WO2018166927A1

WO2018166927A1 - Handling device for use in the mast of a drilling rig and method for moving drill rods or drill pipe elements

Info

Publication number: WO2018166927A1
Application number: PCT/EP2018/055988
Authority: WO
Inventors: Arend Lödden; Gustaaf Martin RUS
Original assignee: Bentec Gmbh Drilling & Oilfield Systems
Priority date: 2017-03-15
Filing date: 2018-03-10
Publication date: 2018-09-20
Also published as: DE102017204352A1; EA039871B1; EP3433464A1; EA201990691A1; EP3433464B1

Abstract

The invention relates to a handling device (20) for use in the mast (10) of a drilling rig and for moving drill rods (12) or drill pipe elements (14), and to a method for operating same, wherein the handling device (20) comprises a base (52) which is vertically movable in or on the mast (10), wherein the handling device (20) has, on the base (52), an arm (54) which is movable about an axis of rotation (R1), wherein the axis of rotation (R1) is parallel or at least substantially parallel to the mast (10) or a movement path of the handling device (20) in or on the mast (10), wherein the arm (54) is pivotable about at least one pivot axis (R2).

Description

HANDLING DEVICE FOR USE IN THE MAST OF A DRILLING SYSTEM AND PROCESSING FOR MOVING DRILLING BARS OR DRILLING ELEMENTS

description

5 Handling device for use in the mast of a drilling rig and for moving boring bars or drill string elements, method for operating such a handling device and drilling rig with such a handling device

The invention relates firstly to a handling device which is for use in the mast of a drilling rig, as well as

intended and arranged for moving boring bars or drill pipe elements. The invention relates in width ^¬ ren a drilling rig with such a handling apparatus,

15 a method for operating such a handling device and a method for operating a drilling rig with egg ^¬ ner such handling device. Finally, the concerns

Invention also a drilling rig with such a handling ^¬ device.

20

From US 7,246,983 B a generic handling ^¬ apparatus for use in the mast of a drilling rig is known,

when using a Scherenhubmechanik a gripper between

Borehole center and a position above one to turn off

25 Bohrgestängeelementen certain, so-called finger stage

is pivotable. Due to the pivoting movement arise

different heights of the free end of Scherenhubmecha ^¬ nik, so that the gripper to compensate for these height differences by means of a device provided for this purpose in

30 tikaler direction is movable. To reach different positions within the finger stage is another

axial positioning of the gripper, namely in horizontal ^¬ ler direction, necessary. For this, the device of the US 7,246,983 B at the free end of the scissor lift mechanism along the free end of the scissor lift mechanism movable device in the manner of a trolley, which carries the Vertikalbe ^¬ movement of the gripper enabling unit.

Such an embodiment of a product intended for use in the mast of a drilling rig handling apparatus is comparatively complicated and also has adverse effects on restric ^¬ with respect to their range of motion.

An object of the invention is accordingly therein, an intended for use in the mast of a drilling rig and for moving Bohrgestängeele ^¬ elements specific handling apparatus to provide a further embodiment, and in particular such a handling device which has at least some disadvantages of the known prior art handle lo ^¬ imparting apparatus avoids. Another object of the dung OF INVENTION ^¬ is to provide a simple and efficient method for operating a handling apparatus of the proposed here antigenic type.

This object is achieved by means of a provided for Verwen ^¬ tion in the mast of a drilling rig and intended for moving boring bars or drill pipe elements and hereinafter referred to as handling device machine with the features of claim 1. The handling device is vertically movable in or on the mast and comprises a movable arm and at the free end of the arm a tool for detecting a portion of a Bohrge ^¬ rod element, for example a tool in the form of a so-called ^¬ called Elevators or a tool in the form of a gripper. The arm is attached to a unit referred to below as the base. unit of the handling device attached. Due to the mobility of the handling device on the one hand vertically in or on the mast and on the other hand the mobility of the arm of the handling device, the handling device has at least three degrees of freedom. The first degree of freedom is the vertical mobility of the entire handling device in or on the mast. The second degree of freedom is a Rotary, ^¬ friendliness of the arm of the handling device relative to its base. The third degree of freedom is pivotal mobility of the arm relative to the base. The handling device thus comprises the base movable vertically in or on the mast and the arm which is movable on the base about an axis of rotation and pivotable about a pivot axis. The axis of rotation is paral ^¬ lel or at least substantially parallel to the mast or to a trajectory of the handling device in or on

Mast. The pivot axis lies in a plane which is perpendicular or at least substantially perpendicular to the mast or ei ^¬ ner movement path of the handling device in or on the mast.

By means of a comparatively simple kinematics, this results in a handling device which is characterized by extremely flexible movement possibilities. By assuming as the z-axis of a Cartesian coordinate system an axis pointing from the center of the hole to the mast crown, the arm can move the tool to essentially any x and y position. By means of the vertical movement of the handle lo ^¬ imparting apparatus or the accessibility differents ter ^¬ z positions is added. By means of the proposed single fold kinematics of the handling apparatus can therefore achieve almost the tool every spatial point of the Cartesian Coordina ^¬ tensystems, wherein restrictions in the z-direction due to the amount of vertical mobility in or on the Mast and constraints in the x, y direction, essentially due to the effective length of the arm.

By means of the handling device is - due to the verti- cal mobility - the one hand, a drill rod or a drill string in a horizontal or in Wesentli ^¬ chen horizontal orientation at the level of the so-called

Drillfloor the drill rig taken over, erectable in a vertical orientation and raised in the vertical orientation at the level of the so-called finger stage of the drilling rig.

Means of the same handling device is the other part - due to the movement of the tool in the x- and y-direction - a drill rod or a drill string in a ver ^¬ tical or substantially vertical orientation from a position in the racking in a position in the borehole movable, in particular in the position referred to as the center of the hole movable, and vice versa. Further, by means of the same handling device, a boring bar or drill string element can be moved vertically to a position above the so-called mouse hole or from the mouse hole into a position above the borehole, in particular into the position borehole center, or from the mouse hole into a position in the region of the finger stage. One and the same machine, namely the machine described here and hereinafter as a handling device, thus assumes a plurality of functions for which individual machines were previously provided, namely as far as the movement from or to the finger stage and from or to the center of the hole is concerned Function of a mounted under the finger stage Pipehand- lers, and as far as the function of erecting a Bohrstan ^¬ ge or a drill string element in a vertical Orien ^¬ tion is affected, the function of a Topdrive Elevators. The peculiarity of the subject handling device It also consists in the fact that the described handling ^{¬ processes} can be done in parallel to the current drilling operation and that, for example, the drilling operation for filling the finger stage with drill string elements must not be interrupted. Furthermore, the drilling operation for combining multiple boring bars to obtain a drill string member referred to in the terminology as a double (two boring bars) or as a triple or stand (three boring bars) must not be interrupted. The handling operations described take place not only optional time in parallel to the drilling operation, but also spatially parallel to a BEWE ^¬ supply area of a provided in the mast to rotate the drill string in the borehole top drive or the like, because of the vertical movement range of such a top drive or the like in the mast and the vertical range of motion of the subject handling device in or on the mast is in parallel or at least substantially parallel but spaced apart planes. The vertical range of motion of the Topdrive or the like is above the well center and along a designated in the specialist terminology as Centerli ^¬ ne drill hole center axis. The vertical movement range of the subject ^¬ handling device extends along an axis parallel to the borehole central axis, or at least substantially parallel, but spaced apart from the hole center axis of the imaginary line.

