A robotic welding systems and related methods are described. In some embodiments, a robotic welding system may generate a target trajectory based at least partly on a trajectory of a welding torch during manual operation of the welding torch; and operate one or more actuators of the system to control movement of the welding torch based at least partly on the target trajectory.

A device for descaling a metallic membrane of a tank for transporting and/or storing gas in liquid form includes: a rail secured to the metallic membrane; a head projecting a laser beam to descale the metallic membrane; a support interposed between the projection head and the rail and traveling along the rail; and a device allowing a movement with respect to the metallic membrane of a point of impact of the laser beam on the metallic membrane, the movement being different from the travel effected by the support on the rail.

A system for carrying out operations along an annular junction portion of a pipeline is provided with: a frame comprising a C-shaped structure, which is configured to be selectively clamped about a pipeline extending along a longitudinal axis and near an annular junction portion, and at least one driving device arranged along an arc of an annular path and coupled to the structure; a support arm configured to rest on the pipeline and connected to the structure for maintaining the laying plane of the driving device substantially orthogonal to the longitudinal axis; a carriage slideably coupled to the driving device; and at least one operating device configured to carry out operations along the annular junction portion and cantilever supported by said annular segment.

A trolley includes a body and a side block coupled to the body via a pivot arm and a spring. An adjustment knob adjusts a position of the side block relative to the body. A first plurality of rollers are coupled to the body and roll along a first roller recess on a first side of a length of a cap channel. A second plurality of rollers are coupled to the side block and roll along a second roller recess on a second side of the length of the cap channel. A first welding torch bracket positions a welding torch at a first interface between the first side of the length of the cap channel and a first deck sheet as the trolley traverses the length of the cap channel.

Embodiments of an automatic girth fitter system use a device or devices to automate the alignment of horizontal weld seams in both shop- and field-built tanks or vessels. The automated system device or devices may also be used to remove shims that are used to gap the horizontal weld seams and provide plate alignment prior to fitting or welding those seams.

A trolley includes a body and a side block coupled to the body via a pivot arm and a spring. An adjustment knob adjusts a position of the side block relative to the body. A first plurality of rollers are coupled to the body and roll along a first roller recess on a first side of a length of a cap channel. A second plurality of rollers are coupled to the side block and roll along a second roller recess on a second side of the length of the cap channel. A first welding torch bracket positions a welding torch at a first interface between the first side of the length of the cap channel and a first deck sheet as the trolley traverses the length of the cap channel.

The present disclosure provides a lift mechanism comprising a wheel connected to a worm screw, a gearbox housing a worm gear engaged with the worm screw, a pinion gear coupled to the worm gear, and a rack gear with rack teeth engaged with the pinion gear. The lift mechanism includes a guide rail and bearing blocks facilitating linear motion of the rack gear. A rack bracket supports the rack gear, and a worm screw support stabilizes the worm screw. The gearbox contains a gearbox interior housing the mechanical components and a gearbox exterior. Rotation of the wheel translates to linear motion of the rack gear through the interaction of the worm screw, worm gear, and pinion gear, providing a compact, self-locking telescoping mechanism for precise vertical or horizontal adjustment in space-constrained environments.