Abstract: A device for repairing a pipe internally includes a body and a drill assembly mounted on the body. The drill assembly has upper and lower arms, pivotable between a closed position in which the arms occupy a radial area not substantially greater than a diameter of the body and an open position in which the arms bear against substantially opposing points of the pipe wall to stabilize the drill assembly within the pipe. In the preferred embodiment for repairing pipe joints a hydraulic drill head bears against the pipe wall when the arms are in the open position and drills a hole for a sealant nozzle mechanism mounted on the upper arm, which swings into position in front of the drill head to inject a sealant into the pipe joint through the drill hole and seal the joint.

Abstract: A tool and method for plugging a service connection to a gas main in preparation for removal of the service tee removes the perforator, mills the hole in the main to provide a smooth seat for a sealing plug, and inserts a gas-tight sealing plug into the hole. The tool of the invention is operable through a narrow "keyhole" excavation, which decreases the risk to service personnel and significantly reduces costs of repairing the excavation. In the preferred embodiment the tool is loaded with a milling bit and a sealing plug before attachment to the service tee. The tool head is engaged to the service tee in a gas-tight fit to prevent the escape of gas during the procedure, and an adapter plate is pivoted between three working positions to perform the three steps of the service connection plugging method.

Abstract: A system for feeding a cable into a pipeline or other conduit comprises a rotating turret and a local cable feeding mechanism for drawing the cable off of the turret reel and loading it thereon. A remote cable feeding mechanism for inserting the cable into or withdrawing it from the pipeline is attached to a launch saddle secured to the pipeline, and its feeding rate is synchronized with that of the local cable feeding mechanism. Where the cable acts as an umbilical cable carrying fluids and electrical power to a tool inside the pipeline, the fluid and power supplies may be located on the floor of the reel, connected to an operator station by an electrical cable which winds onto and off of the turret shaft and is kept taut by a spring-biased tensioning arm. A flexible fibreglass rod extends through the cable to prevent coiling or bunching up within the pipeline while permitting the cable to traverse bends and corners.

Abstract: A device for repairing cast iron pipe joints comprises a head having a motor for actuating a tool and a body, the head being pivotally connected to the body so that it can be pivoted from an axial position to a radial position within the pipe. In a preferred embodiment, the head includes a motor driving a drill bit. A retractable foot is extended to force the head against the pipe wall to be pierced by the drill bit, following which sealant is injected into a hollow drill shaft and flows up the helical grooves of the drill bit into the pipe joint cavity. Preferably a pair of guide wings maintains the device centered in the pipe and raised off of the pipe floor, and the operator monitors progress of the device through a video monitor.

Abstract: The subject invention provides a modular, expandable and reconfigurable robotic system. In one aspect of the invention there is provided a robot having at least two manipulators each having several compact rotary joints. The rotary joints have one input coupling and either one or two output couplings. Each joint is modular including a d.c. brushless motor coupled with a harmonic cup drive and includes position, velocity and torque sensors. Each manipulator may be disassembled and reassembled to assume a multitude of configurations. In another aspect of the invention there is provided an expandable and modular real-time computer control system for controlling the robot. The computer architecture achieves between 5 to 10 MFLOPS with reduced instruction set computing (RISC) processor nodes and a fast point-to-point communication network. Each node includes a host computer and parallel input/output (I/O) modules as well.

Abstract: Bricklaying equipment includes a guideway extending along brick masonry being erected. A bricklaying machine displaces along the guideway. It has a robotic arm with an upper arm and a forearm. The upper arm pivots about a shoulder joint, and the forearm pivots relative to the upper arm at an elbow joint. A wrist joint permits a tool assembly, including a mortar-dispensing mechanism and a brick-gripping mechanism, to pivot relative to the forearm. The mortar-dispensing mechanism includes a form that receives and shapes a mortar charge, and a sliding gate mechanism that discharges the shaped charge. The arm is operated with a single motor that pivots the upper arm. Linkage constrains the tool assembly to move along a horizontal axis as the upper arm pivots and to remain in a fixed angular orientation relative to vertical. The arm is operated in response to sensors that detect vertical and horizontal distances to a mason's line.

Abstract: A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping the surface mount component. In the lower position, the article gripping elements are freely orientable relative to a vertical axis and the elements and support coact as the elements are being raised to correct the orientation of the elements to that desired.

Abstract: A device for use in placing surface mount components upon PCBs having article gripping elements carried by a support. The article gripping elements are movable between an upper position and a lower position for engaging and gripping surface mount components. The article gripping elements are dependent from a vertical flexible shaft so that the elements may become inclined upon contacting with a surface mount component so that a correct engagement and gripping action takes place. A seat is provided upon the support to ensure correct orientation of the elements upon their return to the upper position.