Systems, apparatus, and methods for autonomous tripping of well pipes
First Claim
1. A robotic system coupled to a racking platform of an oil well service or drilling rig, the robotic system comprising:
- a base coupled to the racking platform at a fixed location;
a mast pivotally coupled to the base by a mast pivot joint allowing rotation of the mast about a mast axis;
a mast actuator for controllably rotating the mast about the mast pivot joint;
an arm coupled to the mast, the arm including proximal and distal ends,wherein the distal end is moveable along a radial direction with respect to the mast axis, andwherein the proximal end is moveable along an axial direction with respect to the mast axis;
an arm actuator for controllably moving the arm along the radial direction;
an end effector pivotally coupled to the distal end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented at least substantially parallel to the mast axis, the end effector comprising at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator; and
an end effector actuator for controllably rotating the end effector about the end effector pivot joint.
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Accused Products
Abstract
A robotic system coupled to a racking platform of an oil well service or drilling rig comprising a base coupled to the racking platform at a fixed location, a mast pivotally coupled to the base by a mast pivot joint allowing rotation of the mast about a mast axis, a mast actuator for controllably rotating the mast about the mast pivot joint, an arm coupled to the mast and moveable along a radial direction with respect to the mast axis, an arm actuator for controllably moving the arm along the radial direction, an end effector pivotally coupled to an end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented generally parallel to the mast axis, and an end effector actuator for controllably rotating the end effector about the end effector pivot joint. The end effector comprises at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator.
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Citations
21 Claims
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1. A robotic system coupled to a racking platform of an oil well service or drilling rig, the robotic system comprising:
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a base coupled to the racking platform at a fixed location; a mast pivotally coupled to the base by a mast pivot joint allowing rotation of the mast about a mast axis; a mast actuator for controllably rotating the mast about the mast pivot joint; an arm coupled to the mast, the arm including proximal and distal ends, wherein the distal end is moveable along a radial direction with respect to the mast axis, and wherein the proximal end is moveable along an axial direction with respect to the mast axis; an arm actuator for controllably moving the arm along the radial direction; an end effector pivotally coupled to the distal end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented at least substantially parallel to the mast axis, the end effector comprising at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator; and an end effector actuator for controllably rotating the end effector about the end effector pivot joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A mobile apparatus for oil well servicing or drilling, the apparatus comprising:
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a mobile platform; a derrick pivotally coupled to the mobile platform and moveable between a deployed position and a storage position; a racking platform coupled to the derrick, the racking platform defining a plurality of elongated object receiving locations; an elevator supported from the derrick for raising and lowering elongated members along an elevator axis; and
,a robotic system coupled to the racking platform at a fixed location, the robotic system comprising a mechanism having at least three degrees of freedom for manipulating an upper portion of an elongated member within a plane at least substantially parallel to a plane of the racking platform, wherein the robotic system comprises; a mast coupled to the racking platform at the fixed location by a mast pivot joint allowing rotation of the mast about a mast axis oriented at least substantially perpendicularly to the racking platform; an arm coupled to the mast, the arm including proximal and distal ends, wherein the distal end is moveable along a radial direction with respect to the mast axis, and wherein the proximal end is moveable along an axial direction with respect to the mast axis; an arm actuator for controllably moving the arm along the radial direction; an end effector pivotally coupled to the distal end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented at least substantially parallel to the mast axis, the end effector comprising at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator; and an end effector actuator for controllably rotating the end effector about the end effector pivot joint. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification