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. 14, 2016
Filed:
May. 22, 2013
Dominik Brouwer, Hannover, DE;
Joerg Lehr, Celle, DE;
Dominik Brouwer, Hannover, DE;
Joerg Lehr, Celle, DE;
BAKER HUGHES INCORPORATED, Houston, TX (US);
Abstract
An apparatus for manipulating objects include a plurality of actuators distributed on a rig. The actuators cooperate to orient and move the well equipment. Each actuator may include at least one non-rigid tension member configured to engage the well equipment, and at least one sensor generating a signal representative of at least one parameter of: (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members. The actuators may also each include a drum guiding each of the at least one non-rigid tension members and a motor rotating each drum. The apparatus further includes a controller in communication with the actuators, the controller being programmed to move the object based on the at least one sensor signals.