From US 2016 312 548 A a device in the manner of a trolley is known, which is movable in the mast of a drilling rig in the vertical direction. Attached to the device is a topdrive, which is movable by means of the device in a manner otherwise generally known per se. The device thus takes the place of an otherwise provided for Verti ^¬ cal movement of Topdrive lifting. From WO 2014 179 727 Al a ( "Stand Builder") handling apparatus is known which is movable in the vertical direction along a guide and a transverse having rotatable tool to the plane of the guide. In this way, the handling device can with ^¬ means of a When drilling, the inclination of the drill rod changes and starting from the initially horizontal position, the drill rod passes more and more in a vertical Positi ^¬ on. Due to the rotatability on the level of the Drillfloor substantially horizontal boring bar and erected by an upward movement along the guide of the tool can follow this Ände ^¬ tion of inclination of the drill string and maintain the drill rod during erection. A recorded by means of the handling device boring bar can then be in the so-called mousehole ( "mouse hole") are turned off. Then the handling device is free again to receive and erect another boring bar. In an upright configuration, this drill rod can be connected to the drill rod placed in the mouse hole. Such a combina ^¬ tion of two drill rods is a drill pipe element, which is referred to in the technical terminology as a double. The Bohrge ^¬ stängeelement (double) can be pulled out by means of the Handhabungsvorrich ^¬ tung from the mouse hole and a total amount with a second in a previously by means of the handling device

Mauseloch parked drill rod to be connected. Such a combination of three drilling rods is a drill string, which will be ^¬ draws in technical terminology as a triple or stand. The handling device of

WO 2014 179 727 AI thus acts as a device for combi ^¬ renieren boring bars to Doubles or Stands ("Stand Buil- der"). From US 7,967,540 a Handhabungsvorrich ^¬ processing to combine drill rods is also known. This is vertically movable in the mast by means of a cable system and comprises a pivoting sleeve, by means of which the threaded portion of a drill rod can be contacted. A horizontally incoming drill rod is detected by means of the Man ^¬ cuff and erected by pulling the handling apparatus in the mast by means of the handling device. An upright drill rod can be transferred to a Fachtermi- in the technology known as Traveling block so-called specific Unterfla ^¬ (clamp) of a certain vertical movement of the drill string to the pulley mechanism. The drill rod is also held there by means of a cuff, such as the hand ^¬ habungsvorrichtung. Thereafter, by means of the handling device, a further drill rod can be erected and the drill rod previously transferred to the traveling block can be pulled up to the upper edge of the drill rod erected by means of the handling device. Now the first two boring bars can be connected to each other (double) and pulled up in the connected state by means of the traveling block in the mast. Subsequently, these are connected to a raised by means of the handling device third boring bar. The handling device straightens the individual drill rods. To combine the boring bars to obtain doubles or stalls, the hoist with the moving traveling block provided for raising and ^lowering the entire drill string is necessary. Because the lift is not available for actual drilling and holding the drill string downhole when joining doubles or stalls, it is not possible to speak of an offline stand building. Are known from US 6,997,265 a method and a device for "off-line state Building" (combining drill rods to Doubles or article while parallel fortge ^¬ sets of drilling operation is) is known. Here, a further mast is in addition to the drilling mast necessary to the By rotating the mast with the handling device, an upright boring bar can be brought to a position above the mouse hole and lowered there by lowering the handling device A drill pipe element in the form of a stand is pulled up by means of the handling devices from the mouse hole and mounted by turning the mast to a mounted in the drilling mast Pipehandler passed, which puts the drill string element either in a finger stage or brings to combine with the drill string on center of the hole.

With regard to the method for operating a handling device as described here and below, the object formulated above is achieved by means of a method having the features of the independent method claim corresponding to claim 1. In such an operating method it is provided that the handling device for moving boring bars or drill string elements in the vertical direction is moved in or on the mast and / or the arm of the handling device is rotated about the axis of rotation and / or pivoted about the pivot axis. Expedient Weiterbildun ^¬ gen of this process are the subject of rückbe on these ^¬ covered dependent claims. For further description is to avoid unnecessary repetition that features and details that are in co ^¬ hang with the above and described below with further mitun- ter optional details described method for operating a handling device and any refinements, of course, also in connection with and in view of the established for carrying out the method handling device and are reversed so that the method can be trained by means of one or more features of the method, the running on of, or by means of the handling device process ^¬ steps apply, and the handling device correspondingly by Means for carrying out procedural steps carried out in the course of the proceedings. According to apply features and details that are described together ^¬ menhang with said method for operation of the handling device and any embodiments, of course, also in connection with, and with a view to the particular for performing the method Hand ^¬ habungsvorrichtung and each reversed so that with respect to the disclosure of the individual aspects of the invention is always mutually referred or can be. The advantage of the invention lies first and foremost in the simple yet powerful kinematics of the handling device. The handling device is movable in three degrees of freedom, namely translationally along the mast and rotationally on the one hand about the axis of rotation and on the other hand about the pivot axis. In this way, for a tool mounted at the end of the arm of the handling device, each point in an imaginary cylinder can be reached, the vertical axis of which runs parallel to the vertical axis of the mast of the drilling rig and thus sen radius is determined by the effective length of the arm of the handling ^¬ device.

Advantageous embodiments of the invention are the subject of the dependent claims. The references used therein intra ^¬ half of claims indicate further developments of Ge ^¬ gens tandes of the referenced claim by the watch ^¬ times of the respective dependent claim. They are not to be construed as a waiver of the right to independent, overall genständlichen protection for the features or feature combi ^¬ nations of a dependent claim. Furthermore, with regard to an interpretation of the claims and the description in a more detailed specification of a feature in a dependent claim, it is to be understood that such a restriction does not exist in the respective preceding claims and a more general embodiment of the subject method / apparatus. Any reference loading in ^¬ write-on aspects of dependent claims is therefore expressly to read even without specific reference as a description of optional features. Finally, it should be noted that the method mentioned here can also be developed according to the dependent apparatus claims from ^¬ and vice versa.

In addition, it should be noted that the claims filed with the application are formulation proposals without prejudice to the achievement of further patent protection. In particular, since the characteristics of the dependent claims in light of the prior art on the priority form separate and independent inventions Kings ^¬ nen, the applicant reserves the right to this or that have so far revealed only in the description and / or drawing Feature combinations to make the subject of independent claims or divisional statements. They may also contain independent inventions having an independent of the objects of the respective claims in each case related design.

In one embodiment of the handling device, its base is in or on the mast between a position where the tool can capture a drill rod or drill rod combined in a horizontal or substantially horizontal orientation in the area of a drill floor of the rig in a horizontal or substantially horizontal orientation, and a position the combined boring bars by means of the tool in egg ^¬ ner finger stage of the drilling rig can be adjusted, movable. Accordingly The proposed handling apparatus different from a sometimes referred and in the specialist terminology as Iron Derrikman mounted below the racking machine by the movement possibility in Vertika ^¬ ler direction. Only by the special possibility of movement in the vertical direction, in particular the possibility of movement down to the Drillfloor, with one and the same machine, namely the handling device proposed here, the inclusion of fed to the drill floor boring bars and the setting off of Bohrbangen formed Bohrgestängeelementen in the Finger stage possible.

In a particular embodiment of the handling device it is movable in the vertical direction along the mast on a distance from a Bohrlochmittelachse and parallel to the Bohrlochmittelachse or at least substantially parallel handling device center line. The mobility along the beab ^¬ stan Deten from the borehole central axis handling device center axis permits a from the other drilling operation temporally and spatially independent operation of the handling device. By this temporal and spatial independence, for example by means of the handling device (temporally and spatially) parallel to the current drilling operation boring bars to two or more drill rods comprehensive drill string elements for use in drilling operation combined and maintained for use in Bohrbe ^¬ drive. The above-mentioned object is achieved also described by means of a control device for controlling a ^¬ handling apparatus as used herein and in the following, wherein said control means operates according to the process described here and in the following method and comprises for this purpose means for carrying out the method. The method described below is preferably implemented in the form of a computer program for automatic or semi-automatic execution or also for execution in a so-called manual mode. The invention is on the one hand to a computer program with computer-executable program code instructions and on the other hand, a storage medium having such a computer program, that is a computer program product with Programmcodemit ^¬ stuffs, and finally a control device, in its memory as a means for carrying out the method and its embodiments, a such computer program is loaded or loadable.

When are described ^¬ follow below steps or step, this refers to actions to be performed under the computer program or under control of the computer program, unless expressly noted that individual actions are initiated by a user of the handling device. At least any use of the term suggests "automatic" that the action in question is due to the computer program or under control of the computer program. Instead of a computer program by individual program code ^¬ instructions can be done to implement the method described herein below and in the form of firmware. The skilled worker it is clear that a Implementati- on is possible instead of a Implementati ^¬ on a process in software is always in firmware or in firmware and software or firmware and hardware. Therefore, to apply to the question referred to here be ^¬ scription that of the Term software or the terms control program and computer program also other implementation options, namely in particular an implementation in firmware or in firmware and software or in firmware and hardware, are included.

An embodiment of the invention will be explained in more detail with reference to the drawing. Corresponding objects or elements are provided with the same reference numerals in all figures.

The embodiment is not intended to limit the He ^¬ making. Rather, the scope of the present disclosure quite also additions and modifications are possible, in particular those which contained, for example, by Kombina ^¬ tion or modification of detail in conjunction with those described in the general or specific part of the description and in the claims and / or the drawing Characteristics or method steps for the expert with regard to the solution of the problem can be removed and lead by combinable features to a new subject or to new ^¬ en process ^steps or process steps. Show it

1 shows a vorgese ^¬ for use in the mast of a drilling rig and for moving drill pipe elements specific handling device,

Fig. 2 the mast of a drilling rig with a movable thereto

Handling device according to FIG. 1,

3 shows a section through the mast transversely to its vertical axis with a view of the mast in the vertical direction (along the vertical axis of the mast) movable handling device according to FIG. 1,

Fig. 4, the handling device of FIG. 1 without the

Mast,

5 shows the handling device according to FIG. 4 in a side view and with different pivoting positions of an arm of the handling device, FIG.

Fig. 6 different vertical positions of the handling ^¬ device according to Fig. 1 and Fig. 4 on the mast,

Fig. 7 and

8 shows snapshots when picking up a boring bar by means of the handling device,

9 is a snapshot when connecting a drill rod with another drill rod to obtain a drill ^¬ rod element temporally and spatially parallel to and independent of the drilling operation,

10 shows the handling device according to FIG. 1 and FIG. 4 above a finger stage attached to the mast.

Fig. 11,

Fig. 12 and

Fig. 13 snapshots when removing a Bohrgestängeele- ment from a finger stage on the mast and

Flg. 14 a control device for automatic or

semi-automatic operation of the handling device. The illustration in FIG. 1 shows an embodiment of a handling device 20 of the type proposed here for use in a mast 10 of a drilling rig and for moving boring bars 12 (FIGS. 6, 7 and 8) or drill pipe elements 14 (FIG. 9).

The handling device 20 is vertically movable in total or in the mast 10. In the illustration in Figure 1 and in the other figures, an embodiment is shown in which the handling device 20 on the mast 10 is vertically movable ^¬ Lich, namely at the so-called front corner stems 22, 24 of the mast 10 (Masteckstiele 22, 24). For this, the handle lo ^¬ imparting apparatus is performed on the Masteckstielen 22, 24 20, for example by attaching to the Masteckstielen 22, 24 each have a leadership profile 26, 28 (Fig. 3). The guide ^profiles 26, 28 can be positively contacted by means of corresponding guide ^counterparts 30, 32 of the handling device 20. As an alternative to such a guide in or on the mast 10, for example, an adapter frame connected to the mast 10 (not shown) is also possible. Such an adapter frame is - for example, in the context of retrofitting - mountable on the mast 10 and is mounted to operate the handling device 20 on the mast 10, for example by the adapter frame welded to the mast 10 and / or screwed or is. The adapter frame is mounted, for example, indirectly or directly on the mast 10, in particular on the front Masteckstielen 22, 24, for example by means of a plurality of spacers between the mast 10 and adapter frame. The adapter frame then forms a plane parallel to one side of an envelope surface of the mast 10. Such an adapter frame is placed on the width of the handling device 20, so that the handling device 20 along the adapter frame parallel to the mast 10 in the vertical direction on the mast 10 is movable ^¬ Lich. Such an adapter frame is in the broadest sense a rectangular structural element whose width is determined by the width of the handling device 20 and which is aligned with its largest longitudinal axis parallel or at least substantially ^¬ parallel to the vertical axis of the mast 10. For the vertical movement of the handling device 20 includes fully the adapter frame along the vertical in the mounted state portions of a guide profile 26, 28 of the above-be ^¬ type described or at least a rack or derglei ^¬ surfaces or at least a vertical portion of the adapter frame acts as such a guide profile 26 , 28. The illustration in Figure 2 shows the upper portion of a mast 10 of a drilling rig with further details. In the mast 10, a so-called traveling block 34 is movable in a basically known manner by means of a lifting mechanism, not shown. At this hangs a so-called top drive 36, with the Bohrge ^¬ rod is rotated in the well in a conventional manner. In the lower area of the portion of pole 10 shown a so-called finger ^¬ stage 38 is shown. Here are in principle known per se drill pipe elements 14 turned off, for example, when removing the drill string or for combining with the drill string when drilling the hole. Above the finger stage 38, the handling device 20 can be seen. In the embodiment shown, the handling device 20 is vertically movable on the mast 10 by means of a winch 40, for example, mounted in the mast crown. The winch 40 drives a cable pull mechanism on which the handling device 20 hangs by means of a deflection roller 42. The Dar ^¬ position in Figure 2 shows only a snapshot and the illustrated vertical position is to be understood as an example only. The handling device 20 can assume different vertical positions along the mast 10. Instead of a vertical mobility of the handling device 20 by means of the winch 40, alternatively, an embodiment is considered, in which the handling device 20 itself comprises a drive for the vertical movement in or on the mast 10. For this purpose, for example, Be ^¬ tracht that in or on the mast 10, in particular on one of the front Masteckstiele 22, 24 or on the front Masteckstielen 22, 24, a rack or the like is mounted in which a by means of a motor or on the hand ^¬ habungsvorrichtung 20, in particular a hydraulic motor o- the electric motor, driven pinion engages to move the handling device 20 in or on the mast 10 up or down. In a drive of the vertical movement of the handling device 20 by means of a winch 40, this can also be attached to the mast base, away from the mast 10 (for example at the location of a so-called hoist) or on the handling device 20 itself.

