Pipeline repairing equipment

Abstract

A pipe repair device (10) for repairing a pipe (4) on a building wall, wherein the device (10) is suspended by a cable (9). The apparatus (10) has a drive mechanism (100) for engaging and moving along the cable to drive the apparatus (10) to move along the cable to a position adjacent the pipe section (4S), an attachment mechanism (200) for engaging and attaching to the pipe section to stably hold the apparatus (10) near the pipe section, a repair mechanism (300) for performing repair operations on the pipe section, including scrubbing and covering the pipe section, a monitoring device (400) for monitoring the monitoring device (400), the device (10) comprises a drive mechanism (100) for capturing and providing images of the pipe segment in real time, and a control module (500) comprising a display (8) and disposed at a remote location for use by a user to control the operation of the drive mechanism (100) and the attachment mechanism (200) in order to position the device (10) and then to control the operation of the repair mechanism (300) to repair the pipe segment with reference to the images on the display.

Description

Technical Field

[0001] The present invention relates to a pipeline repairing device for repairing a pipeline installed on the outer wall of a building. Background Art

[0002] Piping is typically installed to supply gas to buildings. This piping consists of vertical sections used to supply gas to customers, as well as any horizontal sections of piping between these vertical sections. Piping surfaces are susceptible to corrosion and rust, which can be detrimental to the pipe and pose a safety hazard. Therefore, regular inspection and maintenance of the pipeline is necessary to protect customers and the public from any unnecessary gas hazards.

[0003] Traditionally, pipeline inspection and maintenance is performed manually by technicians from gas supply companies. Technicians must enter each customer's home, reach the pipeline through a window, use a gas detector to check for leaks, and manually repair any damaged sections. This traditional method is not only laborious and time-consuming, but also difficult and dangerous, especially when the damaged section is high off the ground or far from a building.

[0004] The present invention seeks to provide a solution by providing a new or otherwise improved pipeline repair apparatus. Summary of the Invention

[0005] According to the present invention, a pipeline repair device is provided for repairing a pipeline mounted on an exterior wall of a building. At least one cable is provided on the exterior wall of the building to suspend the pipeline repair device near a section of the pipeline requiring repair. The pipeline repair device includes a drive mechanism adapted to engage with and move along the cable, thereby driving the pipeline repair device along the cable to a position adjacent to the pipeline section; at least one attachment mechanism adapted to engage and attach to the pipeline section, thereby maintaining the pipeline repair device in a relatively stable position adjacent to the pipeline section; a repair mechanism adapted to perform at least one of a plurality of repair operations on the pipeline section, including brushing and covering the pipeline section; a monitoring device adapted to capture and provide real-time images of the pipeline or the area surrounding the pipeline section; and a control module, including a display and provided at a remote location, for a user to control the operation of the drive mechanism and the attachment mechanism so as to position the pipeline repair device adjacent to the pipeline section and then control the operation of the repair mechanism with reference to the image displayed on the display to perform the repair operation on the pipeline section.

[0006] Preferably, the drive mechanism includes a motor and at least one rotating member driven by the motor, the cable at least partially engaging and extending around the rotating member to move with the rotating member to cause the pipeline repair device to move along the cable.

[0007] More preferably, the drive mechanism comprises a plurality of said rotating members which together define a convoluted path, and the cable extends partially around the rotating members along the convoluted path to be moved thereby.

[0008] Still more preferably, the convoluted path has a shape similar to the letter "S" and includes opposite ends that are vertically aligned with each other.

[0009] Preferably, the pipeline repairing apparatus comprises a pair of the driving mechanisms, which are disposed on opposite left and right sides of the pipeline repairing apparatus and are configured to operate simultaneously with the pair of cables, respectively.

[0010] In a preferred embodiment, the attachment mechanism comprises at least two attachment members and an actuator for closing the attachment members on the pipe section to tightly engage the pipe section.

[0011] More preferably, said attachment parts together constitute a clamping or gripping arrangement.

[0012] Still more preferably, said clamping or gripping device comprises two said attachment members, said attachment members being pivotable by said actuator to close on said pipe section.

[0013] Preferably, the actuator includes a motor and a gear for transmitting drive of the motor to close the gear of the attachment member.

[0014] Preferably, the pipeline repair device comprises two attachment mechanisms, which are arranged at an upper position and a lower position relative to the pipeline repair device.

[0015] Further preferably, the two attachment mechanisms are arranged along a vertical center axis of the pipeline repairing device.

[0016] Preferably, the repair mechanism comprises at least one tool and a driver for driving to operate the tool on the pipe section.

[0017] More preferably, the repair mechanism comprises a manipulation mechanism adapted to support and move the at least one tool in X, Y and Z directions to enable performing the repair operation.

[0018] More preferably, the tool is adapted to perform a repair operation, the repair operation being at least one of: removing material from the pipe section and applying material to the pipe section.

[0019] In a preferred embodiment, the tool comprises an abrasive member driven by the drive to remove unwanted material from the pipe section.

[0020] More preferably, the grinding member includes a rotating brush, and the driver includes a motor for rotating the rotating brush.

[0021] More preferably, the repair mechanism comprises movement means adapted to move the abrading member over an extended area of ​​the surface of the pipe section and at least partially around the pipe section when the abrading member is driven by the drive.

[0022] More preferably, the repair mechanism comprises two of the tools having respective actuators for operating on opposite sides of the pipe section.

