NL2006062C2

NL2006062C2 - A cable fastening element and use thereof for fastening of a cable into a tube.

Info

Publication number: NL2006062C2
Application number: NL2006062A
Authority: NL
Inventors: Johannes Gerhardus Spijker; Klaas Alexander Nicolai
Original assignee: Jelcer Ip B V
Priority date: 2011-01-25
Filing date: 2011-01-25
Publication date: 2012-07-30

Description

A cable fastening element and use thereof for fastening of a cable Into a tube

5 FIELD OF THE INVENTION

The invention relates to a cable fastening element for fastening a cable in a tube having at least one wall, comprising a first and a second leg mutually coupled through an axially extending connecting member comprising a cable 10 mounting means, which mutually coupled first and second leg constitute an axially extending wall clamp for clamping the connecting element between a first portion and a second portion of the at least one wall of the tube.

The invention also relates to a method of fastening a 15 cable in a tube having at least one wall by means of at least one cable fastening element, comprising the steps of: providing the cable fastening element comprising a first and a second leg mutually coupled through a connecting member comprising a cable mounting means on a storage 20 facility of a robot; mounting the cable into the cable mounting means; moving the robot and therewith transporting the cable fastening element to an axial position in the tube, and 25 - clamping the cable fastening element between a first portion and a second portion of the at least one wall of the tube, wherein the mutually coupled first and second leg constitute an axially wall clamp

The invention further relates to a tube in which a 30 cable is fastened with fastening elements.

2

BACKGROUND OF THE INVENTION

The unprecedented use of communication equipment and services including internet, television and telecommunication requires the provision of a communication 5 network extending to individual buildings. This communication network is at least largely based on glass fibers or any other such means for high speed communication. In order to extend this network to individual buildings without the need to bury each connection into a dedicated 10 hole in the ground, it is intended to incorporate such communication cables into the sewer and into the soil pipes between the individual buildings and the sewer. Evidently, the communication cable should neither obstruct the flow through the soil pipe or even the sewer, nor should the 15 communication cable move with the flowing slurry and be disconnected. It is therefore required that the cable is fastened to the relevant tube (particularly the sewer or the house pipe) in an appropriate manner. Generally, it is considered that the top side of the tube is most beneficial; 20 since the tube is usually not completely full, this position at the top side will usually be empty. Two major ways of fastening have been proposed: mechanically with a clip or similar element or chemically with adhesive. The chemical fastening method has the inherent issue that the interior 25 wall of the tube must be clean (and typically be cleaned) in order to provide a good connection. The mechanical fastening method has the disadvantage that when a clip is not fastened appropriately or breaks down, it may obstruct the flow through the tube. Still, it is hard to remove such a 30 malfunctioning and obstructing element.

A fastening element of the type described in the opening paragraph is known from DE19813728A1. This patent application effectively proposes two types of mechanical 3 fastening elements. The first type of fastening element is wire-shaped. The connecting member is herein a substantially U-shaped indentation that is part of the wire and that defines the cable mounting means as a clip. The wire-shaped 5 fastening element is made of elastic material, such that it has a tendency that the legs move away from each other, towards the wall. This fastening element has however the major disadvantage that the provision of a groove into the wall of the tube is required in order to fix the cable 10 fastening element appropriately. The provision of such a groove might be possible, but it has the risk of damaging the tube wall, increasing the risk of leakage. Such leakage is clearly undesired. Alternatively, the grooves could be provided between two pipe portions of the tube. This has 15 however the disadvantage that one is not free to make the fix a fastening element at a desired location.

The second type of fastening elements disclosed in DE19813728 is an axially extending fastening element. This second type of fastening element does not require the 20 provision of a groove for appropriate fixing; the axial extension leads to a rigidness that resists swinging over -such swinging over would remove the fastening element from its fixed position and let it flow with the slurry or obstruct the slurry flow.

25 The patent application specifies two major embodiments of this second type of fastening element. The element is made of tin and has an axial extension that is constant along the fastening element in a first embodiment. This first tin-based embodiment however bears still the risk of 30 swinging over. This is particularly the case when the tube comprises one or more curves or even relatively sharp or straight corners.

4

In the second embodiment, the fastening element is made of wires and gets an axial extension, either in the connecting member such as in Fig 7 or at the tips of the legs such as in Fig 8. Both embodiments are herein made of a 5 plurality of wires that are twisted around each other (Fig. 7) or coupled (Fig.8) A disadvantage of this second embodiment is however that its positioning in the tube appears rather difficult if not problematic. Cables are fastened in the tubes with the help of robots. In 10 DE19813728, a plurality of such fastening elements are present in a mobile storage in or attached to the robot. Thereto, DE19813728 describes a robot with a storage provided with a cylindric wall, i.e. a tube in the tube. The storage may further have an internal body as a support for 15 the fastening element. The cylindric storage wall limits the radial extension of the legs and thus ensures that the robot is mobile within the tube. When positioning a single fastening element to an axial position in the tube, the fastening element must get off the storage. The fastening to 20 the storage wall appears effectively rather robust and strong, such that the removal out of the storage appears difficult. Moreover, the tips of adjacent legs may hitch together. In other words, it is not clear that this is a practical solution. It is moreover not clear that this 25 solution would be able to accommodate the cable in curves or around corners. DE19813728 is completely silent thereon and the figures merely shows a robot with a long and straight extension.

There is therefore a need for an improved cable 30 fastening elements that may be fastened to the at least one wall of a tube without running the risk of swinging over, which fastening elements may also be positioned properly, without the need for creating grooves of the like.

5

There is more particularly a need for a cable fastening element that is moreover capable of guiding the cable through curves and around corners, still without running the risk of swinging over. Particularly house pipes, but also 5 the sewer may comprise one or more curves and/or corners. Such curves and/or corners may be present in a house pipe in view of the orientation of the house with respect to the connection point of house pipe and sewer. Moreover, both a sewer and a house pipe may see the need to accommodate 10 differences in height where the terrain is not completely flat.

SUMMARY OF THE INVENTION

15 In accordance with a first aspect of the invention, a cable fastening element is provided for fastening a cable in a tube having at least one wall. The cable fastening element comprises a first and a second leg mutually coupled through an axially extending connecting member comprising an axially 20 extending cable mounting means, which mutually coupled first and second leg constitute an axially extending wall clamp for clamping the connecting element between a first portion and a second portion of the at least one wall of the tube. Herein, the cable fastening element is provided with a 25 transport configuration and a fastening configuration, wherein a distance between tips of the first and second leg in the transport configuration is smaller than in the fastening configuration wherein the mutually coupled legs constitute the wall clamp, wherein at least one of the first 30 and second leg are provided with a fixing member for fixing the legs into a transport configuration such that a radial extension of the cable fastening element is smaller than a diameter of the tube.

6

In accordance with a second aspect of the invention, a method of fastening a cable in a tube having at least one wall by means of at least one cable fastening element is 5 provided, comprising the steps of: - providing the cable fastening element comprising a first and a second leg mutually coupled through an axially extending connecting member comprising a cable mounting means, which cable fastening element is provided in a 10 transport configuration in which a radial extension of the cable fastening element is smaller than a diameter of the tube; - mounting the cable into the cable mounting means, or wiring the cable mounting means to the cable; 15 - transporting the cable fastening element to an axial position in the tube, and - transferring the cable fastening element from its transport configuration into a fastening configuration, in which the mutually coupled first and second leg constitute 20 an axially wall clamp for clamping the connecting element between a first portion and a second portion of the at least one wall of the tube.

In accordance with a third aspect of the invention, a tube comprising at least one wall and an interior in which a 25 cable is fastened to the at least one wall by means of a plurality of cable fastening means, which comprises a first and a second leg mutually coupled through an axially extending connecting member comprising an axially extending cable mounting means, in which the cable is mounted.

30 In accordance with a further aspect, a cable fastening element is provided for fastening a cable in a tube having at least one wall, comprising a first and a second leg mutually coupled through a connecting member comprising a 7 spring, which mutually coupled first and second leg constitute an axially extending wall clamp for clamping the connecting element between a first portion and a second portion of the at least one wall of the tube. Use of this 5 cable fastening element for fastening a cable, and a resulting tube with fastened cable by means of one or more fastening elements are also provided.

In accordance with again a further aspect, a cable fastening element is provided for fastening a cable in a 10 tube having at least one wall, comprising a first and a second leg mutually coupled through a connecting member comprising a plurality of turns suitable for accommodation of a cable, which mutually coupled first and second leg constitute an axially extending wall clamp for clamping the 15 connecting element between a first portion and a second portion of the at least one wall of the tube. Use of this cable fastening element for fastening a cable, and a resulting tube with fastened cable by means of one or more fastening elements are also provided.

20 In accordance with again a further aspect, a method of fastening a cable to at least one wall of a tube comprising at least one curve or corner, is provided using cable fastening elements, wherein a cable fastening element comprising a first and a second leg mutually coupled through 25 an axially extending and bendable connecting member is used for fastening the cable in a curve or around a corner. A tube provided with at least one curve or corner, in which a cable is present that is fastened in a curve or around a corner of the tube with a cable fastening element comprising 30 a first and a second leg mutually coupled through an axially extending and bendable connecting member is furthermore provided. Suitably, the mutually coupled first and second leg constitute an axially extending wall clamp for clamping 8 the connecting element between a first portion and a second portion of the at least one wall of the tube. The connecting member may comprise a spring, for instance a winding with a plurality of turns, and the cable may be accommodated 5 through said turns.

In accordance with again a further aspect of the invention, a method of fastening a cable in a tube having at least one wall by means of at least one cable fastening element is provided, comprising the step of transferring the 10 cable fastening element from its transport configuration into a fastening configuration through deblocking of the first and second leg and a subsequent elastic leg movement, in which fastening configuration the mutually coupled first and second leg constitute an axially wall clamp for clamping 15 the connecting element between a first portion and a second portion of the at least one wall of the tube. Suitably, the method further comprises the steps of: mounting the cable fastening element to the cable at a predefined position, said cable fastening element comprising a first and a second 20 leg mutually coupled through an axially extending connecting member comprising a cable mounting means, at least one of the first and second leg being provided with a fixing member for fixing the legs into a transport configuration such that a radial extension of the cable fastening element is smaller 25 than a diameter of the tube; and inserting the cable into the tube .

In accordance with the present invention, the connecting member extends axially and comprises both a 30 transport configuration and a fastening configuration. It has been understood by the inventors that such construction allows to accommodate curves and corners within a tube. Moreover, a single fastening element may easily be picked 9 and removed from a storage due to its presence in a transport configuration, even in a tube, using a robot.

Different types of transportation and mounting principles have been envisaged by the inventors. In a first 5 type, the cable fastening element is mounted to a predefined axial location along the cable prior to insertion of the cable into the tube. Thereto, the cable mounting means suitably comprise a clamp, so as to keep the cable fastening elements at its intended location along the cable. The first 10 type could also be used for replacement and/or repair, wherein a cable fastening element is brought into the tube after that the cable has been inserted. Due to its axial extension and limited radial extension in the transport configuration, the cable fastening element may pass - in one 15 embodiment - fastening elements that have been brought into the fastening configuration before. In the transport configuration, the first and second legs are rotated with respect to their natural state, resulting in a tendency and force to rotate back, that is counteracted by some blocking 20 means. When removing said blocking means, the force to rotate back to the natural state is inherent. This then brings the fastening element into its fastening configuration.

In a second type, a series of cable fastening elements 25 is mounted to the cable, preferably using a ring-shaped cable mounting means. The cable fastening elements are thereafter provided into the tube using a robot. They are then positioned at a suitable location along the cable. It has been found that the use of a ring as cable mounting 30 means facilitates the mounting on and off the mobile storage of fastening elements. One most suitable implementation of a ring is a winding with a plurality of turns. This winding is then more particularly a spring allowing to bring the 10 fastening element from its transport configuration into its fastening configuration substantially without any force.

In order to keep the legs substantially together in the transport configuration, at least one of the legs is 5 suitably provided with a fixing member. Such a fixing member is suitably a branch to leg, or an extension of the leg in an axial direction. The fixing member is most suitably designed such as to allow a rest position with respect to the other leg. It may be a straight member, comprise any 10 clip or clamp, a hook or similar construction. It is not deemed necessary that the fixing member alone ensures that the fastening element is brought and kept in its transport configuration. The fixing member of the one leg may be releasably connected to the other leg, for instance a fixing 15 member of the other leg. Options for releasable connections are a thin wire or rope that can be cut by the robot, a removable encapsulation, an adhesive connection, and the like .

Preferably, the difference in radial extension between 20 the transport configuration and the fastening configuration is at least 20%, and more preferably at least 30%, relative to the fastening configuration.

In a further implementation, the connecting member comprises an elastic section, said section having a lower 25 rigidity than other portions of the connecting member, and specifically allows bending. In a further implementation hereof, the connecting member may be bendable in a specific predefined direction, e.g. up and downwards or left and right. While the use of elastic portions appears beneficial 30 in view of cost price perspective, such bendable connection could further be made mechanically, for instance by connection of a first and second axis that are arranged 11 axially, in a fashion similar to a knee of a human body as known per se to a skilled person in the art of mechanics.

In one suitable embodiment, the connecting member comprises a spring. This spring will provide the force, or 5 at least the majority of the force, so as to ensure the wall clamping. It is most beneficial if the spring of the connecting member constitutes a single body with both legs. However, alternative embodiments will clearly be apparent to the skilled person.

10 It is deemed beneficial that the construction of the cable fastening means is symmetric, i.e. that the first leg and second leg have the same functionality and may both move with respect to the intermediate connecting member. However, this is not deemed necessary. The first leg may have a 15 relatively constant position with respect to the connecting member, whereas the second leg is (primarily) responsible for the wall clamping effect. In a further embodiment, the spring constant of the first leg with respect to the connecting member is larger than the spring constant of the 20 second leg with respect to the connecting member.

The first and the second leg may be axially displaced. Such a design follows logically from the spring construction, and provides the best elastic force. It is observed for clarity that the axial displacement of the legs 25 is defined at the intersection between legs and connecting member. Though not necessary or nor deemed beneficial, the legs may be bended or even comprise corners, such that the axial displacement at the tips of the legs may be differ from that at the intersection between legs and connecting 30 member. However, alternatively,

Alternatively, the first and the second leg are located at substantially the same axial location. The connecting member thereto suitably comprises one or more - suitably one 12 for each leg - intermediate connectors from the axial ends to the legs. Particularly in combination with a fixing member at the tip of the first and second legs, this has been found to provide good stability in the fastening 5 configuration.

BRIEF INTRODUCTION OF THE FIGURES

These and other aspects of the invention will be further elucidated with reference to the Figure(s), wherein: 10 Fig. 1 shows in a diagrammatical view a cable fastening element in accordance with a first embodiment of the invention, wherein the fastening element is in its transport configuration;

Fig. 2 shows in a diagrammatical view the cable 15 fastening element of Fig.l, wherein the fastening element is in its fastening configuration;

Fig. 3 shows in a diagrammatical view a method of fastening a cable using the cable fastening element in accordance with the invention.

20 Fig. 4 shows in diagrammatical top view the cable fastening element of the invention in a second embodiment Fig. 5A and 5B show in diagrammatical view the cable fastening element of Fig. 4 in the fastening configuration and the transport configuration 25 Fig. 6 shows in diagrammatical view a robot for use in the method of the invention

DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS

The Figures are not drawn to scale and equal reference 30 numerals in different Figures refer to equal or similar elements .

Fig. 1 shows schematically a first embodiment of the cable fastening element 10 in accordance with the invention.

13

The cable fastening element 10 comprises a first leg 11 and a second leg 12 that are mutually coupled over a connection member 15. The first leg 11 and the second leg 12 are mutually displaced over a distance defined by the axially 5 extending connection member 15. This is particularly the case at the intersection between connection member 15 and first and second legs 11, 12.

In this embodiment, the connection member 15 is shaped in the form of a winding with a plurality of turns 14. The 10 interior 13 of the turns 14 constitutes a space in which a cable may be positioned, i.e. the cable mounting means are embodied in this embodiment in the turns 14 of the connection member 15. As a result of the construction, the connection member 15 acts as a spring. In the absence of any 15 countermeasures, it would push the first and second legs 11, 12 outside and away from each other. However, the cable fastening element 10 is provided with fixing members 18, 19, which are in this embodiment coupled to legs 11, 12 so as to extend parallel to each other in opposite directions. In the 20 transport configuration in which the cable fastening element 10 is shown in Fig.l, the fixing members 18, 19 are coupled together, for instance by a wire (not shown). This prevents that the legs move outward.

