技术领域technical field
本发明涉及高压输电线路在线作业技术领域，具体涉及一种高压输电线路在线作业操作臂。The invention relates to the technical field of on-line operation of high-voltage transmission lines, in particular to an operating arm for on-line operation of high-voltage transmission lines.
背景技术Background technique
目前，机器人在高压输电领域的研究和应用越来越多，由于高压输电线路经常发生导线断股、螺母松脱、异物缠绕等危害线路安全运行的状况，通常由人员登塔进行修复工作，由于需要高空作业，增加了工作人员的危险性，这就需要高压输电线路巡线机器人同时拥有在线作业的能力。At present, there are more and more researches and applications of robots in the field of high-voltage power transmission. Because high-voltage power transmission lines often have broken strands, loose nuts, and foreign objects that endanger the safe operation of the line, people usually go up to the tower to carry out repair work. High-altitude operations are required, which increases the danger of workers, which requires high-voltage transmission line inspection robots to have the ability to work online at the same time.
目前应用比较广泛的工业机械臂，虽然在机械机构和结构设计等方面发展的比较完善，但工业机械臂一般体积大、质量重、控制复杂等问题，主要应用在工业生产线、码头、仓储等领域。对于需要在高空作业的线路机器人，由于机器人平台的承重及空间有限，要求机器人所搭载的操作臂体积小、重量轻，在满足作业需求的情况下自由度尽可能的少，机械机构尽可能的简单。At present, industrial manipulators are widely used. Although the development of mechanical mechanism and structural design is relatively perfect, industrial manipulators generally have problems such as large volume, heavy weight, and complicated control. They are mainly used in industrial production lines, docks, storage and other fields. . For line robots that need to work at high altitudes, due to the limited load-bearing and space of the robot platform, it is required that the operating arm mounted on the robot is small in size and light in weight, with as few degrees of freedom as possible and mechanical mechanisms as small as possible while meeting the requirements of the operation. Simple.
发明内容Contents of the invention
为解决现有技术存在的不足，本发明公开了一种高压输电线路在线作业操作臂，具有3个自由度，其结构简单紧凑，能够适应高压输电线路多分裂导线的在线作业，操作臂末端可搭载多用途作业工具，能够完成多种高压输电线路在线作业。In order to solve the deficiencies in the prior art, the invention discloses an operating arm for on-line operation of high-voltage transmission lines, which has three degrees of freedom, has a simple and compact structure, and can adapt to the on-line operation of multi-split conductors of high-voltage transmission lines. The end of the operating arm can be Equipped with multi-purpose operation tools, it can complete a variety of online operations on high-voltage transmission lines.
为实现上述目的，本发明的具体方案如下：To achieve the above object, the specific scheme of the present invention is as follows:
一种高压输电线路在线作业操作臂，包括肩关节、肘关节和移动关节，肩关节包括第一驱动机构，肘关节包括第二驱动机构和第一执行机构，移动关节包括第三驱动机构和第二执行机构；An on-line operating arm for high-voltage transmission lines, including a shoulder joint, an elbow joint and a moving joint, the shoulder joint includes a first driving mechanism, the elbow joint includes a second driving mechanism and a first actuator, and the moving joint includes a third driving mechanism and a first 2. Executing agency;
肩关节的第一驱动机构与肘关节的第二驱动机构相配合，肘关节的第二驱动机构带动肘关节的第一执行机构运动，肘关节的第一执行机构带动移动关节的第三驱动机构运动，移动关节的第三驱动机构及肘关节第二驱动机构带动移动关节的第二执行机构运动。The first driving mechanism of the shoulder joint cooperates with the second driving mechanism of the elbow joint, the second driving mechanism of the elbow joint drives the first actuator of the elbow joint to move, and the first actuator of the elbow joint drives the third driving mechanism of the moving joint Movement, the third driving mechanism of the mobile joint and the second driving mechanism of the elbow joint drive the second actuator of the mobile joint to move.