The illustration in Figure 3 shows in a schematically simplified manner a section through the mast 10 transverse to its vertical axis. In the illustration, specific exemplary illustrated embodiment in which the handling device is guided on the front Masteckstielen 22, 24 20 by to each front Masteckstiel 22, 24 a guide profile 26, 28 is ^¬ introduced is in the handling apparatus 20 by means of corresponding guide counter profiles 30, 32 engages. Instead of the embodiment shown, in which the handling device 20 encloses by means of their guide counter-profiles 30, 32 of each guide profile 26, 28 U-shaped, of course, an embodiment into consideration, in the guide profile 26, 28 in cross-section U-shaped and the handling device 20 as a guide counter-profile 30, 32 sliding shoes or the like, which engage in such a guide profile 26, 28. Generally, with respect to the guidance of the handling device 20 in or on the mast 10, it only matters that at least one first profile acting as a guide profile 26, 28 acts on the handling device 20 in or on the mast 10 along the movement range provided for the handling device 20 Guide counter profile 30, 32 acting corresponding second

Profile or in each case a corresponding second profile be ^¬ finds and that the or each first profile with or depending ^¬ Weil's a second profile is engaged. The illustration in Figure 3 shows in the center of the mast 10, the position of the wellbore opening 50. The position of the borehole opening 50 defines the central axis of the borehole (see also Figure 6: AI), namely, an imaginary vertical line on drilling ^¬ hole center. For the further description, the axes egg nes imaginary Cartesian coordinate system are as follows defi ned ^¬: The z-axis is parallel to the borehole central axis and shows in mast to mast crown. The associated Richtun ^¬ gene of the x-axis and y-axis are shown in Fig. 3 The entire coordinate system is shown in FIG. 1 and FIG. The vertical mobility of the management device 20 be ^¬ correspondingly indicated a movement along the z-axis and parallel to the borehole central axis. The vertical movement of the handling device 20 takes place at a constant distance dl from the borehole center axis and the vertical movement of the handling device 20 correspondingly defines an additional line parallel to and at a distance from the borehole center axis. The illustration in FIG. 4 shows an isometric view of the handling device 20 without the mast 10. Laterally, the two guide counter-profiles 30, 32 and at the top is the order ^¬ steering roller 42 can be seen with which the handling device 2 0 hangs in the embodiment shown in the guided to the mast ^¬ crown cable pull mechanism. The handling device 20 can be regarded as a combination of an upper or base part 52 and a lower part 54. The base part 52 carries the lower part 54. The lower part 54 is an articulated arm and the lower part 54 is hereinafter referred to as articulated arm 54 or short arm 54. The base 52 may also be referred to as

Platform or support for other devices or aggregates serve. Shown in the embodiment shown in the figures, attached to the base part 52 Winch 5 6, by means of which, for example, outside the mast 1 0 loads move and lift. Furthermore, FIG. 4 shows a hydraulic unit 58 attached to the base part 52, by means of which the force is generated for the articulated mobility of the arm 54 described below.

The diagram in Figure 5 shows the handling device 2 0 in accordance with Figure 4 in a side view and with different pivot positions of the arm ^¬ union 54th The arm 54 comprises a rotatable shoulder segment 60, an arm segment 62 pivotable on the shoulder segment 60 and a tool 64 at the free end of the arm segment 62. In the embodiment shown, the arm segment 62 comprises two brackets arranged in parallel in the form of or in the manner of so-called elevator brackets, as are known from a topdrive 36. At the free end of the bracket, the tool 64 is pivotally mounted, in particular in a manner in which the tool 64 under gravity alone in a horizontal or in the Aligns essentially horizontal orientation. For Tole ^¬ ranzausgleich when receiving a boring bar end, the arm segment 62 below the point of action of the actuator 66 in each bracket on a transverse to the pivot axis R2 effective articulated connection. The tool 64 is manually closed by an operator or automatically or remotely by an operator as the boring bar end is received and opened manually, automatically or remotely to release the boring bar end.

For pivoting of the arm segment 62 in principle, an actuator 66 is in a known way provided, which - in each case at a distance from the pivot axis R2 (Fig. 4) - a ^¬ hand on the shoulder portion 60 and on the other hand hinged to the arm segment 62 is. As an actuator 66, for example, a hydrau ^¬ likzylinder comes into consideration. In the illustration in Figure 5 different pivot positions of the arm segment 62 are shown and with reference to the aforementioned coordinate system (see Figures 1, 2 and 3) shows that the Schwenkbe- mobility of the arm segment 62, a positioning of the work ^¬ zeugs 64 transverse to the z-axis allows. In the illustrated Ori ^{¬-orientation} of the pivot axis R2 of the arm segment 62 (transverse to the plane of the sheet) is possible by means of pivoting of the arm segment 62, a positioning of the tool 64 along the y-axis. However, the orientation of the pivot axis of Armseg ^¬ ment 62 due to the rotation of the shoulder segment 60 about an axis of rotation Rl (Fig. 4) adjustable so that upon rotation of the shoulder segment 60 by + 90 ° or -90 ° in Ver ^¬ equal to the shown in Figure 5 situation (at a

Pivoting range of, for example, about + 120 ° to about -120 °) positioning of the tool 64 along the x-axis is possible. The rotatability of the shoulder segment 60 is motorized, for example, by means of a toothed rim, in particular der realized by means of a hydraulic motor or an electric motor, drivable rotary connection.

The axis of rotation Rl runs parallel or at least substantially parallel to the mast 10 (to a vertical axis through the

Mast 10) or to a movement path (see FIG. 6: handling device center line A2) of the handling device 20 in or on the mast 10. The pivot axis R2 lies in a plane perpendicular or at least substantially perpendicular to the mast 10 (to a vertical axis through the mast 10) ) or to the trajectory of the handling device 20 in or on the mast 10th

Depending on the respective rotation of the shoulder segment 60 and a pivoting position of the arm segment 62 are - limited by the length of the arm segment 62 and the maximum deflection of the arm segment 62 - with the tool 64 beliebi ^¬ ge x and y positions reachable. With the mobility of the handling device 20 along the z-axis can thus be with the tool 64 in an imaginary cylinder every space point within the cylinder and on the lateral surface he ^¬ ranges. The mentioned imaginary cylinder has a high ^¬ axis parallel or substantially parallel to the vertical axis of the mast 10, a radius that is determined by the length of the Armseg- element 62 and the maximum deflection of the arm segment 62 ^¬ , and a height by the range of movement of the handling device 20 in or on the mast 10 is determined. The mobility of the handling device 20 is again illustrated separately in the lower area of the representation in FIG. 5 by means of the three double arrows there. The handle lo ^¬ imparting apparatus 20 is thus a machine with a translational degree of freedom (movement in the vertical or the mast) and two rotational degrees of freedom (rotation of the Shoulder segment 60 about the rotation axis Rl; Pivotal mobility of the arm segment 62 about the pivot axis R2). The axis of rotation Rl and the pivot axis R2 are shown in the illustration in FIG. The pivot axis R2 is here primarily to distinc- tion from the rotational axis R as a pivot axis designated ^¬ net. In fact, the pivot axis R2 can be understood as a rotation axis, namely as a rotation axis with a limited range of rotation. The tool 64 is, for example, a generally known elevator, in any case a device by means of which one end of a drill rod 12 can be grasped and moved, that is, for example, a device in the form of or in the manner of a pair of pliers or a gripper. The tool 64 preferably engages in a region on the boring bar 12, in which the diameter changes from a bar diameter to a larger diameter of a so-called box (the end of the boring bar having an internal thread is referred to as a box). With the resulting due to the larger box diameter shoulder in the Außenoberflä ^¬ che the drill rod 12, this can hang on the tool 64 and is fixed in the axial direction.

In the illustration in FIG. 3, the tool 64 under the handling device 20 is also shown in the area of the handling device 20. With a vertical movement of the handling device 20 in the mast 10 of the arm 54 depends - in particular because of a deactivated actuator 66 and exclu ^¬ Lich under gravitational influence or because of a corresponding control of the actuator 66 - perpendicular 20 under the hand ^¬ habungsvorrichtung If by means of the handling device 20 a drill rod 12 or a drill pipe element 14 is raised or lowered in or on the mast 10, this depends (at least after erecting means of the handling device 20) and this also perpendicular 20 of the handle lo ^¬ imparting apparatus respect, the position of the tool 64 shown in Figure 3 can also serve as position of a hanging under the handling device 20 the drill rod 12 or of the handling device 20 hanging drill pipe element 14 are considered. A vertical axis is (parallel to the well centerline) by this position, referred to as handling device center axis (see also Figure 6: A2) and the distance from the handling device central axis to the borehole central axis is referred to in depicting ^¬ lung in Figure 3 with d2.

So far, the mobility of the handling device 20 was in the foreground. In the following, the description of the use of the handling device 20 in the operation of the drilling rig turns to. The handling device 20 can be used for various functions during drilling operation. This includes raising boring bars 12 or drill string elements 14 from a horizontal or substantially horizontal position to a vertical position necessary for drilling operation or parking in the finger stage 38. The width ^¬ ren belongs to the feeding of drill string 14 to the well center while drilling of the bore or picking up of drill string 14 to the well center and the temporary storage of recorded drill string 14, for example, in the finger stage 38. Finally, the function of the handling device 20 also includes combining boring bars 12 for obtaining so-called doubles or stands ("stand building").

In the illustration in FIG. 6, the manner known per se is initially based on a substructure in a manner known per se. bende mast 10 in a side view and with unterschiedli ^¬ chen positions of the movable in the embodiment shown on the mast 10 and in another embodiment optionally also in the mast 10 movable handling device 20 shown. Along the mast 10, the Handhabungsvorrich ^¬ tung is 20 to illustrate their vertical movement from the bottom upwards - that is seen from the mast in the direction of the mast crown - shown in different positions, namely in a lower position (U), (a middle position M ) in a position at the level of the finger stage 38 (F) and an upper position (0). Below the substructure and above the mast crown, the borehole center axis AI and the handling device center line A2 are shown with parallel and aufeinan ^¬ pointing arrows.

In the lower position U, the tool 64 is located on the so-called Drillfloor level (Drillfloor 70) or substantially on the Drillfloor level. Here, a boring bar 12 is supplied and received by the handling device 20 by means of the tool 64. Briefly, with regard to this position, it is also referred to that the handling device 20 is located on a drill floor level, even if this applies more to the tool 64 of the handling device 20. The handling device 20 is along the mast 10 between see the lower position U and the upper position 0 and between each position above the lower position U and below the upper position 0 movable and possibly also passes the finger stage 38. The finger stage 38 for this purpose, with a sufficient distance from the mast 10 to the mast 10, and in a special embodiment it is provided that the finger platform 38 has a recess 74 (FIG. 11), which allows the handling device tion 20 during their vertical movement along the mast 10, the finger stage 38 can happen.

In the illustration in FIG. 6, the handling device 20 in the lower position U is a laterally fed boring bar 12 received by the tool 64

(Longitudinal axis of the boring bar 12 transversely to the sheet plane) shown. For the handling device 20 in the middle position M, a boring bar 12 suspended below the handling device 20 (on the tool 64) is shown in FIG. To the handle lo ^¬ exercise device 20 in the finger stage position F a swung-out towards the racking board 38 is shown arm 54 (away from the mast 10) to illustrate that, by means of the handling device 20 drill string 14 can be parked in the racking board 38 or can be removed from the finger stage 38. In addition, in principle, any vertical position of the handling device 20 (depending on the vertical position of the top drive 36 or a comparable device), the tool 64 can be pivoted in the direction of the Bohrlochmittelachse AI or Bohrlochmittelachse AI.

The movement range of the handling device 20 in the vertical direction along the mast 10 includes at least the un- tere position U and a position in the racking board 38, so for example the Fingerbühnenpo ^¬ sition F. shown in Figure 6, at least in this area is in or on the Mast 10 at least one guide profile 26, 28 or - as exemplarily shown - two guide profiles 26, 28 respectively attached to the front Masteckstielen 22, 24.

In the illustrations in FIG. 7 and FIG. 8, the picking up of a boring bar supplied from outside to the drill floor 70 is shown 12 by means of the handling device 20 shown. The boring bar 12 is optionally supplied laterally because there may be additional wellbores in front of and / or behind the rig (lateral to the rig means a direction transverse to a plane through the borehole center axis AI and the operator center axis A2; Direction parallel to the plane through the borehole center axis AI and the handling device center axis A2). Other directions of delivery are also conceivable. The feeding of the boring bar 12 takes place for

Example by means of a dedicated machine, in particular a so-called PULD machine (pull-up-and-lay-down machine). However, the type of delivery is not important and other types of delivery are also conceivable and should be considered as encompassed by the description presented here. It is essential that the drill rod 12 passes in a horizontal or substantially horizontal orientation to the drill floor 70 and is received there in this orientation by the handle lo ^¬ imparting apparatus 20th 8 shows the receiving of the boring bar 12 in the form of an enlarged detail from the illustration in FIG. 7. For receiving the boring bar 12, the handling device 20 is moved on the guide profiles 26, 28 to the lower position U (see FIG. 6) proceed. At least in the lower position U, the shoulder segment 60 is rotated about the axis of rotation Rl in the direction of the male boring bar 12 (the rotation of the shoulder segment 60 can in principle already begin before reaching the lower position U). At least in the lower position U, the arm segment 62 is pivoted about the pivot axis R2 in the direction of the aufzuneh ^¬ ing drill rod 12 for receiving the boring bar 12 (the pivoting of the arm segment 62 can basically already begin before reaching the lower position U). Once the tool 64 through a suitable positioning of the arm 54 (turning around Rl, pivoting about R2) can detect the end of the boring bar 12 and the so-called box there, the tool 64 (automatically ^¬ and / or manually) is closed and the boring bar 12 is so on the Handling device 20 fixed. Subsequently, the handling device 20 is moved along the mast 10 in the direction of the mast crown. The drilling ^¬ rod 12 is raised (the boring bar 12 passes in a vertical orientation) until the boring bar 12 ultimately depends on the tool 64 and vertically below the handling device 20th When the handling device 20 is moved upwards, the actuator 66 may be deactivated (a hydraulic cylinder acting as an actuator 66 is "floated", for example), so that the arm 54 is free to move and eventually also hangs vertically under the base 52 of the handling device 20. The same may be provided In the case of upward movement, the arm 54 is actively pivoted to a vertical position by means of the actuator 66. After raising the boring bar 12, it can be parked in the so-called mouse hole 72 by means of the handling device 20. The representation in FIG Boring bar 12, of which accordingly only the upper end with the box there is recognizable.When the mouse hole 72 is located in the extension of the handling device central axis A2, the drilling rod 12 can be parked in the mouse hole 72 simply by moving down the handling device 20. However not required that the Mouse hole 72 is located in extension of the handle device center axis A2 and when it is spaced from the handle device center axis A2 (for example, at more than one mouse hole 72), the boring bar 12 by appropriate positioning of the arm 54 (rotation to R1 and / or panning around R2; whenever it is referred to here and below by a rotation and / or pivoting about the axes Rl and R2, is a possible simultaneous, vorei ^¬ lendes or subsequent movement of the handling device 20 along the z-axis read along for height adjustment) above the mouse hole 72nd positioned and finally parked in the mouse hole 72. If the first recorded boring bar 12 (first boring bar 12) in the mouse hole 72 is turned off, by means of the handling device 20, a further boring bar 12 (second boring bar 12) are received and erected. This is done exactly as explained above.

