CN104532948B - A kind of pipe robot with garbage crushing collecting function - Google Patents
A kind of pipe robot with garbage crushing collecting function Download PDFInfo
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- CN104532948B CN104532948B CN201410822385.XA CN201410822385A CN104532948B CN 104532948 B CN104532948 B CN 104532948B CN 201410822385 A CN201410822385 A CN 201410822385A CN 104532948 B CN104532948 B CN 104532948B
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- arm
- gear set
- drivewheel
- driving gear
- index arm
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
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Abstract
A kind of pipe robot with garbage crushing collecting function of disclosure, the information collecting device arranged by front catches the video image information in pipeline, and pass to main controller in time, main controller controls wheel motor according to actual needs and drives the motion of wheeled power car, and capture rubbish incidental in conjunction with rotating stepper motor, geared stepper motor and joint wrist step motor control mechanical arm, control low speed motor and the height stepper motor work of pulverizer simultaneously, reach to remove the effect of rubbish in pipeline of pulverizing. The present invention adopts each assembly of step motor drive, easy to control, and is combined with mechanical arm etc. by disintegrating mechanism, it is achieved garbage collection process integration.
Description
Technical field
The present invention relates to cleaning apparatus for pipes, particularly relate to a kind of pipe robot with garbage crushing collecting function.
Background technology
Along with the expansion of city size and being on the increase of water consumption, the sanitary wastewater in city and discharged volume of industrial waste water increase increasingly, and the demand for the technical development such as sewage transport and process also improves increasingly. In sewage transport process, generally adopt pipeline conveying. Through using for a long time, sewage running piping wall depositing or stick together certain thickness mud, reducing the cross-sectional area of conveyance conduit, thus reducing the sewage transport amount of conveyance conduit and the transfer efficiency of sewage. It is thus desirable to carry out the desilting work of pipeline, owing to the caliber of drainage pipeline is increasing, sewage conduct work of removing contamination is also day by day heavy.
The maintenance of current sewer pipe network has plant maintenance and artificial lower well servicing. They have respective shortcoming and defect: plant maintenance automaticity is relatively low, and the limitation of application highlights; Artificial lower well servicing bad environments, safety is poor, the health of harm workman, even can endanger the life of workman and inefficiency, and labor cost will highlight gradually.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of pipe robot with garbage crushing collecting function.
The technical solution used in the present invention is:
A kind of pipe robot with garbage crushing collecting function, including wheel driving force car, mechanical arm, pulverizer and main controller, mechanical arm is located at the rear end of wheel driving force car, pulverizer is located at the front end of wheel driving force car, the garbage containing chamber that the outlet of pulverizer is provided with wheel driving force car communicates, and wheel driving force car, mechanical arm and pulverizer electrically connect with main controller respectively;
Described wheel driving force car includes four wheels, and each described wheel is by a wheel step motor drive;
Described mechanical arm includes the driving gear set of first segment arm, second section arm, Section of three arm, index arm, joint wrist gear train and more than two, described driving gear set includes drivewheel, supporting roller and driven pulley, drivewheel is connected with driven pulley by supporting roller, and each described drivewheel is driven by a geared stepper motor;
Wheel driving force car rear end is fixed on by a rotating stepper motor in one end of described first segment arm, the other end of first segment arm is hinged with one end of second section arm by the first driving gear set, the drivewheel of the first driving gear set is arranged at the other end of first segment arm, the drivewheel of the first driving gear set is driven by the first geared stepper motor, and the driven pulley of the first driving gear set is fixed on one end of second section arm;
The other end of second section arm is hinged with one end of Section of three arm by the second driving gear set, the drivewheel of the second driving gear set is arranged at the other end of second section arm, the drivewheel of the second driving gear set is driven by the second geared stepper motor, and the driven pulley of the second driving gear set is fixed on one end of Section of three arm;
The other end of described Section of three arm connects index arm by saving wrist gear train.
