US 12,435,582 B2
Robotic system for making or breaking a riser
Craig McCormick, Houston, TX (US); Michael Coady, Houston, TX (US); John Martin, Houston, TX (US); James Lippold, Houston, TX (US); Michael Willey, Houston, TX (US); and Shane McClaugherty, Houston, TX (US)
Assigned to TRANSOCEAN SEDCO FOREX VENTURES LIMITED, Hamilton (BM); and STEBBINS INNOVATIONS, LLC, Houston, TX (US)
Filed by TRANSOCEAN SEDCO FOREX VENTURES LIMITED, Grand Cayman (KY); and Stebbins Innovations, LLC, Houston, TX (US)
Filed on May 21, 2024, as Appl. No. 18/670,291.
Application 18/670,291 is a continuation of application No. 18/225,945, filed on Jul. 25, 2023, granted, now 12,006,779.
Application 18/225,945 is a continuation of application No. 17/987,243, filed on Nov. 15, 2022, granted, now 11,708,729, issued on Jul. 25, 2023.
Application 17/987,243 is a continuation of application No. 17/402,265, filed on Aug. 13, 2021, granted, now 11,499,383, issued on Nov. 15, 2022.
Application 17/402,265 is a continuation in part of application No. PCT/US2021/038501, filed on Jun. 22, 2021.
Claims priority of provisional application 63/084,824, filed on Sep. 29, 2020.
Prior Publication US 2024/0309714 A1, Sep. 19, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. E21B 19/16 (2006.01); B25J 9/16 (2006.01); E21B 17/08 (2006.01)
CPC E21B 19/165 (2013.01) [B25J 9/1697 (2013.01); E21B 17/085 (2013.01); G05B 2219/40306 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A system configured to make or break a riser having a riser joint, the system comprising:
(a) a robotic system having:
one or more robotic arms, each having six degrees of freedom, and
a multi-function tool disposed on one of the one or more robotic arms, the multi-function tool having a socket, a driver operatively coupled to the socket and configured to rotate the socket, and a fork tool assembly having a retaining fork disposed in proximity to the socket and configured to pick and place an object using the retaining fork; and
(b) a control system having:
a robot controller in communication with the one or more robotic arms and configured to control the one or more robotic arms;
wherein the robot controller is configured to: (1) determine a location and orientation of an object; and (2) transmit signals to the one or more robotic arms based on the determined location and orientation of the object.