CN111614019A - Man-machine cooperative tower climbing device and method - Google Patents
Man-machine cooperative tower climbing device and method Download PDFInfo
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- CN111614019A CN111614019A CN202010537085.2A CN202010537085A CN111614019A CN 111614019 A CN111614019 A CN 111614019A CN 202010537085 A CN202010537085 A CN 202010537085A CN 111614019 A CN111614019 A CN 111614019A
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- 230000009194 climbing Effects 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims abstract description 39
- 230000001012 protector Effects 0.000 claims abstract description 31
- 230000002265 prevention Effects 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 5
- 230000002493 climbing effect Effects 0.000 claims description 4
- 238000009863 impact test Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 16
- 229910052742 iron Inorganic materials 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a man-machine cooperative tower climbing device and a method, wherein the device comprises a climbing frame, an anti-falling mechanism and a pulling plate; the climbing frame comprises an upper falling protector, a lower falling protector and a connecting plate, wherein the two falling protectors are assembled on the falling prevention track in an upper and lower way, and the outer sides of the falling protectors are connected through the connecting plate; the anti-falling mechanism comprises an anti-falling seat and an anti-falling claw, the anti-falling seat comprises a chute and an anti-falling groove, the bottom surface of the anti-falling groove is communicated with the top surface of the chute, the anti-falling seat is arranged outside the anti-falling track by the chute and positioned between the upper anti-falling device and the lower anti-falling device, the anti-falling seat is connected with the upper anti-falling device by a telescopic component, the anti-falling claw is hinged in the anti-falling groove and can relatively rotate around a hinge shaft so as to be locked or separated with the anti-falling track, and the top; the arm-tie includes initiative section and driven section, and the stay cord is connected outward at initiative section top, the middle part links to each other with last safety hook, the bottom links to each other with driven section, and the bottom of driven section links to each other with even board. The tower climbing operation strength is reduced, and the effect of preventing falling from high altitude is achieved.
Description
Technical Field
The invention belongs to the technical field of power transmission line tower climbing, and particularly relates to a man-machine cooperative tower climbing device and method.
Background
The transmission line mainly comprises a lead, an insulator, a pole tower, a lightning conductor and a grounding device. The tower mainly plays a supporting role, the transmission line tower is divided into an iron tower and a concrete tower according to materials, the usage percentage of the iron tower on the transmission line is up to more than 80%, and particularly, the line of 500kV or more currently accounts for 100%.
In the line operation and maintenance, electric shock and high-altitude falling are two main factors which harm the personal safety. Along with the rapid development of power grid construction, the height of breathing of an iron tower is higher and higher, the average height of breathing of an extra-high voltage line reaches more than 70 meters, a large amount of physical power and time are required to be consumed in climbing a tower during tower operation, the physical power of operating personnel is more and more difficult to meet the operation requirement, and how to save the physical power consumed in climbing the tower and ensure that the safety of climbing the tower becomes a crucial link in the operation process.
The iron tower generally divide into angle steel tower and steel pipe tower two kinds, and traditional mode of ascending a height leans on angle steel both sides design foot nail or installs the hand climbing on the cat ladder at the steel pipe tower, easily takes place the high altitude and falls, endangers operation personnel life safety. When the robot carries a person to go up the tower, the characteristics of different iron towers need to be found, the operation efficiency of the robot is improved, and the angle steel tower consists of a main material, an oblique material, a transverse material, a connecting bolt and a connecting plate. The common characteristics of the structures of different angle steel towers are difficult to find to be suitable for the motion planning of the robot, and the innovation difficulty is very high. And a part of iron towers, especially the high-altitude iron tower, are provided with anti-falling rails, and the iron tower of the type can provide another selection climbing mode for robot design and research, so that the efficiency of the robot can be effectively improved.
Disclosure of Invention
The invention aims to provide a man-machine cooperative tower climbing device and method which can reduce the tower climbing strength of operating personnel and prevent high-altitude falling, aiming at the defects of the prior art.
