Method and Apparatus for Lining Pipe with Multiple Convoluted Bends and Varied Orientations with a Structural Membrane

Abstract

The invention provides an improved method and robotic apparatus for applying a structural membrane lining in conduits. The remotely controlled robot comprises a series of segment blocks maintained in alignment by flexible linear rods supported in spherical swivel bushings. The rods allow for articulation as the robot negotiates bends. Segment blocks include radial guide finger pinions and guide fingers for concentric positioning. Fingers are of engineered plastics and brass to provide ballast weight for perpendicular alignment and contain high frequency air turbine vibrators. Steering vertebrae are included to maintain concentricity of the lining dissipation cup through bends. Also included are electric servo motors controlling cables and take up wheels controlling the angle of the segment blocks. The device includes a flexible motor shaft rotating through a second segment block attached to a flexible shaft connected to a rotating shaft operating a liner dissipation component mounted to the first segment block.

1 . A multi-segmented, flexible pipe lining device comprising a motor shaft mounted through a second segment block and rotatably connected to a flexible shaft attached to a first segment block. 
     
     
         2 . A multi-segmented, flexible pipe lining device of  claim 1  further comprising the flexible shaft connected to a transfer shaft wherein the transfer shaft transfers rotational energy to a rotating pipe liner dissipation device. 
     
     
         3 . A multi-segmented, flexible pipe lining device of  claim 2  further comprising the rotating transfer shaft that rotates a mechanical oscillator. 
     
     
         4 . The multi-segmented, flexible pipe lining device of  claim 1  further comprising at least one linear alignment rod that is flexible. 
     
     
         5 . The multi-segmented, flexible pipe lining device of  claim 1  further comprising guide finger pinion rings and pivoting guide fingers. 
     
     
         6 . The multi-segmented, flexible pipe lining device of  claim 5  further comprising pivoting guide fingers having a curved outer surface substantially equal to the outside internal radius of a pipe bend. 
     
     
         7 . The multi-segmented, flexible pipe lining device of  claim 5  further comprising at least one pivoting guide finger operably connected to an air turbine vibrator. 
     
     
         8 . The multi-segmented, flexible pipe lining device of  claim 5  further comprising positioning the guide pinion rings on each segment block in an offset radial orientation. 
     
     
         9 . The multi-segmented, flexible pipe lining device of  claim 1  further comprising two or more expandable and retractable steering vertebrae operably connected to at least one segment block wherein one steering vertebrae is expanded and the other steering vertebrae retracts. 
     
     
         10 . The multi-segmented, flexible pipe lining device of  claim 9  further comprising the expandable and retractable steering vertebrae remotely controllable, 
     
     
         11 . The multi-segmented, flexible pipe lining device of  claim 10  wherein the remotely controllable expandable and retractable steering vertebrae can maneuver a lining dissipation component to the center of a pipe bend. 
     
     
         12 . The multi-segmented, flexible pipe lining device of  claim 10  wherein the remotely controllable expandable and retractable steering vertebrae are electro-mechanical actuators that extend or retract. 
     
     
         13 . A multi-segmented, flexible pipe lining device comprising a plurality of independently oriented segment blocks joined by a motor shaft mounted through a second segment block and rotatably connected to a flexible shaft attached to a first segment block wherein a pipe lining device component is mounted to only the first segment block surface. 
     
     
         14 . A multi-segmented, flexible pipe lining device of  claim 13  further comprising a rotatable pipe lining dissipation device extending from a front segment block. 
     
     
         15 . A multi-segmented, flexible pipe lining device of  claim 14  wherein the pipe lining dissipation device is positioned substantially in the center of a pipe bend while the multi-segmented, flexible pipe lining device traverse through the pipe bend. 
     
     
         16 . A multi-segmented, flexible pipe lining device of  claim 14  wherein the front segment block is positioned at an angle beyond a plane perpendicular to the centerline of the pipe. 
     
     
         17 . A multi-segmented, flexible pipe lining device of  claim 14  wherein the pipe lining dissipation device is positioned substantially in the center of a pipe bend by simultaneously retracting a steering vertebrae and extending a different steering vertebrae. 
     
     
         18 . A multi-segmented, flexible pipe lining device of  claim 14  wherein the pipe lining dissipation device can be positioned substantially in the center of a pipe bend by changing the angle of the segment block in relation to the pipe centerline using electric servo motors and cable and equipped with take up spools on which the servo motor cables are wound.