CN107899202A - A kind of automatic climbing pole device - Google Patents
A kind of automatic climbing pole device Download PDFInfo
- Publication number
- CN107899202A CN107899202A CN201711166402.9A CN201711166402A CN107899202A CN 107899202 A CN107899202 A CN 107899202A CN 201711166402 A CN201711166402 A CN 201711166402A CN 107899202 A CN107899202 A CN 107899202A
- Authority
- CN
- China
- Prior art keywords
- roller mechanism
- supporting rod
- driven voller
- fixing axle
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
- A63B27/04—Climbing devices for profile poles attachable to the feet
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Transmission Devices (AREA)
- Gear Transmission (AREA)
Abstract
The present invention relates to a kind of automatic climbing pole device, it includes two supporting rods being arranged in parallel, the active roller mechanism being arranged on two supporting rods, driven roller mechanism, actuating unit, transmission mechanism and pedal, the actuating unit provides power to the active roller mechanism, transmission mechanism obtains power from active roller mechanism, driven roller mechanism is driven to be moved along supporting rod, as the rotation of active roller mechanism changes the spacing between active roller mechanism and driven roller mechanism, to adapt to the change of line bar diameter.The present invention can gradually adjust the automatic climbing pole device of spacing with lifting process, suitable for the climbing of taper cement pole, safety and stability greatly improves, and larger inclination will not occur with the rise of device, the life security of staff is ensured, there is provided preferable working environment.
Description
The application is application number：2016101990845, the applying date：On April 1st, 2016, denomination of invention：One kind is climbed automatically
The divisional application of lever apparatus.
Technical field
It is used for manned or loading lifting gear the present invention relates to a kind of, particularly for what is be vertically moved up or down on utility poles
Automatic climbing pole device.
Background technology
Electric pole is exactly the bar installed electricity lines as its name suggests, and getting up early uses rod, but due to steel and armored concrete
Development, and technical requirement, both materials instead of most of rod.Cement electric pole is sturdy and durable, corrosion-resistant, resistance to
The temperature difference, high intensity, cracking resistance.Existing concrete wire pole is mostly armored concrete taper cement pole, its root is thick, with height
Increase is tapered., it is necessary to which constantly electric pole progress is relevant as climbing in the routine works such as power construction, maintenance
Operation, but pole-climbing work belongs to operation of ascending a height, it is with suitable danger.Present staff is climbed using climbers
Climb, but the security of climbers is poor, great work intensity, efficiency is low, and if the long period that works on electric pole, muscle power disappears
Consumption is big, and action is inconvenient.
The content of the invention
The technical problems to be solved by the invention, which are to provide, a kind of can gradually adjust the automatic of spacing with lifting process and climb
Lever apparatus, suitable for the climbing of taper cement pole.
To solve the above problems, the technical solution used in the present invention is：
A kind of automatic climbing pole device, its key technology are：It includes two supporting rods being arranged in parallel, is arranged on two supports
Active roller mechanism, driven roller mechanism, actuating unit and transmission mechanism on bar, the actuating unit are carried to the active roller mechanism
For power, the transmission mechanism is connected with the drive roll mechanism driving, and transmission mechanism drives driven roller mechanism along supporting rod
Move horizontally.
As a further improvement on the present invention, the active roller mechanism includes rotation axis and the active being fixedly positioned thereon
Roller, rotation axis both ends are fixedly connected by bearing block with locating sleeve, and two locating sleeves are set on corresponding supporting rod；
The driven roller mechanism includes fixing axle and is rotatably arranged on driven voller thereon, and the both ends of fixing axle are by being arranged on
The linear bearing stated on supporting rod is slidably matched with supporting rod；
The actuating unit includes the motor decelerating mechanism being fixed between two locating sleeves, the motor reducer
Structure is sequentially connected with the rotation axis；
The transmission mechanism includes two leading screws, and the leading screw is fixed on supporting rod by bearing block, and the leading screw is upper
The fixing axle side is provided with nut, the nut by connecting rod and the fixed axis connection, the leading screw with it is described
Rotation axis is sequentially connected.