The man-machine cooperative tower climbing device provided by the invention comprises a climbing frame, an anti-falling mechanism and a pulling plate; the climbing frame comprises an upper falling protector, a lower falling protector and a connecting plate, wherein the two falling protectors are assembled on the falling prevention track in an upper and lower way, and the outer sides of the falling protectors are connected through the connecting plate; the anti-falling mechanism comprises an anti-falling seat and an anti-falling claw, the anti-falling seat comprises a chute and an anti-falling groove, the bottom surface of the anti-falling groove is communicated with the top surface of the chute, the anti-falling seat is arranged outside the anti-falling track by the chute and positioned between the upper anti-falling device and the lower anti-falling device, the anti-falling seat is connected with the upper anti-falling device by a telescopic component, the anti-falling claw is hinged in the anti-falling groove and can relatively rotate around a hinge shaft so as to be locked or separated with the anti-falling track, and the top; the arm-tie includes initiative section and driven section, and the stay cord is connected outward at initiative section top, the middle part links to each other with last safety hook, the bottom links to each other with driven section, and the bottom of driven section links to each other with even board.
The anti-falling seat is a C-shaped seat and comprises a closed top plate, a bottom plate and a side plate; the closed top plate is an I-shaped plate, a through groove is arranged in the middle of the closed top plate and serves as an anti-falling groove, and a pair of ear plates are respectively arranged on two sides of the anti-falling groove and used for mounting the anti-falling clamping jaws; the bottom plates are C-shaped plates, a pair of bottom plates are oppositely arranged with the openings thereof facing outwards, and a space is reserved between the two bottom plates; the two ends of the side plate are protruded outwards to be used for installing the side pulleys.
The anti-falling clamping jaw is an arc-shaped jaw, a spring hanging lug is arranged outside the top end of the anti-falling clamping jaw, friction teeth locked with the anti-falling rail are arranged at the bottom end of the anti-falling clamping jaw, and a through hole is formed in the middle of the anti-falling clamping jaw and used for being hinged with the lug plate.
The upper falling protector, the lower falling protector and the falling protection mechanism have the same structure and are connected with the connecting plate through the side walls.
The connecting plates are strip-shaped plates, the centers of the connecting plates in the length direction are provided with outward-protruding limiting grooves, mounting holes are formed in the groove walls, through holes are formed in the two ends of the groove walls, and the upper falling protector and the lower falling protector are connected to the through holes through pin shafts and located between the two connecting plates.
Even be equipped with the supporter outside the board, the supporter includes horizon bar and bracing, and the one end of horizon bar is connected outside the connecting rod top, the other end links to each other with the top of bracing, and the bottom of bracing links to each other with even board bottom.
The driving section is a rectangular plate, and a round hole is formed in the top end of the driving section and used for installing a pull rope; the driven section is a door-shaped plate, and through holes are formed in two open ends of the driven section; the bottom end of the driving section is fixedly connected with the width direction center of the driven section; the side wall of the driven section of the pulling plate is attached to the connecting plate limiting groove and connected with the connecting piece penetrating through the mounting hole and the through hole.
The middle part of the connecting plate is connected with the anti-falling claw of the upper anti-falling device through a telescopic component.
The telescopic member is a spring.
The invention also provides a man-machine cooperative tower climbing method, which is carried out by using the device as a tool and comprises the following steps:
the method comprises the following steps of firstly, checking the installation condition of an anti-falling track and determining whether the robot operation is satisfied;
step two, the tower climbing device with the manned chair installed is installed outside the anti-falling track;
thirdly, connecting a protection rope outside the anti-falling claw of the lower anti-falling device;
pulling the pull rope to enable the tower climbing device to ascend to a certain position and lock;
step five, performing an impact test on the robot, and after the robot is qualified, enabling an operator to enter the manned chair and connect the protection rope;
step six, the ground operating personnel manually control the stay cord to start climbing the tower, and the climbing the tower comprises the following two actions:
1) the anti-falling device comprises a lifting plate, a falling-preventing mechanism, a driven section, a climbing frame, a falling-preventing claw, a falling-preventing track and a falling-preventing track, wherein the lifting plate is pulled down to the falling-preventing mechanism, the falling-preventing claw is pressed by the driven section to be locked with the falling-preventing track and is continuously pulled down, the climbing frame moves upwards by taking the falling-preventing mechanism as a fulcrum;
2) the ground electrician loosens the rope, the spring pulls the pulling plate to an initial angle, the falling-preventing claw in the falling-preventing mechanism is pressed down by contact, the falling-preventing mechanism is in a contact locking state, and the falling-preventing mechanism is pulled and lifted by the spring to finish a tower climbing action;
and step seven, repeating the step six to finish the climbing.
