CN2721339Y - Automatic cyclic checking robot body of high-voltage transmission line - Google Patents
Automatic cyclic checking robot body of high-voltage transmission line Download PDFInfo
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- CN2721339Y CN2721339Y CN 200420050857 CN200420050857U CN2721339Y CN 2721339 Y CN2721339 Y CN 2721339Y CN 200420050857 CN200420050857 CN 200420050857 CN 200420050857 U CN200420050857 U CN 200420050857U CN 2721339 Y CN2721339 Y CN 2721339Y
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- decelerator
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- 125000004122 cyclic group Chemical group 0.000 title abstract 3
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 239000000178 monomer Substances 0.000 claims description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000010391 action planning Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
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Abstract
The utility model relates to the robotics field, providing an automatic cyclic checking robot body of high-voltage transmission lines. The body is composed of a plurality of robot single bodies and a plurality of coupling joints. The robot single bodies in the same structure are mutually connected together by the coupling joints. Wherein, a drive motor and a reducing gear drive a driving wheel to make the robot walk on the lines; switching the motor and the reducing gear controls the drive wheel to open or close, to make the robot disengaged from or hung on the lines. Lifting the motor and the reducing gear controls the single bodies lifting. Each coupling joint comprises an up-down pitching joint and a left-right swing arm joint; the up-down pitching joint is composed of a pitching motor, a reducing gear, a pitching brake, a coupler and a connecting rod; the left-right swing arm joint is composed of a swing arm motor, a reducing gear, a swing arm brake, a coupler and a connecting rod. The pitching brake and the swing arm brake switch between the joints flexibility and rigid through electric magnets. The utility model can realize functions of stable walking, spanning obstacles, emergency brake, etc, and replace manual cyclic checking of high-voltage transmission lines.
Description
Technical field
The utility model relates to the robot field, is meant the body part of 110kv high voltage transmission line automatic polling robot.
Background technology
Transmission line of electricity is the main artery of power system, and its safe and stable operation directly has influence on the reliability of power system, must drop into the work of patrolling and examining that lot of manpower and material resources removes to carry out circuit.Generally adopt the manual inspection method to patrol and examine at present, not only workload is big, dangerous high, and a lot of dangerous places detect less than, cause certain hidden danger.For this reason, be necessary to develop a kind of automatic polling robot for transmission lines that can replace manual inspection,, improve working efficiency, reach and guarantee the transmission line of electricity purpose of safe operation in the hope of reaching the workload that alleviates polling transmission line.
The utility model content
The purpose of this utility model provides a kind of body of 110kv automatic polling robot for transmission lines, replace manually carrying out the work of patrolling and examining of transmission line of electricity, not only can alleviate the workload of polling transmission line, can also find in time that earlier damage and defective are also assessed, then according to the order of importance and emergency of defective, with rational expense and correct priority, in time arrange necessary maintenance and reparation, thereby guarantee power supply reliability, improve working efficiency, reach and guarantee the transmission line of electricity purpose of safe operation.
For achieving the above object, technical solution of the present utility model is:
A kind of high voltage transmission line automatic polling robot body is provided, and it is connected the joint by several robot monomers with several and forms; The structure of robot monomer is identical, is interconnected to body by connecting the joint.
