EP0006076A1 - Hebegerät mit freibeweglichem Korb zum Erklettern eines Mastes - Google Patents

Hebegerät mit freibeweglichem Korb zum Erklettern eines Mastes Download PDF

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Publication number
EP0006076A1
EP0006076A1 EP19790810045 EP79810045A EP0006076A1 EP 0006076 A1 EP0006076 A1 EP 0006076A1 EP 19790810045 EP19790810045 EP 19790810045 EP 79810045 A EP79810045 A EP 79810045A EP 0006076 A1 EP0006076 A1 EP 0006076A1
Authority
EP
European Patent Office
Prior art keywords
mast
fork
elevator according
forks
arms
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
EP19790810045
Other languages
English (en)
French (fr)
Other versions
EP0006076B1 (de
Inventor
Jean-Marc Broussoux
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.)
ISOTUBE SA
Original Assignee
ISOTUBE SA
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
Priority claimed from CH488279A external-priority patent/CH630809A5/fr
Application filed by ISOTUBE SA filed Critical ISOTUBE SA
Publication of EP0006076A1 publication Critical patent/EP0006076A1/de
Application granted granted Critical
Publication of EP0006076B1 publication Critical patent/EP0006076B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/02—Kinds or types of lifts in, or associated with, buildings or other structures actuated mechanically otherwise than by rope or cable

