CN114709642A - Holding pole device - Google Patents

Holding pole device Download PDF

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Publication number
CN114709642A
CN114709642A CN202210627270.XA CN202210627270A CN114709642A CN 114709642 A CN114709642 A CN 114709642A CN 202210627270 A CN202210627270 A CN 202210627270A CN 114709642 A CN114709642 A CN 114709642A
Authority
CN
China
Prior art keywords
pole
hanging
clasping
base frame
driving
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.)
Granted
Application number
CN202210627270.XA
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Chinese (zh)
Other versions
CN114709642B (en
Inventor
李正强
刘益军
彭永健
黄国平
林学明
彭涛
郭国伟
谭嘉
何锐熙
苏健祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Power Supply Bureau of Guangdong Power Grid Corp
Original Assignee
Foshan Power Supply Bureau of Guangdong Power Grid Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Foshan Power Supply Bureau of Guangdong Power Grid Corp filed Critical Foshan Power Supply Bureau of Guangdong Power Grid Corp
Priority to CN202210627270.XA priority Critical patent/CN114709642B/en
Publication of CN114709642A publication Critical patent/CN114709642A/en
Application granted granted Critical
Publication of CN114709642B publication Critical patent/CN114709642B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R11/00Individual connecting elements providing two or more spaced connecting locations for conductive members which are, or may be, thereby interconnected, e.g. end pieces for wires or cables supported by the wire or cable and having means for facilitating electrical connection to some other wire, terminal, or conductive member, blocks of binding posts
    • H01R11/11End pieces or tapping pieces for wires, supported by the wire and for facilitating electrical connection to some other wire, terminal or conductive member
    • H01R11/12End pieces terminating in an eye, hook, or fork
    • H01R11/14End pieces terminating in an eye, hook, or fork the hook being adapted for hanging on overhead or other suspended lines, e.g. hot line clamp
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01RELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors

Abstract

The application discloses embrace pole device includes: the support component, the holding component and the hanging component; the hug closely subassembly includes: the base frame, the holding driving assembly and the two hoops are arranged on the base frame; the base frame is arranged on the supporting component; the two anchor ears are oppositely arranged and can be movably arranged on the base frame along the horizontal direction; the clasping driving component is in transmission connection with the two hoops and is used for driving the two hoops to approach or depart from each other; the hanging component comprises: tightly hanging the driver and the hook; the hook is rotatably arranged on the base frame along the vertical direction and is positioned above the clasping component; the hanging driver is arranged on the base frame and is in transmission connection with the hook for driving the hook to rotate. The electric pole can be held tightly by the two hoops of the holding component; through hanging the couple of tight subassembly, can articulate the cross arm on the pole, realize all being connected with the pole is firm along vertical direction and horizontal direction to for the hitching rod provides stable support, reduce the degree of rocking that articulates the in-process hitching rod.