When the anti-falling device is put into use, a pull rope is manually controlled by a ground operator to start climbing the tower, the pull plate is pulled down to the anti-falling mechanism when climbing the tower, the driven section presses the anti-falling claws to be locked with the anti-falling track and is pulled down continuously, the climbing frame moves upwards by taking the anti-falling mechanism as a fulcrum, when the climbing frame moves to the highest point, the anti-falling claws of the upper anti-falling device topple under the action of the springs and are locked with the anti-falling track, and the anti-falling claws of the lower anti-falling device topple under the pressing of the pull; then the ground electrician loosens the rope, the spring pulls the pulling plate to an initial angle, the anti-falling claw in the anti-falling mechanism is pressed down by contact, the anti-falling mechanism is pulled and lifted by the spring in a contact locking state, and the action of climbing the tower is completed; the climbing tower can be completed by repeating the action. Need not to climb the tower personnel and consume physical power, reduce the intensity of climbing the tower operation, can provide the reserve protection for climbing the whole journey of tower personnel again, play the effect that prevents the high altitude and fall.
Drawings
Fig. 1 is a schematic view of a preferred embodiment of the present invention in a tower climbing state.
Fig. 2 is a front view enlarged schematic diagram of the preferred embodiment.
Fig. 3 is an enlarged perspective view of the climbing frame in the preferred embodiment.
Fig. 4 is an enlarged perspective view of the upper safety hook in the preferred embodiment.
Fig. 5 is an enlarged left-view illustration of fig. 4.
FIG. 6 is an enlarged perspective view of the anti-falling claw in the preferred embodiment.
Fig. 7 is an enlarged perspective view of the tie plate in the preferred embodiment.
Fig. 8 is an enlarged perspective view of the pulling plate in the preferred embodiment.
Sequence numbers of the drawings:
1-climbing frame, 11-upper safety hook, 12-lower safety hook, 13-connecting plate, 14-shelf;
2, an anti-falling mechanism;
3-pulling plate, 31-driving section, 32-driven section;
4, an anti-falling spring; 5, a traction tension spring; 6-a plate spring; 7, an anti-falling rail;
a-anti-falling seat, a 1-closed top plate, a 2-bottom plate, a 3-side plate, a 4-ear plate,
b-anti-falling claw, b 1-spring hanger, b 2-friction tooth,
c-side pulley.
Detailed Description
As shown in fig. 1 and fig. 2, the man-machine cooperative tower climbing device disclosed in this embodiment is suitable for climbing along an anti-falling rail 7, and includes a climbing frame 1, an anti-falling mechanism 2 and a pulling plate 3.
As shown in fig. 3, the climbing frame 1 comprises an upper falling protector 11, a lower falling protector 12, a connecting plate 13 and a commodity shelf 14.
As shown in fig. 4 and 5, the upper falling protector 11 is assembled by a falling protector seat a, a falling protector claw b and a side pulley c. The anti-falling seat a is a C-shaped seat and comprises a closed top plate a1, a bottom plate a2 and a side plate a 3; the closed top plate is an I-shaped plate, the middle part of the closed top plate is provided with a through groove as an anti-falling groove, two sides of the anti-falling groove are respectively provided with a pair of ear plates a4, and the end plates of the anti-falling groove are provided with mounting holes; the bottom plates are C-shaped plates, a pair of bottom plates are oppositely arranged with the openings thereof facing outwards, and a space is reserved between the two bottom plates; the two ends of the side plate are protruded outwards.
As shown in figure 6, the anti-falling claw b is an arc claw, the spring hanger b1 is arranged outside the top end of the anti-falling claw b, the friction tooth b2 locked with the anti-falling rail is arranged at the bottom end of the anti-falling claw b, and the through hole is arranged in the middle of the anti-falling claw b. When the upper falling protector 11 is assembled, the falling preventing claws are inserted into the falling preventing grooves and are hinged through pin shafts penetrating through the lug plates and the through holes, the side pulleys c are arranged in the convex sections of the side plates, and the wheel shafts are arranged in the top plate mounting holes.
