CN104308829A - Turning device applicable to three-dimensional track path running and realization method of turning device - Google Patents
Turning device applicable to three-dimensional track path running and realization method of turning device Download PDFInfo
- Publication number
- CN104308829A CN104308829A CN201410562690.XA CN201410562690A CN104308829A CN 104308829 A CN104308829 A CN 104308829A CN 201410562690 A CN201410562690 A CN 201410562690A CN 104308829 A CN104308829 A CN 104308829A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- turning device
- turning
- span structure
- crane span
- 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.)
- Granted
Links
Landscapes
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a turning device applicable to three-dimensional track path running and a realization method of the turning device. The turning device comprises two groups of track motion units and a secondary connecting plate used for connecting the two groups of track motion units; the two groups of track motion units rotate independently; each group of track motion units comprises primary turning motion units, primary connecting plates and secondary turning motion units, the primary turning motion units are respectively fixed to two ends of a bridge, the primary connecting plates are arranged on the outer side of the bridge, and two side plates of each primary connecting plate are connected with two ends of the bridge respectively through primary rotating shafts; each secondary turning motion unit is arranged in the middle of the corresponding primary connecting plate; the primary connecting plates of each group of track motion units are connected with secondary connecting plate respectively through the secondary turning motion units. The turning device and the realization method have the advantages that spatial three-dimensional arrangement of a track path is realized, the path can extend in multiple directions and multiple dimensions, site adaptability is improved, the defect of spatial dead angles of robot running is overcome, and robot utilization rate is increased.
Description
Technical field
The invention belongs to field of special robots, particularly a kind of turning device and its implementation being applicable to the operation of 3d orbit path.
Background technology
In automated material transhipment, carry out in intelligent circling measurment utilization to equipment, track machine people is fully utilized with its feature fast flexible and easy to maintenance.Due to the physical location restriction of transhipment destination, apparatus arrangement point, the most non-directional route of running orbit of robot, robot there will be many places turning phenomenon in running, and robot motion's device must adapt to the needs that turn round.
When transport destination, apparatus arrangement point in the horizontal direction, vertical direction all exist significantly physical location difference time, as destination is present in different floor not chummery, equipment is present in the differing heights position in different place, and the running orbit of robot just there will be three-dimensional path.Common turning device is only applicable to single horizontal turning or single vertically turning round, three-dimensional path operation problem cannot be overcome, existing solution has that a set of robot substep completes operation, measure that Duo Tao robot has divided the work, there is inefficiency, shortcoming that input cost is large.Therefore be necessary the running gear studied a kind of simultaneous adaptation horizontal turning and vertically turn round, to ensure the continuity of robot motion, improve operational efficiency, reduce operating cost.
Application number is 201310040511.1, the patent that name is called " the track machine people of band turning apparatus " and application number 201210493890.5, name is called the patent of " right-angle turning transport vehicle ", be proposed the solution when orbital path is turned, but above scheme is only confined to the research in two-dimensional space, two-dimensional space inner machine people can only run in a plane, the track machine people run in three dimensions can not be applicable to, cannot solve the problem, fail the overall application of tracking pipeline robot, comprehensive applicable proposition solution.
Therefore, develop a kind of turning device adapting to three-dimensional path and run, comprehensive utilization of tracking pipeline robot is significant.
Summary of the invention
The object of the invention is to solve the problem, provide a kind of turning device and its implementation of being applicable to the operation of 3d orbit path, this device is provided with two turning motion unit, can adapt to the operation in 3d orbit path.
To achieve these goals, the present invention adopts following technical scheme:
Being applicable to the turning device that 3d orbit path is run, comprising: two groups of orbiting unit and the secondary connecting plate for connecting two groups of orbiting unit; Described two groups of orbiting unit independently rotate;
Each group orbiting unit described comprises: turning motion unit, secondary turning motion unit, crane span structure and a connecting plate;
Fix a turning motion unit respectively at the two ends of described crane span structure, at described crane span structure arranged outside connecting plate, the biside plate of a described connecting plate is connected respectively by a secondary shaft with crane span structure two ends; Described secondary turning motion unit is arranged on the centre position of a described connecting plate; A connecting plate of each group orbiting unit described is connected with secondary connecting plate respectively by secondary turning motion unit.
A described turning motion unit comprises: roller axis, roller, a bearing and a secondary shaft;
Described roller is connected with crane span structure by roller axis, and a described bearing coordinates with a secondary shaft and crane span structure respectively, and the end of a described bearing is provided with hole back-up ring one for spacing; A described secondary shaft upper end and connecting plate are fixed, middle part is provided with the face of cylinder and a bearing fit.