The diagram in Figure 9 shows a snapshot when connecting the second boring bar 12 with the mouse hole 72 located in the first boring bar 12 to give a Bohrge ^¬ stängeelements 14 parallel to the temporally and spatially and un ^¬ depending on the drilling operation. For this, the handling device 20 moves with the second boring bar 12 along the mast 10 at least as far in the direction of the mast crown until the second boring bar 12 hangs freely under the handling device 20. Depending on the position of the mousehole 72 or the respective mousehole 72, ie of the mousehole 72, in which it was turned off, the first drilling ^¬ rod 12, the handling device 20 for connecting the second boring bar 12 with the first boring bar 12 either vertically below the handle lo ^¬ hanging device 20 hanging second boring bar 12 down and toward the projecting from the mouse hole 72 end of the first boring bar 12 or it is previously positioning the arm 54 (rotation by Rl and / or pivoting about R2) necessary to the bring second boring bar 12 in a position above the first boring bar 12. The connecting of the second boring bar 12 to the first boring bar 12 (threaded connection of pin and box) takes place by means of a machine which is basically known per se and not shown in the figures, for example a machine in the form of or in the manner of a so-called iron

Roughneck. The hanging tool 64 in the drill rod 12 is then ^¬ at 64 rotatably relative to the tool because no kraftschlüs ^¬ fitting connection between the tool 64 and drill rod 12 is present, or such a non-positive connection is put currency dissolved rend the process of bonding. By Ver ^¬ bind the second boring bar 12 with the first drill rod 12 is a called a Double in technical terminology ^¬ drilling rod element 14 is formed. The creation of such drill string 14 can be carried out independently of the current drilling operation because the handle lo ^¬ imparting apparatus 20 thereby moves along the Handhabungsvorrich- tung central axis A2, while a top drive is moved along the borehole central axis AI 36 or the like, so that both be collision-free and independent from each other ^¬ because of. In the illustration in FIG. 9, the topdrive 36 can be seen above the borehole opening 50 in the drillfloor 70. The topdrive 36 travels along the well center axis AI defined by the wellbore 50 and the drillstring (Figure 6). The handling device 20 moves along the borehole spaced from the central axis and parallel AI or AI to the borehole central axis at least in the We ^¬ sentlichen parallel handling device central axis A2. In the illustration in Figure 9, the Handhabungsvorrich- tung central axis A2 coincides with the longitudinal axis of the Bohrge ^¬ stängeelements 14 shown. Due to the distance between the wellbore center line AI and the handling device axis axis A2, the construction of drill string elements 14 may be timed and spatially parallel to and independently of the drilling operation.

For the optional creation of a drill rod element 14 comprising three drill rods 12 (triple or stand), the drill rod element 14 comprising up to ^now two drill rods 12 is pulled out of the mouse hole 72 by means of the handling device 20 and by means of the handling device 20 and by suitable positioning of the arm 54 (FIG. Turning around Rl and / or pivoting about R2) parked in or next to the mast 10. For such a parking is in principle known per se, a parking position (not shown) are available in which the drill string element 14 is ^{¬ at} least up, optionally up and down, held by a claw or the like. After the mouse hole 72 has become free again by switching off the drill rod element 12 which has hitherto consisted of two drill rods 12, a further drill rod 12 (third drill rod 12) can be brought, erected and set down in the mouse hole 72 by means of the handling device 20. Subsequently, by means of the handling device 20, the drill rod element 14 previously parked in the parking position is resumed and placed above the end of the third boring bar 12 protruding from the mouse hole 72 by means of the handling device 20, as described above. The connection of the previously two drill rods 12 comprehensive drill string member 14 with the third boring bar 12 is again by means of the above-mentioned, provided for producing such a threaded connection machine. By comparison of the third boring bar 12 bind with the previously two boring bars 12 (first boring bar 12, second drill rod 12) umfas ^¬ send drill string 14 is in the terminology As a triple or stand designated drill string element 14 emerged.

Alternatively, a Creating a three drill rods 12 is comprehensive Bohrgestängeelements 14 (Triple or still) possible with ^¬ means of a further mousehole 72nd In order to distinguish this, the mouse hole 72, in which, after connecting a second boring bar 12 with a first boring bar 12, the drill rod element 12 comprising two boring bars 12, is referred to as the first mouse hole 72 and the further mouse hole (not shown) as the second mouse hole. A third boring bar 12 and brought upright and turned off by closing the second mousehole ^¬ - Then, by means of the handling device 20 - as described above. Then, by means of the handling device 20, the drill string located in the first mousehole 72 is lifted and 14 at least up to the height of projecting from the second end of the third mouse hole boring bar 12 then positioned by means of the handle lo ^¬ imparting apparatus 20 via the second mousehole. There now takes place - as described above - the preparation of the threaded connection between the perpendicular to the handling device 20 hanging drill pipe element 14 (combination ^¬ nation of first boring bar 12 and second boring bar 12) and located in the second mouse hole third boring bar 12. The result is again three drill rods 12 comprehensive drill pipe element 14 (Stand).

The creation of such stalls can be completely independent of the current drilling operation, because the handling device 20 continues to move only along the handling device center axis A2, while a top drive 36 or the like moves along the borehole center axis AI, so that both are collision-free and independent from one another can move. The production of drill pipe elements 14 in the form of stands, which is independent of the current drilling operation, is also referred to as offline stand-building, and accordingly the present handling apparatus 20 functions as an offline stand-builder.

By means of the handling device 20 is of course - namely in reverse order as described above - also a dissolution of a plurality of drill rods 12 comprehensive drill string element 14 possible. To avoid unnecessary

Repetitions will be made accordingly to the above description and to the fact that the described process steps ^¬ step in the dissolution of a plurality of drill rods 12 comprehensive drill string element 14 in reverse order.

A document created by means of the handling device 20 drill string 14, namely, a two boring bars 12 complete drill string 14 (double) or three drilling rods 12 complete drill string 14 (Triple, supernatant) can be supplied with ^¬ means of the handling device 20 directly to the Bohrpro- process. For this, the Topdrive 36 is released from the drilling-floor-ending head of the drill string and moved in the mast 10 to the mast crown. Then, by means of the handling device 20, the drill pipe element 14 can be brought to the center of the borehole by suitable positioning of the arm 54 (turning around R1, pivoting about R2) and there in a basically known manner on the one hand with the top drive 36 and on the other hand with the head of the drill Drill strand are connected. In this case, the arm 54 of the handling device 20 comes controlled in the range of movement (Bohrlochmittelachse AI) of Topdrive 36 or other provided for driving the drill string device. This is possible without collision, by this or this was previously moved to a sufficient height in the mast 10. The illustration in Figure 1 shows the handling device 20 having a tilted toward the well center arm 54, however, (in the interests of clarity of illustration) without the tool 64 hän ^¬ constricting drill string fourteenth

A document created by means of the handling device 20 drill string 14, namely, a two boring bars 12 complete drill string 14 (double) or three drilling rods 12 complete drill string 14 (Triple, supernatant) can with ^¬ means of the handling device 20 in the racking board 38 or a comparable device be turned off. Whether in the finger stage 38 Doubles or Stands can be turned off, depends on the length of a single boring bar 12 and the height of the finger stage 38 on the mast 10 from. Often, the finger platform 38 is located on the mast 10 at a height that allows for the shutdown of three drill rods 12 comprising drill string elements 14 (Stands). This is constricting the consequences for the further description - but without Ver ^¬ waiver to any greater generality - angenom ^¬ men, so that accordingly sometimes spoken only briefly by a parking of object in the racking platform 38 (or vice versa a fetching object from the finger stage 38).

The illustration in Figure 10 shows the subject handle lo ^¬ exercise device 20 in a position above the stage fingers 38 (see Figure 6: Position F). The handling device 20 is shown with an arm 54 pivoted in the direction of the borehole center. Likewise, the arm 54 can be pivoted (by turning around Rl and / or pivoting about R2) on the finger stage 38 to there in a basically known manner and Way between the fingers of the finger stage 38 Bohrge ^¬ rod elements 14 off or picked up there Bohrge ^¬ rod element 14 pick up. The illustration in Figure 11 shows a snapshot when parking a Bohrgestängeelements 14 by means of the handle lo ^¬ exercise device 20 in the racking board 38 (or upon collection of a Bohrgestängeelements 14 from the finger stage 38). It can be seen that the shoulder segment 60 (Fig. 5) is rotated and the arm segment 62 pivoted to that by means of the tool

64 held drill string element 14 to keep in the current position.

