor terminal, to realize the remote real-time monitoring to chargeable main power source.
Wherein, the power management microprocessor is also connected with display module.
The remote monitoring server is also connected with cloud server, and the cloud server is connected with mobile terminal.
The utility model additionally provides a kind of robot.
The robot of the utility model, including a kind of substation equipment electrification cleaner device people's crawler type bottom described above
Disk control system.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but not to this practicality newly
The limitation of type protection domain, those skilled in the art should understand that, on the basis of the technical solution of the utility model, ability
Field technique personnel need not make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (10)
1. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system, wherein, the charged cleaning of substation equipment
Robot caterpillar chassis drives entire bobbin movement by driving wheel, which is characterized in that the driving wheel and left driving motor and
Right driving motor is respectively connected with, and left driving motor and right driving motor are connected respectively with central controller, left driving motor and the right side
The first encoder and second encoder are also separately installed on driving motor, the first encoder and second encoder are respectively used to reality
When detect the rotating speed of left driving motor and right driving motor and be sent to central controller, the final control for realizing chassis rotating speed；
Front side, left side and the right side of substation equipment electrification cleaner device people's caterpillar chassis are separately installed with distance measuring sensor,
The distance measuring sensor is used for detecting the location information on entire chassis in real time and is sent to central controller；The central controller
Also it is connected with alarm.
2. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as described in claim 1, feature
It is, the left driving motor passes sequentially through the first driving circuit and the first driver and central controller；
The right driving motor passes sequentially through the second driving circuit and the second driver and central controller.
3. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as described in claim 1, feature
It is, the central controller is also connected by signal transceiver circuit with remote controler.
4. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as described in claim 1, feature
It is, image collecting device is also equipped on the chassis, the chassis side figure being used for during acquisition bobbin movement in real time
As information and it is sent to central controller.
5. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as described in claim 1, feature
It is, the central controller is also connected with remote monitoring server, and the remote monitoring server is connected with monitor terminal.
6. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as described in claim 1, feature
It is, the central controller is also connected with electric power management circuit.
7. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as claimed in claim 6, feature
It is, the electric power management circuit includes power management microprocessor, chargeable main power source and stand-by power supply, the chargeable master
Power supply and stand-by power supply are connected respectively by switching switch with central controller, the switching switch and power management microprocessor
It is connected；The power management microprocessor is also connected with measure voltage ＆amp, and the measure voltage ＆amp is for real
When detect the voltage and current signal of chargeable main power source output and feed back to power management microprocessor.
8. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as claimed in claim 7, feature
It is, the measure voltage ＆amp is the voltage transformer and current transformer being integrated in one.
9. a kind of substation equipment electrification cleaner device people's caterpillar chassis control system as claimed in claim 7, feature
It is, the power management microprocessor is also connected with several indicator lights.
10. a kind of robot, which is characterized in that charged including a kind of substation equipment as described in any in claim 1-9
Cleaning robot caterpillar chassis control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721241105.1U CN207388965U (en) | 2017-09-26 | 2017-09-26 | Substation equipment electrification cleaner device people's caterpillar chassis control system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721241105.1U CN207388965U (en) | 2017-09-26 | 2017-09-26 | Substation equipment electrification cleaner device people's caterpillar chassis control system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207388965U true CN207388965U (en) | 2018-05-22 |
Family
ID=62405123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721241105.1U Active CN207388965U (en) | 2017-09-26 | 2017-09-26 | Substation equipment electrification cleaner device people's caterpillar chassis control system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207388965U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109620067A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | The base apparatus of floor-cleaning machine |
-
2017
- 2017-09-26 CN CN201721241105.1U patent/CN207388965U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109620067A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | The base apparatus of floor-cleaning machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103963043B (en) | A kind of intelligent robot of patrolling and examining for power station and keep in repair and control system thereof | |
| CN105433860B (en) | A kind of intelligent ground clean robot | |
| CN105014674B (en) | Current conversion station living water washing robot system and method | |
| CN105021225A (en) | Greenhouse intelligent and mobile detection platform | |
| CN102975191B (en) | Line-walking robot system for overhead transmission line | |
| CN202408739U (en) | Intelligent cleaning equipment | |
| CN204170997U (en) | Transformer station's living water washing robot system | |
| CN207134725U (en) | A kind of power transmission line unmanned self-checking unit | |
| CN204248894U (en) | Transformer station's living water washing is auxiliary rushes robot control system | |
| CN204170998U (en) | A kind of living water washing robot of transformer station that can accurately rinse | |
| CN104991559A (en) | Method for automatic cruise detection of comprehensive information of greenhouses | |
| CN105014651B (en) | Living water washing robot of transformer station and method | |
| CN104998848A (en) | Electrification water washing robot of rail type transformer substation | |
| CN209682175U (en) | A kind of suspension type crusing robot and system | |
| CN207467940U (en) | A kind of robot for Elevator Fault Diagnosis | |
| CN104777768A (en) | Emergency control system and method for substation charged water flushing robot | |
| CN207388965U (en) | Substation equipment electrification cleaner device people's caterpillar chassis control system and robot | |
| CN105032805A (en) | Transformer station live-line water washing robot capable of doing accurate washing | |
| CN104998847B (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN104999449A (en) | Electrified water washing robot of wheel type substation | |
| CN204194339U (en) | A kind of system that sprays water with high pressure for living water washing robot of transformer station | |
| CN110394319A (en) | A kind of cleaning equipment | |
| CN207389347U (en) | A kind of substation equipment electrification cleaner device people caterpillar chassis and robot | |
| CN107843486A (en) | A kind of detection robot system based on benkelman beams deflectometer | |
| CN204194340U (en) | Living water washing robot of rail mounted transformer station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
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) Co-patentee after: State Grid Shandong Electric Power Company Patentee after: National Network Intelligent Technology Co., Ltd. Co-patentee after: State Grid Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Co-patentee before: State Grid Shandong Electric Power Company Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Co-patentee before: State Grid Corporation |
|
| CP03 | Change of name, title or address | ||
| 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: 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 before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| TR01 | Transfer of patent right |