Described high voltage transmission line automatic polling robot body, its described robot monomer, form by drive motors and decelerator, driving wheel, folding motor and decelerator, folding bolt and nut, lifting motor and decelerator, lifting screw, armful cable brake and support, wherein, the support upper end vertically is connected with drive motors and reducer stent along the axis extension, be fixed with drive motors and decelerator on drive motors and the reducer stent, support and driving wheel junction level are fixed with embraces cable brake; The support lower end vertically is fixed on folding screw rod upper end along axis direction, the folding screw rod vertically places pipe middle and upper part in the folding sleeve, and contact with the folding sleeve is moving, the pipe middle and lower part is equipped with folding motor and decelerator in the folding sleeve, folding motor and decelerator shell and folding sleeve lining are connected, and folding sleeve upper limb periphery is connected with clasp nut; Rib-loop and the engagement of folding screw rod external screw thread in the clasp nut, folding screw rod lower end are vertically affixed on axis direction and folding motor and the decelerator rotating shaft; Folding sleeve periphery circle is round suitable with interior week of jacking sleeve, and the folding sleeve vertically places in the jacking sleeve, and contacts with jacking sleeve is moving; Folding sleeve lower end vertically is connected along axis direction and lifting screw, the interior rib-loop engagement on the external screw thread of lifting screw and the jacking sleeve inwall, and the lifting screw lower end is vertically affixed on axis direction and lifting motor and the decelerator rotating shaft; Lifting motor and decelerator shell upper end are fixed in the jacking sleeve lower end; Be connected with the connection joint on the jacking sleeve sidewall of robot monomer, connecting the joint is that pitching connects the joint or swing arm connects the joint.
Described high voltage transmission line automatic polling robot body, its described pitching connects the joint, comprises pitch link, pitching motor and decelerator, pitching lock and pitching shaft joint; The jacking sleeve sidewall of robot monomer is connected the end level of pitch link in joint with pitching affixed, and the output shaft of the pitch link other end and pitching shaft joint is affixed; Vertically be connected with pitching motor and decelerator on the pitching shaft joint shell; The input of pitching shaft coupling is the output shaft of pitching motor and decelerator, and output is the break-in output shaft, and output shaft and pitch link are affixed; The pitching water seal is flat to be provided with, and the pitching lock is encircled on pitching motor and decelerator power transmission shaft periphery circle from two ends by spring leaf, and the pitching lock is fixed on the bottom of pitching shaft joint.
Described high voltage transmission line automatic polling robot body, its described swing arm connects the joint, comprises connecting rod, swing arm motor and decelerator, swing arm lock, swing arm shaft joint and swing arm connecting rod; The one end level of swing arm connecting rod and the sidewall of jacking sleeve are affixed, and the swing arm connecting rod is affixed away from the other end and the swing arm shaft joint output shaft of jacking sleeve, and swing arm shaft joint level stretches out connecting rod is set; The shell of the shell of swing arm shaft joint and swing arm motor and decelerator is affixed, swing arm motor and decelerator and the vertical setting mutually on horizontal plane of swing arm shaft joint; The input of swing arm shaft coupling is the output shaft of swing arm motor and decelerator, and output is the break-in output shaft, and output shaft links to each other with the swing arm connecting rod; The swing arm water seal is flat to be provided with, and the swing arm lock is encircled on pitching motor and decelerator power transmission shaft periphery circle from two ends by spring leaf, and the swing arm lock is fixed on the bottom of pitching shaft joint.
Described high voltage transmission line automatic polling robot body, its described armful of cable brake is horizontally disposed with, and body takes the shape of the letter U, and the two ends of its U-shaped is connected with support by spring.
Described high voltage transmission line automatic polling robot body, it is characterized in that: described pitching shaft joint, two changes that rotatablely move direction have been realized, promptly under the acquiescence cartesian coordinate, realize from the change that rotatablely moves of rotating to around Y-axis (pitching motor) around Z axle (pitching connection joint).
Described high voltage transmission line automatic polling robot body, it is characterized in that described swing arm shaft joint has been realized two changes that rotatablely move direction, promptly under the acquiescence cartesian coordinate, realize from the change that rotatablely moves of rotating to around Z axle (swing arm connection joint) around X-axis (swing arm motor).
Described high voltage transmission line automatic polling robot body, its described body is connected and composed by several robot monomers, when across obstacle, remained 〉=2 robot monomers are affiliated on power transmission line, to keep its balance and to improve its reliability.
Automatic crusing robot body of the present utility model can be implemented in the function of stabilized walking on the power transmission line, across obstacle, snub, has replaced the manual inspection ultra-high-tension power transmission line.
