apparatuses

Field of the Invention

The present invention falls within the field of cable and conduit installation and relates to the design of the cable clamp and the series of apparatuses for its installation.

Background of the Invention

A number of solutions are known for the installation of fiber optic cables in a sewer network, for example, the JPH05272664 file describes the embodiment of cable fixation in pipes by means of pre-locked horseshoe-shaped holders made of flat material and fixed along the pipe walls with the open portion facing down. These holders are held against the wall of the pipe only by the force of their pre-tensioning and are set into the pipe by inverted T-shaped segments detachably secured by means of locks to the holders on the ends of their arms, which pull the horseshoe shape to a diameter smaller than the diameter of the pipe and which are connected with a pull cord. Upon delivery of the holders to the designated location in the pipe, the T-segments are disconnected from the holders by pulling them out in one direction using the pull cord. The mounting method of the brackets is very complex and the reliability of their attachment to a particular location is very problematic, among other things due to the apparently weak expansion force of the brackets given only by the pre-tension of the material used. Another embodiment of a fastener, by means of which the optical cables can be held in the waste pipe, is known, for example, from the EP953162 file. This fastening element consists of a pre-tensioned stainless steel ring which presses against the inner wall of the waste pipe and which is transported and fixed to the designated location by a remote-controlled robot. However, this solution cannot be used for pipes smaller than 200 mm in diameter. The EP1271728 file describes a similar fastener but made of elastically expandable thermoplastic material which is stretched using hot water or steam. The amount of the pressing force holding the fastener in the appropriate place is questionable, further, this design considerably reduces the inner diameter of the pipe, and the dismantling thereof, or re-installation of the cables is virtually impossible. A similar embodiment of cable attachment system is described in the JP2002250849, JPH06339216 and GB2345388 files, where cable attachment is performed by special foam either at the top or bottom of the pipe. These solutions are unsuitable for small pipe diameters, because they greatly reduce its usable diameter, and in these cases, the addition of another cable or its uninstallation or reinstallation is very problematic, since the foam coating must first be removed and only then can these operations be performed, which basically means a completely new installation. Another possible solution described in the JPH10110464 document is the use of a special pipe with a built-in integrated bracket created at the production stage. However, such a solution is usable and feasible only when setting up new buildings with a newly laid pipeline network and is therefore unusable for existing conventional pipelines installed previously. Cable laying solutions are also known to be performed by attaching special fasteners to the inner wall of the pipe by drilling, which can result in disrupting the integrity of pipe material and risk of pipe damage or rupture. The DE19825325 file introduces a solution for laying optical cables by means of a longitudinally folded hose made of fabric or gel material, with optical cables attached to its outer surface. The hose material is impregnated with a thermosetting or UV curing resin. After insertion into the pipe, the hose is stretched and pressed against the inner surface of the pipe by compressed air and subsequently cured by heat or UV radiation. Any revision of the placement of the fiber optic cables, their exchange or addition of another cable is impossible. The resistance of the material of the inserted hose against mechanical or chemical influences given by the internal environment of the waste pipe is also questionable. The EP0936479 document describes a clamp, which has a clamping fixture based on a flat coiled clip band with transverse slots, which is anchored in a clamp at one end, then encircles the inner surface of the pipe and the other end is again inserted into the clamp with a clamping closure furnished with a releasable latching element. The clamping closure is equipped with spring acting through its mechanism on the clamping band expansively, whereby the clamp is affixed around the inner wall of the pipe. However, this solution is intended for pipes with a diameter of 200 mm and larger, also with respect to the dimensions of the clamping closure, which considerably reduces the pipe diameter, this is also due to the positioning of the springs above the clamping band and, furthermore, due to the installation concept described in EP0978743, feasible only in straight sections of backbone routes of waste pipeline systems. Further examples of robots for installing fiber optic cable fasteners in waste pipes are described, for example, in the JP2000350322 and JP2002095120 documents. A common feature of these solutions is that they can only be used in the main line of waste pipes with pipe diameter ranging from 200 to 800 mm, which, in bends and in straight sections, have inspection shafts built at regular intervals. The installation of the fastening elements is carried out by placing the service car over the shaft, the operator descending and inserting the installation robot it into the pipe; the robot then transporting clamps or other fasteners to the installation site, however only in straight sections of the pipeline. Due to high construction demands on robots used for installations of cable fasteners, there is currently no known way to facilitate optical cable installations in the end branches of waste pipelines, where the terminal house connections have the diameter of 150 mm and the bends have 90° angles. The robots usually weight over 100 kg with overall length of 1500 mm, therefore inserting the robot into working position entails inserting the individual parts of the robot into the pipe and there assembling them into one unit. This process places high demands on both the time and the skills of technicians.