The two rotatory degrees of freedom of the handling device 20 (of the arm 54 of the handling device 20) also allow linear movements in the xy plane in a manner known per se by simultaneous activation of both degrees of freedom. The effective height of the arm 54 resulting from increasing deflection of the arm 54 (pivoting about R2) can be compensated by a vertical movement (movement along the z-axis), so that the tool 64 of the handling device 20 can assume predetermined or specifiable linear trajectories in the xy axis. Level follows. Thus, the handling device 20 can automatically turn off a drill string member 14 between two predetermined or default fingers of the finger stage 38 (initial linear movement transverse to the fingers of the finger stage 38 and into the finger stage 38 by pivoting about R2; then linear motion parallel to the fingers of the finger stage 38 and into the space between two fingers by turning around Rl and pivoting about R2) or a drill pipe element 14 abho ^¬ len there. Also, this parking a drill string element 14 in the finger stage 38 or picking up a Bohrgestängeele- ment 14 from the finger platform 38 may (in time and space) take place in parallel to the drilling operation and independent of the ongoing drilling operation because the handling device 20 moves in the vertical direction only along the handling device central axis A2, and not in the loading ^¬ wegungsbereich a top drive or The like, so that both can move independently of each other without collision. Specifically, therefore, by means of the handling device 20 by continuously picking up new boring bars 12 as described above and combining individual boring bars 12 into drill string elements 14, as also described above, successive filling of the finger stage 38 with stands is possible and completely independent of the otherwise continued one drilling operations. Be or immediately after the combining of individual drill rods 12, the resulting drill string 14 supplied to the drilling process ^¬ results - during the filling of the fingers stage 38 of the handling device 20 can, if necessary, a drill string be removed from the finger stage 38 14 and supplied to the drilling process with ^¬ means of - as described above - as also described above.

The illustration in FIG. 12 shows a snapshot in which a drill pipe element 14 has been removed from the finger stage 38 by means of the handling device 20 and is hanging vertically under the handling device 20 in its tool 64. The recorded drill string element 14 is to be supplied to the drilling process. Accordingly, the handling device 20 is in a waiting position and it is waited until the top drive 36 in the mast 10 has traveled sufficiently far in the direction of the mast crown until the drill pipe element 14 received by means of the hand-held 20 can be brought to the borehole center under the top drive 36, as shown in the 13 ^{dargestell ¬} th snapshot. The thus positioned Bohrge ^¬ rod element 14 is connected in a basically known manner at the bottom (at the drill floor level) by means of a dedicated machine, in particular a machine in the form of or in the manner of a so-called Iron Roughneck, with the upper end of the drill string , The upper end of the drill pipe element 14 is coupled to the top drive 36 beforehand or subsequently in a basically known manner. Then, the tool 64 (manually, automatically or remotely controlled by an operator) opened and the drill string member 14 from the handling device 20 ge ^¬ triggers.

In the illustrations in FIGS. 11, 12 and 13, a recess 74 facing the mast 10 can be seen in the finger stage 38, which shows a vertical movement of the handling device 20 from a position above the finger stage 38 to a position below the finger stage 38 and vice versa - ie GeWiS ^¬ water masses a "passing through" the finger stage 38 allowed.

The determination of the trajectories for the tool 64 takes place in a basically known manner, for example by means of a coordinate transformation from a Cartesian coordinate system into a cylindrical coordinate system. In the Cartesian coordinate system, the start and end points of a planned trajectory and possibly individual interpolation points are specified on such a trajectory or a multiplicity of such interpolation points. For each such point and its Cartesian coordinates (x, y, z), the coordinate transformation yields one equivalent in the cylindrical coordinate system. From the resulting coordinates (r, φ, h) in the cylindrical coordinate system directly give the corresponding positions of the individual degrees of freedom of the handling device 20, namely the vertical position h along the z-axis (h = z), the pivoting of the arm segment 62 by the angle about the pivot axis R2 (= arc sin (r / 1); 1 = length of the arm segment 62, r = V [x ² + y ² ]) and rotating the shoulder segment 60 by the angle φ about the rotation axis Rl (φ = arc sin (y / r. the calculation of the respective necessary positions of the individual degrees of freedom of the handling device 20 and the generation of appropriate control signals 80 for controlling the provided for moving the handling device units) (for example, winch 40 to Be ^¬ influencing the vertical position; actuator 66 for influencing the Pivoting position of the arm segment 62; electric or hydraulic motor for driving the rotary joint for influencing the rotational position of the shoulder segment 60) takes place by means of an automatic or semi-automatic operation of the handling device 20 provided control device 76 (Fig. 14), for example a control device 76 in the form of a programmable logic controller or the like.

The illustration in Figure 14 finally shows in schematically highly simplified form, the mentioned control device 76 which comprises in known manner a proces ^¬ processing unit in the form of or in the manner of a microprocessor and a memory, in which a link and operation of the Handling device 20 executed and acting as Steue ^¬ tion program of the handling device 20 computer program 78 is loaded. Under control of the control ^¬ device 76 and the computer program 78 executed by the control means 76 control signals 80 for controlling the for moving the handling device 20 be loaded voted aggregates generated, and these are applied in a manner known per be ^¬ manner with the respective control signal 80 or the respective control signals 80th These are for example the following units: winch 40, hydraulic unit 58 and motor 82. The winch 40 or a ver ^¬ gleichbares unit is provided for vertically moving the handle lo ^¬ imparting apparatus 20 in or on the mast 10th The hydraulic unit 58 is provided for generating a pressure for moving the actuator 66 and correspondingly for pivoting the arm segment 62 about the pivot axis R2. The motor 82, for example a motor 82 in the form of a hydraulic or electric motor, is associated with the rotary drive for rotating the shoulder segment 60 about the axis of rotation Rl. The movement of the handle lo ^¬ exercise device 20 can automatically, semi-automatically, or in the so-called manual operation done. In manual operation, an operator moves the handling device 20 to a certain extent "on sight" and actuates it in basically known manner one or more controls on an operating device, for example a control panel or the like detected and evaluated and by ^{¬ means of} the control device 76 control signals are generated automatically, which cause activation of the or each necessary for the respectively necessary movement of the handling device 20. In semiautomatic operation, for example, by operating a Bedienele ^¬ ment the method of the handling device 20 in a certain position, for example the lower position U or the finger stage position. <br/><br/> In the context of the automatic sub-system, for example, before or in connection with a vertical movement, the arm 54 is transformed into a vertical St placed or the vertical movement remains locked until the arm 54 is hanging vertically. In an automatic In operation, variously extensive movement sequences can be performed automatically and basically without the need for user intervention, for example placing a boring bar 12 in the mouse hole 72, picking up an externally fed boring bar 12 and then placing it in the mouse hole 72, connecting a plurality of externally fed boring bars 12 to a drill string member 14, connecting a plurality of externally supplied drill rods 12 to a drill string member 14, and final placement in the fin stage 38 and so on.

