Robotic pipe handler
AssigneeCanrig Robotic Technologies AS
InventorsKjetil Naesgaard, Kenneth Mikalsen
Life of this patent
Estimating the term…
Abstract
A system including a pipe handler that can include a base, a support rotatably attached to the base at one end of the support, a first actuator configured to telescopically extend the support into engagement with a rig and telescopically retract the support to disengage from the rig, and a pipe handler mechanism rotatably attached to the support proximate an opposite end of the support, with the pipe handler mechanism being configured to grip and transport an object from a pick-up location to a delivery location and a system including a pipe handler that can be fixedly mounted to a rig floor with a pipe handler mechanism rotatably attached to the support, with the pipe handler mechanism being configured to grip and transport an object from a pick-up location to a delivery location.
Claims20
A tubular handling system comprising:
- a pipe handler comprising:
- a support fixedly coupled to a rig floor, wherein the support is spaced vertically downward from the rig floor;
- and
- a pipe handler mechanism rotatably attached to the support, the pipe handler mechanism being configured to grip and transport an object from a pick-up location to a delivery location, wherein the pipe handler mechanism comprises an arm rotationally coupled to the support, and wherein the arm comprises one or more grippers that are actuated to grip or release the object;
- a platform that supports the rig floor, wherein the rig floor is slidably coupled to the platform, such that the rig floor moves in a horizontal direction when the rig floor is moved relative to the platform, and wherein the pipe handler moves with the rig floor when the rig floor moves in the horizontal direction;
- and
- a horizontal storage area, wherein the rig floor is configured to move in the horizontal direction relative to the platform and change a horizontal distance between the pick-up location and the delivery location, and wherein a controller is configured to adapt the pipe handler to accommodate the change in the horizontal distance when the rig floor is moved.
A tubular handling system comprising:
- a pipe handler comprising:
- a support coupled to a rig floor;
- a pipe handler mechanism rotatably attached to the support, the pipe handler mechanism comprising:
- an arm rotationally coupled to one or more grippers, wherein the one or more grippers selectively engage a tubular with a center longitudinal axis, wherein a first longitudinal axis of the one or more grippers is substantially aligned to the center longitudinal axis of the tubular when the tubular is engaged with the one or more grippers;
- and
- a plurality of lift beams rotationally coupled at one end to the support and rotationally coupled at an opposite end to the arm, wherein the arm is configured to rotate independently of the plurality of lift beams, wherein the plurality of lift beams rotate the arm in an adjusting direction which is substantially perpendicular to the first longitudinal axis when the pipe handler mechanism is calibrated, wherein the plurality of lift beams comprise a first lift beam and a second lift beam, and wherein, when the first lift beam rotates relative to the support in a first direction and the second lift beam rotates relative to the support in a second direction, the arm is rotated in the adjusting direction, and wherein the first direction is opposite the second direction.
Dependencies are inferred from the claim text.