Pipe Handling End Effector With Radial Grip and Axial Freedom
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Solution Overview
Problem
Conventional pipe handling operations on drilling rigs are labor-intensive and hazardous, relying on human operators to manually maneuver drill pipes, which limits speed and efficiency.
Innovation Solution
A pipe handling robot equipped with an articulated arm and end effector featuring pivotable jaws that can rotate between open and closed configurations to engage and restrict radial movement of pipes, allowing for automated and safer handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If human operators manually maneuver drill pipes, then operational flexibility and adaptability are maintained, but labor intensity increases and operational speed decreases
Solution Approach 1:
The automated pipe handling system performs pipe handling operations autonomously without requiring human operators to manually maneuver the pipes. The robotic system with articulated arms and end effectors executes the handling tasks itself, eliminating the need for human labor in this specific function while maintaining operational flexibility through programmable control.
Solution Approach 2:
The patent replaces the manual mechanical system of human operators using ropes and tools with an automated robotic mechanical system. The robotic arms and end effectors provide automated mechanical manipulation of drill pipes, increasing operational speed while reducing labor intensity by substituting human physical effort with automated machinery.
2Reliability
If human operators manually handle pipes, then adaptability to different situations is maintained, but operational hazards increase due to manual exposure
Solution Approach 1:
The robotic system performs pipe handling operations autonomously, keeping human operators out of harm's way. The system handles dangerous tasks such as maneuvering heavy pipes and operating near the well center without exposing human workers to physical hazards, thereby improving operational safety while eliminating manual exposure risks.
Solution Approach 2:
The robotic system acts as an intermediary between human operators and hazardous pipe handling tasks. It serves as a mediator that performs dangerous operations in the hazard zone while human operators remain in safe control positions, thus reducing operational hazards for personnel while maintaining reliable control over the handling operations.
3Ease of operation
If automated robotic arms are used for pipe handling, then labor intensity is reduced, but device complexity increases
Solution Approach 1:
The automated pipe handling system is divided into separate functional modules including multiple articulated arms, end effectors with jaws, and control systems. Each component performs a specific function, allowing the complex overall system to be managed through modular design where each segment can be independently controlled and maintained, thus reducing the operational complexity despite the advanced automation capabilities.
4Manufacturing precision
If end effector restricts radial movement of pipe, then handling precision is improved, but pipe movement freedom is reduced
Solution Approach 1:
The end effector applies selective constraint to the pipe, restricting radial movement at the specific location where the jaws engage the pipe to ensure precise handling and positioning. Simultaneously, the system maintains freedom of movement in other degrees of freedom, particularly axial movement, allowing the pipe to be positioned accurately while retaining necessary movement flexibility for handling operations.
Data Source
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AI summary
An end effector (400) for a robotic arm, the end effector (400) comprising: two pipe engaging jaws (404), each jaw comprising an inner contour configured for engaging a pipe section, wherein at least one jaw (404) is a fixed jaw; wherein the end effector (400) is configured to restrict radial movement of the pipe section while permitting axial movement.