Patent Publication Number: US-11028955-B2

Title: Means and method for lining a pipe

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. Pat. No. 10,495,249 issued Dec. 3, 2019, which is a continuation of U.S. Pat. No. 9,857,015 issued Jan. 2, 2018, which is a divisional of U.S. Pat. No. 9,341,302 issued on May 17, 2016 which claims priority under 35 U.S.C. § 119 to provisional application Ser. No. 61/714,551, filed Oct. 16, 2012, all of which are hereby incorporated by reference in their entirety. 
    
    
     FIELD OF THE INVENTION 
     The invention is relates generally to pipe repair. More specifically, but not exclusively, the invention relates to a means and method for repairing a pipe that increases the accuracy and efficiency of aligning a liner assembly with a pipe structure to be repaired. 
     BACKGROUND OF THE INVENTION 
     Prior methods for repairing damaged portions of pipelines include moving a liner tube impregnated with a liquid material capable of curing and hardening to a position within the pipe where the damaged portion is located. The liner tube is installed by pulling, pushing, or everting the liner into the host pipe. Once the liner is positioned within the host pipe, it is pressurized, usually by an inflation bladder, causing the liner to press against the interior wall of the host pipe, and the liner is cured by applying heat, such as steam or hot water. These liners can also be cured at ambient temperatures by chemical mixtures that generate an exothermic reaction, the use of ultraviolet light or other photo curing initiators, or by electron beam curing. The liner tube forms an interior liner in the pipe for the pipeline being repaired. One such process is known as cured-in-place pipelining. 
     In most pipelines, lateral or branch pipes are connected to main pipes. In sewer systems, the connection of a lateral pipe to a main sewer pipe is accomplished by forming a hole in the main line with a hammer. The lateral pipe is then simply abutted against the hole, and then the juncture is covered with mortar, dirt, or the like. Damage or leaking can occur at the junction between the lateral pipe and the main pipe, which is generally known as one of the weakest points in a collection sewer system. T-shaped or Y-shaped liner tubes have been utilized to fit within the junction between the lateral and main pipes. Liner tubes form a T-shaped or Y-shaped liner after hardening to the interior of the junction between the pipes. Again, inflation bladders are typically used to pressurize the liners against the interior walls of the host pipes. 
     The repair assembly may include a scrim-reinforced bladder assembly including an inflatable main bladder that is sized close (≤10%) to the inner diameter of the pipe without stretching the bladder, and a lateral bladder that is inserted into a lateral pipe. The main and lateral bladders may be fluidly connected, or they may each have their own air supply conduit. The scrim, which provides reinforcement to the bladder, also limits stretch and prevents the bladder from bursting under pressure. For example, a bladder for a 24-inch pipeline would measure approximately from 21-inch to 24-inch in diameter. The bladder is positioned over a launcher, which can have an outside diameter of approximately 12 inches and where each end of the bladder is gathered to fit around the 12-inch launcher tube and secured by banding like that of a hose clamp. However, the size results in folds along the circumference of the bladder. 
     The folds can create problems. The main bladder, having a diameter twice that of the launcher, can rotate, even when rubber bands have been used to restrict the rotation of the main bladder. Furthermore, the launcher and bladder are combined with a main and lateral resin absorbent lining, and the assembly is robotically positioned in the main pipe where the lateral lining is aligned with the lateral pipe. As air pressure is applied to the main bladder, the bladder begins to inflate and the folded sections of the bladder contact the main liner and the pipe in sporadic locations around the interior circumference of the main lining and the main pipe. This can result in the liner assembly moving or rotating such that the lateral lining is no longer in alignment with the lateral pipe. 
     In addition, the main bladder can contact the inner pipe wall for a distance nearly equal to the distance between the bandings at the ends of the launcher. In order for the reinforced bladder to achieve this pipe surface contact, the main bladder must be longer than the distance between the banding measures. This is done so as to provide a mainline bladder having a length that is equal to the distance between the bandings, while accounting for the distance from the exterior surface of the launcher to the interior surface of the pipe. For example, if the distance between the bands is 34 inches, and the distance from outer surface of the launcher to the inner surface of the pipe is 6-inches at each end, the repair would require a bladder having a length of approximately 46-inches. This is not accounting for the amount of bladder at the bandings. 