As a further improvement on the present invention, the supporting rod is located at the side of driven roller mechanism and stretches out to form carrying
Truss, the load truss lower section are provided with lower driven voller by lower fixing axle, and lower driven voller and lower fixing axle are rotatably assorted, institute
The underface that lower driven voller is located at the driven voller is stated, is fixedly installed below the elongated end of the supporting rod right end oblique downward
The first bearing diagonal and the second bearing diagonal stretched, joint and the lower fixing axle of first bearing diagonal and the second bearing diagonal are consolidated
Fixed connection.
As a further improvement on the present invention, pedal is provided with the load truss, the both sides of the pedal are set
There is the pedal extension board of arc.
As a further improvement on the present invention, the drive roll, driven voller and lower driven voller use the rubber rollers of spill.
As a further improvement on the present invention, the end set on the leading screw positioned at the rotation axis side has the first snail
Wheel, the rotation axis are provided at both ends with the first worm screw engaged with first worm gear.
As a further improvement on the present invention, the motor decelerating mechanism includes servomotor and gear reducer, the servo
Motor is connected with speed reducer drive, worm screw is provided with the output shaft of the gear reducer, the worm screw is with being arranged on the rotation
Worm gear engagement on axis.
As a further improvement on the present invention, backing roll, the backing roll and the support are provided with the supporting rod
Bar is rotatably assorted.
As a further improvement on the present invention, it is provided with spring between the backing roll and the linear bearing.
It is using beneficial effect caused by above-mentioned technical proposal：
The present invention be directed to the design of taper cement pole, the space for clamping line bar is formed between drive roll and driven voller, due to master
The supporting role of dynamic roller and driven voller, can make its manned on the pedal of driven voller side or loading, drive roll and driven
Larger friction is formed between roller and electric pole, driving mechanism driving drive roll rotates, due to the friction between drive roll and line bar
Effect, drives whole device to be lifted along line bar, so as to fulfill the effect of pole-climbing.
It is crucial that due to being connected by linear bearing between fixing axle and supporting rod, i.e., driven roll assembly can prop up
Slide on strut, due to the effect of transmission mechanism, when rotation axis rotates, by the effect of transmission mechanism, while drive driven
Roll assembly is subjected to displacement on supporting rod, when device rises, driven roll assembly is moved towards drive roll side, so that
Spacing is reduced, adapts to the situation that line bar is tapered, ensures that whole device and line bar are in close contact, improves stability and safety
Property；When device declines, since rotation axis rotates backward, then driven roll assembly is driven away from master by transmission mechanism
The direction movement of dynamic roller, increases spacing, ensures that device smoothly declines.The adjustment active in real time during lifting due to the present apparatus
Spacing between roller and driven voller greatly improves the safety and stability of the present apparatus, no to adapt to the change of line bar diameter
Larger inclination can occur with the rise of device, ensure the life security of staff, there is provided preferable working environment.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of the present invention.
Fig. 2 is the main structure diagram of the present invention.
Fig. 3 is the right side structural representation of the present invention.
Fig. 4 is the load truss structure diagram of the present invention.
Fig. 5 is the one-directional rotation control mechanism structure diagram of the present invention.
Wherein：100 line bars, 101 supporting rods, 102 linear bearings, 103 fixing axles, 104 driven vollers, 105 bearing blocks, 106
Leading screw, 107 nuts, 108 first worm gears, 109 first worm screws, 110 rotation axis, 111 drive rolls, 112 locating sleeves, 113 servos
Motor, 114 gear reducers, 115 worm screws, 116 worm gears, 117 installing plates, 118 backing rolls, 119 springs, 120 crossbeams, 121 pedals,
122 pedal extension boards, 123 connecting rods, 124 connecting poles, 125 times driven vollers, 126 times fixing axles, 127 first bearing diagonals, 128
Two bearing diagonals, 129 ratchets, 130 pawls, 131 mounting discs.