Described joint wrist gear train includes joint wrist drivewheel, index arm supporting roller, lower driven pulley, upper driven pulley and joint wrist motor, joint wrist drivewheel is connected with lower driven pulley by an index arm supporting roller, joint wrist drivewheel is connected with upper driven pulley by two index arm supporting rollers, described joint wrist drivewheel is by saving wrist step motor drive, and described joint wrist motor connects main controller;
Described index arm includes index arm and lower index arm, and described joint wrist drivewheel is arranged on the other end of Section of three arm, and described lower driven pulley is fixed on one end of lower index arm, and described upper driven pulley is fixed on one end of index arm.
Described pipe robot also includes information collecting device, and described information collecting device is arranged on the front end of wheel driving force car, and information collecting device electrically connects with main controller, and information collecting device includes photographic head and searchlight.
The both sides, front end of described wheel driving force car are provided with directive wheel.
Installing horizontal angle measuring sensor on the chassis of described wheel driving force car, horizontal angle measuring sensor connects main controller.
Described pulverizer includes sensor, one-level disintegrating mechanism and two grade pulverization mechanism, sensor is located at pulverizer import department, sensor is connected with main controller, one-level disintegrating mechanism includes two and is arranged oppositely at the primary teeth flywheel knife of pulverizer mouth and two low speed motors, described each primary teeth flywheel knife is by a described low speed step motor drive, two grade pulverization mechanism includes a secondary gears cutter and a ultrahigh speed motor, and secondary gears cutter is by this ultrahigh speed step motor drive.
Described upper index arm includes the first index arm and the second index arm, and described lower index arm includes the 3rd index arm and the 4th index arm; One end of first index arm is fixing with the lower driven pulley of joint wrist gear train to be connected, the first index arm other end is hinged with one end of the second index arm by the 3rd driving gear set, the drivewheel of the 3rd driving gear set is arranged at the other end of the first index arm, the drivewheel of the 3rd driving gear set is driven by the 3rd geared stepper motor, and the driven pulley of the 3rd driving gear set is fixed on one end of the second index arm; One end of 3rd index arm is fixing with the upper driven pulley of joint wrist gear train to be connected, the 3rd index arm other end is hinged with one end of the 4th index arm by the 4th driving gear set, the drivewheel of the 4th driving gear set is arranged at the other end of the 3rd index arm, the drivewheel of the 4th driving gear set is driven by the 4th geared stepper motor, and the driven pulley of the 4th driving gear set is fixed on one end of the 4th index arm.
The present invention adopts above technical scheme, the video image information in pipeline is caught by front information collecting device, and pass to main controller in time, main controller controls wheel motor according to actual needs and drives the motion of wheeled power car, and capture rubbish incidental in conjunction with rotating stepper motor, geared stepper motor and joint wrist step motor control mechanical arm, control low speed motor and the height stepper motor work of pulverizer simultaneously, reach to remove the effect of rubbish in pipeline of pulverizing.The present invention adopts each assembly of step motor drive, easy to control, and is combined with mechanical arm etc. by disintegrating mechanism, it is achieved garbage collection process integration.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details;
The structural representation of a kind of pipe robot with garbage crushing collecting function of Fig. 1 present invention;
The top view of a kind of pipe robot with garbage crushing collecting function of Fig. 2 present invention;
The partial schematic diagram of the camera head of a kind of pipe robot with garbage crushing collecting function of Fig. 3 present invention.
