CN106033873A - Tower climbing patrol vehicle for power transmission line - Google Patents

Tower climbing patrol vehicle for power transmission line Download PDF

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Publication number
CN106033873A
CN106033873A CN201510114041.8A CN201510114041A CN106033873A CN 106033873 A CN106033873 A CN 106033873A CN 201510114041 A CN201510114041 A CN 201510114041A CN 106033873 A CN106033873 A CN 106033873A
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CN
China
Prior art keywords
magnet
wheel
installing plate
plate
electric power
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Application number
CN201510114041.8A
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Chinese (zh)
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CN106033873B (en
Inventor
周立民
李庆梅
张洪波
杨军宁
傅然
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Beijing Guowang Fuda Technology Development Co Ltd
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Beijing Guowang Fuda Technology Development Co Ltd
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Priority to CN201510114041.8A priority Critical patent/CN106033873B/en
Publication of CN106033873A publication Critical patent/CN106033873A/en
Application granted granted Critical
Publication of CN106033873B publication Critical patent/CN106033873B/en
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Abstract

The invention provides a tower climbing patrol vehicle for a power transmission line, comprising magnetic wheels (20) enabling the power transmission line tower climbing patrol vehicle to climb and walk on a guide rail (30); the power transmission line tower climbing patrol vehicle also comprises a housing (10) for installing and fixing the magnetic wheels (20); and the housing (10) is provided with a driving mechanism (25) for driving the magnetic wheels (20). The power transmission line tower climbing patrol vehicle can move up and down along a vertical guide rail of a falling prevention device; the power transmission tower climbing patrol vehicle can transmit collected video images of the tower and devices on the tower to the ground after a camera is installed. In a certain range, the tower climbing patrol vehicle can replace man-power tower climbing patrol, improves patrol efficiency and reduces labor intensity.

