KR20100064475A - Robot apparatus for pipe inside surface work - Google Patents

Robot apparatus for pipe inside surface work Download PDF

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Publication number
KR20100064475A
KR20100064475A KR1020080122921A KR20080122921A KR20100064475A KR 20100064475 A KR20100064475 A KR 20100064475A KR 1020080122921 A KR1020080122921 A KR 1020080122921A KR 20080122921 A KR20080122921 A KR 20080122921A KR 20100064475 A KR20100064475 A KR 20100064475A
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KR
South Korea
Prior art keywords
steel pipe
guide
body housing
robot device
rotary
Prior art date
Application number
KR1020080122921A
Other languages
Korean (ko)
Inventor
김현주
Original Assignee
김현주
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 김현주 filed Critical 김현주
Priority to KR1020080122921A priority Critical patent/KR20100064475A/en
Publication of KR20100064475A publication Critical patent/KR20100064475A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2209/00—Details of machines or methods for cleaning hollow articles
    • B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
    • B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
    • B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/16—Coating by application of fluent materials, e.g. painting

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Coating Apparatus (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

PURPOSE: A robot device for treating the inside of a steel pipe is provided to reduce setting time by smoothly replacing equipment for sanding, cleaning, drying, and coating. CONSTITUTION: A robot device for treating the inside of a steel pipe comprises a body housing(10), a truck unit(20), a trolley controlling unit(30), a rotary work table(40), and a tool fixture(50). The housing is installed in multiple directions on the outside to which a guide shaft(14) and a rotary guide plate(12) are attached. The truck unit is attached to the inner diameter of a steel pipe(1). The truck controller unit adjusts the truck unit along the inner diameter of the steel pipe. The rotary work table is rotated by the drive motor(M1).

Description

Robot apparatus for pipe inside surface work

The present invention relates to a robot device for internal processing of steel pipes, and more specifically, to allow the robot device to be set faster according to the inner diameter of the steel pipe, as well as to enable stable close driving, and to remove the scale from the steel pipe. Steel pipe that improves workability by shortening setting time required for removing scale and painting work by smoothly replacing equipment for sanding, cleaning, drying and painting for internal processing within the range that robot device does not advance. It relates to a robot device for internal processing.

In general, a large diameter conduit or steel pipe inside the scale is gradually stacked on the inner surface according to the fluid transfer and storage, and the scale removal operation is to be removed by using an artificial sanding method. In addition, the hull of a large ship has a slope forming area and a large diameter steel pipe, and the work which removes the surface scale in the area which an operator cannot easily raise is performed.

A typical manual method for removing scales is sand brushing, but it is difficult to secure visibility at the work site, and when the diameter of the inclined surface or steel pipe is large enough to be out of reach of the worker, it is difficult to position the worker. Brushing works can also be a problem for poor working conditions and worker health.

Therefore, in view of the above-mentioned aspect, the scale equipment is mounted on the transport cart using magnetic force to operate the transport cart by the magnetic force in close contact with the wireless adjustment to enable 360-degree rotation of the inside of the steel pipe. A robotic device capable of automatically performing descaling work accumulated on the floor is being used.

Typically, in the post-scaling process as described above, the paint coating is performed after the cleaning and drying operations in order to prevent corrosion of the inner surface of the descaled steel pipe.

The painting work is applied to the automatic coating equipment for a separate coating to perform the painting work from the inner surface of the steel pipe, because it must be handled and operated separately from the above-described descaling work, it is designed and manufactured differently from the robot apparatus for descaling work do.

Therefore, a lot of money must be invested in the manufacture of each equipment, and even in operation, a process is required to lift the robot device from the inside of the steel pipe that has been descaled. At this time, since the working time for lifting the robot device also becomes longer, the setting of the robot device is longer than the actual scale working time, and thus the workability is pointed out as a disadvantage.

