DE102011112740A1 - Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage - Google Patents
Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage Download PDFInfo
- Publication number
- DE102011112740A1 DE102011112740A1 DE102011112740A DE102011112740A DE102011112740A1 DE 102011112740 A1 DE102011112740 A1 DE 102011112740A1 DE 102011112740 A DE102011112740 A DE 102011112740A DE 102011112740 A DE102011112740 A DE 102011112740A DE 102011112740 A1 DE102011112740 A1 DE 102011112740A1
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- Germany
- Prior art keywords
- linkage
- pipe
- manipulator
- manipulator according
- string
- 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.)
- Withdrawn
Links
- 238000005553 drilling Methods 0.000 claims description 6
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- 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
-
- 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
- E21B19/20—Combined feeding from rack and connecting, e.g. automatically
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/046—Directional drilling horizontal drilling
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- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Civil Engineering (AREA)
- Manipulator (AREA)
- Earth Drilling (AREA)
Abstract
Description
Die Erfindung betrifft einen Rohrgestängeschuss-Manipulator, der dazu dient, einzelne Gestängeschüsse nacheinander einem Bohrgerät zuzuführen, das die Gestängeschüsse während des Verlegens einer Rohrleitung im Erdreich nacheinander mit einem seinerseits aus Rohrgestängeschüssen bestehenden Rohrstrang verbindet.The invention relates to a pipe string handling manipulator, which serves to deliver individual rod sections successively a drill that connects the rod sections during the laying of a pipeline in the ground one after another with a pipe string which in turn consists of Rohrgestängeschüssen.
Im Hinblick auf ein kostengünstiges Verlegen ist es erforderlich, mit möglichst geringem Personalaufwand die einzelnen Gestängeschüsse möglichst ohne Unterbrechung, allenfalls mit möglichst kurzfristiger Unterbrechung des Rohrvortriebs dem hinteren Ende des Rohrstrangs im Erdreich zuzuführen und dort anzuschließen. Dies geschieht üblicherweise mit Hilfe von in einem Magazin gruppenweise abgelegten Gestängeschüssen und einem Manipulator, der die Gestängeschüsse nacheinander erfasst und der Bohrmaschine zuführt. Solche Bohrmaschinen sind beispielsweise aus der PCT-Offenlegungsschrift
Eine derartige Vorrichtung zum Einlegen und Entnehmen von Bohrgestängeschüssen beschreibt die
So sehr sich diese Vorrichtung in der Praxis bewährt hat, ermöglicht sie jedoch nicht ein vollautomatisches Beschicken der Bohrvorrichtung mit Gestängeschüssen aus einem Magazin.As much as this device has been proven in practice, but does not allow fully automatic loading of the drilling device with rod sections from a magazine.
Der Erfindung liegt das Problem zugrunde, einen Manipulator zu schaffen, der in unmittelbarer Nähe der Bohrvorrichtung die Gestängeschüsse aufnimmt und ohne Schwenkbewegungen in der Bohrlochachse bzw. vor einer Bohrvorrichtung ablegt.The invention is based on the problem to provide a manipulator which receives the rod sections in the immediate vicinity of the drilling device and deposits without pivoting movements in the borehole axis or in front of a drilling device.
Die Lösung dieser Aufgabe basiert auf einem Manipulator mit einem Grundrahmen, der mit einer Bohrmaschine und/oder einem Raupenfahrzeug verbunden sein kann, einem Hubschlitten und einem Gestängegreifer an einem Horizontalschlitten. Dabei kann das Fahrgestell mit Laufrollen auf Schienen verfahrbar gelagert sein.The solution to this problem is based on a manipulator with a base frame, which can be connected to a drill and / or a tracked vehicle, a lifting and a rod grip on a horizontal slide. In this case, the chassis can be movably mounted with rollers on rails.
Der Hubschlitten ist vorzugsweise verfahrbar in einem vertikalen Hubrahmen gelagert. In diesem Hubschlitten ist vorzugsweise ein mit einem Hydraulikmotor verbundener Horizontalschlitten mit dem Gestängegreifer verfahrbar gelagert. Der Horizontalschlitten ist verfahrbar, wenn er beispielsweise einen Hydraulikmotor aufweist, der über eine Antriebswelle mit in Zahnschienen eingreifenden Ritzeln versehen ist.The lifting carriage is preferably mounted movably in a vertical lifting frame. In this lifting a horizontal slide connected to a hydraulic motor is preferably movably mounted with the linkage gripper. The horizontal carriage is movable when, for example, it has a hydraulic motor which is provided with pinions engaging in toothed rails via a drive shaft.