     However, the excess bladder material allows the bladder to slide or move along the length of the launcher in either direction as the launcher and liner assembly are positioned in the pipe. The liner may contact the pipe walls, and the liner can shift on the bladder, and/or the bladder can shift on the launcher. For example, some pipes have slight bending or offset joints, which typically do not prevent the lining equipment and materials from passing through the pipe, but which could cause the liner to become out of communication with the bladder, and likewise the bladder out of communication with the launcher. 
     Furthermore, the positioning of the assembly can be accomplished by using a self-propelled robot having an attachable and detachable connecting device for connecting the robot to a launcher and a camera that displays video of the robot&#39;s work to technicians who control the robot from outside of the pipe. The launcher can be outfitted with a flexible spring or a laser that is in perfect alignment (12:00 clock reference) of the lateral liner. In this example, the distance from the spring or laser (or a similar device) to the first side of the lateral liner can be 23-inches, which is a measurement the technician will use for robotic positioning. The method involves moving the robot and connected launcher through the pipe until the spring, laser, or the like is aligned with the center of the lateral pipe. The launcher can then be moved so the spring or laser makes contact at the first side of the lateral pipe, and then the launcher can be moved 23 inches so the lateral liner is aligned with the lateral pipe. 
     The method works so long as the main bladder does not move substantially relative to the launcher, and the liner does not move substantially relative to the bladder. Any rotation of the launcher can affect the accuracy of the pipe repair. The longitudinal movement is also an issue as the launcher and liner are moved through the pipe. Any longitudinal movement of the bladder can slide can affect the technician who uses 23 inches for his or her measurement. The problem can also arise when a sealing gasket is used, as the gasket may also slide or otherwise move such that the lateral liner and the gasket are no longer in communication. 
     There is therefore, a need in the art for a method and means for lining a pipe that mitigates the likelihood that a liner and/or bladder assembly will move prior to repairing the pipe and after alignment. 
     SUMMARY OF THE INVENTION 
     Therefore, it is principal object, feature, and/or advantage of the present invention to provide an apparatus that overcomes the deficiencies in the art. 
     It is another object, feature, and/or advantage of the present invention to provide a method and means for mitigating or preventing the rotating of a liner and bladder assembly on a launcher device while repairing a pipe. 
     It is yet another object, feature, and/or advantage of the present invention to provide a system to provide for an even expansion of a main bladder during inflation. 
     It is still another object, feature, and/or advantage of the present invention to provide an assembly to allow the full length of a main liner to be pressed against a main pipe line. 
     It is a further object, feature, and/or advantage of the present invention to provide a method and means for aligning a lateral bladder and liner with a lateral pipe. 
     It is still a further object, feature, and/or advantage of the present invention to provide a method to provide a frangible connection between components of a repair assembly to aid in aligning the components with the pipes to be repaired. 
     These and/or other objects, features, and advantages of the present invention will be apparent to those skilled in the art. The present invention is not to be limited to or by these objects, features and advantages. No single embodiment need provide each and every object, feature, or advantage. 
     Therefore, according to one aspect of the invention, the main bladder may be frangibly connected to the launcher. The frangible connection reduces the likelihood of the bladder rotating or sliding longitudinally relative to the launcher. The frangible connection may be accomplished by a snap or snaps being outfitted on the launcher. Likewise, the main bladder may have snaps in a similar location as the placement of those located on the launcher. The snaps can be connected to one another such that continued inflation of the bladder will cause the snaps to become disconnected from one another, separating the bladder and launcher at that location. Small pieces of bladder material may be bonded to the interior of the main bladder, with a snap punched through a portion of the material. The snaps can be added to the launcher in any manner, such as by adhesive, welding, or the like. The assembly allows the bladder to be snapped in-place on the launcher to aid in keeping the position of the bladder on the launcher as the launcher and bladder are moved through the pipeline. In a similar manner, the liner can be frangibly attached to the exterior surface of the bladder. A sealing gasket can also be attached to the assembly using a frangible connection. 
     Other materials besides snaps may be used to create the frangible connection between the two or more components. For example, the components, such as the bladder and launcher, can be frangibly connected by an adhesive, stitching, hook and loops, bonding, or generally any other manner that provides for a connection that can be broken upon continuous force. Furthermore, the amount of and location of the frangible connection can also be varied depending on factors such as the size of the pipe repair and conditions (weather, humidity, material around the pipe) for the particular pipe being repaired. 