[0023] In a preferred embodiment, the tool comprises an applicator movable by the drive to apply a material comprising a covering material to the pipe section.

[0024] More preferably, the applicator comprises a holder adapted to hold a rigid form of the covering material for applying the rigid form of the material to the pipe section.

[0025] Still more preferably, the cover material comprises a cylindrical cover formed from two part cylindrical cover parts.

[0026] Still more preferably, the holder comprises a suction holder operable to hold the covering material by means of suction.

[0027] Still further more preferably, the repair mechanism comprises a suction device for applying suction to the retainer and subsequently not applying suction to the retainer to release the retainer.

[0028] Still further more preferably, the suction device comprises a suction pump.

[0029] Preferably, the repair mechanism comprises two said applicators having respective actuators for operating on opposite sides of the pipe section.

[0030] Preferably, the repair mechanism includes two of the applicators having respective actuators for operating on opposite sides of the pipe section, and the material includes a pair of semi-cylindrical caps for being respectively manipulated and applied by the applicators to and around the pipe section.

[0031] In a preferred embodiment, the tool includes a dispenser having an outlet and driven by an auxiliary driver to dispense and apply the sealing material around the segment within the covering material, the covering material being in a rigid form applied by one or more applicators.

[0032] More preferably, said dispenser comprises a syringe having said outlet and adapted to inject and thereby apply said sealing material through said outlet.

[0033] Still more preferably, the syringe comprises a syringe having a plunger, the plunger being arranged to be depressed by the auxiliary driver to expel the sealing material in the syringe through the outlet.

[0034] Still further more preferably, the auxiliary driver includes a motor and a gear for transmitting drive of the motor to press the plunger.

[0035] Preferably, the outlet comprises a flexible tube arranged to extend into the interior of the covering material before the covering material in a rigid form is applied to the tube section.

[0036] Preferably, the sealing material comprises expanded foam.

[0037] Preferably, the tool further comprises a grinding member driven by an associated drive and adapted to remove excess sealing material from the rigid form of the covering material.

[0038] It is further preferred that the grinding member comprises a rotating brush and the associated drive comprises an electric motor for rotating the rotating brush.

[0039] In a preferred embodiment, the pipeline repairing equipment includes a supporting device, and the supporting device is used to support the pipeline to be repaired.

[0040] Preferably, the support means comprises a rotating member for engaging the pipe requiring repair and rolling along the pipe.

[0041] Preferably, the rotating member comprises a wheel.

[0042] Preferably, the supporting device comprises a magnet, and the magnet is used to act on the pipe to be repaired through magnetic force, thereby keeping the rotating member engaged with the pipe to be repaired.

[0043] Preferably, the supporting device includes at least two rotating members, and the rotating members are arranged above and below the magnet.

[0044] Preferably, the magnet is provided in the attachment mechanism between the two or the at least two attachment parts of the attachment mechanism.

[0045] Preferably, the support means is adapted to be supported on one or more portions of the pipeline to be repaired, the one or more portions extending laterally from or across the pipeline to be repaired.

[0046] Preferably, the support means is adapted to be slidably supported on the one or more portions of the pipe requiring repair.

[0047] Preferably, the support means has raised front and rear portions for sliding over the portion or portions of the pipe requiring repair.

[0048] Preferably, the support means comprises a sled-like structure.

[0049] Preferably, the support device comprises a magnet for acting on the one or more portions of the pipe requiring repair by magnetic force, thereby maintaining the support device in engagement with the one or more portions of the pipe requiring repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Embodiments of the present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0051] Figure 1 is a schematic side view of a pipeline repair device for repairing a pipeline installed on an exterior wall of a building according to the present invention;

[0052] Figure 2 yes Figure 1 Front perspective view of pipeline repair equipment;

[0053] Figure 3 yes Figure 2 Rear perspective view of pipeline repair equipment;

[0054] Figure 4 yes Figure 2 A perspective view of a driving mechanism of a pipeline repair device;

[0055] Figure 5 yes Figure 4 An internal side view of the drive mechanism;

[0056] Figure 6 yes Figure 2 A perspective view of an attachment mechanism of a pipeline repair device;

[0057] Figure 7 yes Figure 6 Another perspective view of an attachment mechanism attached to a pipeline to hold a pipeline repair device adjacent to a pipe segment for repair;

[0058] Figure 8 yes Figure 2A three-dimensional diagram of an operating mechanism of a repair mechanism of a pipeline repair device;

[0059] Figure 9 yes Figure 8 Another perspective view of the operating mechanism of FIG, wherein the various parts are moved to different positions;

[0060] Figure 10 It is a stereoscopic view of the tool assembly of the repair mechanism, including a scrubbing tool and a covering tool;

[0061] Figure 11 yes Figure 10 a perspective view of a pair of tool assemblies;

[0062] Figure 12 yes Figure 11 Another perspective view of the tool assembly, which moves to the opposite side of the pipe section and operates with their brush tools;

[0063] Figure 13 is a perspective view of a pipe section with one of the brushing tools brushing its surface;

[0064] Figure 14 yes Figure 11 Another perspective view of the tool assembly, wherein their covering tools hold corresponding covering parts to cover the pipe section;

[0065] Figure 15 yes Figure 14 Another perspective view of the tool assembly being moved to opposite sides of the pipe section and applying the covering member using their covering tools;

[0066] Figure 16 yes Figure 15 Another perspective view of the tool assembly, wherein their covering tools have applied a covering part to a pipe section and released the covering part;

