CN209479758U - A kind of steering system of independent steering wheel type intelligent electric power - Google Patents
A kind of steering system of independent steering wheel type intelligent electric power Download PDFInfo
- Publication number
- CN209479758U CN209479758U CN201920168618.7U CN201920168618U CN209479758U CN 209479758 U CN209479758 U CN 209479758U CN 201920168618 U CN201920168618 U CN 201920168618U CN 209479758 U CN209479758 U CN 209479758U
- Authority
- CN
- China
- Prior art keywords
- wheel
- steering
- independent
- wheel group
- ball
- 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
Abstract
The utility model relates to intelligent patrol detection fields, and in particular to a kind of steering system of independent steering wheel type intelligent electric power, comprising: wheel group, including four wheels, respectively the near front wheel, off-front wheel, left rear wheel and off hind wheel；Wheel group driving device, four wheels for driving wheel group rotate；Four independent steering gears are respectively used to four wheel complete independentlies original place rotation at any angle of driving wheel group.Mode switch element, for switching and issuing the running signal of wheel group；Central processing unit, for the running signal of receiving module switch unit, the work of control wheel group driving device and four independent steering gears；Mode switch element includes straight-line travelling module, Turning travel signal, pivot stud traveling module and diagonal traveling module.The turning radius that the utility model can solve existing steering system is big, and tire is easy to wear, steering mechanism's structure is complicated larger problem of occupied space.
Description
Technical field
The utility model relates to intelligent patrol detection fields, and in particular to a kind of steering system of independent steering wheel type intelligent electric power
System.
Background technique
Intelligent inspection robot is mainly used in indoor and outdoor substation and carries out walkaround inspection instead of tour personnel, completes power transformation
It stands anxious, the difficult, danger encountered in inspection, weight and repetitive operation.Intelligent inspection robot can detect demand configuration with regard to substation
Sensor required for system, obtains equipment running status, environmental information, device fault information etc. in time, and building substation is whole
Running body information realizes that O&M is intelligent on the basis of data quantization.Intelligent inspection robot carry thermal infrared imager, can
The related power station equipment detection device such as light-exposed CCD carries out outdoor high-tension apparatus instead of manpower in a manner of from remote control of advocating peace
Survey is patrolled, can find inside thermal defect, outside mechanically or electrically problem such as foreign matter, damage, fever, the oil leak of power equipment in time
Deng to the related data of operations staff's offer diagnosing electric power running accident potential and failure tendency.Intelligent inspection machine
Device people needs each corner of inspection substation, and the generally existing number of devices of substation is more, density is big；Inspection road is partially narrow；
The problems such as road conditions are complicated, the steering palpus of intelligent inspection robot is flexible, turning radius needs very little.
The Chinese patent of Publication No. CN207089493U discloses a kind of crusing robot with independent steering system,
Set that there are four wheels including routing inspection trolley, below routing inspection trolley；Each wheel has an independent steering system, independent steering system
System is divided into steering assembly, pivoted arm and driving assembly, and steering assembly is connected with driving assembly by pivoted arm；Steering assembly includes turning to
Motor, harmonic speed reducer, steering motor are mounted on routing inspection trolley, and steering motor and harmonic speed reducer are coaxially connected, and harmonic wave subtracts
The output end of fast device connects pivoted arm upper end；Driving assembly includes driving motor and planetary reducer, and driving motor is mounted on pivoted arm
Lower end, driving motor, planetary reducer and wheel center are coaxially connected.The program uses the steering mode of four-wheel steering, to every
A wheel is provided with driving and steering system, so that each wheel can carry out independent steering and movement.
The steering system of above-mentioned crusing robot is realized by the differential between driving wheel and is turned to, and is had the following problems:
1) very big for the loss of wheel when turning to, when use, can greatly increase the cost of wheel change；2) turning radius is big, substation
Interior electrical equipment is more, narrow space, and crusing robot is easy to collide with equipment when turning to, and will lead to the damage of equipment
It is bad.The method that the prior art also realizes steering in such a way that mechanical linkage is driven multiple driving wheels, but its mechanism is complicated,
It will increase the overall dimensions of crusing robot.