进一步的，所述肩关节的第一驱动机构与肘关节的第二驱动机构均设置在肩关节部位。肩关节和肘关节的传动机构都位于操作臂底部的肩关节上，减小操作臂的末端重量，减轻肩关节的负载。Further, the first driving mechanism of the shoulder joint and the second driving mechanism of the elbow joint are both arranged at the shoulder joint. Both the transmission mechanism of the shoulder joint and the elbow joint are located on the shoulder joint at the bottom of the operating arm, which reduces the weight of the end of the operating arm and reduces the load on the shoulder joint.
进一步的，所述肩关节的第一驱动机构包括第一电机、第一蜗杆、第一蜗轮及第一传动轴，所述肘关节的第二驱动机构包括第二电机、第二传动轴、第二蜗杆及第二蜗轮；Further, the first driving mechanism of the shoulder joint includes a first motor, a first worm, a first worm wheel and a first transmission shaft, and the second driving mechanism of the elbow joint includes a second motor, a second transmission shaft, a first Two worms and a second worm wheel;
其中，第一蜗杆和第二蜗杆均铰接于底座上，分别通过齿轮传动与对应的第一电机和第二电机相连，第一蜗杆与第一蜗轮啮合；第二蜗杆与第二蜗轮啮合，第一蜗轮和第二蜗轮分别固定在各自对应的第一传动轴和第二传动轴上。Wherein, the first worm and the second worm are both hinged on the base, respectively connected to the corresponding first motor and the second motor through gear transmission, the first worm meshes with the first worm wheel; the second worm meshes with the second worm wheel, and the second worm meshes with the second worm wheel A worm wheel and a second worm wheel are respectively fixed on corresponding first transmission shafts and second transmission shafts.
第一电机驱动第一蜗杆、第一蜗轮带动肩关节旋转，第二电机通过第二蜗杆、第二蜗轮、第一链轮、第二链轮及链条带动肘关节旋转。The first motor drives the first worm and the first worm wheel to drive the shoulder joint to rotate, and the second motor drives the elbow joint to rotate through the second worm, the second worm wheel, the first sprocket, the second sprocket and the chain.
进一步的，所述第一传动轴为中空，第一传动轴通过轴承分别与第二传动轴和衬套铰接，第二传动轴通过轴承与衬套铰接。Further, the first transmission shaft is hollow, the first transmission shaft is respectively hinged to the second transmission shaft and the bushing through bearings, and the second transmission shaft is hinged to the bushing through bearings.
进一步的，所述第一传动轴和第二传动轴可独自旋转。Further, the first transmission shaft and the second transmission shaft can rotate independently.
进一步的，肘关节的第二驱动机构和第一执行机构由第一壳体进行连接，所述第一壳体一端固定在肩关节第二驱动机构的第二传动轴上，第二传动轴并连接有第一链轮；所述第一执行机构位于第一壳体的末端，包括第三传动轴和第二链轮，第二链轮固定在第三传动轴上，第三传动轴通过轴承与第一壳体末端铰接；所述第一链轮和第二链轮通过链条相连。Further, the second drive mechanism of the elbow joint and the first actuator are connected by the first casing, and one end of the first casing is fixed on the second transmission shaft of the second drive mechanism of the shoulder joint, and the second transmission shaft and The first sprocket is connected; the first actuator is located at the end of the first housing, including a third transmission shaft and a second sprocket, the second sprocket is fixed on the third transmission shaft, and the third transmission shaft passes through the bearing It is hinged with the end of the first shell; the first sprocket and the second sprocket are connected through a chain.
进一步的，所述移动关节包括第三驱动机构包括电机、支架、蜗杆蜗轮、第四传动轴和同步带轮；所述蜗杆蜗轮铰接在支架上，与电机相连，所述蜗轮固定在第四传动轴上，第四传动轴末端固定有同步带轮。Further, the mobile joint includes a third drive mechanism including a motor, a bracket, a worm gear, a fourth transmission shaft and a synchronous pulley; the worm gear is hinged on the bracket and connected to the motor, and the worm gear is fixed on the fourth transmission On the shaft, the end of the fourth transmission shaft is fixed with a synchronous pulley.
进一步的，所述第三传动轴为中空；移动关节通过第四传动轴与第三传动轴铰接，第四传动轴穿过第三传动轴的中心孔。Further, the third transmission shaft is hollow; the movable joint is hinged to the third transmission shaft through the fourth transmission shaft, and the fourth transmission shaft passes through the central hole of the third transmission shaft.
进一步的，所述移动关节第二执行机构包括第二壳体、同步带、直线导轨、压紧轮和滑块；所述滑块和压紧轮固定在肘关节的第二传动轴上，所述导轨固定在第二壳体上，与滑块形成直线运动副；所述同步带与第三驱动机构的同步带轮相啮合，带动导轨沿滑块移动。Further, the second actuator of the mobile joint includes a second housing, a synchronous belt, a linear guide rail, a pressing wheel and a slider; the slider and the pressing wheel are fixed on the second transmission shaft of the elbow joint, so The guide rail is fixed on the second housing and forms a linear motion pair with the slider; the synchronous belt meshes with the synchronous pulley of the third drive mechanism to drive the guide rail to move along the slider.
进一步的，所述肘关节的第二驱动机构的第二电机通过第二蜗杆、第二蜗轮、第一链轮、第二链轮及链条带动肘关节旋转。Further, the second motor of the second drive mechanism of the elbow joint drives the elbow joint to rotate through the second worm, the second worm gear, the first sprocket, the second sprocket and the chain.
进一步的，肩关节带动肘关节和移动关节旋转，肘关节带动移动关节旋转，移动关节以肘关节为中心左右移动。Furthermore, the shoulder joint drives the elbow joint and the mobile joint to rotate, the elbow joint drives the mobile joint to rotate, and the mobile joint moves left and right with the elbow joint as the center.
本发明的有益效果：Beneficial effects of the present invention:
1.结构简单、操作方便，具有独立性，易于与不同的巡线作业机器人连接。1. The structure is simple, the operation is convenient, it is independent, and it is easy to connect with different line inspection robots.
2.功能可扩展性强，在操作臂的末端可换不同的操作工具，即可实现不同的功能，例如高压线线路修补、航标球拆装等任务。2. The function is highly expandable. Different operating tools can be replaced at the end of the operating arm to achieve different functions, such as repairing high-voltage lines, disassembling and assembling navigation balls and other tasks.
3.可适应性强，操作臂采用3自由度，经过数据分析及模拟实验，可满足分裂导线的作业需求。3. Strong adaptability, the operating arm adopts 3 degrees of freedom, after data analysis and simulation experiments, it can meet the operation requirements of split wires.
4.结构简单紧凑，合理有效的布局整体结构，将肘关节驱动设置在操作臂的底部，有效减轻了操作臂前端的重量，减小了肩关节的负载。4. The structure is simple and compact, and the overall structure is reasonably and effectively arranged. The elbow joint drive is set at the bottom of the operating arm, which effectively reduces the weight of the front end of the operating arm and reduces the load on the shoulder joint.
5.操作臂体较小，重量轻，可有效减小线路机器人的负担。5. The operating arm is small and light in weight, which can effectively reduce the burden on the line robot.
