Robotic Fishing Tool With Articulated Hand And Camera
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Solution Overview
Problem
The retrieval of objects from subterranean wells is challenging due to their variable size, shape, location, and orientation, often requiring tools to be pre-configured without accurate information, leading to imprecise positioning and configuration issues.
Innovation Solution
A downhole robotic fishing tool with a robotic hand featuring a palm, thumb, and fingers connected by articulating joints, equipped with a camera for real-time imaging and a fluid nozzle for optical clarity, allowing for intuitive operation and precise grasping of objects within the wellbore.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional fishing tools are used without accurate object information, then the tool can be deployed, but positioning precision and grasping accuracy deteriorate
Solution Approach 1:
The patent applies preliminary action by equipping the robotic hand with a camera and lighting system that captures images of the object before grasping. This allows the system to identify object characteristics (size, shape, location) in advance, enabling precise positioning and appropriate hand configuration before the actual grasping operation occurs.
Solution Approach 2:
The patent implements feedback through a camera system that provides real-time visual information about the object's characteristics. This feedback loop allows the control system to adjust the robotic hand's positioning and configuration based on actual object properties observed, thereby improving positioning precision and grasping accuracy.
2Manufacturing precision
If the robotic hand is configured for specific object types, then grasping accuracy improves, but adaptability to different object sizes and shapes deteriorates
Solution Approach 1:
The patent applies dynamics by designing a robotic hand with articulating joints that can dynamically adjust its configuration. The hand can change its shape and grasp pattern based on the object's characteristics, allowing it to maintain high grasping accuracy across various object sizes and shapes rather than being fixed for a specific object type.
Solution Approach 2:
The patent implements universality by creating a robotic hand capable of performing multiple grasping functions. Through its articulating joints and adjustable fingers, the hand can adapt to different object types, sizes, and shapes, making a single tool versatile enough to handle various fishing scenarios without sacrificing grasping accuracy.
3Measurement precision
If articulating joints are added to the robotic hand, then positioning precision and adaptability improve, but device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the robotic hand into multiple segments connected by articulating joints. This segmentation allows each joint to be controlled independently, providing precise positioning capability while maintaining a manageable structural complexity through modular design.
Data Source
AI summary
A downhole robotic fishing tool includes a main body configured to be positioned in a wellbore and an intermediate body connected to a downhole end of the main body by an upper articulating joint. A robotic hand is connected to a downhole end of the intermediate body by a lower articulating joint. The robotic hand is configurable between an open configuration and a closed configuration and includes a palm, a robotic thumb and a robotic finger attached at their respective proximal ends to the palm in opposition. When in the closed configuration, the distal ends of the thumb and finger are within a grasp center area centered on a center point defined by an intersection of a grasping axis and an opposition axis of the robotic hand. A camera is positioned on the palm that has an optical axis that intersects the grasp center area proximate the center point.