CA2921919A1 - Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs - Google Patents
Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs Download PDFInfo
- Publication number
- CA2921919A1 CA2921919A1 CA2921919A CA2921919A CA2921919A1 CA 2921919 A1 CA2921919 A1 CA 2921919A1 CA 2921919 A CA2921919 A CA 2921919A CA 2921919 A CA2921919 A CA 2921919A CA 2921919 A1 CA2921919 A1 CA 2921919A1
- Authority
- CA
- Canada
- Prior art keywords
- arm
- pipe
- jaw
- carriage
- rotary actuator
- 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
Links
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 Intelligent Hydraulic Robotic Arm (IHRA).
Description
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking on Drilling Rigs DETAILED DESCRIPTION
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1 and FIG 3) 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 pin rack (5) is mounted on or bellow the diving board
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1 and FIG 3) 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 pin rack (5) is mounted on or bellow the diving board
(2). Intelligent Hydraulic Robotic Arm (IHRA) Carriage (6) runs on track assembly using pin gear and pin racks. Pin Gear is driven by hydraulic motor coupled with planetary gearbox drive (8) with encoder which provides exact position of the carriage to computer (9) (FIG 4). SCARA Robot First Arm (12) is mounted on the carriage. It comprises Helical Hydraulic Rotary Actuator (10) coupled with encoder (11), second Helical Hydraulic Rotary Actuator (14) coupled with encoder (15).
SCARA second arm (13) with jaw (16) is mounted on second Helical Hydraulic Rotary Actuator (FIG
4).
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 is provided by hydraulic cylinder and jaw fingers rotation is provided by pair of Helical Hydraulic Rotary 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.
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking on Drilling Rigs 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 Intelligent Hydraulic Robotic Arm (IHRA).
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. To manipulate pipe stands human (derrick-man) is required on the racking board. Within the drilling rig crew, the 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.
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking utilizes combination of cartezian robot concept and SCARA (selective-compliance-articulated robot arms) robot to achieve compact and light, but still robust design. Intelligent Hydraulic Robotic Arm (IHRA) consists from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic motor, coupled with planetary gearbox, moving alongside the track assembly, a carriage mounted SCARA first arm driven by Helical Rotary Actuator, SCARA second arm driven by second Helical Rotary Actuator, jaw, embedded in SCARA second arm, hydraulically 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 Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking 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
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1 and FIG 3) 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
SCARA second arm (13) with jaw (16) is mounted on second Helical Hydraulic Rotary Actuator (FIG
4).
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 is provided by hydraulic cylinder and jaw fingers rotation is provided by pair of Helical Hydraulic Rotary 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.
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking on Drilling Rigs 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 Intelligent Hydraulic Robotic Arm (IHRA).
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. To manipulate pipe stands human (derrick-man) is required on the racking board. Within the drilling rig crew, the 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.
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking utilizes combination of cartezian robot concept and SCARA (selective-compliance-articulated robot arms) robot to achieve compact and light, but still robust design. Intelligent Hydraulic Robotic Arm (IHRA) consists from: a track assembly mounted on or bellow diving board of the racking board, a carriage driven with hydraulic motor, coupled with planetary gearbox, moving alongside the track assembly, a carriage mounted SCARA first arm driven by Helical Rotary Actuator, SCARA second arm driven by second Helical Rotary Actuator, jaw, embedded in SCARA second arm, hydraulically 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 Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted above diving board of the drilling rig racking board.
FIG 2 is isometric view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted bellow diving board of the drilling rig racking board.
FIG 3 is top view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking mounted above diving board of the drilling rig racking board.
FIG 4 is detail view of Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking 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
Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking is mounted on the diving board (2) of the racking board (1), either on the top (FIG 1 and FIG 3) 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 pin rack (5) is mounted on or bellow the diving board (2). Intelligent Hydraulic Robotic Arm (IHRA) Carriage (6) runs on track assembly using pin gear and pin racks. Pin Gear is driven by hydraulic motor coupled with planetary gearbox drive (8) with encoder which provides exact position of the carriage to computer (9) (FIG 4). SCARA Robot First Arm (12) is mounted on the carriage. It comprises Helical Hydraulic Rotary Actuator (10) coupled with encoder (11), second Helical Hydraulic Rotary Actuator (14) coupled with encoder (15).
SCARA second arm (13) with jaw (16) is mounted on second Helical Hydraulic Rotary Actuator (FIG
Track assembly (4) with pin rack (5) is mounted on or bellow the diving board (2). Intelligent Hydraulic Robotic Arm (IHRA) Carriage (6) runs on track assembly using pin gear and pin racks. Pin Gear is driven by hydraulic motor coupled with planetary gearbox drive (8) with encoder which provides exact position of the carriage to computer (9) (FIG 4). SCARA Robot First Arm (12) is mounted on the carriage. It comprises Helical Hydraulic Rotary Actuator (10) coupled with encoder (11), second Helical Hydraulic Rotary Actuator (14) coupled with encoder (15).
SCARA second arm (13) with jaw (16) is mounted on second Helical Hydraulic Rotary Actuator (FIG
4).
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 is provided by hydraulic cylinder and jaw fingers rotation is provided by pair of Helical Hydraulic Rotary 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. Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking 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 motor and planetary gearbox 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 first SCARA robot arm driven by Helical Hydraulic Rotary Actuator coupled with encoder.
a second SCARA robot arm mounted on first SCARA robot arm, and driven by second Helical Hydraulic Rotary Actuator coupled with encoder.
a jaw actuated by hydraulic cylinder and pair of Helical Hydraulic Rotary Actuators to adjust to pipe size and 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 Heavy-Rail Tracks to accommodate carriage Linear Bearings, Pin Rack Units 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 Linear Bearings with clearance compensation, hydraulic motor coupled with planetary gearbox and Pin Gear, for movement along the track, sensors system to provide exact carriage position , and the pedestal for Helical Hydraulic Rotary Actuator to drive first SCARA robot arm .
4. The carriage mounted SCARA robot firs arm according to claim 1 comprising:
a Helical Hydraulic Rotary Actuator coupled with encoder an arm mounted on the Helical Hydraulic Rotary Actuator as a center for first pivotal movement within horizontal plane a second Helical Hydraulic Rotary Actuator coupled with encoder, mounted on the other end of the arm, as a center for second pivotal movement within horizontal plane
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 is provided by hydraulic cylinder and jaw fingers rotation is provided by pair of Helical Hydraulic Rotary 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. Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking 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 motor and planetary gearbox 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 first SCARA robot arm driven by Helical Hydraulic Rotary Actuator coupled with encoder.
a second SCARA robot arm mounted on first SCARA robot arm, and driven by second Helical Hydraulic Rotary Actuator coupled with encoder.
a jaw actuated by hydraulic cylinder and pair of Helical Hydraulic Rotary Actuators to adjust to pipe size and 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 Heavy-Rail Tracks to accommodate carriage Linear Bearings, Pin Rack Units 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 Linear Bearings with clearance compensation, hydraulic motor coupled with planetary gearbox and Pin Gear, for movement along the track, sensors system to provide exact carriage position , and the pedestal for Helical Hydraulic Rotary Actuator to drive first SCARA robot arm .
4. The carriage mounted SCARA robot firs arm according to claim 1 comprising:
a Helical Hydraulic Rotary Actuator coupled with encoder an arm mounted on the Helical Hydraulic Rotary Actuator as a center for first pivotal movement within horizontal plane a second Helical Hydraulic Rotary Actuator coupled with encoder, mounted on the other end of the arm, as a center for second pivotal movement within horizontal plane
5. The SCARA robot second arm mounted to the second Helical Hydraulic Rotary Actuator of the SCARA robot first arm as a center for second pivotal movement within horizontal plane
6. The jaw assembly according to claim 1 comprising:
a jaws body embedded in the SCARA robot second 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 SCARA robot second 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
7. The jaw arm according to claim 6 comprising:
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a Helical Hydraulic Rotary Actuator to actuate jaw fingers
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a Helical Hydraulic Rotary Actuator to actuate jaw fingers
Claims (7)
1. Intelligent Hydraulic Robotic Arm (IHRA) for Pipe Racking 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 motor and planetary gearbox 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 first SCARA robot arm driven by Helical Hydraulic Rotary Actuator coupled with encoder.
a second SCARA robot arm mounted on first SCARA robot arm, and driven by second Helical Hydraulic Rotary Actuator coupled with encoder.
a jaw actuated by hydraulic cylinder and pair of Helical Hydraulic Rotary Actuators to adjust to pipe size and 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 motor and planetary gearbox 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 first SCARA robot arm driven by Helical Hydraulic Rotary Actuator coupled with encoder.