[0067] Figure 17 is a perspective view of a dispenser of a repair mechanism, wherein the dispenser is driven by a driver to dispense the sealing material to Figure 16 In the cover portion;

[0068] Figure 18 yes Figure 17 A perspective view of the drive;

[0069] Figure 19 is Figure 2 An example image of a pipe section being repaired by a repair mechanism using a covering tool, captured by a monitoring device of a pipeline repair device; and

[0070] Figure 20 Shown with Figure 2 A screen of the GUI of the control module associated with the pipeline repair device. DETAILED DESCRIPTION

[0071] Referring to the accompanying drawings, there is shown a pipe repair apparatus 10 embodying the present invention for repairing a pipe 4 mounted on an exterior wall of a building 2, wherein at least one cable 9, and preferably a pair of left and right cables 9 (as in the depicted scenario), is provided for suspending the pipe repair apparatus 10 near a section 4S of the pipe 4 requiring repair. The cables 9 are deployed, preferably suspended from the roof of the building 2 by a crane 6, as part of preparation for deploying the pipe repair apparatus 10.

[0072] Pipeline 4, typically made of metal such as iron, is part of the piping system that supplies gas (gas fuel) to the various apartments or units in building 2. Pipeline 4 is a main pipe, often called a "riser," extending vertically upward from a lower level (e.g., the ground). Horizontal supply pipes, typically of smaller diameter, branch from this main pipe to reach and supply gas to the units on each floor. Upon inspection, the pipe section 4S was found to have potential problems such as leaks, cracks, or severe rust, requiring repair work.

[0073] The pipeline repair device 10 has a driving mechanism 100 adapted to engage with the cable 9 and move along the cable 9, thereby driving the pipeline repair device 10 to move vertically along the cable 9 to a position adjacent to the pipe segment 4S. Depending on the site conditions, the pipeline repair device 10 can be raised from the ground or lowered from the roof.

[0074] The pipe repair device 10 includes at least one, and preferably two (upper and lower) attachment mechanisms 200 adapted to engage and attach to a pipe segment 4S, thereby maintaining the pipe repair device 10 in a relatively stable position adjacent to the pipe segment 4S. The device also includes a repair mechanism 300 adapted to perform at least one of a plurality of repair operations on the pipe segment 4S, including brushing and covering the pipe segment 4S.

[0075] There is also a monitoring device 400 adapted to capture and provide images of the area surrounding the pipeline 4 (particularly its segments 4S) in real time, so that a user of the pipeline repair apparatus 10 can monitor and control the entire process using the control module 500. The monitoring device 400 is preferably provided by at least one camera 401, the output of which is preferably transmitted to the control module 500 via a mobile communication network to which both are connected.

[0076] The control module 500 may be provided by a laptop computer having a display or screen 8 and used by a user at a remote location (e.g., on the ground next to the building 2) to control the operation of the drive mechanism 100 and the attachment mechanism 200 to position the pipe repair device 10 near the pipe segment 4S, and subsequently control the operation of the repair mechanism 300 to perform a repair operation on the pipe segment 4S, all with reference to the image displayed on the screen 8. The drive mechanism 100 and the attachment mechanism 200 are connected to the same mobile communication network as the control module 500 so as to be controlled and operated by the control module 500.

[0077] The pipeline repair apparatus 10 comprises an upright rectangular main frame 11, on which the aforementioned mechanisms 100, 200, and 300, as well as the monitoring device 400, are supported. The driving mechanism 100 is mounted on the top end of the main frame 11, so that the main frame 11 is suspended by the driving mechanism 100. The attachment mechanism 200 and the repair mechanism 300 are mounted on the inner side (i.e., the underside) of the main frame 11, facing the pipe segment 4S, for operating the pipe segment 4S.

[0078] The pipeline repairing device 10 further comprises one or more supporting devices on the inner side of the main frame 11 for providing support to the pipeline 4 to be repaired. There are two types of such supporting devices, namely, a rolling type supporting device 22 and a skid type supporting device 12.

[0079] First, referring to the rolling support device 22, it includes at least one, and particularly three, rotating members 22R for engaging and rolling along the pipe 4. Each rotating member 22R comprises a wheel 22R or is in the form of a wheel 22R. The support device 22 includes magnets 22M (made of neodymium, so-called supermagnets) that act on the pipe 4 through magnetic force, thereby maintaining the rotating members or wheels 22R in engagement with the pipe 4. One wheel 22R is positioned vertically above the magnet 22M, while the other two wheels 22R are positioned symmetrically side by side below the magnet 22M. All wheels 22R are closely arranged in a group. There are two such groups, one in the upper attachment mechanism 200 and one in the lower attachment mechanism 200. In each group, the magnet 22M in the corresponding attachment mechanism 200 is positioned between two or at least two attachment members 220 (described below) of the attachment mechanism 200.

[0080] The support device 22 is designed to be used specifically when the pipeline repair device 10 is moved along the pipeline 4 by the drive mechanism 100 while suspended by the cable 9 to reach the pipeline segment 4S, before the attachment mechanism 200 is operated to attach the pipeline repair device 10 to the pipeline 4 at the segment 4S. The support device 22, and in particular its wheels 22R, enable the pipeline repair device 10 to be moved along the pipeline 4 while in rotational sliding engagement therewith. Specifically, the wheels 22R are arranged to protrude slightly toward the pipeline 4 beyond associated magnets 22M, which are magnetically attached to the pipeline 4 at a distance (e.g., a few millimeters) from the pipeline 4. The magnets 22M maintain the wheels 22R in rotational engagement with the pipeline 4 (via magnetic forces on the pipeline 4) without themselves contacting the pipeline 10, thereby facilitating movement of the pipeline repair device 10 along the pipeline 4.

[0081] Reference will now be made to the skid-type support device 12, which is adapted to be moved and slid on an exterior wall, in particular on any other pipeline on the exterior wall that extends laterally (e.g., horizontally) through the (vertical) movement path of the pipeline repair device 10. Such other pipeline is typically a portion or portions of the pipeline 4 that extend laterally from or through the pipeline 4. These portions are generally referred to as supply pipes, which branch horizontally from the pipeline 4 (i.e., the aforementioned main pipeline or riser) to supply gas to units on various floors of the building 2.

[0082] The support device 12 is adapted to be slidably supported on such a supply pipe. The support device 12 is preferably a sled-like structure formed by a pair of slides 12R having gradually raised (or curved) front and rear ends, adapted to slide in opposite directions on the supply pipe. Each slide 12R has a channel-shaped cross-section, within which a series of magnets (made of neodymium, so-called supermagnets) are mounted along substantially the entire length of the slide 12R. The magnets are configured to exert a magnetic force on the supply pipe, thereby maintaining the slides 12R in sliding engagement or contact with the supply pipe during movement of the pipeline repair device 10, while sliding over (or resting on) the supply pipe with minimal bouncing.

[0083] In operation, the two support devices 22 and 12 typically function in a complementary manner. As the pipe repair device 10 travels to or from pipe section 4S, the roll-type support device 22 will typically rest against and roll along the pipe 4. Sometimes, when the pipe repair device 10 reaches one or more associated supply pipes (also made of iron) on either or both sides of the pipe 4 on the next floor (above or below), the skid-type support device 12 will support and ride over such supply pipes en route. During this time, the pipe repair device 10 will move away from the pipe 4, with the original support device 22 temporarily disengaged from the pipe 4 while the other support device 12 takes over the support function against the supply pipes. This support function, which stabilizes the pipe repair device 10 against the (iron) pipe on the wall of the building 2, is maintained at all times by the magnets 22M of the roll-type support device 22 or the magnets 12M of the skid-type support device 12.

[0084] Turning to the drive mechanism 100, it includes a motor 110 and at least one, preferably two, rotating members 120 driven by the motor 110 on each of its opposing left and right sides. The motor 110 and the associated rotating member 120 on each of the opposing left and right sides constitute a corresponding drive device. The entire drive mechanism 100 includes two or a pair of such drive devices, which are arranged to operate simultaneously with two cables 9, respectively. The corresponding cable 9 on the same side engages the rotating member 120 and extends at least partially around the rotating member 120, so as to move with the rotating member 120, thereby causing the pipeline repair device to move along the cables 9.

[0085] The two (or more) rotating members 120 on each side together define a convoluted path along which the corresponding cable 9 extends partially around the rotating member 120 to move thereby. The convoluted path has a shape similar to the letter "S" (i.e., S-shaped) and includes opposite upper and lower ends (e.g., S-shaped) that are vertically aligned with each other. Figure 5 As shown), therefore, the upper section and the lower section of the cable 9 adjacent to the outer side of the drive mechanism 100 are arranged in a straight line. In short, the convoluted path strengthens the grip of the rotating member 120 on the cable 9, thereby avoiding slipping.

[0086] Turning to the attachment mechanisms 200, each attachment mechanism is formed from at least two attachment members 220 and an actuator 210 for closing the attachment members 220 onto the pipe segment 4S, thereby securely engaging the pipe segment 4S. The two attachment members 220 together constitute a clamping or gripping device. The attachment members 220 can be pivoted by the actuator 210 to close the pipe segment 4S. The actuator 210 may include a motor and gears forming a gear train for transmitting the motor's rotational drive to pivot the attachment members 220 closed and open. Because the operation and arrangement of such motors and gears are well known in the art, they have been omitted from the drawings for the sake of clarity.

[0087] As mentioned above, there are two attachment mechanisms 200 (upper attachment mechanism and lower attachment mechanism). They are provided at upper and lower positions relative to the pipeline repair apparatus 10 or its main frame 11, and are separated as far as possible and along the vertical center axis of the main frame 11 (from the vertical center axis to the vertical center axis). Figure 2 In other words, the two attachment mechanisms 200 are located near the upper and lower ends of the main frame 11 and are centered relative to the main frame 11 so that they can provide a stable and balanced hold of the main frame 11 on the pipe segment 4S.

[0088] Reference is now made to the repair mechanism 300, which is designed to perform at least one of a plurality of repair operations on the pipe segment 4S, including scrubbing and subsequently covering the pipe segment 4S. The scrubbing operation (i.e., scrubbing operation) is used to remove unwanted materials, such as rust, fouling, and flaking paint / coating, from the pipe segment 4S. Subsequently, the covering operation (i.e., covering operation) is used to apply a covering or protective material, such as paint, coating, or encapsulant, to the pipe segment 4S.