Embodiment
1-5 and specific embodiment are described in further detail invention below in conjunction with the accompanying drawings：
A kind of automatic climbing pole device as shown in Figs. 1-5, it includes two supporting rods 101 being arranged in parallel, is arranged on two branch
Active roller mechanism, driven roller mechanism, actuating unit and transmission mechanism on strut 101；The bone of two 101 forming apparatuses of supporting rod
Frame structure, is the clamping zone of accommodating line bar 100 with reference to Fig. 1 and 2, between two supporting rods 101, on a left side for two supporting rods 101
End sets active roller mechanism, and right end sets driven roller mechanism, solid by multiple crossbeams 120 after 101 right end of supporting rod stretches out
Fixed connection, forms manned or loading platform, pedal 121 is set on the elongated end and crossbeam 120 of supporting rod 101.Pedal 121
Both sides be provided with the pedal extension board 122 of arc, two pedal extension boards 122 extend around line bar 100, and it is flat to add operation
The area of platform, facilitates operating personnel aloft to be operated on a large scale, and both feet have space that is mobile and trampling.
The region of clamping line bar 100, active roller mechanism and two supports are formed between active roller mechanism and driven roller mechanism
The dismantled and assembled connection in end of bar 101, assembles, is fixed in line bar 100 at the scene easy to whole device.It is as shown in the figure, main
Dynamic roller mechanism is located at the top of supporting rod 101, and driven roller mechanism is located at the lower section of supporting rod 101.
The actuating unit provides power to the active roller mechanism, and transmission mechanism obtains power from active roller mechanism, drives
Move driven roller mechanism to move along supporting rod 101, change active roller mechanism and driven roller mechanism with the rotation of active roller mechanism
Between spacing.
As shown in Figures 2 and 3, the active roller mechanism includes rotation axis 110 and the drive roll 111 being fixedly positioned thereon,
It is solid by bearing block 105 and locating sleeve 112 without relative rotation, 110 both ends of rotation axis between rotation axis 110 and drive roll 111
Fixed connection, two locating sleeves 112 are set on corresponding supporting rod 101, and locating sleeve 112 is fixedly mounted by positioning pin
In 101 end of supporting rod, rotation axis 110 is set by two bearing blocks 105 on locating sleeve 112, rotation axis 110 is positioned at support
The top of bar 101.
The driven roller mechanism includes fixing axle 103 and is rotatably arranged on driven voller 104 thereon, and fixing axle 103 is not sent out
Raw axial rotation, driven voller 104 are rotatably assorted with fixing axle 103.The both ends of fixing axle 103 are by being arranged on the supporting rod
Linear bearing 102 on 101 is slidably matched with supporting rod 101, and referring to Fig. 3, linear bearing 102 is by connecting pole 124 with being located at
The fixing axle 103 of lower section is fixedly connected.
As shown in Figure 1, the actuating unit includes 113 He of servomotor being fixed between two locating sleeves 112
Gear reducer 114, one piece of installing plate 117, the servomotor 113 and gear reducer are fixedly installed two 112 bottoms of locating sleeve
114 are fixed on the installing plate 117, and the servomotor 113 is sequentially connected with gear reducer 114, gear reducer 114 and institute
Rotation axis 110 is stated to be sequentially connected；Specifically, be provided with worm screw 115 on the output shaft of the gear reducer 114, the worm screw 115 with
The worm gear 116 being arranged in the rotation axis 110 engages.It is additionally provided with installing plate 117 and takes the power supply of motor 113 to the private
Mobile power, is provided with the switch for controlling the servomotor 113 to rotate on pedal 121, and servo can be controlled by switch
Motor 113 is rotated forward, inverts and stopped, and control module and signal receiving unit can be also installed on servomotor 113, passes through remote control
Control.
The transmission mechanism includes two leading screws 106, and the leading screw 106 is fixed at support by two bearing blocks 105
On bar 101, under the action of bearing block 105, leading screw 106 can be freely rotated, and the fixing axle is located on the leading screw 106
103 sides are provided with the nut 107 of thread fitting therewith, and nut 107 is between two bearing blocks 105.The nut 107 is logical
The both ends that connecting rod 123 is crossed with the fixing axle 103 are fixedly connected, and the leading screw 106 is sequentially connected with the rotation axis 110,
Specifically, in the present embodiment, the end set on the leading screw 106 positioned at 110 side of rotation axis has the first worm gear 108,
The rotation axis 110 is provided at both ends with the first worm screw 109 engaged with first worm gear 108.
Backing roll 118 is provided with the supporting rod 101, the backing roll 118 is rotatably assorted with the supporting rod 101,
When device tilts, by the effect of backing roll 118,100 direct friction of supporting rod 101 and line bar is prevented,
Ensure device stable operation.Spring 119 is provided between the backing roll 118 and the linear bearing 102.
Drive roll 111, driven voller 104 and backing roll 118 described in the present embodiment use the rubber rollers of spill, its concave surface
There is the contact area of bigger with the line bar 100 of cylinder, frictional force is stronger.
The present apparatus is in use, need assembled in situ that the present apparatus is arranged in line bar 100, as shown in Figs. 1-3, line bar 100
It is held between drive roll 111 and driven voller 104.When assembling, by two 101 framves of supporting rod in line bar 100, then will
Active roller mechanism is installed on two supporting rods 101, i.e., is sleeved on corresponding 101 end of supporting rod by locating sleeve 112, makes
After first worm screw 109 and the engagement of the first worm gear 108, locating sleeve 112 is fixed on supporting rod 101 by fixed pin, at this time
If the distance between drive roll 111 and driven voller 104 are improper, active roller mechanism can be removed, passes through rotational lead screw 106
To adjust the position of driven roller mechanism, then active roller mechanism is installed again, after installing, operating personnel stand on pedal 121,
Under the supporting role of drive roll 111 and driven voller 104, device can keep stable, start servomotor 113, in drive roll
Device starts to climb upwards under the action of 111, and private takes motor 113 and drives driving shaft 110 to rotate, and driving shaft 110 is driven two at the same time
A leading screw 106 rotates, and leading screw 106, which rotates, is subjected to displacement nut 107, so as to drive driven roller mechanism towards active roller mechanism
Direction is moved, and reduces the distance between drive roll 111 and driven voller 104, so that the diameter phase of two distances taken turns and line bar 100
Adaptation, this process can compress at the same time the spring 119, and when declining, the reset response of spring ensures driven roller mechanism
It can smoothly retreat, under the action of the spring, make that there is bumper and absorbing shock between device.
Since line bar 100 is smaller with the change for raising its diameter of height, therefore, it is necessary to by designing the first worm screw
The relation such as 109 and first modulus of worm gear 108, the number of teeth, number of threads, diameter quotient, and pitch, the speed of design leading screw 106
Degree etc., makes device during lifting, and the displacement and the diameter change of line bar 100 for driving driven roller mechanism match, these
Data need to be calculated and matched according to actual situation, it belongs to technology well known to those of ordinary skill in the art, its group
A variety of situations can also be had by closing result, and details are not described herein again.
As a further improvement on the present invention, present invention additionally comprises lower driven voller 125, lower driven voller 125 and lower fixing axle
126 are rotatably assorted, and the lower driven voller 125 is located at the underface of the driven voller 104, the extension of 101 right end of supporting rod
End lower section is fixedly installed the first bearing diagonal 127 and the second bearing diagonal 128 that oriented 100 direction of line bar extends obliquely, and described the
The joint of one bearing diagonal 127 and the second bearing diagonal 128 is fixedly connected with the lower fixing axle 126, the first bearing diagonal 127,
Two bearing diagonals 128 and the triangle supporting rack of supporting rod 101.The lower driven voller 125 is contacted with line bar 100.When people stands
When pedal 121, due to human bady gravitational and the elastic reaction of supporting rod, supporting rod can be bent downwardly, and people's
Under the action of gravity, even if supporting rod 101 is not bent, can also whole device be tilted down, can so cause people to be difficult to stand firm,
And working at height has very big risk, once losing center of gravity, consequence is hardly imaginable, by designing lower driven voller 125 and three
The structure of angular supporting rack, can make a part of gravity pass to line bar 100 by lower driven voller 125, overcome supporting rod 101
The problem of bending and device tilt, is that platform is more stablized, safe.
