End effectors for automated pipe handling

Patent metadata

Field	Value
Publication number	US-12215554-B2
Application number	US-201917250548-A
Country	US
Kind code	B2
Filing date	Aug 2, 2019
Priority date	Aug 3, 2018
Publication date	Feb 4, 2025
Grant date	Feb 4, 2025

Abstract

An end effector (400) for a robotic arm, the end effector (400) comprising: two pipe engaging jaws (404), each jaw comprising an inner contour configured for engaging a pipe section, wherein at least one jaw (404) is a fixed jaw; wherein the end effector (400) is configured to restrict radial movement of the pipe section while permitting axial movement.

First claim

What is claimed is:

1. A robot configured for pipe handling, the robot comprising:
an articulated arm controllable by a controller, and
an end effector arranged at an end of the articulated arm and comprising:
a backing plate; and
two fixed pipe engaging jaws extending from the backing plate, each jaw comprising an inner contoured surface that is stationary relative to the backing plate and configured for engaging a pipe section,
wherein:
the articulated arm is operable to selectively rotate the end effector between an open configuration and a closed configuration; and
while in the closed configuration, the end effector is configured to restrict radial movement of the pipe section while permitting free rotational movement relative to the inner contoured surface and free longitudinal axial movement relative to the inner contoured surface.

2. The robot of claim 1 , wherein the inner contoured surfaces of the two jaws are arranged on different parallel planes.

3. The robot of claim 2 , wherein the inner contoured surfaces of the two jaws are concave in opposing directions.

4. The robot of claim 2 , wherein the articulated arm is configured to pivot the end effector about a central axis extending between, and parallel to, the planes of the inner contoured surfaces.

5. The robot of claim 4 , wherein the articulated arm is configured to pivot the end effector between an open configuration and a closed configuration by pivoting the end effector approximately 90 degrees.

6. An end effector for a robotic arm, the end effector comprising:
a backing plate; and
two fixed pipe engaging jaws extending from the backing plate, each jaw comprising an inner contoured surface that is stationary relative to the backing plate and configured for engaging a pipe section;
wherein:
the end effector is configured to be selectively activated between an open configuration and a closed configuration by rotating the end effector; and
while in the closed configuration, the end effector is configured to restrict radial movement of the pipe section while permitting free rotational movement relative to the inner contoured surface and free longitudinal axial movement relative to the inner contoured surface.

7. The end effector of claim 6 , wherein the inner contoured surfaces of the two jaws are arranged on different planes.

8. The end effector of claim 6 , wherein the inner contoured surfaces of the two jaws are concave in opposing directions.

9. The end effector of claim 6 , wherein each pipe engaging jaw comprises a bracket portion and an extension portion, each of the bracket portion and extension portion defining a portion of the inner contoured surface.

10. The end effector of claim 6 , wherein each inner contoured surface comprises a V-shape with an inner corner.

11. The end effector of claim 10 , wherein the inner corner has an included angle of between approximately 60 degrees and approximately 120 degrees.

12. The end effector of claim 11 , wherein the inner corner is a radiused corner.

13. The end effector of claim 6 , wherein the inner contoured surfaces of each jaw are first inner contoured surfaces and wherein each jaw further comprises a second inner contoured surface arranged perpendicular to the first inner contoured surface.

14. The end effector of claim 6 , wherein the end effector is configured to engage with a range of pipe sizes.

15. A method for automated pipe handling, the method comprising:
arranging an end effector of a pipe handling robot in an open configuration with respect to a pipe section, the end effector having:
a backing plate; and
a pair of fixed jaws extending from the backing plate, each jaw having an inner contoured surface that is stationary relative to the backing plate;
with the end effector in an open configuration, causing the end effector to receive the pipe section between the jaws; and
moving the end effector to a closed configuration with respect to the pipe section to position the pipe section within the inner contoured surfaces of the jaws,
wherein, moving the end effector to a closed configuration comprises pivoting the end effector about a central axis; and
wherein, while in the closed configuration, the end effector is configured to restrict radial movement of the pipe section while permitting free rotational movement relative to the inner contoured surface and free longitudinal axial movement relative to the inner contoured surface.

16. The method of claim 15 , wherein the pipe handling robot is a first robot and wherein a first end of the pipe section is received between the jaws of the end effector and positioned within the inner contoured surfaces of the jaws, the method further comprising:
arranging an end effector of a second pipe handling robot in an open configuration with respect to the pipe section, the end effector of the second robot having a pair of jaws, each jaw having an inner contoured surface;
with the end effector of the second robot in an open configuration, causing the end effector of the second robot to receive a second end of the pipe section between the jaws; and
moving the end effector of the second robot to a closed configuration with respect to the pipe section to position the second end of the pipe section within the inner contoured surfaces of the jaws.

17. The robot of claim 2 , wherein the inner contoured surface is configured to engage the pipe section across an angle of over 90 degrees.

18. The robot of claim 17 , wherein the inner contoured surface is configured to engage the pipe section across an angle of approximately 180 degrees or more.

19. The robot of claim 1 , wherein the end effector is configured to maintain a gap between the pipe section and the inner contoured surfaces while in the closed configuration.

Assignees

• Nat Oilwell Varco Lp

Inventors

• Carnegie Graham Alexander
• Walker John
• Saunders Christopher J
• Mancuso Dominick

Classifications

• E21B3/022

  Top drives · CPC title

• E21B19/084

  with flexible drawing means, e.g. cables · CPC title

• E21B19/06

  Elevators, i.e. rod- or tube-gripping devices · CPC title

• E21B15/00

  Supports for the drilling machine, e.g. derricks or masts · CPC title

• B25J13/087

  for sensing other physical parameters, e.g. electrical or chemical properties · CPC title