CA2855105A1 - Scara robotic pipe racking system - Google Patents
Scara robotic pipe racking system Download PDFInfo
- Publication number
- CA2855105A1 CA2855105A1 CA2855105A CA2855105A CA2855105A1 CA 2855105 A1 CA2855105 A1 CA 2855105A1 CA 2855105 A CA2855105 A CA 2855105A CA 2855105 A CA2855105 A CA 2855105A CA 2855105 A1 CA2855105 A1 CA 2855105A1
- Authority
- CA
- Canada
- Prior art keywords
- carriage
- jaw
- pipe
- racking
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Abstract
Method and system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, using SCARA robotic system.
Description
SCARA Robotic Pipe Racking System ABSTRACT:
Method and system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, using SCARA robotic system.
BACKAROUND OF THE INVENTION
Field of invention is handling pipes and pipe stands on the drilling rig for oil and gas In the oil and gas industry, when a drilling rig drills oil and gas wells, pipes (drill pipes, drill collars) are repeatedly inserted and removed from the well. When removed from the well, pipe stands are stacked, vertically, on the rig floor and horizontally restrained in the Racking Board located on the drilling rig mast (derrick), 50 or 80 feet above the rig floor. Within the drilling team personnel, the Racking Board stacker (derrick man) has one of the most dangerous and demanding position.
The existing solutions to replace derrick man, currently in place on the drilling rigs are based on electric, hydraulic and mechanical equipment remotely controlled or controlled by PLC. These rarely fulfill expectations regarding reliability, motion dynamic and safety and must be combined with manual operations.
A wide variety of racking systems, apparatus, and methods for drilling rigs are known, and many of them shown in US Patents: 4013178, 4042123, 4044895, 4128135, 4269554, 4274778, 4345864,4462733, 4647100, 4715761, 4725179, 4738321, 4744710, 4765401, 4862973, 5451129, 5465799, 5711382, 5988299, 6003400, 6779614, 6821071, 6976540, 6997265, 7083007, 7140453, 7178612, 7249639, 7293607, 7510028, SUMMARY OF INVENTION
An aspect of invention provides system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, thus providing efficient tripping operations without the need for a man on the racking board, and ads to safety and efficiency of the drilling operations.
SCARA Robotic Pipe Racking System utilizes compact and light, but still robust design consisting from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic or electric motor moving alongside the track assembly, a carriage mounted SCARA
robot driven by hydraulic or electric motors, a jaw hydraulically or electrically actuated to grab the pipe, and a computer system with software and hardware for control and close loop servo system.
System provides computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
DRAWING DESCRIPTION
FIG 1 is isometric view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of SCARA Robotic Pipe Racking System mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of SCARA Robotics Pipe Racking System FIG 5 is detail view of jaw assembly embedded in second SCARA arm ( jaw arms closed, jaw finger in horizontal position).
FIG 6 is detail view of jaw assembly embedded in second SCARA arm (jaw arms open, jaw finger in vertical position).
DETAILED DESCRIPTION
SACRA Robotic Pipe Racking System is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1) or bellow the diving board (FIG 2). It transfers pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers (3) as needed, and vice versa.
Track assembly (4) with chain or rack (5) is mounted on or bellow the diving board (2). Carriage (6) runs on track assembly using roller chain or racks by gearbox drive (8) with encoder which provide exact position of the carriage to computer (9). SCARA robot system (7) is mounted on the carriage.
It comprises slew ring with gearbox (10) and hydraulic or electric motor (11) with encoder, first arm (12) with gearbox (14) and hydraulic or electric motor (15) with encoder, and second arm (13) with jaw (16).
Method and system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, using SCARA robotic system.
BACKAROUND OF THE INVENTION
Field of invention is handling pipes and pipe stands on the drilling rig for oil and gas In the oil and gas industry, when a drilling rig drills oil and gas wells, pipes (drill pipes, drill collars) are repeatedly inserted and removed from the well. When removed from the well, pipe stands are stacked, vertically, on the rig floor and horizontally restrained in the Racking Board located on the drilling rig mast (derrick), 50 or 80 feet above the rig floor. Within the drilling team personnel, the Racking Board stacker (derrick man) has one of the most dangerous and demanding position.
The existing solutions to replace derrick man, currently in place on the drilling rigs are based on electric, hydraulic and mechanical equipment remotely controlled or controlled by PLC. These rarely fulfill expectations regarding reliability, motion dynamic and safety and must be combined with manual operations.
A wide variety of racking systems, apparatus, and methods for drilling rigs are known, and many of them shown in US Patents: 4013178, 4042123, 4044895, 4128135, 4269554, 4274778, 4345864,4462733, 4647100, 4715761, 4725179, 4738321, 4744710, 4765401, 4862973, 5451129, 5465799, 5711382, 5988299, 6003400, 6779614, 6821071, 6976540, 6997265, 7083007, 7140453, 7178612, 7249639, 7293607, 7510028, SUMMARY OF INVENTION
An aspect of invention provides system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, thus providing efficient tripping operations without the need for a man on the racking board, and ads to safety and efficiency of the drilling operations.
SCARA Robotic Pipe Racking System utilizes compact and light, but still robust design consisting from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic or electric motor moving alongside the track assembly, a carriage mounted SCARA
robot driven by hydraulic or electric motors, a jaw hydraulically or electrically actuated to grab the pipe, and a computer system with software and hardware for control and close loop servo system.
System provides computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
DRAWING DESCRIPTION
FIG 1 is isometric view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of SCARA Robotic Pipe Racking System mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of SCARA Robotics Pipe Racking System FIG 5 is detail view of jaw assembly embedded in second SCARA arm ( jaw arms closed, jaw finger in horizontal position).
FIG 6 is detail view of jaw assembly embedded in second SCARA arm (jaw arms open, jaw finger in vertical position).
DETAILED DESCRIPTION
SACRA Robotic Pipe Racking System is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1) or bellow the diving board (FIG 2). It transfers pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers (3) as needed, and vice versa.
Track assembly (4) with chain or rack (5) is mounted on or bellow the diving board (2). Carriage (6) runs on track assembly using roller chain or racks by gearbox drive (8) with encoder which provide exact position of the carriage to computer (9). SCARA robot system (7) is mounted on the carriage.
It comprises slew ring with gearbox (10) and hydraulic or electric motor (11) with encoder, first arm (12) with gearbox (14) and hydraulic or electric motor (15) with encoder, and second arm (13) with jaw (16).
2 Jaw (16) embedded in second arm (13) has a body (17), two jaw arms (18) that moves outward and inward to adjust to pipe size (FIG 5 and FIG 6), two jaw fingers (19) that rotates from horizontal to vertical position and vice versa to engage and disengage the pipe (FIG 5 and FIG 6). Movement of jaw arms and jaw fingers is provided by hydraulic or electric actuators (20).
Sensors (21) provide signals to computer (9) to track exact pipe position before engagement.
Sensors (22) embedded in body (17) and jaw arms (18) confirm jaw engagement and disengagement to and from pipe.
Pipe handler is operated from the console in driller cabin by computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV
supervision.The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. SCARA Robotic Pipe Racking System for handling pipe from well center, or other position defined by top drive tilting links, to exact spot between the fingers on the racking board and vice versa comprising:
a track assembly mounted on or bellow diving board of the racking board a carriage driven with hydraulic or electric motor moving alongside the track assembly mounted on the diving board or hanging and moving along the track assembly mounted bellow the diving board of the racking board.
a carriage mounted SCARA robot driven by hydraulic or electric motors with encoders a jaw hydraulically or electrically actuated to engage and disengage the pipe a computer system with software and hardware for remote control and close loop servo system.
2. The track assembly according to claim 1 comprising:
a tracks to accommodate carriage wheels, rack or roller chain to engage carriage drive system, sensors system to provide exact position of the carriage to the computer system.
Sensors (21) provide signals to computer (9) to track exact pipe position before engagement.
Sensors (22) embedded in body (17) and jaw arms (18) confirm jaw engagement and disengagement to and from pipe.
