A pipe handling system can include first and second bridges disposed within a horizontal storage area and coupled to a guide rail, and configured to move along the guide rail, a pipe handler coupled to the first bridge, and a shuttle coupled to the second bridge, wherein the pipe handler selectively couples to the shuttle and drives the shuttle. A tubular handling system can include a bridge with first and second bridge rails with a space between, an arm coupled to the rails to manipulate a tubular through the space, and to move back and forth along the bridge; and a tubular lift system that raises or lowers the tubular in a horizontal orientation between a horizontal storage and an intermediate storage location.
A pipe handler that can include a wrench assembly with a backup tong and a torque wrench, and a rotary actuator coupled to the torque wrench, wherein rotation of the rotary actuator about a second axis rotates the torque wrench about a first axis. An iron roughneck that can include a torque wrench configured to rotate about a first axis, and a rotary actuator coupled to the torque wrench, the rotary actuator having a second axis about which the rotary actuator rotates, where the second axis and the first axis are substantially parallel with each other and spaced apart from each other, and where rotation of the rotary actuator about the second axis rotates the torque wrench about the first axis.
A pipe handler that can include a wrench assembly with a backup tong and a torque wrench, and a rotary actuator coupled to the torque wrench, wherein rotation of the rotary actuator about a second axis rotates the torque wrench about a first axis. An iron roughneck that can include a torque wrench configured to rotate about a first axis, and a rotary actuator coupled to the torque wrench, the rotary actuator having a second axis about which the rotary actuator rotates, where the second axis and the first axis are substantially parallel with each other and spaced apart from each other, and where rotation of the rotary actuator about the second axis rotates the torque wrench about the first axis.
A system that can include a cavity extending below ground and having a support structure, and a robotic arm that rotates from a stowed position within the cavity to a deployed position, where at least a portion of the robotic arm extends from the cavity in the deployed position. A method that can include operations of forming a cavity that extends below ground, disposing a support structure in the cavity, coupling a robotic arm to the support structure, and rotating the robotic arm from a stowed position within the cavity to a deployed position, where at least a portion of the robotic arm extends from the cavity in the deployed position.
A system that can include a robotic arm with a wrist joint rotationally coupled at one end, where the wrist joint manipulates a tool during a ground operation for a vehicle, the wrist joint can include a first end coupled to the robotic arm, a second end coupled to the tool, and a tool motor coupled to the second end and configured to rotate the tool relative to the wrist joint about a tool axis, where the tool motor rotates with the tool about the tool axis. A method that can include rotationally coupling one end of a wrist joint to a robotic arm and a tool to the other; manipulating the tool via the wrist joint, rotating, via a tool motor, the tool relative to the wrist joint about a tool axis; and rotating the tool motor with the tool about the tool axis.
A system that can include a cover, and a support structure, where the cover is rotationally coupled to the support structure, and the support structure is configured to move the cover between a generally horizontal orientation in a fully closed position and a generally horizontal orientation in a fully open position. A method that can include stowing a robotic arm in a stowed position in the cavity, rotating a cover to a fully open position away from the cavity allowing deployment of the robotic arm, deploying the robotic arm by extending the robotic arm from the cavity, and returning the robotic arm to the stowed position in the cavity and rotating the cover from the fully open position to a fully closed position over the cavity.
E05F 15/63 - Mécanismes pour battants mus par une force motrice utilisant des actionneurs électriques utilisant des électromoteurs rotatifs pour battants pivotants manœuvrés par bras pivotants
A system that can include a robotic arm, and a control system configured to control operation of the robotic arm to perform a ground operation on a vehicle based on a 3D model that is oriented in a virtual 3D space based on reference locations in a 3D operational space. A system that can include a cavity extending below ground and having a support structure, and a robotic arm that rotates from a stowed position within the cavity to a deployed position, where at least a portion of the robotic arm extends from the cavity in the deployed position. A system that can include a cover configured to span the cavity and a support structure that is configured to move the cover between a generally horizontal orientation in a fully closed position and a generally horizontal orientation in a fully open position.
G05B 19/401 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour la mesure, p. ex. étalonnage et initialisation, mesure de la pièce à usiner à des fins d'usinage
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
B64F 5/00 - Tracé, fabrication, assemblage, nettoyage, entretien ou réparation des aéronefs, non prévus ailleursManipulation, transport, test ou inspection de composants d’aéronefs, non prévus ailleurs
8.
CONTROL ROBOT FOR GROUND OPERATION BASED ON 3D MODEL
A method that can include receiving a three-dimensional (3D) model of the vehicle at a control system, positioning the vehicle within a 3D ground operational space, manipulating a robotic arm to position a sensor at a predetermined distance from a reference location of the vehicle, measuring, via the sensor, a distance from the sensor to the reference location, determining a relative position of the reference location based on a known relative position of the sensor in the 3D ground operational space and the measured distance, establishing an orientation of the 3D model in a virtual 3D space based on the relative position of the reference location, and manipulating the robotic arm to perform a ground operation on the vehicle based on the position of the 3D model in the virtual 3D space.
A system includes a pipe handler with an arm and gripper configured to transport an object from a pickup location to a delivery location, and a horizontal storage area with an intermediate storage location, where the object is substantially parallel with the intermediate storage location when its positioned in the intermediate storage location, and the gripper is configured to rotate the object in the intermediate storage location. Also a system includes a pipe handler configured to transport an object from a pickup location to a delivery location, a first horizontal storage area positioned below a first rig floor by a first vertical distance, and a second horizontal storage area positioned below a second rig floor by a second vertical distance, wherein a controller automatically adapts the pipe handler to access the object when the pickup location or the delivery location is the first or the second horizontal storage area.
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.
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.
A horizontal pipe handling system that can include a base with a center longitudinal axis, an intermediate storage location comprising a cradle configured to support a first tubular in a horizontal orientation, a first horizontal pipe handler with a first feeder arm rotationally attached to the base at a first axis on a first side of the center longitudinal axis, wherein the first feeder arm extends from the first axis, past the cradle, and to a second side of the center longitudinal axis, and a second horizontal pipe handler with a first ramp arm rotationally attached to the base at a second axis which is disposed on the second side of the center longitudinal axis, wherein the first ramp arm is configured to support one or more tubulars in the horizontal orientation which is substantially parallel to the center longitudinal axis.
A horizontal pipe handling system that can include a base with a center longitudinal axis, an intermediate storage location comprising a cradle configured to support a first tubular in a horizontal orientation, a first horizontal pipe handler with a first feeder arm rotationally attached to the base at a first axis on a first side of the center longitudinal axis, wherein the first feeder arm extends from the first axis, past the cradle, and to a second side of the center longitudinal axis, and a second horizontal pipe handler with a first ramp arm rotationally attached to the base at a second axis which is disposed on the second side of the center longitudinal axis, wherein the first ramp arm is configured to support one or more tubulars in the horizontal orientation which is substantially parallel to the center longitudinal axis.
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.
A system including a stabbing guide (100) with a plurality of guide elements (110a-110d), an engaging element (123), and a linkage assembly (103) that couples the plurality of guide elements to the engaging element, where rotation of the engaging element (123) relative to the plurality of guide elements drives the linkage assembly and, via the linkage assembly, moves the guide elements radially relative to a center axis of the stabbing guide.
An equipment handling system that can include a bridge (90) disposed above a horizontal storage area (18) and coupled to a guide rail (416, 418), an equipment basket (432), a crane (452, 454) configured to transport the equipment basket (432) to an elevated location, and a pipe handler (400) coupled to the bridge (90) and configured to move along the bridge. A catwalk system (440) can include a guide rail (418), a portion of a bridge (90) disposed over a horizontal storage area and coupled to the guide rail (418), with the bridge configured to move with a rig floor when the rig floor moves relative to the horizontal storage area, and a pipe handler (400) coupled to the bridge (90) and configured to move along the bridge.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/15 - Stockage des tiges en position horizontaleManipulation entre des positions horizontale et verticale
B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
E21B 19/06 - Élévateurs, c.-à-d. dispositifs agrippant tiges ou tubes
E21B 19/087 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges au moyen d'un balancier
An equipment handling system that can include a bridge (90) disposed above a horizontal storage area and coupled to a guide rail (118) and a pipe handler (100) coupled to the bridge (90) and configured to move along the bridge.
E21B 19/06 - Élévateurs, c.-à-d. dispositifs agrippant tiges ou tubes
B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
E21B 19/087 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges au moyen d'un balancier
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/15 - Stockage des tiges en position horizontaleManipulation entre des positions horizontale et verticale
E21B 19/20 - Alimentation à partir du râtelier et branchement combinés, p. ex. d'une manière automatique
A pipe handling system can include a bridge disposed in an inclined position, having first and second rails with a space therebetween, and an arm coupled to the first and second rails, the arm being configured to manipulate a tubular through the space between the first and second rails. A method that can include gripping a tubular at a well center on a rig floor via an arm coupled to a bridge, the bridge comprising first and second rails with a space therebetween, moving the tubular from the well center and through the space, and moving the tubular along the bridge via the arm, with the bridge being inclined from a horizontal storage area to the rig floor.