附图说明Description of drawings
图1是操作臂总装图；Figure 1 is the general assembly drawing of the operating arm;
图2是肩关节总装图；Fig. 2 is the general assembly drawing of shoulder joint;
图3是肘关节爆炸视图；Figure 3 is an exploded view of the elbow joint;
图4是移动关节的总装图；Fig. 4 is the general assembly drawing of moving joint;
图5是移动关节驱动机构的图；Fig. 5 is the figure of moving joint driving mechanism;
图6是移动关节执行机构的装配图；Fig. 6 is an assembly diagram of the mobile joint actuator;
图中，1肩关节、2肘关节、3移动关节、4底座、5第一电机、6第二电机、7第一蜗杆、8第一蜗轮、9第二蜗轮、10第一传动轴、11第二传动轴、12衬套、13第二蜗杆、14第一壳体、15第一链轮、16链条、17第三传动轴、18第二链轮、19驱动机构、20执行机构、21电机、22支架、23蜗杆、24蜗轮、25第四传动轴、26同步带轮、27第二壳体、28同步带、29直线导轨、30压紧轮、31滑块。In the figure, 1 shoulder joint, 2 elbow joint, 3 moving joint, 4 base, 5 first motor, 6 second motor, 7 first worm, 8 first worm wheel, 9 second worm wheel, 10 first transmission shaft, 11 Second transmission shaft, 12 bushing, 13 second worm, 14 first housing, 15 first sprocket, 16 chain, 17 third transmission shaft, 18 second sprocket, 19 driving mechanism, 20 actuator, 21 Motor, 22 bracket, 23 worm, 24 worm gear, 25 fourth transmission shaft, 26 synchronous pulley, 27 second housing, 28 synchronous belt, 29 linear guide rail, 30 pressure wheel, 31 slide block.
具体实施方式：detailed description:
下面结合附图对本发明进行详细说明：The present invention is described in detail below in conjunction with accompanying drawing:
本发明可搭载在线路巡线及作业机器人上，如图1所示，包括肩关节1、肘关节2和移动关节3，肩关节1可带动肘关节2和移动关节3旋转，肘关节2带动移动关节3旋转，移动关节3以肘关节2为中心左右移动。The present invention can be carried on the line inspection and operation robot, as shown in Figure 1, including shoulder joint 1, elbow joint 2 and mobile joint 3, shoulder joint 1 can drive elbow joint 2 and mobile joint 3 to rotate, and elbow joint 2 can drive The mobile joint 3 rotates, and the mobile joint 3 moves left and right with the elbow joint 2 as the center.
如图2所示，肩关节1和肘关节2的驱动机构均位于肩关节1部位，有利于减轻操作臂前段的重量，减小肩关节1的负荷，肩关节1包括底座4、第一电机5、第一蜗杆7、第一蜗轮8、第二蜗轮9、第一传动轴10、第二电机6、第二传动轴11、衬套12、第二蜗杆13；其中，第一电机5、第一蜗杆7、第一蜗轮8、第一传动轴10组成肩关节1的驱动机构；第二电机6、第二传动轴11、第二蜗杆13、第二蜗轮9组成肘关节2的驱动机构；第一蜗杆7和第二蜗杆13均铰接于底座4上，通过齿轮传动分别与第一电机5和第二电机6相连；第一蜗轮8和第二蜗轮9分别固定在第一传动轴10和第二传动轴11上；所述第一传动轴10为中空，第一传动轴10通过轴承分别与第二传动轴11和衬套12铰接，第二传动轴11通过轴承与衬套12铰接；第一蜗杆7与第一蜗轮8啮合；第二蜗杆13与第二蜗轮9啮合；第一电机5和第二电机6可通过齿轮、蜗轮蜗杆机构分别带动第一传动轴10和第二传动轴11独自转动，不受彼此影响。As shown in Figure 2, the driving mechanisms of the shoulder joint 1 and the elbow joint 2 are located at the shoulder joint 1, which is conducive to reducing the weight of the front section of the operating arm and reducing the load on the shoulder joint 1. The shoulder joint 1 includes a base 4 and a first motor. 5. The first worm 7, the first worm wheel 8, the second worm wheel 9, the first transmission shaft 10, the second motor 6, the second transmission shaft 11, the bushing 12, and the second worm 13; wherein, the first motor 5, The first worm 7, the first worm gear 8, and the first transmission shaft 10 form the driving mechanism of the shoulder joint 1; the second motor 6, the second transmission shaft 11, the second worm 13, and the second worm gear 9 form the driving mechanism of the elbow joint 2 The first worm 7 and the second worm 13 are all hinged on the base 4, and are respectively connected with the first motor 5 and the second motor 6 through gear transmission; the first worm wheel 8 and the second worm wheel 9 are respectively fixed on the first transmission shaft 10 and the second transmission shaft 11; the first transmission shaft 10 is hollow, the first transmission shaft 10 is respectively hinged with the second transmission shaft 11 and the bushing 12 through the bearing, and the second transmission shaft 11 is hinged with the bushing 12 through the bearing ; the first worm 7 meshes with the first worm wheel 8; the second worm 13 meshes with the second worm wheel 9; the first motor 5 and the second motor 6 can drive the first transmission shaft 10 and the second transmission shaft respectively through gears and worm gear mechanisms The shafts 11 rotate independently without being influenced by each other.