In described roller, to be provided with step by the end of the spacing described roller axis of hole back-up ring one spacing for roller for shaft end, and middle part is provided with the face of cylinder and coordinates with bearing inner race, and it is chimeric with bridge joint that end is provided with face of cylinder step, and core is provided with through hole for fixing with crane span structure.Wherein the end face of cylinder is coaxial with core through hole, and the face of cylinder, middle part and both axis being parallel disalignment above, the eccentric distance of two axial lines is for regulating the spacing of two cover rollers.
Described bearing adopts taper roll bearing, and to be suitable for the axial force and radial load that operation platform applies, the inner ring of a described bearing coordinates with a secondary shaft, and outer ring coordinates with crane span structure, and end is spacing by hole back-up ring one.
The cross section of a described secondary shaft is T-shaped, and the upper end of a secondary shaft adopts securing member and a connecting plate to fix, and middle part is provided with the face of cylinder and a bearing fit.
Described crane span structure inner face is provided with two face of cylinder, place counterbores, for coordinating with a secondary shaft; Crane span structure two ends are respectively equipped with bearing mounting hole, for assembling a bearing; Described crane span structure is respectively fitted with bearing, hole back-up ring one, roller axis and a roller, described crane span structure rotates around the axis of a secondary shaft, completes roller steering action.
The two ends of a described connecting plate are provided with stepped hole, for coordinating with a secondary shaft; The middle part of a described connecting plate is provided with and the stepped hole coordinated in secondary turning motion unit.
Described secondary turning motion unit comprises two secondary shafts, secondary bearing and hole back-up ring two;
Described two secondary shafts run through a connecting plate and secondary connecting plate, and the inner ring of secondary bearing coordinates with two secondary shafts, and outer ring coordinates with secondary connecting plate, and secondary bearing end is spacing by hole back-up ring two.
The cross section of described two secondary shafts is set to T-shaped, and upper end is provided with screw thread, and for connecting securing member, middle part is provided with the face of cylinder and is provided with step with secondary bearing fit, bottom and coordinates with a connecting plate.
Be applicable to an implementation method for the turning device that 3d orbit path is run, comprise:
When turning device runs on straight line path I, a connecting plate of two groups of orbiting unit is parallel, the crane span structure of two groups of orbiting unit is parallel respectively with secondary connecting plate, reconcile the center distance H of roller by roller axis, what make turning device and 3d orbit is combined with enough pretightning forces;
When turning device runs in circular arc path II, a connecting plate keeping parallelism of two groups of orbiting unit, the crane span structure of two groups of orbiting unit rotates around the axis of a secondary shaft respectively, and the axis extended line of the roller of two groups of orbiting unit intersects at center of circle O
2, the angle of two axial lines delay line is 2x β, and described angle is symmetrical about the median plane of secondary connecting plate; Turning device is around center of circle O
2rotate, realize walking along circular arc path;
When turning device runs on turning path IV, a connecting plate and crane span structure keeping parallelism, two groups of orbiting unit rotate around the axis of two secondary shafts respectively, and the line of centres of roller intersects at center of circle O
1, the angle of two lines of centres is 2x α, and described angle is symmetrical about the median plane of secondary connecting plate; Turning device is around center of circle O
1rotate, realize walking along turning path.
The invention has the beneficial effects as follows:
1, orbital path achieves space three-dimensional layout, and path multi-directionally, various dimensions extend, and place adaptability improves, and overcomes robot running space dead angle, improves robot utilization rate.
2, the realization of orbital path multi-angle, three dimensions change, facilitates orbit space layout design, not running dead angle and the path of taking detours, roundabout layout for overcoming, both having reduced material cost, construction cost, and having also improved operational efficiency.
3, turning mechanism structure is simple, tender employing rate large, overcomes that other turning equipment manufacturing cost is high, construction precision requirement, is conducive to safeguarding and promoting.
Accompanying drawing explanation
Fig. 1 is assembly figure of the present invention;
Fig. 2 is assembly A direction view of the present invention;
Fig. 3 is the sectional view of the present invention along roller axis;
To be assembly C of the present invention run view to-circular arc path II to Fig. 4;
To be assembly C of the present invention run view to-straight line path III to Fig. 5;
To be assembly B of the present invention run view to-turning path IV to Fig. 6;
To be assembly B of the present invention run view to-straight line path V to Fig. 7.