Description

Holding pole device
Technical Field
The application relates to the technical field of power transmission and distribution operation tools, in particular to a pole holding device.
Background
In the field of power transmission and distribution, according to the operation and maintenance conditions of power transmission equipment, the equipment operation and maintenance management often needs to perform power failure maintenance on a line. The grounding wire clamp is used as a safety device which can prevent operators from being damaged by sudden power supply or induced voltage in the power failure maintenance process of a high-voltage line, and mainly plays a role in discharging residual charges of the power failure maintenance line. The grounding wire clamp is hung before the line power failure maintenance operation starts, and all operators withdraw wires after the operation is finished and then remove the wires. The installation and the removal of the temporary grounding wire clamp are steps required in the power-off maintenance operation of the line. At present, the mode of installing the ground wire clamp is mostly that the hanging rod is lifted by hands of an operator to be hung, and the mode of lifting the hanging rod by hands is easy to shake, so that inconvenience is brought to operation.
Disclosure of Invention
In view of this, the present application provides a pole embracing device for solve the problem that the lower inconvenient hanging operation that leads to of hanging rod stability in the existing ground clamp hanging mode.
In order to achieve the above technical object, the present application provides a pole embracing device, comprising: the support component, the holding component and the hanging component;
the hug closely subassembly includes: the base frame, the holding driving assembly and the two hoops are arranged on the base frame;
the pedestal is arranged on the support component;
the two hoops are oppositely arranged and can be movably arranged on the base frame along the horizontal direction;
the clasping driving assembly is in transmission connection with the two hoops and is used for driving the two hoops to approach or depart from each other;
the hitch assembly includes: tightly hanging the driver and the hook;
the hook is rotatably arranged on the base frame in the vertical direction and is positioned above the clasping component;
the hanging driver is arranged on the base frame, is in transmission connection with the hook and is used for driving the hook to rotate.
Further, the holding component comprises two holding components which are arranged on the supporting component at intervals.
Furthermore, the supporting component comprises a telescopic rod and a fixed seat;
the telescopic rod is arranged on the fixed seat;
the two clasping assemblies are respectively arranged on the telescopic rod and the fixed seat.
Further, the enclasping driving assembly further comprises: the driving mechanism comprises a holding driver, a holding driving gear, a first driven gear and a second driven gear;
the first driven gear and the second driven gear are respectively and fixedly connected with the two hoops;
the clasping driver is arranged on the base frame and is positioned between the two hoops;
the holding driving gear is fixedly connected with the output end of the holding driver and is in meshed connection with the first driven gear and the second driven gear.
Further, the hoop comprises two panels which are aligned in the vertical direction and are arranged at intervals;
the two panels are fixedly connected through a plurality of supporting rods.
Furthermore, the number of the enclasping driving gears, the number of the first driven gears and the number of the second driven gears are two;
the two enclasping driving gears are arranged on the upper side and the lower side of the enclasping driver;
the two first driven gears are distributed at intervals up and down;
the two second driven gears are distributed at intervals up and down.
Furthermore, the base frame comprises two outer plates, two inner plates and a plurality of base frame support rods;
the two outer plates are aligned in the vertical direction and are arranged at intervals;
the two inner plates are aligned and arranged at intervals along the vertical direction and are positioned between the two outer plates;
the pedestal support rod penetrates through the two inner plates and is fixedly connected with the two inner plates, and two ends of the pedestal support rod are respectively fixedly connected with the two outer plates;
a power chamber is formed between the two inner plates;
two linkage chambers are formed between the two inner plates and the two outer plates;
the holding driver is arranged in the power chamber;
the two holding driving gears are respectively arranged in the two linkage chambers;
the two first driven gears are respectively arranged in the two linkage chambers;
the two second driven gears are respectively arranged in the two linkage chambers.
Further, the hook comprises two hooks, and the two hooks are symmetrically arranged relative to the hanging driver.
Further, the hitch assembly further comprises: the hanging driving gear and the hanging driven gear;
the hanging driven gear is fixedly connected with the hook;
and the hanging driving gear is fixedly connected with the output end of the hanging driver and is meshed with the hanging driven gear.
Further, a climbing assembly is also included;
the support assembly is arranged on the climbing assembly;
the climbing assembly is used for driving the supporting assembly to climb along the electric pole.
It can be seen from above technical scheme that this application provides a pole embracing device, includes: the support component, the holding component and the hanging component; the hug closely subassembly includes: the base frame, the holding driving assembly and the two hoops are arranged on the base frame; the pedestal is arranged on the supporting component; the two hoops are oppositely arranged and can be movably arranged on the base frame along the horizontal direction; the clasping driving assembly is in transmission connection with the two hoops and is used for driving the two hoops to approach or depart from each other; the hitch assembly includes: tightly hanging the driver and the hook; the hook is rotatably arranged on the base frame in the vertical direction and is positioned above the clasping component; the hanging driver is arranged on the base frame, is in transmission connection with the hook and is used for driving the hook to rotate. The electric pole can be held tightly by the two hoops of the holding component; through hanging the couple of tight subassembly, can articulate the cross arm on the pole, realize all being connected with the pole is firm along vertical direction and horizontal direction to for the hitching rod provides stable support, reduce the degree of rocking that articulates the in-process hitching rod.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic overall structural diagram of a pole embracing device according to an embodiment of the present disclosure;
fig. 2 is a schematic mounting diagram of a pole embracing device according to an embodiment of the present disclosure;
FIG. 3 is a side view of a pole embracing device according to an embodiment of the present application;
figure 4 is an exploded view of a support assembly of a pole embracing device according to an embodiment of the present application;