如图3所示，肘关节2包括驱动机构和执行机构，包括第一壳体14、第一链轮15、链条16、第三传动轴17和第二链轮18；驱动机构和执行机构由第一壳体14进行连接；第一壳体14一端固定在肩关节1的第二传动轴11上，并连接有第一链轮15；执行机构位于第一壳体14的末端，包括第三传动轴17和第二链轮18，第二链轮18固定在第三传动轴上17，第三传动轴17通过轴承与第一壳体14末端铰接；肘关节2的第二电机6通过第二蜗杆13、蜗轮9、第一链轮15、第二链轮18及链条16带动肘关节2旋转。As shown in Figure 3, the elbow joint 2 includes a drive mechanism and an actuator, including a first housing 14, a first sprocket 15, a chain 16, a third transmission shaft 17 and a second sprocket 18; the drive mechanism and the actuator are composed of The first housing 14 is connected; one end of the first housing 14 is fixed on the second transmission shaft 11 of the shoulder joint 1, and is connected with the first sprocket 15; the actuator is located at the end of the first housing 14, including the third Transmission shaft 17 and the second sprocket 18, the second sprocket 18 is fixed on the third transmission shaft 17, the third transmission shaft 17 is hinged with the end of the first housing 14 through the bearing; the second motor 6 of the elbow joint 2 passes through the second Two worms 13, worm wheel 9, first sprocket 15, second sprocket 18 and chain 16 drive elbow joint 2 to rotate.
如图4所示，移动关节3包括驱动机构19和执行机构20，如图5所示，所述移动关机的驱动机构19包括电机21、支架22、蜗杆23、蜗轮24、第四传动25和同步带轮26；蜗杆23、蜗轮24铰接在支架22上，与电机21相连，所述蜗轮24固定在第四传动轴25上，传动轴25末端固定有同步带轮26。As shown in Figure 4, the mobile joint 3 includes a drive mechanism 19 and an actuator 20, and as shown in Figure 5, the drive mechanism 19 of the mobile shutdown includes a motor 21, a support 22, a worm screw 23, a worm wheel 24, a fourth transmission 25 and Timing pulley 26; Worm screw 23, worm wheel 24 are hinged on the support 22, link to each other with motor 21, described worm wheel 24 is fixed on the fourth transmission shaft 25, and transmission shaft 25 ends are fixed with synchronous pulley 26.
如图6所示，移动关节的执行机构20包括第二壳体27、同步带28、直线导轨29、压紧轮30和滑块31；滑块31和压紧轮30固定在肘关节2的第三传动轴17上，所述导轨29固定在第二壳体27上，与滑块31形成直线运动副；同步带28与驱动机构的同步带轮26相啮合，带动导轨29沿滑块31移动。As shown in Figure 6, the actuator 20 of the mobile joint includes a second housing 27, a synchronous belt 28, a linear guide rail 29, a pressing wheel 30 and a slider 31; the sliding block 31 and the pressing wheel 30 are fixed on the elbow joint 2 On the third transmission shaft 17, the guide rail 29 is fixed on the second housing 27 and forms a linear motion pair with the slider 31; the synchronous belt 28 meshes with the synchronous pulley 26 of the drive mechanism, and drives the guide rail 29 along the slider 31. move.
