Multifunction Drilling Handler with Robotic Arm
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Solution Overview
Problem
Current drilling rig handlers are limited in functionality, capable of performing only specific tasks with restricted degrees of freedom, failing to automate off-line operations such as pipe assembly/disassembly and handling during drilling phases, which requires human intervention and increases operational risks and costs.
Innovation Solution
A multifunction handler with a robotic apparatus and handling head, equipped with electric motors providing five degrees of freedom, capable of handling drill pipes, collars, and casings, and integrated into a handling system that automates the movement and assembly of drilling elements, reducing human operator involvement and enhancing operational flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple specialized handlers are used for different functions, then specific handling tasks can be performed, but the device complexity and cost increase
Solution Approach 1:
The patent implements a single handler that can perform multiple drilling operations including handling drill pipes, casings, and performing off-line assembly/disassembly operations. The handler is designed with interchangeable end effectors and programmable control to adapt to different task requirements, eliminating the need for multiple specialized handlers while maintaining full operational capability
Solution Approach 2:
The handler incorporates a robotic arm with multiple degrees of freedom that can dynamically reposition and reconfigure itself for different operations. The system includes movable platforms and adjustable positioning mechanisms that allow the handler to adapt its configuration based on the specific task being performed, whether during drilling or off-line operations
2Adaptability or versatility
If handlers with limited degrees of freedom are used, then the device complexity is reduced, but the adaptability to perform different operations is limited
Solution Approach 1:
The handler is equipped with a robotic arm featuring five or more degrees of freedom, enabling it to perform diverse operations including pipe handling, assembly, disassembly, and positioning during both drilling and off-line phases. This multi-functional capability is achieved through the enhanced degrees of freedom rather than multiple separate devices
Solution Approach 2:
The patent introduces a programmable control system that acts as an intermediary between the operator and the complex robotic mechanisms. This control system manages the multiple degrees of freedom and coordinates the various functions, making the complex system operable without requiring proportional complexity in operation
3Reliability
If human operators are used for pipe assembly and handling, then operational flexibility is maintained, but safety risks and operational costs increase
Solution Approach 1:
The handler is designed to autonomously perform drilling operations including handling drill pipes, casings, and performing off-line assembly and disassembly operations. The system can operate independently without human intervention during drilling phases, with automated control systems managing all operations from pipe retrieval to positioning
Solution Approach 2:
The patent replaces manual human operations with an automated robotic system that performs all handling and assembly tasks. The mechanical system includes automated gripping mechanisms, robotic arms, and controlled positioning systems that substitute for human physical operations, eliminating safety risks associated with human exposure to drilling operations
4Productivity
If specialized handlers are used for specific tasks, then task performance is optimized, but the loss of time for task switching increases
Solution Approach 1:
The single handler is designed to perform all drilling-related handling operations including drill pipe management, casing operations, and off-line assembly/disassembly without requiring task switching between multiple specialized devices. The robotic system can seamlessly transition between different operation types through programmable control
Solution Approach 2:
The handler is pre-configured with multiple end effectors and tools that can be quickly exchanged or repositioned based on the required operation. The system maintains readiness for different task types through preliminary setup of interchangeable components, minimizing the time required to transition between drilling and off-line operations
Data Source
Figure 1a~2
Figure 3a~3d
Figure 4a~4c
AI summary
Multifunction handler (3) for handling drilling elements (P) in a drilling rig (1), comprising: a slide (4), in turn comprising a guide system (41) and a lifting system (42), said slide (4) being adapted to slide along a first axis (Z) parallel to the longitudinal extension of a mast (12) comprised in the drilling rig (1). The handler (3) comprises: an articulated arm (5); a robotic apparatus (6); and a handling head (7), adapted to at least seize, hold and appropriately release at least one drilling element (P). The articulated arm (5) being fixed at a first end thereof to said slide (4). A first end of said robotic apparatus (6) being fixed to the second end of said articulated arm (5). The articulated arm (5) being adapted to allow moving the robotic apparatus (6) along at least a second axis (X) perpendicular to said first axis (Z). Said handling head (7) being connected to the second end of the robotic apparatus (6). Said robotic apparatus (6) being adapted to move said handling head (7) with at least three degrees of freedom; The handler (3) is configured for moving said handling head (7) with at least five degrees of freedom.