US 12,081,009 B2
Autonomous cable lasher comprising an onboard torque compensation mechanism
Guillaume Bouchard, Alma (CA)
Assigned to ELECTRO SAGUENAY LTÉE, Alma (CA)
Filed by ELECTRO SAGUENAY LTÉE, Alma (CA)
Filed on Mar. 9, 2021, as Appl. No. 17/196,304.
Prior Publication US 2022/0294202 A1, Sep. 15, 2022
Int. Cl. H02G 7/10 (2006.01)
CPC H02G 7/10 (2013.01) 16 Claims
OG exemplary drawing
 
1. An autonomous cable lasher for winding a first lashing wire around a number of cables to attach the cables to each other, comprising:
a carriage defining a longitudinal axis, the carriage for riding at least one of the cables in
a direction that is generally aligned with the longitudinal axis, comprising:
a carriage frame;
a drive mechanism carried by the carriage frame, for autonomously driving the carriage frame along the at least one of the cables;
a power source for powering the drive mechanism; and
a drive controller that controls the drive mechanism;
a lashing apparatus comprising:
a lashing apparatus frame rotatably mounted to the carriage frame and rotatable about the longitudinal axis relative to the carriage frame;
a first magazine carried by the lashing apparatus frame, for carrying a reserve of the first lashing wire therein; and
a first dispenser carried by the lashing apparatus frame, for dispending the first lashing wire from the first magazine about the cables in a helical winding pattern as the cable lasher moves along the longitudinal axis and the lashing apparatus frame rotates, to attach the cables to each other;
a channel for receiving the cables, about which the carriage frame and the lashing apparatus frame are disposed and extending along the longitudinal axis;
a lashing apparatus actuator that rotates the lashing apparatus frame relative to the carriage frame when the cable lasher moves along the longitudinal axis; and
an onboard torque compensation mechanism acting on the carriage frame to apply a force that counters a lashing wire torque applied on the carriage frame through the lashing apparatus by the first lashing wire being wound about the cables, wherein the onboard torque compensation mechanism prevents the carriage from rotating around the cables.