An equipment handling system that can include a bridge disposed above a horizontal storage area and coupled to a guide rail, an equipment basket, a crane configured to transport the equipment basket to an elevated location, and a pipe handler coupled to the bridge and configured to move along the bridge. A catwalk system can include a guide rail, a portion of a bridge disposed over a horizontal storage area and coupled to the guide rail, with the bridge configured to move with the rig floor when the rig floor moves relative to the horizontal storage area, and a pipe handler coupled to the bridge and configured to move along the bridge.
A system including a mud bucket with a clam shell enclosure and a storage tank. The clam shell enclosure can have a first portion and a second portion, with the second portion being rotationally coupled to the first portion, where the first portion and the second portion are configured to form a sealed chamber around a joint of a tubular string when the second portion is rotated into engagement with the first portion, where the sealed chamber is configured to receive expelled fluid from the tubular string when the joint is unthreaded, and the storage tank is configured to receive and store the expelled fluid from the sealed chamber while the mud bucket is located at the well center.
A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include: a main body comprising a housing; a powered clamping system; a controlled atmosphere volume disposed within the housing or within the clamping system; and an electrical component disposed within the controlled atmosphere volume. In some embodiments, the controlled atmosphere volume may comprise an EX-certified volume and the electrical component may be disposed within the EX-certified volume, such that the electrical component may be disposed in the EX-certified volume that is disposed in the housing and/or an EX-certified volume that is disposed in the clamping system, such as in an electrically powered tong.
A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include a hazardous atmosphere controlled volume, such as an explosive (EX)-certified chamber, that is located within the body of the robot. In some embodiments, a robot may include a cooling system that is at least partially disposed to fully disposed within the body of the robot, such as partially to fully disposed within the EX-certified chamber located within the body.
E21B 36/00 - Aménagements pour le chauffage, le refroidissement ou l'isolation dans les trous de forage ou dans les puits, p. ex. pour être utilisés dans les zones de permagel
E21B 47/017 - Protection des instruments de mesure
A linear actuator assembly that can include an electric motor contained in an explosive (EX) certifiable housing, a linear actuator external to the EX certifiable housing, the linear actuator coupled to and driven by the electric motor, the linear actuator having a first axis and a body, and a piston of the linear actuator that extends or retracts relative to the body when the linear actuator is driven by the electric motor, the piston having a second axis, with the first axis and the second axis being parallel and spaced apart. The electrically operated linear actuator assembly can provide up to 700 kN clamping force when engaging a tubular. A plurality of the linear actuator assemblies can provide up to 250 kNm of torsional force to a tubular string joint when used in a wrench assembly.
A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include: a main body comprising a housing; a powered clamping system; a controlled atmosphere volume disposed within the housing or within the clamping system; and an electrical component disposed within the controlled atmosphere volume. In some embodiments, the controlled atmosphere volume may comprise an EX-certified volume and the electrical component may be disposed within the EX-certified volume, such that the electrical component may be disposed in the EX-certified volume that is disposed in the housing and/or an EX-certified volume that is disposed in the clamping system, such as in an electrically powered tong.
A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include a hazardous atmosphere controlled volume, such as an explosive (EX)-certified chamber, that is located within the body of the robot. In some embodiments, a robot may include a cooling system that is at least partially disposed to fully disposed within the body of the robot, such as partially to fully disposed within the EX-certified chamber located within the body.
E21B 36/00 - Aménagements pour le chauffage, le refroidissement ou l'isolation dans les trous de forage ou dans les puits, p. ex. pour être utilisés dans les zones de permagel
A tubular handling system for conducting subterranean operations is disclosed and can include a first tubular handling system and a second tubular handling system. The first tubular handling system can include a bridge disposed within a tubular storage area, an arm pivotally coupled to the bridge, and a gripper coupled to the arm and adapted to engage with a tubular in the tubular storage area. The second tubular handling system can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handling system.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
27.
System and method for conducting subterranean operations
A pipe storage system can include a plurality of pipe storage bays established between adjacent pipe storage arms, a plurality of protrusions extending from the pipe storage arms into each pipe storage bay, the plurality of protrusions establishing a plurality of channels, wherein each channel is established between a pair of adjacent protrusions, and a plurality of latches, wherein the latches are movable from between a retracted position in which the latches are retracted to establish series of first pipe storage openings between opposing channels and an extended position in which the latches extend into the pipe storage bay to establish a series of second pipe storage openings between opposing protrusions.
