Apparatus for use on a cable; and a system for and method of inspecting a cable
First Claim
1. An apparatus for use on a cable, the apparatus comprising:
- a power module adapted to power the apparatus;
at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other;
a gripper arrangement coupled to each link, the gripper arrangements being adapted for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable;
a control arrangement comprising one or more processors configured at least to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use; and
one or more of inspection, monitoring, and maintenance systems.
1 Assignment
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Accused Products
Abstract
The invention relates to an apparatus for use on a cable, particularly to a power line or cable inspection and/or monitoring apparatus or robot. The apparatus typically comprises a power module to power the apparatus, a pair of links serially coupled via at least one joint, a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable as an end effector, and grip the cable as a base in a serial manipulator fashion; and a control arrangement configured at least to control displacement of the links and the gripper arrangements to grip and/or release the cable. The invention also extends to a method of inspecting and/or monitoring a cable; an inspection and/or monitoring system for inspecting a cable; and to a method of operating an apparatus on an elongate cable to avoid an obstacle.
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Citations
20 Claims
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1. An apparatus for use on a cable, the apparatus comprising:
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a power module adapted to power the apparatus; at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other; a gripper arrangement coupled to each link, the gripper arrangements being adapted for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; a control arrangement comprising one or more processors configured at least to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use; and one or more of inspection, monitoring, and maintenance systems. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An inspection and/or monitoring system for inspecting a cable, the inspection system comprising:
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a database for storing data; and a receiver module configured to receive one or more signals comprising data associated with the cable from at least one apparatus comprising a power module adapted to power the apparatus;
at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other;
a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; and
a control arrangement comprising one or more processors configured to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use.
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20. A method of operating an apparatus on an elongate cable to avoid an obstacle, wherein the apparatus comprises a power module adapted to power the apparatus;
- at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other;
a gripper arrangement coupled to each link for attaching the apparatus to the cable, wherein each gripper arrangement is controllable to grip and/or release the cable; and
a control arrangement comprising one or more processors configured to control displacement of the links and the gripper arrangements to grip and/or release the cable, in use, the method comprising;operating the gripping arrangement of one link of the apparatus to grip the cable such that the same serves as a base; operating the gripping arrangement of the other link of the apparatus to release the cable thereby freeing up the same for spatial displacement as an end effector; and causing displacement of the links relative to each other and/or the base relative to the associated link thereby to move the end effector to a region on the cable, or jumper cable, beyond the obstacle; and causing the end effector to engage and grip the cable, or jumper cable, beyond the obstacle.
- at least one pair of links serially coupled via at least one joint such that the links are displaceable relative to each other;
Specification