Apparatus and method for descaling a vessel

A vessel descaling system, comprising:

• a frame having a frame top and a frame bottom, the frame including a longitudinal axis running from the frame top to the frame bottom;
• an outrigger stabilizing assembly attached to the frame, the outrigger stabilizing assembly comprising an outrigger stabilizing servo and a plurality of arms configured to extend and retract radially with respect to the longitudinal axis to abut against a wall of the vessel, the outrigger stabilizing assembly including:
• an individual first servo for each individual arm to facilaite extension and retraction of an arm independently of extension and retraction of other arms;
• and
• an individual second servo for each individual arm to facilitate pivotable motion of an arm about a pivot joint independently of pivotable motion of other arms about its pivot joint;
• a turret attached to the frame bottom, the turret comprising a turret servo;
• a hammer assembly pivotally attached to the turret, the hammer assembly comprising:
• a hammer assembly servo;
• an extendable and retractable boom pivotally attached to the turret, the boom having first and second ends;
• and
• a reciprocating hammer pivotally attached via a servo to the second end of the boom, the servo providing 180 degrees of movement for the reciprocating hammer;
• and
• a control module in communication with the outrigger stabilizing servo, the turret servo, and the hammer assembly servo.

A method of descaling a vessel, the method comprising:

• inserting a frame through an opening of a vessel, the frame having a frame top, a frame bottom, and a longitudinal axis running from the frame top to the frame bottom;
• attaching an outrigger stabilizing assembly to the frame while the frame is within the vessel;
• attaching a turret to the frame bottom while the frame is within the vessel;
• rotatably and pivotally attaching a hammer assembly to the turret while the frame is within the vessel, the hammer assembly comprising:
• an extendable and retractable boom configured to pivotally attach to the turret, the boom having first and second ends;
• and
• a reciprocating hammer pivotally attached to the second end the boom.