Pipe handler is operated from the console in driller cabin by computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV
supervision.The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
1. SCARA Robotic Pipe Racking System for handling pipe from well center, or other position defined by top drive tilting links, to exact spot between the fingers on the racking board and vice versa comprising:
a track assembly mounted on or bellow diving board of the racking board a carriage driven with hydraulic or electric motor moving alongside the track assembly mounted on the diving board or hanging and moving along the track assembly mounted bellow the diving board of the racking board.
a carriage mounted SCARA robot driven by hydraulic or electric motors with encoders a jaw hydraulically or electrically actuated to engage and disengage the pipe a computer system with software and hardware for remote control and close loop servo system.
2. The track assembly according to claim 1 comprising:
a tracks to accommodate carriage wheels, rack or roller chain to engage carriage drive system, sensors system to provide exact position of the carriage to the computer system.
3. The carriage assembly according to claim 1 comprising:
SCARA Robotic Pipe Racking System BACKAROUND OF THE INVENTION
Field of invention is handling pipes and pipe stands on the drilling rig for oil and gas In the oil and gas industry, when a drilling rig drills oil and gas wells, pipes (drill pipes, drill collars) are repeatedly inserted and removed from the well. When removed from the well, pipe stands are stacked, vertically, on the rig floor and horizontally restrained in the Racking Board located on the drilling rig mast (derrick), 50 or 80 feet above the rig floor. Within the drilling team personnel, the Racking Board stacker (derrick man) has one of the most dangerous and demanding position.
The existing solutions to replace derrick man, currently in place on the drilling rigs are based on electric, hydraulic and mechanical equipment remotely controlled or controlled by PLC.
These rarely fulfill expectations regarding reliability, motion dynamic and safety and must be combined with manual operations.
A wide variety of racking systems, apparatus, and methods for drilling rigs are known, and many of them shown in US Patents: 4013178, 4042123, 4044895, 4128135, 4269554, 4274778, 4345864,4462733, 4647100, 4715761, 4725179, 4738321, 4744710, 4765401, 4862973, 5451129, 5465799, 5711382, 5988299, 6003400, 6779614, 6821071, 6976540, 6997265, 7083007, 7140453, 7178612, 7249639, 7293607, 7510028, SUMMARY OF INVENTION
An aspect of invention provides system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, thus providing efficient tripping operations without the need for a man on the racking board, and ads to safety and efficiency of the drilling operations.
SCARA Robotic Pipe Racking System utilizes compact and light, but still robust design consisting from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic or electric motor moving alongside the track assembly, a carriage mounted SCARA robot driven by hydraulic or electric motors, a jaw hydraulically or electrically actuated to grab the pipe, and a computer system with software and hardware for control and close loop servo system.
System provides computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
DRAWING DESCRIPTION
FIG 1 is isometric view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of SCARA Robotic Pipe Racking System mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of SCARA Robotics Pipe Racking System FIG 5 is detail view of jaw assembly embedded in second SCARA arm ( jaw arms closed, jaw finger in horizontal position).
FIG 6 is detail view of jaw assembly embedded in second SCARA arm (jaw arms open, jaw finger in vertical position).
DETAILED DESCRIPTION
SACRA Robotic Pipe Racking System is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1) or bellow the diving board (FIG 2). It transfers pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers (3) as needed, and vice versa.
Track assembly (4) with chain or rack (5) is mounted on or bellow the diving board (2). Carriage (6) runs on track assembly using roller chain or racks by gearbox drive (8) with encoder which provide exact position of the carriage to computer (9). SCARA robot system (7) is mounted on the carriage. It comprises slew ring with gearbox (10) and hydraulic or electric motor (11) with encoder, first arm (12) with gearbox (14) and hydraulic or electric motor (15) with encoder, and second arm (13) with jaw (16).
Jaw (16) embedded in second arm (13) has a body (17), two jaw arms (18) that moves outward and inward to adjust to pipe size (FIG 5 and FIG 6), two jaw fingers (19) that rotates from horizontal to vertical position and vice versa to engage and disengage the pipe (FIG 5 and FIG 6). Movement of jaw arms and jaw fingers is provided by hydraulic or electric actuators (20).
