Automated Grapple Attachment for Pipe Alignment
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Solution Overview
Problem
Positioning and connecting large diameter pipes, such as oilfield pipes, is a time-consuming and costly process that requires many workers and equipment, posing hazards to ground workers and slowing down production.
Innovation Solution
An attachment for construction equipment, such as excavators or trackhoes, that automates the alignment of pipe ends by adjusting them in x, y, and z-axis directions, allowing for precise alignment and secure welding or processing, utilizing grapple mechanisms to grip and adjust pipe ends.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual positioning methods are used for pipe tie-in, then workers can directly manipulate pipes, but the process is extremely time-consuming and requires many workers and expensive equipment
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic system that uses sensors, actuators, and control systems to position pipe ends. The robotic attachment includes multiple degrees of freedom with actuators that automatically adjust pipe position, eliminating the need for manual manipulation by workers and significantly reducing alignment time.
Solution Approach 2:
The robotic attachment system performs self-positioning through automated feedback control. Sensors detect the position and orientation of pipe ends, and the control system automatically commands actuators to make adjustments, enabling the system to align pipes independently without continuous human intervention.
2Ease of operation
If multiple workers are used for pipe positioning, then pipes can be manually aligned, but worker safety is compromised due to hazardous conditions
Solution Approach 1:
The patent replaces human workers with a robotic system that performs all positioning operations. The robotic attachment includes sensors, actuators, and control systems that automatically detect and position pipe ends, eliminating worker exposure to hazardous conditions while managing complexity through integrated automation components.
Solution Approach 2:
The robotic attachment serves as an intermediary between the pipe sections, performing all manipulation tasks. The system includes end effectors that grip pipes, sensors that detect position, and actuators that move components, acting as a mediating system that eliminates direct human-pipe interaction in hazardous zones.
3Productivity
If traditional equipment is used for pipe tie-in, then connections can be made, but the process requires millions of dollars worth of equipment and many workers
Solution Approach 1:
The patent divides the pipe tie-in function into modular robotic components: end effectors for gripping, sensors for detection, actuators for movement, and control systems for coordination. This segmentation allows the complex task to be performed by specialized subsystems working together, improving efficiency while managing overall system complexity through modularity.
Solution Approach 2:
The robotic attachment system is designed to perform multiple functions: gripping pipes, detecting position, adjusting orientation, and holding pipes during welding. This multi-functionality consolidates what would traditionally require multiple separate pieces of equipment and workers into a single integrated robotic system.
Data Source
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AI summary
A two-piece grab arm housing for a grapple mechanism useable on a grapple attachment is described. The grab arm housing includes a lower arm housing with grab arms mounted to the lower arm housing, and an upper arm housing mounted to the lower arm housing. The upper arm housing and the lower arm housing are movable relative to one another in an x-direction and are moveable together in a y-direction perpendicular to the x-direction. In addition, the upper arm housing includes an opening through which a main beam of the grapple attachment can extend.