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US 12,215,554 B2Granted
End effectors for automated pipe handling
AssigneeNational Oilwell Varco, L.P.
InventorsGraham Alexander Carnegie, John Walker, Christopher J. Saunders, Dominick Mancuso
Life of this patent
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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.
Claims19
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.
6 more elements
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.
4 more elements
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.
7 more elements
Dependencies are inferred from the claim text.