The lower falling protector 12 has the same structure as the upper falling protector 11, and the two falling protectors are assembled through the connecting plate 13 after being installed.
As shown in fig. 7, the connecting plates 13 are strip-shaped plates, the centers of the connecting plates in the length direction are provided with convex limiting grooves, the walls of the grooves are provided with mounting holes, the two ends of the groove are provided with through holes, and the upper falling protector and the lower falling protector are respectively connected with the through holes through pin shafts and are positioned between the two connecting plates. The commodity shelf 14 is arranged outside the connecting plate so as to be convenient for carrying tools and appliances to climb the tower, and comprises a horizontal rod and an inclined strut, wherein one end of the horizontal rod is connected outside the top end of the connecting rod, the other end of the horizontal rod is connected with the top end of the inclined strut, and the bottom end of the inclined strut is connected with the bottom end of the connecting plate. The whole assembly of the climbing frame 1 is completed, and the climbing frame is assembled with the anti-falling mechanism 2 after the assembly is completed.
As shown in figure 1, the anti-falling mechanism 2 has the same structure as the upper anti-falling device, and during installation, the anti-falling claws of the anti-falling mechanism are connected with the anti-falling seats a of the upper anti-falling device 11 through a pair of anti-falling springs 4 which are symmetrically arranged at two sides of the anti-falling claws. The anti-falling seat of the anti-falling mechanism is connected with the anti-falling seat a of the upper anti-falling device 11 through a pair of traction springs 5, and the pair of traction springs are symmetrically arranged on two sides of the anti-falling seat.
As shown in fig. 8, the pulling plate 3 includes a driving section 31 and a driven section 32. The driving section is a rectangular plate, the top end of the driving section is provided with a round hole for installing a pull rope, the middle part of the driving section is provided with a pull plate spring 6, and the other end of the pull plate spring is connected with an anti-falling claw of the upper anti-falling device. The driven section is a door-shaped plate, and through holes are arranged at two opening ends of the driven section. The bottom end of the driving section is fixedly connected with the width direction center of the driven section; the side wall of the pull plate with its driven section is attached to the connecting plate limiting groove and is connected with the connecting shaft passing through the mounting hole and the through hole, so that when the pull plate is pulled downwards, the climbing frame can move upwards under the action of a reaction force.
In this embodiment, when the tower climbing device is used after installation, the following steps are performed:
the method comprises the following steps of firstly, checking the installation condition of an anti-falling track and determining whether the robot operation is satisfied;
step two, mounting the tower climbing device with the manned chair outside the anti-falling track;
thirdly, connecting a protection rope outside the anti-falling claw of the lower anti-falling device;
pulling the pull rope to enable the tower climbing device to ascend to a certain position and lock;
step five, performing an impact test on the robot, and after the robot is qualified, enabling an operator to enter the manned chair and connect the protection rope;
step six, the ground operating personnel manually control the stay cord to start climbing the tower, and the climbing the tower comprises the following two actions:
1) the anti-falling device comprises a pulling plate, a driven section, a climbing frame, an anti-falling rail, a driving section, a driven section and a lower anti-falling device, wherein the pulling plate is pulled down to an anti-falling mechanism, the driven section presses an anti-falling claw, the anti-falling claw rotates downwards until a friction tooth is in contact with and locked with the upper surface of the anti-falling rail, the anti-falling claw continues to pull down, the driving section rotates downwards with the anti-falling mechanism as a fulcrum, the driven section rotates upwards to drive the climbing frame to move upwards with the anti-falling mechanism as the fulcrum, when the climbing frame moves to the highest point, the anti-falling claw of the upper;
2) the ground electrician loosens the rope, the pulling plate spring pulls the pulling plate to an initial angle, the anti-falling claw in the anti-falling mechanism is pressed down by contact, the anti-falling mechanism is in a contact locking state, and the anti-falling mechanism is pulled and lifted by the pulling spring to complete a tower climbing action;
and step seven, repeating the step six to finish the climbing.