While the invention has been further illustrated and described in detail by the exemplary embodiment, the invention is not limited by the disclosed or disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Single standing in the foreground aspects of the herein incorporated rich ^¬ th description can thus be briefly summarized as follows: There are given a handling device 20 for use in the mast 10 of a drilling rig and for moving boring bars 12, or drill string 14 as well as a process for their operation. The handling device 20 comprises a base 52 which is vertically movable in or on the mast 10 and a base 52 which is movable about a rotation axis R 1

Arm 54. The rotation axis R extends parallel or at least substantially parallel to the mast 10 or a path of movement (handling device central axis A2) of the Handhabungsvor ^¬ direction 20 in or on the mast 10. The around the rotation axis Rl rotatable movable arm 54 is also pivotally movable, namely at least one pivot axis R2 pivotally. The pivot axis R2 lies in a plane perpendicular or at least essenli ^¬ chen perpendicular to the mast 10 or the trajectory (Handha- At the free end of the arm 54, the handling device 20 comprises a particularly movable tool 64 for detecting a portion of an end of a drill rod 12 or an end of a drill string member 14.

Reference sign list

10 mast 54 lower part, articulated arm, 12 boring bar arm

14 drill pipe element 56 Winch

16, 18 (free) 58 Hydraulic unit 20 Handling ^¬ 60 shoulder ^segment

Device 62 arm segment

22, 24 (Pole) Corner Handle 64 Tool

26, 28 Guide profile 66 Actuator

30, 32 Guide counter profile 68 (free)

34 Traveling Block 70 Drillfloor

36 Topdrive 72 mouse hole

38 finger stage 74 recess

40 winch 76 control device 42 deflection roller 78 computer program

44, 46, 48 (free) 80 control signal

50 borehole opening 82 engine

52 upper / base part

Claims

claims

A handling device (20) for use in the mast (10) of a drilling rig and for moving boring bars (12) or drill pipe elements (14),

wherein the handling device (20) comprises a base (52) which is vertically movable in or on the mast (10),

wherein the handling device (20) on the base (52) comprises about a rotation axis (Rl) has movable arm (54), wherein the axis of rotation (R) parallel or at least We ^¬ sentlichen parallel with the mast (10) or a motion ^¬ track of the handling device (20) in or on the mast (10),

wherein the arm (54) is pivotable about at least one pivot axis (R2),

wherein the pivot axis (R2) lies in a plane perpendicular or at least substantially perpendicular to the mast (10) or a movement path of the handling device (20) in or on the mast (10),

wherein the handling device (20) comprises at a free end of the arm (54) a movable tool (64) for engaging a portion of one end of a drill rod (12).

2. Handling device (20) according to claim 1, wherein the base (52) in or on the mast (10) between a position in which the tool (64) in the area of a drill floor (70) of the drilling rig in a horizontal or substantially horizontal Orientation fed boring bar (12) or to a drill string element (14) combined boring bars (12) erfas ^¬ sen, and a position in which combined boring bars (12) by means of the tool (64) in a finger stage (38) of the drilling rig can be turned off , is movable.

3. Handling device (20) according to claim 1 or 2, wherein the handling device (20) in the vertical direction along the mast (10) on a Bohrlochmittelach- se (AI) spaced and the Bohrlochmittelachse (AI) paral ^¬ len or at least in Substantially parallel handling device axis (A2) is movable.

4. A method for operating a handling device (20) according to one of the preceding claims,

wherein the handling device (20) is moved in the vertical direction in or on the mast (10) for moving drill rods (12) or drill pipe elements (14) and / or wherein the arm (54) of the handling device (20) is moved about the axis of rotation (FIG. Rl) is rotated and / or about the pivot axis (R2) ver ^¬ pivots.

5. The method of claim 4 for creating drill pipe elements (14) by means of the handling device (20), wherein by means of the handling device (20) horizontally or at least substantially horizontally oriented first boring bar (12) received in the region of the mast base and by means of a vertical movement along erecting the mast (10) in a vertical orientation,

wherein the first boring bar (12) is shut off by means of the handling device ^¬ (20) in the vertical orientation in the area of the mast (10),

wherein by means of the handling device (20) a horizontally or at least substantially horizontally oriented second boring bar (12) is received in the region of the mast base and erected by means of a vertical movement along the mast (10) in a vertical orientation,

the second boring bar (12) being held by means of the handrail. by means of a vertical movement along the mast (10) to a height in the region of the upper end of the first drill rod (12) pulled and the second boring bar (12) by means of the handling device (20) for obtaining a drill pipe element (14) in shape a combination of the first boring bar (12) with the second boring bar (12) is positioned over the first boring bar (12).

6. The method according to claim 5,

a first boring bar (12) and a second boring bar (12)

Boring bar element (14) which is provided with boring bar (12) by means of the handling device (20) in the area of the mast (10),

wherein by means of the handling device (20) a horizontally or at least substantially horizontally oriented third boring bar (12) is received in the area of the mast base and erected by means of a vertical movement along the mast (10) in a vertical orientation,

wherein the third boring bar (12) is set down in the vertical orientation in the area of the mast (10) by means of the handling device;

wherein the first drill rod (12) and a second drill rod (12) comprising drill string element (14) by means of the handling device (20) by means of a vertical movement along the mast (10) to a height in the region of obe ^¬ ren end of the third boring bar (12) pulled and the Bohrge ^¬ rod element (14) by means of the handling device (20) to obtain a drill string element (14) in the form of a Kom ^¬ combination of the first drill rod (12) and the second Bohrstan- GE (12) with the third boring bar (12) is positioned over the third boring bar (12).

7. The method of claim 5 or 6, wherein the first boring bar (12) and the third boring bar (12) by means of the hand ^¬ habungsvorrichtung (20) in the vertical orientation in a as a mouse hole (72) designated receiving device is switched off.

8. The method according to any one of claims 5, 6 or 7, wherein the handling device (20) in the vertical direction along the mast (10) on a spaced from a Bohrlochmittelachse (AI) and the borehole center axis (AI) paralle ^¬ len or at least substantially parallel handling device center axis (A2) is moved.

9. Drilling system with a handling device (20) according to one of the preceding device claims, with at least one attached to a mast (10) of the rig and a vertical range of motion of the handling device (20) determining the guide profile (26, 28), wherein the handle ^¬ bungsvorrichtung ( 20) at least one guide profile (26, 28) corresponding ^counter guide profile (30, 32) and wherein the guide profile (26, 28) and the guide ^{counter ¬} profile (30, 32) during vertical movement of the handling device (20) are engaged.

10. A drilling rig according to claim 9, wherein the guide profile (26, 28) on a front Masteckstiel (22, 24) of the mast (10) of the drilling rig or one guide profile (26, 28) on the two front Masteckstielen (22, 24) is appropriate.

11. Drilling rig according to claim 9, wherein the or each Füh ^¬ approximately profile (26, 28) on a mast (10), in particular at whose front Masteckstielen (22, 24), mounted adapter frame is mounted.

12. Drilling rig with a handling device (20) according to any one of the preceding claims, wherein a mounted on a mast (10) of the drilling rig finger stage (38) has a Ausneh ^¬ tion (74) which a vertical movement of the handling device (20) from a position above the finger stage (38) to a position below the finger stage (38) and vice versa.

13. A computer program (78) with program code means to 4 to 8 durchzu ^¬ perform all the steps of any of the claims if the computer program (78) by means of a control-device (76) for a handling device (20) according to any one of claims 1 to 3 is executed.

14. A digital storage medium with electronically readable control signals, which can cooperate with a programmable control device (76) for a handling device (20) according to one of claims 1 to 3 so that a method according to one of claims 4 to 8 is executed.

15. Handling device (20) according to one of claims 1 to 3 or drilling rig according to one of claims 9 to 12, with a programmable control device (76) for a handling device (20) according to one of claims 1 to 3, in whose memory a computer program ( 78) is loaded according to claim 13 and which is carried out during operation of the handling device (20).