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WO2018166927A1 - Dispositif de manipulation destiné à être utilisé dans le mât d'une installation de forage et procédé de déplacement de tiges de forage ou d'éléments de trains de tiges de forage - Google Patents

Dispositif de manipulation destiné à être utilisé dans le mât d'une installation de forage et procédé de déplacement de tiges de forage ou d'éléments de trains de tiges de forage Download PDF

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Publication number
WO2018166927A1
WO2018166927A1 PCT/EP2018/055988 EP2018055988W WO2018166927A1 WO 2018166927 A1 WO2018166927 A1 WO 2018166927A1 EP 2018055988 W EP2018055988 W EP 2018055988W WO 2018166927 A1 WO2018166927 A1 WO 2018166927A1
Authority
WO
WIPO (PCT)
Prior art keywords
handling device
mast
boring bar
drill
axis
Prior art date
Application number
PCT/EP2018/055988
Other languages
German (de)
English (en)
Inventor
Arend Lödden
Gustaaf Martin RUS
Original Assignee
Bentec Gmbh Drilling & Oilfield Systems
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bentec Gmbh Drilling & Oilfield Systems filed Critical Bentec Gmbh Drilling & Oilfield Systems
Priority to EP18710848.5A priority Critical patent/EP3433464B1/fr
Priority to EA201990691A priority patent/EA039871B1/ru
Publication of WO2018166927A1 publication Critical patent/WO2018166927A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole

Definitions

  • 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
  • the invention relates in width ⁇ ren a drilling rig with such a handling apparatus,
  • Invention also a drilling rig with such a handling ⁇ device.
  • 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 Bohrgestfiteele ⁇ 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.
  • 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.
  • the handling device 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the handling device can with ⁇ means of a
  • 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 ⁇ nde ⁇ 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 ⁇ stSheelement (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.
  • WO 2014 179 727 AI thus acts as a device for combi ⁇ renieren boring bars to Doubles or Stands ("Stand Buil- der").
  • 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 Weintermi- 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 ⁇ habungsvorraum.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the handling device it is movable in the vertical direction along the mast on a distance from a Bohrlochstoffachse and parallel to the Bohrlochstoffachse 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.
  • 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.
  • 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.
  • FIG. 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
  • FIG. 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. 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. 6 different vertical positions of the handling ⁇ device according to Fig. 1 and Fig. 4 on the mast
  • FIG. 10 shows the handling device according to FIG. 1 and FIG. 4 above a finger stage attached to the mast.
  • Fig. 13 snapshots when removing a Bohrgestfiteele- ment from a finger stage on the mast
  • 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.
  • 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).
  • 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.
  • 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.
  • a so-called traveling block 34 is movable in a basically known manner by means of a lifting mechanism, not shown.
  • a so-called top drive 36 With the Bohrge ⁇ rod is rotated in the well in a conventional manner.
  • a so-called finger ⁇ stage 38 is shown in the lower area of the portion of pole 10 shown.
  • the handling device 20 can be seen above the finger stage 38.
  • 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.
  • an embodiment is considered, in which the handling device 20 itself comprises a drive for the vertical movement in or on the mast 10.
  • a rack or the like is mounted in which a by means of a motor or on the hand ⁇ habungsvorraum 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.
  • 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.
  • FIG. 3 shows in a schematically simplified manner a section through the mast 10 transverse to its vertical axis.
  • 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.
  • 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.
  • FIG. 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.
  • AI central axis of the borehole
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an actuator 66 for example, a hydrau ⁇ likzylinder comes into consideration.
  • FIG. 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.
  • 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
  • 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
  • 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.
  • 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 thedreamoberflä ⁇ che the drill rod 12, this can hang on the tool 64 and is fixed in the axial direction.
  • the tool 64 under the handling device 20 is also shown in the area of the handling device 20.
  • 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 ⁇ habungsvoriques
  • 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.
  • 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.
  • the function of the handling device 20 also includes combining boring bars 12 for obtaining so-called doubles or stands ("stand building").
  • the manner known per se is initially based on a substructure in a manner known per se.
  • 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).
  • the borehole center axis AI and the handling device center line A2 are shown with parallel and aufeinan ⁇ pointing arrows.
  • the tool 64 is located on the so-called Drillfloor level (Drillfloor 70) or substantially on the Drillfloor level.
  • Drillfloor 70 Drillfloor 70
  • a boring bar 12 is supplied and received by the handling device 20 by means of the tool 64.
  • 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.
  • the handling device 20 in the lower position U is a laterally fed boring bar 12 received by the tool 64
  • 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 Bohrlochstoffachse AI or Bohrlochstoffachse 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.
  • 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
  • PULD machine pulse-up-and-lay-down machine
  • 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.
  • the handling device 20 is moved on the guide profiles 26, 28 to the lower position U (see FIG. 6) proceed.
  • 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).
  • the arm segment 62 is pivoted about the pivot axis R2 in the direction of theticianneh ⁇ 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).
  • 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
  • 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 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 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 ⁇ stSheelements 14 parallel to the temporally and spatially and un ⁇ depending on the drilling operation.
  • 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.
  • 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 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
  • 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.
  • 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.
  • 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.
  • the Handhabungsvorrich- tung central axis A2 coincides with the longitudinal axis of the Bohrge ⁇ stSheelements 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a Creating a three drill rods 12 is comprehensive BohrgestSheelements 14 (Triple or still) possible with ⁇ means of a further mousehole 72nd
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the arm 54 of the handling device 20 comes controlled in the range of movement (Bohrlochstoffstoffachse 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 tuden ⁇ 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).
  • 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.
  • 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 BohrgestCodeelements 14 by means of the handle lo ⁇ exercise device 20 in the racking board 38 (or upon collection of a BohrgestSheelements 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
  • the two rotatory degrees of freedom 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 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.
  • 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.
  • this parking a drill string element 14 in the finger stage 38 or picking up a BohrgestCode- 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 ⁇ wegungs Scheme a top drive or The like, so that both can move independently of each other without collision.
  • the handling device 20 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the coordinate transformation yields one equivalent in the cylindrical coordinate system.
  • control signals 80 for controlling the provided for moving the handling device units) 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.
  • 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.
  • 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
  • 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.
  • 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.
  • semiautomatic operation for example, by operating a Consele ⁇ 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.
  • 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.
  • the 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
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne un dispositif de manipulation (20) destiné à être utilisé dans le mât (10) d'une installation de forage et à déplacer des tiges de forage (12) ou des éléments (14) de trains de tiges de forage, ainsi qu'un procédé pour son fonctionnement. Le dispositif de manipulation (20) comporte une base (52) mobile verticalement dans ou sur le mât (10). Le dispositif de manipulation (20) présente sur la base (52) un bras (54) mobile autour d'un axe de rotation (Rl), l'axe de rotation (Rl) étant parallèle ou au moins sensiblement parallèle au mât (10) ou à une trajectoire de déplacement du dispositif de manipulation (20) dans ou sur le mât (10), le bras (54) étant mobile par pivotement autour d'au moins un axe de pivotement (R2).
PCT/EP2018/055988 2017-03-15 2018-03-10 Dispositif de manipulation destiné à être utilisé dans le mât d'une installation de forage et procédé de déplacement de tiges de forage ou d'éléments de trains de tiges de forage WO2018166927A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18710848.5A EP3433464B1 (fr) 2017-03-15 2018-03-10 Dispositif de manipulation destiné à être utilisé dans le mât d'une installation de forage et procédé de déplacement de tiges de forage ou d'éléments de trains de tiges de forage
EA201990691A EA039871B1 (ru) 2017-03-15 2018-03-10 Способ эксплуатации манипулятора для буровой установки, цифровой носитель данных, манипулятор, буровая установка

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017204352.0 2017-03-15
DE102017204352.0A DE102017204352A1 (de) 2017-03-15 2017-03-15 Handhabungsvorrichtung zur Verwendung im Mast einer Bohranlage und zum Bewegen von Bohrstangen oder Bohrgestängeelementen, Verfahren zum Betrieb einer solchen Handhabungsvorrichtung und Bohranlage mit einer solchen Handhabungsvorrichtung

Publications (1)

Publication Number Publication Date
WO2018166927A1 true WO2018166927A1 (fr) 2018-09-20

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PCT/EP2018/055988 WO2018166927A1 (fr) 2017-03-15 2018-03-10 Dispositif de manipulation destiné à être utilisé dans le mât d'une installation de forage et procédé de déplacement de tiges de forage ou d'éléments de trains de tiges de forage

Country Status (4)

Country Link
EP (1) EP3433464B1 (fr)
DE (1) DE102017204352A1 (fr)
EA (1) EA039871B1 (fr)
WO (1) WO2018166927A1 (fr)

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CN115450562A (zh) * 2022-09-29 2022-12-09 哈尔滨工业大学（深圳） 一种旋挖钻机的钻孔垂直度监测方法及系统
RU2829531C1 (ru) * 2024-04-11 2024-10-31 Общество с ограниченной ответственностью "Уралмаш НГО Холдинг" Система буровых роботов для спускоподъемных операций и способ ее работы

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US6997265B2 (en) 2003-12-12 2006-02-14 Varco I/P, Inc. Method and apparatus for offline standbuilding
US20070017681A1 (en) * 2003-05-02 2007-01-25 Hd Oil Technology As System, lifting device and method for supporting a pipe string
US7246983B2 (en) 2004-09-22 2007-07-24 National-Oilwell, L.P. Pipe racking system
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US7967540B2 (en) 2004-11-29 2011-06-28 Weatherford Canada Partnership Vertical offline stand building and manipulating system
US20130206476A1 (en) * 2010-06-30 2013-08-15 Marl Technologies Inc. Remotely operable underwater drilling system and drilling method
WO2014179727A1 (fr) 2013-05-03 2014-11-06 Canrig Drilling Technology Ltd. Système de manipulation d'éléments tubulaires pour opérations souterraines
WO2016075478A1 (fr) * 2014-11-14 2016-05-19 National Oilwell Varco Norway As Procédé de placement et de retrait de tuyau à partir d'un râtelier à doigts
US20160312548A1 (en) 2012-05-14 2016-10-27 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors

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US7802636B2 (en) * 2007-02-23 2010-09-28 Atwood Oceanics, Inc. Simultaneous tubular handling system and method
DE102012016878A1 (de) * 2012-08-24 2014-02-27 Max Streicher Gmbh & Co. Kg Aa Bohrstangenhandhabeeinrichtung, Bohrmast für eine Bohranlage und Verfahren zum Bewegen von Bohrstangen an einer Bohranlage
CN205532274U (zh) * 2016-02-05 2016-08-31 四川宏华石油设备有限公司 一种自动化钻机

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Publication number Priority date Publication date Assignee Title
US20070017681A1 (en) * 2003-05-02 2007-01-25 Hd Oil Technology As System, lifting device and method for supporting a pipe string
US6997265B2 (en) 2003-12-12 2006-02-14 Varco I/P, Inc. Method and apparatus for offline standbuilding
US7246983B2 (en) 2004-09-22 2007-07-24 National-Oilwell, L.P. Pipe racking system
US20070193750A1 (en) * 2004-11-29 2007-08-23 Iron Derrickman Ltd. Apparatus for handling and racking pipes
US7967540B2 (en) 2004-11-29 2011-06-28 Weatherford Canada Partnership Vertical offline stand building and manipulating system
US20130206476A1 (en) * 2010-06-30 2013-08-15 Marl Technologies Inc. Remotely operable underwater drilling system and drilling method
US20160312548A1 (en) 2012-05-14 2016-10-27 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors
WO2014179727A1 (fr) 2013-05-03 2014-11-06 Canrig Drilling Technology Ltd. Système de manipulation d'éléments tubulaires pour opérations souterraines
WO2016075478A1 (fr) * 2014-11-14 2016-05-19 National Oilwell Varco Norway As Procédé de placement et de retrait de tuyau à partir d'un râtelier à doigts

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115450562A (zh) * 2022-09-29 2022-12-09 哈尔滨工业大学（深圳） 一种旋挖钻机的钻孔垂直度监测方法及系统
RU2829531C1 (ru) * 2024-04-11 2024-10-31 Общество с ограниченной ответственностью "Уралмаш НГО Холдинг" Система буровых роботов для спускоподъемных операций и способ ее работы

Also Published As

Publication number Publication date
DE102017204352A1 (de) 2018-09-20
EP3433464B1 (fr) 2021-04-07
EP3433464A1 (fr) 2019-01-30
EA039871B1 (ru) 2022-03-22
EA201990691A1 (ru) 2019-07-31

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