In diagram, 1. 3d orbit, 2. turning device, 3. two connecting plates, 4. No. two bearings, 5. hole back-up ring two, 6. clamp nut, 7. packing ring, 8. two secondary shafts, 9. connecting plate, 10. a crane span structure, 11. 1 secondary shafts, 12. holes back-up ring one, No. 13. bearings, 14. rollers, 15. roller axis
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
As shown in Figure 1, comprise 3d orbit 1 and turning device 2, wherein turning device 2 comprises two groups of orbiting unit and the secondary connecting plate 3 for connecting two groups of orbiting unit; Two groups of orbiting unit independently rotate; The mounting hole site of reserved robot driving mechanism and other functional part on the secondary connecting plate of wherein turning device.Robot driving mechanism driven machine people runs, and then drives the motion of turning device 2.
As shown in Figures 2 and 3, each group orbiting unit comprises: turning motion unit, secondary turning motion unit, crane span structure 10 and a connecting plate 9;
One time turning motion unit comprises: roller axis 15, roller 14, bearing 13 and a secondary shaft 11; Secondary turning motion unit comprises two secondary shafts 8, secondary bearing 4 and hole back-up ring 25.
The inner ring of roller 14 coordinates with the face of cylinder at the middle part of roller axis 15, and roller axis 15 end step is chimeric with crane span structure 10 locates, and securing member connects crane span structure 10 through roller axis 15 core through hole; The axis disalignment of the face of cylinder and core through hole in the middle part of roller axis 15, i.e. the core through hole disalignment of roller 14 central axis and roller axis 15, there is an eccentric distance, this eccentric throw numerical value is determined according to the guide rail width of 3d orbit 1; By the relative rotation position of adjustment roller axis 15 with crane span structure 10, the centre distance of two cover rollers 14 can be regulated, to adapt to 3d orbit 1 guide rail width, both ensured the pretightning force that turning device 2 coordinates with 3d orbit 1 to ensure smooth and easy operation again.
Crane span structure 10 two ends are provided with bearing mounting hole, and coordinate with face of cylinder cylindrical in the middle part of a secondary shaft 11 for pilot hole back-up ring one 12, bearing 13, bearing inner race 13, secondary shaft 11 upper end coordinates with a connecting plate 9 and utilizes securing member to fix;
Step through-hole is provided with in the middle part of a connecting plate 9, coordinate with two secondary shaft 8 bottom stage, in the middle part of two secondary shafts 8, face of cylinder cylindrical coordinates with secondary bearing 4, secondary bearing 4 outer ring coordinates with secondary connecting plate 3 bearing mounting hole, the axial restraint assembling porose back-up ring 25, two secondary shaft 8 connecting plates 9 at secondary connecting plate 3 adopts clamp nut 6 and packing ring 7 to fix.
The straightway path of 3d orbit 1 and the combination of circular arc path can be determined according to scene, this concrete case study on implementation have employed three sections of straight line paths, two sections of circular arc path, as shown in Figure 1, straight line path I, circular arc path II, straight line path III, turning path IV, straight line path V is comprised.
As shown in Figure 1, when turning device 2 runs on straight line path I, a connecting plate 9 of a two covers turning motion unit is parallel, crane span structure 10 parallel side is parallel with secondary connecting plate 3, roller axis 15 rotates to appropriate location and fastening by use instrument, to adjust the center distance H of roller 14 to optimum value, what realize turning device 2 and 3d orbit 1 is combined with enough pretightning forces, can ensure smooth and easy operation again.
As shown in Figure 4, when turning device 2 advances, run time behaviour in circular arc path II, a two covers connecting plate 9 state keeping parallelism, crane span structure 10 rotates around the axis of a secondary shaft 11 respectively, and the axis extended line of roller 14 intersects at center of circle O
2, the angle of two delay lines is 2x β, and angle is symmetrical about secondary connecting plate 3 median plane; After the independent rotation of crane span structure 10, the respective realization of roller 14 closely cooperates with 3d orbit 1, and turning device 2 is around center of circle O
2rotate, realize walking along circular arc path.
As shown in Figure 5, when turning device 2 arrives on straight line path III, crane span structure 10 is around the axis of a secondary shaft 11 to counter-rotation, and crane span structure 10, connecting plate 9 side is parallel with secondary connecting plate 3, and turning device 2 is linearly walked.
As shown in Figure 6, when turning device 2 arrives circular arc path IV, a connecting plate 9 and crane span structure 10 keeping parallelism, one time moving cell rotates around the axis of two secondary shafts 8, and the line of centres of roller 14 intersects at center of circle O
1, the angle of two lines of centres is 2x α, and angle is symmetrical about secondary connecting plate 3 median plane; After a two covers moving cell independently rotates, the respective realization of roller 14 closely cooperates with 3d orbit 1, and turning device 2 is around center of circle O
1rotate, realize walking along circular arc path.
