Abstract: A method for machining a workpiece includes using a multi-axis robot to lift a tool head from a magazine. The robot attaches the tool head to an end of a drill tube. The drill tube is then rotated and longitudinally translated to machine the workpiece. The tool head is withdrawn from the machined workpiece longitudinally by moving the drill tube. The robot is used to disconnect the tool head, replace the disconnected tool head into a magazine and withdraw a different tool head from the magazine for attachment to the drill tube.

Abstract: An apparatus, system, and method for mapping a conduit wall, of which the apparatus includes a shaft defining a central longitudinal axis, and a sensor module coupled to the shaft and including an emitter configured to emit a light beam directed at least partially radially with respect to the central longitudinal axis, and a sensor configured to detect a reflected portion of the light beam, such that the sensor module is configured to measure a distance between the conduit wall and sensor module. The apparatus also includes a centralizer coupled to the shaft and configured to position the sensor module at a center of the conduit.

Abstract: An apparatus that includes a tool head; an insert that is coupled to the head and configured to engage an inner diameter of a workpiece, so as to machine the workpiece; a boring bar or drill tube coupled to the head, the boring bar or drill tube configured to extend through a guide bore in the workpiece; and a measuring device that is positioned proximate to the head and configured to measure a radial dimension, an axial dimension, or both of the inner diameter. The head may include a plurality of inserts, wherein the plurality of inserts are selectable such that the inserts are engageable with the inner diameter of the workpiece. The measuring device may include a contact-based measuring device.

Abstract: A method for machining a workpiece includes using a multi-axis robot to lift a tool head from a magazine. The robot attaches the tool head to an end of a drill tube. The drill tube is then rotated and longitudinally translated to machine the workpiece. The tool head is withdrawn from the machined workpiece longitudinally by moving the drill tube. The robot is used to disconnect the tool head, replace the disconnected tool head into a magazine and withdraw a different tool head from the magazine for attachment to the drill tube.

Abstract: An apparatus, system, and method for mapping a conduit wall, of which the apparatus includes a shaft defining a central longitudinal axis, and a sensor module coupled to the shaft and including an emitter configured to emit a light beam directed at least partially radially with respect to the central longitudinal axis, and a sensor configured to detect a reflected portion of the light beam, such that the sensor module is configured to measure a distance between the conduit wall and sensor module. The apparatus also includes a centralizer coupled to the shaft and configured to position the sensor module at a center of the conduit.