Detailed description of the invention
As shown in one of Fig. 1-3, the present invention includes wheel driving force car 1, mechanical arm 2, pulverizer 3 and main controller (not indicating in figure), mechanical arm sets 2 in the rear end of wheel driving force car 1, pulverizer 3 is located at the front end of wheel driving force car 1, the garbage containing chamber 10 that the outlet of pulverizer 3 is provided with wheel driving force car 1 communicates, and wheel driving force car 1, mechanical arm 2 and pulverizer 3 electrically connect with main controller respectively;
Described wheel driving force car includes four wheels 11, and each described wheel is driven by a wheel motor 12;
Described mechanical arm includes the driving gear set of first segment arm 21, second section arm 22, Section of three arm 23, index arm, joint wrist gear train and more than two, described driving gear set includes drivewheel, supporting roller and driven pulley, drivewheel is connected with driven pulley by supporting roller, and each described drivewheel is driven by a geared stepper motor;
Wheel driving force car 1 rear end is fixed on by a rotating stepper motor 20 in one end of described first segment arm 21, the other end of first segment arm 21 is hinged with one end of second section arm 22 by the first driving gear set, the drivewheel 261 of the first driving gear set is arranged at the other end of first segment arm 21, the drivewheel 261 of the first driving gear set is driven by the first geared stepper motor 13, the supporting roller 262 of the first driving gear set is positioned at the hinged center of first segment arm 21 and second section arm 22, and the driven pulley 263 of the first driving gear set is fixed on one end of second section arm 22;
The other end of second section arm 22 is hinged with one end of Section of three arm 23 by the second driving gear set, the drivewheel 271 of the second driving gear set is arranged at the other end of second section arm 22, the drivewheel 271 of the second driving gear set is driven by the second geared stepper motor 14, the supporting roller 272 of the second driving gear set is positioned at second section arm 22 and the hinged center of Section of three arm 23, and the driven pulley 273 of the second driving gear set is fixed on one end of Section of three arm 23;
The other end of described Section of three arm 23 connects index arm by saving wrist gear train.
Described joint wrist gear train includes joint wrist drivewheel 281, index arm supporting roller, lower driven pulley 283, upper driven pulley 284 and joint wrist motor 15, joint wrist drivewheel 281 is connected with lower driven pulley 283 by an index arm supporting roller, joint wrist drivewheel 281 is connected with upper driven pulley 284 by two index arm supporting rollers, described joint wrist drivewheel 281 is driven by joint wrist motor 15, and described joint wrist motor 15 connects main controller;
Described index arm includes index arm and lower index arm, and described joint wrist drivewheel 281 is arranged on the other end of Section of three arm 23, and described lower driven pulley 283 is fixed on one end of lower index arm, and described upper driven pulley 284 is fixed on one end of index arm.
Described upper index arm includes the first index arm 243 and the second index arm 244, and described lower index arm includes the 3rd index arm 245 and the 4th index arm 246;One end of first index arm 243 is fixing with the lower driven pulley 283 of joint wrist gear train to be connected, first index arm 243 other end is hinged with one end of the second index arm 244 by the 3rd driving gear set, the drivewheel 291 of the 3rd driving gear set is arranged at the other end of the first index arm 243, the drivewheel 291 of the 3rd driving gear set is driven by the 3rd geared stepper motor 19, and the driven pulley 293 of the 3rd driving gear set is fixed on one end of the second index arm 244; One end of 3rd index arm 245 is fixing with the upper driven pulley 284 of joint wrist gear train to be connected, 3rd index arm 245 other end is hinged with one end of the 4th index arm 246 by the 4th driving gear set, the drivewheel 301 of the 4th driving gear set is arranged at the other end of the 3rd index arm 245, the supporting roller 302 of the 4th driving gear set is arranged at the other end of the 3rd index arm 245, the drivewheel 301 of the 4th driving gear set is driven by the 4th geared stepper motor 30, and the driven pulley 303 of the 4th driving gear set is fixed on one end of the 4th index arm 246.
Further, as shown in Figure 2 or Figure 3, described pipe robot also includes information collecting device, and described information collecting device is arranged on the front end of wheel driving force car 1, and information collecting device electrically connects with main controller, and information collecting device includes photographic head 4 and searchlight. Further, in order to ensure the boardness of camera angle, it is to avoid there is the dead angle of omission, photographic head is arranged at wheel driving force car 1 front end by a rotating base 41, and rotating base 41 is by a photographic head step motor drive, and photographic head motor connects main controller. Searchlight coordinates photographic head 41 to gather pipeline internal information, and after information processing, it is sent to main controller, it is easy to user and accurately understands the practical situation of pipe interior, and according to needs in pipeline, pipe robot can be controlled by main controller and pipe interior rubbish is processed.