Description

A kind of electric power line pole tower climbing patrol car
Technical field
The present invention relates to electric power detection apparatus field, particularly a kind of electric power line pole tower climbing patrol car.
Background technology
Electric energy transmission must rely on ultra-high-tension power transmission line.It is owing to transmission line of electricity distribution is multi-point and wide-ranging, residing with a varied topography, Natural environment is severe, and electric lines of force and shaft tower adnexa are chronically exposed to field, because by lasting mechanical tension, electrically dodging Network, the impact of material aging and produce disconnected stock, wear and tear, corrode equivalent damage, it is necessary to repair in time or change.So, Transmission line of electricity must be carried out periodical inspection inspection, grasp and understand the ruuning situation of transmission line of electricity at any time, around circuit Environment and the situation of change in route protection district, in order to find in time and remove a hidden danger, trouble-saving generation, it is ensured that supply Electricity safety.
Patrolling transmission line inspection is the ruuning situation in order to grasp circuit at any time, timely discovering device defect and threat line The situation of road safe operation, determines overhauling project, and the maintenance for circuit provides foundation.Patrolling transmission line work is one Item groundwork, occupies very important status in Maintenance of Electric Transmission Line works.Wherein, the gold on shaft tower and tower Tool, insulator and wire etc. are the key content of line inspection.In order to ensure to make an inspection tour effect, need to carry out stepping on tower inspection, After the most newly-built circuit puts into operation 1 year, should do and step on tower inspection for the first time.
At present, only only a few steel tower is mounted with manned lift equipment, the stepping on tower operation and can only rely on manpower of a large amount of steel towers Completing, labor intensity is big, and work efficiency is relatively low, and step on tower operation exists falling from high altitude, object hits and gets an electric shock Etc. multiple dangerous spots.In inclement weather, dangerous increase, can only stop stepping on tower operation.Especially run into fault to patrol Depending on or during solution of emergent event, it is more prominent that manpower steps on the shortcoming that tower makes an inspection tour.
Along with extra-high voltage grid construction and the development of strong intelligent grid, the workload of circuit operational inspection and work difficulty Increasing, more and more higher to line inspection prescription, the demand improving shaft tower tour efficiency and quality is more and more stronger Strong, automatically step on tower in the urgent need to one and make an inspection tour equipment, to improve work efficiency, safety and tour effect etc..
In order to solve to step on the various problems that tower tour operation exists, this project have developed a kind of electric power line pole tower climbing and patrols Depending on car, the tour work for China's transmission line of electricity provides specialized work tool, fills up industry blank;For power transmission line The operating maintenance on road provides safety guarantee, and also the upkeep operation for transmission line of electricity brings the innovation of idea and proposing of technology Rise.
Summary of the invention
In order to solve manually to step on the problem of tower tour operation inconvenience, the invention provides a kind of electric power line pole tower climbing and patrol Depending on car, this electric power line pole tower climbing patrol car can move up and down along the longitudinal rail of falling proof device, this transmission line of electricity Shaft tower climbing patrol car can be by the transmission of video images of equipment on the shaft tower collected and tower etc. after installing picture pick-up device To ground, within the specific limits, manpower can be replaced to step on tower and to make an inspection tour, improve and make an inspection tour work efficiency, reduce labor intensity.
The technical solution adopted for the present invention to solve the technical problems is: a kind of electric power line pole tower climbing patrol car, bag Include for making described electric power line pole tower climbing patrol car climb the magnet-wheel of walking, described electric power line pole tower on guide rail Climbing patrol car also includes the housing for installing fixing magnet-wheel, and housing is provided with the drive mechanism for driving magnet-wheel.
Magnet-wheel is cylindrical, and magnet-wheel includes fan-shaped S pole permanent magnet and the fan of multiple circumferential uniform intervals distribution along magnet-wheel Shape N pole permanent magnet.
A diameter of 40mm~60mm of magnet-wheel, the axial width of magnet-wheel is 35mm~40mm, 4 described fan-shaped S poles Permanent magnet and 4 described fan-shaped N pole permanent magnets are distributed along the circumferential uniform intervals of magnet-wheel.
Described electric power line pole tower climbing patrol car contains two identical magnet-wheels of size and shape, the axis of two magnet-wheels Being parallel to each other, the distance between the axis of two magnet-wheels is 80mm~85mm.
Housing includes that the first installing plate and the second installing plate, the first installing plate and the second installing plate are generally aligned in the same plane, the Spacing is there is, by left plate and the right side between the first installing plate and the second installing plate between one installing plate and the second installing plate Side plate connects, and left plate is positioned on the left of the first installing plate and the second installing plate, and right plate is positioned at the first installing plate and second On the right side of installing plate.
One magnet-wheel is arranged on the lower section of the first installing plate and is fixed between left plate and right plate by a wheel shaft, Another magnet-wheel is arranged on the lower section of the second installing plate and is fixed between left plate and right plate by another wheel shaft, The axis of one magnet-wheel is equal to another the magnet-wheel described distance to the second installing plate to the distance of the first installing plate.
Drive mechanism includes motor, and drive mechanism also includes decelerator and the driving gear that the motor shaft with motor is connected, The wheel shaft of each magnet-wheel is respectively connected with driven gear, and driving gear can be by engaging driving with two described driven gears Two magnet-wheel rotating in same directions.
