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1. 发明申请

US20110186556A1 HYBRID AUTOMATED WELDING SYSTEM 审中-公开
标题翻译：混合自动焊接系统
公开(公告)号：US20110186556A1
公开(公告)日：2011-08-04
申请号：US12866669
申请日：2009-02-06
申请人： Carl A. Heinrich , Abdolreza Abdollahi , Jose Mendoza , Andreas Boll
发明人： Carl A. Heinrich , Abdolreza Abdollahi , Jose Mendoza , Andreas Boll
IPC分类号： B23K9/00
CPC分类号： B23K33/006 , B23K9/0282 , B23K37/027 , B23K37/0276 , B23K37/0426 , B23K37/0533 , B23K2101/06
摘要： A system for welding work pieces together comprises a support assembly configured to permit movement of an end effector assembly throughout a range of operating positions, and an end effector assembly comprising a platform arm pivotally coupled to the support assembly. Radial and longitudinal slide assemblies are coupled between the platform arm and a platform. A rotary actuator is mounted on the platform. A torch arm is coupled to the rotary actuator and extends along an axis of rotation of the rotary actuator. The torch arm has a torch holder at an end thereof configured to hold a welding torch. The rotary actuator can selectively twist the torch arm such that the welding torch undergoes a weaving motion. The system may be operated fully automatically under control of a controller, or in a hybrid mode wherein real time user intervention is permitted to adjust motion and/or operation of the torch.
摘要翻译：用于将工件焊接在一起的系统包括构造成允许端部执行器组件在整个操作位置范围内移动的支撑组件，以及包括枢转地联接到支撑组件的平台臂的端部执行器组件。径向和纵向滑动组件联接在平台臂和平台之间。旋转执行器安装在平台上。割炬臂联接到旋转致动器并且沿着旋转致动器的旋转轴线延伸。割炬臂在其端部具有焊炬架，其构造成保持焊炬。旋转致动器可以选择性地扭转割炬臂，使得焊炬进行编织运动。该系统可以在控制器的控制下完全自动地操作，或者在允许实时用户干预来调节手电筒的运动和/或操作的混合模式中。

2. 发明授权

US07878254B2 Systems, apparatus, and methods for autonomous tripping of well pipes 有权
标题翻译：井管自动跳闸的系统，设备和方法
公开(公告)号：US07878254B2
公开(公告)日：2011-02-01
申请号：US12334173
申请日：2008-12-12
申请人： Abdolreza Abdollahi , Carl A. Heinrich
发明人： Abdolreza Abdollahi , Carl A. Heinrich
IPC分类号： E21B19/00
CPC分类号： E21B19/14 , Y10T74/20305
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.
摘要翻译：一种耦合到油井服务或钻井平台的机器人系统，其包括在固定位置处联接到所述平台的基座，通过桅杆枢转接头枢转地联接到所述基座的桅杆，所述桅杆枢转接头允许所述桅杆围绕桅杆轴线旋转，用于围绕所述桅杆枢转接头可控地旋转所述桅杆的桅杆致动器，联接到所述桅杆并相对于所述桅杆轴线沿径向移动的臂;用于沿所述径向方向可控地移动所述臂的臂致动器，通过端部执行器枢转接头枢转地联接到臂的端部，允许端部执行器围绕大致平行于桅杆轴线定向的端部执行器轴线旋转;以及端部执行器致动器，用于围绕端部执行器枢转接头可控地旋转端部执行器。末端执行器包括至少一个抓握构件，其可操作以在抓握构件致动器的控制下选择性地抓住细长物体。

3. 发明申请

US20090159294A1 SYSTEMS AND METHODS FOR AUTONOMOUS TRIPPING OF OIL WELL PIPES 有权
标题翻译：用于自润滑油管的系统和方法
公开(公告)号：US20090159294A1
公开(公告)日：2009-06-25
申请号：US12334173
申请日：2008-12-12
申请人： Abdolreza Abdollahi , Carl A. Heinrich
发明人： Abdolreza Abdollahi , Carl A. Heinrich
IPC分类号： E21B19/14 , E21B19/16 , E21B19/00 , B25J18/00
CPC分类号： E21B19/14 , Y10T74/20305
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.
摘要翻译：一种耦合到油井服务或钻井平台的机器人系统，其包括在固定位置处联接到所述平台的基座，通过桅杆枢转接头枢转地联接到所述基座的桅杆，所述桅杆枢转接头允许所述桅杆围绕桅杆轴线旋转，用于围绕所述桅杆枢转接头可控地旋转所述桅杆的桅杆致动器，联接到所述桅杆并相对于所述桅杆轴线沿径向移动的臂;用于沿所述径向方向可控地移动所述臂的臂致动器，通过端部执行器枢转接头枢转地联接到臂的端部，允许端部执行器围绕大致平行于桅杆轴线定向的端部执行器轴线旋转;以及端部执行器致动器，用于围绕端部执行器枢转接头可控地旋转端部执行器。末端执行器包括至少一个抓握构件，其可操作以在抓握构件致动器的控制下选择性地抓住细长物体。

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