A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

A pipe repair device includes a body defining a first end and a second end opposite the first end; a stent configurable in a compressed configuration and an expanded configuration, the stent mounted to the body in the compressed configuration; and a locomotion subsystem configured to drive the pipe repair device through a pipe, the locomotion subsystem comprising a steering rod extending from the first end of the body and configured to engage an inner surface of the pipe.

In a method of joining a structure to a water-filled pipeline aboard a reel-lay vessel, a trailing end portion of the pipeline is suspended upright on a reel-lay tower. Water is drained from the trailing end portion while being retained in an inclined portion of the pipeline extending from the tower to a reel of the vessel and in a spooled portion of the pipeline coiled on the reel. The structure is joined to a trailing end of the pipeline after inserting a pig into the trailing end portion through the trailing end. Pumping additional water into a leading end of the pipeline on the reel propels the pig from the trailing end portion into a conduit of the structure while flooding the trailing end portion. This expels air through a port of the structure that was trapped in the trailing end portion between the pig and the structure.

A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

The present invention relates to a pig for use in a system for lining ducts such as water or sewage pipes or electrical ducts or gas pipes. The pig is insertable at least partly within a fabric liner sleeve located in a duct such as a water or sewage pipe and is capable of heating the liner sleeve in situ in the duct to melt or soften thermoplastic material of the liner sleeve to subsequently form, on cooling of the melted thermoplastic material, a rigid liner in the duct. A pig for fitting a liner to the inside of a pipe, comprising a pig body defining a longitudinal axis in a longitudinal direction from a front portion to a rear portion; a gas supply port in the front portion; a gas outlet diffuser forming part of the rear portion; a heating chamber in the pig body forming a flow path from the fluid inlet to the outlet diffuser; and a heater within the heating chamber, wherein the outlet diffuser comprises a plurality of channels, each channel comprising an inlet facing the front portion in the longitudinal direction and an outlet extending radially outwardly from the longitudinal axis.

A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

In a method of joining a structure to a water-filled pipeline aboard a reel-lay vessel, a trailing end portion of the pipeline is suspended upright on a reel-lay tower. Water is drained from the trailing end portion while being retained in an inclined portion of the pipeline extending from the tower to a reel of the vessel and in a spooled portion of the pipeline coiled on the reel. The structure is joined to a trailing end of the pipeline after inserting a pig into the trailing end portion through the trailing end. Pumping additional water into a leading end of the pipeline on the reel propels the pig from the trailing end portion into a conduit of the structure while flooding the trailing end portion. This expels air through a port of the structure that was trapped in the trailing end portion between the pig and the structure.

A material mixing inhibitor composition, a method of minimizing material mixing of a first fluid material and a second fluid material in a material processing system that includes a pipeline, and a cartridge for delivery of a material mixing inhibitor composition to the material processing system are described.

Example aspects of a pipe repair stent, a pipe repair device, and a method for repairing a pipe are disclosed. The pipe repair stent can comprise a sealing layer comprising a flexible and compressible repair material; and a spring, wherein the sealing layer is wrapped around a circumference of the spring; wherein the stent is configurable in an expanded configuration and a compressed configuration, the spring biasing the stent to the expanded configuration.

A modular isolation robot includes a motor configured to drive at least a first wheel, wherein the first wheel is configured to contact an interior surface of a pipe. The robot further includes a first rubber expander configured to selectively expand from a first state to a second state, wherein a diameter of the rubber expander in the second state is equal to an inner diameter of the pipe, and at least a first interchangeable module, wherein the first interchangeable module is configured to house an electronic component. A system for performing maintenance operations within a pipeline includes a first modular isolation robot and a second modular isolation robot.