[0089] The repair mechanism 300 includes a manipulation mechanism 310 for providing X, Y and Z directions ( Figure 8 and 9 ) to enable 3D manipulation motion on the upper and lower rails 301 to perform repair operations, namely brushing and covering operations. The manipulation mechanism 310 includes a 3D rail system formed by a vertical upper and lower rail 301 (along the Y direction), a horizontal left and right rail 302 (along the X direction), and a pair of horizontal front and rear rails 303 (along the Z direction). The horizontal left and right rails 302 are supported by slider modules 302S, which are slidably engaged with and along the upper and lower rails 301. The front and rear rails 303 are supported by corresponding slider modules 303S, which are slidably engaged with and along the left and right rails 302.

[0090] The upper and lower rails 301 have a set of three parallel rails 301R that are slidably engaged with and pass through the slider modules 302S, and include a rearwardly disposed actuator 301D. The actuator 301D is provided by a motor 301DM and a gear 301DG (as shown) and is used to rotate one of the rails 301R, for example, the middle rail, clockwise and counterclockwise. The middle rail includes threads along its length and is threadedly engaged with the slider modules 302S, for moving the slider modules 302S in the Y direction along the upper and lower rails 301, thereby moving the left and right rails 302.

[0091] The left and right rails 302 have a set of three parallel rails 302R that slidably engage and extend through the bottom of the slider module 303S, and include a drive 302D at one end. Drive 302D can be formed by two sets of motors and gears (not shown but generally known) to rotate two of the rails 302R, for example, the left and right rails, clockwise and counterclockwise, respectively. Each left / right rail includes threads along its length and is threadedly engaged with a corresponding slider module 303S, for moving the slider module 303S in the X-direction along the left and right rails 302, thereby moving the corresponding front and rear rails 303.

[0092] Each of the two front and rear rails 303 has a set of three parallel rails 303R that slidably engage and extend through the rear end of the corresponding slider module 303S, where a driver 303D is located, and a platform 303P is located at the front end of the slider module 303S. One of the rails 303R, for example the middle rail, includes threads along its length. The driver 303D is formed by a motor and a gear (not shown but generally known) that is threadedly engaged with the middle rail to extend and retract the middle rail, thereby moving the platform 303P forward and backward in the Z direction along the front and rear rails 303.

[0093] There are two such platforms 303P, which are part of the manipulation mechanism 310 and are arranged to be movable in the X, Y and Z directions ( Figure 8 and 9 ) so that the entire repair mechanism 300 can perform brushing and covering operations. The two platforms 303P can move up and down simultaneously (in the Y direction) along the common upper and lower rails 301. However, they can move independently left and right (in the X direction) by sliding the corresponding slider modules 303S along the left and right rails 302, and can move independently forward and backward (in the Z direction) by extending and retracting the corresponding front and rear rails 303.

[0094] Referring now to the brushing operation, the repair mechanism 300 includes at least one (preferably two) tools, referred to as brushing tools, which include an abrasive member in the form of a rotating brush 321 and an associated drive for driving and operating the rotating brush 321 relative to the pipe segment 4S to remove unwanted material from the pipe segment. The associated drive is provided in part by a motor 322 for rotating the rotating brush 321 and includes an electric actuator 324 having a pivot arm 323 that carries the motor 322. The pivot arm 323 is movable by the actuator 324 to operate the motor 322, and thereby the rotating brush 321, over an extended area of ​​the surface of the pipe segment 4S and at least partially around the top / bottom and left / right of the pipe segment 4S, while the rotating brush 321 is driven by the motor 322 to clean the surface, as shown. Figure 13 As shown, each rotating brush 321 moves along a zigzag path covering each consecutive segment of the pipe segment 4S to brush the surface of the pipe segment 4S.

[0095] There are two such brushing tools, which have corresponding rotating brushes 321 and associated drives, which are arranged in a mirror-image manner on opposite lateral sides of the main frame 11 for operating on the left and right sides of the pipe segment 4S. This arrangement ensures that the entire cylindrical surface across the opposite sides of the pipe segment 4S can be reached by the rotating brushes 321 and thus cleaned. The two brushing tools are supported on the platform 303P respectively. In operation, initially, the brushing tool will be moved by the manipulation mechanism 310 (via the platform 303P) to sufficiently approach the pipe segment 4S, and then the associated drive, i.e. the actuator 324 and the corresponding pivot arm 323 will start to act by moving and operating the rotating brush 321 to clean the pipe segment 4S.

[0096] Turning now to the covering operation, the repair mechanism 300 includes at least one (preferably two) tools, referred to as covering tools, which include an applicator 326 movable by an associated actuator for applying a material, particularly a covering material 600, to the pipe segment 4S. The covering material 600 is preferably a rigid material and takes the rigid form of a cylindrical cover 601, which is completed by fitting two partially cylindrical, and particularly semi-cylindrical, cover parts 602 onto the pipe segment 4S from opposite left and right sides to completely enclose the pipe segment 4S. There are two such covering tools, each having a corresponding applicator 326 and an associated actuator, arranged on opposite lateral sides for manipulating and applying the respective semi-cylindrical cover parts 602 to the left and right sides of the pipe segment 4S to complete the cylindrical cover 601.