The both sides, front end of described wheel driving force car 1 are provided with directive wheel 5. Prevent from pipe robot from running into the barriers such as tube wall to block.
Installing horizontal angle measuring sensor 6 on the chassis of described wheel driving force car 1, horizontal angle measuring sensor 6 connects main controller. Walked at pipeline internal in robot by pipeline, it is easy to because residing angle problem causes wheel driving force car 1 to overturn. After horizontal angle measuring sensor 6 is installed, when wheel driving force car 1 reaches the limit of angle, transmit a signal to main controller to control wheeled power car 1 and do corresponding adjustment guarantee walking.
Described pulverizer 3 includes sensor (not indicating in figure), one-level disintegrating mechanism and two grade pulverization mechanism, sensor is located at pulverizer 3 import department, sensor is connected with main controller, one-level disintegrating mechanism includes two and is arranged oppositely at the primary teeth flywheel knife 31 of pulverizer mouth and two low speed motors 17, described each primary teeth flywheel knife drives by a described low speed motor 17, two grade pulverization mechanism includes secondary gears cutter 32 and a ultrahigh speed motor 18, and secondary gears cutter 32 is driven by this ultrahigh speed motor 18.
The operation principle of mechanical arm is as follows:
Main controller can realize mechanical arm 2 multi-directionally of pipe robot and rotate by controlling to be fixed on the rotating stepper motor 20 of wheel driving force car 1 rear end, the rubbish of convenient pickup diverse location and angle. Being articulated and connected by driving gear set between each joint arm of mechanical arm 2, motility and the accuracy of mechanical arm 2 are higher.
Main controller controls to be arranged at the first geared stepper motor 13 of first segment arm 21 other end and rotarily drives the drivewheel 261 of the first driving gear set and be rotated through the supporting roller 262 of first segment arm 21 and the hinged center of second section arm 22 first driving gear set and rotate, and then drive the driven pulley 263 of the first driving gear set being fixed on second section arm 22 one end to rotate, thus driving the action of second section arm 22.Section three, arm 23 control principle is similar with the control process of second section arm 22, repeats no more here.
When needing the Guan Bi of upper and lower index arm, Host Controller Driver joint wrist motor 15 rotates counterclockwise, the drivewheel 281 of joint wrist gear train rotates counterclockwise, by driving lower driven pulley 283 to rotate counterclockwise after an index arm supporting roller transmission, and then drives lower index arm up; On the other hand, due to the transmission of two careless gears, the upper driven pulley 284 of joint wrist gear train rotates clockwise, and so goes up index arm and moves downward, thus realizing the Guan Bi of upper and lower index arm. Opening of upper and lower index arm is similar with closing course, repeats no more here.
When needs are to upper, when lower index arm carefully controls, main controller controls to be positioned at the 3rd geared stepper motor 19 of the other end of the first index arm 243 of lower index arm and drives the drivewheel 291 of the 3rd driving gear set to rotate counterclockwise, the supporting roller 292 driving the 3rd driving gear set turns clockwise, the center of the supporting roller 292 of the 3rd driving gear set is the hinged center of the first index arm 243 and the second index arm 244, the supporting roller 292 of the 3rd driving gear set just can drive fixing the second index arm 244 being connected of driven pulley 293 with the 3rd driving gear set to rotate counterclockwise, control the second index arm 244 to be swung up, first index arm 243 of the 3rd index arm 245 of upper index arm and the control process of the 4th index arm 246 and lower index arm and the similar process of the second index arm 244, repeat no more here. just can be controlled pipe robot pickup by above control, unclamp target obstruction rubbish object.
