US-12618298-B2 - End effectors for automated pipe handling

Abstract

A robot configured for pipe handling. The robot may include an articulated arm controllable by a controller and an end effector arranged at an end of the articulated arm. The articulated arm may include two pipe engaging jaws, each jaw having an inner contour configured for engaging a pipe section. At least one of the jaws may be a fixed jaw. The end effector may be configured to restrict radial movement of the pipe section while permitting axial movement. The inner contours of the two jaws may be arranged on different planes in some embodiments. The inner contours May additionally be concave in opposing directions. The articulated arm may be configured to pivot the end effector about a central axis extending between, and parallel to, the planes of the inner contours. In some embodiments, one or both jaws may be actuatable.

Inventors

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

Assignees

• NATIONAL OILWELL VARCO, L.P.

Dates

Publication Date

20260505

Application Date

20241219

Priority Date

20180803

Claims (19)

1. 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: two pipe engaging jaws, each jaw comprising a first inner contoured surface that is stationary relative to other portions of the respective jaw, and configured for engaging a pipe section; wherein: both jaws are adjustable; each jaw comprises a second inner contoured surface; 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 first inner contoured surface and free longitudinal axial movement relative to the first inner contoured surface.
2. 2 . The robot of claim 1 , wherein the second inner contoured surface is arranged perpendicular to the first inner contoured surface.
3. 3 . The robot of claim 1 , wherein: the respective first inner contoured surfaces are arranged to be concave in opposing directions to one another; and the respective second inner contoured surfaces are arranged to be concave in opposing directions to one another.
4. 4 . The robot of claim 3 , wherein to transition from an open position to a closed position, the jaws are moved toward each other and the end effector is rotated.
5. 5 . The robot of claim 1 , wherein the first inner contoured surfaces are at least partially offset from one another.
6. 6 . An end effector for a robotic arm, the end effector comprising: two pipe engaging jaws, each jaw comprising a first inner contoured surface that is stationary relative to other portions of the respective jaw and configured for engaging a pipe section; wherein: both jaws are adjustable and configured to be selectively actuated toward each other and away from each other; the end effector is configured to be selectively actuated between an open configuration and a closed configuration by rotating the end effector; to transition from an open position to a closed position, the jaws are moved toward each other and the end effector is rotated; 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 first inner contoured surface and free longitudinal axial movement relative to the first inner contoured surface.
7. 7 . The end effector of claim 6 , wherein the first inner contoured surfaces are arranged parallel to a first center axis and are at least partially offset from one another along the first center axis.
8. 8 . The end effector of claim 7 , wherein the first inner contoured surfaces of the two jaws are concave in opposing directions.
9. 9 . The end effector of claim 8 , wherein: each jaw comprises a second inner contoured surface; the second inner contoured surfaces are arranged parallel to a second center axis and are at least partially offset from one another along the second center axis; and the second inner contoured surfaces of the two jaws are concave in opposing directions.
10. 10 . The end effector of claim 6 , wherein each jaw includes a bracket portion and an extension portion extending from and fixed to the bracket portion.
11. 11 . The end effector of claim 10 , wherein the bracket portion of each jaw includes a hinged connection to a body portion of the end effector.
12. 12 . The end effector of claim 11 , comprising: an actuator, configured to move the jaws about there respective hinged connections.
13. 13 . The end effector of claim 6 , wherein the end effector is configured to engage with a range of pipe sizes.
14. 14 . An end effector for a robotic arm, the end effector comprising: two pipe engaging jaws, each jaw comprising a first inner contoured surface that is stationary relative to other portions of the respective jaw and configured for engaging a pipe section; wherein: each jaw includes a bracket portion and an extension portion extending from and fixed to the bracket portion, the bracket portion of each jaw including a hinged connection to a body portion of the end effector; the end effector is configured to be selectively actuated 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 first inner contoured surface and free longitudinal axial movement relative to the first inner contoured surface.
15. 15 . The end effector of claim 14 , wherein both jaws are adjustable and configured to be selectively actuated toward each other and away from each other.
16. 16 . The end effector of claim 15 , wherein to transition from an open position to a closed position, the jaws are moved toward each other and the end effector is rotated.