E21B 19/08 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges
E21B 19/087 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges au moyen d'un balancier
A system for conducting subterranean operations is disclosed and can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handler. The system can further include a tool system coupled to the support structure and adapted to perform an operation on a first tubular.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be Atmosphere Explosible (ATEX) certified or International Electrotechnical Commission for Explosive Atmospheres (IECEx) certified according to explosive (EX) Zone 1 requirements with an electronics enclosure contained within a sealed chamber. The elevator can be rotated greater than 90 degrees relative to a pair of links that support the elevator. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. Each jaw can include a locking mechanism that engages a portion of the housing adjacent a spacer ring in the elevator when the first jaw is in the engaged position and configured to transfer a closing force to the housing. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be explosive (EX) Zone 1 certified with an electronics enclosure contained within a sealed chamber. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator. The elevator can use a circular pressure sensor to determine weight of a tubular.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be Atmosphere Explosible (ATEX) certified or International Electrotechnical Commission for Explosive Atmospheres (IECEx) certified according to explosive (EX) Zone 1 requirements with an electronics enclosure contained within a sealed chamber. The elevator can be rotated greater than 90 degrees relative to a pair of links that support the elevator. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator.
A method and system for conducting a subterranean operation that can include storing, via a rig controller, pre-determined characteristics of a piece of equipment, for supporting the subterranean operation, in a unique data record associated with the piece of equipment; scanning, via one or more sensors, the piece of equipment on a rig; determining, via the rig controller, actual characteristics of the piece of equipment in response to the scanning via the one or more sensors; comparing, via the rig controller, the actual characteristics to the pre-determined characteristics; and verifying whether or not the piece of equipment is an expected piece of equipment needed to support the subterranean operation based on the comparing.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
A method and system for conducting a subterranean operation that can include storing, via a rig controller, pre-determined characteristics of a piece of equipment, for supporting the subterranean operation, in a unique data record associated with the piece of equipment; scanning, via one or more sensors, the piece of equipment on a rig; determining, via the rig controller, actual characteristics of the piece of equipment in response to the scanning via the one or more sensors; comparing, via the rig controller, the actual characteristics to the pre-determined characteristics; and verifying whether or not the piece of equipment is an expected piece of equipment needed to support the subterranean operation based on the comparing.
E21B 19/15 - Stockage des tiges en position horizontaleManipulation entre des positions horizontale et verticale
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21B 47/007 - Mesure des contraintes dans le cuvelage ou la tige de forage
A system for conducting a subterranean operation can include a retention feature in a drill floor with the retention feature configured to suspend a tubular string from the drill floor via engagement of the retention feature with the tubular string, an imaging system configured to capture images of a visible feature on a portion of the tubular string that extends above the drill floor; and a processor configured to detect a change in a position of the visible feature while the tubular string is engaged with the retention feature, and the processor being configured to calculate a wear status of the retention feature based upon the change in the position of the tubular string.
A system for conducting a subterranean operation can include a retention feature in a drill floor with the retention feature configured to suspend a tubular string from the drill floor via engagement of the retention feature with the tubular string, an imaging system configured to capture images of a visible feature on a portion of the tubular string that extends above the drill floor; and a processor configured to detect a change in a position of the visible feature while the tubular string is engaged with the retention feature, and the processor being configured to calculate a wear status of the retention feature based upon the change in the position of the tubular string.
A system for conducting a subterranean operation with nozzle of a doping device rotationally fixed to a rig with the nozzle being directed radially toward a portion of a tubular when the portion of the tubular is positioned proximate the doping device, with the doping device, via the nozzle, configured to apply a dope to the portion of the tubular, where the nozzle deposits a layer of the dope on the portion of the tubular while the tubular is being rotated.
A system for conducting a subterranean operation with nozzle of a doping device rotationally fixed to a rig with the nozzle being directed radially toward a portion of a tubular when the portion of the tubular is positioned proximate the doping device, with the doping device, via the nozzle, configured to apply a dope to the portion of the tubular, where the nozzle deposits a layer of the dope on the portion of the tubular while the tubular is being rotated.
