EP0006076B1 - 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
EP0006076B1
EP0006076B1 EP19790810045 EP79810045A EP0006076B1 EP 0006076 B1 EP0006076 B1 EP 0006076B1 EP 19790810045 EP19790810045 EP 19790810045 EP 79810045 A EP79810045 A EP 79810045A EP 0006076 B1 EP0006076 B1 EP 0006076B1
Authority
EP
European Patent Office
Prior art keywords
mast
fork
arm
arms
lift
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.)
Expired
Application number
EP19790810045
Other languages
English (en)
French (fr)
Other versions
EP0006076A1 (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, comprising a chassis on which a cabin is mounted, clamping members to ensure the elevation of the chassis and the cabin, and the locking members for block the elevator at any height along the mast, these members comprising two elements, one of which is rigidly fixed to the chassis and the other is connected to said chassis, so as to be able to move sequentially by translation in the longitudinal direction of the mast.
  • Smooth masts made of hard materials are increasingly used for the transport of electrical energy or telephone connections, or as radio or television antennas, or for lighting and sound systems for large outdoor areas, such as sports grounds, etc.
  • the work of overhaul or installation of the devices supported by these masts implies the presence of a technician who will have to climb along the mast with his tools and his work material. If it is relatively simple to climb along a wooden pole, using special hooks or crampons attached to the shoes, it is not the same with metal poles.
  • the work mentioned above requires the use of elevators with telescopic articulated arms, mounted on a transport vehicle whose acquisition is often costly. In addition, these vehicles are not always available, and, depending on the location of the mast, for example in mountainous or desert regions, access by a heavy vehicle may be difficult or even impossible.
  • British patent n ° 754318 illustrates an elevating mechanism capable of lifting a boat above water by climbing along columns or caissons of given dimensions, comprising a chassis equipped with two devices for blocking the elevating mechanism, one is fixed relative to the chassis and the other mobile, the mobile blocking device being connected to a translation cylinder intended to move it in the longitudinal direction of the column (see in particular the passage going from page 1, line 81, on page 2, line 9).
  • This embodiment has a major drawback due to the fact that the use of two annular elements completely surrounding the column does not allow adaptation of the elevator to various profiles and dimensions of masts.
  • This lifting device is designed to be used in a perfectly defined and invariable context.
  • French patent application No. 1,590,433 describes another type of carriage capable of climbing along a mast, comprising a cabin equipped with a mechanism comprising drive wheels and support wheels which roll along of the mast by driving the cabin.
  • This device does not offer the safety guarantees required for this type of equipment, since the mast-cabin connection is only obtained by wheel grip and by the pressure exerted by a traction cable, the braking force being entirely provided by the drive motor.
  • the invention fills a gap by proposing an autonomous lift which can be easily transported on the ground, handled by the operator under important safety conditions and adapted to all kinds of profiles and dimensions of masts.
  • the elevator according to the invention is characterized in that each of these elements is constituted by a fork which comprises three pneumatic or hydraulic cylinders, to bring them successively into a locking position in which they enclose said mast in three uniformly distributed zones along the peripheral surface of this mast, and in that the elevator is equipped with control members, arranged to sequentially supply the three jacks of one and the other of these forks, the members clamping the upper fork and the locking members of the lower fork successively ensuring the locking function in position of the elevator.
  • 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 the mast, to avoid any accident in the event of failure of the actuating means.
  • the forks 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 chassis 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 solid lines and a low position 35 ', shown in broken lines in FIGS. 1 and 2.
  • the lower fork 36 also consists 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 the axes 42 and 43 integral with the fork 35, or as described in more detail with reference to FIG. 5, autor of 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 by means of a jack 56 fixed to the chassis 33 and whose rod 57 is connected by its free end 58 to 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, capable of actuating the movable arms of the elevator in the event of a failure of the main supply, the valves 66 for distribution of the pressurized fluid, the inlet 67 and the outlet 68 which make it possible to connect the distribution valves 66 to the conduit (not shown) of the main 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 of which 75 cooperates with the bore 72 of the metal part 71, for pivotally fixing the arm 40 in a first position in which the elevator is adapted to climb up 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, a position of the arm 40 is obtained which corresponds at the position of the arm 41 as shown in solid lines in FIG. 6.
  • the pads or suction cups made of elastomeric material 40a and 41a a 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) comprise 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 it to tilt automatically. 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 wheel 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 at the end of the rod 85 of the jack 48, and which is engaged in an oblong slot 86, arranged in the plate 35a, which 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 frame of the elevator, a second block B secured to the fork 35 and a third block C secured to the fork 36.
  • Block A has two quick coupling devices 90 and 91, the first of which, which constitutes the entry into the system, makes the connection with a pump 92 via a filter 93, and the second of which 91 constitutes the output 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 to 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 control.
  • 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 various channels B1 to B7 from the valves for admitting the pressurized fluid to the various 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 located inside the cabin, makes it possible to control the return to zero point of the cyclic switch.
  • 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 first line corresponds to the stop, for which a pulse which lasts from 0.75 to 1 second is generated, which causes the inverter C11 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 the excitation of 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 B6, 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)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (8)