Utility model content
The purpose of this utility model is to provide a kind of steering systems of independent steering wheel type intelligent electric power, are avoided that existing
The turning radius of steering system is big, and tire is easy to wear, steering mechanism's structure is complicated larger problem of occupied space.
A kind of base case provided by the utility model are as follows: steering system of independent steering wheel type intelligent electric power, comprising:
Wheel group, including several wheels；
Wheel group driving device, the vehicle wheel rotation for driving wheel group；
Independent steering gear respectively drives the wheel complete independently original place rotation at any angle of wheel group；
Central processing unit works for control wheel group driving device and independent steering gear.
The utility model has the beneficial effects that the wheel independence push rod steering system of this programme, keeps wheel complete independently any
The original place of angle rotates, and greatly improves the flexibility of crusing robot, solves the turning radius of existing crusing robot
Greatly, tire is easy to wear, steering mechanism's structure is complicated larger problem of occupied space.
Further, further includes: mode switch element, for switching and issuing running signal.
Further, mode switch element include straight-line travelling module, Turning travel module, pivot stud traveling module and tiltedly
Every trade sails module, is respectively used to sending straight-line travelling signal, turns to form signal, pivot stud form signal and diagonal traveling
Signal.
The utility model has the advantages that 1) extremely narrow in some spaces, and when needing to adjust pose, the vehicle of the crusing robot of this programme
Taking turns independent push rod steering system makes robot complete rotation around the center of itself in situ, can achieve omnidirectional, full posture, zero
Semidiameter turn.2) it encounters and its narrow road (crusing robot forward direction can not pass through), diagonal traveling, which can be used, makes survey monitor
Device people flexibly, is placed restrictions on by space laterally across road, driving mode multiplicity, traveling and is conducive to daily inspection work less.
Further, independent steering gear includes that the push-rod electric machine being mounted on chassis and push-rod electric machine export axis connection
Turn to spin-ended support, track rod, suspension arms support frame and the wheel mounting base being fixedly connected with suspension arms support frame；
The first end of track rod is equipped with the first connector, and track rod second end is equipped with the second ball connector, track rod
Hinged by the first connector and the spin-ended support of steering, track rod is cut with scissors by the second connector and suspension arms support frame
It connects.
The utility model has the advantages that the work of independent steering gear control push-rod electric machine, the lateral dynamics of the output shaft of push-rod electric machine to
Left promotion turns to spin-ended support movement, turns to spin-ended support by the first connector and the second connector and successively drives the horizontal drawing of steering
Bar, suspension arms support frame and wheel mounting base are done and are rotated at any angle, and wheel is also able to achieve original place and rotates at any angle.
The distance of push-rod electric machine output shaft movement corresponds to the original place rotation of wheel special angle.
Further, the first connector include with turn to spin-ended support be fixedly connected the first ball branch and with track rod first
Hold the first ball seat being fixedly connected, the first ball branch and the first ball seat ball-joint；Second connector includes and suspension arms support frame
The second ball seat for being fixedly connected with the second ball branch and being fixedly connected with track rod second end, the second ball branch and the second ball seat flexural pivot
It connects.
The utility model has the advantages that ball-joint is compared with the articulated manners such as bolted splice and hinge be hinged, advantage is to connect not same
Rotation drag link and the spin-ended support of steering and suspension arms support frame on one straight line, in angle and apart from frequent the case where changing
Under, it remains to that power is reliably transmitted.
Further, independent steering gear further includes the linear bearing being fixedly connected with chassis and fixes with spin-ended support is turned to
The guide rod of connection, linear bearing are arranged in parallel with push-rod electric machine, and the inner sidewall of guide rod and linear bearing is slidably matched.
It is slided in linear bearing the utility model has the advantages that turning to spin-ended support energy band action-oriented bar, guide rod can make to turn to spin-ended
Support keeps horizontal movement.