Definitions

  • the present invention relates to an autonomous cabin elevator for climbing along a mast.
  • the elevator according to the invention is. characterized in that it comprises a chassis on which are mounted a cabin and two forks fitted with clamping members for locking the elevator at any height along the mast, one of the forks being rigidly fixed to the chassis and the other fork being connected to said chassis, so as to be able to move sequentially by translation in the longitudinal direction of the mast, in that the clamping members of each of the forks comprise three jacks actuated by a pressurized fluid to bring them into a posi-.
  • each of the forks comprise a mechanical locking device with manual control
  • the movable fork is connected to a translation jack, arranged to move it sequentially along the mast.
  • this elevator comprises three extendable arms articulated on each of the forks and each equipped with a jack controlled separately.
  • each of the jacks is fitted with a pressure fluid intake valve or hydraulic valve, which complicates the device and makes it more expensive to manufacture.
  • the arms are arranged so that the mast is self-centered relative to the branches of the fork, which requires adjusting the position of the undercarriage of the elevator, according to each diameter of mast. Therefore, the undercarriage must be adjustable in position, this position having to be modified each time the operator works on a mast of different diameter.
  • the invention provides an elevator where the three actuating cylinders of the three arms of the same fork have only one hydraulic locking valve and on which the undercarriage can be fixedly mounted on the chassis, the distance between the peripheral surface of the mast and the hollow of the fork being constant regardless of the diameter of this mast.
  • the elevator represented by the figures comprises the chassis 1 of the cabin 7 carrying the two forks 2 and 4.
  • the fork 2 is rigidly fixed on the chassis 1.
  • the fork 4 is mounted on slides 3, which allows the move aside, then bring it closer to the fixed fork 2, by means of the jack 8 ..
  • Each of the forks 2 and 4 is respectively provided with clamping members 9 and 9 'actuated by jacks 19 and 19'.
  • the points of support of the clamping members on the mast may consist of suction cups, rubber or synthetic pads, plates with metal studs or electromagnets, depending on the material with which the mast 13 is realised.
  • the chassis 1 of the cabin 7 is provided, at its lower part, with a running gear 6 comprising a concave roller 5 which rests on the mast 13, an adjustment device 12 making it possible to adjust the position of this roller radially relative to the mast 13, in order to maintain the cabin in its vertical position, whatever the shape and thickness of the mast.
  • the movements of the jacks 8, 9 and 9 ' are coordinated by a sequential automatic central control device 10, a lever 11 allowing either to block the cabin 7 in the desired position, or to make it go up or down along the mast.
  • the elevator To climb along a mast, the elevator is supported on the mast 13 or on a support which is juxtaposed to it.
  • the jack 8 spreads the forks 2 and 4, the clamps 9 'are closed, the clamps 9 are open and the jack 8 raises the cabin 7 by resting on the fork 4 and the clamps 9'; then, the clamps 9 close, the clamps 9 'open and the jack 8 raises the fork 4 and its clamps 9'.
  • the cycle begins again. It will be stopped or reversed at will by lever 11.
  • a locking prevents the simultaneous opening of the clamping members 9 and 9 'of the two forks 2 and 4.
  • the clamping members 9, 9' are provided with springs working in the direction of tightening of the mast. to avoid any accident in the event of failure of the actuating means.
  • the pits 2 and 4 with their clamping members * 9, respectively 9 ', are interchangeable to ensure their maintenance and to adapt more particularly to various kinds of masts. The same goes for the undercarriage.
  • the elevation view of FIG. 3 and the front and top views of FIGS. 4 and 5 represent the elevator designated by the general reference 31 engaged on a mast 32, the peripheral surface of which is smooth.
  • the elevator 31 essentially comprises a frame 33 carrying the cabin 34 and two forks 35 and 36.
  • the upper fork 35 consists of two parallel flat plates 35a and 35b, the front and rear edges of which are in the form of a circular arc and which are mounted on a transverse part 35c (see fig. 5), the ends of which are respectively taken in two lateral rails 37 and 38 having a U-shaped profile.
  • This assembly allows, as will be described in more detail below, to the upper fork 35 to move between a high position shown in lines full and a low position 35 ′, shown in broken lines in FIGS. 1 and 2.
  • the lower fork 36 is. also made up of two parallel flat plates 36a and 36b, but it is rigidly fixed to the rails 37 and 38 which also constitute the front vertical uprights of the chassis 33.
  • the upper fork 35 comprises a central arm 39, the end of which is equipped with a suction cup made of an elastomeric material 39a, and two lateral arms 40 and 41, provided at their free end respectively with two suction cups made of an elastomeric material 40a and 41a.