Motor and decelerator are between two magnet-wheels, and the position of motor and decelerator is installed with the first installing plate and second Between plate, the position of described spacing is corresponding, and driving gear and two described driven gears are arranged at outside left plate Side, motor and decelerator are arranged between left plate and right plate.
The axis of the motor shaft of motor is installed to first to the distance of the first installing plate less than the axis of one magnet-wheel The distance of plate, the reference circle of driving gear is the circumcircle of the reference circle of two described driven gears simultaneously, drive mechanism Also including the brake that the motor shaft with motor is connected, brake is arranged on the outside of right plate.
Being provided with two directive wheels at the first installing plate away from one end of motor, two directive wheels are installed by support shaft respectively In the left and right sides of the first installing plate, directive wheel includes disk and lower disc, the distance between two described lower discs Less than the width of guide rail outer end, the distance between two described upper disks more than the width of guide rail outer end, each described under The upper surface of disk to the distance of the first installing plate more than the thickness of guide rail outer end plus the diameter of magnet-wheel.
The invention has the beneficial effects as follows, this electric power line pole tower climbing patrol car installs video detecting device such as photographic head After, can be by the transmission of video images of equipment on the shaft tower collected and tower etc. to ground, within the specific limits, can generation Step on tower for manpower to make an inspection tour, improve and make an inspection tour work efficiency, reduce labor intensity.
Accompanying drawing explanation
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the axonometric chart of electric power line pole tower climbing patrol car.
Fig. 2 is the front view of electric power line pole tower climbing patrol car.
Fig. 3 is the right view of electric power line pole tower climbing patrol car.
Fig. 4 is the front view of magnet-wheel.
Fig. 5 is axonometric chart during electric power line pole tower climbing patrol car work.
Fig. 6 is the schematic diagram in Fig. 5 along A direction.
Wherein 10. housing, 11. first installing plates, 12. second installing plates, 13. left plates, 14. right plates, 15. photographic head, 16. directive wheels, 17. support shafts, 20. magnet-wheels, 25. drive mechanisms, 26. motors, 27. subtract Speed device, 28. driving gears, 29. brakes, 30. guide rails.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases Combination mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
A kind of electric power line pole tower climbing patrol car, including for making described electric power line pole tower climbing patrol car in transmission of electricity The magnetic of climbing walking on the guide rail 30 for fall arrest of overhead line structures (being referred to as along guide rail 30 climbing walking) Wheel 20, described electric power line pole tower climbing patrol car also includes the housing 10 for installing fixing magnet-wheel 20, housing 10 are provided with the drive mechanism 25 for driving magnet-wheel 20, as shown in Figure 1 to Figure 3.
Use the cost of equipment in order to lower user, simplify product structure, it is simple to product promotion is applied, of the present invention Electric power line pole tower climbing patrol car utilize existing device on steel tower guide rail realize climbing.At present, at transmission line of electricity On shaft tower, most widely used guide rail is the guide rail 30 of falling proof device, the most supporting installation on the most newly-built line steel tower Falling proof device, the guide rail 30 of the T-shape of the commonly used standard of falling proof device longitudinal rail.This guide rail 30 Material be Q345, surface heat dip zinc treating.This guide rail 30 mounting means is that guide rail 30 is arranged on connection with bolt On plate, guide rail splice is fixed on steel tower corner iron by foot nail.
During use, electric power line pole tower of the present invention climbing patrol car is arranged on a guide rail 30, magnet-wheel 20 Periphery contact with the outer face of guide rail 30, magnet-wheel 20 is possible to prevent this transmission of electricity by magnetic-adsorption firmly guide rail 30 Overhead line structures climbing patrol car comes off from guide rail 30, and this electric power line pole tower climbing patrol car is possibly together with control unit And video detecting device such as photographic head, after energising this control unit make magnet-wheel 20 reversely by controlling drive mechanism 25 or Rotate backward, and then make this electric power line pole tower climbing patrol car coordinate with guide rail and move up and down along guide rail 30. By this control unit and photographic head 15, staff on ground by operate this electric power line pole tower climbing patrol car Ground remote control unit just can control the walking of this patrol car, and the video observing measuring staff tower that is transmitted through by patrol car and tower The state of upper equipment.This electric power line pole tower climbing patrol car structure should lightly, be easy to carry, it is ensured that equipment There are enough tour working times.
In the present embodiment, magnet-wheel 20 is cylindrical, and magnet-wheel 20 includes multiple circumferential uniform intervals along magnet-wheel 20 The fan-shaped S pole permanent magnet of distribution and fan-shaped N pole permanent magnet.Guide rail 30 work surface size is little, and the material of guide rail is Q345, This material inherently has good permeance, so using magnetic suck mode.In view of the suction that permanent magnet is excellent Attached performance, and be easier to realize than electromagnetic adsorption, so using permanent magnetic suck mode.
Reasonably magnet-wheel magnetic structure can give full play to the utilization rate of permanent magnet, in order to make the driving magnet-wheel of patrol car Have sufficiently large driving frictional force between 20 and guide rail 30, use gap permanent magnetic suck mode, i.e. magnet-wheel 20 uses Radial magnetizing, is divided into eight sector magnet lobes by each magnet-wheel, and its magnetic pole is alternately distributed, i.e. on the magnet-wheel circumference face of cylinder As shown in Figure 4,4 fan-shaped S pole permanent magnets and 4 fan-shaped N pole permanent magnets are uniform along the circumference of magnet-wheel 20 Spaced apart, a diameter of 50mm of magnet-wheel 20, the axial width of magnet-wheel 20 is 35mm~40mm, the axle of magnet-wheel 20 Essentially identical with the width of the outer end of guide rail 30 to width.