     Another aspect of the present invention includes the use of a non-reinforced, elastic main covering that is sized approximately equal to or smaller than that of the outer dimension of the launcher. Thus, the covering may be tubular-shaped. The elastic main covering is generally without folds so that as the inflatable bladder is inflated, the unfolding portions of the bladder simply stretch the outer covering such that the liner and the pipe are not in contact with the folds. An advantage is that the liner is in contact with a smooth surface. This reduces the likelihood that the launcher will rotate, and also provides a relatively smooth and slick interior surface for the liner. Another advantage is that the covering is configured to aid in the uniform inflation of the liner, as it would reduce the likelihood that one portion of the bladder will be inflated faster than other portions. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a side sectional view of a repair assembly positioned in a main pipe and used to repair a main and lateral pipe. 
         FIG. 2  is an exploded view of a launcher device and bladder assembly for use with an aspect of the present invention. 
         FIG. 3  is a perspective view of a bladder assembly being positioned on a launcher device. 
         FIG. 4  is an exploded view of a repair assembly according to an aspect of the present invention. 
         FIG. 5  is a partial exploded view of another aspect of a repair assembly according to the present invention. 
         FIG. 6  is a side sectional view of a repair assembly according to the present invention. 
         FIG. 7  is a view similar to  FIG. 6 , but with the bladder assembly inflated. 
         FIG. 8  is a side sectional view of a repair assembly in a pipe according to the present invention. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       FIG. 1  shows a side sectional view of a repair assembly  10  positioned in a main pipe  56  and that is used to repair a main pipe  56  and lateral pipe  58  including the junction  60  there between. Such pipes are generally used in residential and commercial areas as sewer pipes. However, it should be appreciated that the present invention is not limited to the specific pipe structure shown in the figures, and it is contemplated that any type of pipe or pipe-like structure can be repaired with the repair assembly  10  of the present invention. For example, while the figures show a generally tee shaped pipe system, it should be appreciated that the repair assembly  10  of the present invention can also be used with wye shaped or other obtuse angled pipe structures. 
     The repair assembly  10  shown in  FIG. 1  includes a launcher device  12  attached to a robotic positioning device  62 . The robotic positioning device  62  is used to move the launcher device  12  and other components of the repair assembly  10  through the main pipe  56  to align a lateral bladder  26  and lateral liner  36  such that the lateral bladder and liner extend from the main pipe  56  and into a lateral pipe  58 . The launcher device  12  is a tube shaped member having a first end  15 , an opposite second end  17 , and a launcher device body there between. The first end  15  of the launcher device  12  may be open and can be closed with a cap, while the second end  17  is generally a closed end. The launcher device  12  also includes a launcher device opening  16  providing access to a cavity  18  in the launcher device body. As will be understood, the lateral bladder tube  26  and lateral liner tube  36  can be inserted or inverted into the cavity  18  in the launcher device  12  via the launcher device opening  16 . 
     Wheels  14  are positioned at the first and second ends  15 ,  17  of the launcher device  12  and arranged radially about the ends of the device such that the wheels  14  aid in moving the launcher device  12  through the main pipe  56 . The number and configuration of wheels is not to be limiting to the present invention. Furthermore, as can be seen best in  FIG. 2 , the launcher device body may include a plurality of frangible connections  20 , such as snaps, adhesive strips, loop and hooks, buttons, or the like. As will be discussed, the frangible connections  20  of the launcher device  12  provide a frangible connection for a bladder assembly  22  such that the frangible connections  20  of the launcher device will aid in maintaining the orientation of the bladder assembly  22  relative to the launcher device  12  such that the bladder assembly  22  will not move such as by rotating relative to a launcher device  12 . 
     A bladder assembly  22  is included with the repair assembly  10 . As shown in  FIGS. 1-4 , the bladder assembly  22  includes a main bladder tube  24  and a lateral bladder tube  26  extending from the main bladder tube  24  about a main bladder tube opening  28  therein. The main and lateral bladders  24 ,  26  may be fluidly connected to one another, or they may each have their own respective air supply conduits such that they can be inflated independent of one another. The main and lateral bladders  24 ,  26  may also include a scrim-reinforced member positioned generally at the exterior of the bladders. It is contemplated that the lateral bladder tube  26  of the bladder assembly  22  be configured to be inverted or inserted through the main bladder tube opening  28  such that it can be positioned within the cavity  18  of the launcher device  12 . The main bladder tube  24  is positioned to at least partially surround the launcher device  12 , as shown in  FIGS. 1, 3 and 4 . During inflation, the lateral bladder tube  26  can evert through the launcher device opening and into the lateral pipe  58 . 
