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US 11,897,011 B2Granted
Hybrid descaling tool and methods
AssigneeSaudi Arabian Oil Company
InventorsSameeh Issa Batarseh, Wisam Assiri
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Abstract
A tool that removes a scale inside a pipe includes: a laser tool including a laser head to output a laser beam, and a robotic arm that is articulated and that is connected to the laser head. The robotic arm includes segments that are connected by flexible robotic arm joints to enable movement of the laser head in six degrees of freedom, and a control system to control the robotic arm to direct output of the laser beam. The tool also includes a drilling shaft attached to the robotic arm of the laser tool.
Claims5
A tool that removes a scale inside a pipe, the tool comprising:
- a laser tool comprising:
- a laser head to output a laser beam;
- a robotic arm that is articulated and that is connected to the laser head, the robotic arm comprising segments that are connected by flexible robotic arm joints to enable movement of the laser head in six degrees of freedom;
- and
- a control system to control the robotic arm to direct output of the laser beam;
- and
- a drilling shaft attached to the robotic arm of the laser tool,
- wherein the drilling shaft comprises:
- a first drilling shaft segment;
- a second drilling shaft segment;
- and
- a joint that transmits a rotating power of the drilling shaft between the first drilling shaft segment and the second drilling shaft segment.
9 more elements
Dependencies are inferred from the claim text.