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.

Abstract: A method and apparatus is disclosed for remotely installing in a conduit a monolithic liner comprised of an amine terminated resin and a hydroxyl resin combined with isocyanate. The hydroxyl resin may include caster oil or soy based oil. The liner mixture may include anti-static agents such as quaternary ammonium ethosulfates, ethoxylated amines or glycerol esters. The apparatus includes a main component body including an umbilical comprising hoses for lining and air components and electrical power and signals, an impingement block for mixing the liner and remotely controlled by a termination rod. The device may reciprocate forward and reverse in the pipe and the laterally. The method and apparatus can structurally reinforce the pipe to allow operation at the pipe's original maximum allowable operating pressure.

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.

Abstract: A method and apparatus is disclosed for remotely and robotically installing an organic, monolithic, structural and non structural, circumferential and partial radius membranes in conduits, pipelines or passageways. The method of spray lining a pipe, conduit, structure or passageway comprises connecting a liner supply umbilical to an in situ pipe spray liner device, connecting equipment control cables, air supply hose, electrical supply and controls for the two part liner, connecting an air supply to motors, connecting the liner supply hoses to the impingement block, connecting the air supply to one or more air motors powering a servo drive and maintaining the nozzle in the center of the pipe using a remotely controlled rotation table or scissor leg table. This method and apparatus will allow for continuous lining applications of any thickness in one pass, in conduits and passageways employing multi component liquid polymers with rapid mechanical properties formation.