Machine for automatic welding in chambers accessible only by end manhole - has rotationally and linearly positionable carrier tube which passes through guide tube clamped to manhole and has robot arm with coupling interface for tooling

摘要

In the manhole opening (25) of the chamber is clamped a guide tube (10) with bearings for the linear and rotational guidance of a carrier tube (9). At the rear end of the carrier tube is a linear feed and rotational positioning system (16). Extending from the front end of the carrier tube is robot arm with a coupling interface (8) for a variety of tools covering such operations as welding, cleaning, coating inspection etc. of the interior surface of the chamber. USE/ADVANTAGE - Applicable to structures such as double bottom of ship's hull. Replaces expensive manual work by programmed automatic operation.