     The diameter of the main bladder tube  24  will generally be larger than the diameter of the launcher device  12 . The larger diameter of main bladder tube  24  allows the bladder to be inflated to press against the full diameter of the main pipe  56 . For example, according to an aspect of the invention, the launcher device  12  may have an outer diameter of approximately 12 inches, while the main bladder tube  24  has an inner diameter or approximately 21 to 24 inches (when the pipe diameter is 21 to 24 inches). The inner diameter, of the main bladder tube  24  may be approximately twice that of the outer diameter of the launcher device  12 . This will allow a smaller launcher device to be moved through a pipe having a larger diameter than the outer diameter of the launcher device  12 , while still providing that the bladder will press a main liner member against the larger diameter pipe. 
     As shown in the figures, each end of the main bladder tube  24  can be gathered to fit around the launcher device  12  and can be secured thereto by a banding  42 , such as by use of a hose clamp and/or tape or adhesive. The banding will provide a fluid tight seal at the ends of the main bladder tube  24  to seal the main bladder tube  24  against the launcher device  12 , while still allowing a larger diameter main bladder  24  to be used to be inflated in the pipe, i.e., the length of the bladder between the bandings. However, it should be noted that the banding  42  can result in folds along a circumference of the main bladder tube  24  along the length of the tube, as is generally shown in  FIG. 3 . A problem is created such that the folds may allow the bladder assembly  22  to move, such as in a rotational or longitudinal manner. This is especially sensitive during inflation of the bladder. However, an aspect of the invention, as will be discussed, provides for the bladder assembly  22  to be inflated in such a way that it is not moved relative to the launcher device  12 , and also includes a generally smooth surface to press a liner assembly against the walls of the main and lateral pipes  56 ,  58 . 
     A way to provide that the position of the bladder assembly  22  is not rotated or moved longitudinally in relation to the launcher device  12  includes providing a frangible connection between a portion of the main bladder tube  24  or lateral bladder tube  26  and, the launcher device  12 . As shown in  FIGS. 2 and 3 , the launcher device  12  includes a plurality of frangible connections  20  positioned generally around the launcher device opening  16 . Similarly, the interior of the main bladder tube  24  may include a plurality of frangible connections  30  that is configured to be frangibly connected to the frangible connections  20  of the launcher device  12 . For example, the frangible connections  20 ,  30  may include snaps that allow the main bladder tube  24  to be snapped to the launcher device  12  to frangibly connect the tube in place relative to one another. This will aid in providing that the bladder assembly  22  does not move, either rotationally or longitudinally, relative to the launcher device during transport and positioning of the repair assembly  10 . However, as the connection is frangible between the bladder assembly  22  and the launcher device  12 , the connection between the frangible connections  20 ,  30  can be broken upon continued inflation pressure during inflation of the assembly. Thus, as shown in  FIGS. 2 and 3 , the bladder assembly  22  can be positioned generally surrounding the launcher device  12 , the frangible connections  20 ,  30  can be frangibly connected to one another, and the ends of the main bladder tube  24  can be banded by bands  42  to provide a general fluid tight seal between the bladder assembly  22  and the launcher device  12 . 
     Also included in the repair assembly  10  is a liner assembly  32 . The liner assembly  32  includes a main liner member  34  and a lateral liner tube  36  fluidly sealed to the main liner member  34  and extending from a main liner member opening  38 . The main liner member  34  may be a tube, or may be a rectangular or circular member that can be folded to at least partially surround the main bladder tube  24 , as is shown in  FIGS. 1 and 4 . In addition, the lateral liner tube  36  is configured to be inverted through the main liner member opening  38  and positioned generally within the lateral bladder tube  26 . The main and lateral liners  34 ,  36  comprise a resin absorbent material, such as felt or felt-like materials. The liners may also include a coating on one side, such as a resin and fluid impermeable coating. The coating may be a plastic or elastomer material such that resin or fluids are not able to pass therethrough. 
