Taping apparatus, system and method for pipe lining applications

1. A taping apparatus adapted to apply tape over voids on an interior pipe wall, the pipe wall defining a circumferential and a longitudinal direction, the taping apparatus comprising:

a transport assembly adapted to move said apparatus through a pipe;

a rotatable taping assembly adapted to retain a roll of tape and apply said tape circumferentially over a void on the interior wall of the pipe, said taping assembly comprising an arm assembly and a tape applicator assembly;

said tape applicator assembly comprising a press roller, a spring-biased tape retention member securing said tape against said press roller, a cutting member and a circumferentially curved rocker bracket, wherein said press roller, said tape retention member and said cutting member are mounted to said rocker bracket.

2. The apparatus of claim 1 , said taping assembly further comprising a drum housing, wherein said arm assembly is mounted to said drum housing and wherein said tape applicator assembly is mounted to said arm assembly.

3. The apparatus of claim 1 , said tape applicator assembly further comprising a cleaning member mounted to said rocker bracket such that the interior wall of the pipe is cleaned prior to application of said tape.

4. The apparatus of claim 1 , said tape applicator assembly further comprising a liquid absorption member mounted to said rocker bracket between said cleaning member and said press roller such that moisture on the interior wall of the pipe is absorbed prior to application of said tape.

5. The apparatus of claim 1 , wherein said arm assembly is extendable and retractable, said apparatus further comprising a drum motor adapted to rotate said taping assembly and an arm motor adapted to extend and retract said arm assembly.

6. The apparatus of claim 5 , further comprising a navigational camera.

7. The apparatus of claim 1 , said tape applicator assembly further comprising a bracket motor adapted to pivot said rocker bracket to bring said cutting member into contact with said tape.

8. The apparatus of claim 1 , said taping assembly further comprising a patch camera.

9. The apparatus of claim 1 , wherein said wherein said press roller, said tape retention member and said cutting member extend in the longitudinal direction.

10. A taping apparatus adapted to apply tape over voids on an interior pipe wall, the pipe wall defining a circumferential and a longitudinal direction, the taping apparatus comprising:

a transport assembly adapted to move said apparatus through a pipe, said transport assembly comprising rolling members mounted on a main body;

a rotatable taping assembly adapted to apply tape circumferentially over a void on the interior wall of the pipe, said taping assembly comprising a drum housing adapted to retain said tape on a spool, an extendable and retractable arm assembly and a tape applicator assembly mounted to said arm assembly;

said tape applicator assembly comprising a pivotally mounted, circumferentially curved rocker bracket and a press roller, a spring-biased tape retention member securing said tape against said press roller, and a cutting member mounted to said rocker bracket, wherein said press roller, said tape retention member and said cutting member extend longitudinally.

11. The apparatus of claim 10 , said tape applicator assembly further comprising a cleaning member and a liquid absorption member mounted to said rocker bracket.

12. The apparatus of claim 10 , further comprising a drum motor adapted to rotate said taping assembly and an arm motor adapted to extend and retract said arm assembly.

13. The apparatus of claim 12 , said tape applicator assembly further comprising a bracket motor adapted to pivot said rocker bracket to bring said cutting member into contact with said tape.

14. The apparatus of claim 10 , said taping assembly further comprising a patch camera.

15. The apparatus of claim 14 , further comprising a navigational camera.

16. A taping apparatus adapted to apply tape over voids on an interior pipe wall, the pipe wall defining a circumferential and a longitudinal direction, the taping apparatus comprising:

a transport assembly adapted to move said apparatus through a pipe, said transport assembly comprising rolling members mounted on a main body;

a rotatable taping assembly adapted to apply tape over a void on the interior wall of the pipe, said taping assembly comprising a patch camera, a drum housing adapted to retain said tape on a spool, an extendable and retractable arm assembly and a tape applicator assembly mounted to said arm assembly, said tape applicator assembly comprising a rocker bracket and a press roller, tape retention member and cutting member each mounted to said rocker bracket;

wherein said rocker bracket is oriented circumferentially and curved, and wherein said press roller, said tape retention member and said cutting member extend longitudinally from said rocker bracket;

a drum motor adapted to rotate said taping assembly, an arm motor adapted to extend and retract said arm assembly, and a bracket motor adapted to pivot said rocker bracket to bring said cutting member into contact with said tape;

said apparatus further comprising a navigational camera.

17. The apparatus of claim 16 , wherein said tape applicator assembly further comprises a cleaning member and a liquid absorption member mounted to said rocker bracket.

18. A method of applying tape over a void present on the interior wall of a pipe, said pipe defining a circumferential and a longitudinal direction, comprising the steps of:

navigating a taping apparatus adapted to apply tape circumferentially over voids on an interior pipe wall through a pipe, the taping apparatus comprising: a transport assembly adapted to move said apparatus through a pipe, said transport assembly comprising rolling members mounted on a main body; a rotatable taping assembly adapted to apply tape over a void on the interior wall of the pipe, said taping assembly comprising a navigational camera, a patch camera, a drum housing adapted to retain said tape on a spool, an extendable and retractable arm assembly and a tape applicator assembly mounted to said arm assembly, said tape applicator assembly comprising a pivotable, circumferentially curved rocker bracket and a press roller, tape retention member and cutting member each mounted to said rocker bracket and extending in the longitudinal direction;

a drum motor adapted to rotate said taping assembly, an arm motor adapted to extend and retract said arm assembly, and a bracket motor adapted to pivot said rocker bracket to bring said cutting member into contact with said tape;

locating a void;

aligning said tape applicator assembly with said void;

extending said tape applicator assembly and rotating said taping assembly such that said tape is pulled from said spool and applied over the void;

pivoting said rocker bracket and cutting said tape with said cutting member; and

retracting said tape applicator assembly.

19. The method of claim 18 , wherein said step of locating said void and aligning said tape applicator assembly with said void is accomplished utilizing visuals produced by said patch camera and/or said navigational camera.