Pipe Handling Apparatus Single Actuator Self-Centering
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Solution Overview
Problem
Existing pipe handling systems for drilling rigs require complex mechanisms, multiple hydraulic actuators, and skilled operators to move pipes from a horizontal to a vertical orientation, leading to inaccuracies, high costs, and safety concerns due to manual labor and potential equipment damage.
Innovation Solution
A pipe handling apparatus with a pivotally movable boom, a riser assembly, and a gripper system that allows for single-degree-of-freedom movement of pipes from a horizontal to a vertical orientation using a single hydraulic actuator, minimizing calibration and instrumentation, and enabling self-centering without the need for multiple hydraulic cylinders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If complex mechanisms with multiple hydraulic actuators are used to move pipes from horizontal to vertical orientation, then positioning capability is improved, but device complexity increases and manufacturing precision deteriorates due to calibration requirements
Solution Approach 1:
The pipe handling apparatus is divided into distinct functional segments: a boom for positioning, a riser assembly for vertical movement, and a gripper system for pipe handling. Each segment operates independently with its own actuation, eliminating the need for complex coordinated control of multiple actuators while maintaining positioning precision.
Solution Approach 2:
The single-degree-of-freedom mechanism with a link pivotally connected to the riser assembly automatically adjusts pipe position through gravitational and mechanical self-alignment. The system uses its own mechanical structure rather than external control systems to achieve precise positioning, eliminating calibration requirements for multiple actuators.
2Ease of operation
If manual labor is used to attach pipe elevators and move pipes from drill rack to rotary table, then ease of operation is improved, but safety deteriorates due to potential injuries to workers
Solution Approach 1:
The apparatus automatically performs pipe transfer operations through its single-degree-of-freedom mechanism. The boom pivots to position the pipe, the riser assembly vertically displaces it, and the gripper system handles attachment - all without manual intervention in the dangerous zone between the rack and rotary table, eliminating worker exposure to injury risks.
Solution Approach 2:
The pipe handling apparatus serves as an intermediary between the drill rack and rotary table, performing all hazardous transfer operations. This intermediary system protects workers by completely removing them from the danger zone while maintaining operational simplicity through automated mechanical actions.
3Productivity
If the hoisting system is used to transfer tubular from pipe rack to drill floor, then productivity is improved, but harmful factors increase due to potential contact with catwalk and damage to tubular
Solution Approach 1:
The apparatus transfers pipes through a different spatial dimension by using a boom that pivots above the drill floor rather than hoisting vertically through the catwalk area. The pipe is moved in an arc above the rig, then lowered vertically into position, completely avoiding contact with the catwalk and eliminating damage risks while maintaining high transfer speed.
Solution Approach 2:
The boom and riser assembly act as intermediaries that guide the pipe along a safe trajectory. Instead of direct vertical hoisting that risks catwalk contact, the intermediary mechanism moves the pipe horizontally above the rig, then vertically into position, protecting the tubular from damage throughout the transfer process.
4Measurement precision
If multiple hydraulic actuators are used for pipe movement, then positioning capability is improved, but cost increases due to calibration and instrumentation requirements
Solution Approach 1:
The single-degree-of-freedom mechanism with the link pivotally connected to the riser assembly uses passive mechanical self-alignment and gravitational forces to achieve precise positioning. The system requires no active control, sensors, or calibration of multiple actuators - the mechanics themselves provide the precision measurement and control functionality.
Solution Approach 2:
The invention extracts and eliminates the complex control and instrumentation systems from multi-actuator designs. By using a single actuator with a mechanically self-regulating link-riser-gripper system, the patent removes all calibration and sophisticated measurement requirements while retaining adequate positioning capability for pipe handling operations.
Data Source
AI summary
A pipe handling apparatus has a boom pivotally movable between a first position and a second position, a riser assembly pivotally connected to the boom, an arm pivotally connected at one end to the first portion of the riser assembly and extending outwardly therefrom, a gripper affixed to an opposite end of the arm suitable for gripping a diameter of the pipe, a link pivotally connected to the riser assembly and pivotable so as to move relative to the movement of the boom between the first and second positions, and a brace having a one end pivotally connected to the boom and an opposite end pivotally connected to the arm between the ends of the arm. The riser assembly has a first portion extending outwardly at an obtuse angle with respect to the second portion.