When the anti-falling device is used, a pulling rope is manually controlled by a ground operator to start climbing the tower, the pulling plate is pulled down to the anti-falling mechanism when climbing the tower, the driven section presses the anti-falling jack catch to be locked with the anti-falling track and is pulled down continuously, the climbing frame moves upwards by taking the anti-falling mechanism as a fulcrum, when the climbing frame moves to the highest point, the anti-falling jack catch of the upper anti-falling device topples under the action of the anti-falling spring and is locked with the anti-falling track, and the anti-falling jack catch of the lower anti-falling device topples under the pressing of the; then the ground electrician loosens the rope, the pulling plate spring pulls the pulling plate to an initial angle, the anti-falling jack catch in the anti-falling mechanism is pressed down by contact, the anti-falling mechanism is pulled and lifted by the pulling spring in a contact locking state, and a tower climbing action is completed; the climbing tower can be completed by repeating the action. Need not to climb the tower personnel and consume physical power, reduce the intensity of climbing the tower operation, can provide the reserve protection for climbing the whole journey of tower personnel again, play the effect that prevents the high altitude and fall. Tools, insulators and the like can be carried to the upper tower through the storage rack, so that the manpower of ground electricians is greatly saved; the whole device has low manufacturing cost and strong popularization and application.
Claims (10)
1. The utility model provides a man-machine tower climbing device in coordination which characterized in that: the device comprises a climbing frame, an anti-falling mechanism and a pulling plate;
the climbing frame comprises an upper falling protector, a lower falling protector and a connecting plate, wherein the two falling protectors are assembled on the falling prevention track in an upper and lower way, and the outer sides of the falling protectors are connected through the connecting plate;
the anti-falling mechanism comprises an anti-falling seat and an anti-falling claw, the anti-falling seat comprises a chute and an anti-falling groove, the bottom surface of the anti-falling groove is communicated with the top surface of the chute, the anti-falling seat is arranged outside the anti-falling track by the chute and positioned between the upper anti-falling device and the lower anti-falling device, the anti-falling seat is connected with the upper anti-falling device by a telescopic component, the anti-falling claw is hinged in the anti-falling groove and can relatively rotate around a hinge shaft so as to be locked or separated with the anti-falling track, and the top;
the arm-tie includes initiative section and driven section, and the stay cord is connected outward at initiative section top, the middle part links to each other with last safety hook, the bottom links to each other with driven section, and the bottom of driven section links to each other with even board.
2. The cooperative man-machine tower climbing apparatus as recited in claim 1, further comprising: the anti-falling seat is a C-shaped seat and comprises a closed top plate, a bottom plate and a side plate; the closed top plate is an I-shaped plate, a through groove is arranged in the middle of the closed top plate and serves as an anti-falling groove, and a pair of ear plates are respectively arranged on two sides of the anti-falling groove and used for mounting the anti-falling clamping jaws; the bottom plates are C-shaped plates, a pair of bottom plates are oppositely arranged with the openings thereof facing outwards, and a space is reserved between the two bottom plates; the two ends of the side plate are protruded outwards to be used for installing the side pulleys.
3. The cooperative man-machine tower-climbing apparatus according to claim 2, wherein: the anti-falling clamping jaw is an arc-shaped jaw, a spring hanging lug is arranged outside the top end of the anti-falling clamping jaw, friction teeth locked with the anti-falling rail are arranged at the bottom end of the anti-falling clamping jaw, and a through hole is formed in the middle of the anti-falling clamping jaw and used for being hinged with the lug plate.
4. The cooperative man-machine tower-climbing apparatus according to claim 3, wherein: the upper falling protector, the lower falling protector and the falling protection mechanism have the same structure and are connected with the connecting plate through the side walls.
5. The cooperative man-machine tower-climbing apparatus according to claim 4, wherein: the connecting plates are strip-shaped plates, the centers of the connecting plates in the length direction are provided with outward-protruding limiting grooves, mounting holes are formed in the groove walls, through holes are formed in the two ends of the groove walls, and the upper falling protector and the lower falling protector are connected to the through holes through pin shafts and located between the two connecting plates.
6. The cooperative man-machine tower climbing apparatus as recited in claim 1, further comprising: even be equipped with the supporter outside the board, the supporter includes horizon bar and bracing, and the one end of horizon bar is connected outside the connecting rod top, the other end links to each other with the top of bracing, and the bottom of bracing links to each other with even board bottom.
7. The cooperative man-machine tower-climbing apparatus according to claim 4, wherein: the driving section is a rectangular plate, and a round hole is formed in the top end of the driving section and used for installing a pull rope; the driven section is a door-shaped plate, and through holes are formed in two open ends of the driven section; the bottom end of the driving section is fixedly connected with the width direction center of the driven section; the side wall of the driven section of the pulling plate is attached to the connecting plate limiting groove and connected with the connecting piece penetrating through the mounting hole and the through hole.
8. The cooperative man-machine tower-climbing apparatus according to claim 7, wherein: the middle part of the connecting plate is connected with the anti-falling claw of the upper anti-falling device through a telescopic component.
9. The cooperative man-machine tower-climbing apparatus according to claim 8, wherein: the telescopic member is a spring.
10. A man-machine cooperative tower climbing method, which is performed by using the device of any one of claims 1 to 9 as a tool, and comprises the following steps:
the method comprises the following steps of firstly, checking the installation condition of an anti-falling track and determining whether the robot operation is satisfied;
step two, the tower climbing device with the manned chair installed is installed outside the anti-falling track;
thirdly, connecting a protection rope outside the anti-falling claw of the lower anti-falling device;
pulling the pull rope to enable the tower climbing device to ascend to a certain position and lock;
step five, performing an impact test on the robot, and after the robot is qualified, enabling an operator to enter the manned chair and connect the protection rope;
step six, the ground operating personnel manually control the stay cord to start climbing the tower, and the climbing of the tower is divided into the following two actions:
1) firstly, the pulling plate is pulled down to the anti-falling mechanism, the driven section presses the anti-falling claw to be locked with the anti-falling track, the climbing frame continues to be pulled down, the climbing frame moves upwards by taking the anti-falling mechanism as a fulcrum, when the climbing frame moves to the highest point, the anti-falling claw of the upper anti-falling device tilts under the action of the spring and is locked with the anti-falling track, and the anti-falling claw of the lower anti-falling device tilts under the pressing of the pulling plate and is locked with the anti-;
2) then, the ground electrician loosens the rope, the spring pulls the pulling plate to an initial angle, the anti-falling claw in the anti-falling mechanism is pressed down by contact, the anti-falling mechanism is in a contact locking state, and the anti-falling mechanism is pulled and lifted by the spring to complete a tower climbing action;
and step seven, repeating the step six to finish the climbing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537085.2A CN111614019B (en) | 2020-06-12 | 2020-06-12 | Man-machine cooperative climbing tower device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537085.2A CN111614019B (en) | 2020-06-12 | 2020-06-12 | Man-machine cooperative climbing tower device and method |
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| CN111614019A true CN111614019A (en) | 2020-09-01 |
| CN111614019B CN111614019B (en) | 2024-09-20 |
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| CN113895536A (en) * | 2021-11-18 | 2022-01-07 | 国网湖南省电力有限公司 | Bionic tower-climbing robot |
| CN114050500A (en) * | 2021-11-01 | 2022-02-15 | 国网辽宁省电力有限公司丹东供电公司 | Power transmission line is along preventing weighing down track tower climbing manned chair |
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| DE202005011338U1 (en) * | 2005-07-15 | 2006-11-23 | Christian Dalloz Holding Deutschland Gmbh & Co. Kg | Catch device is part of climbing protection system for preventing user from falling from ladder, platform has connecting element connected to detent pawl |
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|---|---|---|---|---|
| CN114050500A (en) * | 2021-11-01 | 2022-02-15 | 国网辽宁省电力有限公司丹东供电公司 | Power transmission line is along preventing weighing down track tower climbing manned chair |
| CN114050500B (en) * | 2021-11-01 | 2023-08-08 | 国网辽宁省电力有限公司丹东供电公司 | Power transmission line climbing tower manned chair along anti-falling track |
| CN113895536A (en) * | 2021-11-18 | 2022-01-07 | 国网湖南省电力有限公司 | Bionic tower-climbing robot |
| WO2023087795A1 (en) * | 2021-11-18 | 2023-05-25 | 国网湖南省电力有限公司 | Bionic tower climbing robot and tower climbing method thereof |
| US12091111B1 (en) | 2021-11-18 | 2024-09-17 | State Grid Hunan Electric Power Company | Biomimetic tower climbing robot and tower climbing method thereof |
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| CN111614019B (en) | 2024-09-20 |
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