Robotic Roughneck Stabbing Guide With Radial Tubular Alignment
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Solution Overview
Problem
Current robotic systems for subterranean operations, such as drilling and wellbore casing, face inefficiencies in aligning and connecting tubulars due to the lack of precise alignment tools, requiring manual intervention or complex machinery for guiding tubulars into position.
Innovation Solution
A system comprising a stabbing guide with guide elements, an engaging element, and a linkage assembly that rotates to move the guide elements radially, allowing for precise alignment and connection of tubulars within the stabbing guide, integrated with an iron roughneck's torque wrench and backup tong for efficient joint formation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual intervention or complex machinery is used for guiding tubulars into position, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The guide assembly is segmented into multiple guide elements (first guide element, second guide element, third guide element) that can be independently positioned and adjusted. Each guide element can be selectively engaged with the tubular at different locations, allowing precise alignment to be achieved through coordinated movement of discrete components rather than a single complex mechanism.
Solution Approach 2:
The guide elements are designed to be movable relative to one another, with at least one guide element being movable in a first direction and another movable in a second direction. This dynamic configuration allows the guide assembly to adapt its shape and position to accommodate different tubular orientations and achieve precise alignment through controlled movement rather than fixed complex structures.
2Productivity
If automated systems are used for tubular alignment and connection, then productivity is improved, but device complexity increases
Solution Approach 1:
The guide assembly serves multiple functions: it guides the tubular into proper alignment, supports the tubular during positioning, and facilitates connection to the well center. The same guide elements that provide alignment also provide support and positioning functions, eliminating the need for separate specialized mechanisms for each function and reducing overall system complexity while maintaining high productivity.
Solution Approach 2:
The guide elements are designed to automatically engage with the tubular and provide alignment guidance through their geometric configuration and movable joints. The system uses the tubular's own geometry and the guide elements' constrained movement to achieve self-alignment, reducing the need for complex active control systems and external intervention while maintaining automated operation.
3Manufacturing precision
If multiple guide elements are used for precise tubular alignment, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The guide elements are arranged in a nested configuration where they can be positioned at different locations along the tubular and relative to each other. The first guide element, second guide element, and third guide element can be selectively engaged at different positions, creating a hierarchical guidance system that achieves high precision through multiple levels of constraint rather than a single complex guide structure.
Solution Approach 2:
The guide elements incorporate movable joints that allow each element to move in specific directions independently. This dynamic capability enables the guide assembly to accommodate manufacturing tolerances and achieve precise alignment through controlled movement of individual elements rather than requiring all elements to be perfectly positioned in a static configuration.
Data Source
AI summary
A system including a stabbing guide with a plurality of guide elements, an engaging element, and a linkage assembly that couples the plurality of guide elements to the engaging element, where rotation of the engaging element relative to the plurality of guide elements drives the linkage assembly and, via the linkage assembly, moves the guide elements radially relative to a center axis of the stabbing guide.