The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 21, 2022
Filed:
Feb. 02, 2021
Applicant:
National Oilwell Varco, L.p., Houston, TX (US);
Inventors:
Hyo Sang Moon, Houston, TX (US);
Dominick Mancuso, Tomball, TX (US);
Justin Benjamin Kinney, Katy, TX (US);
Assignee:
NATIONAL OILWELL VARCO, L.P., Houston, TX (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
E21B 19/087 (2006.01); E21B 19/06 (2006.01); B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
E21B 19/087 (2013.01); B25J 9/1687 (2013.01); E21B 19/06 (2013.01);
Abstract
A pipe handling system for handling drill pipe may include a lifting system configured for handling a load of a pipe stand and a pipe handling robot configured for manipulating a position of the pipe stand. The robot may include an end effector configured for engaging the pipe stand. The system may also include a controller configured for controlling the pipe handling robot to maintain the end effector in substantial alignment with the pipe stand using a vector constraint.