     Prior to surrounding the bladder assembly  22 , the resin absorbent layers of the main and lateral liners  34 ,  36  are impregnated with a material capable of curing and hardening, such as a resin or resin-type material. The liner assembly  32  is put in position at the bladder assembly  22  with the lateral liner tube  36  positioned generally within the lateral bladder tube  26 . The resin impregnable layer of the lateral liner tube  36  will be positioned on the interior of the lateral liner tube  36  when in the configuration shown in  FIG. 1 , and when an impermeable layer is also provided. Straps  44 , such as hydrophilic or hydrophobic straps, may be positioned generally surrounding the main liner member  34  to further hold the liner assembly  32  in place relative to the bladder assembly  22  and/or launcher device  12 . The straps  44  may be elastic such that they are able to expand as the main bladder tube  24  expands to press the main liner member  34  towards the wall of the main pipe  56 . However, it should be appreciated that the straps  44  need not be needed in all embodiments. 
     In addition, as shown in  FIG. 4 , the liner assembly  32  may include frangible connections  40  on both the interior and exterior of the main liner member  34  and/or lateral liner tube  36 . The interior connections  40  are configured to match the bladder connections  30  on the exterior of the main bladder member  24 . The connections  30 ,  40  are able to frangibly connect to one another such that the liner assembly  32  will maintain its position relative to the bladder assembly  22  during transport and positioning of the repair assembly  10  in the pipe. Similar to the other connections, the liner connections  40  may be snaps, buttons, adhesives, hook and loops, or the like. Furthermore, the main liner member  34  may also include connections  40  on the exterior of the main liner member  34 , which can connect to a gasket  46  used to seal the junction  60  between the main and lateral pipes  56 ,  58 . The gasket  46  may be a hydrophilic or hydrophobic material and can include a tube portion  48  and a flange portion  50  extending from one of the ends of the tube portion  48 . The gasket can also include frangible connections  52  to be associated with the connections  40  of the main liner member  34  in order to frangibly connect the gasket  46  to the main liner member  34 . 
       FIG. 4  shows that the bladder assembly may be positioned such that it is at least partially surrounding the launcher device  12 , while being frangibly attached to the launcher device  12  to reduce or mitigate the likelihood of rotational or longitudinal movement during transport and positioning of the repair assembly  10 . The lateral bladder tube  26  is inverted to within the cavity  18  of launcher device  12 . Furthermore, the liner assembly  32  is configured to at least partially surround the bladder assembly  22 . The liner assembly  32  can be frangibly connected to the bladder assembly  22  via the connections to aid in reducing or mitigating the chance of movement of the liner assembly  32  relative to the bladder assembly  22 . The lateral liner tube  36  is inverted to within both the cavity  18  of the launcher device  12  and the lateral bladder tube  26 . While inflation of the bladder assembly  22  will break the frangible connection between the bladder assembly  22  and the launcher device  12 , the frangible connection between the liner assembly  32  and the bladder assembly  22  can be broken after the material has cured and hardened in the pipe. At such a time, the bladder assembly  22  can simply be pulled away from the liner assembly to break the frangible connection between the two to leave the liner assembly  30  to remain within the main and lateral pipes  56 ,  58 , thus repairing the pipes. 
     Also shown in  FIG. 1  is a robotic positioning device  62  including a plurality of wheels  64 . The robotic positioning device  62  is connected to the repair assembly  10  via connector  66 . The robotic positioning device  62  is used to move the repair assembly  10  through a pipe and to align the lateral liner and bladder  36 ,  26  with the lateral pipe  58 . To aid in such alignment, a camera  68  may be included with the robotic positioning device  62 . 
       FIG. 5  is a partially exploded view of another aspect of the repair assembly showing the use of a gasket  46  frangibly connected to a liner assembly  32 . As mentioned, the gasket  46  can comprise a compressible hydrophilic or hydrophobic material. Furthermore, the gasket  46  may comprise an absorbent material such that it can be impregnated with a hydrophilic or hydrophobic material. The liner assembly  32  shown in  FIG. 5  includes a generally circular main liner member  34  with a lateral liner tube  36  extending from a main liner member opening  38 . The main and lateral liner members  34  and  36  are fluidly attached to one another at a liner juncture. The configuration shown in  FIG. 5  may generally be known as a top hat type configuration such that the main liner member  34  is not formed into a tube, but includes a circular member that can be wrapped at least partially around the main bladder member  24 . Furthermore, the exterior of the main liner member  34  includes a plurality of frangible connections  40 , which may be snaps, adhesives, hook and loops, or the like. Likewise, the underside of the gasket  46  may include like frangible connections  52  that match the frangible connections  40  of the liner assembly  32 . Therefore, the gasket  46  can be frangibly connected to the liner assembly  32 .  FIG. 5  shows the gasket  46  having a tube portion  48  and a flange portion  50 , with the connections  52  positioned on the underside of the flange portion  50 . However, the gasket  46  may simply comprise a tube or flange portion, with the connections  52  on just one of the members. 
