A shot treatment apparatus ejects shot material from a nozzle towards a workpiece, and has the nozzle; a nozzle moving mechanism; and a three-dimensional information obtaining sensor; a pattern storage portion storing a nozzle reference operation pattern when the workpiece is installed at a reference position and a reference pose within the treatment compartment; a model data storage portion storing workpiece three-dimensional model data; a position/pose displacement calculating portion comparing the position and pose information and reference position and pose data when the three-dimensional model data is at the reference position in the reference pose to calculate a displacement in a position and pose of the workpiece from the reference position and pose data; and a nozzle movement control portion correcting the pattern based on the displacement in the position and pose, and controlling the nozzle moving mechanism to move the nozzle based on the corrected pattern.

System for reduction of dimensional end-taper in abrasive blasted tubes has a pressurized chamber maintaining higher air pressure inside the chamber than atmospheric pressure, an air-exit port allowing gases to exit the chamber at a controlled rate, a valve restricting passage of gases from the air-exit port, a pressurized membrane through which the tube passes creating a seal, a gauge port where pressure inside the pressurized chamber is monitored and a media-exit port allowing evacuation of abrasive blast media particles after being expelled from the exit-end of the tube. The system addresses dimensional end-taper as high back pressure at the exit end of the tube reduces velocity of the gases and abrasive particles carried in it, thereby reducing erosion of the inner walls of the tube near its exit end. The system can be employed with a wide range of tube sizes and in combination with several abrasive blasting techniques.

System for reduction of dimensional end-taper in abrasive blasted tubes has a pressurized chamber maintaining higher air pressure inside the chamber than atmospheric pressure, an air-exit port allowing gases to exit the chamber at a controlled rate, a valve restricting passage of gases from the air-exit port, a pressurized membrane through which the tube passes creating a seal, a gauge port where pressure inside the pressurized chamber is monitored and a media-exit port allowing evacuation of abrasive blast media particles after being expelled from the exit-end of the tube. The system addresses dimensional end-taper as high back pressure at the exit end of the tube reduces velocity of the gases and abrasive particles carried in it, thereby reducing erosion of the inner walls of the tube near its exit end. The system can be employed with a wide range of tube sizes and in combination with several abrasive blasting techniques.

This disclosure provides a new internal weld blasting system for blasting the internal surfaces of pipes, and the method of use thereof. The system comprises a control cage having two relatively narrow openings. An impeller forces abrasives onto a blast wheel, which in turn sprays the abrasives onto the internal surfaces of the pipes.

This disclosure provides a new internal weld blasting system for blasting the internal surfaces of pipes, and the method of use thereof. The system comprises a control cage having two relatively narrow openings. An impeller forces abrasives onto a blast wheel, which in turn sprays the abrasives onto the internal surfaces of the pipes.

This disclosure provides a new internal weld blasting system for blasting the internal surfaces of pipes, and the method of use thereof. The system comprises a control cage having two relatively narrow openings. An impeller forces abrasives onto a blast wheel, which in turn sprays the abrasives onto the internal surfaces of the pipes.

This disclosure provides a new internal weld blasting system for blasting the internal surfaces of pipes, and the method of use thereof. The system comprises a control cage having two relatively narrow openings. An impeller forces abrasives onto a blast wheel, which in turn sprays the abrasives onto the internal surfaces of the pipes.

Methods and arrangements are provided for release of an ROV operable subsea clamp connector, the clamp connector comprising at least two clamp segments hinged to move pivotally, and a drive screw connecting the clamp segments by threaded engagement with trunnions arranged rotatable in the pivoting ends of the clamp segments, the threads of the drive screw and trunnions turned such that the trunnions travel along the drive screw in mutually opposite directions when the drive screw is turned. An axial bore in the drive screw is adapted for accommodation of a waterjet cutting tool having a sideways pointing nozzle in a forward end, the waterjet cutting tool rotatable inside the bore while feeding high-pressure water through the nozzle, towards the wall of the drive screw until the wall of the drive screw is cut through.

A grit blasting arrangement for cleaning chemical reactor tubes includes means for ensuring the grit blast nozzle is coaxial with the longitudinal axis of the tube to be cleaned. The grit blasting device for cleaning tubes spaced apart by upper and lower tubesheets. The grit blasting device includes a grit blast nozzle mounted on a positioning frame and projecting outwardly with an outlet directed into a tube opening during a cleaning operation. The device includes a plurality of stop pins mounted on the positioning frame designed to abut a tubesheet and to define an imaginary plane coplanar with the tubesheet. The plurality of stop pins when abutting the tubesheet prevent the outlet of the nozzle from extending into the tube causing a venturi effect.

A grit blasting arrangement for cleaning chemical reactor tubes includes means for ensuring the grit blast nozzle is coaxial with the longitudinal axis of the tube to be cleaned. The grit blasting device for cleaning tubes spaced apart by upper and lower tubesheets. The grit blasting device includes a grit blast nozzle mounted on a positioning frame and projecting outwardly with an outlet directed into a tube opening during a cleaning operation. The device includes a plurality of stop pins mounted on the positioning frame designed to abut a tubesheet and to define an imaginary plane coplanar with the tubesheet. The plurality of stop pins when abutting the tubesheet prevent the outlet of the nozzle from extending into the tube causing a venturi effect.