Multifunction Drilling Manipulator With Five Degrees of Freedom
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Solution Overview
Problem
Existing drilling rig manipulators have limited functionality, unable to perform both 'off-line' operations such as assembling/disassembling drill stands and feeding operations during drilling, while also handling heavy stands of drilling elements with precision and safety.
Innovation Solution
A multifunction manipulator with a carriage, articulated arm, robotic apparatus, and manipulation head, designed to move the manipulation head with at least five degrees of freedom, incorporating electric actuators for precise control and a safety system with sensors for accurate positioning and load management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple specialized manipulators are used for different functions, then specific drilling operations can be performed, but the overall system complexity and cost increase
Solution Approach 1:
The patent implements a single manipulator system capable of performing multiple drilling operations including handling drill pipes, well protection elements, and performing both off-line assembly/disassembly operations and feeding operations during drilling. This universal manipulator replaces multiple specialized manipulators, reducing system complexity while maintaining functional versatility through programmable control and reconfigurable end-effectors
2Adaptability or versatility
If manipulators with limited degrees of freedom are used, then the structure remains simple, but the ability to perform diverse operations is restricted
Solution Approach 1:
The patent employs a manipulator with five degrees of freedom that can dynamically reconfigure its position and orientation to perform various operations. The dynamic control system allows the manipulator to adapt its configuration for different tasks including vertical pipe handling, horizontal positioning, and operations at different heights, enabling diverse operational capabilities without requiring multiple fixed-position manipulators
3Weight of moving object
If existing manipulators are used for heavy stands of drilling elements, then structural load capacity must be increased, but precision and safety are compromised
Solution Approach 1:
The patent incorporates sensors that detect the correct position of the manipulation head and provide feedback to the control system. This feedback mechanism enables precise positioning and control when handling heavy drilling elements, maintaining manufacturing precision even under high load conditions. The control system uses this feedback to make real-time adjustments, ensuring safe and accurate operations with heavy stands of drill pipes
Data Source
AI summary
A multifunction manipulator includes a carriage; an articulated arm; a robotic apparatus; and a manipulation head. The robotic apparatus moves the manipulation head with at least three degrees of freedom. The manipulator moves the manipulation head with at least five degrees of freedom. The carriage includes a sliding block; a pulley-type hoisting device having a winch; an emergency braking system to prevent the carriage from moving due to malfunction of the hoisting system and to slide the carriage vertically. The articulated arm has a monolithic body constrained at a first end to the carriage, and at a second end to a first end of the robotic apparatus. The manipulation head connects to a second end of the robotic apparatus. The articulated arm includes first and second actuators. The articulated arm and robotic apparatus have electric actuators controlled independently by a control system of the manipulator.