EP3385495B1 - Working machine for carrying out of drilling operations - Google Patents

Description

• wenigstens einen mittels einer Beseilung verstellbaren Bohrtisch,
• wenigstens eine teleskopierbare, mittels eines Kellyseils verstellbare Kellystange, die wenigstens zwei Kellystangenelemente umfasst,
• wenigstens eine Kellydämpfung, über welche die Kellystange mit dem Bohrtisch koppelbar ist und
• wenigstens einen Schwingungssensor, der dazu eingerichtet ist, Schwingungssignale einer Schwingung der Bohreinrichtung zu erfassen.

The invention relates to a work machine for performing drilling work, comprising at least one drilling device

• at least one drilling table adjustable by means of a rope,
• at least one telescopic kelly bar adjustable by means of a kelly rope, which comprises at least two kelly bar elements,
• at least one Kelly damping, via which the Kelly rod can be coupled to the drilling table and
• at least one vibration sensor, which is set up to detect vibration signals of a vibration of the drilling device.

Generic machines are used, for example, to drill holes for pillars in an underground. The Kelly rods used make it possible to drill holes of different depths.

The problem with the drilling operations is that Kelly rods or individual Kelly rod elements can fall off and damage to the working machine or in the area of the working machine can thereby be caused.

DE 198 13 902 C1 discloses a method for monitoring the intended behavior of individual tubes of a telescopic boring bar (Kelly bar) when pulling up the pulled-apart tubes, in which a holding force is measured and compared with a theoretical tensile force.

The object of the invention is therefore to provide a work machine which supports the driver or the operator of the work machine when adjusting the Kelly bar, for example when lowering and also when lifting the same. The device can be designed to provide the driver with information as to when jamming or dragging of Kelly elements occurs when lowering or lifting. If necessary, the process can be stopped automatically.

According to the invention, this object is achieved by a work machine according to the preamble of claim 1, a regulation / control being provided which is set up to generate an output signal as a function of the detected vibration signals.

The output signal can be the indication that jamming or entrainment of Kelly elements has been detected. The output signal can alternatively or additionally be a regulating / control signal which, for example, stops the adjustment process of the Kelly bar. Alternatively or additionally, the output signal can include information about the Kelly bar, such as its telescoped length or the weight force introduced from the Kelly bar into the drilling table or into the Kelly cushioning. The output signal can thus include information about parameters of a model of the Kelly bar.

The detection of the vibration signals advantageously enables a significantly faster procedure than would be the case, for example, when comparing forces in a quasi-static state of the working machine or the drilling device.

Furthermore, according to the invention, the Kelly bar can be raised or lowered at high speed, with braking not being necessary. This can accelerate the work process accordingly. With such an adjustment of the Kelly rod, each time a Kelly rod element or a corresponding telescopic section of the Kelly rod is retracted or extended, vibrations can be introduced into the drilling device, which can be used to calculate and output a corresponding output signal.

By considering the dynamic vibration signals, the evaluation of the vibration signals that can be carried out by means of the working machine is independent of the drilling tool and also of the material in the drilling tool. The device according to the invention can also be used as a general scanner, for example to assist in the automated learning or detection of a Kelly rod geometry. In the case of a known kelly bar or kelly bar geometry, on the other hand, the state of the kelly damping can be checked in reverse by means of the work machine according to the invention by long-term observation and corresponding storage of output signals.

Thus, the working machine according to the invention makes it possible to record information about the Kelly bar when lowering and lifting the Kelly bar and to use this information to check the correct functionality of the damping and the leader wire of a leader carrying the drilling device. This enables damage to the machine to be recognized early and possibly prevented.

In a preferred embodiment, it is conceivable that the regulation / control is set up to calculate the force introduced by the Kelly rod into the drilling table as a function of the detected vibration signals. The force introduced corresponds to the proportion by weight of the Kelly bar that is carried by the drilling table and not by the Kelly rope. In general, in the present working machine, the total weight of the Kelly bar can be taken up in part by the Kelly rope and in part by the drilling table. If the Kelly bar or the drilling tool rests on the base of the working machine so a further part of the weight of the Kelly bar and / or the drilling tool is additionally taken up directly by the base. To calculate the force introduced, the regulation / control can access parameters of the working machine and / or the drilling device which relate to their vibration properties. The parameters can be weights, spring hardness and / or degrees of damping of the corresponding vibration system. The force introduced by the Kelly rod can be determined from the parameters and the detected vibration signal.

In a preferred embodiment, it is conceivable that the oscillation is caused by the telescoping of the Kelly rod, the oscillation being caused in particular by loosening or establishing a coupling of two Kelly rod elements and / or by jamming and / or dragging Kelly rod elements.

In an embodiment in which information on the geometry of the Kelly rod is known and can be called up by the regulation / control, the regulation / control can be set up to prevent vibrations caused by a jamming when a coupling of two Kelly rod elements is released or locked or to distinguish entraining from Kelly bar elements. If the lengths of the Kelly rod elements and their weights are stored, then corresponding reference vibration signals can also be stored, which correspond to the loosening or fixing of individual Kelly rod elements. If the detected vibration signals deviate from the reference vibration signals, this can be interpreted as an indication of jamming and / or entrainment of Kelly rod elements and a corresponding output signal can be generated.

If the geometry of the Kelly bar is not known, the device can be used to record the geometry when the Kelly bar is being extended and retracted. For this purpose, the Kelly bar can be partially or completely retracted or extended and the generated vibration signals can be recorded and stored. If similar vibration signals occur repeatedly, this can be evaluated by the regulation / control system in such a way that these similar vibration signals correspond to a release or detection of a coupling of two Kelly rod elements. Said reference vibration signals can be determined from such similar vibration signals.

In a further preferred embodiment, it is conceivable that the vibration sensor is a sensor for detecting a time-variable force, acceleration, speed and / or deflection. In a preferred embodiment, at least one such sensor can be provided on the Kelly rod, on the Kelly cushioning, on the drilling table, on the Kelly rope and / or on the cable and / or detect corresponding vibration signals there. It is of course also conceivable that more than one sensor for detecting different sizes, if necessary, is provided on more than one component of the drilling device. This can increase the measurement accuracy of the measurements.

In a further preferred embodiment it is conceivable that a first rope length sensor is provided for detecting the Kelly rope and / or that a second rope length sensor is provided for detecting the position of the drilling table.

Appropriate rope length sensors can be used, for example, to measure the length of a Kelly bar with unknown geometry. In particular, it is possible to assign vibration signals occurring when telescoping the Kelly bar to corresponding lengths of the Kelly bar.

In a further preferred embodiment, it is conceivable that the regulation / control system accesses a model of the Kelly rod which describes the Kelly rod by means of pairs of numbers, the pairs of numbers relating to lengths of the Kelly rod elements and weights associated with the lengths of the Kelly rod elements. The model can be created with the help of the regulation / control, if the Kelly rod geometry is not known or the regulation / control can access an already known Kelly rod geometry or its model.

In a further preferred embodiment it is conceivable that the regulation / control is set up to compare the weights of the model with the calculated force. If, for example, it is determined that a certain force is being introduced into the drilling table, although according to the model another force would have to be introduced into the drilling table, this can be seen as an indication that jamming or entrainment of Kelly elements occurs and it a corresponding output signal can be generated.

In a further preferred embodiment it is conceivable that an inclination sensor is provided for detecting the inclination angle of the drilling device. The regulation / control can accordingly access the angle of inclination or the values detected by it and thus correctly evaluate the vibration signals even when the drilling device acts obliquely in the subsurface. The inclination sensor can be set up in such a way that it outputs signals that correlate with the inclination angle of the Kelly rod.

In a further preferred embodiment, it is conceivable that a memory device is provided which is set up to store the vibration signals, the regulation / control system being set up in particular to determine wear on the Kelly damping on the basis of the vibration signals. Stored, older vibration signals can be compared with current vibration signals. If deviations between old and current vibration signals exceed certain limit values, this can be understood as an indication of wear on the Kelly damping and a corresponding output signal can be generated.

The storage device can also be set up to include data of the model of the Kelly rod and to provide the regulation / control system for comparing the model with the detected vibration signals.

Figur 1:

eine schematische Darstellung der erfindungsgemäßen Arbeitsmaschine mit einer Bohreinrichtung;

Figur 2:

ein Schwingungsmodell der erfindungsgemäßen Arbeitsmaschine; und

Figur 3:

eine schematische Darstellung zur Erkennung von Verklemmungen und/oder Mitschleppen einer Kellystange durch eine erfindungsgemäße Arbeitsmaschine.