第三传动轴17为中空；移动关节3通过第四传动轴25穿过第三传动轴17的中心孔与第三传动轴17并与之铰接，移动关节3的驱动机构19通过传动机构带动执行机构20进行水平移动。移动关节3的两端有端口，可扩展多种作业工具及摄像机等。The third transmission shaft 17 is hollow; the mobile joint 3 passes through the central hole of the third transmission shaft 17 through the fourth transmission shaft 25 and is hinged with the third transmission shaft 17, and the driving mechanism 19 of the mobile joint 3 is driven by the transmission mechanism. The mechanism 20 moves horizontally. There are ports at both ends of the movable joint 3, which can expand various operating tools and cameras.
肩关节带动肘关节和移动关节旋转，肘关节带动移动关节旋转，移动关节以肘关节为中心左右移动。The shoulder joint drives the elbow joint and the mobile joint to rotate, the elbow joint drives the mobile joint to rotate, and the mobile joint moves left and right with the elbow joint as the center.
工作原理或使用过程：第一电机驱动第一蜗杆、第一蜗轮带动肩关节旋转，第二电机通过第二蜗杆、第二蜗轮、第一链轮、第二链轮及链条带动肘关节旋转。Working principle or use process: the first motor drives the first worm, the first worm gear drives the shoulder joint to rotate, and the second motor drives the elbow joint to rotate through the second worm, the second worm gear, the first sprocket, the second sprocket and the chain.
肩关节第一蜗轮带动第一传动轴转动，肘关节第二蜗轮带动第二传动轴转动，第二传动轴与一端固定有第一壳体，肘关节通过驱动机构带动肘关节执行机构运动，肘关节的执行机构带动移动关节的驱动机构运动，移动关节的驱动机构带动移动关节的执行机构运动。The first worm gear of the shoulder joint drives the first transmission shaft to rotate, and the second worm gear of the elbow joint drives the second transmission shaft to rotate. The second transmission shaft and one end are fixed with the first housing. The actuator of the joint drives the driving mechanism of the movable joint to move, and the driving mechanism of the movable joint drives the actuator of the movable joint to move.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201510734288.XACN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734288.XACN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
| Publication Number | Publication Date |
|---|---|
| CN105226564A CN105226564A (en) | 2016-01-06 |
| CN105226564Btrue CN105226564B (en) | 2017-03-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510734288.XAActiveCN105226564B (en) | 2015-11-02 | 2015-11-02 | High tension transmission line on-line operation motion arm |
| Country | Link |
|---|---|
| CN (1) | CN105226564B (en) |
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| DE102017202195A1 (en)* | 2016-03-09 | 2017-09-14 | Heidelberger Druckmaschinen Ag | Multi-axis robot with drives, a tool head and a drag chain for guiding flexible cables |
| CN108045532B (en)* | 2017-12-04 | 2020-05-12 | 国网山东省电力公司电力科学研究院 | Underwater electric mechanical arm operation nacelle and use method thereof |
| CN112993851B (en)* | 2019-12-12 | 2021-09-21 | 中国科学院沈阳自动化研究所 | Power transmission line electricity testing and grounding wire erecting operation arm |
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| JP2012120356A (en)* | 2010-12-02 | 2012-06-21 | Chugoku Electric Power Co Inc:The | Method of preventing misconception during operation in power transmission and transformation work |
| CN104682260A (en)* | 2013-12-02 | 2015-06-03 | 国家电网公司 | Mechanical arm for cable operation |
| CN204622048U (en)* | 2015-04-17 | 2015-09-09 | 安徽工程大学 | A kind of mechanical arm for assembling securing member |
| Publication number | Publication date |
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| CN105226564A (en) | 2016-01-06 |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| CP01 | Change in the name or title of a patent holder | Address after:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after:National Network Intelligent Technology Co., Ltd. Patentee after:Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after:State Grid Corporation of China Address before:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before:Shandong Luneng Intelligent Technology Co., Ltd. Patentee before:Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before:State Grid Corporation of China | |
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right | Effective date of registration:20201028 Address after:250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after:National Network Intelligent Technology Co.,Ltd. Address before:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before:ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before:National Network Intelligent Technology Co.,Ltd. Patentee before:STATE GRID CORPORATION OF CHINA | |
| TR01 | Transfer of patent right |