     An aspect of the present invention includes the addition of frangible connections to reduce the likelihood of the bladder assembly  22  or liner assembly  32  moving either longitudinally or rotationally relative to each other and/or the launcher device  12 . Accordingly, the bladder assembly  22  may be frangibly connected to the launcher device  12  such that the position of the bladder assembly  22  on the launcher device  12  will be maintained until the frangible connection is broken, such as during inflation of the bladder assembly  22 . An embodiment to provide the frangible connection includes the use of a snap or snaps being outfitted on the launcher  12 . The figures show the location of the snaps  20  at a location approximately where the lateral bladder tube  26  is in communication with the main bladder tube  24 , i.e., at the juncture between the main and lateral bladders. Mating snaps may be attached to the bladder assembly  22  that mirror the placement of those on the launcher  12  such that the bladder assembly can be attached or snapped to the launcher device  12  to create the frangible connection. To add snaps to the bladder assembly  22 , small pieces of bladder material may be bonded to the interior of the main bladder member  24  with at least one end fused to the bladder and a snap punched through a portion of the extra piece of material. The mating snap may be connected to the launcher device by welding, adhesive, or the like, such that the position of the snap is generally fixed in place at the launcher device  12 . Therefore, when placing the bladder assembly on the launcher device  12 , the snaps of the launcher device are connected to the snaps of the bladder assembly to provide a frangible connection between the two components of the repair assembly  10 . The frangible connection will aid in providing the correct position for the bladder assembly  22  on the launcher device  12  until inflation of the bladder assembly  22  breaks the frangible connection to allow for full inflation of the bladder assembly  22  and repair assembly  32 . 
     The small pieces of material bonded to the main bladder member can be perforated and can comprise urethane film, PVC film, or the like. The material has a portion of it permanently bonded to the inner coating of the main liner and the remaining portion&#39;of the strip is connected to the bladder where the strip is perforated exactly at the edge of the bonded portion to the main liner so when the bladder is removed the strip breaks clean at the perforated strip section. 
     While snaps have been described as providing the frangible connection between the components of the repair assembly  10 , it is to be appreciated that other methods and means may be provided for providing such frangible connection. For example, an adhesive, such as a light adhesive that can be broken, hook and loops, stitching, couplings, welding, or otherwise frangibly bonding the bladder assembly to the launcher device may be used and are contemplated by the present invention. The exact manner and method of providing the frangible connection between the bladder assembly and the launcher device are not to be limiting to the present invention. 
     In a similar manner, the liner assembly  32  may be frangibly attached to the exterior surface of the bladder assembly  22 . For example, while one set of snaps are included on the interior of the main bladder member  24 , a separate set of snaps may be included around the main/lateral juncture on the exterior of the bladder assembly  22 . Likewise, a set of snaps may be included at the interior of the main liner member/lateral liner tube juncture of the liner assembly  32  that can attach to the snaps on the exterior of the bladder assembly  22 . The snaps can be connected to create a frangible connection such that the positioning between the bladder assembly  22  and the liner assembly  32  can be maintained during transport and positioning of the repair assembly  10  in the pipe, as well as during inflation of the bladder assembly  22 . However, the frangible connection between the bladder assembly  22  and the liner assembly  32  can be broken to remove the bladder  22  from the liner assembly  32  after the liner assembly  32  has been positioned in the main and lateral pipes such that the liner assembly  32  can be left within the main and lateral pipes to create a repaired pipe surface. This is shown generally in  FIGS. 6 and 7 . 
       FIG. 6  shows the repair assembly  10  positioned in the main pipe  56  with the lateral bladder tube  26  and lateral liner tube  36  positioned generally adjacent the lateral pipe  58 . Air, or another fluid, can be provided via the hose  76  to inflate the bladder assembly  22  to press the main liner member  34  against the wall of the main pipe  56 . The continued addition of fluid will cause the lateral bladder and liner tubes to evert through the openings and into the lateral pipe  58  to the position shown in  FIG. 7 . The inflation of the bladder assembly  32  will break the frangible connection between the bladder assembly  22  and the launcher device  12 . The inflation pressure is maintained until the material impregnated into the liner assembly  32  is allowed to cure and harden. At such time, a rope  78  may be pulled to remove the bladder assembly  22  from the liner assembly  32 , thus breaking the frangible connection between the assemblies.  FIGS. 6 and 7  also show the use of a gasket  46  positioned at the juncture  60  of the main and lateral pipes  56 ,  58  to further repair and provide sealing at the juncture  60 . 