  • the lower fork 36 comprises a central arm equipped with an end suction cup and two lateral arms also carrying, at their free end, a suction cup made of elastomeric material, the central arm and the lateral arms of the lower fork being identical in all respects to those of the upper fork.
  • the lateral arms 40 and 41 are pivotable respectively around axes 42 and 43 integral with the fork 35, or as described in more detail with reference to FIG. 4, around two axes 44 and 45, closer to each other, in order to allow these arms to grip masts of smaller diameters.
  • the fork 35 carries at its upper part a valve 46 shown diagrammatically, called a safety valve, which serves as a valve for distributing the fluid under pressure.
  • the valve 46 in fact supplies three hydraulic (or pneumatic) cylinders 47, 48 and 49 which respectively ensure the movements of the lateral arms 40 and 41 and of the central arm 39.
  • the fork 35 also carries the control device 50 for opening and closing the safety valve 46.
  • the fork 36 carries a safety valve 51 and its control device 52, which supplies three hydraulic (or pneumatic) cylinders 53, 54 and 55, acting respectively on the two arms side and the central arm mounted on the fork 36.
  • the longitudinal displacement of the fork 35 along the rails 37 and 38 and in the longitudinal direction of the mast 32, is effected pa: by means of a jack 56 fixed to the frame 33 and whose rod 57 is connected by its free end 58 at the fork 35.
  • the elevator 31 comprises a running gear essentially consisting of a roller 59, the peripheral surface of which has a V-shaped cross section, mounted on a fixed axis 60 integral with the end of a support 61 rigidly fixed to the frame 33.
  • the shape of the roller 59 is adapted to allow the elevator to roll vertically along the mast 32.
  • the elevator further comprises two wheels 62 and 63, respectively mounted on two supports 62a and 63a rotatable about a vertical axis.
  • the chassis 33 carries a certain number of elements used for controlling and driving the moving parts.
  • a control unit 64 a reservoir of pressurized fluid 65 which makes it possible to accumulate a reserve of pressurized fluid, above. capable of actuating the movable arms of the elevator in the event of a failure of the main supply, the valves 66 for distributing the pressurized fluid, the inlet 67 and the outlet 68 which allow the distribution valves 66 to be connected to the conduit (not shown) of the main power supply.
  • the fork 35 also carries, at its upper part, two mechanical locking devices 69 and 70 which allow the arms 40 and 41 to be manually and independently locked in their working position.
  • These devices can be arranged in any way, for example in the form of sliding locks with mechanical locking.
  • Figure 6 shows in more detail the fork 35 and the various elements which are mounted on it.
  • the upper plate 35a and the lower plate 35b delimit a space inside which are housed on the one hand the jacks 47 and 48 acting respectively on the lateral arms 40 and 41 and on the other hand, the jack 49 acting on the arm central 39.
  • the arm 40 comprises, on its inner face, a metal part 71 comprising a central bore 72 and an identical metal part 73, comprising a central bore 74 fixed along its outer edge.
  • the fork 35 has two offset openings 75 and 76, the first tooth 75 cooperates with the bore 72 of the metal part 71, to pivotally fix the arm 40 in a first position in which the elevator is adapted to climb to masts with large diameters, such as masts 32a and 32b shown in the figure.
  • the arm 40 is turned over so as to bring the metal piece 73 between the two plates 35a and 35b of the fork 35, the bore 74 being located opposite the opening 76, one obtains a position of the arm 40 which corresponds to the position of the arm 41 as shown in solid lines in FIG. 4.
  • the pads or suction cups made of elastomeric material 40a and 4la will be successively in the positions illustrated in the figure.
  • the pivot axis of the arm 41 can be brought successively to the two positions indicated by the references 77 and 78.
  • the actuator 47 and the actuator 48 (not shown) have an inner piston (not shown) which is extended by an outer rod 79 terminated by a rounded part 80 which rests on the inner side of the arm 40 and causes its tilting around its pivot axis.
  • the upper plate 35a is not cut and supports the locking device 69 preferably consisting of a metal piece 81 welded to the plate 35a and comprising a threaded central bore, in which engages a threaded rod 82 terminated by a thumbwheel 83.
  • the end piece 84 which corresponds to the rounded part 80 and which has the same shape and the same function as it, is preferably constituted by a cylindrical element fixed to the end of the rod 85 of the jack 48, 'and which is engaged in an oblong slot 86, arranged in the plate 35a, that it protrudes sufficiently to come into contact with the end of the threaded rod 82, when the latter is moved in the block 81 by turning the thumbwheel 83.
  • the arms 40 and 41 are also shown in FIG. 6 in their open position, in which they are shown in dotted lines and bear the references 40 'and 41'.
