# US 12,006,779 B2 · Robotic system for making or breaking a riser > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,006,779 B2 - Document ID: US12006779B2 - Status: Granted - Kind: B2 - Application number: 18/225,945 - Filed: 2023-07-25 - Published: 2024-01-04 - Granted: 2024-06-11 - Earliest claimed: 2020-09-29 - Assignees: Transocean Sedco Forex Ventures Limited; Stebbins Innovations, LLC - Applicants: Transocean Sedco Forex Ventures Limited; Stebbins Innovations, LLC - Inventors: Craig McCormick; Michael Coady; John Martin; James Lippold; Michael Willey; Shane McClaugherty - Web page: https://patentgrep.com/patent/US12006779B2 ## CPC - E21B 19/165: {Control or monitoring arrangements therefor} - B25J 9/1697: {Vision controlled systems} - E21B 17/085: {Riser connections (connectors for wellhead E21B33/038)} - E21B 19/166: {Arrangements of torque limiters or torque indicators} - E21B 41/00: Equipment or details not covered by groups E21B15/00 - E21B40/00 - G05B 2219/37555: Camera detects orientation, position workpiece, points of workpiece - G05B 2219/40306: Two or more independent robots - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The system for making or breaking the riser includes a robotic system. The robotic system includes one or more robotic arms configured to be disposed on a spider deck, and one or more riser-connection manipulation tools each having a camera and being configured to manipulate a riser connection, the camera being configured to capture an image of an object, wherein each robotic arm is configured to couple to one riser-connection manipulation tool. Further the system for making or breaking the riser includes a control system. The control system includes a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms. The system for making or breaking the riser is configured to analyze the image to determine the location and orientation of the object and transmit the location and orientation of the object to the robot controller. ## Claims ### Claim 1 A system configured to make or break a riser having a riser joint, the system comprising: (a) a robotic system having: one or more robotic arms, each having six degrees of freedom; and one or more riser-connection manipulation tools each having a lidar with a laser light source and being configured to manipulate a riser connection, each robotic arm being configured to couple to one riser-connection manipulation tool, the laser light source being configured to emit light toward an object configured for manipulation by the riser-connection manipulation tool such that the lidar receives light reflected back by the object configured for manipulation; and (b) a control system having: a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms; wherein the robot controller is configured to: (1) determine a position of the object based at least on laser light reflected by the object and received by the lidar; and (2) transmit signals to the one or more robotic arms based on the determined position of the object. ### Claim 2 (depends on 1) The system of claim 1, wherein the riser connection is at least one of a riser bolt, a breech lock, or a latching dog. ### Claim 3 (depends on 2) The system of claim 2, wherein the riser-connection manipulation tool is a multi-function tool configured to place the riser bolt into the riser joint, remove the riser bolt from the riser joint, manipulate the breech lock, manipulate the latching dog, manipulate a stabbing guide, manipulate a hole cover, apply a pre-determined torque, or a combination thereof. ### Claim 4 (depends on 3) The system of claim 3, wherein the multi-function tool further comprises: a socket configured to engage a head of the riser bolt; a servo motor operatively coupled to the socket and configured to drive the socket; and a fork tool assembly having a retaining fork disposed in proximity to the socket, the fork tool assembly being configured to pick and place an object using the retaining fork. ### Claim 5 (depends on 4) The system of claim 4, wherein the fork tool assembly further comprises a retaining fork actuation cylinder operatively coupled to the retaining fork and configured to extend and retract the retaining fork. ### Claim 6 (depends on 4) The system of claim 4, wherein the multi-function tool is configured to rotate the socket back and forth at a pre-determined frequency when the socket is engaged or disengaged from the head of the riser bolt. ### Claim 7 (depends on 1) The system of claim 1, wherein the riser-connection manipulation tool is a torque wrench tool configured to apply a pre-determined torque. ### Claim 8 (depends on 7) The system of claim 7, wherein the riser connection is a riser bolt, and wherein the pre-determined torque is configured to be applied to a head of the riser bolt that is disposed on the riser joint, thereby tightening or loosening the riser bolt from the riser joint. ### Claim 9 (depends on 8) The system of claim 8, wherein the torque wrench tool further comprises a socket configured to rotate, thereby applying the pre-determined torque to the head of the riser bolt. ### Claim 10 (depends on 9) The system of claim 9, wherein the torque wrench tool further comprises a hydraulic torque tool operatively coupled to the socket and configured to rotate the socket. ### Claim 11 (depends on 9) The system of claim 9, further comprising a pressure sensor configured to measure a hydraulic pressure provided to the torque wrench tool, thereby detecting when the predetermined torque is achieved. ### Claim 12 (depends on 1) The system of claim 1, further comprising a quick-change system having: a master end disposed on a distal end of one of the one or more robotic arms; and a tool end disposed on the riser-connection manipulation tool and configured to couple to the master end, the quick-changing system being configured to permit each of the one or more robotic arms to replace one riser-connection manipulation tool with another riser-connection manipulation tool. ### Claim 13 (depends on 1) The system of claim 1, wherein the riser connection is a riser bolt, and wherein the system is configured to at least one of: (1) pick up the riser bolt from a bolt receptacle and secure the riser bolt to the riser joint without human intervention, thereby making the riser, or (2) remove the riser bolt from the riser joint and place it into a bolt receptacle without human intervention, thereby breaking the riser. ### Claim 14 A system configured to make or break a riser having a riser joint, the system comprising: (a) a robotic system having: one or more robotic arms, each having six degrees of freedom; and one or more torque wrench tools, each torque wrench tool having a socket, a hydraulic torque tool operatively coupled to the socket and configured to rotate the socket, and a reaction arm operatively coupled to the hydraulic torque tool and configured to secure the hydraulic torque tool in place to prevent rotation of the hydraulic torque tool under influence of a reaction torque, each torque wrench tool being configured to couple to one robotic arm; and (b) a control system having: a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms; wherein the robot controller is configured to: (1) determine a location and orientation of an object; and (2) transmit signals to the one or more robotic arms based on the determined location and orientation of the object. ### Claim 15 (depends on 14) The system of claim 14, wherein the object is a riser bolt, the socket being configured to engage a head of the riser bolt. ### Claim 16 (depends on 15) The system of claim 15, wherein to secure the hydraulic torque tool in place, the reaction arm is configured to be leaned against one or more elements of a riser. ### Claim 17 (depends on 14) The system of claim 14, wherein each of the one or more torque wrench tools has a camera placed above the socket, the camera being configured to capture an image of the object, and wherein the robot controller is configured to analyze the image to determine the location and the orientation of the object. ### Claim 18 (depends on 14) The system of claim 14, wherein the hydraulic torque tool includes a hydraulic cylinder having a piston rod configured to move in and out of the hydraulic cylinder to produce torque for rotating the socket. ### Claim 19 (depends on 14) The system of claim 14, further comprising a pair of interface plates forming a housing for the hydraulic torque tool. ### Claim 20 (depends on 14) The system of claim 14, further comprising a quick-change system having: a master end disposed on a distal end of one of the one or more robotic arms; and a tool end disposed on the torque wrench tool and configured to couple to the master end.