Described electric power line pole tower climbing patrol car contains two identical magnet-wheels of size and shape 20, two magnet-wheels 20 Axis be parallel to each other, the distance between the axis of two magnet-wheels 20 is 80mm~85mm.As shown in Figure 1 to Figure 3, Housing 10 includes the second installing plate 12, left plate 13 and the right plate 14 of the first installing plate 11 of rectangle, rectangle, First installing plate 11 and the second installing plate 12 are generally aligned in the same plane, between the first installing plate 11 and the second installing plate 12 There is spacing, connected by left plate 13 and right plate 14 between the first installing plate 11 and the second installing plate 12, left Side plate 13 is positioned on the left of the first installing plate 11 and the second installing plate 12, and right plate 14 is positioned at the first installing plate 11 He On the right side of second installing plate 12.
One magnet-wheel 20 (magnet-wheel 20 of upside in Fig. 1) is arranged on the lower section of the first installing plate 11 and by a wheel Axle is fixed between left plate 13 and right plate 14, and another magnet-wheel 20 (magnet-wheel 20 of downside in Fig. 1) is arranged It is fixed between left plate 13 and right plate 14 in the lower section of the second installing plate 12 and by another wheel shaft, described The axis of one magnet-wheel 20 (magnet-wheel 20 of upside in Fig. 1) to the first installing plate 11 distance equal to described another Magnet-wheel 20 (magnet-wheel 20 of downside in Fig. 1) is to the distance of the second installing plate 12.
In the present embodiment, drive mechanism 25 includes that motor 26, drive mechanism 25 also include and the motor of motor 26 The decelerator 27 of axle connection and driving gear 28, the wheel shaft (i.e. rotary shaft) of each magnet-wheel 20 is respectively connected with driven Gear, driving gear 28 can drive two magnet-wheel 20 rotating in same directions by engaging with two described driven gears.
As in figure 2 it is shown, motor 26 and decelerator 27 are between two magnet-wheels 20, motor 26 and decelerator 27 Position corresponding with the position of described spacing between the first installing plate 11 and the second installing plate 12, the first installing plate 11 and second described spacing between installing plate 12 are more than motor 26 and decelerator 27 along this patrol car at direction of travel (i.e. Above-below direction in Fig. 2) length, so design can so that heat radiation, driving gear 28 and two described driven Gear be respectively provided with the outside of left plate 13, motor 26 and decelerator 27 be arranged on left plate 13 and right plate 14 it Between.
The axis of the motor shaft of motor 26 is less than one magnet-wheel 20 (in Fig. 1 to the distance of the first installing plate 11 The magnet-wheel 20 of upside) axis to the distance of the first installing plate 11, the reference circle of driving gear 28 is two simultaneously The circumcircle of the reference circle of described driven gear, drive mechanism 25 also includes the braking being connected with the motor shaft of motor 26 Device 29, brake 29 is arranged on the outside of right plate 14.Brake 29 is existing apparatus, brake 29 and control Unit processed connects.In this application, the volume and weight of this electric power line pole tower climbing patrol car is the least, so control The single-chip microcomputer that Unit selection processed is small-sized, control unit also includes the radio receiving unit being connected with control unit, this control Unit receives the instruction of ground remote control device by radio receiving unit, thus controls drive mechanism 25 and photographic head cloud The motion of platform steering wheel.
Owing to the guide rail 30 of falling proof device is formed by some guide rail splicing installations, the joint of guide rail 30 exists one Fixed gap or step etc., the guide rail 30 of some positions can carry out certain bending or torsion according to iron tower structure.For This patrol car is enable to pass through these positions, as shown in Figure 5 and Figure 6, at the first installing plate 11 away from electricity One end of machine 26 is provided with two directive wheels 16, and two directive wheels 16 are arranged on the first installation by support shaft 17 respectively The left and right sides of plate 11, as it is shown in figure 5, directive wheel 16 includes interconnective upper disk and lower disc, left and right two Distance L1 between individual described lower disc less than the width L3 of guide rail 30 outer end, between two described upper disks away from Be more than the width L3 of guide rail 30 outer end from L2, the upper surface of each described lower disc is to the distance of the first installing plate 11 D1 adds the diameter R of magnet-wheel 20 more than the thickness D2 of guide rail 30 outer end.At the second installing plate 12 away from motor 26 One end be provided with two directive wheels 16, the mounting means of directive wheel 16 and the second installing plate 12 on the second installing plate 12 The mounting means of upper directive wheel 16 is identical.The most as shown in Figure 6, exist between directive wheel 16 and guide rail 30 Certain gap or step, so that this patrol car can pass through.This patrol car uses permanent magnetic suck mode, forever Magnetic suck mode is preferable to the adaptability of wall, and when guide rail exists certain concavo-convex change, absorption affinity change is also little, The most motion-affecting stability.
In the present embodiment, the key technical indexes of this patrol car is as follows:
1, under Defend, fall device guide rail normal mounting quality requirements, move along longitudinal rail is smooth and easy;
2, the speed of service: >=0.2m/s;
3, load capacity: > 1kg;
4, it is wirelessly transferred and command range: >=200m;
5, weight of equipment: < 3kg;
6, resolution ratio of camera head > 640 × 480, can remotely focus, adjust angle etc..
The above, the only specific embodiment of the present invention, it is impossible to limit the scope that invention is implemented with it, so its etc. With the displacement of assembly, or the equivalent variations made according to scope of patent protection of the present invention and modification, all should still fall within this patent The category contained.It addition, between technical characteristic and technical characteristic in the present invention, between technical characteristic and technical scheme, All can use with independent assortment between technical scheme and technical scheme.

