Vector Constraint for Pipe Tailing Path
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Solution Overview
Problem
Conventional drill pipe handling operations are labor-intensive and dangerous, relying on human operators to maneuver drill pipes between the well center and setback area, limiting speed and efficiency.
Innovation Solution
A pipe handling system comprising a lifting system and robots with end effectors that maintain alignment with the drill pipe using a vector constraint, allowing for automated manipulation and movement of drill pipes during tripping operations, reducing the need for robust robots and minimizing longitudinal loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If human operators manually maneuver drill pipe stands between well center and setback area, then operational flexibility and adaptability are maintained, but labor intensity increases and operational speed is limited
Solution Approach 1:
The patent replaces manual mechanical handling operations with an automated robotic system that uses sensors, controllers, and automated end effectors to manipulate drill pipe stands. The robot system eliminates the need for human operators to physically maneuver pipes while maintaining precise control over positioning and movement speed.
Solution Approach 2:
The robotic system operates autonomously to handle drill pipe stands, performing tripping operations without continuous human intervention. The automated end effectors self-adjust to maintain proper alignment and engagement with the pipe stands throughout the tripping process, reducing dependency on manual operational input.
2Extent of automation
If robust robotic systems are used to handle drill pipe stands, then automation capability is achieved, but system complexity and cost increase
Solution Approach 1:
The robotic system employs dynamic control mechanisms that allow the end effectors to adapt their orientation and positioning in real-time during tripping operations. The system uses vector constraints and continuous alignment adjustments to maintain proper engagement with moving pipe stands, enabling automation without requiring overly robust or complex fixed-configuration robots.
Solution Approach 2:
The patent utilizes changeable operational parameters including end effector orientation angles, robot positioning coordinates, and engagement forces that are dynamically adjusted during operation. This parameter-based control approach allows flexible automation while keeping the physical robot system relatively simple and adaptable to different pipe handling scenarios.
3Force
If end effector maintains alignment with drill pipe using vector constraint, then longitudinal loads are minimized, but control system complexity increases
Solution Approach 1:
The control system continuously monitors the alignment between the end effector and the drill pipe stand, using sensor feedback to detect deviations from proper orientation. The system then automatically adjusts end effector positioning and orientation to maintain alignment, minimizing longitudinal loads through real-time corrective actions rather than complex preventive mechanisms.
Solution Approach 2:
The system establishes vector constraints and alignment requirements before tripping operations begin, pre-configuring the end effector orientation and robot positioning parameters. This preliminary setup simplifies the control process during actual operations, as the system only needs to maintain pre-defined alignment relationships rather than continuously calculate optimal positions.
Data Source
AI summary
A pipe handling system for handling drill pipe may include a lifting system configured for handling a load of a pipe stand and a pipe handling robot configured for manipulating a position of the pipe stand. The robot may include an end effector configured for engaging the pipe stand. The system may also include a controller configured for controlling the pipe handling robot to maintain the end effector in substantial alignment with the pipe stand using a vector constraint.