Further, the length of track rod is freely adjustable.
The utility model has the advantages that realizing the adjusting to the vehicle wheel rotation angle of wheel group by the length for adjusting track rod, favorably
It is adjusted in the steering precision to steering mechanism.
Detailed description of the invention
Fig. 1 is the module diagram of the steering system of independent steering wheel type intelligent electric power in the utility model embodiment；
Fig. 2 is the structural schematic diagram of wheel independence push rod steering system in the utility model embodiment；
Fig. 3 is the top view of wheel group pivot stud when driving in the utility model embodiment；
Fig. 4 is the top view of wheel group diagonal when driving in the utility model embodiment.
Specific embodiment
Below by the further details of explanation of specific embodiment:
Appended drawing reference in Figure of description includes: chassis 1, installation room 111, push-rod electric machine 2, linear bearing 31, guiding
Bar 32 turns to spin-ended support 4, the first ball branch 51, the first ball seat 52, the second ball branch 53, the second ball seat 54, track rod 6, hangs
Hang swing arm support frame 7, wheel mounting base 8, the near front wheel 101, off-front wheel 102, left rear wheel 103, off hind wheel 104.
A kind of steering system of independent steering wheel type intelligent electric power as shown in Figure 1:, including central control unit, wheel group are driven
Dynamic device, independent steering gear and independent steering unit.It further include the power supply for steering system power supply, power supply is the shifting of Bei Shite
Dynamic power supply.
Mode switch module, for switching and issuing the running signal of wheel group, including straight-line travelling module, Turning travel mould
Block, pivot stud traveling module and diagonal travel module, are respectively used to send straight-line travelling signal to central processing module, turn to
Form signal, pivot stud form signal and diagonal running signal.Mode switch module switches traveling by existing program
Signal.
Central control unit uses in the present embodiment for controlling the work of power device and independent steering unit
Arduino UNO R3 control panel.
Wheel group, including four wheels, respectively the near front wheel 101, off-front wheel 102, left rear wheel 103 and off hind wheel 104；Each
Wheel is equipped with a wheel independence push rod steering mechanism.
Independent steering gear independently completes original place rotation at any angle for four wheels with driving wheel group；Packet
It includes the first independent steering gear for driving the near front wheel 101, the second independent steering gear for driving off-front wheel 102, use
Third independent steering gear in driving left rear wheel 103 and the 4th independent steering gear for driving off hind wheel 104.
Wheel group driving device, for the four wheel rotations of driving wheel group.Wheel group driving device uses Bosch in the present embodiment
GSR14.4-2-LI type d.c. motor.
Wheel group driving unit is worked by the control of control unit for driving wheel group motor, and wheel group driving unit passes through existing
Some control programs carry out the work of control wheel group motor, are driven in the present embodiment using the wheel group in the JJ263 type electric vehicle of Berica
Dynamic model block
Independent steering unit, for driving independent steering gear to act, including for driving the first independent steering gear
First independent steering module, the second independent steering module for driving the second independent steering gear, for driving third independent
The third independent steering module of steering mechanism and the 4th independent steering module for driving four independent steering gears.
As shown in Figure 2: independent steering gear includes, including is fixedly mounted on the One On The Chassis installation room 111, installs room 111
Push-rod electric machine 2, linear bearing 31 and guide rod 32 are inside installed.2 body of push-rod electric machine is vertical and is fixedly installed on chassis 1,
The output shaft of push-rod electric machine 2 is through installation room 111 and positioned at the left side on chassis 1.Linear bearing 31 be fixedly installed on chassis 1 and
It is arranged in parallel with push-rod electric machine 2.Guide rod 32 is located at 31 inside of linear bearing and is slidably matched with 31 inner sidewall of linear bearing, leads
To the left end of bar 32 through installation room 111 and positioned at the left side on chassis 1, the left end of guide rod 32 and the output shaft of push-rod electric machine 2
On same longitudinal section.
