Underground pipe repair device with radial annular spacers and related systems and methods

An underground pipe repair system for a joint between a service pipe and a branch pipe, the underground pipe repair system comprising:

• an underground pipe repair device comprising
• a first T-shaped joint liner having a base portion extending laterally in the service pipe, and an arm portion extending vertically into the branch pipe,
• a first annular spacer aligned with an opening in the branch pipe and being coupled to an underside of said first T-shaped joint liner,
• a second annular spacer aligned with the opening in the branch pipe and being coupled to the underside of said first T-shaped joint liner, said first annular spacer being radially within said second annular spacer, and
• a third annular spacer aligned with the opening in the branch pipe and being coupled to the underside of said first T-shaped joint liner, said second annular spacer being radially within said third annular spacer,
• at least one of second annular spacer and said third annular spacer comprising a swellable seal,
• said first annular spacer extending vertically into the service pipe so that a liner for the service pipe has a radial bump about the opening of the branch pipe;
• and
• a robot device comprising a transceiver, a cutting tool, and a processor coupled to said transceiver and said cutting tool and configured to
• move through the service pipe and determine a position of the radial bump, and
• operate said cutting tool to cut an opening in a liner of the service pipe aligned with said first annular spacer so that a portion the liner of the service pipe adjacent the opening of the branch pipe is removed.

A method for operating an underground pipe repair system for repairing a joint between a service pipe and a branch pipe, the method comprising:

• positioning an underground pipe repair device at the joint, the underground pipe repair device comprising
• a first T-shaped joint liner having a base portion extending laterally in the service pipe, and an arm portion extending vertically into the branch pipe,
• a first annular spacer aligned with an opening in the branch pipe and being coupled to an underside of the first T-shaped joint liner,
• a second annular spacer aligned with the opening in the branch pipe and being coupled to the underside of the first T-shaped joint liner, the first annular spacer being radially within the second annular spacer, and
• a third annular spacer aligned with the opening in the branch pipe and being coupled to the underside of the first T-shaped joint liner, the second annular spacer being radially within the third annular spacer,
• at least one of second annular spacer and the third annular spacer comprising a swellable seal,
• the first annular spacer extending vertically into the service pipe so that a liner for the service pipe has a radial bump about the opening of the branch pipe;
• curing the underground pipe repair device to the joint;
• applying and curing a liner for the service pipe;
• and
• cutting an opening in the liner of the service pipe aligned with the first annular spacer so that a portion the liner of the service pipe adjacent the opening of the branch pipe is removed.