     The components of the repair assembly  10  may be frangibly connected to one another during transport and inflation of the repair assembly  10 . The frangible connection between the components aid in preserving the correct position of the component such that a higher accuracy will be provided to insert the lateral bladder  26  and liner  36  into the lateral pipe  58 . In addition, it should be appreciated that not all of the components need be frangibly connected to one another to provide such benefits of correct positioning. For example, it is contemplated that only the bladder assembly  22  be frangibly connected to the launcher device  12 . In such a configuration, the liner assembly and gasket need not be frangibly connected to anything to provide for correct positioning of the assembly during inflation into the lateral pipe. 
     Further use of the repair assembly  10  as has been described may be as followed in relation to  FIGS. 6-8 . The bladder assembly  22  is positioned on the launcher device  12  and banded with bands  42  at both ends to seal the ends of the main bladder  34 . The lateral bladder tube  26  is inserted through the launcher device opening  16  and into the cavity  18  within the launcher device body. The liner assembly  32  is impregnated with a resinous material capable of curing and hardening such as by a wet out process as is known in the art. The resinous material may be a thermosetting resin, a photo curing resin, or other resins capable of curing and hardening. The liner assembly  32  is positioned with the main liner member  34  at least partially surrounding the main bladder tube  24 , and the bladder assembly  22  is frangibly attached to the launcher device  12 . The liner assembly  32  may also be frangibly attached to the bladder assembly  22 . The lateral liner tube  36  is inserted through the main bladder tube opening  28  and launcher device opening  16 , and is positioned generally within the lateral bladder tube  26 . A sealing gasket  46  may then be positioned at or on the liner assembly  32 , and can be frangibly connected thereto. A robotic positioning device  62  is attached to the repair assembly  10  to remove the repair assembly  10  in position in the main pipe  56 , such that the launcher device opening  16  is positioned to be adjacent to lateral pipe opening. 
     The robotic insertion and position is accomplished using a self-propelled robotic positioning device  62  having a detachable connecting device  66  for connecting the robot to the repair assembly  10 . The robot also includes an operatively moving camera  68  that displays video within the pipe to a technician external of the pipe, which controls the robot  62 . Attached to the launcher and/or robot is a guide member  72 , such as a flexible spring or laser that is aligned at approximately a 12 o&#39;clock position, i.e., straight in one direction. The positioning of the guide member  72  is generally aligned with the axis of the lateral liner  26 . The guide member  72  is positioned a known distance from a first side  37  of the lateral liner tube  36  when the lateral liner tube is inflated. The known distance  74  is generally shown by the letter D in  FIG. 8 . For example, the guide member  72  may be positioned approximately 23 inches from the first side  37  of the lateral liner tube  36  to provide the technician with a known distance. 
     The robot  62  and repair assembly  10  are moved within the main pipe  56  until the guide member  72  is aligned with a first edge of the lateral pipe  58 . The technician or operator will then know to move the robot  62  approximately 23 inches (or other known and set distance) to position the first edge of the lateral liner tube  36  in alignment with the first edge of the lateral pipe  58 . This may be accomplished by pulling a cable  70  attached to the robot  60  taut at the outside of the pipe while the guide member  72  is aligned with the first edge of the lateral pipe  58 . A marking is placed on the cable  70  to indicate a first position. The robot  62  is then backed or otherwise moved until the known distance D has passed for the cable (e.g., 23 inches) such that the technicians will know that the robot  62  has moved the repair assembly  10  the known distance within the pipe. At this point, the lateral liner and bladder tube should be aligned with the lateral pipe such inflation of the bladder assembly  22  will evert the lateral bladder tube and liner tube  26 ,  36  from within the cavity  18  of the launcher device  12  and into the lateral pipe  58 . The frangible connections between the components of the repair assembly  10  will aid in maintaining the alignment of the components, as the frangible connection will lower the possibility of the bladder assembly  22  and/or liner assembly  32  moving during transport and positioning of the repair assembly  10  to the location needed to invert into the lateral pipe  58 . 