A tubular handling system for conducting subterranean operations is disclosed and can include a first tubular handling system and a second tubular handling system. The first tubular handling system can include a bridge disposed within a tubular storage area, an arm pivotally coupled to the bridge, and a gripper coupled to the arm and adapted to engage with a tubular in the tubular storage area. The second tubular handling system can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handling system.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
F16B 2/10 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif externes c.-à-d. agissant par contraction utilisant des mâchoires sur pivot
F16B 2/18 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif utilisant des cames, des leviers, des excentriques ou des rotules
F16H 19/00 - Transmissions comportant essentiellement et uniquement des engrenages ou des organes de friction et qui ne peuvent transmettre un mouvement rotatif indéfini
F16H 21/44 - Transmissions ne comportant essentiellement que des tringles ou des leviers, avec ou sans glissières tout mouvement étant dans un seul plan ou dans des plans parallèles pour convertir un mouvement oscillant en mouvement alternatif et vice versa ou pour transmettre ces mouvements
F16H 57/08 - Parties constitutives générales des transmissions des transmissions à organes à mouvement orbital
40.
EX certified robotic system with enhanced corrosion resistance
A robotic system with a robot and enclosure, the robotic system configured for explosive (EX) Zone 1 certification. Fasteners attaching a panel to a housing of the enclosure can be positioned away from a seal of the panel, with the seal sealingly engaging the panel and housing when the panel is attached to the housing. The panel overlapping a portion of the housing when attached to the housing, with at least the overlapped portion having a metallized layer and the metallized layer being electrically coupled to the panel when the panel is attached. The panel can be rotationally attached to the housing by one or more hinges. The panel can be configured to assist operators with manual manipulation of the panel by attaching detachable handles to the panel.
A robotic system with a robot and enclosure, the robotic system configured for explosive (EX) Zone 1 certification. Fasteners attaching a panel to a housing of the enclosure can be positioned away from a seal of the panel, with the seal sealingly engaging the panel and housing when the panel is attached to the housing. The panel overlapping a portion of the housing when attached to the housing, with at least the overlapped portion having a metallized layer and the metallized layer being electrically coupled to the panel when the panel is attached. The panel can be rotationally attached to the housing by one or more hinges. The panel can be configured to assist operators with manual manipulation of the panel by attaching detachable handles to the panel.
A safety device (20) for attaching to a pipe string (10) comprising a plurality of connected pipe sections (12). The device is configured, comprises a support structure (22) and a clamping arrangement (24) comprising a first engagement member (32) and a second engagement member (34), which clamping arrangement (24) comprises a disengaged state and an engaged state. The support structure comprises a recess (30) adapted to receive the envelope surface of the pipe section. The first engagement member and the second engagement member are arranged in different parts of the recess so that opposite sides of the pipe section are clamped between the first engagement member and the second engagement member when the clamping arrangement is in the engaged state.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be Atmosphere Explosible (ATEX) certified or International Electrotechnical Commission for Explosive Atmospheres (IECEx) certified according to explosive (EX) Zone 1 requirements with an electronics enclosure contained within a sealed chamber. The elevator can be rotated greater than 90 degrees relative to a pair of links that support the elevator. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. Each jaw can include a locking mechanism that engages a portion of the housing adjacent a spacer ring in the elevator when the first jaw is in the engaged position and configured to transfer a closing force to the housing. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be explosive (EX) Zone 1 certified with an electronics enclosure contained within a sealed chamber. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator. The elevator can use a circular pressure sensor to determine weight of a tubular.
A system including an elevator to move a tubular, the elevator including two or more remotely operable latches that can configure the elevator to handle various tubular diameters. A portion of the latches can be laterally offset from each other and another portion can overlap adjacent latches. The elevator can be Atmosphere Explosible (ATEX) certified or International Electrotechnical Commission for Explosive Atmospheres (IECEx) certified according to explosive (EX) Zone 1 requirements with an electronics enclosure contained within a sealed chamber. The elevator can be rotated greater than 90 degrees relative to a pair of links that support the elevator. The elevator can use rotary actuators to operate the latches and rotate the housing of the elevator.
E21B 19/06 - Élévateurs, c.-à-d. dispositifs agrippant tiges ou tubes
E21B 19/08 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges
E21B 19/15 - Stockage des tiges en position horizontaleManipulation entre des positions horizontale et verticale
E21B 41/00 - Matériel ou accessoires non couverts par les groupes
A system for conducting subterranean operations is disclosed and can include a tubular storage area, a well center area, and a robotic arm configured to move tubulars. The robotic arm can be coupled to a rig floor and configured to traverse a distance between the well center area toward the tubular storage area.
E21B 19/087 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges au moyen d'un balancier
E21B 19/06 - Élévateurs, c.-à-d. dispositifs agrippant tiges ou tubes
A tubular handling system for conducting subterranean operations is disclosed and can include a bridge disposed within a tubular storage area and coupled to a guide rail. The bridge is configured to translate from a first bridge position to a second bridge position along the guide rail and over the tubular storage area. The tubular handling system can further include an arm coupled to the bridge and a gripper coupled to the arm. The gripper can be adapted to engage a first tubular.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
48.
System and method for conducting subterranean operations
A system for conducting subterranean operations is disclosed and can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handler. The system can further include a tool system coupled to the support structure and adapted to perform an operation on a first tubular.
A tubular handling system for conducting subterranean operations is disclosed and can include a first tubular handling system and a second tubular handling system. The first tubular handling system can include a bridge disposed within a tubular storage area, an arm pivotally coupled to the bridge, and a gripper coupled to the arm and adapted to engage with a tubular in the tubular storage area. The second tubular handling system can include a support structure, a first tubular handler coupled to the support structure, and a second tubular handler coupled to the support structure and distinct from the first tubular handling system.
A system for performing a subterranean operation that can include a plurality of tools, and a gripper conveying means configured to connect with any one of the plurality of tools and perform a first operation on a rig. The system can also include tools with an encapsulated chamber having electronic components contained therein with the tools in compliance with an explosion-exposed (EX) certification.
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
F16B 2/10 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif externes c.-à-d. agissant par contraction utilisant des mâchoires sur pivot
F16B 2/18 - Brides ou colliers, c.-à-d. dispositifs de fixation dont le serrage est effectué par des forces effectives autres que la résistance à la déformation inhérente au matériau dont est fait le dispositif utilisant des cames, des leviers, des excentriques ou des rotules
F16H 19/00 - Transmissions comportant essentiellement et uniquement des engrenages ou des organes de friction et qui ne peuvent transmettre un mouvement rotatif indéfini
F16H 21/44 - Transmissions ne comportant essentiellement que des tringles ou des leviers, avec ou sans glissières tout mouvement étant dans un seul plan ou dans des plans parallèles pour convertir un mouvement oscillant en mouvement alternatif et vice versa ou pour transmettre ces mouvements
F16H 57/08 - Parties constitutives générales des transmissions des transmissions à organes à mouvement orbital
A pipe guide comprising a first arm comprising a first set of guides; and a second arm comprising at least one guide, wherein all guides of the first set of guides are adapted to bias against an external portion of a pipe, and wherein a pressure of each of the guides against the pipe is adapted to be above a threshold pressure necessary to guide a secondary pipe relative to the pipe. In an embodiment, the first set of guides comprises a plurality of bodies and at least one of the bodies of the first set of guides is adapted to be rotatable about a rotational axis with respect to the first arm.
A gripper device (1) for gripping a pipe. The device comprises a support structure (5), a gripper arm arrangement (10) comprising a first gripper arm (12) and a second gripper arm (14), a drive arm arrangement (20) comprising a first drive arm (22) and a second drive arm (24) movably connecting the first gripper arm (12) and the second gripper arm (14), a pivot arrangement (40), and a drive mechanism (50) comprising a transmission drive shaft (54) and a transmission arrangement (80) comprising a first transmission member (62), a second transmission member (64) and a third transmission member (66), each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm. The third member is coupled with the second member and the second drive arm.
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
E21B 19/15 - Stockage des tiges en position horizontaleManipulation entre des positions horizontale et verticale
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
E21B 19/20 - Alimentation à partir du râtelier et branchement combinés, p. ex. d'une manière automatique
A gripping device for gripping and spinning a pipe body of various diameters includes a gripping assembly having a pair of gripping arms for gripping the outer surface of the pipe body, and a spinning device having a pair of rollers for spinning the pipe body as it is engaged by gripping arms. The gripping device also includes a rotatable input shaft and a coupler. The coupler connects the rotatable input shaft to the gripping assembly and to the spinning device and is employed to selectively engage the gripping arms and the spinning device. A brake is provided so as to selectively prevent at least one of the gripping assembly and the spinning device from being operated upon rotating the rotatable input shaft.
E21B 19/16 - Branchement ou débranchement des accouplements de tubes ou de joints
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
E21B 19/14 - Râteliers, rampes, gouttières ou casiers pour contenir les éléments de tige isolés ou assemblésManipulation entre l'aire de stockage et le trou de forage
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