figure 5 is a side view of a pole clasping assembly of a pole clasping device as provided by an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection claimed herein.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood as specific cases by those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present application provides a pole embracing device, including: a supporting component 21, a holding component 22 and a hanging component 23; a clasping assembly 22 comprising: the base frame 221, the clasping driving component 222 and the two hoops 223; the base frame 221 is arranged on the support assembly 21; the two anchor ears 223 are oppositely arranged and movably arranged on the base frame 221 along the horizontal direction; the clasping driving assembly 222 is in transmission connection with the two hoops 223 and is used for driving the two hoops 223 to approach or depart from each other. The hitch assembly 23 includes: a hitch driver 232 and a hook 235; the hook 235 is rotatably arranged on the base frame 221 along the vertical direction and is positioned above the clasping assembly 22; the hanging driver 232 is disposed on the base frame 221, and is in transmission connection with the hook 235 for driving the hook 235 to rotate.
Specifically, referring to fig. 2, the clasping assembly 22 is used for horizontally securing the pole 100 via the anchor ear 223; hang tight subassembly 23 through couple 235 from the fixed cross arm 200 of hanging on the pole 100 of fastening in vertical direction, realize from horizontal direction and vertical direction in pole 100 fixed connection, for the hitching rod 400 that supporting component 21 connects provides stable support, reduce the degree of rocking of hitching rod 400 at the in-process of hanging.
It should be noted that the two clasping assemblies 22 are arranged on the supporting assembly 21 in an up-and-down spaced manner, so as to form a three-point fixing with the clasping assembly 23, and provide a stable support for the hitching rod 400.
The clasping driving assembly 22 may be two rotating electric machines or two linear electric machines, and the two hoops 223 are respectively controlled by transmission to realize the control of the opposite movement of the two hoops 223.
In this embodiment, the clasping drive assembly 22 further comprises: a clasping driver 2221, a clasping driving gear 2222, a first driven gear 2223 and a second driven gear 2224; the first driven gear 2223 and the second driven gear 2224 are fixedly connected with the two hoops 223 respectively; the clasping driver 2221 is arranged on the base frame 221 and is positioned between the two hoops 223; the clasping driving gear 2222 is fixedly connected with the output end of the clasping driver 2221, and is meshed with the first driven gear 2223 and the second driven gear 2224.
Specifically, the clasping driver 2221 can drive the first driven gear 2223 and the second driven gear 2224 to rotate in opposite directions, so as to drive the two hoops 223 to open and close.
As a further improvement, please refer to fig. 3, in the embodiment, the supporting component 21 includes an expansion link 212 and a fixing base 211; the expansion link 212 is disposed on the fixing base 211; the two clasping assemblies 22 can be respectively arranged on the telescopic rod 212 and the fixed seat 211.
Specifically, the telescopic rod 212 can be extended and retracted in the vertical direction; wherein, can set up the flexible driving motor of the flexible of drive telescopic link 212 on the fixing base 211 to can open and shut the flexible function of realizing climbing along pole 100 from top to bottom along two in turn of embracing tight subassembly 22 that cooperates telescopic link 212.
Further, referring to fig. 4, in order to increase the stability of the overall structure and the reliability of the pole 100, the hoop 223 in this embodiment adopts a double-layer structure, which includes two panels 2231 aligned in the vertical direction and spaced apart from each other; the two panels 2231 are fixedly connected by a plurality of support rods 2232.
Correspondingly, there are two holding driving gears 2222, two first driven gears 2223, and two second driven gears 2224; the two clasping driving gears 2222 are arranged on the upper and lower sides of the clasping driver 2221; the two first driven gears 2223 are vertically spaced; the two second driven gears 2224 are vertically spaced apart.
Further, referring to fig. 5, the base frame 221 includes two outer plates 2211, two inner plates 2212, and a plurality of base frame struts 2213; the two outer plates 2211 are aligned in the vertical direction and arranged at intervals; the two inner plates 2212 are aligned and spaced apart in the vertical direction and are positioned between the two outer plates 2211; the pedestal 221 brace penetrates through the two inner plates 2212 and is fixedly connected with the two inner plates 2212, and two ends of the pedestal are respectively fixedly connected with the two outer plates 2211; a power chamber 221a is formed between the two inner plates 2212; two linkage chambers 221b are formed between the two inner plates 2212 and the two outer plates 2211; the clasping driver 2221 is provided in the power compartment 221 a; the two clasping driving gears 2222 are respectively arranged in the two linkage chambers 221 b; two first driven gears 2223 are provided in the two interlocking chambers 221b, respectively; the two second driven gears 2224 are provided in the two interlocking chambers 221b, respectively.
Specifically, the two inner plates 2212 divide the base frame 221 into a power chamber 221a and two linking chambers 221b, ensuring that the transmission parts do not interfere with each other.
Further, the hooks 235 are two and symmetrically disposed with respect to the hooking driver 232, so that the cross arm 200 can be hooked more stably.
Further, referring to fig. 1, the fastening assembly 23 further includes: a fastening driving gear 233 and a fastening driven gear 234; the hanging driven gear 234 is fixedly connected with a hook 235; the fastening driving gear 233 is fixedly connected to an output end of the fastening driver 234, and is engaged with the fastening driven gear 233.
Also for the stability and reliability of the movement, the second driving gear 233 and the third driven gear 234 respectively have two and are symmetrically arranged along the central plane of the hook 235.
Further, referring to fig. 2, in the present embodiment, a climbing assembly 3 is further included; the support assembly 21 is arranged on the climbing assembly 3; the climbing assembly 3 is used to bring the support assembly 21 to climb along the pole 100.
In particular, the climbing assembly 3 may be a roller, gear or track or the like that can climb the pole 100 decoration; furthermore, the climbing module 3 may be provided on the lifting bar 1. The overall length of the lifting pole 1 is greater than or equal to the height of the pole 100. The lifting rod 1 can be arranged in a segmented mode and comprises a plurality of segments, a stud extends out of the upper end of each segment of the rod, a threaded hole is formed in the lower end of each segment of the rod, and the stud can be in threaded fit with the threaded hole. The multi-section branch rods are sequentially connected end to end. The climbing assembly 3 can climb along the lifting rod 1 to lift the supporting assembly 21 to the upper end of the electric pole 100. The lifting rod 1 can be made of high-strength plastic, such as glass fiber reinforced plastic (fiber reinforced plastic), PE, and the like, and has the characteristics of light weight and high strength. When the lifting rod 1 is not needed to be used, the multi-section branch rods can be separated and then stored. The length of each branch rod can be 1-1.8 m, and the operation personnel can conveniently select connection or separation on the ground in sequence.
Although the present invention has been described in detail with reference to the examples, it will be apparent to those skilled in the art that modifications, equivalents, improvements and the like can be made on the technical solutions described in the foregoing examples or on partial technical features of the technical solutions.