Further details and advantages of the invention are explained with reference to the embodiment shown by way of example in the figures. Show:

Figure 1:

is a schematic representation of the work machine according to the invention with a drilling device;

Figure 2:

a vibration model of the work machine according to the invention; and

Figure 3:

a schematic representation of the detection of jamming and / or dragging a Kelly bar through a machine according to the invention.

Figure 1 shows a work machine 1, equipped with a leader 2, on which a vertically movable drilling table 3 is mounted. The vertical position of the drilling table 3 can be changed with the aid of the cables 6a, 6b, which are guided to a cable winch via the deflection rollers 5a, 5b. On the drilling table 3 there is the Kelly damping 4, on which the Kelly rod 7 can be placed for drilling. The Kelly damping 4 protects the drilling table 3 and the machine parts located thereon against impacts when a Kelly element 7a, 7b, 7c of the Kelly rod 7 is deposited or raised. The Kelly damping 4 usually consists of spring assemblies or a combination of spring assemblies and damper elements.

The kelly bar 7 comprises kelly elements 7a, 7b, 7c and the drilling tool 7d, which can be held by a kelly rope 9 and, during drilling, can rest partially or entirely on the kelly damping 4 and thus on the drilling table. The drilling tool 7d can be with the innermost or last Kelly element 7c coupled and telescopic together with this. Part of the weight of the Kelly bar 7 and other components of the working machine 1 can be guided into the ground, for example, via the drilling tool 7d.

The Kelly bar 7 is a telescopic boring bar which consists of two or more tubes which are guided into one another and which are axially movable relative to one another. The axial movement is limited by stops at the pipe ends. A jamming of Kelly elements 7a, 7b, 7c occurs analogously to being carried along, but relates to the process of lowering the Kelly rod 7.

The length L _{k of} the telescoped Kelly rod 7 can be determined via a rope length measurement of the Kelly rope 9 and via the rope length (vertical position) of the drilling table 3. The following simple modeling of the Kelly bar 7 is now possible:
If L _k1 = 0m, that is to say the outer kelly 7a touches the kelly damping 4, the mass M _{k1 is} deposited on the damping. When the next kelly element 7b touches the outer kelly 7a at L _k2 , the mass M _k becomes correspondingly higher. A Kelly rod 7 can therefore be described by a list of pairs of numbers: ((L _k1 , M _k1 ), (L _k2 , M _k2 ), (L _k3 , M _k3 ), ... (L _kmax , M _kmax )). This model can either be learned independently from the work machine presented here or, alternatively, can be specified using a known Kelly bar, for example from the machine control or the regulation / control.

As in Figure 2 a mass M _{k is shown placed} on the Kelly damping 4, the mass M _{k being} simplified by a spring with a spring constant K _k and a damping C _k . This results in a deflection y _{k of} the Kelly damping 4 due to the impulse and the changed acting weight force. The deflection of the Kelly damping 4 causes a force which counteracts the original movement and there is a reduction in the speed of this movement until it stops. Due to the energy partially stored in the damping 4, the dampers and those resting thereon begin Moving mass in the opposite direction. This means that the dampers and the mass resting on them vibrate around their rest position. After a certain time, this oscillation subsides due to losses. Such a vibrating system is well known as a damped spring-mass system. The quasi-static state that is reached after the transient phase can be used to identify possible entrainment by comparing the masses on the drilling table 3 and the load on the Kelly rope 9.

If the overlying mass M _{k is} reduced by lifting a Kelly element 7a, 7b, 7c, then the weight force which acts on the damper changes and thus the rest position of the mass Mk. The damper is subsequently deflected and as already described above again to a damped oscillation around the new rest position y _{k of} the system, which is determined by the mass M _k .

The described vibration of the Kelly damping 4 and the mass lying thereon results in a force F _k (t) which is variable over time acting on the drilling table with the mass M _t . This can cause damped oscillation, for example. This variable force F _tu , F _td is also transmitted to the rope 6a, 6b of the leader, which holds the drilling table 3. Due to the expansion of the cables 6a, 6b, the drilling table 3 is also excited to a damped, vertical vibration. The cables 6a, 6b are modeled in a simplified manner by two springs with spring constants K _tu and K _td .

The overall system comprising Kelly damping 4, drilling table 3 and cables 6a, 6b is a coupled and damped spring-mass system. Although the Kelly damping 4 is described here as a spring-mass system, it does not matter to the invention whether it is actually a classic spring or another damping element. For the function of the invention it is only necessary that the damping element can be adequately described by a parameter model.

