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MX2019000865A - Un dispositivo sujetador para sujetar un tubo. - Google Patents

Un dispositivo sujetador para sujetar un tubo.

Info

Publication number
MX2019000865A
MX2019000865A MX2019000865A MX2019000865A MX2019000865A MX 2019000865 A MX2019000865 A MX 2019000865A MX 2019000865 A MX2019000865 A MX 2019000865A MX 2019000865 A MX2019000865 A MX 2019000865A MX 2019000865 A MX2019000865 A MX 2019000865A
Authority
MX
Mexico
Prior art keywords
arm
drive
gripper
coupled
transmission
Prior art date
Application number
MX2019000865A
Other languages
English (en)
Inventor
Soyland Svein
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 MX2019000865A publication Critical patent/MX2019000865A/es

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

Se presenta un dispositivo sujetador (1) para sujetar un tubo. El dispositivo comprende una estructura de soporte (5), un arreglo de brazo sujetador (10) que comprende un primer brazo sujetador (12) y un segundo brazo sujetador (14), un arreglo de brazo de impulsión (20) que comprende un primer brazo de impulsión (22) y un segundo brazo de impulsión (24) que conectan, de manera movible, el primer brazo sujetador (12) y el segundo brazo sujetador (14), un arreglo de pivote (40), y un mecanismo de impulsión (50) que comprende un eje conductor de transmisión (54) y un arreglo de transmisión (60) que comprende un primer miembro de transmisión (62), un segundo miembro de transmisión (64) y un tercer miembro de transmisión (66), cada uno puede girar con respecto al otro y son acoplados entre sí. El primer miembro es acoplado con el eje conductor, el segundo miembro es acoplado con el primer miembro y el primer brazo de impulsión. El tercer miembro es acoplado con el segundo miembro y el segundo brazo de impulsión. La figura más representativa de la invención es la número 2.
MX2019000865A 2016-07-22 2017-07-05 Un dispositivo sujetador para sujetar un tubo. MX2019000865A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20161219A NO20161219A1 (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
MX2019000865A true MX2019000865A (es) 2019-09-04

Family

ID=60042878

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2019000865A MX2019000865A (es) 2016-07-22 2017-07-05 Un dispositivo sujetador para sujetar un tubo.

Country Status (8)

Country Link
US (2) US10774601B2 (es)
EP (2) EP3760829A1 (es)
CA (1) CA3030952A1 (es)
MX (1) MX2019000865A (es)
NO (1) NO20161219A1 (es)
SA (1) SA519400934B1 (es)
SG (1) SG11201900412VA (es)
WO (1) WO2018016964A1 (es)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO20161219A1 (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
US11015402B2 (en) 2018-04-27 2021-05-25 Canrig Robotic Technologies As System and method for conducting subterranean operations
US11041346B2 (en) 2018-04-27 2021-06-22 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
US10808465B2 (en) 2018-04-27 2020-10-20 Canrig Robotic Technologies As System and method for conducting subterranean operations
GB2593907B (en) * 2020-04-08 2022-09-21 Mhwirth As Gripping device
US11408236B2 (en) 2020-07-06 2022-08-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11486209B2 (en) 2020-07-06 2022-11-01 Nabors Drilling Technologies Usa, Inc. Robotic pipe handler systems
US11643887B2 (en) 2020-07-06 2023-05-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11618248B2 (en) * 2020-07-13 2023-04-04 Southwest Research Institute End of arm tool (EOAT) for layup of pre-impregnated composite laminates and robotic arm control system and method
KR102888808B1 (ko) 2020-07-24 2025-11-21 삼성전자주식회사 그립 장치 및 이를 포함하는 로봇 장치
CN116134208A (zh) 2020-09-01 2023-05-16 坎里格机器人技术有限公司 管状件搬运系统
EP4141214B1 (en) * 2021-08-27 2024-10-09 Grant Prideco, Inc. End effector for gripping and spinning pipes

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 (no) * 2009-08-19 2012-02-13 Seabed Rig As Anordning ved griper for petroleumsrør
JP6374303B2 (ja) * 2014-11-13 2018-08-15 株式会社Taiyo 電動グリッパ装置
NO20141449A1 (no) * 2014-12-02 2016-06-03 Robotic Drilling Systems As Griper med dreiemidler
NO20161219A1 (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
US20200370378A1 (en) 2020-11-26
EP3488071A1 (en) 2019-05-29
EP3760829A1 (en) 2021-01-06
CA3030952A1 (en) 2018-01-25
SG11201900412VA (en) 2019-02-27
WO2018016964A1 (en) 2018-01-25
NO341317B1 (en) 2017-10-09
US11078734B2 (en) 2021-08-03
SA519400934B1 (ar) 2023-02-05
US20190284886A1 (en) 2019-09-19
EP3488071A4 (en) 2020-03-11
EP3488071B1 (en) 2020-10-28
US10774601B2 (en) 2020-09-15
NO20161219A1 (en) 2017-10-09

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