Sensors (21) provide signals to computer (9) to track exact pipe position before engagement. Sensors (22) embedded in body (17) and jaw arms (18) confirm jaw engagement and disengagement to and from pipe.
Pipe handler is operated from the console in driller cabin by computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
SCARA Robotic Pipe Racking System BACKAROUND OF THE INVENTION
Field of invention is handling pipes and pipe stands on the drilling rig for oil and gas In the oil and gas industry, when a drilling rig drills oil and gas wells, pipes (drill pipes, drill collars) are repeatedly inserted and removed from the well. When removed from the well, pipe stands are stacked, vertically, on the rig floor and horizontally restrained in the Racking Board located on the drilling rig mast (derrick), 50 or 80 feet above the rig floor. Within the drilling team personnel, the Racking Board stacker (derrick man) has one of the most dangerous and demanding position.
The existing solutions to replace derrick man, currently in place on the drilling rigs are based on electric, hydraulic and mechanical equipment remotely controlled or controlled by PLC.
These rarely fulfill expectations regarding reliability, motion dynamic and safety and must be combined with manual operations.
A wide variety of racking systems, apparatus, and methods for drilling rigs are known, and many of them shown in US Patents: 4013178, 4042123, 4044895, 4128135, 4269554, 4274778, 4345864,4462733, 4647100, 4715761, 4725179, 4738321, 4744710, 4765401, 4862973, 5451129, 5465799, 5711382, 5988299, 6003400, 6779614, 6821071, 6976540, 6997265, 7083007, 7140453, 7178612, 7249639, 7293607, 7510028, SUMMARY OF INVENTION
An aspect of invention provides system for transferring pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers as needed, and vice versa, thus providing efficient tripping operations without the need for a man on the racking board, and ads to safety and efficiency of the drilling operations.
SCARA Robotic Pipe Racking System utilizes compact and light, but still robust design consisting from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic or electric motor moving alongside the track assembly, a carriage mounted SCARA robot driven by hydraulic or electric motors, a jaw hydraulically or electrically actuated to grab the pipe, and a computer system with software and hardware for control and close loop servo system.
System provides computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
DRAWING DESCRIPTION
FIG 1 is isometric view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of SCARA Robotic Pipe Racking System mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of SCARA Robotic Pipe Racking System mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of SCARA Robotics Pipe Racking System FIG 5 is detail view of jaw assembly embedded in second SCARA arm ( jaw arms closed, jaw finger in horizontal position).
FIG 6 is detail view of jaw assembly embedded in second SCARA arm (jaw arms open, jaw finger in vertical position).
DETAILED DESCRIPTION
SACRA Robotic Pipe Racking System is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1) or bellow the diving board (FIG 2). It transfers pipe (drill pipe, drill collar) or stands of pipes on the drilling rig from well centre, or from other position defined by top drive tilting links and elevator, to locations between racking board fingers (3) as needed, and vice versa.
Track assembly (4) with chain or rack (5) is mounted on or bellow the diving board (2). Carriage (6) runs on track assembly using roller chain or racks by gearbox drive (8) with encoder which provide exact position of the carriage to computer (9). SCARA robot system (7) is mounted on the carriage. It comprises slew ring with gearbox (10) and hydraulic or electric motor (11) with encoder, first arm (12) with gearbox (14) and hydraulic or electric motor (15) with encoder, and second arm (13) with jaw (16).
Jaw (16) embedded in second arm (13) has a body (17), two jaw arms (18) that moves outward and inward to adjust to pipe size (FIG 5 and FIG 6), two jaw fingers (19) that rotates from horizontal to vertical position and vice versa to engage and disengage the pipe (FIG 5 and FIG 6). Movement of jaw arms and jaw fingers is provided by hydraulic or electric actuators (20).
Sensors (21) provide signals to computer (9) to track exact pipe position before engagement. Sensors (22) embedded in body (17) and jaw arms (18) confirm jaw engagement and disengagement to and from pipe.
Pipe handler is operated from the console in driller cabin by computer controlled one touch trip in, or trip out cycle with sequential activation, and manual over raid with joy stick and CTV supervision.
