Modular gripperhead with effector for a racker system
First Claim
1. A gripperhead for gripping a tubular for a drilling process, comprising:
- a gripper having a first gripper arm and a second opposing gripper arm, each gripper arm having an inwardly facing gripping surface that forms at least a portion of a chamber sized to receive a portion of the tubular, wherein the portion of the chamber has a longitudinal axis;
a grabber having a first grabber arm and a second grabber arm, each grabber arm being displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis, wherein each of the first and second grabber arms is pivotable about a first and second pivot point, respectively, and between an open position sized to permit a portion of the tubular to enter between the first and the second grabber arms and a closed position sized to secure the portion of the tubular between the first and the second grabber arms;
a centralizer arranged to manipulate the tubular held by one of the gripper and the first and second grabber arms, the centralizer comprising a first centering arm and an opposing second centering arm, each centering arm positioned to pivot about a third and fourth pivot point, respectively, and between an open position sized to permit a portion of the tubular to enter the chamber and a closed position sized to secure a portion of the tubular in the chamber; and
a hydraulic manifold assembly comprising a body extending parallel to the longitudinal axis of the chamber;
wherein each of the gripper, the grabber, and the centralizer are rigidly coupled to the body of the hydraulic manifold assembly; and
wherein the grabber is displaceable between the retracted position and the extended position relative to the gripper and the body of the hydraulic manifold assembly.
1 Assignment
0 Petitions
Accused Products
Abstract
The systems, devices, and methods described herein relate to a modular gripperhead system for a drilling rig. The system includes a gripper having a first gripper arm and a second opposing gripper arm, each gripper arm having an inwardly facing gripping surface that forms at least a portion of a chamber sized to receive a portion of a cylindrical tubular, wherein the portion of the chamber has a longitudinal axis. The system also includes a grabber having a first grabber arm and a second grabber arm. Each grabber arm may be displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis. The first and second grabber arms may be pivotable about a first and second pivot point between an open position sized to permit a portion of a cylindrical tubular to enter between the first and the second grabber arms and a closed position sized to secure a portion of a cylindrical tubular between the first and the second grabber arms.
51 Citations
19 Claims
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1. A gripperhead for gripping a tubular for a drilling process, comprising:
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a gripper having a first gripper arm and a second opposing gripper arm, each gripper arm having an inwardly facing gripping surface that forms at least a portion of a chamber sized to receive a portion of the tubular, wherein the portion of the chamber has a longitudinal axis; a grabber having a first grabber arm and a second grabber arm, each grabber arm being displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis, wherein each of the first and second grabber arms is pivotable about a first and second pivot point, respectively, and between an open position sized to permit a portion of the tubular to enter between the first and the second grabber arms and a closed position sized to secure the portion of the tubular between the first and the second grabber arms; a centralizer arranged to manipulate the tubular held by one of the gripper and the first and second grabber arms, the centralizer comprising a first centering arm and an opposing second centering arm, each centering arm positioned to pivot about a third and fourth pivot point, respectively, and between an open position sized to permit a portion of the tubular to enter the chamber and a closed position sized to secure a portion of the tubular in the chamber; and a hydraulic manifold assembly comprising a body extending parallel to the longitudinal axis of the chamber; wherein each of the gripper, the grabber, and the centralizer are rigidly coupled to the body of the hydraulic manifold assembly; and wherein the grabber is displaceable between the retracted position and the extended position relative to the gripper and the body of the hydraulic manifold assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of manipulating a tubular, the method comprising:
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positioning a gripper in proximity to the tubular, the gripper comprising a first gripper arm and a second opposing gripper arm, each gripper aim having an inwardly facing gripping surface that forms at least a portion of a receiving chamber;
wherein the portion of the receiving chamber has a longitudinal axis;wherein the gripper is fixedly coupled to a hydraulic manifold assembly that comprises a body extending parallel to the longitudinal axis of the chamber; extending, relative to the gripper and the body of the hydraulic manifold assembly, a first grabber arm and a second grabber arm of a grabber in a first direction that is perpendicular to the longitudinal axis such that a portion of the first and second grabber arms extends beyond a front-most surface of the gripper with the first and second grabber arms in an open position; and closing the first and second grabber arm to secure the tubular between the first and second grabber arms; retracting, relative to the gripper and the body of the hydraulic manifold assembly, the first and second grabber arms to pull the tubular towards the gripper; positioning the tubular between a first centering arm and an opposing second centering arm of a centralizer; and closing the first centering arm and the opposing second centering arm to align a longitudinal axis of the tubular with the longitudinal axis of the receiving chamber of the gripper. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An apparatus for manipulating a tubular, comprising:
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a gripper having a chamber sized to receive a portion of the tubular, wherein the portion of the chamber has a longitudinal axis; a centralizer arranged to allow the tubular to rotate in the chamber, the centralizer comprising a first centering arm and an opposing second centering arm, each centering arm positioned to pivot about between an open position sized to permit a portion of the tubular to enter the chamber and a closed position sized to secure a portion of the tubular in the chamber; a grabber having a first grabber arm and a second grabber arm, each grabber arm being displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis, wherein at least one of the first and second grabber arms is pivotable between an open position sized to permit a portion of the tubular to enter the chamber and a closed position sized to secure a portion of the tubular in the chamber; a hydraulic manifold assembly comprising a body extending parallel to the longitudinal axis of the chamber; wherein each of the gripper, the grabber, and the centralizer are rigidly coupled to the body; and wherein the grabber is displaceable between the retracted position and the extended position relative to the gripper and the body of the hydraulic manifold assembly. - View Dependent Claims (16, 17, 18, 19)
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Specification