Description of drawings
Fig. 1 is the utility model 110kv automatic polling robot for transmission lines main body structure schematic diagram;
Fig. 2 is the utility model 110kv automatic polling robot for transmission lines drive bulk wheel construction schematic diagram; Fig. 2 a is the front elevation of driving wheel, and Fig. 2 b is the side view of driving wheel;
Fig. 3 is armful cable brake and the support connecting portion schematic diagram of the utility model 110kv automatic polling robot for transmission lines body; Fig. 3 a is a front elevation of embracing cable brake and support; Fig. 3 b is a side view of embracing cable brake and support.
Specific embodiments
At first see also Fig. 1, the utility model 110kv automatic polling robot for transmission lines body 100, by three robot monomers 101,102,103 be connected joint 104a, 104b with four, 105a, 105b form.Three robot monomers 101,102 are identical with 103 structures, interconnect by four connection joint 104a, 104b, 105a, 105b.Robot monomer 101,102 and 103 is made up of drive motors and decelerator 2, driving wheel 3, folding motor and decelerator 8, folding bolt and nut, lifting motor and decelerator 11, lifting screw 10, armful cable brake 1 and support 4.Wherein, support 4 upper ends vertically are connected with drive motors and reducer stent 21 along the axis extension, are fixed with drive motors and decelerator 2 on drive motors and the reducer stent 21.Support 4 and driving wheel 3 junctions, level is equipped with and embraces cable brake 1 on support 4.Support 4 lower ends vertically are fixed on folding screw rod 6 upper ends along axis direction.Folding screw rod 6 vertically places pipe middle and upper part in the folding sleeve 7, and with folding sleeve 7 moving contacts, the pipe middle and lower part is equipped with folding motor and decelerator 8 in the folding sleeve 7, and folding motor and decelerator 8 shells and folding sleeve 7 inwalls are connected, and folding sleeve 7 upper limb peripheries are connected with clasp nut 5; Rib-loops and the engagement of folding screw rod 6 external screw threads in the clasp nut 5, folding screw rod 6 lower ends are vertically affixed on axis direction and folding motor and decelerator 8 rotating shafts.Circle is suitable week in folding sleeve 7 peripheries circles and the jacking sleeve 9, and folding sleeve 7 vertically places in the jacking sleeve 9, and with jacking sleeve 9 moving contacts.Folding sleeve 7 lower ends vertically are connected along axis direction and lifting screw 10.Interior rib-loop engagement on the external screw thread of lifting screw 10 and jacking sleeve 9 inwalls, lifting screw 10 lower ends are vertically affixed on axis direction and lifting motor and decelerator 11 rotating shafts.Lifting motor and decelerator 11 shells upper end are fixed in jacking sleeve 9 lower ends.
Be connected with pitching on robot monomer 101 and 103 jacking sleeve 9 sidewalls and be connected joint 104a or 104b.
It is identical with the 104b structure that pitching connects joint 104a, comprises pitch link 12, pitching motor and decelerator 13, pitching lock 14 and pitching shaft joint 15.Robot monomer 101 or 103 jacking sleeve 9 sidewalls are connected the end level of pitch link 12 of joint 104a or 104b with pitching affixed, and pitch link 12 other ends and 15 outputs of pitching shaft joint are affixed; Vertically be connected with pitching motor and decelerator 13 on pitching shaft joint 15 shells; The input of pitching shaft coupling 15 is the output shaft of pitching motor and decelerator 13, and output is the break-in output shaft, and this output shaft links to each other with pitch link 12; Pitching lock 14 is horizontally disposed with, and pitching lock 14 is encircled on the power transmission shaft periphery circle of pitching motor and decelerator 13 by spring leaf, and pitching lock 14 is fixed on the bottom of pitching shaft joint.
Robot monomer 102 and robot monomer 101 places different with 103 are that level is connected with two relative swing arms and is connected joint 105a and 105b on jacking sleeve 9 sidewalls.