Claims (6)
1. SCARA Robotic Pipe Racking System for handling pipe from well center, or other position defined by top drive tilting links, to exact spot between the fingers on the racking board and vice versa comprising:
a track assembly mounted on or bellow diving board of the racking board a carriage driven with hydraulic or electric motor moving alongside the track assembly mounted on the diving board or hanging and moving along the track assembly mounted bellow the diving board of the racking board.
a carriage mounted SCARA robot driven by hydraulic or electric motors with encoders a jaw hydraulically or electrically actuated to engage and disengage the pipe a computer system with software and hardware for remote control and close loop servo system.
a track assembly mounted on or bellow diving board of the racking board a carriage driven with hydraulic or electric motor moving alongside the track assembly mounted on the diving board or hanging and moving along the track assembly mounted bellow the diving board of the racking board.
a carriage mounted SCARA robot driven by hydraulic or electric motors with encoders a jaw hydraulically or electrically actuated to engage and disengage the pipe a computer system with software and hardware for remote control and close loop servo system.
2. The track assembly according to claim 1 comprising:
a tracks to accommodate carriage wheels, rack or roller chain to engage carriage drive system, sensors system to provide exact position of the carriage to the computer system.
a tracks to accommodate carriage wheels, rack or roller chain to engage carriage drive system, sensors system to provide exact position of the carriage to the computer system.
3. The carriage assembly according to claim 1 comprising:
a chassis with wheels with clearance compensation, hydraulic or electric motor with gearbox drive with pinion or sprocket for movement along the track, sensors system to provide exact carriage position , and the pedestal for SCARA robotic system.
a chassis with wheels with clearance compensation, hydraulic or electric motor with gearbox drive with pinion or sprocket for movement along the track, sensors system to provide exact carriage position , and the pedestal for SCARA robotic system.
4. The carriage mounted SCARA robot according to claim 1 comprising:
a slew ring and gearbox hydraulically or electrically driven with encoder a first arm mounted on the carriage slew ring as a center for pivotal movement within horizontal plane a gearbox drive with encoder, driven by hydraulic or electric motor, mounted on the other end of the first arm.
a second arm mounted to the gearbox drive of the first arm as a center for pivotal movement within horizontal plane
a slew ring and gearbox hydraulically or electrically driven with encoder a first arm mounted on the carriage slew ring as a center for pivotal movement within horizontal plane a gearbox drive with encoder, driven by hydraulic or electric motor, mounted on the other end of the first arm.
a second arm mounted to the gearbox drive of the first arm as a center for pivotal movement within horizontal plane
5. The jaw assembly according to claim 1 comprising:
a jaws body embedded in the second SCARA robotic arm a jaw arms with outward and inward movement to adjust to pipe size a jaw fingers embedded in jaw arms that rotate from horizontal to vertical position to engage and disengage the pipe
a jaws body embedded in the second SCARA robotic arm a jaw arms with outward and inward movement to adjust to pipe size a jaw fingers embedded in jaw arms that rotate from horizontal to vertical position to engage and disengage the pipe
6. The jaw arm according to claim 5 comprising:
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a hydraulic or electric actuator to actuate jaw fingers
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a hydraulic or electric actuator to actuate jaw fingers
