Automated pipeline pig handling system

• US 10,364,930 B2
• Filed: 09/29/2016
• Issued: 07/30/2019
• Est. Priority Date: 09/29/2015
• Status: Active Grant

• Current Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Original Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Inventors: Genta, Pablo Daniel
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US15/280,079
• Publication Number:
  US 20170089502A1
• Time in Patent Office: 1,034 Days
• CPC Class Codes: B08B 9/0551 Control mechanisms therefor
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/02 characterised by movement of the arms, e.g. cartesian coordinate type B25J9/06 takes precedence
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B65G 2201/0291 Pig used in pipe conveyors, e.g. a Molch
• CPC Class Codes: B66F 7/065 Scissor linkages, i.e. X-configuration
• CPC Class Codes: F16L 55/46 Launching or retrieval of pigs or moles

Abstract

Certain aspects of the subject matter described here can be implemented as a method. A location of an entrance to a pipeline pig launcher configured to launch a pipeline pig into a pipeline is determined by an automated pipeline pig handling system positioned at a starting location. The pipeline pig is self-aligned with the entrance to the pipeline pig launcher by the automated pipeline pig handling system. The entrance to the pipeline pig launcher is open. The pipeline pig is inserted by the automated pipeline pig handling system into the entrance to the pipeline pig launcher. The entrance to the pipeline pig launcher is closed by the automated pipeline pig handling system after the pipeline pig is inserted into the entrance. The automated pipeline pig handling system is self-returned to the starting location after inserting the pipeline pig into the entrance to the pipeline pig launcher.

Claims

1. An automated pig handling system comprising:

an outer body;

an articulated arm attached to the outer body, the articulated arm configured to connect to a pipeline pig;

a transportation assembly attached to the outer body, the transportation assembly configured to receive the pipeline pig and to move the pipeline pig to one or more of a plurality of locations on the transportation assembly;

a plurality of sensors, at least one of the sensors attached to the outer body, the plurality of sensors configured to sense parameters associated with a location of the outer body relative to a pig trap door; and

a controller comprising processing circuitry, the controller connected to the articulated arm, the transportation assembly and the plurality of sensors, the controller configured to perform pipeline pig launching or retrieval operations by controlling motion and operation of the articulated arm and the transportation assembly based on the parameters sensed by the plurality of sensors.

2. The system of claim 1, wherein the articulated arm is attached to the outer body on a rotatable base, wherein the controller is configured to control the articulated arm to rotate about the base.

3. The system of claim 2, wherein the controller is configured to control the articulated arm to transition between a fully retracted state and a fully extended state.

4. The system of claim 3, wherein the articulated arm comprises a plurality of joints, and wherein the controller is configured to control a swiveling of the articulated arm about each joint of the plurality of joints.

5. The system of claim 2, wherein the articulated arm comprises a telescoping piston, and wherein the controller is configured to control the telescoping piston between an extended position and a retracted position.

6. The system claim 1, wherein the transportation assembly comprises a conveyer belt, and wherein the controller is configured to control a movement of the conveyer belt.

7. The system of claim 6, wherein the transportation assembly comprises a sliding tray, and wherein the controller is configured to extend the sliding tray between a location on the outer body to a location extending beyond the outer body.