It is identical with the 105b structure that swing arm connects joint 105a, comprises connecting rod 16, swing arm motor and decelerator 17, swing arm lock 18, swing arm shaft joint 19 and swing arm connecting rod 20.The one end level of swing arm connecting rod 20 and the sidewall of jacking sleeve 9 are affixed, and swing arm connecting rod 20 is affixed away from the output shaft of the other end of jacking sleeve 9 and swing arm shaft joint 19, and swing arm shaft joint 19 levels stretch out connecting rod 16 is set.The shell of the shell of swing arm shaft joint 19 and swing arm motor and decelerator 17 is affixed, swing arm motor and decelerator 17 and swing arm shaft joint 19 vertical setting mutually on horizontal plane.The input of swing arm shaft coupling 19 is the output shaft of swing arm motor and decelerator 17, and output is the break-in output shaft, and this output shaft links to each other with swing arm connecting rod 20; Swing arm lock 18 is horizontally disposed with, and swing arm lock 18 is encircled on the power transmission shaft periphery circle of swing arm motor and decelerator 17 by spring leaf, and swing arm lock 18 is fixed on the bottom of swing arm shaft joint.
Connecting rod 16 1 ends and swing arm shaft joint 19 are dynamically connected, and the other end and pitching shaft joint 15 are dynamically connected, and robot monomer 101,102 and 103 is connected into a 110kv automatic polling robot for transmission lines body 100.
See Fig. 2, driving wheel 3 is divided into two parts by the median plane vertical with live axle 22 directions, each part is step-like truncated cone, the middle part is a disk, disk one side central part is the frustum of a cone, be provided with a circle friction plate 23 at disk and frustum of a cone connecting portion, disk opposite side central part is a live axle 22; The live axle 22 of a part is dynamically connected with decelerator 2 output shafts of drive motors, and the live axle 22 and the support 4 of another part are dynamically connected; The groove at driving wheel 3 side periphery centers contacts with high-voltage line is moving.
See Fig. 3, for embracing cable brake 1 and support 4 connecting portion schematic diagrames.Embrace cable brake 1 and be horizontally disposed with, overall U-shaped, the two ends of its U-shaped is connected with support 4 by four springs, and clamps driving wheel 3 from both sides by support 4.
Drive motors and reducer stent 21, support 4, clasp nut 5, folding screw rod 6, folding sleeve 7, folding motor and decelerator 8, jacking sleeve 9, lifting screw 10 and lifting motor and decelerator 11 all are vertical settings, and totally one central axis.
The course of work of the present utility model is:
When drive motors and decelerator 2 drivings, directly drive driving wheel 3 rotations, rely on the friction between driving wheel 3 and the power transmission line, drive robot monomer 101,102 and 103 and on power transmission line, walk.
When folding motor and decelerator 8 drove, clasp nut 5 and folding screw rod 6 engaged transmission, thereby the opening and close up of control driving wheel 2 were affiliated to robot monomer 101,102 and 103 or are broken away from power transmission line.
When lifting motor and decelerator 11 drivings, the rising and the decline of robot monomer 101,102 and 103 are controlled in lifting screw 10 transmissions.
When in case of emergency, 100 snubs of automatic crusing robot body, this moment drive motors and decelerator 2 stalls, stop to drive driving wheel 3, and embrace the spring compression support 4 of cable brake 1, apply one for driving wheel 3 and step up power, driving wheel 3 is affiliated on line securely, is unlikely to landing.
Pitching lock 14 can be held tightly or unclamps by magnet control lock 14 and pitching motor and decelerator 13 output shafts, and when pitching lock 14 was held pitching motor and decelerator 13 tightly by electromagnet, pitching connected joint 104a and 104b becomes the rigidity joint.This moment, pitching shaft joint 15 was converted into the elevating movement up and down that pitching connects joint 104a and 104b with rotatablely moving of pitching motor and decelerator 13, does elevating movement thereby drive connecting rod 16 when pitching motor and decelerator 13 drivings.When pitching lock 14 unclamps pitching motor and decelerator 13 by electromagnet, pitching connects joint 104a and 104b becomes flexible joint, but pitching this moment connects joint 104a and position and the attitude of 104b random device people monomer 101,102 and 103 on transmission line of electricity carried out the self adaptation adjustment.