It is whole in order to prevent to glide, one-directional rotation control machine can be set respectively on driven voller 104 and lower driven voller 125
Structure.Specifically, ratchet 129 can be fixedly installed in the both sides of driven voller 104, ratchet 129 is rotated with driven voller 104, solid
Set on dead axle 103 and be installed on the matched pawl 130 of the ratchet 129, pawl 130 in mounting disc 131,131 He of mounting disc
103 clearance fit of fixing axle, and pass through nut or fixed finger setting.During rising, and in high-altitude stop operation
During, the pawl 130 and ratchet 129 coordinate, and prevent driven voller 104 from rotating backward, and ensure that device will not glide, when complete
When decline into operation, it is departed from ratchet by stirring pawl, decline device.Similarly, in lower driven voller 125 with
Above-mentioned ratchet and pawl arrangement is similarly set in fixing axle 126, so that further ensuring whole pedal 121 and device will not send out
It is raw to tilt.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of technical solution of the embodiment of the present invention
Enclose.
Claims (1)
- A kind of 1. automatic climbing pole device, it is characterised in that：It includes two supporting rods being arranged in parallel（101）, be arranged on described in two Supporting rod（101）On active roller mechanism, driven roller mechanism, actuating unit and transmission mechanism, the actuating unit gives the master Dynamic roller mechanism provides power, and the transmission mechanism is connected with the drive roll mechanism driving, and transmission mechanism drives driven roller mechanism Moved horizontally along supporting rod；The active roller mechanism includes rotation axis（110）With the drive roll being fixedly positioned thereon（111）, rotation axis（110）Two End passes through bearing block（105）With locating sleeve（112）It is fixedly connected, two locating sleeves（112）It is set in corresponding support Bar（101）On；The driven roller mechanism includes fixing axle（103）Be rotatably arranged on driven voller thereon（104）, fixing axle （103）Both ends by being arranged on the supporting rod（101）On linear bearing（102）With supporting rod（101）It is slidably matched；The actuating unit includes being fixed at two locating sleeves（112）Between motor decelerating mechanism, the motor Reducing gear and the rotation axis（110）It is sequentially connected；The transmission mechanism includes two leading screws（106）, the leading screw（106）Pass through bearing block（105）It is fixed at supporting rod （101）On, the leading screw（106）It is upper to be located at the fixing axle（103）Side is provided with nut（107）, the nut（107）It is logical Cross connecting rod（123）With the fixing axle（103）Connection, the leading screw（106）With the rotation axis（110）It is sequentially connected；The supporting rod（101）Stretch out to form load truss positioned at the side of driven roller mechanism, below the load truss Pass through lower fixing axle（126）It is provided with lower driven voller（125）, lower driven voller（125）With lower fixing axle（126）It is rotatably assorted, institute State lower driven voller（125）Positioned at the driven voller（104）Underface, the supporting rod（101）It is solid below the elongated end of right end Surely it is provided with the first bearing diagonal extended obliquely（127）With the second bearing diagonal（128）, first bearing diagonal（127）With Two bearing diagonals（128）Joint and the lower fixing axle（126）It is fixedly connected；Pedal is provided with the load truss （121）, the pedal（121）Both sides be provided with the pedal extension board of arc（122）；The drive roll（111）, driven voller （104）With lower driven voller（125）Using the rubber rollers of spill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711166402.9A CN107899202B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199084.5A CN105833478B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