  • the hydraulic control circuit essentially comprises three separate blocks: a first block A mounted on the lift frame, a second block B secured to the fork 35 and a third block C secured to the fork 36.
  • the block A has two quick coupling devices 90 and 91, the first of which, which constitutes the inlet to the system, makes the connection with a pump 92 via a filter 93, and the second of which 91 constitutes the outlet of the system .
  • Block A also includes a two-way valve 94 called B6 and B7, a control pressure gauge 95, a reserve accumulator 96 containing a pressurized fluid (designated by the reference 65 in Figs.
  • a limiter pressure valve 97 intended to protect the accumulator 96 by limiting the pressure to 120 bars, a relief valve 98 to a channel called B1 and a pressure limiter 99 which limits the pressure brought into the valve 98 at a value less than or equal to 100 bars.
  • the block B located on the fork 35 includes a two-way valve 100 called B2 and B3 which communicate with the central distribution valve 101, via an exhaust valve 102 controlled.
  • the distribution valve 101 supplies the lateral jacks 103 and 104, as well as the central jack 105.
  • the block C includes a two-way valve 106 called B4 and B5, connected by means of a controlled exhaust valve 107 with a central distribution valve 108 which supplies the side jacks 109 and 110, thus than the central arm cylinder 111.
  • the movable fork 35 is moved by the jack 112 supplied by the valve 94.
  • the control pressure gauge 95 is preferably located inside the cabin, on the control panel and near the control lever (not represented).
  • Fig. 8 represents, in a schematic form, the electrical control circuit of the various active elements of the elevator.
  • Block D contains all the elements located in the cabin and includes a general contactor 120, the climb control switch 121 and the descent control switch 122.
  • the other components are all mounted either in the control box placed under the cabin, or on the forks. They essentially comprise an electric motor 123 which drives a battery of cyclic contactors C1 to C11, which sequentially controls the different channels B1 to B7 from the valves for admitting the pressurized fluid to the different control jacks illustrated in FIG. 7.
  • Two control switches 124 and 125 allow the pivotable arms to be controlled independently at the end of an operation.
  • An indicator light 126 placed inside the cabin, makes it possible to control the return to zero point of the cyclic contactor.
  • Fig. 9 illustrates the control sequences during a complete cycle of the device, that is to say during a complete rotation of the cam driven by the motor 123.
  • the time is given in seconds and l 'we see that a complete cycle lasts ten seconds.
  • Each operation is determined by a given time abscissa, which corresponds to an angle of the control cam, the complete cycle corresponding to a rotation of 360 °.
  • the pulses are carried, the first line corresponds to the stop, for which a pulse which lasts from 0.75 to 1 second is generated, which causes the inverter Cll acting on the electromagnet B1 to close.
  • the tilting of the inverter C11 generates the closing of the two clamps constituted by the two forks and their corresponding central and lateral arms.
  • the closing of the clamp 1 is represented by the following line with the switch C1 closed and the electromagnet B2 excited.
  • the opening of the clamp 1, represented by the line 4 is obtained by the closing of the switch 2 and the excitation of the electromagnet B3.
  • Closure of the clamp 2 illustrated by line 5 is obtained by closing the contact C3 and energizing the electromagnet B4.
  • the opening of the clamp 2 represented by the line 6 is obtained by the closing of the contact C4 and the excitation of the electromagnet B5.
  • the opening of the vertical position cylinder, responsible for the movement of the movable clamp, is obtained by closing the contact C5 and energizing the electromagnet 66, the closing of the position valve is obtained by closing the contact C6 and the excitation of the electromagnet B7.
  • Lines 3 to 6 correspond to the rise of the elevator. For the descent, the same sequences are observed with closing of the contacts C7, C8, C9 and C10, which correspond to the excitation of the electromagnets B2, B3, B4 and B5.
  • the operations are of course carried out in the same way, that is to say that the two clamps successively grip the mast, and the positioning jack sequentially brings the sequenced momentarily loosened clamp away from that which momentarily retains the 'elevator.
  • the central arms of the two forks have a constant stroke independent of the size of the mast. This allows, on the one hand, to exert maximum thrust on the cylinder acting on the central arm and on the other hand, to eliminate all the problems of adjustment and positioning of the undercarriage.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP19790810045 1978-05-31 1979-05-30 Hebegerät mit freibeweglichem Korb zum Erklettern eines Mastes Expired EP0006076B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CH5936/78 1978-05-31
CH593678 1978-05-31
CH4882/79 1979-05-25
CH488279A CH630809A5 (en) 1979-05-25 1979-05-25 Elevator with autonomous cab for climbing along a mast