Von besonderem Vorteil ist es, wenn an den Enden eines vorzugsweise axial beweglichen Gestängegreifers jeweils eine Greifzange angeordnet ist. Diese Greifzangen können aus über ein Hebel-Umlenksystem von jeweils einem Hydraulikzylinder betätigten Greifbacken bestehen.It is particularly advantageous if in each case a gripping tongs is arranged at the ends of a preferably axially movable linkage gripper. These grippers can consist of a lever deflection system actuated by a respective hydraulic cylinder gripping jaws.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung dargestellten Ausführungsbeispiels des näheren erläutert. In der Zeichnung zeigen:The invention is explained below with reference to an embodiment shown in the drawing of the closer. In the drawing show:
Der Manipulator
Der Manipulator
Im Einzelnen lässt sich der Grundrahmen
Um einen Gestängeschuss
Der Gestängegreifer
Je zwei Backen
Der Grundrahmen
Im Fall eines Magazinwechsels wird der Manipulator
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- WO 02/44602 A1 [0002] WO 02/44602 Al [0002]
- DE 10206645 B4 [0003] DE 10206645 B4 [0003]
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202011110844.2U DE202011110844U1 (en) | 2011-09-07 | 2011-09-07 | Drill pipe shot manipulator |
DE102011112740A DE102011112740A1 (en) | 2011-09-07 | 2011-09-07 | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011112740A DE102011112740A1 (en) | 2011-09-07 | 2011-09-07 | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102011112740A1 true DE102011112740A1 (en) | 2013-03-07 |
Family
ID=56409751
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE202011110844.2U Expired - Lifetime DE202011110844U1 (en) | 2011-09-07 | 2011-09-07 | Drill pipe shot manipulator |
DE102011112740A Withdrawn DE102011112740A1 (en) | 2011-09-07 | 2011-09-07 | Pipe linkage weft manipulator for handling linkage wefts located in open cage-like magazine for laying pipeline strings in underground, has basic frame, stroke slide and linkage gripper arranged at horizontal carriage |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE202011110844.2U Expired - Lifetime DE202011110844U1 (en) | 2011-09-07 | 2011-09-07 | Drill pipe shot manipulator |
Country Status (1)
Country | Link |
---|---|
DE (2) | DE202011110844U1 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
CN107605416A (en) * | 2017-10-30 | 2018-01-19 | 江苏谷登工程机械装备有限公司 | A kind of rotary machine hand |
CN108442893A (en) * | 2018-02-08 | 2018-08-24 | 禹伟 | A kind of ancillary equipment for being convenient for picking and placeing petroleum pipeline |
CN109138872A (en) * | 2018-10-18 | 2019-01-04 | 广西科技大学 | Drill pipe system in a kind of novel automation |
CN109296314A (en) * | 2018-10-18 | 2019-02-01 | 广西科技大学 | A kind of upper and lower drill rod mash gas cross drainage drilling machine of novel automation |
CN109736730A (en) * | 2019-03-01 | 2019-05-10 | 冀凯河北机电科技有限公司 | A kind of automatically continuously drilling drill carriage manipulator |
CN110306943A (en) * | 2019-08-02 | 2019-10-08 | 西安石油大学 | A kind of rig floor plane packaged type automatic tube-arranging machinery device |
CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
CN113417571A (en) * | 2021-07-16 | 2021-09-21 | 冀凯河北机电科技有限公司 | Automatic drill boom for anchor rod drill carriage |
CN113982508A (en) * | 2021-10-27 | 2022-01-28 | 中煤科工集团重庆研究院有限公司 | Disassembly-free automatic rod adding device for drilling machine |
CN113417571B (en) * | 2021-07-16 | 2024-05-31 | 冀凯河北机电科技有限公司 | Automatic drill boom for anchor rod drill carriage |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019001046A1 (en) * | 2019-02-13 | 2020-08-13 | Tracto-Technik Gmbh & Co. Kg | Earth auger and use of an earth auger |
CN112627748A (en) * | 2020-12-25 | 2021-04-09 | 冀凯河北机电科技有限公司 | Full-automatic drill pipe box suitable for spiral drill pipe |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2533621C2 (en) * | 1975-07-26 | 1984-10-31 | Rudolf Hausherr & Söhne GmbH & Co KG, 4322 Sprockhövel | Device for transporting boring bars between a magazine and a drilling machine |