1. Automatische Hebevorrichtung zur Verstellung einer Kabine in Längsrichtung eines Mastes, mit einem Chassis, auf dem eine Kabine, Klemmvorrichtung zum Verstellen der Kabine und des Chassis in Mastlängsrichtung und Sperrvorrichtungen zur Feststellung der Hebelvorrichtung in beliebiger Höhe am Mast vorgesehen sind, wobei die Klemmvorrichtungen und die Sperrvorrichtungen zwei Halteglieder bilden, von denen das ei,ie starr und das andere verstellbar mit dem Chassis verbunden ist, so daß sie bei der Verstellung in Mastlängsrichtung wechselweise verschiebbar sind, dadurch gekennzeichnet, daß jedes der beiden Halteglieder aus einer Gabel (2, 4, 35, 36) besteht, die drei pneumatische oder hydraulische Stelltriebe (19, 19', 47, 48, 49) aufweist, die in ihrer Blockierstellung den Mast von drei Umfangsseiten umfassen und daß die Hebevorrichtung mit Steuereinrichtungen versehen ist, die die drei Stelltriebe der Hebevorrichtung und der Sperrvorrichtung wechselweise betätigen, wobei die Klemmvorrichtungen der oberen Gabel und die Sperrvorrichtungen der unteren Gabel die Hebevorrichtung wechselweise feststellen.
2. Hebevorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß jede Gabel (35, 36) zwei seitliche Schwenkarme (40, 41) und einen zentralen ausstreckbaren Arm (39) aufweist, und jeder seitliche Schwenkarm (40, 41) ein erstes Schwenklager (71), das mit einer ersten Schwenkstelle (75) auf der jeweiligen Gabel verbindbar ist, und ein zweites Schwenklager (73) besitzt, das mit einer zweiten Schwenkstelle (76) auf dieser Gabel verbindbar ist, wobei das erste Schwenklager gegenüber dem zweiten, und die erste Schwenkstelle gegenüber der zweiten so versetzt sind, daß die Einrichtung der Schwenkarme mittels des ersten Schwenklagers einem ersten, an einen ersten Mastdurchmesserbereich angepaßten Schwenkbereich der Arme entspricht, und die Einrichtung der Schwenkarme mittels des zweiten Schwenklagers einen anderen, an einen zweiten Mastdurchmesserbereich angepaßten Schwenkbereich der Arme entspricht.
3. Hebevorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß das erste Schwenklager (71) an einer Seite und das zweite Schwenklager (73) an der gegenüberliegenden Seite jedes Armes (40,41) vorgesehen sind, so daß der Arm um die eine Schwenkstelle (75) der Gabel schwenkend auf Deckung seines anderen Schwenklagers mit der anderen Schwenkstelle verstellbar ist.
4. Hebevorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß der Hub des zentralen Armes (39) unabhängig vom Mastdurchmesser eine konstante Größe besitzt.
5. Hebevorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß jede Gabel mit einem einzigen Druckflüssigkeitsverteilungsventil ausgerüstet ist, das mit den drei Stelltrieben der Gabel und separat über eine biegsame Versorgungsleitung mit einer Druckflüssigkeitsquelle verbunden ist.
6. Hebevorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die zentrale Steuereinrichtung über einen Betätigungsgriff bedienbar ist, so daß mit ihrer Hilfe die Hebevorrichtung im Sinne des Auf- bzw. Abstieges bzw. Feststellens am Mast steuerbar ist.
7. Hebevorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das Chassis in seinem untersten Teil einen Rollgang (5, 59) mit mindestens eine am Mast angreifende Stützrolle aufweist, die zur Senkrechtstellung der Kabine bei verschiedenen Mastdurchmessern über eine Regeleinrichtung in Radialrichtung des Mastes einstellbar ist.
8. Hebevorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die verstellbare Gabel (4, 35) am Chassis mit Gleitstücken geführt ist.
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
CH593678 1978-05-31
CH5936/78 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 EP0006076A1 (de) 1979-12-12
EP0006076B1 true EP0006076B1 (de) 1984-04-04

Family

ID=25696465

Family Applications (1)

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 (1)

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CN109591906A (zh) * 2019-01-28 2019-04-09 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

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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
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DE4413165A1 (de) * 1994-04-15 1995-10-19 Rexroth Mannesmann Gmbh Hydraulische Hubeinrichtung zum Heben und Senken einer Last
ES2194552B1 (es) * 1999-03-30 2005-03-01 General Elevadores Xxi, S.L. Dispositivo de transporte vertical con mecanismo trepador preferentemente para casas unifamiliares.
GB9929640D0 (en) 1999-12-16 2000-02-09 Tecsec Europ Limited Equippment deployment method and apparatus
FR2900140B1 (fr) * 2006-04-24 2008-05-30 Manuel Machado Dispositif de propulsion et de securite ascenseur
JP2010504898A (ja) 2006-09-28 2010-02-18 オーチス エレベータ カンパニー エレベータのローピング用アッセンブリ
RU2458845C2 (ru) * 2006-09-28 2012-08-20 Отис Элевейтэ Кампэни Устройство ручного регулирования вертикального перемещения протяженного элемента
DE102006050900A1 (de) * 2006-10-28 2008-04-30 Ed. Züblin Ag Transportable Vorrichtung und Verfahren zur Errichtung von Offshore-Windenergieanlagen
AT510921B1 (de) * 2010-12-29 2013-10-15 Mertl Daniel Vorrichtung zur Beförderung von Lasten oder Personen
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
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
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
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
CN113511280B (zh) * 2021-07-05 2022-11-29 中国矿业大学 一种钢丝绳攀爬机器人

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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

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Publication number Priority date Publication date Assignee Title
CN109591906A (zh) * 2019-01-28 2019-04-09 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

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Publication number Publication date
EP0006076A1 (de) 1979-12-12
AT371950B (de) 1983-08-10
DE2966868D1 (en) 1984-05-10
ATA389279A (de) 1982-12-15

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