Pipe Handling End Effector for Radial Constraint and Axial Motion
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Solution Overview
Problem
Conventional pipe handling operations in drilling rigs are labor-intensive and hazardous, relying on human operators to manually maneuver drill pipe stands, which limits operation speed and efficiency.
Innovation Solution
A robot with an articulated arm and an end effector featuring two pipe engaging jaws, configured to restrict radial movement of pipes while allowing axial movement, enabling automated and efficient pipe handling operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If human operators manually maneuver drill pipe stands, then operation flexibility and adaptability are maintained, but labor intensity increases and operation speed decreases
Solution Approach 1:
The patent replaces the manual mechanical system with an automated robotic system featuring an articulated arm and end effector. The robotic arm uses controlled mechanical actuation to grasp, move, and position drill pipe stands, eliminating the need for human operators to manually handle the heavy pipes while increasing operation speed and reducing labor intensity.
Solution Approach 2:
The robotic system is designed to autonomously perform pipe handling operations without continuous human intervention. The controller directs the articulated arm and end effector to execute predetermined sequences of grasping, moving, and positioning pipes, enabling the system to serve itself in completing the tripping operations.
2Reliability
If human operators manually handle drill pipe stands, then adaptability to different pipe positions is maintained, but safety risks increase due to hazardous working conditions
Solution Approach 1:
The patent replaces human operators with a robotic system that uses an articulated arm and specialized end effector to handle drill pipe stands. This substitution eliminates exposure to hazardous conditions such as heavy weights, confined spaces, and potential pipe failures, thereby improving safety while implementing automation in the pipe handling process.
3Productivity
If conventional manual pipe handling is used, then equipment complexity is minimized, but operation efficiency decreases
Solution Approach 1:
The robotic pipe handling system is divided into distinct functional modules: the articulated arm with multiple joints for positioning, the end effector with gripping mechanisms for grasping pipes, and the controller for coordinating operations. This segmentation allows each component to be optimized independently while working together to achieve high operation efficiency despite increased system complexity.
Solution Approach 2:
The articulated arm employs dynamic actuation with multiple degrees of freedom, allowing the robotic system to adapt its configuration for different pipe positions and handling tasks. The dynamic control enables efficient movement through optimized motion paths while managing the complexity of coordinating multiple actuators and joints.
Data Source
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.