The goal of the presented invention is to introduce a pipe cable ring clamp and a series of pipe cable ring clamp installation apparatuses for installing optical cable to terminal sewer connections of less than 200 mm in diameter with 90 ° bend angles, even in places that are not accessible by sewer shafts.

Summary of the Invention

The object is achieved by an invention, which is a pipe cable ring clamp comprising of a coiled flat clip band provided with transverse slots on which at least one cable holder is affixed and which consists of an outer coil, an inner coil, and a band lock in which the clip band is fastened, where the inner coil of the clip band is slidably mounted in the band lock body and the band lock contains compression springs coupled with the inner coil of the clip band. The essence of the invention is that the springs are mounted in a band lock along the edges of the clip band outside the contour of its perpendicular projection into the cylindrical surface of the conduit, while the push springs are coupled to the inner coil of the clip band by a movable member installed in the band lock, where the movable member, at the end opposite to the rear wall of the band lock, is equipped with spring stops, which support the springs one end, while the other end is supported by the rear wall of the band lock and where the travel member is coupled to the inner coil of the clip band by means of a pusher tongue mounted in a rocking manner in the movable member; the movable member is adapted to fixate it in the rear position when the springs are compressed and to release it by a latch slidably mounted in the vertical direction in the body of the movable member.

In a preferred embodiment, the cross-section of the band lock has a vertical plane perpendicular to the longitudinal axis of the pipe in the shape of an annular segment, wherein the band lock is provided with an internal cavity in which the movable member is slidably mounted.

Furthermore, it is favorable if the pivotally mounted pusher tongue in the movable member is, at its end facing towards the end of the travel member, provided with spring stops with an upwardly directed barb engaged in one of the transverse slots of the clip band; while the pusher tongue is being pushed upward by the pre-tensioned pusher element mounted in the movable member.

In a further preferred embodiment, the latch is mounted vertically in an open-bottom latch cavity formed in the movable member, wherein a latch spring mounted in the latch cavity also abuts the upper latch surface, wherein a through latch hole is formed in the bottom of the internal cavity, the dimensions of which correspond to the dimensions of the respective latch portion with which they are compatible.

It is a further object of the present invention to provide a series of apparatuses for installing a pipe cable ring clamp which is adapted to move through a pipe comprising a support body and an expander mechanism with a clamp gear, in which individual devices can be coupled to each other in any number of units where the support body of each device is provided with a clamp bed for receiving the clamp lock of the pipe cable ring clamp, wherein the clamp lock is secured on the clamp bed by being clamped between the jaws of the jaw mechanism, where the shape and dimensions of the clamping seat are corresponding to the shapes and dimensions of the clamp lock, and where the launching drive for installing the pipe cable ring clamp in the conduit is mounted under the clamp bed, and a through launch hole with dimensions and position corresponding to the shape and position of the movable member latch is formed in the clamp bed surface of movable member of the pipe cable ring clamp band lock, and the launching drive is provided with a launching pin whose dimensions and location correspond to the dimensions and position of the launching hole, the device being provided with an extending strut mechanism with at least one extending strut.

It is furthermore advantageous if the jaw mechanism of the device is formed by two opposing jaws mounted counter-slidably in an axis parallel to the longitudinal axis of the device, where the jaws abut the front and rear edges of the clamp seat bed, exceding the upper edge thereof, and are coupled with the jaw drive mounted in the supporting body of the apparatus.

In a further preferred embodiment, the supporting body is provided with an undercarriage with which it is coupled to provide movement of the device through the pipe, and which is provided with main movement wheels mounted on wheel shafts of drive motors, which are mounted independently slidably in vertical direction relative to the supporting body; while their vertical movement is controlled by lifting motors.

The present invention achieves a new and higher effectivity in that the pipe cable ring clamp does not overly reduce the lightness of the pipe and is thus also usable in pipes of smaller diameters, is reliable and simple to manufacture and therefore inexpensive due to the small number of components. The installation apparatus is light and easy to operate and is relatively easy to manufacture to custom fit a pipe, even of small diameters, in which it can move easily even in turns and bends.

Brief description of the Drawings

Specific embodiments of the invention are shown schematically in the accompanying drawings wherein:

Fig.1 is an overall left rear upper axonometric view of the pipe cable ring clamp mounted on the installation apparatus;

Fig.2 is a schematic front view of a pipe with the installed pipe cable ring clamp with an optical cable holder attached thereto;

Fig.3 is an overall front bottom perspective view of the pipe cable ring clamp itself with an optical cable holder attached thereto;

Fig.4 is a cross-sectional view of the center of the pipe cable ring clamp lock via a vertical plane perpendicular to the longitudinal axis of the installation apparatus;

Fig.5 is an overall axonometric top view of the pipe cable ring clamp lock;

Fig.6 is a schematic side view of a mobile robot assembly with links formed by the pipe cable ring clamp installation apparatuses with pipe cable ring clamps loaded thereon;

Fig.7 is a separate front left view of the apparatus supporting body,

Fig.8 is a separate right front view of the apparatus supporting body,

Fig.9 is a separate right rear view of the apparatus supporting body,

Fig.10 is a separate lower right rear view of the apparatus supporting body,

Fig.11 is a top front left view of the apparatus supporting body with the jaw mechanism detail and the strut mechanism;

Fig.12 is an exploded right rear view of the pipe cable ring clamp installation apparatus;

Fig.13 is a schematic front view of a pipe with the apparatus carrying the pipe cable ring clamp with the extending struts retracted;

Fig.14 is a schematic rear view of a pipe with the apparatus carrying the pipe cable ring clamp, with the extending struts extended, the band lock pressed against the pipe wall, and the clip band in a contracted position.

The drawings illustrating the present invention and the following examples of a particular embodiment do not in any way limit the scope of protection defined in the definition, but merely illustrate the invention.

Examples of Preferred Embodiments

The pipe cable ring clamp 1 as pictured in Fig. 1 is attached to the apparatus 2 for its installation. In the basic embodiment shown in Figs. 2 and 3, the pipe cable ring clamp 1 is formed by a coiled clip band H and a strap lock 12, in the body of which the clip band 11 is fixed by the end of its outer coil 112, the inner coil 1_13 of the clip band H is slidably mounted in the strap lock 12 body. The clip band 1_1 is provided with regular transverse slots HI in regular intervals. The cross-section of the strap lock 12 is a vertical plane perpendicular to the longitudinal axis of the apparatus 2, in the form of an annular segment, where the radius of its outer curvature corresponds to the inner radius of the pipe 5 in which the pipe cable ring clamp 1 is to be installed. The strap lock 12 shown in Figs. 4 and 5 is formed by the lock body 121 provided with the inner cavity 122 which is open towards the lock face 123 over its entire cross-section and is closed by the rear lock wall 125 from the lock rear 124. through which a strap slot 126 is formed, connecting the inner cavity 122 with the outside. The width of the strap slot 126 corresponds to the width of the clip band 11, the inner coil of which is extended through the strap slot 126. In the inner cavity 122. is slidably mounted the movable member 127 which is provided with spring grooves 128 on both its longitudinal edges, these are terminated by spring stops 129 towards the locking face 123. The movable member 127 is provided with a strap recess 130 along the entire length of its upper surface, wherein the inner coil H3 of the clip band H which with its upper surface abuts the upper wall of the inner cavity 122. In the strap recess 130 area, in the movable member 127, there is the top-open tongue cavity 131. which is connected to the bottom-open anchoring cavity 132 by the tongue passage 1312 formed in its inclined rear cavity wall 1311. In the tongue cavity 131 there is a pusher tongue 133 with the longitudinal cross-ection of the inverted reclining letter L, whose longer, toward the lock face 123 oriented forward arm 1331 is terminated with an upward pointed prong 1332 and the shorter downwardly directed anchoring arm 1333 is after passing through the tongue passage 1312 seated in the anchoring cavity 132. whereby the pusher tongue 133 is pivotally mounted in the tongue passage 1312. The pre-tensioned pusher element 134. which is located at the bottom of the tongue cavity 131. abuts the forward arm 1331 from below. The movable member 127 is further provided with a bottom-open latch cavity 137, wherein the latch 135 with the cross- section of a wide letter T is slidably mounted in a vertical direction, to the upper surface thereof the latch spring 136 is also adjacent, supported from the other side by the top end of the latch cavity 137. In the center of the bottom of the inner cavity 122. an open guiding groove 1221 is formed longitudinally to the lock face 123, the width of which corresponds to the width of the latch 135 foot, the depth of the guiding groove 1221 is less than the height of the latch 135 foot. The guide groove 1221 at the end thereof is opposed to the lock face 123 is terminated by the latch foot hole 1222 formed in the bottom of the inner cavity 122, wherein the dimensions of the latch hole 1222 correspond to the dimensions of the latch 135 foot with which they are compatible. Along with the movable member 127, in their spring grooves 128, in the inner cavity 122, lock springs 139 are seated and supported at one end by the spring stops 129 and the other end by the rear wall 125 of the strap lock 12. A flat strap channel 140 is formed above the inner cavity 122 in the lock body 121 open towards the lock rear 124 and closed in the opposite direction in which the outer coil 112 of the clip band V\_ is anchored. On the outer coil 112 of the clip band H, a cable holder 4 is fastened in the area behind the lock rear 124, and the inner coil 1J3 is seated freely slidably in the cable holder 4.

The clip band H of the pipe cable ring clamp 1 is in the initial state coiled and tightly adjacent the surface of the apparatus 2. The movable member 127 is pushed into its rear position when the lock springs 139 are compressed and the latch 135 foot is pressed by the latch spring 136 into the latch hole 1222, whereby the movable member 127 is fixed in the rear position. The prong 1332 of the pusher tongue 133 is thereby engaged by means of the pusher element 134 in one of the transverse slots HI of the inner coil 113 of the clip band H. and due to the shape of the prong 1332 and the pivotal mounting of the pusher tongue 133, it is possible to move the inner coil H3 of the clip band H out of the inner cavity 122 towards the lock face 123. When the latch 135 is pushed out of the latch hole 1222 from the outside of the lock body 121 into the latch cavity 137, the movable member 127 is released and pushed by the lock springs 139 through the inner cavity 122 toward the lock face 123. By means of the movable member 127, in whose the tongue cavity 131 mounted pusher tongue 133 is engaged by its prong 1332 in the transverse slot 111. the inner coil 133 of the clip band H is then carried outwardly from the inner cavity 122 towards the lock face 123, thereby expanding the clip band H which increases the diameter of its curvature and is thus pressed against the inner diameter of the pipe 5.

The apparatus 2 for the installation of a pipe cable ring clamp 1 in a pipe 5 is a part of the mobile robot 3, which include any number of units formed by the pipe cable ring clamp 1 installation apparatus 2, wherein one pipe cable ring clamp 1 is mounted on each unit of the mobile robot 3. In the preferred embodiment shown in Fig. 6, the mobile robot 3 is composed of at least two coupled units formed by a pipe cable ring clamp 1 installation apparatus 2, the individual units of the mobile robot 3 being coupled via an articulated joint 31 _. . The apparatus 2 depicted in Figs. 1 and 13 comprises a supporting body 21, which in its lower part is supported by an undercarriage 22 with the main movement wheels 2201 and with an extending strut mechanism 23 with extending struts 2301. In its upper part, the supporting body 21 is provided with a jaw mechanism 24 and the expanding mechanism 25 on its left side when viewed from the rear. The supporting body 21 depicted in Figs. 7 to 10 includes a box-shaped central housing 211 , which abut the horizontal longitudinally oriented central tubes 212 located in the longitudinal center axis of the mobile robot 3. The central tubes 212 are terminated by the connecting parts 2121 which are part of the articulated joint 31 and are designed as shaft parts of Cardan joint. The central tubes 212 are open towards the connecting parts 2121 and are provided with longitudinal tube slots 2122 on both sides. In its upper-end portion, the supporting body 21 is closed by a clamp bed 213, with the surface thereof shaped as a rectangular sector of a cylinder shell, whose curve is oriented transversely to the direction of the traveling robot 3. The launching chamber 214 is formed between the clamp bed 213 and the central housing 2V\_, at the rear view in the right half of the supporting body 21, open with its entire internal cross-section in right lateral direction. The launching aperture 2141 is directed from the launching chamber 214 upward into the surface of the clamp bed 213. In the left half of the supporting body 21, the jaw chamber 215 with the inner jaw cavity 2151 is positioned beneath the clamp bed 213 and has a standing cuboid shape, whose rear is open through its entire internal cross-sectional area. In the jaw front wall 2152 of the jaw chamber 215, a circular jaw opening 2153 is formed with a circular segment shape cut-out added at the bottom. In the left side wall of the jaw chamber 215 there is a through round cut-out 2154 of the shape of a standing long rectangle. A cylindrical shaft sleeve 216 is positioned parallel to the longitudinal axis of the supporting body 21 below the clamp bed 213 in the space between the jaw chamber 215 and the launching chamber 214. Lower jaw sleeves 217 are formed in the supporting body 21, in both directions above the central tubes 212, and are designed as horizontally oriented hollow cylinders with one base adjacent to the central housing 211 and which are open through their entire inner cross-section in their directions away from the central housing 211_. At least two pairs of cylindrical upper jaw sleeves 218 are formed in axes parallel to the axes of the lower jaw sleeves 217 in the same direction as the clamp bed 213, and are completely analogous to the lower jaw sleeves 217. The supporting body 21 is provided, in its lower portion below the two central tubes 212, with two horizontal rectangular transversely oriented support platforms 219 which abut against the front and rear vertical walls of the central housing 2V\_, the footprint of which they exceed. Vertically down extending guide rods 220 of circular cross-section are fixed in each corner of the support platforms 219, with their longitudinal axes are parallel to each other. On each support platform 219, a geared guide 221 provided with teeth along the entire length of its two sides adjacent to the guide rods 220, is fixed in the same direction as the guide rods 220 directed and aligned parallel to their longitudinal axes. The two support platforms 219 are provided with two vertical strut apertures 222, each located between the guide rod 220 and the geared guide 221. The supporting body 21 is provided on its left side, viewed from the rear, with a lower clamp casing 223 and an upper clamp casing 224 in the shape of stacked cuboids with a common longitudinal vertical axis lying in the same plane as the vertical axis of the central housing 211. where the two axes form an angle in the range of 10° to 30°; the plane of the two axes being simultaneously perpendicular to the longitudinal horizontal axis of the supporting body 21 The lower clamp casing 223 is located in the central portion thereof, between the support platforms 219 which are adjacent thereto from the front and the rear. The unlabeled inner cavities of the lower clamp casing 223 and the upper clamp casing 224 are interconnected by the piston opening 2231. Rectangular cut-outs are formed in all four side-walls of the upper clamp casing 224 from their upper edges with a cut-out made towards the center of the supporting body 2 with its size and location corresponding to the round cutout 2154 and thereby forming a common through hole. A cuboid-shaped motor housing 225 abuts against the rear wall of the upper clamp casing 224 and partially also the lower clamp casing 223, in its upper part, wherein the motor cavity 2251 is open from above and below. From the side of the upper clamp casing 224, the wall of the motor housing 225 is provided with a rectangular shaft slot 2252 extending from its upper edge, the dimensions and location thereof corresponding to the cut-out provided in the side wall of the upper clamp casing 224 adjacent to the motor housing 225, whereby the inner cavities thereof are linked. On each pair of guide rods 220 mounted on the same support platform 219. a flat, movable in the vertical direction, strut housing 2302 is mounted, provided with vertically through housing cavity 2303, wherein the geared guide 221 is inserted. The two strut housings 2302 are connected to each other by the housing bridge 2304. In the housing cavity 2303. two strut gears 2305 are placed, freely rotating on a horizontal axis parallel to the longitudinal axis of the supporting body 21, so that each of them abuts one side of the geared guide 221. the teeth thereof they engage. To the strut gears 2305. from side opposite to the geared guide 221, abut the geared strut posts 2306. which are inserted vertically in the housing cavity 2303 and which pass through strut apertures 222 above the strut housings 2302. and are connected at their lower ends by extending struts 2301. The horizontal transverse dimension of the housing cavity 2303 is determined by the sum of the corresponding dimensions of the strut posts 2306. the strut gears 2305 and the geared guides 221. A linear strut motor 231 is mounted in the central housing 211 and is coupled by a piston (not shown) to the housing bridge 2304. The jaw mechanism 24 is formed by two opposing jaws 2401 adjacent to the front and rear edges of the clamp bed 213, the upper edge thereof they exceed and the whose curvature their shape copies. The jaws 2401 are mounted by their jaw pins 2402 slidably in opposition to one another in the horizontal longitudinal axis in the upper jaw sleeves 218 and in the lower jaw sleeves 217. The jaw chamber 215 accommodates the jaw drive 2155 which is coupled to the jaws 2401 via the shaft (not shown) mounted jaw pinion 2405 and the jaw front threaded shaft 2404 and the rear threaded shaft 2403. In the lower clamp casing 223 of the expanding mechanism 25 is mounted the lifting drive 2501 , whose lifting piston 2502 passes through the piston opening 2231 into the inner cavity of the upper clamp casing 224, where the gear seat 2503 is slidably in a vertical direction mounted and fixed to the lifting piston 2502. In the gear seat 2503, the clamp gear 2504 is seated freely on the axis parallel to the longitudinal axis of the supporting body 21, the unlabeled teeth of which correspond to the transverse slots 111 of the clip band H The clamp gear 2504 is mounted on a support axis (not shown) of the expansion drive 2505 which is freely, slidably in the vertical direction, mounted in the motor housing 225. The launching drive 2142 is mounted in the launching chamber 214, which is provided with the extendable launching pin 2143 whose dimensions and location on the launching drive 2142 surface correspond to the dimensions and location of the launching aperture 2141. The undercarriage 22 of the apparatus 2 is formed by the main movement wheels 2201 seated on the wheel shafts 2202 of the drive motors 2203 mounted in the wheel housings 2204, which are horizontally slidably mounted in the lateral and lower direction open undercarriage housings 2205 fixed to the unlabeled front vertical surface of the strut housing 2302. The lifting motors 2206 are coupled to the tops of the undercarriage housings 2205, which are coupled to the wheel housings 2204 by means of pistons (not shown) extending in the vertical direction through the undercarriage piston aperture 2207 formed in the tops of the undercarriage housings 2205.

The mobile robot 3 moves on its main movement wheels 2201 through the pipe 5 and the pipe cable ring clamp 1 is supported by its strap lock 12 on the clamp bed 213 of the apparatus 2 so that the position of the latch hole 1222 corresponds to the position of the launching aperture 2141 , the strap lock 12 is on the clamp bed 213 clamped between jaws 2401. At the point designated for attaching the pipe cable ring clamp 1, the mobile robot 3 stops, the apparatus 2 carrying the pipe cable ring clamp 1 by means of the strut motor 231 extends the extending struts 2301. whereby the apparatus 2 is lifted until the strap lock 12 is pressed with its top surface against the inner surface of the pipe 5. Concurrently with the lifting drive 2501. the expansion drive 2505 is activated, which by rotating the clamp gear 2504 pushes the inner coil 113 of the clip band H in whose transverse slots m the teeth of the clamp gear 2504 are engaged, out of the inner cavity 122 towards the lock face 123, thereby increasing the diameter the clip band H until entire outer circumference thereof is pressed to the inner surface of the pipe 5. Next, the launching drive 2142 with its firing pin 2143 passing through the launching aperture 2141 pushes the latch 135 into the inner cavity 122 of the strap lock 12, thereby fixing the pipe cable ring clamp 1 in the pipe 5 and then actuating the jaw drive 2155 to move the jaws 2401 away from the strap lock 12, thereby releasing it. The apparatus 2 then retracts the extending struts 2301 and rests back on the main movement wheels 2201 and the mobile robot 3 continues to move through the pipe 5.

Industrial aolicabilitv

Pipe cable ring clamp and the series of apparatus for its installation are useful in introducing data lines, especially high-speed fiber optic cables, into buildings and homes without the need for excavation using existing waste lines or other available pipelines.

List of reference signs.

Title of the Invention:

Pipe cable ring clamp and the seriesof pipe cable ring clamp installation apparatus pipe cable ring clamp Apparatus

1 clip band

2 strap lock

12 outer coil

13 inner coil

11 transverse slots 21 lock body

22 inner cavity

23 lock face

24 lock rear

25 rear wall

26 strap slot

127 movable member

128 spring grooves

129 spring stops

130 strap recess

131 tongue cavity

1312 tongue passage

1311 rear cavity wall

132 anchoring cavity

133 pusher tongue

1331 forward arm

1332 prong

1333 anchoring arm

134 pusher element

137 latch cavity

135 latch

136 latch spring 1221 guiding groove

1222 latch hole

139 lock springs

140 strap channel

3 mobile robot

31 articulated joint

21 supporting body

22 undercarriage

2201 main movement wheels

23 strut mechanism

2301 extending struts

24 jaw mechanism

25 expanding mechanism

211 central housing

212 central tube

2121 connecting parts

2122 tube slots

213 clamp bed

214 launching chamber

2141 launching aperture

215 jaw chamber

2151 jaw cavity

2152 jaw front wall

2153 jaw opening

2154 round cutout

216 shaft sleeve

217 lower jaw sleeve

218 upper jaw sleeve

219 support platform

220 guide rods

221 geared guide

222 strut aperture

223 lower clamp casing 224 upper clamp casing

2231 piston opening

225 motor housing

2251 motor cavity

2252 shaft slot

2302 strut housing

2303 housing cavity

2304 housing bridge

2305 strut gear

2306 strut posts

231 strut motor

2401 jaws

2402 jaw pins

2155 jaw drive

2405 jaw pinion

2403 rear threaded shaft

2404 jaw front threaded shaft

2501 lifting drive

2502 lifting piston

2503 gear seat

2504 clamp gear

2505 expansion drive

2142 launching drive

2143 launching pin

2202 wheel shafts

2203 drive motor

2204 wheel housings

2205 undercarriage housings

2206 lifting motors

2207 undercarriage piston aperture

4 cable holder

5 pipe