In addition, the scale work is made as described above, and the equipment for painting in the state of removing the steel pipe from the robot device is entered, but also the setting work to run in a stable state according to the inner diameter of the steel pipe as the scale removal work. It requires a lot of time because the location setting of the paint gun and the painting gun must be carried out together, and the worker who handles and manages it can work by operating the machine only when the equipment setting is correct before the painting work. There was this very long ending.

 The present invention has been invented to solve the conventional problems as described above, to allow the robot device to be set faster according to the inner diameter of the steel pipe, as well as to enable stable close running, removing the scale from the steel pipe To improve the workability by shortening the setting time of the robot device by smoothly replacing the equipment for sanding, washing, drying, and painting for the inner surface within the range of not advancing the robot device after work. There is this.

According to the present invention for achieving the above object, in the robot device for performing a scale removal, sand brushing, washing, drying and painting work while sliding a large diameter steel pipe inner diameter,

The robot apparatus includes: a main body housing having guide shafts opposed to each other in multiple directions on an outer side of which a rotation guide plate is attached to the front surface; A trolley portion which is dividedly installed in multiple directions on an outer circumference of the main body housing and closely runs from an inner diameter of a steel pipe; A balance adjusting unit installed in the main body housing and configured to closely and vertically adjust the balance according to the inner diameter of the steel pipe; A rotary worktable rotatably installed as a drive motor provided from a front surface of the main housing side rotation guide plate; Provided is at least one outside of the rotary workbench is provided with a tool holder for mounting a cutter for removing the scale from the inner diameter of the steel pipe and a painting gun for painting work; Provides a robot apparatus for processing the inner surface of the steel pipe comprising a Is achieved.

The robot apparatus according to the present invention enters into the inner diameter of the large diameter steel pipe and adjusts the height of the trolley which is divided into the outer side of the main body housing to suit the inner diameter of the steel pipe. It is possible to select and install a cutter for removing scale or painting gun according to painting work from the tool holder on the rotating worktable side which is rotatably installed. By simply setting tools such as brush guns, cleaning guns, drying guns, and paint guns required for painting work, the time required for the work is greatly reduced, thereby increasing work efficiency.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Attached Figure 1 is a longitudinal sectional view showing a robot apparatus for processing the inner surface of the steel pipe of the present invention, Figure 2 is a cross-sectional view taken along line AA of the robot device in Figure 1, Figure 3 is a bogie of the robot device in Figure 1 Figure 4 is a perspective view showing an extract, Figure 4 is a longitudinal cross-sectional view showing a state in which the balance portion of the robot device according to the present invention is installed in a plurality of rows.

The present invention provides a robot apparatus (10) which performs descaling, sand brushing, washing, drying and painting operations while sliding the inner diameter of a large diameter steel pipe (1),

The robot apparatus 100 includes: a main body housing 10 having the guide shafts 14 opposed to each other in a multi-direction on an outer side of which the rotary guide plate 12 is attached to the front surface; A trolley 20 which is dividedly installed in multiple directions on an outer circumference of the main body housing 10 and travels in close contact with the inner diameter of the steel pipe 1; A balance adjustment part 30 installed in the main body housing 10 and closely adjusting the balance portion 20 according to the inner diameter of the steel pipe 1; A rotary work table 40 rotatably installed as a drive motor M1 installed from the front surface of the main body housing 10 side rotation guide plate 12; And at least one tool holder 50 installed at an outer circumference of the rotary work table 40 to mount a cutter for removing scale from the inner diameter of the steel pipe 1 and a paint gun for painting work, etc .; do.

The trolley 20 is provided with a driving wheel 22 on the base plate 21 so as to be transferred to the front and rear by being driven as a driving motor M2, and a pair of shock absorbers 23 on the upper portion of the base plate 21. ) Is installed oppositely, the support plate 24 is installed to the shock absorber 23 so as to be buffered, a female screw fastening hole 25a is formed in the center of the support plate 24, and one end of the main housing 10 The fastening pipe body 25 provided with the guide flange 25b guided by the guide shaft 14 is attached and comprised.

The trolley 20 is installed at three points from the body housing 10, which may be installed in a plurality of rows according to the inner diameter of the steel pipe.

In addition, a magnet 29 is further installed on the bottom of the base plate 21 of the trolley portion 20 so as to be in close contact with the magnetic force from the steel pipe 1. The magnet 29 is preferably used an electromagnet that can limit the magnetic force generation as needed.

The balance adjusting part 30 installed in the main body housing 10 is a bearing member B installed to correspond to each other from the inside of the main body housing 10 so that both ends of the rotating shaft 31 can be rotatably installed. 31 is provided with a differential gear member 33 for vertically adjusting each position of the driven gear 32 and the cart 20.

The differential gear member 33 is centered on a driving bevel gear 33a installed on the rotation shaft 31, a driven bevel gear 33b engaged with the driving bevel gear 33a, and the driven bevel gear 33a. It consists of a feed screw shaft (33c) coupled to the shaft, the differential gear member 33 of the balance adjustment unit 30 is one in accordance with the expansion of the balance portion 20 is installed separately from the main body housing 10 A plurality of rotary shafts 31 may be provided.

 Then, the driven gear is meshed with the drive gear 34 provided on the rotating shaft 31, the drive gear 34 is installed to transmit power from the drive motor (M3).

A plurality of guide rollers 41 are provided on one surface circumference of the rotary work table 40, and a guide groove 12a is formed on one surface of the rotary guide plate 12 to accommodate the guide roller 41. A fixed shaft 12-1 is provided at the center of the front surface of the rotary guide plate 12, and a drive shaft for rotating the rotary work table 20 together with the bearing member B on the outside of the fixed shaft 12-1. 42 is installed.

The drive shaft 42 is installed to enable power transmission from the drive motor M1 installed on the front surface of the rotation guide plate 12.

The tool holder 50 is preferably installed to be buffered with height adjustment by a screwing method installed from the inside of the rotary worktable (40).

On the other hand, Figure 5 is a longitudinal cross-sectional view showing a state in which the buffer structure is applied to the balance of the robot device according to the present invention, Figure 6 is a cross-sectional view taken along line BB of the robot device shown in Figure 5, 7 is a perspective view showing an extract of the balance of the robot device in FIG.

In each of the drawings, a guide piece 26 having a long hole 26a formed on the base plate 21 of the trolley portion 20 is provided to face the front and rear sides, and one end is connected to the guide piece 26. The other end is a hinge shaft (h) on the support plate 24, the link 27 is rotatably installed, and the tension spring 28 on the fixed plate (27a) is attached between the link 27 is installed in the front and rear sides ) Both ends are fixedly installed to have a buffer structure.

Referring to the operation according to the use of the robot device for steel pipe inner surface treatment is configured as follows.

First, in the state in which the robot apparatus 100 enters the inside of the steel pipe 1 to be worked, the trolley portion 20, which is divided into 270 intervals from the main housing 10 to the outside thereof, is placed on the inner diameter of the steel pipe 1. Set accordingly.

This is an operation to set the main body housing 10 to be positioned on the center line of the steel pipe 1 by adjusting through the balance adjusting unit 30 installed inside the main body housing 10.

The drive gear 34 is rotated from the drive motor M3 installed in the main body housing 10, and the driven gear 32 meshed with the drive gear 34 has a rotation shaft supported at both ends by a bearing member B. (31) is rotated, and at this time, the driving wheels 22 on each side of the trolley 20 are in close contact with the inner diameter of the steel pipe 1 as a uniform engagement rotational drive of the differential gear member 33 provided on the rotary shaft 31. Adjustments are made in scope.

The differential gear member 33 is a rotation of the driving bevel gear 33a on the rotating shaft 31, and is rotated by each driven bevel gear 33b rotated in engagement with it, and is provided on the center of the driven bevel gear 33c. Rotate).

