US 12,078,278 B2
Robotic tools for tubulars repair
Hasan Ali Al-Hashmy, Dhahran (SA); Abdullah Alzubail, Saihat (SA); Abderrahim Fakiri, Dhahran (SA); and Abdullatif Jazzar, Al Khobar (SA)
Assigned to Saudi Arabian Oil Company, Dhahran (SA)
Filed by Saudi Arabian Oil Company, Dhahran (SA)
Filed on Oct. 11, 2021, as Appl. No. 17/498,395.
Prior Publication US 2023/0113354 A1, Apr. 13, 2023
Int. Cl. F16L 55/1645 (2006.01); F16L 55/165 (2006.01); F16L 55/175 (2006.01); F16L 55/32 (2006.01); F16L 55/40 (2006.01); F16L 101/18 (2006.01)
CPC F16L 55/1645 (2013.01) [F16L 55/1656 (2013.01); F16L 55/175 (2013.01); F16L 55/32 (2013.01); F16L 55/40 (2013.01); F16L 2101/18 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic tool for repairing a pipe in-situ, the robotic tool comprising:
a robotic body with an annular, cylindrical configuration with a first end and a second end opposite the first end, the robotic body having an inner surface defining an axis;
a printing arm attached to the inner surface of the robotic body using a track, the printing arm circumferentially movable along the inner surface of the robotic body;
a printing head attached to the printing arm, the printing head movable radially along the printing arm and axially relative to the printing arm; and
a plurality of legs positioned at axial intervals around the robotic body, extending longitudinally from the robotic body, each leg of the plurality of legs having a first end pivotably attached to the robotic body and a second end spaced apart from the robotic body along the axis and pivotable to transition between an open position in which the leg extends in a direction of the axis and a closed position in which the leg extends at an angle to the axis with the second end of the leg conforming to a size of the pipe.