According to the invention, instead of a quasi-static measurement of the weight forces on Kelly rope 9 and drilling table 3, an analysis of the dynamic settling process is carried out: vibration of the Kelly damping 4 induced by a change in weight occurs at a certain length of the Kelly bar L _k . The settling process of the Kelly damping 4 around its rest position with changed mass and / or a pulse transfer is described here via the spring-mass system. On the basis of the known parameters of this transition (mass, spring constant, damping values), the mass of the kelly elements 7a, 7b, 7c lying on the table can be inferred from an analysis of the vibration signal. The analysis can relate, for example, to the oscillation period of the measurement signal or to the amplitude of the oscillation signal when the speed of the kelly element 7a, 7b, 7c is known. The touchdown speed can be determined, for example, by means of a corresponding rope length sensor or can be predetermined by the predetermined speed of a corresponding drive.

As in Figure 3 represented, measurements can be carried out by means of the working machine according to the invention which result in pairs of numbers L _k , M _k . The analysis of the oscillation signal or the time-varying signal allows a quick measurement and thus a quick comparison with a possibly available Kelly model ((L _k1 , M _k1 ), (L _k2 , M _k2 ), (L _k3 , M _k3 ) _,. .. (L _kmax , M _kmax )).

If, as in Figure 3 shown, vibration signals are detected in a so-called forbidden zone, this can be interpreted as an indication of jamming or entrainment of Kelly elements. The forbidden zones include length ranges of the Kelly rod, in which two Kelly elements can be moved axially to one another and the Kelly rod can thus be telescoped.

This makes this system significantly faster than previously known solutions. The following application example 1 explains how such a method can look in detail.

The analyzed vibration signal can be, for example, the variable force F _k , which acts on the drilling table 3, or the rope forces F _tu or F _td . A measurement of acceleration forces, speeds or deflections are equivalent to the measurement of the time-variable force for the application of the described method and thus also part of this invention. To carry out this method, several sensors can also be used individually or in combination: for example, accelerometers on the Kelly rod 7, on the Kelly cushioning 4 or on the drilling table 3, or about the length of the damping elements, or the cable forces of the cables 6a, 6b on the table. In order to recognize a measurement even when the leader is tilted, a measurement of the tilt angle is also advantageous.

Under certain circumstances, it may be the case that the drilling table 3 is fixed vertically, for example by being placed on the floor or the piping, and thus the acceleration forces which act on the drilling table 3 and furthermore the holding forces F _tu and F _{td are} not meaningful. The measurement of the deflection y _k and the measurement of the acceleration forces which act on M _k or the Kelly damping 4 are therefore of particular importance. An advantage of these measurements is that they make it possible to determine the pair of numbers L _k , M _k with each lifting or depositing process.

In the event that the kelly bar 7 is an unknown kelly bar 7, the kelly parameters must be known before detection of jamming or dragging. A known Kelly rod 7 corresponds to a Kelly rod, the model of which is known. The Kelly parameters ((L _k1 , M _k1 ), (L _k2 , M _k2 ), (L _k3 , M _k3 ), ... (L _kmax , M _kmax )) can be stored in the regulation / control of the machine or determined via a self-learning system.

For a Kelly rod 7 with known Kelly parameters ((L _k1 , M _k1 ), (L _k2 , M _k2 ), (L _k3 , M _k3 ), ... (L _kmax , M _kmax )), the function of can be _reversed Check Kelly cushioning 4. If, for example, a known mass M _{k1 is} deposited on the Kelly damping 4, the damper dynamics can be used to ensure the correct function of the Check damping. This means that parameters describing the damper function are derived from the measured vibration signal, and these measured parameters are compared with known target parameters. If a deviation of the measured parameters from the target parameters is determined, the driver can be informed about possible damage or wear. See also application example 2 described below.

Another advantage of the invention is that it is not necessary for the function of the invention to know the drilling tool 7d or the mass of the drilling tool 7d. The unknown mass of the drilling tool 7d is added to the mass M _kmax in the Kelly rod 7 model. When telescoping the last Kelly element 7c, however, it is only _necessary to check L _kmax ; the mass must not be checked. When lifting the last Kelly element 7c, the mass to be determined is M _kmax-1 . The mass of the last Kelly element 7c and the drilling tool 7d does not matter here either.