Each of the fastening pipe bodies 25 installed in connection with the support plate 24 on the trolley portion 20 as a rotational movement of the feed screw shaft 33c is guided to the guide shaft 14 installed outwardly from the body housing 10. The flange 25b is guided, and the female screw fastening hole 25a of the fastening pipe body 25 is lifted by the screw shaft 33c, thereby pushing up the trolley portion 20 as a whole.

As described above, the driving wheel 22 of the trolley 20 is in close contact with the inner diameter of the steel pipe 1, and the center of the main body housing 10 is set to be positioned on the center line of the steel pipe 1.

Coupling wheel 22 of trolley 20 in close contact with the inner diameter of the steel pipe (1) as described above to drive the driving wheel 22 as a drive of the drive motor (M2) installed on the base plate 21 to advance Or it will be in the state which can drive by reverse operation.

As described above, the trolley portion 20 in close contact with the inner diameter of the steel pipe 1 maintains mutual elasticity from the trolley portion 20 by a shock absorber 23 installed on the base plate 21. It allows you to drive closely.

As shown in FIG. 4, the trolley portion 20 is a state in which the length of the main body housing 10 is made to be long so that the robot apparatus 100 can be installed corresponding to the steel pipe 1 having a large diameter. Is installed in multiple rows so that it can be operated closely at 6 points.

The extension of the balance portion 20 may further increase the differential gear member 33 installed on the rotation shaft 31 of the balance adjustment portion 30 to allow the setting of the balance portion 20 to be stable.

In addition, as shown in FIGS. 5 to 7, the trolley portion 20 includes a guide shaft 26 side long hole 26a portion provided on the base plate 21 and a hinge shaft on the support plate 24. (h) is a link 27 installed to be buffered against the strong adhesion transmitted through the fastening tube (25).

This is to stably and elastically support the trolley 20 which is in close contact with the inner diameter of the steel pipe (1), the links (27) installed to correspond to each other at a predetermined angle are both ends of the tension spring (28) installed on the fixing plate (27a) The force transmitted through the fastening pipe body 25 for this fixed installation reason supports the link 27 elastically. The support plate 24 together with the elastic support of the link 27 maintains its elasticity by the shock absorber 23 to allow the trolley portion 20 to be more stably in close contact.

In the above state, the magnet 29 provided on the bottom surface of the base plate 21 of the trolley portion 20 is stable without slipping from the inner diameter of the steel pipe having curvature as a magnetic force control generated for the steel pipe 1 of metal material. Helping to drive

On the other hand, in the robot device 100 is set to the trolley part 20 as described above, the tool installed through the rotary work table 40 is connected to the rotary guide plate 12 provided on the front of the main body housing 10 The fixing stand 50 may be installed with a cutter for removing the scale or a coating gun for painting.

The tool holder 50 may be equipped with a sanding gun, a cleaning gun, a drying gun, etc. in addition to the tool, to perform painting work in a state in which sanding brushing work, washing and drying work are made on the inner surface of the scale work.

The guide roller 41 installed from the rotary work table 40 is rotated along the guide groove 12a formed on the front surface of the rotary guide plate 12, which is driven by the driving motor M1. The drive shaft 42 rotates and drives the drive shaft 42, which is connected to the rotating worktable 12 and the fixed guide 12-1 of the rotary guide plate 12 installed as a bearing member B, by penetrating and supporting the inside thereof. As described above, various operations can be performed through the inner surface treatment tool of the cutter or the paint gun installed on the tool holder 50.

The tool holder 50 may adjust the height from the rotary worktable 40 to match the inner diameter of the steel pipe, or to adjust the degree of separation so as to set the installation of various tools according to the purpose, and the cutter for removing the scale In installation, the cutter can be set to a structure that can be buffered to some extent when rotating with the rotary workbench while in contact with the inner surface of the steel pipe to achieve efficient descaling.

As described above, the descaling is performed while driving the inside of the steel pipe, and after the descaling is completed, the surface work using the sanding gun, the washing work using the washing gun, and the drying work using the drying gun are sequentially performed. Finally, the paint gun is mounted through the tool holder, and the painting work is performed immediately after resetting the distance between the paint gun and the inner diameter of the steel pipe to complete the internal processing of the steel pipe.

Therefore, sanding, washing, and drying, including scale removal, are performed to replace only the internal processing tools from the tool holder on a rotating work surface of one robot device and reset them without moving the robot for scale work out of the steel pipe. It is possible to carry out painting work.

Eventually, other robotic apparatuses suitable for various tasks may be entered from the steel pipe, and thus, the robot may be improved through one robotic device in the present invention because it does not need to be reset according to the steel pipe.

1 is a longitudinal cross-sectional view showing a robot device for inner surface treatment of the present invention,

2 is a cross-sectional view taken along line A-A of the robot device shown in FIG. 1;

Figure 3 is a perspective view showing an extract of the balance of the robot device in Figure 1,

Figure 4 is a longitudinal cross-sectional view showing a state in which the balance portion of the robot device according to the present invention is installed in a plurality of rows;

Figure 5 is a longitudinal cross-sectional view showing a state in which a buffer structure is applied to the balance of the robot device according to the invention,

6 is a cross-sectional view taken along line B-B of the robot device shown in FIG. 5;

7 is a perspective view showing an extract of the balance of the robot apparatus in FIG.

<Explanation of Signs of Major Parts of Drawings>

10: body housing 12: guide plate

14: guide shaft 20: bogie

21: Base Plate 23: Shock Absorber

24: support plate 25: fastening pipe

26: Guide Pr 27: Link

28: tension spring 29: magnet

30: balance adjustment part 31: rotation axis

33: differential gear member 40: rotary worktable

50: Tool holder M1, M2, M3: Drive motor

Claims (10)

In the robot apparatus 10 which performs descaling, sand brushing, washing, drying and painting operations while sliding the inner diameter of the large diameter steel pipe 1, The robot apparatus 100 includes: a main body housing 10 having the guide shafts 14 opposed to each other in a multi-direction on an outer side of which the rotary guide plate 12 is attached to the front surface; A trolley 20 which is dividedly installed in multiple directions on an outer circumference of the main body housing 10 and travels in close contact with the inner diameter of the steel pipe 1; A balance adjustment part 30 installed in the main body housing 10 and closely adjusting the balance portion 20 according to the inner diameter of the steel pipe 1; A rotary work table 40 rotatably installed as a drive motor M1 installed from the front surface of the main body housing 10 side rotation guide plate 12; At least one or more installed on the outer periphery of the rotary worktable 40 is a tool holder for mounting a cutter for removing the scale from the inner diameter of the steel pipe (1) and a paint gun for painting work, etc .; Robot device for steel pipe inner surface treatment, characterized in that. According to claim 1, The trolley portion 20 is a drive wheel 22 is driven to the base plate 21 as a drive motor (M2) is installed so as to be transported forward and backward, the upper portion of the base plate 21 A pair of shock absorbers 23 are installed to face each other, a support plate 24 is provided on the shock absorber 23 so as to be cushioned, and a female screw fastening hole 25a is formed at the center of the support plate 24, and at one end thereof. Steel pipe inner surface treatment robot device, characterized in that the fastening pipe body 25 is provided with a guide flange (25b) guided to the guide shaft (14) of the main body housing (10). The robot apparatus for processing internal surfaces of steel pipes according to claim 2, wherein the trolley portion (20) is installed in a plurality of rows from the main housing (10). According to claim 2, On the base plate 21 of the cart portion 20 is provided with a guide piece 26 having a long hole (26a) is opposed to the front and rear sides, one end is connected to the guide piece 26 The other end is provided with a hinge spring h on the support plate 24 so that the link 27 is rotatably installed, and a tension spring is mounted on the fixed plate 27a attached between the links 27 installed in the front and rear sides. (28) A robot apparatus for internal surface treatment of steel pipe, characterized in that both ends are fixedly installed to have a buffer structure. The robot apparatus for processing internal surfaces of a steel pipe according to claim 2, wherein a magnet (29) is installed on the bottom of the base plate (21) of the trolley portion (20) for magnetically close driving. According to claim 1, wherein the balance adjustment portion 30 is a driven gear 32 and the balance portion 20 on the rotating shaft 31, the both ends rotatably installed as a bearing member (B) in the body housing (10) A differential gear member 33 for adjusting the respective positions of the upper and lower positions is installed, and the driven gear meshes with the driving gear 34 provided on the rotating shaft 31, and the driving gear 34 is a driving motor ( M3) robot device for internal surface treatment of steel pipes, characterized in that the power transmission from. 8. The differential bevel gear (33) according to claim 6, wherein the differential gear member (33) is provided with a driving bevel gear (33a) provided on the rotating shaft (31), a driven bevel gear (33b) engaged with the driving bevel gear (33a), and the driven bevel. Steel pipe inner surface processing robot device, characterized in that consisting of a feed screw shaft (33c) coupled to the center of the gear (33a). According to claim 6, The differential gear member 33 of the balance adjusting portion 30 is a plurality of on the rotation shaft 31 in accordance with the expansion of the balance portion 20 is arranged separately from the body housing 10 Robot device for steel surface treatment, characterized in that the installation. According to claim 1, A plurality of guide rollers 41 is provided on the circumference of one surface of the rotary work table 40, a guide groove (one) on one surface of the rotary guide plate 12 to accommodate the guide roller 41 12a) is formed, a fixed shaft 12-1 is provided at the center of the front surface of the rotary guide plate 12, and the rotating work table 20 together with the bearing member B on the outside of the fixed shaft 12-1. Steel pipe inner surface processing robot device, characterized in that the drive shaft 42 for rotating the drive is installed. The robot apparatus for internal surface treatment of steel pipes according to claim 1, wherein the tool holder (50) is installed to be buffered with height adjustment by a screwing method installed from the inside of the rotary worktable (40).
KR1020080122921A 2008-12-05 2008-12-05 Robot apparatus for pipe inside surface work KR20100064475A (en)

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CN103292634A (en) * 2012-12-27 2013-09-11 天津森宇科技发展有限公司 Household heating pipeline descaling device based on ultrasonic
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US9687869B2 (en) 2011-10-20 2017-06-27 Samsung Heavy Ind. Co., Ltd Pipe-shape structure coating device and method
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KR20210052995A (en) * 2019-11-01 2021-05-11 라인케어시스템(주) large pipe painting apparatus
CN112944109A (en) * 2021-04-13 2021-06-11 辽宁科技大学 Self-adaptive variable-diameter steel pipe inner wall laser cladding robot and method
CN114643170A (en) * 2022-03-23 2022-06-21 天津市航天安通电子科技有限公司 Torpedo pipeline maintenance equipment
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* Cited by examiner, † Cited by third party
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US9687869B2 (en) 2011-10-20 2017-06-27 Samsung Heavy Ind. Co., Ltd Pipe-shape structure coating device and method
CN103292634A (en) * 2012-12-27 2013-09-11 天津森宇科技发展有限公司 Household heating pipeline descaling device based on ultrasonic
CN105880677A (en) * 2016-05-27 2016-08-24 新昌县七星街道春强机械厂 Boring device for ship trunk
CN107060770A (en) * 2017-06-02 2017-08-18 中国水利水电第七工程局有限公司 A kind of penstock installs movable automatic tooled joint car
CN107060770B (en) * 2017-06-02 2023-09-19 中国水利水电第七工程局有限公司 Movable automatic pressure sewing machine for installing pressure steel pipes
CN107639089A (en) * 2017-10-25 2018-01-30 鼎尚（大连）科技发展有限公司 Wiper
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