Claims (10)

1. an electric power line pole tower climbing patrol car, it is characterised in that include for making described electric power line pole tower Climbing patrol car is at the magnet-wheel (20) of guide rail (30) upper climbing walking, and described electric power line pole tower climbing patrol car is also Including the housing (10) for installing fixing magnet-wheel (20), housing (10) is provided with for driving magnet-wheel (20) Drive mechanism (25).
Electric power line pole tower the most according to claim 1 climbing patrol car, it is characterised in that magnet-wheel (20) For cylinder, magnet-wheel (20) includes the fan-shaped S pole permanent magnet that multiple circumferential uniform intervals along magnet-wheel (20) is distributed With fan-shaped N pole permanent magnet.
Electric power line pole tower the most according to claim 2 climbing patrol car, it is characterised in that magnet-wheel (20) A diameter of 40mm~60mm, the axial width of magnet-wheel (20) is 35mm~40mm, and 4 described fan-shaped S poles are forever Magnet and 4 described fan-shaped N pole permanent magnets are distributed along the circumferential uniform intervals of magnet-wheel (20).
Electric power line pole tower the most according to claim 2 climbing patrol car, it is characterised in that described power transmission line Line pole tower climbing patrol car contains two the identical magnet-wheel of size and shape (20), the axis phase of two magnet-wheels (20) The most parallel, the distance between the axis of two magnet-wheels (20) is 80mm~85mm.
Electric power line pole tower the most according to claim 4 climbing patrol car, it is characterised in that housing (10) Including the first installing plate (11) and the second installing plate (12), the first installing plate (11) and the second installing plate (12) It is generally aligned in the same plane, between the first installing plate (11) and the second installing plate (12), there is spacing, the first installing plate (11) And second between installing plate (12) by left plate (13) and right plate (14) connection, left plate (13) is positioned at First installing plate (11) and the second installing plate (12) left side, right plate (14) be positioned at the first installing plate (11) and Second installing plate (12) right side.
Electric power line pole tower the most according to claim 5 climbing patrol car a, it is characterised in that magnet-wheel (20) It is arranged on the lower section of the first installing plate (11) and is fixed on left plate (13) and right plate (14) by a wheel shaft Between, another magnet-wheel (20) is arranged on the lower section of the second installing plate (12) and is fixed on a left side by another wheel shaft Between side plate (13) and right plate (14), the axis of one magnet-wheel (20) is to the first installing plate (11) Distance is equal to the distance of described another magnet-wheel (20) to the second installing plate (12).
Electric power line pole tower the most according to claim 6 climbing patrol car, it is characterised in that drive mechanism (25) Including motor (26), drive mechanism (25) also includes the decelerator (27) being connected with the motor shaft of motor (26) With driving gear (28), the wheel shaft of each magnet-wheel (20) is respectively connected with driven gear, and driving gear (28) can By engaging two magnet-wheel (20) rotating in same directions of driving with two described driven gears.
Electric power line pole tower the most according to claim 7 climbing patrol car, it is characterised in that motor (26) With decelerator (27) is positioned between two magnet-wheels (20), motor (26) and the position and first of decelerator (27) Between installing plate (11) and the second installing plate (12), the position of described spacing is corresponding, driving gear (28) and two Individual described driven gear is arranged at the outside of left plate (13), motor (26) and decelerator (27) and is arranged on a left side Between side plate (13) and right plate (14).
Electric power line pole tower the most according to claim 8 climbing patrol car, it is characterised in that motor (26) Motor shaft axis to the first installing plate (11) distance less than one magnet-wheel (20) axis to first peace The distance of dress plate (11), the reference circle of driving gear (28) is outside the reference circle of two described driven gears simultaneously The circle of contact, drive mechanism (25) also includes the brake (29) being connected with the motor shaft of motor (26), brake (29) It is arranged on the outside of right plate (14).
Electric power line pole tower the most according to claim 8 climbing patrol car, it is characterised in that install first Plate (11) is provided with two directive wheels (16) away from one end of motor (26), and two directive wheels (16) are passed through respectively Support shaft (17) is arranged on the left and right sides of the first installing plate (11), and directive wheel (16) includes disk and lower circle Dish, the distance between two described lower discs is less than the width of guide rail (30) outer end, between two described upper disks Distance more than the width of guide rail (30) outer end, the upper surface of each described lower disc to the first installing plate (11) away from From the diameter adding magnet-wheel (20) more than the thickness of guide rail (30) outer end.
CN201510114041.8A 2015-03-16 2015-03-16 A kind of electric power line pole tower climbs patrol car Active CN106033873B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106481140A (en) * 2016-11-13 2017-03-08 国网吉林省电力有限公司检修公司 Electric power tower square climbing device automatically
CN106571597A (en) * 2016-11-13 2017-04-19 国网吉林省电力有限公司检修公司 Power tower automatic circular climbing device
CN109466654A (en) * 2018-10-23 2019-03-15 东莞理工学院 Electrical equipment fault maintaining car