Claims (10)

1. A pole embracing device, comprising: the support component, the holding component and the hanging component;
the hugging assembly comprises: the base frame, the holding driving assembly and the two hoops are arranged on the base frame;
the pedestal is arranged on the supporting component;
the two hoops are oppositely arranged and can be movably arranged on the base frame along the horizontal direction;
the clasping driving assembly is in transmission connection with the two hoops and is used for driving the two hoops to approach or depart from each other;
the hitch assembly includes: tightly hanging the driver and the hook;
the hook is rotatably arranged on the base frame along a vertical surface and is positioned above the clasping assembly;
the hanging driver is arranged on the base frame, is in transmission connection with the hook and is used for driving the hook to rotate.
2. The pole clasping apparatus of claim 1 wherein the pole clasping assembly comprises two pole clasping assemblies and is disposed on the support assembly in an up-down spaced apart arrangement.
3. A pole embracing apparatus according to claim 2, wherein the support assembly comprises a telescoping pole and a fixed base;
the telescopic rod is arranged on the fixed seat;
the two clasping assemblies are respectively arranged on the telescopic rod and the fixed seat.
4. The pole clasping device of claim 1, wherein the clasping drive assembly further comprises: the driving mechanism comprises a holding driver, a holding driving gear, a first driven gear and a second driven gear;
the first driven gear and the second driven gear are respectively and fixedly connected with the two hoops;
the clasping driver is arranged on the base frame and is positioned between the two hoops;
the holding driving gear is fixedly connected with the output end of the holding driver, and the holding driving gear is meshed with the first driven gear and the second driven gear.
5. A pole embracing apparatus according to claim 4, wherein the hoop comprises two panels vertically aligned and spaced apart;
the two panels are fixedly connected through a plurality of supporting rods.
6. The pole clasping device of claim 5, wherein there are two of the clasping drive gear, the first driven gear and the second driven gear;
the two enclasping driving gears are arranged on the upper side and the lower side of the enclasping driver;
the two first driven gears are distributed at intervals up and down;
the two second driven gears are distributed at intervals up and down.
7. The pole embracing apparatus of claim 6, wherein the base frame comprises two outer plates, two inner plates and a plurality of base frame struts;
the two outer plates are aligned in the vertical direction and are arranged at intervals;
the two inner plates are aligned and arranged at intervals along the vertical direction and are positioned between the two outer plates;
the pedestal support rod penetrates through the two inner plates and is fixedly connected with the two inner plates, and two ends of the pedestal support rod are respectively fixedly connected with the two outer plates;
a power chamber is formed between the two inner plates;
two linkage chambers are formed between the two inner plates and the two outer plates;
the holding driver is arranged in the power chamber;
the two holding driving gears are respectively arranged in the two linkage chambers;
the two first driven gears are respectively arranged in the two linkage chambers;
the two second driven gears are respectively arranged in the two linkage chambers.
8. A pole embracing device according to claim 1, wherein the hanger comprises two hooks and is symmetrically disposed with respect to the tightening actuator.
9. The pole embracing apparatus of claim 1, wherein the hitch assembly further comprises: the hanging driving gear and the hanging driven gear;
the hanging driven gear is fixedly connected with the hook;
and the hanging driving gear is fixedly connected with the output end of the hanging driver and is meshed with the hanging driven gear.
10. The pole embracing apparatus of claim 1, further comprising a climbing assembly;
the support assembly is arranged on the climbing assembly;
the climbing assembly is used for driving the supporting assembly to climb along the electric pole.
CN202210627270.XA 2022-06-06 2022-06-06 Holding pole device Active CN114709642B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210627270.XA CN114709642B (en) 2022-06-06 2022-06-06 Holding pole device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210627270.XA CN114709642B (en) 2022-06-06 2022-06-06 Holding pole device