Application example 1:

A work machine is equipped with a Kelly bar 7 known to the system in order to dig a borehole. Each time the Kelly rod 7 is immersed, a scanner is now active which searches for vibration signals corresponding to the placement (or lifting) of a Kelly rod element 7a, 7b, 7c from the drilling table 3 or from another Kelly rod element 7a, 7b, 7c (see Figure 3 ). The scanner can include the regulation / control and other of the above-mentioned devices of the working machine, such as the vibration sensor 10. If such a signal occurs, a pair of numbers L _k , M _{k is} generated by this scanner. Now this pair of numbers is compared with the model of the Kelly bar ((L _k1 , M _k1 ), (L _k2 , M _k2 ), (L _k3 , M _k3 ), ... (L _kmax , M _kmax )).

If the measured length L _{k is} compatible with one of the lengths in the model (approximately L _ki ), M _k is then compared with M _ki . If M _{k is} not statistically compatible with M _ki , then a Kelly rod 7a, 7b, 7c is probably jammed, a warning is issued. If, on the other hand, the two values are statistically compatible, then the Kelly rod was sunk or retracted correctly.

If, when comparing the length L _k, no compatible length is found in the Kelly rod model (i.e. we are in a forbidden zone), a warning can also be issued.

Example of use 2:

A work machine is equipped with a Kelly rod 7 known in the system in order to dig a borehole. When the outer cell 7a is placed on the drilling table 3, the working machine according to the invention can monitor the process and recognize that the mass deposited corresponds to the outer cell hypothesis. Conversely, the parameters of the kelly damping 4 are subsequently calculated and stored under the hypothesis outer kelly 7a. Through long-term observation of these variables, wear of the Kelly damping 4 can be recognized at an early stage, for example if the spring constant becomes statistically relevant continuously weaker and at some point for example falls below a limit value.

Claims (10)

1. Working machine for carrying out drilling operations with at least one drilling device including
   at least one drill table (3) adjustable by means of a cabling (6a, 6b),
   at least one telescopable Kelly bar (7) adjustable by means of a Kelly rope (9), which bar includes at least two Kelly bar elements (7a, 7b, 7c),
   at least one Kelly shock absorber (4), via which the Kelly bar (7) can be coupled with the drill table (3),
   characterized in that the working machine includes at least one vibration sensor (10), which is configured to detect vibration signals of a vibration of the drilling device, and in that a regulator/controller is provided, which is configured to generate an output signal depending upon the detected vibration signals.
2. Working machine according to claim 1, characterized in that the regulator/controller is configured to calculate the force introduced by the Kelly bar into the drill table (3), depending upon the detected vibration signals.
3. Working machine according to claim 1 or 2, characterized in that the vibration is caused by the telescoping of the Kelly bar (7), wherein the vibration is caused in particular by the releasing or arresting of a coupling of two Kelly bar elements (7a, 7b, 7c) and/or by a jamming and/or a dragging along of Kelly bar elements (7a, 7b, 7c).
4. Working machine according to one of the preceding claims, characterized in that the vibration sensor (10) is a sensor for detecting a temporally variable force, acceleration, speed and/or deflection.
5. Working machine according to one of the preceding claims, characterized in that the vibration sensor (10) detects vibration signals on the Kelly bar (7), on the Kelly shock absorber (4), on the drill table (3), on the Kelly rope (9) and/or on the cabling (6a, 6b).
6. Working machine according to one of the preceding claims, characterized in that a first rope length sensor (11) is provided for detecting the length of the Kelly rope (9) and/or in that a second rope length sensor (12) is provided for detecting the position of the drill table (3).
7. Working machine according to one of the preceding claims, characterized in that the regulator/controller accesses a model of the Kelly bar which describes the Kelly bar (7) by means of pairs of numbers, wherein the pairs of numbers relate to lengths of the Kelly bar elements (7a, 7b, 7c) and weights of the Kelly bar elements (7a, 7b, 7c) assigned to the lengths.
8. Working machine according to at least claims 2 and 7, characterized in that the regulator/controller is set up to compare the weights of the model with the calculated force.
9. Working machine according to one of the preceding claims, characterized in that an inclination sensor (13) is provided for detecting the angle of inclination of the drilling device.
10. Working machine according to one of the preceding claims, characterized in that a storage device is provided, which is configured to store the vibration signals, wherein the regulator/controller is in particular configured to determine a wearing of the Kelly shock absorber (4) on the basis of the vibration signals.

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