DE19502591A1 (en) * | 1994-02-28 | 1995-08-31 | Wurth Paul Sa | Device for changing the boring bars and / or the tapping bars on a machine for drilling a tap hole |
EP0646694B1 (en) * | 1993-10-04 | 1998-10-21 | Varco International, Inc. | Pipe transfer system |
WO2002044602A1 (en) | 2000-11-30 | 2002-06-06 | Longbore, Inc. | Apparatus and method for inserting and removing a flexible first material into a second material |
DE102004004315A1 (en) * | 2004-01-28 | 2005-08-11 | Max Streicher Gmbh & Co. Kg Aa | Apparatus and method for handling objects on a drilling rig |
DE10206645B4 (en) | 2002-02-15 | 2006-01-26 | Prime Drilling Gmbh | Device for inserting and removing drill pipes in and from horizontal drilling installations |
-
2011
- 2011-09-07 DE DE202011110844.2U patent/DE202011110844U1/en not_active Expired - Lifetime
- 2011-09-07 DE DE102011112740A patent/DE102011112740A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2533621C2 (en) * | 1975-07-26 | 1984-10-31 | Rudolf Hausherr & Söhne GmbH & Co KG, 4322 Sprockhövel | Device for transporting boring bars between a magazine and a drilling machine |
EP0646694B1 (en) * | 1993-10-04 | 1998-10-21 | Varco International, Inc. | Pipe transfer system |
DE19502591A1 (en) * | 1994-02-28 | 1995-08-31 | Wurth Paul Sa | Device for changing the boring bars and / or the tapping bars on a machine for drilling a tap hole |
WO2002044602A1 (en) | 2000-11-30 | 2002-06-06 | Longbore, Inc. | Apparatus and method for inserting and removing a flexible first material into a second material |
DE10206645B4 (en) | 2002-02-15 | 2006-01-26 | Prime Drilling Gmbh | Device for inserting and removing drill pipes in and from horizontal drilling installations |
DE102004004315A1 (en) * | 2004-01-28 | 2005-08-11 | Max Streicher Gmbh & Co. Kg Aa | Apparatus and method for handling objects on a drilling rig |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107165663B (en) * | 2017-06-29 | 2023-09-12 | 中国煤炭科工集团太原研究院有限公司 | Intelligent anchor rod drill carriage |
CN107165663A (en) * | 2017-06-29 | 2017-09-15 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
CN107605416A (en) * | 2017-10-30 | 2018-01-19 | 江苏谷登工程机械装备有限公司 | A kind of rotary machine hand |
CN108442893A (en) * | 2018-02-08 | 2018-08-24 | 禹伟 | A kind of ancillary equipment for being convenient for picking and placeing petroleum pipeline |
CN109138872A (en) * | 2018-10-18 | 2019-01-04 | 广西科技大学 | Drill pipe system in a kind of novel automation |
CN109296314A (en) * | 2018-10-18 | 2019-02-01 | 广西科技大学 | A kind of upper and lower drill rod mash gas cross drainage drilling machine of novel automation |
CN109296314B (en) * | 2018-10-18 | 2024-01-26 | 广西科技大学 | Novel automatic drilling rod gas drainage rig from top to bottom |
CN109138872B (en) * | 2018-10-18 | 2023-12-15 | 广西科技大学 | Novel automatic drilling rod feeding system |
CN109736730A (en) * | 2019-03-01 | 2019-05-10 | 冀凯河北机电科技有限公司 | A kind of automatically continuously drilling drill carriage manipulator |
CN110306943A (en) * | 2019-08-02 | 2019-10-08 | 西安石油大学 | A kind of rig floor plane packaged type automatic tube-arranging machinery device |
CN112709540A (en) * | 2021-01-12 | 2021-04-27 | 重庆劲合实业有限公司 | Automatic rod replacing device |
CN112709540B (en) * | 2021-01-12 | 2024-06-07 | 重庆劲合实业有限公司 | Automatic rod replacing device |
CN113417571A (en) * | 2021-07-16 | 2021-09-21 | 冀凯河北机电科技有限公司 | Automatic drill boom for anchor rod drill carriage |
CN113417571B (en) * | 2021-07-16 | 2024-05-31 | 冀凯河北机电科技有限公司 | Automatic drill boom for anchor rod drill carriage |
CN113982508A (en) * | 2021-10-27 | 2022-01-28 | 中煤科工集团重庆研究院有限公司 | Disassembly-free automatic rod adding device for drilling machine |
Also Published As
Publication number | Publication date |
---|---|
DE202011110844U1 (en) | 2016-10-19 |
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