Independent steering gear further includes turning to spin-ended support 4, suspension arms support frame 7 and track rod 6.It turns to spin-ended
The upper end of support 4 is vertical with the output shaft of push-rod electric machine 2 and is fixedly connected, and turns to lower end and the guide rod 32 of spin-ended support 4
Left end is vertical and is fixedly connected, and turns to and is also fixedly installed with the first ball branch 51 on spin-ended support 4.Suspension arms support frame 7 is fixed
Wheel mounting base 8 for installing wheel is installed；The right end of suspension arms support frame 7 is also fixedly installed with the second ball branch 53.
The right end of track rod 6 is welded with the first ball seat 52, and the left end of track rod 6 is welded with the second ball seat 54,
51 ball-joint of first ball seat 52 and the first ball branch, 53 ball-joint of the second ball seat 54 and the second ball branch.In the present embodiment, push-rod electric machine
2 use the DTL one-to-one type push-rod electric machine of imperial Xiang.
The course of work of the present embodiment:
1) normally travel
Mode controlling unit sends straight-line travelling signal to central control unit, central control unit control wheel group driving dress
It sets, the traveling of crusing robot is realized in wheel rotation of the wheel group driving device with driving wheel group.
2) Turning travel
Mode controlling unit sends Turning travel signal to central control unit, and central control unit issues Turning travel life
It enables to independent steering unit and wheel group driving unit, inspection is realized by control independent steering gear and the work of wheel group driving device
The Turning travel of robot: wheel completion of the independent steering gear with driving wheel group rotates at any angle, wheel group driving device band
The wheel of driving wheel group rotates.
The course of work of independent steering gear: the transverse direction of the work of control push-rod electric machine 2, the output shaft of push-rod electric machine 2 is dynamic
Power pushes to the left turns to spin-ended 4 horizontal movement of support, and it is sliding in linear bearing 31 to turn to spin-ended 4 energy band action-oriented bar 32 of support
Dynamic, guide rod 32 can make to turn to the spin-ended holding of support 4 horizontal movement.Turn to spin-ended support 4 movement when, by the first ball branch 51,
First ball seat 52, the second ball branch 53 and the second ball seat 54 successively drive track rod 6, suspension arms support frame 7 and wheel peace
Dress seat 8 is done to be rotated at any angle, and wheel is also able to achieve original place and rotates at any angle.2 output shaft of push-rod electric machine movement away from
It is rotated from the original place for corresponding to wheel special angle.
Crusing robot in the present embodiment is other than being able to achieve common Turning travel, moreover it is possible to complete pivot stud row
It sails and is travelled with diagonal.
Pivot stud: mode controlling unit sends pivot stud running signal to central control unit, central control unit
Wheel steering is controlled to position as shown in Figure 3: the first wheel independence push rod steering system movement of control the near front wheel 101 makes
The position that it is 45 degree with the angle of transversal line that the near front wheel 101, which is rotated in the clockwise direction,；Control the second wheel of off-front wheel 102
Independent push rod steering system movement, makes off-front wheel 102 turn to the position with 45 degree of angle of transversal line in the counterclockwise direction；
The third wheel independence push rod steering system movement for controlling left rear wheel 103, turns to left rear wheel 103 in the counterclockwise direction and cross
The position that the angle of axis is 45 degree；The 4th wheel independence push rod steering system movement for controlling off hind wheel 104, makes off hind wheel
104 are rotated in the clockwise direction the position for being 45 degree with the angle of transversal line.Central control unit control wheel group driving device
Wheel rotation is driven, realizes pivot stud traveling.
Diagonal traveling: mode controlling unit sends pivot stud running signal to central control unit, with crab behavior to the left
Example (crab row is far from identical to the right) central control unit controls wheel steering to position as shown in Figure 4: control the near front wheel 101
The movement of first wheel independence push rod steering system, makes the near front wheel 101 turn to the position parallel with transversal line in the counterclockwise direction；
The the second wheel independence push rod steering system movement for controlling off-front wheel 102, arrives off-front wheel 102 in the counterclockwise direction and transversal line
Parallel position；The third wheel independence push rod steering system movement for controlling left rear wheel 103, makes left rear wheel 103 along side counterclockwise
To turning to the position parallel with transversal line；The 4th wheel independence push rod steering system movement for controlling off hind wheel 104, after making the right side
Wheel 104 turns to the position parallel with transversal line in the counterclockwise direction.Central control unit control wheel group driving device drives vehicle
Diagonal traveling is realized in wheel rotation.
Above-described is only the embodiments of the present invention, and the common sense such as well known specific structure and characteristic are herein in scheme
It does not describe excessively, the affiliated technology neck of utility model before one skilled in the art know the applying date or priority date
All ordinary technical knowledges in domain can know the prior art all in the field, and have using normal before the date
The ability of laboratory facilities is advised, one skilled in the art can be complete in conjunction with self-ability under the enlightenment that the application provides
It is apt to and implements this programme, it is real that some typical known features or known method should not become one skilled in the art
Apply the obstacle of the application.It should be pointed out that for those skilled in the art, in the premise for not departing from the utility model structure
Under, several modifications and improvements can also be made, these also should be considered as the protection scope of the utility model, these all will not influence
The effect and patent practicability that the utility model is implemented.This application claims protection scope should be with the content of its claim
Subject to, the records such as specific embodiment in specification can be used for explaining the content of claim.
Claims (6)
1. a kind of steering system of independent steering wheel type intelligent electric power, it is characterised in that: include:
Wheel group, including several wheels；
Wheel group driving device, the vehicle wheel rotation for driving wheel group；
Independent steering gear respectively drives the wheel complete independently original place rotation at any angle of wheel group；
Central processing unit works for control wheel group driving device and independent steering gear.
2. a kind of steering system of independent steering wheel type intelligent electric power according to claim 1, it is characterised in that: also wrap
It includes: mode switch element, for switching and issuing running signal.
3. a kind of steering system of independent steering wheel type intelligent electric power according to claim 2, it is characterised in that: mode is cut
Change unit include straight-line travelling module, Turning travel module, pivot stud traveling module and diagonal traveling module, be respectively used to
It issues straight-line travelling signal, turn to form signal, pivot stud form signal and diagonal running signal.
4. a kind of steering system of independent steering wheel type intelligent electric power according to claim 1, it is characterised in that: independent to turn
Include the spin-ended support of steering of the push-rod electric machine being mounted on chassis and push-rod electric machine output axis connection, turn to horizontal drawing to mechanism
Bar, suspension arms support frame and the wheel mounting base being fixedly connected with suspension arms support frame；The first end of track rod is set
There is the first connector, track rod second end is equipped with the second ball connector, and track rod is by the first connector and turns to
Spin-ended support is hinged, and track rod is hinged by the second connector and suspension arms support frame.
5. a kind of steering system of independent steering wheel type intelligent electric power according to claim 4, it is characterised in that: first connects
Fitting includes the first ball seat for being fixedly connected with the first ball branch with the spin-ended support of steering and being fixedly connected with track rod first end,
First ball branch and the first ball seat ball-joint；Second connector include be fixedly connected with suspension arms support frame the second ball branch and with turn
The second ball seat being fixedly connected to drag link second end, the second ball branch and the second ball seat ball-joint.