[0097] Each applicator 326 is provided by a set of four suction holders 325 adapted to hold a corresponding rigid semi-cylindrical cover member 602 for applying the semi-cylindrical cover member 602 to the pipe segment 4S and completing the cylindrical cover 601 around the pipe segment 4S. The four suction holders 325 are positioned in a rectangular arrangement for attaching to the back of the corresponding semi-cylindrical cover member 602 by suction. The suction holders 325 are connected by a flexible rubber tube 325T ( Figure 15 ) are connected together, the flexible rubber tube 325T leads to the suction device, which includes a suction pump 325P for applying suction to the suction holder 325. There are two suction pumps 325P, one for each applicator 326, and they are respectively located on the left and right sides of the lower end of the main frame 11 ( Figure 2 and Figure 3 ).

[0098] The associated drive of each applicator 326 is provided by an electric actuator 328 having a pivot arm 327 that connects and supports the corresponding applicator 326 having a suction holder 325. Under the control of the actuator 328, the pivot arm 327 moves and manipulates the applicator 326, and in turn moves and manipulates the semi-cylindrical cover member 602 held thereby to approach and then against the proximal side (left / right side) of the pipe segment, thereby applying the semi-cylindrical cover member 602 to the pipe segment 4S. Simultaneously, another semi-cylindrical cover member 602 is applied by another applicator 326, which operates simultaneously with the first-mentioned applicator 326.

[0099] Like the aforementioned scrubbing tool, the two covering tools are also supported on the platform 303P. In operation, the covering tool will initially be moved by the manipulation mechanism 310 (via the platform 303P) to be sufficiently close to the pipe section 4S, and then the associated drive, i.e., the actuator 328 and the corresponding pivot arm 327 will start to move and operate the applicator 326 to apply the cylindrical cover 601 to the cleaned pipe section 4S.

[0100] Generally speaking, the manipulation mechanism 310 is designed to support and move the brushing tool (i.e., the rotating brush 321 and the associated actuator 324 with the pivot arm 323) and the covering tool (i.e., the applicator 326 and the associated actuator 328 with the pivot arm 327) in the X, Y, and Z directions to enable the execution of the relevant maintenance operations. On each left / right side of the main frame 11, the brushing tool and the covering tool are supported on the same platform 303P of the manipulation mechanism 310, together forming a tool assembly 320 ( Figure 10On each platform 303P, two actuators 324 and 328 for different operations (i.e., brushing and covering operations) are arranged side by side, with their pivot arms 323 and 327 and the associated rotating brushes 321 and applicators 326 facing the rear or interior of the main frame 11 when at rest, i.e., away from the pipe section 4S (i.e., pipeline 4) and the building 2 ( Figure 11 ).

[0101] To perform the brushing operation, each actuator 324 rotates its pivot arm 323 out 90° to direct the rotating brush 321 toward the proximal side (left / right) of the pipe segment 4S to clean that side of the pipe segment 4S ( Figure 12 and Figure 13 ). When this is completed, the actuator 324 rotates back to its pivot arm 323 and rotating brush 321. To perform the subsequent covering operation, each actuator 328 rotates its pivot arm 327 out 90° to face the semi-cylindrical cover member 602 held by the associated applicator 326 at the same proximal side (left / right) of the cleaned pipe segment 4S to apply the semi-cylindrical cover member 602 to that side of the pipe segment 4S ( Figure 15 and Figure 16 ).

[0102] To continue the covering operation, the repair mechanism 300 also includes a dispenser 610 associated with the aforementioned tools (i.e., the applicator 326 and the associated driver). The dispenser 610 has an outlet 611 and is driven by an auxiliary driver 620 to dispense and apply additional covering material, such as a sealing material, to surround and seal the pipe segment 4S within the cylindrical cover 601 applied and held in place by the applicator 326. The sealing material is preferably an expanding foam. The dispenser 610 includes a syringe 612 having an outlet 611 for injecting and thus applying the expanding foam via the outlet 611. The syringe 612 can take the form of a syringe having a plunger in the cylinder and being arranged to be pressed by the auxiliary driver 620 to discharge the expanded foam in the cylinder via the outlet 611. The auxiliary driver 620 has a housing 621, in which a motor and a gear for transmitting the motor's rotational drive to press the plunger are disposed. Since the operation and arrangement of such motors and gears are well known in the art, they are omitted from the drawings for the sake of clarity. The outlet 611 is fitted with a flexible rubber tube 611T which leads to, and in particular extends by threads to, the two semi-cylindrical cover members 602 ( Figure 15 ) and is in place and ready for use before the semi-cylindrical cover member 602 is manipulated and applied to the pipe segment 4S.

[0103] With this arrangement, after the two semi-cylindrical cover components 602 have been assembled to form the cylindrical cover 601 surrounding the pipe segment 4S, the auxiliary driver 620 is turned on to operate the dispenser 610 to dispense a predetermined amount of expansion foam into the cylindrical cover 601 from opposite sides thereof. Upon release, the internal expansion foam expands and fills the space within the cylindrical cover 601 and around the pipe segment 4S, thereby sealing the pipe segment 4S against any previously identified leaks and / or providing additional or renewed protection for the pipe segment 4S. When the foam inside the cylindrical cover 601 solidifies, the suction pump 325P is turned off to deactivate it, allowing the suction retainer 325 to be released from the cylindrical cover 601. At this point, the repair operation on the pipe segment 4S is complete.

