【摘要】 本文介绍了油田泵筒内表面激光改性机器人系统的结构及工作原理．该技术将激光表面改性技术和管道机器人技术相结合，具有功能完善、可靠性高、可控制性好、成本低等优点．实验证明，是进行管材内表面激光淬火的一种新的有效方法，在工程应用中具有推广价值．更多还原

【Abstract】 The systematical structure and operation principle of an in pipe robot used for cylinder of sucker pump laser inner surface modification are developed. The system combines laser surface modification with in pipe robot technologies, and it performs with good function, high reliability, good controllability and low cost. The experimental results shows that it is a new and effective method.更多还原