Fig. 2 shows the cable fastening element 10 in its 25 fastening configuration. Herein, the fixing members 18, 19 are decoupled, and the first and second legs 11, 12 have moved outwardly. In this embodiment, both the first leg 11 and the second leg 12 have moved outwardly and have made a rotation around the axis defined by the connection member 15 30 over a substantially equal angle, though in opposite orientation. This embodiment, though preferred, is not necessary. The design of the legs 11, 12 and the connection member 15 may be such that the first leg 11 moves over a 14 larger angle than the second leg 12 or vice versa. Due to the axial displacement of the first and second legs 11, 12 the cable fastening element 10 attains a robustness against swinging over. The fixing members 18, 19 are suitable to 5 support the legs 11, 12 for gripping of the wall of a tube. The axial extension of the connection member 15, and more particularly its subdivision in sections, in this embodiment turns 14 of a winding, furthermore allows bending of the connection member 15. Therewith, the cable fastening element 10 10 may accommodate corners and curves.

It is observed for clarity that alternative embodiments of fixing member may be envisaged. The first and second legs 11, 12 are preferably made of elastic material, but this is not deemed necessary. The first and second legs 11, 12 and 15 the connection member 15 constitute in this embodiment a single body, but that is not deemed necessary either.

Fig. 3 shows schematically the transport and positioning of cable fastening elements 10 in a tube 50. The tube 50 is provided with an inner wall51 and includes a 20 curve 52. A cable 90 is present in the tube 50. In this embodiment, it has been inserted into the tube 50 separately from the cable fastening elements 10. It is however not excluded that the cable 90 and the cable fastening elements 10 are inserted in the tube 50 jointly.

25 Use is made of a robot 100 for the transport and positioning of the cable fastening elements 10. The robot 100, which is also referred to as a pipe travelling apparatus, typically comprises a camera for visual inspection, wireless communication equipment for wireless 30 communication with a monitoring station outside the tube 50, means for positioning individual cable fastening elements 10 at a longitudinal position along the tube 50, as well as means for carrying out operations (a robot arm). All of 15 these are not shown, but will be clear and obvious to the skilled person in the field of robots, particularly robots for use in pipes.

In accordance with the invention, the robot 100 5 comprises a first segment 101 and a second segment 102 that are mutually connected with an axis 120. The first and the second segment 101, 102 of this embodiment each comprise temporary securing means for securing said segment 101, 102 at a longitudinal position in the tube 50 and pushing means 10 103, 104. The axis 120 is bendable to accommodate a curve or corner in the pipe, which first segment 101 is rotatable with respect to the second segment 102 along the axis 120. The axis 120 is preferably variable in length. The length is suitably varied with driving means (not shown). The cable 15 fastening elements 10 are present during transport in a space - a storage facility - between the first and the second segment 101, 102. In accordance with the present invention, such storage facility is devoid of a continuous carrier or the like, that would make it into a body that 20 limits the versatility of the pipe travelling apparatus 100 to pass through corners or curves 52.

In this embodiment, the cable fastening elements 10 are threaded to a line, which is herein the cable 90. The cable fastening elements 10 could be grouped together, for 25 instance in groups of 2 or 3 elements. Such grouping may be effected with external means such as a wire, and/or by temporarily securing such elements 10 to each other. Additional fixing members could be available therefore on selected ones of the cable fastening elements. Particularly, 30 these additional fixing members would extend on the other side of the legs as the fixing members 18, 19 shown in Fig. 1. In this embodiment, however, the cable fastening elements 10 are not grouped together. Typically, the second segment 16 102 has such a size that upon movement of the second segment 102 towards the first segment 101, the second segment 102 pushes the threaded cable fastening elements.

The axis 120 of the pipe travelling apparatus 100 5 comprises a first and a second bending point 121, 122. As shown in Fig. 3, the axis can be bent along these bending points 121, 122 so as to accommodate the robot 100 through the curve 52 in the tube 50. The axis 120 is further variable in length. Thereto, it is provided with a secondary 10 axis 125. The operation of length variation and the mechanical construction are well known to the skilled person and do not need any further elaboration. Most relevant for the understanding of the pipe travelling apparatus 100 is that it will move through the tube 50 on the basis of 15 reptation movement. Such reptation movement comprises following steps.

First the first segment 101 is temporarily secured in its longitudinal position in the tube 50 using its securing means 111. In the shown embodiment, the securing means 111 20 are embodied as an (pressure) expandable volume, for instance a tire to be filled with air. Alternative mechanical embodiments using an axis and a separate body are however by no means excluded. While the first segment 101 is temporarily secured, the second segment 102 is freely 25 movable in the tube 50 (note the figure shows a further stage wherein the opposite situation occurs).

In a second step, the length of the axis 120 is reduced, by inserting the secondary axis 125 into a shaft of the axis 120. The immediate result is that the second 30 segment 102 will shift towards the first segment 101. It will be clear that the minimum distance between the first segment 101 and the second segment 102 may be set either by the longitudinal extension of the cable fastening elements 17 10 or by the minimum extension of the axis 120. In order to ensure that the cable fastening elements 10 also move forward, the second segment 102 is suitably provided with a pushing means 104, in this case a surface in a shape such 5 that the cable fastening element 10 may lie against it. In order to prevent obstruction of the movements by the cable fastening elements 10, the second segment 102 may further be provided with means for creation of vibration and/or pulses. It will be understood that when a large number of cable 10 fastening elements 10 is present between the first segment 101 and the second segment 102, it may be appropriate that the length reduction of the axis 120 is lower.

As part of this second step, the second segment 102 may further pass a cable fastening element 10, 10A that has been 15 brought into its fastening configuration. A cable fastening element 10A in its fastening configuration is shown in Fig.

3 is shown on the right hand side. Due to its position on the inner wall 51 of the tube 50, its extension is so wide that the second segment 102 may pass between the legs of 20 this cable fastening element 10A.

In a third step, the second segment 102 is temporarily secured in its longitudinal position in the tube 50 using means 112, and the first segment 101 is dissolved from its secured position. This results in the situation as shown in 25 Fig. 3

In a fourth step, the length of the axis 120 is increased again. As a result hereof, in combination with the secured position of the second segment 102, the first segment 101 will move forward.

30 The steps of the reptation movement may thereafter be repeated in a subsequent step. It is herein observed that a rotation of the first segment 101 may be carried out between the steps. Such rotation may result therein that the cable 18 90 is brought into a desired rotational position in the tube 50, particularly in the top section of the tube.

Fig. 4 shows in diagrammatical top view a second embodiment of the cable fastening element 10. This cable 5 fastening element 10 is again provided with a first leg 11 and a second leg 12, each with fixing members 19, 18. The cable fastening element 10 is shown fastened to a cable 90. This is achieved by means of clamps 24, 25 part of the connecting member 15. The connecting member further 10 comprises intermediate sections 26, 27 between the axially displaced clamps 24, 25 and the first and second leg 11, 12. The connecting member 15 further comprises a portion extending between said clamps 24, 25 and defining the axial extension. The cable fastening element 10 of this second 15 embodiment provides a strong clamping force to the cable 90, such that it may be attached to the cable prior to insertion thereof into the tube.

Fig. 5A and 5B show diagrammatical views of the second embodiment of the cable fastening element 10. Fig. 5A shows 20 the cable fastening element 10 in the fastening configuration; Fig. 5B shows the cable fastening element 10 in the transport configuration. In the latter configuration, the first and second leg 11, 12 are kept together with a rope or wire 30, with is attached to the fixing members 18, 25 19. The fixing members 18, 19 thereto are suitable embodied in the form of a ring. It will be clear that the first and second leg 11, 12 will be forced into an unnatural state in the transport configuration. Therefore, there is a force to go back to the fastening configuration as shown in figure 1. 30 Hence, upon removal of the rope or wire 30, the fastening element 10 will move elastically and bring itself into the fastening configuration.

19

Fig. 6 shows a robot 100 in a tube 50 with an inner wall 51. The robot 100 again comprises a first segment 101 and a second segment 102 mutually coupled through an axis 120, which comprises a bending point 121. It further 5 comprises wheels 141, 142 each coupled to a segment 101, 102 thought wires 143, 144, a cable connection 130 for mechanical reasons, and a knife 150. The knife 150 is positioned such that upon passing the cable fastening element 10, it will cut the wire 30 and therewith deblock 10 the first and second leg 11, 12, so that they can move elastically in view of the now deblocked force. Therewith, a transfer from the transport configuration into the fastening configuration is achieved. In this specific embodiment, the movement of the robot 100 is not with reptation.

15 Effectively, the robot 100 is drawn with the cable connection 130. A motor could be present alternatively. The element 145 may be used so as to amend the orientation and follow the curves in the tube 50. The segments 101, 102 each comprises a body. Suitably, these bodies are of sufficient 20 weight to achieve balancing of the robot 100. The bodies herein shift through the tube, such as a ship shifts through water. Alternatively, a conventional body with wheels may be used. The wheels 141, 142 are provided for stability increase, particularly in tube sections that are steeply 25 rising or going down, and/or in curves. Moreover, suitably, the wheels 141, 142 are provided in pairs. Preferably, the cable 90 is led in between of the pairs of wheels 141, 142. While this embodiment shows wheels 141, 142 or pairs thereof, it appears sufficient to use a single wheel, or a 30 single pair of wheels. The first wheel is herein preferably located above the knife 145. This provides the best cutting position of the clip. As a result thereof, it appears that further positioning of the clip after bringing it into the 20 fastening configuration is not or substantially not needed any longer. Evidently the provision of positioning tools may be foreseen, also in order to correct errors and/or less optimal fastening situations. If desired, the robot 100 5 could further be provided with a storage facility for clips. It is not excluded that this robot may be suitable for other types of clips that those in accordance with the invention, even though the use of the present robots in combination with clips of the invention, particularly those of the type 10 that have been mounted to the cable already is deemed most beneficial.

In order to do the operation, in particularly, the cutting of the rope 30, appropriately, the robot 100 should first be positioned at a longitudinal position along the 15 tube 50. The robot 100 may be provided with a break that is suitably coupled to at least one of the wheels 141, 142. Alternatively, a pin arrangement may be present for fixation. Such pin arrangement is for instance attached to the second segment 102, and comprises a first and a second 20 pin with an intermediate rotation element: through rotation, both pins extend in opposed directions, therewith fixing themselves to opposed sections of the wall of the tube. Thereafter, the angular position of the robot is suitably controlled, and if needed modified. Typically, the desired 25 angular position is one wherein the robot is present on the bottom side of the tube 50, i.e. upright. In the present embodiment, wherein the segments 101, 102 comprise balancing weight, for instance with lead, such control and/or modification could even be left out. Then, the knife 150 or 30 alternative cutting tool, or tool for another operation, is aligned with respect to the cable fastening element 10. The robot 100 then will drive, at least in this embodiment, and the rope 30 is cut through by the knife 150. Evidently, 21 instead of a knife 150 directly on one of the segments, here the second segment 102, a robot arm may be envisaged for carrying the knife 150 or other tool.

In summary, the cable fastening element of the 5 invention (10) has a first leg (11) and a second leg (12) and can be present in a transport configuration, in which the first and second leg (11, 12) are coupled together with fixing members (18, 19), and a fastening configuration, in which the mutually coupled first and second leg (11,12) 10 constitute a wall clamp for clamping the cable fastening element (10) between a first portion and a second portion of the at least one wall of a tube. The cable fastening element (10) further has a connecting member (15) through which a cable can be mounted. Deblocking of the first and second leg 15 (11, 12) and a subsequent elastic leg movement transfers the cable fastening element (10) from its transport configuration into its fastening configuration.

Claims

Method for securing a cable in a tube with at least one wall by means of at least one cable fastening element, comprising the steps of: Providing the cable fastening element comprising a first and a second leg and an axially extending connecting piece through which the cable can be hung, which cable fastening element 10 is provided in a transport configuration in which a radial size of the cable fastening element is smaller than a diameter of the tube; - Suspending the cable in the connecting piece, or stringing the cable attachment elements to the cable; - Moving the cable fastening element to an axial position in the tube; Transferring the cable fastening element from its transport configuration to a fastening configuration by unblocking the first and the second leg and a subsequent elastic movement of the legs, in which fastening configuration the mutually coupled first and second leg form a wall clamp for clamping the the cable attachment element between a first portion and a second portion of the at least one wall of the tube.

2. Method as claimed in claim 1, wherein the first and the second leg are coupled to each other by means of the connecting piece.

Method according to claim 1, wherein the legs in the transport configuration are releasably bound to each other by means of a wire or rope that is cut by a robot. 5

A method according to claim 1 or 3, wherein at least one of the legs comprises a retaining element that contributes to holding the legs together in the transport configuration. 10

Method according to claim 1 or 2, wherein the cable is fixed with the aid of a plurality of cable fastening elements.

Method according to one of claims 1 to 5, characterized in that: the suspension of the cable fastening element on the cable takes place at a first predetermined position, and prior to the introduction of the cable 20 into the tube, and of the cable fastening element comprises introducing the cable into the tube.

7. Method as claimed in claim 6, characterized in that the unblocking takes place with a robot (100) which comprises a first segment (101) and a second segment (102), which segments are mutually coupled with an axis (120) provided of a pivot point (121), which robot is furthermore provided with at least one wheel for stability improvement and provided with a knife, the knife being positioned such that when passing the cable fastening element a wire (30) is cut and the unblocking takes place has.

8. Method as claimed in claim 7, characterized in that the first and the second segment (101, 102) each comprise a body of sufficient weight to balance the robot in the tube, which bodies when moving the robot through the tube to scroll.

9. Method as claimed in claim 7 or 8, wherein a pair is provided with wheels and the cable is guided in a position between the wheels.

10. Robot for transporting and positioning cable fastening elements, comprising a first segment (101) and a second segment (102), which segments are mutually coupled to an axis (120) provided with a pivot (121), which robot furthermore is provided with at least one wheel for stability improvement and provided with a knife, the knife being placed such that when passing the cable fastening element a wire (30) is cut and the unblocking takes place, the first and the second segment (101 102) each contain a body of sufficient weight to balance the robot in the tube, which bodies slide through the tube when the robot is moved. 25

A robot according to claim 10, characterized in that a pair of wheels is present, wherein the cable is guided in a position between the wheels.

12. Cable fixing element for fixing a cable in a tube with at least one wall, which cable fixing element is provided with a first and a second leg which are mutually connected to an axially extending connecting piece which comprises an axially extending cable suspension means, which first and second mutually coupled leg form a wall clamp for clamping the cable fixing element between a first and a second part of the at least one wall of the tube, which cable fixing element is provided with a transport configuration and a fixing configuration, in which a distance between ends of the first and The second leg in the transport configuration is smaller than in the fastening configuration in which the mutually coupled legs form the wall clamp, in which at least one of the first and the second leg is provided with a retaining element with which the legs in the transport configuration detachably engage elka ar be bound such that a radial extension of the cable attachment element therein is smaller than a tube diameter.

Cable fixing element according to claim 12, characterized in that the connecting piece is provided with a cable suspension means in the form of a clamp.

Cable fastening element according to claim 12 or 13, 25, characterized in that the connecting piece comprises clamps (24, 25) for suspending the cable, which clamps are at a mutual distance, with which the axial extension of the connecting piece is determined.

A cable fastening element according to claim 12, 13 or 14, characterized in that the first and the second leg are in substantially the same axial position, and in that the connecting piece comprises one or more connectors which extend from axial ends to the legs.

16. Cable fastening element according to Claim 12, wherein both legs are provided with a retaining element, which retaining elements are releasably secured together in the transport configuration.

17. Cable fastening element according to Claim 16, wherein the retaining elements are provided at the ends of the first and the second leg.

The cable fastening element according to Claim 16 or 17, wherein the retaining elements are assembled with a rope. 15

19. Cable fixing element according to Claim 12, characterized in that the second leg is axially displaced with respect to the first leg over a distance determined by the axially extending and bendable connecting piece 20

The cable fastening element according to Claim 19, wherein the connecting piece comprises a spring.

A cable fastening element according to Claim 19 or 20, wherein the connecting piece comprises a coil with a number of turns.

The cable fastening element according to any of the preceding claims 12 to 21, wherein the cable fastening element 30 consists essentially of a wire-shaped body.

The cable fastening element according to Claim 12, wherein the connecting piece forms the cable suspension means.