| CN201711166402.9A CN107899202B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199084.5A Division CN105833478B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107899202A true CN107899202A (en) | 2018-04-13 |
| CN107899202B CN107899202B (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199084.5A Active CN105833478B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
| CN201711166402.9A Active CN107899202B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199084.5A Active CN105833478B (en) | 2016-04-01 | 2016-04-01 | A kind of automatic climbing pole device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105833478B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110556740A (en) * | 2018-05-30 | 2019-12-10 | 赵家铭 | Automatic pole-climbing device |
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
| CN112141966A (en) * | 2020-08-21 | 2020-12-29 | 昆明理工大学 | Automatic pole-climbing device for carrying people |
| CN113777963A (en) * | 2021-09-09 | 2021-12-10 | 广东电网有限责任公司 | Climber control method, apparatus, device and storage medium |
| CN115970240A (en) * | 2022-12-09 | 2023-04-18 | 贵州电网有限责任公司 | Pole-climbing foot fastener for power line maintenance |
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| CN106410645B (en) * | 2016-11-02 | 2018-06-29 | 国网江苏省电力公司仪征市供电公司 | One kind steps on bar platform |
| CN108671707A (en) * | 2018-07-26 | 2018-10-19 | 大唐环境产业集团股份有限公司 | A kind of platform of different angle |
| CN109464785A (en) * | 2018-10-25 | 2019-03-15 | 国网浙江省电力有限公司磐安县供电公司 | A kind of rod rising device |
| CN109276859B (en) * | 2018-11-11 | 2023-09-22 | 谷玉彬 | Electric pole climbing machine |
| CN111701201A (en) * | 2020-07-07 | 2020-09-25 | 丁西彦 | Line tower climbing device for power maintenance and using method thereof |
| CN112295178B (en) * | 2020-09-22 | 2021-11-02 | 国网山东省电力公司德州市陵城区供电公司 | Auxiliary device for climbing signal tower telegraph pole |
| CN112436427A (en) * | 2020-11-06 | 2021-03-02 | 国网山东省电力公司禹城市供电公司 | Insulating tool table for pole operation |
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| CN1485266A (en) * | 2002-09-24 | 2004-03-31 | 建 温 | Spring-type pole climbing machine |
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| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
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| CN1007052B (en) * | 1985-04-01 | 1990-03-07 | 张宪径 | Mechanical climbing vehicle |
| CN200942264Y (en) * | 2006-06-09 | 2007-09-05 | 中国海洋大学 | Electric flexible training apparatus |
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- 2016-04-01 CN CN201711166402.9A patent/CN107899202B/en active Active
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| CN1485266A (en) * | 2002-09-24 | 2004-03-31 | 建 温 | Spring-type pole climbing machine |
| CN2657722Y (en) * | 2003-06-23 | 2004-11-24 | 华东理工大学 | Pedal pole climbing device |
| WO2012089919A1 (en) * | 2010-12-30 | 2012-07-05 | Meclimb Oy | Method and apparatus for conveying tools to work site along an elongated object and use of the apparatus |
| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110556740A (en) * | 2018-05-30 | 2019-12-10 | 赵家铭 | Automatic pole-climbing device |
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
| CN112141966A (en) * | 2020-08-21 | 2020-12-29 | 昆明理工大学 | Automatic pole-climbing device for carrying people |
| CN113777963A (en) * | 2021-09-09 | 2021-12-10 | 广东电网有限责任公司 | Climber control method, apparatus, device and storage medium |
| CN113777963B (en) * | 2021-09-09 | 2023-06-06 | 广东电网有限责任公司 | Method, device, equipment and storage medium for controlling grapplers |
| CN115970240A (en) * | 2022-12-09 | 2023-04-18 | 贵州电网有限责任公司 | Pole-climbing foot fastener for power line maintenance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105833478B (en) | 2018-05-01 |
| CN107899202B (en) | 2019-10-22 |
| CN105833478A (en) | 2016-08-10 |
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