SG11201900412VA - A gripper device for gripping a pipe - Google Patents

A gripper device for gripping a pipe

Info

Publication number
SG11201900412VA
SG11201900412VA SG11201900412VA SG11201900412VA SG11201900412VA SG 11201900412V A SG11201900412V A SG 11201900412VA SG 11201900412V A SG11201900412V A SG 11201900412VA SG 11201900412V A SG11201900412V A SG 11201900412VA SG 11201900412V A SG11201900412V A SG 11201900412VA
Authority
SG
Singapore
Prior art keywords
international
arm
gripper
transmission
drive
Prior art date
Application number
SG11201900412VA
Inventor
Svein Søyland
Original Assignee
Canrig Robotic Technologies As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canrig Robotic Technologies As filed Critical Canrig Robotic Technologies As
Publication of SG11201900412VA publication Critical patent/SG11201900412VA/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/168—Connecting or disconnecting pipe couplings or joints using a spinner with rollers or a belt adapted to engage a well pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action
    • F16B2/10—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action using pivoting jaws
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/18—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening using cams, levers, eccentrics, or toggles
    • F16B2/185—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening using cams, levers, eccentrics, or toggles using levers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H2019/008—Facilitating the engagement or stopping of gear sections

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Manipulator (AREA)

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property 1111111111111111111111111111111111111111111111111111111111111111111111111111111 Organization International Bureau (10) International Publication Number (43) International Publication Date .....0\"\" WO 2018/016964 Al 25 January 2018 (25.01.2018) W I PO I PCT (51) International Patent Classification: (72) Inventor: SOYLAND, Svein; Sletteigvegen 10, 4355 E21B 19/14 (2006.01) E21B 19/16 (2006.01) KVERNALAND (NO). E21B 19/15 (2006.01) E21B 19/20 (2006.01) (74) Agent: HAMSO PATENTBYRA AS; P.O. Box 171, 4301 (21) International Application Number: SANDNES (NO). PCT/N02017/050180 (81) Designated States (unless otherwise indicated, for every (22) International Filing Date: kind of national protection available): AE, AG, AL, AM, 05 July 2017 (05.07.2017) AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, (25) Filing Language: English DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, (26) Publication Language: English HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, (30) Priority Data: KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, 20161219 22 July 2016 (22.07.2016) NO MG, OM, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, (71) Applicant: CANRIG ROBOTIC TECHNOLOGIES AS SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, [NO/NO]; Kvalkroken 30, 4323 SANDNES (NO). TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, Title: A GRIPPER DEVICE FOR GRIPPING A PIPE (54) = 72 = _ 70 A-- ---60 — = = = 14 12 64 1 6 U14 i _ = 52 i _ 66 64 62 64 66 24 = = = = = = 50 / = 40 42 44 = Fig. ,-, I I - (57) : A gripper device (1) for gripping a pipe. The device comprises a support structure (5), a gripper arm arrangement (10) ON 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 4 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 0 1-1 0 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. ei C [Continued on next page] WO 2018/016964 Al MIDEDIMOMOIDEIREIDIONIMOHIMEHNHIMMI GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3))
SG11201900412VA 2016-07-22 2017-07-05 A gripper device for gripping a pipe SG11201900412VA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20161219A NO341317B1 (en) 2016-07-22 2016-07-22 A gripper device for gripping a pipe
PCT/NO2017/050180 WO2018016964A1 (en) 2016-07-22 2017-07-05 A gripper device for gripping a pipe

Publications (1)

Publication Number Publication Date
SG11201900412VA true SG11201900412VA (en) 2019-02-27

Family

ID=60042878

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201900412VA SG11201900412VA (en) 2016-07-22 2017-07-05 A gripper device for gripping a pipe

Country Status (8)

Country Link
US (2) US10774601B2 (en)
EP (2) EP3488071B1 (en)
CA (1) CA3030952A1 (en)
MX (1) MX2019000865A (en)
NO (1) NO341317B1 (en)
SA (1) SA519400934B1 (en)
SG (1) SG11201900412VA (en)
WO (1) WO2018016964A1 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO341317B1 (en) 2016-07-22 2017-10-09 Robotic Drilling Systems As A gripper device for gripping a pipe
NO347275B1 (en) * 2017-06-16 2023-08-21 Canrig Robotic Technologies As A safety system comprising a safety device for attaching to a pipe string comprising a plurality of connected pipe sections
US11041346B2 (en) 2018-04-27 2021-06-22 Canrig Robotic Technologies As System and method for conducting subterranean operations
US11015402B2 (en) 2018-04-27 2021-05-25 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10808465B2 (en) 2018-04-27 2020-10-20 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10822891B2 (en) 2018-04-27 2020-11-03 Canrig Robotic Technologies As System and method for conducting subterranean operations
GB2593907B (en) * 2020-04-08 2022-09-21 Mhwirth As Gripping device
NO20221357A1 (en) 2020-07-06 2022-12-19 Nabors Drilling Tech Usa Inc Robotic pipe handler systems
US11408236B2 (en) 2020-07-06 2022-08-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11643887B2 (en) 2020-07-06 2023-05-09 Canrig Robotic Technologies As Robotic pipe handler systems
CN116134208A (en) 2020-09-01 2023-05-16 坎里格机器人技术有限公司 Tubular member handling system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2089708B (en) * 1980-12-18 1984-02-22 Index Werke Kg Hahn & Tessky Steady for holding rod-like circular cross-section components
US4858979A (en) 1988-07-19 1989-08-22 The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration Gripping device
NO331630B1 (en) * 2009-08-19 2012-02-13 Seabed Rig As Device for gripper for petroleum pipes
JP6374303B2 (en) * 2014-11-13 2018-08-15 株式会社Taiyo Electric gripper device
NO20141449A1 (en) * 2014-12-02 2016-06-03 Robotic Drilling Systems As Grabs with swivels
NO341317B1 (en) 2016-07-22 2017-10-09 Robotic Drilling Systems As A gripper device for gripping a pipe

Also Published As

Publication number Publication date
US20190284886A1 (en) 2019-09-19
NO20161219A1 (en) 2017-10-09
EP3488071A1 (en) 2019-05-29
NO341317B1 (en) 2017-10-09
US20200370378A1 (en) 2020-11-26
EP3488071A4 (en) 2020-03-11
SA519400934B1 (en) 2023-02-05
WO2018016964A1 (en) 2018-01-25
US10774601B2 (en) 2020-09-15
MX2019000865A (en) 2019-09-04
CA3030952A1 (en) 2018-01-25
EP3760829A1 (en) 2021-01-06
US11078734B2 (en) 2021-08-03
EP3488071B1 (en) 2020-10-28

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