[0104] In this embodiment, the pipeline repair device 10 includes a plurality of the aforementioned cameras 401, a video selector (or selector circuit), and a video transmitter. The cameras 401 are operable to capture video images of the pipe segment 4S at different angles and positions. For example, five cameras 401 can be installed at different positions on the main frame 11 of the pipeline repair device 10 according to actual needs, so as to capture the video images in different directions, such as forward (i.e., Figure 19 ), left and right sides, and from the top and bottom, photographs or real-time images of pipeline segment 4S are obtained. The video selector is operable, for example, to select one or more cameras to capture video images in response to instructions from control module 500. The video transmitter transmits the captured video images to control module 500 via the aforementioned mobile communication network, allowing the video images to be stored, processed, or displayed in a user interface on screen 8 of control module 500 for viewing.

[0105] The video selector is implemented by a related function of the software running in the control module 500. The video transmitter is provided by a built-in device located in the control module 500, such as a mobile network module or card. The transmitter for transmitting video images is also capable of and is configured to transmit all other data and signals between the pipeline repair device 10 and the control module 500.

[0106] The control module 500 (e.g., a laptop or smartphone) includes a processor or processing unit, one or more components of a computer readable medium (CRM) or memory, an operating system (OS) and applications or software, and a user interface or particularly a graphical user interface (GUI). Figure 20 An example of a GUI in use is shown, which is a customized or specially designed interface screen display that includes various icons, buttons, actuators, and directional movement controls (similar to a joystick) that are touch-sensitive for pressing and / or sliding to operate various mechanisms and devices, namely the drive mechanism 100, attachment mechanism 200, repair mechanism 300, and monitoring device 400 as described above.

[0107] Additionally, the GUI is operable to present a 3D visualization showing the pipeline repair apparatus 10 and at least a portion of the pipe segment 4S being repaired, such as, for example, Figure 20 This allows the user to visually monitor the repair process and any other actions required for the pipeline repair device 10 to perform the repair work from a remote location using a laptop or smartphone.

[0108] The use of the pipe repair apparatus 10 is particularly advantageous in replacing human workers in performing various maintenance and repair tasks on gas pipes running along the sides of buildings at potentially dangerous heights. These tasks include, for example, polishing the surface of a pipe section to remove rust and dirt, and protecting the surface by applying a protective cover with a sealant (or, in various embodiments, applying a rust-resistant coating).

[0109] The present invention has been presented by way of example only and those skilled in the art may make various modifications and / or changes to the described embodiments without departing from the scope of the invention as specified in the appended claims.

Claims

1. A pipeline repair device, used for repairing a pipeline installed on an outer wall of a building, wherein at least one cable is arranged on the outer wall of the building to hang the pipeline repair device near a pipe section of the pipeline that needs to be repaired, characterized in that: The pipeline repair equipment comprises: a drive mechanism adapted to engage with the cable and move along the cable, thereby driving the pipeline repair device to move along the cable to a position adjacent to the pipe segment; at least one attachment mechanism adapted to engage and attach to the pipe segment to thereby maintain the pipeline repair device in a relatively stable position adjacent the pipe segment; a repair mechanism adapted to perform at least one of a plurality of repair operations on the pipe segment, the repair operation comprising brushing and covering the pipe segment; A monitoring device adapted to capture and provide images of the pipeline or the area surrounding the pipeline section in real time; and A control module includes a display and is disposed at a remote location for use by a user to control the operation of the drive mechanism and the attachment mechanism so as to position the pipeline repair device adjacent to the pipe segment, and then control the operation of the repair mechanism with reference to the image displayed on the display to perform the repair operation on the pipe segment.

2. The pipeline repair equipment according to claim 1, characterized in that: The drive mechanism includes a motor and at least one rotating member driven by the motor, the cable at least partially engaging and extending around the rotating member to move with the rotating member to cause the pipeline repair device to move along the cable.

3. The pipeline repairing equipment according to claim 2, characterized in that: The drive mechanism includes a plurality of the rotating members that together define a convoluted path along which the cable extends partially around the rotating members to move thereby.

4. The pipeline repairing equipment according to claim 3, characterized in that: The convoluted path has a shape similar to the letter "S" and includes opposite ends that are vertically aligned with each other.

5. The pipeline repairing equipment according to any one of claims 1 to 4, characterized in that: The pipeline repairing device includes a pair of the driving mechanisms, which are arranged on opposite left and right sides of the pipeline repairing device and are used to operate simultaneously with the pair of cables respectively.

6. The pipeline repairing equipment according to claim 1, characterized in that: The attachment mechanism includes at least two attachment components and an actuator for closing the attachment components onto the pipe segment to tightly engage the pipe segment.

7. The pipeline repairing device according to claim 6, characterized in that: The attachment parts together form a clamping or gripping device.

8. The pipeline repairing device according to claim 7, characterized in that: The clamping or gripping device comprises two said attachment parts which can be pivoted by the actuator to close on the pipe section.

9. The pipeline repairing device according to any one of claims 6 to 8, characterized in that: The actuator includes a motor and a gear for transmitting a drive of the motor to close the attachment member.

10. The pipeline repairing device according to any one of claims 6 to 8, characterized in that: The pipeline repair device includes two of the attachment mechanisms, which are arranged at an upper position and a lower position relative to the pipeline repair device.

11. The pipeline repairing device according to claim 10, characterized in that: The two attachment mechanisms are arranged along a vertical center axis of the pipeline repairing device.

12. The pipeline repairing device according to claim 1, characterized in that: The repair mechanism includes at least one tool and a driver for driving to operate the tool on the pipe section.

13. The pipeline repairing device according to claim 12, characterized in that: The repair mechanism comprises a manipulation mechanism adapted to support and move the at least one tool in X, Y and Z directions to enable the repair operation to be performed.

