Plugging Apparatus, System and Method for Pipe Lining Applications

1 . A plugging apparatus adapted to plug service lateral openings in the interior of a pipe, the plugging apparatus comprising:

a housing;

transport mechanisms mounted to said housing, said transport mechanisms adapted to move said housing through a pipe having service lateral openings;

a rotatable manipulator compartment mounted to said housing, said manipulator compartment containing a robotic arm assembly, said robotic arm assembly comprising a plug gripping assembly and an extension assembly;

said housing retaining plugs and one or more plug loading actuators adapted to individually advance each of said plugs into said manipulator compartment and said plug gripping assembly;

said extension assembly being adapted to extend each of said plugs positioned in said plug gripping assembly radially from said manipulator compartment and into one of the service lateral openings in the pipe.

2 . The apparatus of claim 1 , said plug gripping assembly comprising a receiver base, clamp members and a clamp actuator, said clamp actuator adapted to close said clamp members to retain and open said clamp members to release one of said plugs positioned on said receiver base.

3 . The apparatus of claim 1 , said extension assembly comprising an extension shaft connected to said gripping assembly and an extension actuator adapted to extend and retract said extension shaft.

4 . The apparatus of claim 1 , said housing further retaining a plurality of chutes, said chutes retaining said plugs in rows, one of said plug loading actuators being associated with each of said chutes;

said manipulator compartment comprising a feed opening, wherein said manipulator compartment is rotatable to align said feed opening with one of said chutes such that each of said plugs is advanced through said feed opening into said manipulator compartment and said plug gripping assembly.

5 . The apparatus of claim 1 , said plugs comprising an insertion portion and a head portion.

6 . The apparatus of claim 1 , further comprising alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation.

7 . The apparatus of claim 2 , said extension assembly comprising an extension shaft connected to said gripping assembly and an extension actuator adapted to extend and retract said extension shaft.

8 . The apparatus of claim 7 , said housing further retaining a plurality of chutes, said chutes retaining said plugs in rows, one of said plug loading actuators being associated with each of said chutes;

said manipulator compartment comprising a feed opening, wherein said manipulator compartment is rotatable to align said feed opening with one of said chutes such that each of said plugs is advanced through said feed opening into said manipulator compartment and said plug gripping assembly.

9 . The apparatus of claim 8 , said plugs comprising an insertion portion and a head portion.

10 . The apparatus of claim 9 , further comprising alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation.

11 . The apparatus of claim 8 , further comprising alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation.

12 . The apparatus of claim 7 , further comprising alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation.

13 . The apparatus of claim 6 , wherein said alignment control systems comprise cameras.

14 . The apparatus of claim 6 , wherein said alignment control systems comprise sensors.

15 . The apparatus of claim 1 , wherein said transport mechanisms comprise extendable and retractable treads, rollers or wheels.

16 . The apparatus of claim 1 , wherein said plugs are composed of a liquid-soluble material.

17 . The apparatus of claim 16 , wherein said plugs are provided with a hydrophobic coating.

18 . A plugging apparatus adapted to plug service lateral openings in the interior of a pipe, the plugging apparatus comprising a housing; transport mechanisms mounted to said housing, said transport mechanisms adapted to move said housing through a pipe having service lateral openings; a rotatable manipulator compartment mounted to said housing, said manipulator compartment containing a robotic arm assembly, said robotic arm assembly comprising a plug gripping assembly and an extension assembly; said housing retaining plugs and one or more plug loading actuators adapted to individually advance each of said plugs into said manipulator compartment and said plug gripping assembly; said extension assembly being adapted to extend each of said plugs positioned in said plug gripping assembly radially from said manipulator compartment and into one of the service lateral openings in the pipe;

said plug gripping assembly comprising a receiver base, clamp members and a clamp actuator, said clamp actuator adapted to close said clamp members to retain and open said clamp members to release one of said plugs positioned on said receiver base;

said extension assembly comprising an extension shaft connected to said gripping assembly and an extension actuator adapted to extend and retract said extension shaft;

said housing further retaining a plurality of chutes, said chutes retaining said plugs in rows, one of said plug loading actuators being associated with each of said chutes;

said manipulator compartment comprising a feed opening, wherein said manipulator compartment is rotatable to align said feed opening with one of said chutes such that each of said plugs is advanced through said feed opening into said manipulator compartment and said plug gripping assembly;

said plugs comprising an insertion portion and a head portion, and said plugs composed of a liquid-soluble material and having a hydrophobic coating;

said transport systems comprising extendable and retractable treads, rollers or wheels; and

further comprising alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation, said alignment control systems comprising cameras or sensors.

19 . A method of plugging service lateral openings in a pipe comprising the steps of:

providing a plugging apparatus comprising a housing; transport mechanisms mounted to said housing, said transport mechanisms adapted to move said housing through a pipe having service lateral openings; a rotatable manipulator compartment mounted to said housing, said manipulator compartment containing a robotic arm assembly, said robotic arm assembly comprising a plug gripping assembly and an extension assembly; said housing retaining plugs and one or more plug loading actuators adapted to individually advance each of said plugs into said manipulator compartment and said plug gripping assembly; said extension assembly being adapted to extend each of said plugs positioned in said plug gripping assembly radially from said manipulator compartment and into one of the service lateral openings in the pipe;

navigating said plugging apparatus said plugging apparatus through a pipe;

locating a service lateral opening;

aligning said manipulator compartment and said robotic arm assembly with the service lateral opening;

extending said robotic arm assembly and inserting one of said plugs into said service lateral opening; and

releasing said one of said plugs and retracting said robotic arm assembly.

20 . The method of claim 19 , wherein said plugging apparatus further comprises alignment control systems adapted to navigate the apparatus through the pipe, locate service lateral openings, properly position the apparatus relative to the openings, properly align said manipulator compartment and said robotic arm assembly, or confirm a successful plugging operation; and

wherein said steps of navigating, locating, and aligning are controlled by said alignment control systems.