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2855105A CA2855105A1 (en) | 2014-06-25 | 2014-06-25 | Scara robotic pipe racking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2855105A CA2855105A1 (en) | 2014-06-25 | 2014-06-25 | Scara robotic pipe racking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2855105A1 true CA2855105A1 (en) | 2015-12-25 |
Family
ID=54851651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2855105A Abandoned CA2855105A1 (en) | 2014-06-25 | 2014-06-25 | Scara robotic pipe racking system |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2855105A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105822239A (en) * | 2016-05-31 | 2016-08-03 | 青岛杰瑞工控技术有限公司 | Intelligent racking-platform discharging pipe system |
| CN106121559A (en) * | 2016-08-04 | 2016-11-16 | 山东拓博节能科技有限公司 | Automatic Code bank of tubes puts one hydraulic leg |
| CN109025858A (en) * | 2018-08-06 | 2018-12-18 | 中国石油天然气股份有限公司 | Oil Field oil pipe transports dress method |
| WO2020028853A1 (en) * | 2018-08-03 | 2020-02-06 | National Oilwell Varco, L.P. | End effectors for automated pipe handling |
| US10995564B2 (en) | 2018-04-05 | 2021-05-04 | National Oilwell Varco, L.P. | System for handling tubulars on a rig |
| US11274508B2 (en) | 2020-03-31 | 2022-03-15 | National Oilwell Varco, L.P. | Robotic pipe handling from outside a setback area |
| US11352843B2 (en) | 2016-05-12 | 2022-06-07 | Nov Canada Ulc | System and method for offline standbuilding |
| US11365592B1 (en) | 2021-02-02 | 2022-06-21 | National Oilwell Varco, L.P. | Robot end-effector orientation constraint for pipe tailing path |
| US11814911B2 (en) | 2021-07-02 | 2023-11-14 | National Oilwell Varco, L.P. | Passive tubular connection guide |
| US11834914B2 (en) | 2020-02-10 | 2023-12-05 | National Oilwell Varco, L.P. | Quick coupling drill pipe connector |
| US11891864B2 (en) | 2019-01-25 | 2024-02-06 | National Oilwell Varco, L.P. | Pipe handling arm |
-
2014
- 2014-06-25 CA CA2855105A patent/CA2855105A1/en not_active Abandoned
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11352843B2 (en) | 2016-05-12 | 2022-06-07 | Nov Canada Ulc | System and method for offline standbuilding |
| CN105822239A (en) * | 2016-05-31 | 2016-08-03 | 青岛杰瑞工控技术有限公司 | Intelligent racking-platform discharging pipe system |
| CN105822239B (en) * | 2016-05-31 | 2019-06-21 | 青岛杰瑞工控技术有限公司 | A kind of quadruple board platform intelligence pipe system |
| CN106121559A (en) * | 2016-08-04 | 2016-11-16 | 山东拓博节能科技有限公司 | Automatic Code bank of tubes puts one hydraulic leg |
| US10995564B2 (en) | 2018-04-05 | 2021-05-04 | National Oilwell Varco, L.P. | System for handling tubulars on a rig |
| US11613940B2 (en) | 2018-08-03 | 2023-03-28 | National Oilwell Varco, L.P. | Devices, systems, and methods for robotic pipe handling |
| WO2020028852A1 (en) * | 2018-08-03 | 2020-02-06 | National Oilwell Varco, L.P. | Devices, systems, and methods for robotic pipe handling |
| WO2020028853A1 (en) * | 2018-08-03 | 2020-02-06 | National Oilwell Varco, L.P. | End effectors for automated pipe handling |
| US11035183B2 (en) | 2018-08-03 | 2021-06-15 | National Oilwell Varco, L.P. | Devices, systems, and methods for top drive clearing |
| CN109025858B (en) * | 2018-08-06 | 2019-12-10 | 中国石油天然气股份有限公司 | oil field on-site oil pipe transporting and loading method |
| CN109025858A (en) * | 2018-08-06 | 2018-12-18 | 中国石油天然气股份有限公司 | Oil Field oil pipe transports dress method |
| US11891864B2 (en) | 2019-01-25 | 2024-02-06 | National Oilwell Varco, L.P. | Pipe handling arm |
| US11834914B2 (en) | 2020-02-10 | 2023-12-05 | National Oilwell Varco, L.P. | Quick coupling drill pipe connector |
| US11274508B2 (en) | 2020-03-31 | 2022-03-15 | National Oilwell Varco, L.P. | Robotic pipe handling from outside a setback area |
| US11365592B1 (en) | 2021-02-02 | 2022-06-21 | National Oilwell Varco, L.P. | Robot end-effector orientation constraint for pipe tailing path |
| US11814911B2 (en) | 2021-07-02 | 2023-11-14 | National Oilwell Varco, L.P. | Passive tubular connection guide |
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| Date | Code | Title | Description |
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| FZDE | Dead |
Effective date: 20160627 |