End Effector With Parallel Connection Interface for Pipe Spinning

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Solution Overview

Problem

Conventional robotic solutions for gripping and spinning pipes on a drill floor require large, heavy, and custom-made robots, which is a drawback especially when retrofitting or upgrading existing rigs.

Innovation Solution

An end effector design with a first connection interface having a normal oriented parallel to the spinning axis, allowing for more efficient use of robotic lifting capacity, and incorporating actively driven rollers on the jaws for compactness and efficient spinning.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of manufacture

If conventional robotic solutions are used for gripping and spinning pipes, then the pipe handling function is achieved, but the robot size becomes large and heavy requiring custom-made units

Engineering Contradiction:

Improveavailability of commercial off-the-shelf robotsVSAvoidrobot size and weight

Core Design Contradiction:

Ease of manufactureVSWeight of moving object

Solution Approach 1:

The system divides the pipe handling function into two separate components: a standard robotic arm for positioning and a specialized end effector for gripping and spinning. This segmentation allows the robot to be a commercial off-the-shelf unit while the complex spinning function is isolated to the detachable end effector attachment.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The end effector introduces a new rotational dimension by adding a spinning axis that is perpendicular to the robotic arm's orientation. This allows the pipe to be spun around its longitudinal axis while the robot maintains positional control, enabling compact robot design without sacrificing pipe spinning capability.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Force

If the connection interface normal is oriented perpendicular to the spinning axis, then the robotic arm alignment is simplified, but the lifting capacity is not efficiently utilized

Engineering Contradiction:

Improverobot lifting capacity utilizationVSAvoidconnection interface orientation

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

Instead of orienting the connection interface normal perpendicular to the spinning axis (conventional approach), the invention inverts this by aligning the connection interface normal parallel to the spinning axis. This inversion optimizes the load case and allows the robot to utilize its lifting capacity more efficiently for pipe handling.

Inventive Principle:

Principle #13The other way round (Inversion)

3Adaptability or versatility

If large custom-made robots are used, then pipe handling capability is sufficient, but retrofitting existing rigs becomes difficult

Engineering Contradiction:

Improveretrofitting capabilityVSAvoidcustom-made robot requirements

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The end effector is designed as a universal attachment that can be mounted on standard commercial robotic arms. The connection interface uses conventional mounting standards, making the system adaptable to various existing robot models and facilitating easy retrofitting of drilling rigs without requiring custom-made robots.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS20250146369A1End effector for gripping and spinning pipes

Publication Date: 2025.05.08 GRANT PRIDECO LP

AI summary

An end effector for gripping and spinning a pipe includes a head portion including a first connection interface for connecting the end effector to a robotic arm. In addition, the end effector includes a pair of jaws rotatably connected to the head portion between an open position and a gripping position. Further, the end effector includes a spinner for spinning a pipe held by the pair of jaws in the gripping position around a spinning axis generally corresponding to a longitudinal centre axis of the pipe. The first connection interface has a normal which is substantially parallel to the spinning axis. There is also disclosed a robot including an end effector as well a robot assembly and a drilling installation including such as robot.