6. a kind of steering system of independent steering wheel type intelligent electric power according to claim 5, it is characterised in that: independent to turn
The guide rod for further including the linear bearing being fixedly connected with chassis to mechanism and being fixedly connected with the spin-ended support of steering, linear bearing
It is arranged in parallel with push-rod electric machine, the inner sidewall of guide rod and linear bearing is slidably matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920168618.7U CN209479758U (en) | 2019-01-30 | 2019-01-30 | A kind of steering system of independent steering wheel type intelligent electric power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920168618.7U CN209479758U (en) | 2019-01-30 | 2019-01-30 | A kind of steering system of independent steering wheel type intelligent electric power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209479758U true CN209479758U (en) | 2019-10-11 |
Family
ID=68133342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920168618.7U Active CN209479758U (en) | 2019-01-30 | 2019-01-30 | A kind of steering system of independent steering wheel type intelligent electric power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209479758U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN114655324A (en) * | 2022-03-08 | 2022-06-24 | 北京海神动力科技有限公司 | Heavy truck |
-
2019
- 2019-01-30 CN CN201920168618.7U patent/CN209479758U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572629A (en) * | 2020-06-23 | 2020-08-25 | 江西小马机器人有限公司 | Robot chassis with four independently steered wheels |
| CN114655324A (en) * | 2022-03-08 | 2022-06-24 | 北京海神动力科技有限公司 | Heavy truck |
| CN114655324B (en) * | 2022-03-08 | 2023-01-10 | 北京海神动力科技有限公司 | Heavy truck |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209479809U (en) | A kind of independent steering wheel type intelligent electric inspection process robot | |
| CN209479758U (en) | A kind of steering system of independent steering wheel type intelligent electric power | |
| US20180203458A1 (en) | Smart mobile detection platform for greenhouse | |
| CN210744604U (en) | Patrol and examine robot along walking of high voltage electric network | |
| CN107458420B (en) | Servicing robot, operation device and system for locomotive roof | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN104991559A (en) | Method for automatic cruise detection of comprehensive information of greenhouses | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| Rui et al. | A mobile robot for inspection of overhead transmission lines | |
| CN108639149A (en) | A kind of full steering mechanism of piping lane routing inspection trolley | |
| CN101830247A (en) | Steering mechanism of movable platform | |
| CN109625085B (en) | Independent suspension wheel type intelligent steering method | |
| CN204173039U (en) | A kind of substation four wheel drive crusing robot | |
| CN212749628U (en) | Automatic seek mark car | |
| CN206490364U (en) | Mechanical arm applied to transmission line polling robot obstacle-surmounting travelling gear | |
| CN209667245U (en) | A kind of combined vehicle tractor | |
| CN105364925B (en) | High voltage power transmission line walking and work machine human arm based on servo driving | |
| CN201670261U (en) | Moving platform steering mechanism | |
| CN218110782U (en) | Multifunctional track detection robot | |
| CN110667717A (en) | Triangular wheel inspection robot applied to subway train inspection warehouse | |
| CN208646958U (en) | A kind of unmanned framework transport vehicle of heavy type electric drive all-wheel steering a11wheel drive | |
| CN210086049U (en) | Portable bridge is with inspection dolly | |
| CN219600855U (en) | Measuring trolley with hanging structure | |
| CN209050733U (en) | Intelligent Mobile Robot | |
| CN203674626U (en) | One-armed obstacle-crossing robot for power transmission line operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 750000 Jinfeng Industrial Park, Yinchuan Jingkai District, Yinchuan City, Ningxia Hui Autonomous Region, to the west of Nanjie 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 Co-patentee after: Huatong Science and Technology Co., Ltd. Address before: 750000 Jinfeng Industrial Park, Yinchuan Jingkai District, Yinchuan City, Ningxia Hui Autonomous Region, to the west of Nanjie and north of Jinfeng Road Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: State Grid Ningxia Electric Power Co., Ltd. overhaul company Co-patentee before: Huatong Science and Technology Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201223 Address after: 250 000 electric power intelligent robot production project 101, south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province Patentee after: National Network Intelligent Technology Co.,Ltd. Patentee after: WOOTION TECHNOLOGY Co.,Ltd. Address before: 750000 Ningxia Hui Autonomous Region Yinchuan Yinchuan Jingkai District Jinfeng Industrial Park to the west of Nanjie and north of Jinfeng Road Patentee before: STATE GRID NINGXIA ELECTRIC POWER CO., LTD. MAINTENANCE Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: WOOTION TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |