[go: up one dir, main page]

WO2004018829A1 - Dispositif de manipulation de tuyau sur un plancher de forage - Google Patents

Dispositif de manipulation de tuyau sur un plancher de forage Download PDF

Info

Publication number
WO2004018829A1
WO2004018829A1 PCT/NO2003/000285 NO0300285W WO2004018829A1 WO 2004018829 A1 WO2004018829 A1 WO 2004018829A1 NO 0300285 W NO0300285 W NO 0300285W WO 2004018829 A1 WO2004018829 A1 WO 2004018829A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe
extension arm
arm
gripper
accordance
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/NO2003/000285
Other languages
English (en)
Inventor
Brian Cowling
Knut Atle Kaastad
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mhwirth AS
Original Assignee
Maritime Hydraulics AS
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 Maritime Hydraulics AS filed Critical Maritime Hydraulics AS
Priority to AU2003253524A priority Critical patent/AU2003253524A1/en
Publication of WO2004018829A1 publication Critical patent/WO2004018829A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position

Definitions

  • This invention pertains to pipe handling on a drill floor.
  • it concerns a device that allows pipes to be raised from a horizontal position to an upright vertical position by means of a traditional pipe manipulator for vertical pipes.
  • a drill floor of the type known from e.g. petroleum production is normally equipped with machines for handling drill pipes and other types of pipes used in the drilling operation.
  • Pipe lengths that have been prepared for insertion into a well, and which are normally placed in transitional storage in a so-called fingerboard, may be from 30 to 40 metres long.
  • the machine used to handle these relatively long pipes, the pipe manipulator, is designed primarily to grip one of these relatively long pipe lengths and transport it between the borehole and the finger board.
  • the object of the invention is to remedy the disadvantages of prior art.
  • the extension arm is formed so as to always be in a vertical position, to prevent an excessive bending moment on the arm.
  • the extension arm will during the vertical and horizontal displacement maintain this predominantly vertical position by means of the parallel guide unit of the first arm, which is known per se.
  • the lower part of the extension arm is designed to rotate about its own longitudinal axis in order to retrieve pipes located at any orientation relative to the pipe manipulator.
  • the pipe gripper When retrieving a pipe that is oriented essentially in the horizontal position, the pipe gripper is displaced by means of a guide to the lower end portion of the extension arm, where it is designed to turn from its vertical position to a horizontal position.
  • the first arm is displaced down towards its lower position, so that the pipe gripper may grip the pipe. It is a favourable characteristic of the invention that the gripper is controlled when turning near the vertical position, while turning freely near the horizontal position.
  • the turning is controlled during the first phase of the rotation of the pipe gripper from the vertical position, while during the last part of the turning toward the horizontal position, the pipe gripper is turned by gravity.
  • the first arm is moved up while the pipe gripper, together with the pipe, turns freely from its horizontal position.
  • the turning control of the pipe gripper is connected, whereby the pipe may be controlled about the near vertical direction and placed in the desired position.
  • the pipe gripper is displaced along the guide of the extension arm in order to be placed in the desired position relative to the first arm.
  • the device is also well suited for turning pipes from a vertical position to a horizontal position.
  • Figure 1 is a side view of a pedestal manipulator fitted with an extension arm
  • Figure 2 is a front view of the pedestal manipulator of figure 1 as a pipe gripper grips a horizontal pipe;
  • Figure 3 shows the same as figure 2, but here the pipe is being turned from a horizontal to a vertical position
  • Figure 4 shows the same as figure 3, but here the pipe is in a position that is nearer to the vertical, where the angle of the pipe relative to the vertical axis is controlled;
  • Figure 5 is a side view of the extension arm on a larger scale, where the pipe gripper, which is in its lower horizontal position, grips a horizontal pipe;
  • FIG 6 shows the same as figure 5, but here the pipe is being pulled up and the pipe gripper is turning freely about its suspension
  • Figure 7 shows the same as figure 6, but here the pipe gripper is displaced to a position in which the turning of pipe gripper about its suspension is controlled;
  • Figure 8 shows the same as figure 7, but here the pipe gripper is in its upper and vertical position.
  • reference number 1 denotes an extension arm connected to the parallel guiding first arm 4 of a pedestal manipulator 2.
  • the pedestal manipulator 2 which is placed on a drill floor 5, is of a type that is known per se, is designed to rotate about its vertical axis 6, and is equipped with a second arm 8, see figure 1.
  • the pedestal manipulator is designed to grip a relatively long vertical length of pipe 9 and through use of the arms 4, 8 displace the length of pipe 9 in the radial direction relative to the axis 6.
  • the second arm 8 is shown in the inactive position.
  • the extension arm 1 is hinged to the parallel guiding first arm 4 by means of hinge pins 10.
  • the extension arm 4 will remain in a mainly vertical position during the radial displacement of the first arm 4 relative to the axis 6 and during the vertical displacement of the first arm 4.
  • the extension arm 1 is provided with guide slots 12, see figure 5, which extend along the longitudinal extent of the lower portion 13 of the extension arm 1 and down to the lower end portion 14 of the extension arm 1.
  • the lower portion 13 of the extension arm 1 may be rotated about its own longitudinal extent by use of a rotary motor 15.
  • a guide carriage 16 on wheels is designed to be displaced along guide slots 12 by means of a guide cylinder 18 jointed to the extension arm 1 and guide carriage 16, respectively.
  • a pipe gripper 20 is jointed to the guide carriage 16 by means of an articulated axle 22.
  • the pipe gripper 20 is equipped with hydraulically controlled gripper shoes 24 of a design that is known per se.
  • An articulated cylinder 26 jointed to the guide carriage 16 is designed to turn the pipe gripper 20 about the articulated axle 22 by means of an articulated arm 28 rotatable about the articulated axle 22, when the pipe gripper 20 is located about its vertical position, see figures 4 and 7.
  • the pipe gripper 20 In order for the pipe gripper 20 to be free to turn about the articulated axle 22 when the pipe gripper is near its horizontal position, see figures 2 and 5, the pipe gripper 20 is equipped with a locking bolt 30.
  • the locking bolt is designed to be releasable, to allow the pipe gripper 20 to turn freely about the articulated axle 22 relative to the articulated arm 28.
  • the extension arm 1 is only subjected to a slight bending moment from a pipe 32 held by one end by the pipe gripper shoes 24 of the pipe gripper 20.
  • the pipe gripper shoes 24 then grip the pipe 32, whereupon the arm 4 is displaced upwards, and the pipe 32 is then lifted by one end from the feed way 34 on the drill floor 5, while at the same time being turned freely from a horizontal position to a vertical position about the articulated axle 22, see figures 3 and 6.
  • the locking bolt 30 -locks *the pipe gripper 20 to the articulated arm 28, see figures 4 and 7.
  • the pipe 32 may, when located near its vertical position, be turned about the articulated axle 22 by means of the articulated cylinder 26 and be placed in the desired position in a controlled manner.
  • the guide cylinder 18 is well suited for precise positioning of the pipe 32, e.g. when the pipe 32 is to be joined with another pipe.
  • the guide carriage 16 is equipped with wheels 36, the wheels 36 being designed to roll on the lower portion 13 of the extension arm 1.
  • the lower end portion 14 of the extension arm 1 is rounded to allow the wheels 36 to enter the end portion 14 in an expedient manner during the vertical displacement of the guide carriage 16. This design causes the guide carriage 16 to be locked about its turning direction when in a pulled-up position.
  • the pipe gripper 20 is used in a manner similar to that of the pipe gripper of the first arm 4 on a conventional pedestal manipulator 2.

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)
  • Manipulator (AREA)
  • Earth Drilling (AREA)

Abstract

La présente invention concerne un dispositif conçu pour un manipulateur de tuyau (2) sur un plancher de forage (5), ledit manipulateur de tuyau (2) étant conçu pour manipuler des longueurs verticales de tuyau relativement importantes et comportant un premier bras (4) pouvant être levé et baissé, ledit bras (4) étant équipé d'un bras d'extension (1), ledit bras d'extension (1) formant une extension en saillie vers le bas du bras (4) ce qui permet à un dispositif de préhension de tuyau (20) connecté au bras d'extension d'être placé autour d'un tuyau sensiblement horizontal (32) disposé à proximité du plancher de forage (5).
PCT/NO2003/000285 2002-08-21 2003-08-20 Dispositif de manipulation de tuyau sur un plancher de forage Ceased WO2004018829A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003253524A AU2003253524A1 (en) 2002-08-21 2003-08-20 A drill floor pipe handling device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20023968 2002-08-21
NO20023968A NO317081B1 (no) 2002-08-21 2002-08-21 Anordning ved boredekks rorhandtering

Publications (1)

Publication Number Publication Date
WO2004018829A1 true WO2004018829A1 (fr) 2004-03-04

Family

ID=19913915

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2003/000285 Ceased WO2004018829A1 (fr) 2002-08-21 2003-08-20 Dispositif de manipulation de tuyau sur un plancher de forage

Country Status (3)

Country Link
AU (1) AU2003253524A1 (fr)
NO (1) NO317081B1 (fr)
WO (1) WO2004018829A1 (fr)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005073497A1 (fr) * 2004-01-28 2005-08-11 Max Streicher Gmbh & Co. Kg Aa Dispositif et procede pour manipuler des objets sur une installation de forage
WO2010128119A3 (fr) * 2009-05-07 2011-01-13 Max Streicher Gmbh & Co. Kg Aa Dispositif et procédé de manipulation d'éléments en forme de tige
ITPI20090110A1 (it) * 2009-09-04 2011-03-05 Lodovico Scardigli Apparecchiatura per manipolare aste per la realizzazione di pozzi
WO2012148286A1 (fr) * 2011-04-29 2012-11-01 Seabed Rig As Machine de manutention de tuyaux
US20130302114A1 (en) * 2012-05-14 2013-11-14 Nabors Drilling International Limited Drilling rig employing tubular handling device
US20130330151A1 (en) * 2011-11-28 2013-12-12 T&T Engineering Services, Inc. Tubular Stand Building and Racking System
ITPC20130014A1 (it) * 2013-04-18 2014-10-19 Robotics W Srl B Complesso di sistemi atti alla movimentazione dei tubolari di perforazione dal piano del terreno al piano sonda e su entrambi, alla loro gestione completamente automatica, allo stoccaggio in contenitori trasportabili e all'alimentazione del caricator
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
WO2014199344A3 (fr) * 2013-06-13 2015-08-13 Mhwirth As Agencement d'élévation pour élever un tuyau
US9410382B2 (en) 2012-05-14 2016-08-09 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
WO2016181272A1 (fr) * 2015-05-08 2016-11-17 Siaem S.A.S. Di Carini Stefano E Paolo & C. Équipement de manipulation de tubes de forage
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
WO2020028852A1 (fr) * 2018-08-03 2020-02-06 National Oilwell Varco, L.P. Dispositifs, systèmes et procédés de manipulation robotique de tuyau
US10995564B2 (en) 2018-04-05 2021-05-04 National Oilwell Varco, L.P. System for handling tubulars on a rig
US11274508B2 (en) 2020-03-31 2022-03-15 National Oilwell Varco, L.P. Robotic pipe handling from outside a setback area
US11352843B2 (en) 2016-05-12 2022-06-07 Nov Canada Ulc System and method for offline standbuilding
US11365592B1 (en) 2021-02-02 2022-06-21 National Oilwell Varco, L.P. Robot end-effector orientation constraint for pipe tailing path
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
US11834914B2 (en) 2020-02-10 2023-12-05 National Oilwell Varco, L.P. Quick coupling drill pipe connector
US11891864B2 (en) 2019-01-25 2024-02-06 National Oilwell Varco, L.P. Pipe handling arm
US11982139B2 (en) 2021-11-03 2024-05-14 National Oilwell Varco, L.P. Passive spacer system
US11988059B2 (en) 2019-02-22 2024-05-21 National Oilwell Varco, L.P. Dual activity top drive
US12116846B2 (en) 2020-05-03 2024-10-15 National Oilwell Varco, L.P. Passive rotation disconnect
US12345105B2 (en) 2020-07-15 2025-07-01 National Oilwell Varco, L.P. Horizontal racking and stand building system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5458454A (en) * 1992-04-30 1995-10-17 The Dreco Group Of Companies Ltd. Tubular handling method
US5941324A (en) * 1998-01-27 1999-08-24 Schramm, Inc. Drilling apparatus
WO2000065193A1 (fr) * 1999-04-28 2000-11-02 Boart Longyear Pty. Ltd. Dispositif d'acheminement de tiges de sonde

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5458454A (en) * 1992-04-30 1995-10-17 The Dreco Group Of Companies Ltd. Tubular handling method
US5941324A (en) * 1998-01-27 1999-08-24 Schramm, Inc. Drilling apparatus
WO2000065193A1 (fr) * 1999-04-28 2000-11-02 Boart Longyear Pty. Ltd. Dispositif d'acheminement de tiges de sonde

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005073497A1 (fr) * 2004-01-28 2005-08-11 Max Streicher Gmbh & Co. Kg Aa Dispositif et procede pour manipuler des objets sur une installation de forage
WO2010128119A3 (fr) * 2009-05-07 2011-01-13 Max Streicher Gmbh & Co. Kg Aa Dispositif et procédé de manipulation d'éléments en forme de tige
US8910719B2 (en) 2009-05-07 2014-12-16 Max Streicher Gmbh & Co. Kg Aa Apparatus and method of handling rod-shaped components
ITPI20090110A1 (it) * 2009-09-04 2011-03-05 Lodovico Scardigli Apparecchiatura per manipolare aste per la realizzazione di pozzi
WO2012148286A1 (fr) * 2011-04-29 2012-11-01 Seabed Rig As Machine de manutention de tuyaux
US9945193B1 (en) 2011-11-18 2018-04-17 Schlumberger Technology Corporation Drill floor mountable automated pipe racking system
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
US20130330151A1 (en) * 2011-11-28 2013-12-12 T&T Engineering Services, Inc. Tubular Stand Building and Racking System
US9121235B2 (en) * 2011-11-28 2015-09-01 T&T Engineering Services, Inc. Tubular stand building and racking system
US20130302114A1 (en) * 2012-05-14 2013-11-14 Nabors Drilling International Limited Drilling rig employing tubular handling device
US9309728B2 (en) * 2012-05-14 2016-04-12 Nabors Drilling International Limited Drilling rig employing tubular handling device
US9410382B2 (en) 2012-05-14 2016-08-09 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
ITPC20130014A1 (it) * 2013-04-18 2014-10-19 Robotics W Srl B Complesso di sistemi atti alla movimentazione dei tubolari di perforazione dal piano del terreno al piano sonda e su entrambi, alla loro gestione completamente automatica, allo stoccaggio in contenitori trasportabili e all'alimentazione del caricator
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
US9856117B2 (en) 2013-06-10 2018-01-02 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
WO2014199344A3 (fr) * 2013-06-13 2015-08-13 Mhwirth As Agencement d'élévation pour élever un tuyau
GB2529337B (en) * 2013-06-13 2016-10-19 Mhwirth As Lifting arrangement for lifting a pipe
GB2529337A (en) * 2013-06-13 2016-02-17 Mhwirth As Lifting arrangement for lifting a pipe
US9752397B2 (en) 2013-06-13 2017-09-05 Mhwirth As Lifting arrangement for lifting a pipe
WO2016181272A1 (fr) * 2015-05-08 2016-11-17 Siaem S.A.S. Di Carini Stefano E Paolo & C. Équipement de manipulation de tubes de forage
US11352843B2 (en) 2016-05-12 2022-06-07 Nov Canada Ulc System and method for offline standbuilding
US10995564B2 (en) 2018-04-05 2021-05-04 National Oilwell Varco, L.P. System for handling tubulars on a rig
WO2020028852A1 (fr) * 2018-08-03 2020-02-06 National Oilwell Varco, L.P. Dispositifs, systèmes et procédés de manipulation robotique de tuyau
US11035183B2 (en) 2018-08-03 2021-06-15 National Oilwell Varco, L.P. Devices, systems, and methods for top drive clearing
US11613940B2 (en) 2018-08-03 2023-03-28 National Oilwell Varco, L.P. Devices, systems, and methods for robotic pipe handling
US12215554B2 (en) 2018-08-03 2025-02-04 National Oilwell Varco, L.P. End effectors for automated pipe handling
US11891864B2 (en) 2019-01-25 2024-02-06 National Oilwell Varco, L.P. Pipe handling arm
US11988059B2 (en) 2019-02-22 2024-05-21 National Oilwell Varco, L.P. Dual activity top drive
US11834914B2 (en) 2020-02-10 2023-12-05 National Oilwell Varco, L.P. Quick coupling drill pipe connector
US11274508B2 (en) 2020-03-31 2022-03-15 National Oilwell Varco, L.P. Robotic pipe handling from outside a setback area
US12116846B2 (en) 2020-05-03 2024-10-15 National Oilwell Varco, L.P. Passive rotation disconnect
US12345105B2 (en) 2020-07-15 2025-07-01 National Oilwell Varco, L.P. Horizontal racking and stand building system
US11365592B1 (en) 2021-02-02 2022-06-21 National Oilwell Varco, L.P. Robot end-effector orientation constraint for pipe tailing path
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
US11982139B2 (en) 2021-11-03 2024-05-14 National Oilwell Varco, L.P. Passive spacer system

