Abstract: A system that can include a robotic arm with a wrist joint rotationally coupled at one end, where the wrist joint manipulates a tool during a ground operation for a vehicle, the wrist joint can include a first end coupled to the robotic arm, a second end coupled to the tool, and a tool motor coupled to the second end and configured to rotate the tool relative to the wrist joint about a tool axis, where the tool motor rotates with the tool about the tool axis. A method that can include rotationally coupling one end of a wrist joint to a robotic arm and a tool to the other; manipulating the tool via the wrist joint, rotating, via a tool motor, the tool relative to the wrist joint about a tool axis; and rotating the tool motor with the tool about the tool axis.

Abstract: A system that can include a cavity extending below ground and having a support structure, and a robotic arm that rotates from a stowed position within the cavity to a deployed position, where at least a portion of the robotic arm extends from the cavity in the deployed position. A method that can include operations of forming a cavity that extends below ground, disposing a support structure in the cavity, coupling a robotic arm to the support structure, and rotating the robotic arm from a stowed position within the cavity to a deployed position, where at least a portion of the robotic arm extends from the cavity in the deployed position.

Abstract: A system including a stabbing guide with a plurality of guide elements, an engaging element, and a linkage assembly that couples the plurality of guide elements to the engaging element, where rotation of the engaging element relative to the plurality of guide elements drives the linkage assembly and, via the linkage assembly, moves the guide elements radially relative to a center axis of the stabbing guide.

Abstract: A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include: a main body comprising a housing; a powered clamping system; a controlled atmosphere volume disposed within the housing or within the clamping system; and an electrical component disposed within the controlled atmosphere volume. In some embodiments, the controlled atmosphere volume may comprise an EX-certified volume and the electrical component may be disposed within the EX-certified volume, such that the electrical component may be disposed in the EX-certified volume that is disposed in the housing and/or an EX-certified volume that is disposed in the clamping system, such as in an electrically powered tong.

Abstract: A system for performing a subterranean operation that can include a plurality of tools, and a gripper conveying means configured to connect with any one of the plurality of tools and perform a first operation on a rig. The system can also include tools with an encapsulated chamber having electronic components contained therein with the tools in compliance with an explosion-exposed (EX) certification.

Abstract: A system including a stabbing guide with a plurality of guide elements, an engaging element, and a linkage assembly that couples the plurality of guide elements to the engaging element, where rotation of the engaging element relative to the plurality of guide elements drives the linkage assembly and, via the linkage assembly, moves the guide elements radially relative to a center axis of the stabbing guide.

Abstract: A pipe guide comprising a first arm comprising a first set of guides; and a second arm comprising at least one guide, wherein all guides of the first set of guides are adapted to bias against an external portion of a pipe, and wherein a pressure of each of the guides against the pipe is adapted to be above a threshold pressure necessary to guide a secondary pipe relative to the pipe. In an embodiment, the first set of guides comprises a plurality of bodies and at least one of the bodies of the first set of guides is adapted to be rotatable about a rotational axis with respect to the first arm.

Abstract: A robot, robotic systems, and methods for conducting a subterranean operation. In some embodiments, a robot may include: a main body comprising a housing; a powered clamping system; a controlled atmosphere volume disposed within the housing or within the clamping system; and an electrical component disposed within the controlled atmosphere volume. In some embodiments, the controlled atmosphere volume may comprise an EX-certified volume and the electrical component may be disposed within the EX-certified volume, such that the electrical component may be disposed in the EX-certified volume that is disposed in the housing and/or an EX-certified volume that is disposed in the clamping system, such as in an electrically powered tong.

Abstract: A linear actuator assembly that can include an electric motor contained in an explosive (EX) certifiable housing, a linear actuator external to the EX certifiable housing, the linear actuator coupled to and driven by the electric motor, the linear actuator having a first axis and a body, and a piston of the linear actuator that extends or retracts relative to the body when the linear actuator is driven by the electric motor, the piston having a second axis, with the first axis and the second axis being parallel and spaced apart. The electrically operated linear actuator assembly can provide up to 700 kN clamping force when engaging a tubular. A plurality of the linear actuator assemblies can provide up to 250 kNm of torsional force to a tubular string joint when used in a wrench assembly.

Abstract: A safety device (20) for attaching to a pipe string (10) comprising a plurality of connected pipe sections (12). The device is configured, comprises a support structure (22) and a clamping arrangement (24) comprising a first engagement member (32) and a second engagement member (34), which clamping arrangement (24) comprises a disengaged state and an engaged state. The support structure comprises a recess (30) adapted to receive the envelope surface of the pipe section. The first engagement member and the second engagement member are arranged in different parts of the recess so that opposite sides of the pipe section are clamped between the first engagement member and the second engagement member when the clamping arrangement is in the engaged state.

Abstract: A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.

Abstract: A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.

Abstract: A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.

Abstract: A safety device (20) for attaching to a pipe string (10) comprising a plurality of connected pipe sections (12). The device is configured, comprises a support structure (22) and a clamping arrangement (24) comprising a first engagement member (32) and a second engagement member (34), which clamping arrangement (24) comprises a disengaged state and an engaged state. The support structure comprises a recess (30) adapted to receive the envelope surface of the pipe section. The first engagement member and the second engagement member are arranged in different parts of the recess so that opposite sides of the pipe section are clamped between the first engagement member and the second engagement member when the clamping arrangement is in the engaged state.

Abstract: A system for performing a subterranean operation that can include a plurality of tools, and a gripper conveying means configured to connect with any one of the plurality of tools and perform a first operation on a rig. The system can also include tools with an encapsulated chamber having electronic components contained therein with the tools in compliance with an explosion-exposed (EX) certification.

Abstract: A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm.

Abstract: A pipe guide comprising a first arm comprising a first set of guides; and a second arm comprising at least one guide, wherein all guides of the first set of guides are adapted to bias against an external portion of a pipe, and wherein a pressure of each of the guides against the pipe is adapted to be above a threshold pressure necessary to guide a secondary pipe relative to the pipe. In an embodiment, the first set of guides comprises a plurality of bodies and at least one of the bodies of the first set of guides is adapted to be rotatable about a rotational axis with respect to the first arm.

Abstract: A gripping device for gripping and spinning a pipe body of various diameters includes a gripping assembly having a pair of gripping arms for gripping the outer surface of the pipe body, and a spinning device having a pair of rollers for spinning the pipe body as it is engaged by gripping arms. The gripping device also includes a rotatable input shaft and a coupler. The coupler connects the rotatable input shaft to the gripping assembly and to the spinning device and is employed to selectively engage the gripping arms and the spinning device. A brake is provided so as to selectively prevent at least one of the gripping assembly and the spinning device from being operated upon rotating the rotatable input shaft.

Abstract: A gripper for gripping and spinning a pipe body includes: a rotatable input shaft; a gripping means for gripping the pipe body; a spinning means for spinning the pipe body while it is being gripped by the gripping means; a coupling means for connecting the rotatable input shaft to the gripping means and to the spinning means and for selectively engaging the gripping means and the spinning means ; and a braking means configured to engage the differential coupling means so as to selectively prevent at least one of the gripping means and the spinning means from being operated upon rotating the rotatable input shaft. The coupling means may comprise a differential coupling.

Abstract: An insulated hose for a high voltage paint application apparatus including an inner hose containing a fluid or paint charged at a high voltage. The flexible inner tube hose is arranged inside at least one flexible mechanical protection tube or layer and an air excluding medium is enclosed between flexible inner tube and first flexible mechanical protection layer. A mechanical protection layer may be surrounded by an electrical protection layer which is grounded. A system for applying paint or other fluid materials at a high voltage is also described.