14. The pipeline repairing device according to claim 12, characterized in that: The tool is adapted to perform a repair operation that is at least one of: removing material from the pipe segment and applying material to the pipe segment.

15. The pipeline repairing device according to claim 14, characterized in that: The tool includes an abrasive member driven by the drive to remove unwanted material from the pipe segment.

16. The pipeline repairing device according to claim 15, characterized in that: The grinding member includes a rotating brush, and the driver includes a motor for rotating the rotating brush.

17. The pipeline repairing device according to claim 15 or 16, characterized in that: The repair mechanism comprises movement means adapted to move the abrasive member over an extended area of ​​the surface of the pipe section and at least partially around the pipe section when the abrasive member is driven by the drive.

18. The pipeline repairing device according to any one of claims 12 to 16, characterized in that: The repair mechanism includes two of the tools having corresponding actuators for operating on opposite sides of the pipe segment.

19. The pipeline repairing device according to claim 14, characterized in that: The tool includes an applicator movable by the drive to apply a material including a covering material to the pipe section.

20. The pipeline repairing device according to claim 19, characterized in that: The applicator includes a holder adapted to hold the covering material in a rigid form for applying the material in a rigid form to the pipe section.

21. The pipeline repairing device according to claim 20, characterized in that: The cover material comprises a cylindrical cover formed from two partially cylindrical cover parts.

22. The pipeline repairing device according to claim 20, characterized in that: The retainer includes a suction retainer operable to retain the covering material by means of suction.

23. The pipeline repairing device according to claim 22, characterized in that: The repair mechanism includes a suction device for applying suction to the retainer and then not applying suction to the retainer to release the retainer.

24. The pipeline repairing device according to claim 23, characterized in that: The suction device comprises a suction pump.

25. The pipeline repairing device according to any one of claims 19 to 24, characterized in that: The repair mechanism includes two of the applicators having respective actuators for operating on opposite sides of the tubing segment.

26. The pipeline repairing device according to any one of claims 21 to 24, characterized in that: The repair mechanism includes two applicators having corresponding drives for operating on opposite sides of the pipe section, and the material includes a pair of semi-cylindrical covers to be respectively manipulated and applied by the applicators to and around the pipe section.

27. The pipeline repairing device according to any one of claims 19 to 24, characterized in that: The tool includes a dispenser having an outlet and driven by an auxiliary driver to dispense and apply a sealing material to surround the segment within the covering material, the covering material being in a rigid form applied by one or more applicators.

28. The pipeline repairing device according to claim 27, characterized in that: The dispenser comprises a syringe having the outlet and adapted to inject and thereby apply the sealing material through the outlet.

29. The pipeline repairing device according to claim 28, characterized in that: The syringe comprises a syringe having a plunger arranged to be depressed by the auxiliary driver to expel the sealing material in the syringe through the outlet.

30. The pipeline repairing device according to claim 29, characterized in that: The auxiliary driver includes a motor and a gear for transmitting a drive of the motor to press the plunger.

31. The pipeline repairing device according to claim 27, characterized in that: The outlet comprises a flexible tube which is arranged to extend into the interior of the covering material before the covering material in a rigid form is applied to the pipe section.

32. The pipeline repairing device according to claim 27, characterized in that: The sealing material comprises expanding foam.

33. The pipeline repairing device according to claim 27, characterized in that: The tool further comprises a grinding member driven by an associated drive and adapted to remove excess sealing material from the cover material in a rigid form.

34. The pipeline repairing device according to claim 33, characterized in that: The abrasive member comprises a rotating brush and the associated drive comprises a motor for rotating the rotating brush.

35. The pipeline repairing device according to claim 1, characterized in that: The pipeline repairing device comprises a supporting device for supporting on the pipeline to be repaired.

36. The pipeline repairing device according to claim 35, characterized in that: The support device includes a rotating member for engaging the pipe in need of repair and rolling along the pipe.

37. The pipeline repairing device according to claim 36, characterized in that: The rotating member comprises a wheel.

38. The pipeline repairing device according to claim 36 or 37, characterized in that: The supporting device comprises a magnet, and the magnet is used to act on the pipe to be repaired through magnetic force, so as to keep the rotating member engaged with the pipe to be repaired.

39. The pipeline repairing device according to claim 38, characterized in that: The supporting device comprises at least two rotating members, and the rotating members are arranged above and below the magnet.

40. The pipeline repairing device according to claim 38, characterized in that: The magnet is arranged in the attachment mechanism between the two or the at least two attachment parts of the attachment mechanism.

41. The pipeline repairing device according to claim 35, characterized in that: The support device is adapted to be supported on one or more portions of the pipeline to be repaired, the one or more portions extending laterally from or across the pipeline to be repaired.

42. The pipeline repairing device according to claim 41, characterized in that: The support device is adapted to be slidably supported on the one or more portions of the pipe requiring repair.

43. The pipeline repairing device according to claim 42, characterized in that: The support device has raised front and rear portions for sliding over the one or more portions of the pipe requiring repair.

44. The pipeline repairing device according to claim 43, characterized in that: The support device includes a sled-like structure.

45. The pipeline repairing device according to any one of claims 41 to 44, characterized in that: The support device includes a magnet for acting on the one or more portions of the pipe requiring repair by magnetic force, thereby maintaining the support device in engagement with the one or more portions of the pipe requiring repair.

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