Also Published As

Publication number Publication date
AU2003253524A1 (en) 2004-03-11
NO20023968D0 (no) 2002-08-21
NO317081B1 (no) 2004-08-02

Similar Documents

Publication Publication Date Title
WO2004018829A1 (fr) Dispositif de manipulation de tuyau sur un plancher de forage
US6997265B2 (en) Method and apparatus for offline standbuilding
CA2855887C (fr) Systeme de construction et d'accrochage de montant tubulaire
US20050126827A1 (en) Method and apparatus for offline standbuilding
US4709766A (en) Well pipe handling machine
US7967540B2 (en) Vertical offline stand building and manipulating system
US20240209698A1 (en) Tubular string building system and method
EP0722531B1 (fr) Systeme porte-tubes
CN111433430B (zh) 用于钻杆装卸的排序
US20100163247A1 (en) Horizontal offline stand building system
US20160076317A1 (en) Mousehole Assembly for Manipulating Tubulars for Subterranean Operations
US10697255B2 (en) Tubular delivery arm for a drilling rig
CN105452592B (zh) 与凿岩钻机有关的用于钻柱部件的操纵装置和凿岩钻机
JPS60109489A (ja) パイプ操作用組付部品
KR20140000284A (ko) 암반 드릴링 리그와 드릴 스트링 부재들을 핸들링하기 위한 장치 및 방법
US11118414B2 (en) Tubular delivery arm for a drilling rig
US20160076318A1 (en) Griphead Assembly for Manipulating Tubulars for Subterranean Operations
EP1709286B1 (fr) Procede et dispositif de construction hors systeme de longueur de tige
US20160060981A1 (en) System and Method for Manipulating Tubulars for Subterranean Operations
CA2640111C (fr) Systeme hors ligne de construction et de manipulation de support vertical
CA2648400C (fr) Systeme de construction de support horizontal autonome
CN121184062A (zh) 一种应用在钻机上的离线接卸立根装置及方法

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP