136 is formed between the second ends 142, 146 when the second grip member 134 is in the open position.

The exemplary grip members 132, 134 are shaped to hold an environmental object in an encompassing grip (e.g., pole 128). The environmental object is held between gripping faces 130a of the grip members 130. In some embodiments, the grip members 130 each include a removable cover 130b forming a gripping face 130a of the grip member. For example, grip members 132, 134 each include a respective gripper cover 132b, 134b. The covers 132b, 134b may include a rubberized or otherwise high-friction surface directed inwardly to a space between the grip members 132, 134.

The cover 130b may be removeable to facilitate changing covers, e.g., to replace worn out covers or to use differently-shaped covers for different applications. The cover 130b may be removably fastened to the grip member, e.g., via hook and loop fasteners, threaded fasteners, or adhesive.

Referring now to FIGS. 2B and 2C, it will be appreciated that the shape of the gripping face 130a may be any suitable shape. In some embodiments, as exemplified in FIG. 2B the gripping face 130a extends generally parallel to the grip axis 156. FIG. 2B illustrates a cross sectional view of the gripper 130 and cover 130b of FIG. 2A, taken along line 2B-2B of FIG. 2A. In some embodiments, as exemplified in the alternative embodiment of FIG. 2C, a gripping face 130a′ is sloped relative to the grip axis 156. The gripping face 130a′ may have a first (e.g., upper) end that is close to the grip axis 156 than an opposite second (e.g., lower) end when the gripper 120 is closed about the grip axis 156.

In some embodiments, the shape or arrangement of the face 130a is due to the shape of the cover 130b. It will be appreciated that the shape of cover 130b may be any suitable shape. As exemplified in FIG. 2B, in some embodiments, the cover 130b has a generally constant width along an axial direction parallel to the grip axis 156. When used with a gripper member presenting a generally parallel surface, the cover 130b with a generally constant width also provides a generally parallel gripping face 130a relative to the grip axis 156. However, as exampled in FIG. 2C, in some embodiments, a cover 130b′ is a tapered cover, secured to a gripper member 130′. A tapered cover may be used with a tapered environmental object (e.g., a tapered pole). The tapered cover tapers along an axial direction parallel to the grip axis 156′, to present a sloped gripping face 130a′.

It will be appreciated that the environmental object may extend vertically, or may extend horizontally or at any other angle to vertical. The gripper 120 may be used to grip environmental objects having a round cross-sectional shape. However, it will be appreciated that the gripper 120 may also or alternatively be used to grip environmental objects having a non-round cross-sectional shape, such as objects having a square, rectangular, octagonal, hexagonal, or pentagonal cross-sectional shape about which the gripper 120 is closed. It will be understood that the gripping faces 130a may be used against similarly-shaped surfaces of environmental objects, or may be used against non-matching surfaces of environmental objects. In some embodiments, using the gripper 120 with the gripping faces 130a contacting similarly-shaped surfaces of environmental objects provides for a better grip on the environmental object.

The exemplary grip members 130 have gripping faces 130a having a cylindrical concave shape with a continuous curvature. In some embodiments, a cylindrical concave shape is advantageous for use with cylindrical environmental objects such as telephone poles and fence posts. However, it will be appreciated that the grip members 130 may have alternative shapes. For example, a gripper 120 may include grip members 130 with gripping faces 130a having a saddle shape. Or a gripper 120 may include grip members 130 having planar gripping faces 130a, such as a grip member 130 having a single planar gripping face 130a or a grip member 130 having a gripping face 130a formed of two or more planar portions meeting at angled corners.

As exemplified in FIG. 3A, the gripper 120 also includes a gripper coupler 160. The controller 114 includes a control coupler 162. The gripper coupler 160 and the control coupler 162 are releasably engageable with one another.