17. 17 . The end effector of claim 16 , wherein each jaw comprises a second inner contoured surface.
18. 18 . The end effector of claim 17 , wherein the first inner contoured surfaces of the two jaws are concave in opposing directions.
19. 19 . The end effector of claim 18 , wherein: the second inner contoured surfaces are arranged parallel to a second center axis and are at least partially offset from one another along the second center axis; and the second inner contoured surfaces of the two jaws are concave in opposing directions.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This patent application is a continuation of U.S. patent application Ser. No. 17/250,548, which is a U.S. National Stage Filing under 35 U.S.C. 371 from International Application No. PCT/US2019/044976, filed on Aug. 2, 2019, which claims the benefit of priority to U.S. application Ser. No. 16/431,533, filed Jun. 4, 2019, and Ser. No. 16/431,540, filed Jun. 4, 2019, each of which claim priority to U.S. Provisional Application No. 62/797,042, entitled Hoist System Capable of Parking a Top Drive and Including an Elevator and a Claw Independently Operated and Automated Robotic Arms for Handling Tubulars on a Drilling Rig, and filed Jan. 25, 2019; Chinese Application No. 201811449262.0, entitled Hoist System Capable of Parking a Top Drive and Including an Elevator and a Claw Independently Operated for Handling Tubulars on a Drilling Rig, and filed Nov. 28, 2018; and Chinese Application No. 201810880362.2, entitled Hoist System Capable of Parking a Top Drive and Including an Elevator and a Claw Independently Operated and Automated Robotic Arms for Handling Tubulars on a Drilling Rig, and filed Aug. 3, 2018, the content of each of which is hereby incorporated by reference herein in its entirety. FIELD OF THE INVENTION The present disclosure relates to pipe handling operations. In particular, the present disclosure relates to automated pipe handling operations. More particularly, the present disclosure relates to pipe handling robots and end effectors therefore, the end effectors configured for restricting rotational movement of a pipe during handling operations. BACKGROUND OF THE INVENTION The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventor, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure. Many pipe handling operations, such as drill pipe handling operations, are conventionally performed with workers performing manual operations. For example, drilling of wells involves tripping of the drill string, during which drill pipes are lowered into (tripping in) or pulled out of (tripping out) a well. Tripping may typically occur in order to change all or a portion of the bottom hole assembly, such as to change a drill bit. Where drill pipe is tripped into a well, stands or lengths of drill pipe may be supplied from a storage position in a setback area of the drill rig and connected end-to-end to lengthen the drill string in the well. Where drill pipe is tripped out of a well, stands or lengths of drill pipe may be disconnected from the drill string and may be positioned in the setback area. As with other pipe handling operations, tripping has conventionally been performed with human operators. In particular, while an elevator or top drive may be used to carry the load of a stand of drill pipe during trip in and trip out operations, human operators may typically maneuver the drill pipe stands around the drill floor, such as between the well center and the setback area. For example, a first human operator may be positioned on the drill floor, at or near the well, to maneuver a lower end of drill pipe stands as they are tripped into or out of the well, while a second human operator may be positioned on or above the racking board to maneuver an upper end of drill pipe stands as the stands are moved between the well and the setback area. Operators often use ropes and/or other tools to maneuver the drill pipe stands on or above the drill floor. Such work is labor-intensive and can be dangerous. Moreover, trip in and trip out operations may be limited by the speed at which the human operators can maneuver the stands between well center and the setback area. BRIEF SUMMARY OF THE INVENTION The following presents a simplified summary of one or more embodiments of the present disclosure in order to provide a basic understanding of such embodiments. This summary is not an extensive overview of all contemplated embodiments and is intended to neither identify key or critical elements of all embodiments, nor delineate the scope of any or all embodiments. The present disclosure, in one or more embodiments, relates to a robot configured for pipe handling. The robot may include an articulated arm controllable by a controller and an end effector arranged at an end of the articulated arm. The articulated arm may include two pipe engaging jaws, each jaw having an inner contour configured for engaging a pipe section. At least one of the jaws may be a fixed jaw. Additionally, the end effector may be configured to restrict radial movement of the pipe section while permitting axial movement. The inner contours of the two jaws may be arranged on different plans in some embodiments. The inner contours may add