Publications (2)

Publication Number Publication Date
CN114709642A true CN114709642A (en) 2022-07-05
CN114709642B CN114709642B (en) 2022-08-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210627270.XA Active CN114709642B (en) 2022-06-06 2022-06-06 Holding pole device

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN208337024U (en) * 2018-06-13 2019-01-04 国网江西省电力有限公司南昌供电分公司 Independently step on the manned insulated working bucket of bar
CN209335640U (en) * 2019-01-17 2019-09-03 北京信知行数码科技有限公司 Composite fixture
CN111689180A (en) * 2019-03-14 2020-09-22 神讯电脑(昆山)有限公司 Automatic holding rack
CN214776231U (en) * 2021-05-25 2021-11-19 大连交通大学 Pole-climbing cleaning robot
CN113991520A (en) * 2021-11-10 2022-01-28 广东电网有限责任公司 Pole climbing device based on multiple holding part
CN114006305A (en) * 2021-11-10 2022-02-01 广东电网有限责任公司 Power distribution network operation robot and working method thereof
CN114006299A (en) * 2021-11-10 2022-02-01 广东电网有限责任公司 Pole climbing device
CN216092138U (en) * 2021-09-16 2022-03-22 河北亨科电气科技有限公司 Wire pole staple bolt hoisting device
CN114261457A (en) * 2022-01-10 2022-04-01 武汉轻工大学 Tree climbing robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN208337024U (en) * 2018-06-13 2019-01-04 国网江西省电力有限公司南昌供电分公司 Independently step on the manned insulated working bucket of bar
CN209335640U (en) * 2019-01-17 2019-09-03 北京信知行数码科技有限公司 Composite fixture
CN111689180A (en) * 2019-03-14 2020-09-22 神讯电脑(昆山)有限公司 Automatic holding rack
CN214776231U (en) * 2021-05-25 2021-11-19 大连交通大学 Pole-climbing cleaning robot
CN216092138U (en) * 2021-09-16 2022-03-22 河北亨科电气科技有限公司 Wire pole staple bolt hoisting device
CN113991520A (en) * 2021-11-10 2022-01-28 广东电网有限责任公司 Pole climbing device based on multiple holding part
CN114006305A (en) * 2021-11-10 2022-02-01 广东电网有限责任公司 Power distribution network operation robot and working method thereof
CN114006299A (en) * 2021-11-10 2022-02-01 广东电网有限责任公司 Pole climbing device
CN114261457A (en) * 2022-01-10 2022-04-01 武汉轻工大学 Tree climbing robot

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