US Patent 11959576 Pipe repair device

A pipe repair device includes a body defining a first body end, a second body end, and a middle body section therebetween; a foldable arm pivotably attached to the body to radially reposition the foldable arm relative to the body, the foldable arm comprising a first segment and a second segment, the first segment extending between the body and the second segment, wherein the second segment is substantially parallel to the body; and a locomotion subsystem configured to drive the pipe repair device through a pipe, the locomotion subsystem mounted to the second segment of the foldable arm and configured to engage an inner surface of the pipe.