Publications (2)

Publication Number Publication Date
EP0006076A1 true EP0006076A1 (de) 1979-12-12
EP0006076B1 EP0006076B1 (de) 1984-04-04

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Application Number Title Priority Date Filing Date
EP19790810045 Expired EP0006076B1 (de) 1978-05-31 1979-05-30 Hebegerät mit freibeweglichem Korb zum Erklettern eines Mastes

Country Status (3)

Country Link
EP (1) EP0006076B1 (de)
AT (1) AT371950B (de)
DE (1) DE2966868D1 (de)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2150913A (en) * 1983-08-09 1985-07-10 Hugh Kane Self propelled carriage
WO1992004269A1 (en) * 1990-08-31 1992-03-19 Guy Vandal Pole climbing robot
EP0542168A1 (de) * 1991-11-15 1993-05-19 Alce Garden S.r.l. Fahrzeug mit Selbstantrieb zum Klettern längs mastförmiger Elemente wie Baumstämme, Pfähle und dergleichen
DE4413165A1 (de) * 1994-04-15 1995-10-19 Rexroth Mannesmann Gmbh Hydraulische Hubeinrichtung zum Heben und Senken einer Last
EP1110903A1 (de) * 1999-12-16 2001-06-27 TecSec Europe Limited Verfahren und Vorrichtung zum Anbringen eines Gerätes
ES2194552A1 (es) * 1999-03-30 2003-11-16 Gen Elevadores Xxi S L Dispositivo de transporte vertical con mecanismo trepador preferentemente para casas unifamiliares.
FR2900140A1 (fr) * 2006-04-24 2007-10-26 Manuel Machado Dispositif de propulsion et de securite ascenseur
WO2008039199A1 (en) * 2006-09-28 2008-04-03 Otis Elevator Company Assembly for roping an elevator
WO2012089760A1 (de) * 2010-12-29 2012-07-05 Daniel Mertl Beförderungsmittel für lasten oder personen
RU2458845C2 (ru) * 2006-09-28 2012-08-20 Отис Элевейтэ Кампэни Устройство ручного регулирования вертикального перемещения протяженного элемента
CN106586914A (zh) * 2017-02-24 2017-04-26 黄启东 爬杆升降器
CN108868089A (zh) * 2018-07-17 2018-11-23 李秀英 一种钢结构施工平台
CN111228756A (zh) * 2020-02-21 2020-06-05 晁志兵 一种承载式电力维修攀爬装置的工作方法
CN112265946A (zh) * 2020-11-04 2021-01-26 国网河北省电力有限公司邢台市任泽区供电分公司 一种野外电力检修用电杆攀爬装置
CN112316389A (zh) * 2020-10-15 2021-02-05 南京舟前扬商贸有限公司 一种方便通信塔检修用攀爬后下降的装置
CN112864955A (zh) * 2021-04-13 2021-05-28 合肥工业大学 一种空间桁架通信线缆的穿线装置
CN112909827A (zh) * 2021-04-15 2021-06-04 云南电网有限责任公司电力科学研究院 一种不改线跨塔的输电线路巡检机器人及跨塔方法
CN113511280A (zh) * 2021-07-05 2021-10-19 中国矿业大学 一种钢丝绳攀爬机器人

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006050900A1 (de) * 2006-10-28 2008-04-30 Ed. Züblin Ag Transportable Vorrichtung und Verfahren zur Errichtung von Offshore-Windenergieanlagen
CN109591906B (zh) * 2019-01-28 2021-05-04 山东建筑大学 一种输电杆塔攀爬机器人控制系统及控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB754318A (en) * 1954-09-10 1956-08-08 United States Steel Corp Means for exerting longitudinal thrust on a column, caisson or the like
FR1326450A (fr) * 1962-03-26 1963-05-10 Appareil élévateur
FR1358500A (fr) * 1963-03-04 1964-04-17 Appareil destiné à déplacer des personnes ou des charges de toute nature
DE1295780B (de) * 1967-04-17 1969-05-22 Loeoeck Willi Steiggeraet fuer Masten, Baeume und Schornsteine
FR1590433A (de) * 1968-10-31 1970-04-13

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB754318A (en) * 1954-09-10 1956-08-08 United States Steel Corp Means for exerting longitudinal thrust on a column, caisson or the like
FR1326450A (fr) * 1962-03-26 1963-05-10 Appareil élévateur
FR1358500A (fr) * 1963-03-04 1964-04-17 Appareil destiné à déplacer des personnes ou des charges de toute nature
DE1295780B (de) * 1967-04-17 1969-05-22 Loeoeck Willi Steiggeraet fuer Masten, Baeume und Schornsteine
FR1590433A (de) * 1968-10-31 1970-04-13