The operation principle of pulverizer is as follows:
When sensor detects the import that rubbish enters pulverizer 3, transmission signal is to main controller, main controller controls the work of one-level disintegrating mechanism, two low speed motors 17 rotate, thus driving primary teeth flywheel knife 31 to rotate, rubbish is sucked in pulverizer 3 by primary teeth flywheel knife 31, rubbish is avoided to stop in the import department of pulverizer 3, two primary teeth flywheel knives 31 that one-level disintegrating mechanism is oppositely arranged, make rubbish can be automatically drawn in pulverizer 3 and carry out primary comminution simultaneously, adopt low speed motor 17 not result in again splashing while guarantee bulk rubbish obtains pulverizing. The two grade pulverization mechanism of pulverizer is driven secondary gears cutter 32 to operate by high-speed stepper motor 18, it is possible to tears up rapidly, grind up the refuse, and secondary gears cutter 32 is only small with gap, pulverizer 3 inside edge, and rubbish cannot get rid of pulverizer 3 before not pulverizing. The present invention adopts this pulverizer, when running into the relatively large shape obturator of removing and some rubbish that should not pulverize as softer in plastic bag, carries out tearing up, pulverizing, takes out of after collection, it is to avoid accumulate at pipe interior.
The present invention adopts above technical scheme, the video image information in pipeline is caught by front information collecting device, and pass to main controller in time, main controller controls wheel motor according to actual needs and drives the motion of wheeled power car, and capture rubbish incidental in conjunction with rotating stepper motor, geared stepper motor and joint wrist step motor control mechanical arm, control low speed motor and the height stepper motor work of pulverizer simultaneously, reach to remove the effect of rubbish in pipeline of pulverizing. The present invention adopts each assembly of step motor drive, easy to control, and is combined with mechanical arm etc. by disintegrating mechanism, it is achieved garbage collection process integration.
Claims (6)
1. the pipe robot with garbage crushing collecting function, it is characterized in that: it includes wheel driving force car, mechanical arm, pulverizer and main controller, mechanical arm is located at the rear end of wheel driving force car, pulverizer is located at the front end of wheel driving force car, the garbage containing chamber that the outlet of pulverizer is provided with wheel driving force car communicates, and wheel driving force car, mechanical arm and pulverizer electrically connect with main controller respectively;
Described wheel driving force car includes four wheels, and each described wheel is by a wheel step motor drive;
Described mechanical arm includes the driving gear set of first segment arm, second section arm, Section of three arm, index arm, joint wrist gear train and more than two, described driving gear set includes drivewheel, supporting roller and driven pulley, drivewheel is connected with driven pulley by supporting roller, and each described drivewheel is driven by a geared stepper motor;
Wheel driving force car rear end is fixed on by a rotating stepper motor in one end of described first segment arm, the other end of first segment arm is hinged with one end of second section arm by the first driving gear set, the drivewheel of the first driving gear set is arranged at the other end of first segment arm, the drivewheel of the first driving gear set is driven by the first geared stepper motor, and the driven pulley of the first driving gear set is fixed on one end of second section arm;
The other end of second section arm is hinged with one end of Section of three arm by the second driving gear set, the drivewheel of the second driving gear set is arranged at the other end of second section arm, the drivewheel of the second driving gear set is driven by the second geared stepper motor, and the driven pulley of the second driving gear set is fixed on one end of Section of three arm;
The other end of described Section of three arm connects index arm by saving wrist gear train;
Described joint wrist gear train includes joint wrist drivewheel, index arm supporting roller, lower driven pulley, upper driven pulley and joint wrist motor, joint wrist drivewheel is connected with lower driven pulley by an index arm supporting roller, joint wrist drivewheel is connected with upper driven pulley by two index arm supporting rollers, described joint wrist drivewheel is by saving wrist step motor drive, and described joint wrist motor connects main controller;
Described index arm includes index arm and lower index arm, and described joint wrist drivewheel is arranged on the other end of Section of three arm, and described lower driven pulley is fixed on one end of lower index arm, and described upper driven pulley is fixed on one end of index arm.
2. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterized in that: described pipe robot also includes information collecting device, described information collecting device is arranged on the front end of wheel driving force car, information collecting device electrically connects with main controller, and information collecting device includes photographic head and searchlight.
3. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterised in that: the both sides, front end of described wheel driving force car are provided with directive wheel.
4. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterised in that: installing horizontal angle measuring sensor on the chassis of described wheel driving force car, horizontal angle measuring sensor connects main controller.
5. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterized in that: described pulverizer includes sensor, one-level disintegrating mechanism and two grade pulverization mechanism, sensor is located at pulverizer import department, sensor is connected with main controller, one-level disintegrating mechanism includes two and is arranged oppositely at the primary teeth flywheel knife of pulverizer mouth and two low speed motors, described each primary teeth flywheel knife is by a described low speed step motor drive, two grade pulverization mechanism includes a secondary gears cutter and a ultrahigh speed motor, secondary gears cutter is by this ultrahigh speed step motor drive.
6. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterised in that: described upper index arm includes the first index arm and the second index arm, and described lower index arm includes the 3rd index arm and the 4th index arm; One end of first index arm is fixing with the lower driven pulley of joint wrist gear train to be connected, the first index arm other end is hinged with one end of the second index arm by the 3rd driving gear set, the drivewheel of the 3rd driving gear set is arranged at the other end of the first index arm, the drivewheel of the 3rd driving gear set is driven by the 3rd geared stepper motor, and the driven pulley of the 3rd driving gear set is fixed on one end of the second index arm; One end of 3rd index arm is fixing with the upper driven pulley of joint wrist gear train to be connected, the 3rd index arm other end is hinged with one end of the 4th index arm by the 4th driving gear set, the drivewheel of the 4th driving gear set is arranged at the other end of the 3rd index arm, the drivewheel of the 4th driving gear set is driven by the 4th geared stepper motor, and the driven pulley of the 4th driving gear set is fixed on one end of the 4th index arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822385.XA CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822385.XA CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104532948A CN104532948A (en) | 2015-04-22 |
| CN104532948B true CN104532948B (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410822385.XA Expired - Fee Related CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
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| CN (1) | CN104532948B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
| CN106337327B (en) * | 2016-08-30 | 2018-02-27 | 包凤丹 | A kind of motor-car track automatic processing equipment |
| CN106351326A (en) * | 2016-09-10 | 2017-01-25 | 安徽蓝鼎环保能源科技有限公司 | Pipeline desilting device |
| CN106623296B (en) * | 2017-02-27 | 2022-10-14 | 山东科技大学 | Novel scalable pipeline cleaning robot |
| CN107670796A (en) * | 2017-09-14 | 2018-02-09 | 芜湖市通达锅炉有限公司 | A kind of dual purpose steam water boiler inorganic fuel shredding mechanism |
| CN111706327B (en) * | 2020-06-17 | 2022-11-15 | 安徽理工大学 | A remain and fall coal briquette and pick up reducing mechanism and control system for coal mining in pit |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10029764B4 (en) * | 2000-06-25 | 2004-09-09 | Ernst Hoehne | trolley |
| CN201161381Y (en) * | 2007-05-28 | 2008-12-10 | 夏庆华 | Multifunctional pipeline cleaning robot |
| CN102554915A (en) * | 2012-01-06 | 2012-07-11 | 雷学军 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
| CN203919042U (en) * | 2014-04-30 | 2014-11-05 | 温家成 | Mineral conveying robot |
| CN204343440U (en) * | 2014-12-25 | 2015-05-20 | 漳州市锦成电力设备有限公司 | A kind of pipe robot with garbage crushing collecting function |
-
2014
- 2014-12-25 CN CN201410822385.XA patent/CN104532948B/en not_active Expired - Fee Related
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Effective date of registration: 20170120 Address after: 362700 Fujian Province, Shishi national hi tech Zone Innovation and Entrepreneurship Center office building, building 4, building Patentee after: Shishi success Technology Development Co., Ltd. Address before: 360000 Fujian city of Zhangzhou Province Jin Feng Xi Yuan Cun, Xiangcheng District primary school opposite the red flag Patentee before: Jin Cheng power equipment company limited of Zhangzhou City |
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Granted publication date: 20160615 Termination date: 20171225 |