Method ad apparatus for digital thread inspection
AssigneeTubular Solutions, Inc.
InventorsAubrey A. Stigall, Timothy M. Bedore
Life of this patent
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Abstract
A compact inspection assembly comprising digital sensors and/or laser measurement systems to measure and validate attributes of pipe and associated threaded connections. A custom designed end-effector sensor assembly is selectively attached to a robotic arm having software and control systems. An automated sensor assembly, selectively positioned relative to a pipe section, measures data regarding the pipe and associated threaded connections. The measured and recorded data can be inspected for defects and/or compared to predetermined standards (such as, for example, original equipment manufacturer and/or end user specifications or requirements) to verify pipe/connection compliance with desired standards.
Claims14
A digital inspection apparatus for inspecting a threaded connection of a pipe section comprising:
- a) an automated articulated robotic arm assembly comprising:
- i) a first arm member;
- ii) a second arm member;
- iii) a pivotal joint connection between said first and second arm members;
- iv) a computerized robotic control system configured to control motion of said automated articulating robotic arm assembly;
- b) an elongated sensor head apparatus operationally attached to said automated articulated robotic arm assembly;
- and
- c) at least one data acquisition sensor operationally attached to said sensor head apparatus and configured to acquire data regarding said threaded connection;
- d) at least two lasers operationally attached to said sensor head apparatus and configured to measure positioning of said elongated sensor head apparatus relative to said pipe section;
- wherein said automated articulated robotic arm assembly is configured to selectively position said at least one data acquisition sensor of said sensor head apparatus relative to said threaded connection, and to insert said elongated sensor head apparatus in a central through bore of said pipe section without contacting said pipe section.
A method for inspecting a threaded connection of a pipe section comprising:
- a) providing a digital inspection assembly, wherein said digital inspection assembly comprises:
- i) an articulated robotic arm assembly comprising:
- aa) a first arm member;
- bb) a second arm member;
- cc) a pivotal joint connection between said first and second arm members;
- dd) a computerized robotic control system configured to control motion of said automated articulated robotic arm assembly;
- ii) a sensor mounting assembly operationally attached to said automated articulated robotic arm assembly;
- and
- iii) at least one data acquisition sensor operationally attached to said sensor mounting assembly and configured to acquire data regarding said threaded connection;
- iv) at least two lasers operationally attached to said sensor head apparatus and configured to measure positioning of said elongated sensor head apparatus relative to said pipe section, wherein said automated articulated robotic arm assembly is configured to selectively position said at least one data acquisition sensor of said sensor head apparatus relative to said threaded connection and to insert said elongated sensor head apparatus in a central through bore of said pipe section without contacting said pipe section;
- b) acquiring data regarding said threaded connection using said at least one data acquisition sensor.
Dependencies are inferred from the claim text.