a second SCARA robot arm mounted on first SCARA robot arm, and driven by second Helical Hydraulic Rotary Actuator coupled with encoder.
a jaw actuated by hydraulic cylinder and pair of Helical Hydraulic Rotary Actuators to adjust to pipe size and 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 Heavy-Rail Tracks to accommodate carriage Linear Bearings, Pin Rack Units to engage carriage drive system, sensors system to provide exact position of the carriage to the computer system.
a Heavy-Rail Tracks to accommodate carriage Linear Bearings, Pin Rack Units 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 Linear Bearings with clearance compensation, hydraulic motor coupled with planetary gearbox and Pin Gear, for movement along the track, sensors system to provide exact carriage position , and the pedestal for Helical Hydraulic Rotary Actuator to drive first SCARA robot arm .
a chassis with Linear Bearings with clearance compensation, hydraulic motor coupled with planetary gearbox and Pin Gear, for movement along the track, sensors system to provide exact carriage position , and the pedestal for Helical Hydraulic Rotary Actuator to drive first SCARA robot arm .
4. The carriage mounted SCARA robot firs arm according to claim 1 comprising.
a Helical Hydraulic Rotary Actuator coupled with encoder an arm mounted on the Helical Hydraulic Rotary Actuator as a center for first pivotal movement within horizontal plane a second Helical Hydraulic Rotary Actuator coupled with encoder, mounted on the other end of the arm, as a center for second pivotal movement within horizontal plane
a Helical Hydraulic Rotary Actuator coupled with encoder an arm mounted on the Helical Hydraulic Rotary Actuator as a center for first pivotal movement within horizontal plane a second Helical Hydraulic Rotary Actuator coupled with encoder, mounted on the other end of the arm, as a center for second pivotal movement within horizontal plane
5. The SCARA robot second arm mounted to the second Helical Hydraulic Rotary Actuator of the SCARA robot first arm as a center for second pivotal movement within horizontal plane
6. The jaw assembly according to claim 1 comprising:
a jaws body embedded in the SCARA robot second 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 SCARA robot second 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
7. The jaw arm according to claim 6 comprising:
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a Helical Hydraulic Rotary Actuator to actuate jaw fingers
a jaw finger rotating from horizontal to vertical position to engage and disengage the pipe a Helical Hydraulic Rotary Actuator to actuate jaw fingers
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2921919A CA2921919A1 (en) | 2016-02-25 | 2016-02-25 | Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2921919A CA2921919A1 (en) | 2016-02-25 | 2016-02-25 | Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2921919A1 true CA2921919A1 (en) | 2017-08-25 |
Family
ID=59678013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2921919A Abandoned CA2921919A1 (en) | 2016-02-25 | 2016-02-25 | Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2921919A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109723396A (en) * | 2017-10-27 | 2019-05-07 | 辽宁陆海石油装备研究院有限公司 | A kind of pipe tool processing mechanical arm |
| WO2019092424A1 (en) * | 2017-11-08 | 2019-05-16 | Oiltech Automation Limited | Method and apparatus for handling drill tubes |
| CN112034814A (en) * | 2020-07-20 | 2020-12-04 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN117207163A (en) * | 2023-11-07 | 2023-12-12 | 广东金马领科智能科技有限公司 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
-
2016
- 2016-02-25 CA CA2921919A patent/CA2921919A1/en not_active Abandoned
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109723396A (en) * | 2017-10-27 | 2019-05-07 | 辽宁陆海石油装备研究院有限公司 | A kind of pipe tool processing mechanical arm |
| WO2019092424A1 (en) * | 2017-11-08 | 2019-05-16 | Oiltech Automation Limited | Method and apparatus for handling drill tubes |
| US11585165B2 (en) | 2017-11-08 | 2023-02-21 | Oiltech Automation Limited | Method and apparatus for handling drill tubes |
| CN112034814A (en) * | 2020-07-20 | 2020-12-04 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN112034814B (en) * | 2020-07-20 | 2022-03-15 | 深圳中冶管廊建设投资有限公司 | Overhauling method, device and system of comprehensive pipe gallery operating robot |
| CN117207163A (en) * | 2023-11-07 | 2023-12-12 | 广东金马领科智能科技有限公司 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
| CN117207163B (en) * | 2023-11-07 | 2024-01-05 | 广东金马领科智能科技有限公司 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |
Effective date: 20220518 |
|
| FZDE | Discontinued |
Effective date: 20220518 |