The gripper coupler 160 is secured to the grip members 130. The gripper coupler 160 may include a gripper coupler housing 160b. The control coupler 162 may include a control coupler housing 162b. Although it will be appreciated that the gripper coupler 160 may be provided at the grip members 130 and the control coupler 162 may be provided at the control housing 114a, in some embodiments one or both extends outward. Extending the coupler outward may facilitate engaging the coupler with another coupler. As exemplified, the coupler housing 162b may extend out from the controller housing 114a. As exemplified, the coupler housing 160b extends out from the grip members 130. The coupler housing 160b may be secured to one of the grip members 130 and extend therefrom.

The gripper coupler 160 is operable to engage the control coupler 162 to releasably mount the gripper 120 to the controller 114. In some embodiments, as illustrated in FIG. 3D, the gripper coupler 160 has an outward face 160a that rests against an outward face 162a of the control coupler 162 when the gripper coupler 160 is secured to control coupler 162. One or both of the faces 160a, 162a may include a weather proof seal. The weatherproof seal prevents moisture from penetrating between the couplers 160, 162 when the gripper coupler 160 is secured to control coupler 162.

Referring again to FIGS. 1B and 2, in some embodiments, the controller 114 includes a counterweight 164. In use, the counterweight 164 counterbalances the weight of the gripper 120 while the gripper 120 is mounted to the controller 114. In some embodiments, the counterweight 164 is repositionable relative to the control coupler 162 to account for changes in weight distribution during use and/or when the gripper 120 is mounted or released. As exemplified, the counterweight 164 is mounted to the controller 114 via an arm 166 pivotable about a pivot joint 168. The arm 166 can be used to swing the counterweight 164. The exemplary arm 166 is also a telescoping arm 166. The controller 114 may include a motor 154 (FIGS. 4 and 5) coupled to the counterweight 164 and/or arm 166 to move the counterweight 164 relative to the control coupler 162. In some embodiments, the motor 154 automatically adjusts the counterweight 164, e.g., in response to an engagement or disengagement of the couplers 160, 162. For example, the motor 154 may extend the arm 166 when the couplers 160, 162 are engaged with one another, and may withdraw the arm 166 when the couplers 160, 162 are disengaged from one another. The counterweight 164 may be and/or include a battery (e.g., a battery coupled to one or more motors of the controller 114 to supply electrical power to the motors).

Referring now to FIGS. 3A to 3D, the gripper 120 is operable to be moved between the open configuration (FIG. 3A) and the closed configuration (FIG. 3C) by the controller 114. As illustrated in FIG. 3D, the controller 114 is operable to disengage from the gripper 120 to leave the gripper 120 in position. For example, once the gripper 120 is installed on, e.g., a pole 128 (FIG. 3D), the controller 114 may disengage from the gripper 120 to leave the gripper 120 in position on the pole 128.

Referring to FIGS. 4 and 5, the gripper 120 includes a transmission assembly 170. The transmission assembly 170 includes a toothed track 172 (see also FIG. 8) mounted to the second grip member 134 spaced from the second end 146 of the second grip member 134. As exemplified, the toothed track 172 is a rack, and may be an arcuate rack. The transmission assembly 170 also includes a round gear 174 mounted to the first grip member 132 spaced from the second end 142 of the first grip member 132. The exemplary round gear 174 is a pinion engaged with the rack 172. The round gear 174 is meshed with the toothed track 172.

The transmission assembly 170 is positioned to be engaged by the control coupler 162 when the gripper coupler 160 is engaged with the control coupler 162. The transmission assembly 170 is positioned to be mechanically engaged with the control coupler 162 to mechanical receive power from the controller 114 through the control coupler 162. The power received from the controller 114 drives (i.e., turns) the round gear 174 and thereby drives the track 172 to move the second grip member 134 between the open and closed positions.

In some embodiments, the transmission assembly 170 also includes a free end toothed track 176 (see also FIG. 11) mounted to the second end 146 of the second grip member 134 and a free end round gear 178 mounted to the second end 142 of the first grip member 132. As exemplified, the toothed track 176 is a rack, and may be an arcuate rack. The exemplary free end round gear 178 is a pinion meshed with the rack 176. The free end track 176 and the free end pinon 178 are disengaged when the second grip member 134 is in the open position (FIG. 3A), engaged when the second grip member is at an intermediate position (FIG. 3C) between the open position and the closed position, and engaged when the second grip member is in the closed position (FIG. 3D). The transmission assembly 170 is arranged to mechanically provide power from the controller 114 to the free end round gear 178 when the gripper coupler 160 is engaged with the control coupler 162, to drive the free end round gear 178 thereby driving the free end track 176 to move the second grip member 134 between the intermediate and closed positions. In other words, the free end round gear and track may be used to tighten the grip of the gripper 120 on the environmental object (e.g., pole 128).

Referring still to FIGS. 4 and 5, it will be appreciated that there are various ways in which a transmission assembly may receive and carry mechanical movement or power supplied by the controller 114. In some embodiments, as exemplified, the transmission assembly 170 is configured to mechanically receive power from the controller 114 via a rotational movement of an element of the control coupler 162. The exemplary transmission assembly 170 is releasably engaged with a drive shaft 180 of a drive assembly 186 at the control coupler 162. The drive assembly 186 of the controller includes a motor 184 mechanically coupled to the shaft 180, and the shaft 180 is driven rotationally about its longitudinal axis 182 by the motor 184. The drive shaft 180 may be located in the coupler housing 162b, as exemplified. The motor 184 may be located in the controller housing 114a, as exemplified.

In some embodiments, as exemplified, the drive shaft 180 is also a support rod. The support rod extends into the gripper 120 to assist in bearing the weight of the gripper 120. The gripper coupler 160 includes a socket 200 (e.g., in the coupler housing 160b) to receive the shaft 180. The shaft 180 extends into the gripper 120 and is rotatable about its axis 182 to power the transmission assembly 170. The shaft 180 is inserted into the socket 200 when the couplers 160, 162 are joined, and is withdrawn from the socket 200 when the couplers 160, 162 are disengaged.

The exemplary gripper coupler 160 and control coupler 162 also include a releasable fastener 202 to releasably secure the couplers 160, 162 together. As exemplified, the fastener 202 is received in a fastener socket 204, the fastener socket 204 provided in the exemplary gripper coupler 160 (e.g., in the coupler housing 160b) and the fastener 202 provided in the exemplary control coupler 162 (e.g., in the coupler housing 162b). In some embodiments, the fastener 202 is a threaded fastener, and the socket 204 is a threaded socket 204. The controller 114 includes a motor 206 coupled to the fastener 202 to rotate the fastener 202 about a longitudinal axis 208 of the fastener 202. The motor 206 is operable to rotate the fastener 202 to drive the fastener 202 into the socket 204. In some embodiments, the motor 206 is also operable to rotate the fastener 202 to withdraw the fastener from the socket 204. Accordingly, the couplers 160, 162 may be secured together and released from one another.

It will be appreciated that while the controller 114 is illustrated with three motors, in other embodiments the controller 114 may include one or two or more than three motors. For example, one motor may perform the functions of two or more of the illustrated motors, e.g., selectively engaging the necessary transmission components via a clutch. As exemplified, one or more motors are located in the controller housing 114a. In some embodiments, each motor of the installation apparatus 112 are located in the controller housing 114a.

The controller 114 also includes a control system 210. The control system 210 is communicatively coupled to each of the motors of the controller 114 and operable to control the operation of the motors. The control system 210 includes a communication module 212, at least one processor 214, and at least one data storage device 216. The at least one data storage device 216 may store operating instructions for use in controlling the motors of the controller 114 in response to user instructions. The communication module 212 (e.g., a transceiver) is operable to receive user instructions from a remote user (e.g., via a user control device directly operated by the remote user). The communication module 212 is communicatively coupled to the at least one processor 214 and at least one data storage device 216 to provide the user instructions. The communications module 212 may be located in the controller housing 114a, as exemplified.

The at least one processor 214 and at least one data storage device 216 are operable to apply the user instructions to control the motors of the controller 114. For example, the user instruction may be to close the gripper 120, and the controller 114 is operable to respond by operating motor 184 to rotate shaft 180 about its axis in a first direction to power the transmission assembly 170 to close the gripper 120. The user instruction may be to open the gripper 120, and the controller 114 is operable to respond by operating motor 184 to rotate shaft 180 about its axis in a second direction opposite to the first direction to power the transmission assembly 170 to open the gripper 120. The use instruction may be to release the gripper 120, and the controller 114 is operable to respond by operating motor 206 to rotate shaft 202 about its axis to withdraw the threaded end from the socket 204 to release the gripper 120. The user instruction may be to attach to the gripper 120, and the controller 114 is operable to respond by operating motor 206 to rotate shaft 202 about its axis to thread the threaded end into the socket 204 to secure the controller 114 to the gripper 120. It will be appreciated that one or more action may be taken in concert with one or more other action and/or one or more action of the vehicle 110. For example, attaching to the gripper 120 may take place after the vehicle 110 navigates over to the gripper 120, which may optionally be automatic or manual.

The transmission assembly 170 is arranged to couple the round gears 174, 178 to the control coupler 162 (i.e., to the shaft 180) when the gripper 120 is mounted to the controller 114. The exemplary transmission assembly 170 is a geared transmission.

Referring now to FIGS. 4 to 11, the transmission assembly 170 includes a first worm wheel 222. The first worm wheel 222 is arranged to engage a first worm 224 of the shaft 180 when the shaft 180 is received in the socket 204, as shown in FIG. 6. The first worm wheel 222 is secured to a first shaft 226 extending towards the round gear 174. As illustrated in FIGS. 7A and 7B, the transmission assembly 170 includes a first bevel gear interface 230 between the first shaft 226 and a second shaft 232, and a second bevel gear interface 234 between the second shaft 232 and a third shaft 236.

As illustrated in FIG. 8, the third shaft 236 includes a second worm 240 meshed with a second worm wheel 242 joined by a fourth shaft 244 to the round gear 174. In some embodiments, as illustrated, the gripper 120 includes a parallel pair of round gears 174a, 174b, each joined by one of a pair of shafts 244a, 244b to a pair of second worm wheels 242a, 242b, each worm wheel 242a, 242b meshed with the second worm 240. A parallel pair provides improved performance (e.g., stability).

As illustrated in FIG. 9, the transmission assembly 170 also includes a fifth shaft 250. The input shaft 250 has a toothed face 252 and is arranged to mesh with a toothed face 254 of the output shaft 180 of the control coupler 162 when the control coupler 162 is mounted to the control coupler 162.

As illustrated in FIGS. 10A and 10B, the fifth shaft 250 also includes a third worm 260 to drive a third worm wheel 262. The third worm wheel 262 is secured to a shaft 264, and joined by the shaft 264 to the second round gear 178. In some embodiments, as illustrated, the gripper 120 includes a parallel pair of round gears 178a, 178b, joined by a pair of shafts 264a, 264b to a pair of third worm wheels 262a, 262b each meshed with the third worm 260.

As exemplified in FIGS. 4 and 5, in use, rotation of the output shaft 180 about a longitudinal axis 182 of the shaft 180 drives rotation of the round gears 174, 178. When the gripper 120 is open, as in FIG. 4, the round gear 174 is meshed with the toothed track 172 while the round gear 178 is not meshed with the toothed track 176. When the gripper 120 is open, rotation of the shaft 182 about the axis 182 draws the gripper 120 closed by pulling the track 172 via the round gear 174. Once the gripper 120 reaches an intermediate position, as illustrated in FIG. 5, the free end track 176 encounters the free end round gear 178, and the free end round gear 178 meshes with the free end track 176. From the intermediate position, as the shaft 180 continues to rotate about the axis 182, the round gears 174, 178 each pull the respective tracks 172, 176 to draw the gripper 120 closed.

Referring to FIGS. 10A and 10B, in some embodiments, the gripper 120 includes a lock 270. The lock 270 is operable to prevent the gripper 120 from moving from the closed configuration towards the open configuration when the lock is engaged. As exemplified, the lock 270 is engageable with the free end pinion 176. When engaged with the free end pinion 176, the lock 270 prevents the second grip member from moving towards the open position.

The lock 270