     Once the repair assembly is positioned, an inflation source, such as air, steam, or another fluid, is added to the bladder assembly  22  to inflate the bladder assembly such that the main bladder member  24  presses the main liner member  34  against the wall of the main pipe  56  and the lateral bladder tube  26  presses the lateral liner tube  36  against the interior wall of the lateral pipe  58 . When the sealing gasket  46  is used, the bladder assembly  22  will also press the sealing gasket  46  against an area of the junction  60  between the main and lateral pipes to aid in sealing said junction. The inflation is continued in the bladder assembly until the material capable of curing and hardening impregnated into the liner assembly  22  has cured and hardened, which creates a repaired wall for the main pipe, lateral pipe, and junction between the pipes. Furthermore, the sealing gasket  42  will provide further sealing at the junction  60  of the main lateral pipes. 
     Another aspect of the present invention provides for the prevention of sporadic inflation of folds of the main bladder member  24  from affecting the alignment inflation of the liner assembly  32 . A non-reinforced elastic cover  54  may be used with the repair assembly  10 . The elastic cover  54  may be a non-reinforced, tubular elastic covering that is sized approximately equal to or smaller than the outer diameter of the launcher device  12 . The elastic covering  54  may be a tubular member such that the cover is positioned to surround the main bladder tube  24 . In addition, the elastic cover  54  will include an elastic cover opening that will align with the launcher device opening  16 , main bladder tube opening  28 , and main liner member opening  38 . As the elastic cover is similar to the outer diameter of the launcher device  12 , the cover  54  will be without folds along the length of said cover  54 . Therefore, this will account for the folds created in the main bladder tube  24  due to the diameter of the main bladder tube  24  being almost double the diameter of the launcher device  12 . Thus, as the bladder assembly  22  is inflated, the unfolding portions of the main bladder tube  24  stretch the elastic cover  54  such that the main liner member  34  and the inner wall of the main pipe  56  are not in contact with the sporadically inflating folds of the main bladder tube  24 . The main liner member  34  is in contact with a smooth surface along the length of the main liner member  34  during inflation of the bladder assembly  22 . 
     An advantage of using the elastic cover  54  is that it aids in reducing the likelihood that the launcher  12  and or bladder assembly  22  will rotate from the sporadically inflating folds of the main bladder tube  24 , while also providing a smooth interior surface for the main liner member  34  to be pressed against during inflation. In addition, the present invention contemplates that the elastic cover may also include frangible connection components such that the elastic cover may be frangibly connected to the bladder assembly  22 , such that the liner assembly  32  can be frangibly connected to the elastic cover  54  to further aid in retaining the position of the components on the launcher device  12  to retain the alignment of the components of the repair assembly  10 . 
     In addition, the main bladder tube  24  may also comprise an elastic material such that the diameter of the main bladder tube  24  can be reduced to be approximately the same as the launcher device  12 . In such an embodiment, the bladder  24  could still be banded at its ends to the launcher  12 . However, as the diameters are substantially equal, there would be substantially no folding of the bladder  24 . Therefore, as the main bladder  24  is inflated, there would be the smooth surface pressing against the main liner member  34  to press the liner against the wall of the pipe. The main bladder tube  24  could comprise a material to allow it to expand during inflation to at least approximately the same diameter of the pipe to press the liner against said pipe or conduit. 
     It should be understood that various changes and modifications to the embodiments described herein would be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the invention, and without diminishing its intended advantages. For example, the location and types of frangible connections may be varied according to the size and type of materials used for the repair assembly. Furthermore, the addition and subtraction of components from the repair assembly may be varied as well. For example, the sealing gasket may not be included in all embodiments. Furthermore, the configuration of the gasket may be varied. The configuration of the aligner assembly may also be varied such that the main liner member may be a tube and/or flange-type tube, flange-type member, rectangular, square, or the like. The exact configuration of the main liner member is not to be limiting to the invention. Furthermore, additional components, such as additional cameras, hydrophilic bands at the end of the main liner members, and/or lateral liner member, and the like may be included with the present invention. 
     Other variations may include how the repair assembly is positioned and inflated in the pipes. For example, the repair assembly may be pulled in place, instead of being positioned by the robot. Furthermore, the lateral bladder and lateral liner may be pulled in place through the lateral pipe, instead of being everted from within the launcher device. Still other variations may include the sealing gasket comprising a hydrophilic paste spread at or around the juncture of the main and lateral liners with a portion of the paste being disposed on either or both of the main and lateral liners. As mentioned, the bladders may also be separate such that they are independently inflated.