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Publication number Priority date Publication date Assignee Title
CN1559759A (en) * 2004-02-19 2005-01-05 上海交通大学 Magnetic roller adsorption type wall climbing robot
JP2011239513A (en) * 2010-05-07 2011-11-24 Sohshin Corp Power transmission line inspection system
CN203839815U (en) * 2014-03-28 2014-09-17 云南电力试验研究院(集团)有限公司电力研究院 Remote climbing device used for overhead power transmission conductor detection
CN203982191U (en) * 2014-06-13 2014-12-03 广西电网公司崇左供电局 A kind of rail polling robot mechanism
CN204577980U (en) * 2015-03-16 2015-08-19 北京国网富达科技发展有限责任公司 A kind of electric power line pole tower climbing patrol car

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1559759A (en) * 2004-02-19 2005-01-05 上海交通大学 Magnetic roller adsorption type wall climbing robot
JP2011239513A (en) * 2010-05-07 2011-11-24 Sohshin Corp Power transmission line inspection system
CN203839815U (en) * 2014-03-28 2014-09-17 云南电力试验研究院(集团)有限公司电力研究院 Remote climbing device used for overhead power transmission conductor detection
CN203982191U (en) * 2014-06-13 2014-12-03 广西电网公司崇左供电局 A kind of rail polling robot mechanism
CN204577980U (en) * 2015-03-16 2015-08-19 北京国网富达科技发展有限责任公司 A kind of electric power line pole tower climbing patrol car

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106481140A (en) * 2016-11-13 2017-03-08 国网吉林省电力有限公司检修公司 Electric power tower square climbing device automatically
CN106571597A (en) * 2016-11-13 2017-04-19 国网吉林省电力有限公司检修公司 Power tower automatic circular climbing device
CN106571597B (en) * 2016-11-13 2019-04-05 国网吉林省电力有限公司检修公司 Electric power tower automatic circular climbing device
CN109466654A (en) * 2018-10-23 2019-03-15 东莞理工学院 Electrical equipment fault maintaining car

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