Swing arm lock 18 can be held tightly or unclamps by magnet control swing arm lock 18 and swing arm motor and decelerator 17 output shafts, and when swing arm lock 18 was held swing arm motor and decelerator 17 tightly by electromagnet, swing arm connected joint 105a and 105b becomes the rigidity joint.This moment, swing arm shaft joint 19 was converted into the elevating movement up and down that swing arm connects joint 105a and 105b with rotatablely moving of swing arm motor and decelerator 17, does the swing arm campaign thereby drive swing arm connecting rod 20 when swing arm motor and decelerator 17 drivings.When swing arm lock 18 unclamps swing arm motor and decelerator 17 by electromagnet, swing arm connects joint 105a and 105b becomes flexible joint, but swing arm this moment connects joint 105a and position and the attitude of 105b random device people monomer 101,102 and 103 on transmission line of electricity carried out the self adaptation adjustment.
When running into barrier (stockbridge damper on the power transmission line and wire clamp etc.), according to the obstacle detouring action planning, robot monomer 101,102 and 103 is across obstacle successively, has remained two monomers to be affiliated on power transmission line, to keep its balance and to improve its reliability.
Claims (7)
1. a high voltage transmission line automatic polling robot body is characterized in that: be connected the joint by several robot monomers with several and form; The structure of robot monomer is identical, interconnects by the connection joint to form.
2. high voltage transmission line automatic polling robot body as claimed in claim 1, it is characterized in that: described robot monomer, form by drive motors and decelerator, driving wheel, folding motor and decelerator, folding bolt and nut, lifting motor and decelerator, lifting screw, armful cable brake and support, wherein, the support upper end vertically is connected with drive motors and reducer stent along the axis extension, be fixed with drive motors and decelerator on drive motors and the reducer stent, support and driving wheel junction level are equipped with embraces cable brake; The support lower end vertically is fixed on folding screw rod upper end along axis direction, the folding screw rod vertically places pipe middle and upper part in the folding sleeve, and contact with the folding sleeve is moving, the pipe middle and lower part is equipped with folding motor and decelerator in the folding sleeve, folding motor and decelerator shell and folding sleeve lining are connected, and folding sleeve upper limb periphery is connected with clasp nut; Rib-loop and the engagement of folding screw rod external screw thread in the clasp nut, folding screw rod lower end are vertically affixed on axis direction and folding motor and the decelerator rotating shaft; Folding sleeve periphery circle is round suitable with interior week of jacking sleeve, and the folding sleeve vertically places in the jacking sleeve, and contacts with jacking sleeve is moving; Folding sleeve lower end vertically is connected along axis direction and lifting screw, the interior rib-loop engagement on the external screw thread of lifting screw and the jacking sleeve inwall, and the lifting screw lower end is vertically affixed on axis direction and lifting motor and the decelerator rotating shaft; Lifting motor and decelerator shell upper end are fixed in the jacking sleeve lower end; Be connected with the connection joint on the jacking sleeve sidewall of robot monomer, connecting the joint is that pitching connects the joint or swing arm connects the joint.
3. high voltage transmission line automatic polling robot body as claimed in claim 2, it is characterized in that: described driving wheel is divided into two parts by the median plane vertical with the live axle direction, every part is step-like truncated cone, the middle part is a disk, disk one side central part is the frustum of a cone, be provided with a circle friction plate at disk and frustum of a cone connecting portion, disk opposite side central part is a live axle; The live axle of a part and the reducer output shaft of drive motors are dynamically connected, and the live axle and the support of another part are dynamically connected; The groove at driven wheel side periphery center contacts with high-voltage line is moving.