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2150913A (en) * 1983-08-09 1985-07-10 Hugh Kane Self propelled carriage
WO1992004269A1 (en) * 1990-08-31 1992-03-19 Guy Vandal Pole climbing robot
EP0542168A1 (de) * 1991-11-15 1993-05-19 Alce Garden S.r.l. Fahrzeug mit Selbstantrieb zum Klettern längs mastförmiger Elemente wie Baumstämme, Pfähle und dergleichen
US5351783A (en) * 1991-11-15 1994-10-04 Alcegarden S.R.L. Self-propelled vehicle for climbing along pole-shaped elements, such as tree trunks, poles and the like
DE4413165A1 (de) * 1994-04-15 1995-10-19 Rexroth Mannesmann Gmbh Hydraulische Hubeinrichtung zum Heben und Senken einer Last
ES2194552A1 (es) * 1999-03-30 2003-11-16 Gen Elevadores Xxi S L Dispositivo de transporte vertical con mecanismo trepador preferentemente para casas unifamiliares.
EP1110903A1 (de) * 1999-12-16 2001-06-27 TecSec Europe Limited Verfahren und Vorrichtung zum Anbringen eines Gerätes
US6868598B2 (en) 1999-12-16 2005-03-22 Tecsec Europe Limited Equipment deployment method and apparatus
FR2900140A1 (fr) * 2006-04-24 2007-10-26 Manuel Machado Dispositif de propulsion et de securite ascenseur
WO2007125188A1 (fr) * 2006-04-24 2007-11-08 Manuel Machado Dispositif de propulsion et de securite ascenseur
RU2458845C2 (ru) * 2006-09-28 2012-08-20 Отис Элевейтэ Кампэни Устройство ручного регулирования вертикального перемещения протяженного элемента
US10364128B2 (en) 2006-09-28 2019-07-30 Otis Elevator Company Method of installing a vertically extending member in an elevator system
GB2455683B (en) * 2006-09-28 2011-09-21 Otis Elevator Co Assembly for roping an elevator
GB2455683A (en) * 2006-09-28 2009-06-24 Otis Elevator Co Assembly for roping an elevator
WO2008039199A1 (en) * 2006-09-28 2008-04-03 Otis Elevator Company Assembly for roping an elevator
US9604823B2 (en) 2006-09-28 2017-03-28 Otis Elevator Company Assembly for roping an elevator
WO2012089760A1 (de) * 2010-12-29 2012-07-05 Daniel Mertl Beförderungsmittel für lasten oder personen
CN106586914A (zh) * 2017-02-24 2017-04-26 黄启东 爬杆升降器
CN106586914B (zh) * 2017-02-24 2019-03-12 黄启东 爬杆升降器
CN108868089A (zh) * 2018-07-17 2018-11-23 李秀英 一种钢结构施工平台
CN111228756A (zh) * 2020-02-21 2020-06-05 晁志兵 一种承载式电力维修攀爬装置的工作方法
CN111228756B (zh) * 2020-02-21 2021-12-14 山东亿博光电科技有限公司 一种承载式电力维修攀爬装置的工作方法
CN112316389A (zh) * 2020-10-15 2021-02-05 南京舟前扬商贸有限公司 一种方便通信塔检修用攀爬后下降的装置
CN112265946A (zh) * 2020-11-04 2021-01-26 国网河北省电力有限公司邢台市任泽区供电分公司 一种野外电力检修用电杆攀爬装置
CN112864955A (zh) * 2021-04-13 2021-05-28 合肥工业大学 一种空间桁架通信线缆的穿线装置
CN112864955B (zh) * 2021-04-13 2022-12-23 合肥工业大学 一种空间桁架通信线缆的穿线装置
CN112909827A (zh) * 2021-04-15 2021-06-04 云南电网有限责任公司电力科学研究院 一种不改线跨塔的输电线路巡检机器人及跨塔方法
CN112909827B (zh) * 2021-04-15 2022-06-07 云南电网有限责任公司电力科学研究院 一种不改线跨塔的输电线路巡检机器人及跨塔方法
CN113511280A (zh) * 2021-07-05 2021-10-19 中国矿业大学 一种钢丝绳攀爬机器人

Also Published As

Publication number Publication date
DE2966868D1 (en) 1984-05-10
AT371950B (de) 1983-08-10
ATA389279A (de) 1982-12-15
EP0006076B1 (de) 1984-04-04

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