PIPE LOADER SYSTEM AND METHOD

摘要

A system and method for operating a pipe loader for various applications in the drilling industry are provided. The pipe loader operates with a programmable and self-calibrating control system that allows the pipe loader to be programmed and/or to mimic previous operator-performed routes to automatically load one or more pipes from at least a first location and unload the one or more pipes at at least a second location. The pipe loader has a robotic arm with a vacuum head for engaging one or more pipes with suction. The movement of the robotic arm, along with the vacuum head, may be selectively controlled an operator or by the control system.

主权项

1. A method for automating the pickup and drop-off of a pipe from a first location to a second location, respectively, using a robotic arm having actuators and an end effector, the robotic arm being controlled by and in communication with a processor, and the method being carried out by the processor, the method comprising:
receiving a user input command to start a point programming process; detecting a selection of a first position of the end effector; recording the position of the actuators for the first position; detecting a selection of a second position of the end effector; recording the position of the actuators for the second position; and (i) detecting a selection of one or more user-selected interim positions, each user-selected interim position being between the first position and the second position, and recording the position of the actuators for the one or more user-selected interim positions; or (ii) automatically recording the position of the actuators for one or more detected interim positions, each detected interim position being between the first position and the second position, without detecting a selection of the one or more detected interim position.