4. high voltage transmission line automatic polling robot body as claimed in claim 2 is characterized in that: described pitching connects the joint, comprises pitch link, pitching motor and decelerator, pitching lock and pitching shaft joint; The jacking sleeve sidewall of robot monomer is connected the end level of pitch link in joint with pitching affixed, and the output shaft of the pitch link other end and pitching shaft joint is affixed; Vertically be connected with pitching motor and decelerator on the pitching shaft joint shell; The input of pitching shaft coupling is the output shaft of pitching motor and decelerator, and output is the break-in output shaft, and output shaft and pitch link are affixed; The pitching water seal is flat to be provided with, and the pitching lock is encircled on pitching motor and decelerator power transmission shaft periphery circle from two ends by spring leaf, and the pitching lock is fixed on the bottom of pitching shaft joint.
5. high voltage transmission line automatic polling robot body as claimed in claim 2 is characterized in that: described swing arm connects the joint, comprises connecting rod, swing arm motor and decelerator, swing arm lock, swing arm shaft joint and swing arm connecting rod; The one end level of swing arm connecting rod and the sidewall of jacking sleeve are affixed, and the swing arm connecting rod is affixed away from the other end and the swing arm shaft joint output shaft of jacking sleeve, and swing arm shaft joint level stretches out connecting rod is set; The shell of the shell of swing arm shaft joint and swing arm motor and decelerator is affixed, swing arm motor and decelerator and the vertical setting mutually on horizontal plane of swing arm shaft joint; The input of swing arm shaft coupling is the output shaft of swing arm motor and decelerator, and output is the break-in output shaft, and output shaft links to each other with the swing arm connecting rod; The swing arm water seal is flat to be provided with, and the swing arm lock is encircled on pitching motor and decelerator power transmission shaft periphery circle from two ends by spring leaf, and the swing arm lock is fixed on the bottom of pitching shaft joint.
6. high voltage transmission line automatic polling robot body as claimed in claim 2 is characterized in that: described armful of cable brake is horizontally disposed with, overall U-shaped, and the two ends of its U-shaped is connected with support by spring.
7. high voltage transmission line automatic polling robot body as claimed in claim 1 is characterized in that: described body is connected and composed by several robot monomers, when across obstacle, remained 〉=2 robot monomers are affiliated on power transmission line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420050857 CN2721339Y (en) | 2004-05-10 | 2004-05-10 | Automatic cyclic checking robot body of high-voltage transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420050857 CN2721339Y (en) | 2004-05-10 | 2004-05-10 | Automatic cyclic checking robot body of high-voltage transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2721339Y true CN2721339Y (en) | 2005-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420050857 Expired - Lifetime CN2721339Y (en) | 2004-05-10 | 2004-05-10 | Automatic cyclic checking robot body of high-voltage transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2721339Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357068C (en) * | 2004-05-10 | 2007-12-26 | 中国科学院自动化研究所 | Body of robot for automatic polling high-tension transmission line |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
-
2004
- 2004-05-10 CN CN 200420050857 patent/CN2721339Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357068C (en) * | 2004-05-10 | 2007-12-26 | 中国科学院自动化研究所 | Body of robot for automatic polling high-tension transmission line |
| CN105729460A (en) * | 2016-04-20 | 2016-07-06 | 机器时代(北京)科技有限公司 | flexible transmission device, adjustable spring, energy storage component, robot and locking device |
| CN105729460B (en) * | 2016-04-20 | 2017-11-28 | 机器时代(北京)科技有限公司 | Flexible gearing and adjustable spring and energy storage component and lock uint and robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING GUODIAN ZHIYAO TECHNOLOGY DEVELOPMENT CO., Free format text: FORMER OWNER: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Effective date: 20140103 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100080 HAIDIAN, BEIJING TO: 100191 HAIDIAN, BEIJING |
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| TR01 | Transfer of patent right |
Effective date of registration: 20140103 Address after: 100191 room Executive Hotel, Garden Road, Beijing, Haidian District, room 30, 6418 Patentee after: Beijing Guodian wisdom Yao Technology Development Co., Ltd. Address before: 100080 Zhongguancun East Road, Beijing, No. 95, No. Patentee before: Institute of Automation, Chinese Academy of Sciences |
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| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20140510 Granted publication date: 20050831 |