As shown in Figure 7, when turning device 2 arrives on straight line path V, one time moving cell reversely rotates around the axis of two secondary shafts 8, and crane span structure 10, connecting plate 9 side is parallel with secondary connecting plate 3, and turning device 2 is linearly walked.
So far, turning device 2 completes linearly path I, circular arc path II, straight line path III, circular arc path IV, straight line path V operation.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. be applicable to the turning device that 3d orbit path is run, it is characterized in that, comprising: two groups of orbiting unit and the secondary connecting plate for connecting two groups of orbiting unit; Described two groups of orbiting unit independently rotate;
Each group orbiting unit described comprises: turning motion unit, secondary turning motion unit, crane span structure and a connecting plate;
Fix a turning motion unit respectively at the two ends of described crane span structure, at described crane span structure arranged outside connecting plate, the biside plate of a described connecting plate is connected respectively by a secondary shaft with crane span structure two ends; Described secondary turning motion unit is arranged on the centre position of a described connecting plate; A connecting plate of each group orbiting unit described is connected with secondary connecting plate respectively by secondary turning motion unit.
2. as claimed in claim 1 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, a described turning motion unit comprises: roller axis, roller, a bearing and a secondary shaft;
Described roller is connected with crane span structure by roller axis, and a described bearing coordinates with a secondary shaft and crane span structure respectively, and the end of a described bearing is provided with hole back-up ring one for spacing; A described secondary shaft upper end and connecting plate are fixed, middle part is provided with the face of cylinder and a bearing fit.
3. as claimed in claim 2 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, in described roller, to be provided with step by the end of the spacing described roller axis of hole back-up ring one spacing for roller for shaft end, middle part is provided with the face of cylinder and coordinates with bearing inner race, it is chimeric with bridge joint that end is provided with face of cylinder step, and core is provided with through hole for fixing with crane span structure.Wherein the end face of cylinder is coaxial with core through hole, and the face of cylinder, middle part and both axis being parallel disalignment above, the eccentric distance of two axial lines is for regulating the spacing of two cover rollers.
4. as claimed in claim 2 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, a described bearing adopts taper roll bearing, to be suitable for the axial force and radial load that operation platform applies, the inner ring of a described bearing coordinates with a secondary shaft, outer ring coordinates with crane span structure, and end is spacing by hole back-up ring one.
5. as claimed in claim 2 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, the cross section of a described secondary shaft is T-shaped, and the upper end of a secondary shaft adopts securing member and a connecting plate to fix, and middle part is provided with the face of cylinder and a bearing fit.
6. as claimed in claim 1 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, described crane span structure inner face is provided with two face of cylinder, place counterbores, for coordinating with a secondary shaft; Crane span structure two ends are respectively equipped with bearing mounting hole, for assembling a bearing; Described crane span structure is respectively fitted with bearing, hole back-up ring one, roller axis and a roller, described crane span structure rotates around the axis of a secondary shaft, completes roller steering action.
7. as claimed in claim 1 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, the two ends of a described connecting plate are provided with stepped hole, for coordinating with a secondary shaft; The middle part of a described connecting plate is provided with and the stepped hole coordinated in secondary turning motion unit.
8. as claimed in claim 1 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, described secondary turning motion unit comprises two secondary shafts, secondary bearing and hole back-up ring two;
Described two secondary shafts run through a connecting plate and secondary connecting plate, and the inner ring of secondary bearing coordinates with two secondary shafts, and outer ring coordinates with secondary connecting plate, and secondary bearing end is spacing by hole back-up ring two.
9. as claimed in claim 1 a kind of be applicable to 3d orbit path run turning device, it is characterized in that, the cross section of described two secondary shafts is set to T-shaped, upper end is provided with screw thread, and for connecting securing member, middle part is provided with the face of cylinder and is provided with step with secondary bearing fit, bottom and coordinates with a connecting plate.
10. be applicable to an implementation method for the turning device that 3d orbit path is run as claimed in claim 1, it is characterized in that, comprising:
When turning device runs on straight line path I, a connecting plate of two groups of orbiting unit is parallel, the crane span structure of two groups of orbiting unit is parallel respectively with secondary connecting plate, reconcile the center distance H of roller by roller axis, what make turning device and 3d orbit is combined with enough pretightning forces;
When turning device runs in circular arc path II, a connecting plate keeping parallelism of two groups of orbiting unit, the crane span structure of two groups of orbiting unit rotates around the axis of a secondary shaft respectively, and the axis extended line of the roller of two groups of orbiting unit intersects at center of circle O
2, the angle of two axial lines delay line is 2x β, and described angle is symmetrical about the median plane of secondary connecting plate; Turning device is around center of circle O
2rotate, realize walking along circular arc path;
When turning device runs on turning path IV, a connecting plate and crane span structure keeping parallelism, two groups of orbiting unit rotate around the axis of two secondary shafts respectively, and the line of centres of roller intersects at center of circle O
1, the angle of two lines of centres is 2x α, and described angle is symmetrical about the median plane of secondary connecting plate; Turning device is around center of circle O
1rotate, realize walking along turning path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410562690.XA CN104308829B (en) | 2014-10-21 | 2014-10-21 | A kind of turning device and its implementation that is applicable to the operation of 3d orbit path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410562690.XA CN104308829B (en) | 2014-10-21 | 2014-10-21 | A kind of turning device and its implementation that is applicable to the operation of 3d orbit path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104308829A true CN104308829A (en) | 2015-01-28 |
| CN104308829B CN104308829B (en) | 2016-05-11 |
Family
ID=52364210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410562690.XA Active CN104308829B (en) | 2014-10-21 | 2014-10-21 | A kind of turning device and its implementation that is applicable to the operation of 3d orbit path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104308829B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972480A (en) * | 2015-06-24 | 2015-10-14 | 哈尔滨蓝光智能电站技术有限公司 | Auxiliary guide rail decoupling mechanism of deposition robot |
| CN108381518A (en) * | 2018-02-10 | 2018-08-10 | 库比克智能装备（深圳）有限公司 | A kind of the 7th axis of robot |
| CN110103200A (en) * | 2019-06-24 | 2019-08-09 | 杭州迈世歆智能机器人有限公司 | One kind is across barrier turning line climbing robot |
| CN110605738A (en) * | 2019-08-16 | 2019-12-24 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
-
2014
- 2014-10-21 CN CN201410562690.XA patent/CN104308829B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972480A (en) * | 2015-06-24 | 2015-10-14 | 哈尔滨蓝光智能电站技术有限公司 | Auxiliary guide rail decoupling mechanism of deposition robot |
| CN108381518A (en) * | 2018-02-10 | 2018-08-10 | 库比克智能装备（深圳）有限公司 | A kind of the 7th axis of robot |
| CN110103200A (en) * | 2019-06-24 | 2019-08-09 | 杭州迈世歆智能机器人有限公司 | One kind is across barrier turning line climbing robot |
| CN110605738A (en) * | 2019-08-16 | 2019-12-24 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
| CN110605738B (en) * | 2019-08-16 | 2021-06-25 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Anti-seismic device of valve hall infrared inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104308829B (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104308829A (en) | Turning device applicable to three-dimensional track path running and realization method of turning device | |
| CN107600214B (en) | Wall climbing operation robot suitable for wall surface movement with variable curvature | |
| MX365576B (en) | Trackless dark ride vehicle, system, and method. | |
| CN204304315U (en) | A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots | |
| CN102431605A (en) | Sphere-wheel compound transformable mobile robot | |
| CN103422433A (en) | Bridge inspection car running track manual shifter | |
| CN204172026U (en) | A kind of turning device being applicable to 3d orbit path and running | |
| CN103569230A (en) | Omni-directionally moving platform | |
| CN205891045U (en) | Omnidirectional movement platform and power universal wheel thereof | |
| CN204136067U (en) | A kind of rail mounted robot ambulation route changing apparatus | |
| CN204897083U (en) | Directly drive elevator steering mechanism | |
| CN204341949U (en) | A kind of pallet steering hardware | |
| CN203451954U (en) | Device for bridge detector car walking track manual conversion | |
| CN106043427A (en) | Multi-caterpillar-band type all-directional mobile platform | |
| CN203602237U (en) | Small-radius curved rail traveling gear of crane | |
| CN110509738A (en) | Six degree of freedom series connection branch leg based on ground surface blockage | |
| CN205998503U (en) | Conveying device orbiting vane | |
| CN102826334A (en) | Curve rotating platform device | |
| CN206904165U (en) | A kind of ball gearing speed-reducer | |
| CN205311256U (en) | Mecanum wheel hangs assembly passively | |
| CN103192803B (en) | Battery box taking and placing device of electric commercial vehicle | |
| CN103270899B (en) | Movable chassis device for bearing greenhouse culturing frame | |
| CN207682387U (en) | A kind of planer-type wu-zhi-shan pig using RV speed reducers | |
| CN105421247A (en) | Novel swivel flat hinge structure with super-large tonnage, and swivel structure | |
| CN105236212A (en) | Truss type sub-power transmission large steel wire winding rotating plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| 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) Patentee after: National Network Intelligent Technology 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 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |