SYSTEMS AND METHODS FOR AUTONOMOUS TRIPPING OF OIL WELL PIPES

摘要

A robotic system coupled to a racking platform of an oil well service or drilling rig comprising a base coupled to the racking platform at a fixed location, a mast pivotally coupled to the base by a mast pivot joint allowing rotation of the mast about a mast axis, a mast actuator for controllably rotating the mast about the mast pivot joint, an arm coupled to the mast and moveable along a radial direction with respect to the mast axis, an arm actuator for controllably moving the arm along the radial direction, an end effector pivotally coupled to an end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented generally parallel to the mast axis, and an end effector actuator for controllably rotating the end effector about the end effector pivot joint. The end effector comprises at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator.