CA2850746C - Manipulation de tiges de forage automatique - Google Patents

Manipulation de tiges de forage automatique Download PDF

Info

Publication number
CA2850746C
CA2850746C CA2850746A CA2850746A CA2850746C CA 2850746 C CA2850746 C CA 2850746C CA 2850746 A CA2850746 A CA 2850746A CA 2850746 A CA2850746 A CA 2850746A CA 2850746 C CA2850746 C CA 2850746C
Authority
CA
Canada
Prior art keywords
drill
drill rod
manipulator
gripping unit
drill 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.)
Expired - Fee Related
Application number
CA2850746A
Other languages
English (en)
Other versions
CA2850746A1 (fr
Inventor
Vesa Sieppi
Juha Saarela
Timo Kamarainen
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.)
ARCTIC DRILLING Co Ltd Oy
Original Assignee
ARCTIC DRILLING Co Ltd Oy
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
Priority claimed from FI20135450A external-priority patent/FI126429B/en
Application filed by ARCTIC DRILLING Co Ltd Oy filed Critical ARCTIC DRILLING Co Ltd Oy
Publication of CA2850746A1 publication Critical patent/CA2850746A1/fr
Application granted granted Critical
Publication of CA2850746C publication Critical patent/CA2850746C/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm
    • 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
    • E21B19/14—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
    • 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

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

Il est décrit un manipulateur comprenant une base de montage, une unité de préhension pour saisir une tige de forage, et un bras pivotant fixé à la base de montage et à lunité de préhension, dans lequel le bras pivotant comprend une pluralité de pivots entre la base de montage et lunité de préhension; où le bras pivotant est configuré pour déplacer automatiquement lunité de préhension selon une trajectoire tridimensionnelle programmée entre une première position et une seconde position, où : dans la première position,lunité de préhension peut saisir ou libérer la tige de forage directement depuis/vers une unité de stockage pour une pluralité de tiges de forage, et dans la seconde position, lunité de préhension est capable de saisir ou de libérer la tige de forage lorsque la tige de forage se trouve le long dun axe de forage relié à un train de tiges de forage entrant dans un trou de forage; et de saisir ou de libérer automatiquement la tige de forage dans la première position ou dans la seconde position.
CA2850746A 2013-04-30 2014-04-29 Manipulation de tiges de forage automatique Expired - Fee Related CA2850746C (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FI20135450 2013-04-30
FI20135450A FI126429B (en) 2013-04-30 2013-04-30 Portable drilling rig with automatic drill pipe handling, method for moving drill pipes and computer software product
FI20136017 2013-10-11
FI20136017 2013-10-11

Publications (2)

Publication Number Publication Date
CA2850746A1 CA2850746A1 (fr) 2014-10-30
CA2850746C true CA2850746C (fr) 2021-03-16

Family

ID=50630633

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2850746A Expired - Fee Related CA2850746C (fr) 2013-04-30 2014-04-29 Manipulation de tiges de forage automatique

Country Status (5)

Country Link
EP (1) EP2799661B1 (fr)
AU (1) AU2014202340B2 (fr)
CA (1) CA2850746C (fr)
CL (1) CL2014001102A1 (fr)
PL (1) PL2799661T3 (fr)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016167636A1 (fr) * 2015-04-17 2016-10-20 인석신 Dispositif de montage de tige destiné à une machine de forage
KR101783875B1 (ko) * 2015-04-17 2017-10-10 인석신 천공기용 로드 장착장치
ITPC20150006A1 (it) * 2015-05-08 2016-11-08 Siaem S A S Di Carini Stefano E Paolo & C Attrezzatura per la movimentazione di aste di perforazione
NO341203B1 (no) * 2015-06-12 2017-09-11 West Drilling Products As Boredekkssystem og fremgangsmåte for utføring av helautomatiserte arbeidsoperasjoner på et boredekk
CN104929544B (zh) * 2015-06-21 2017-11-17 常州大学 一种石油钻井管具夹爪
CN107143294A (zh) * 2017-06-08 2017-09-08 浙江中锐重工科技股份有限公司 一种泵吸反循环钻机用的钻杆装卸臂
FI3521550T3 (fi) * 2018-01-31 2023-01-31 Laite tangon käsittelemiseksi, kallionporausyksikkö ja menetelmä
IT201800004926A1 (it) * 2018-04-27 2019-10-27 Manipolatore multifunzionale per la movimentazione di elementi di perforazione in un impianto di perforazione, impianto di perforazione e relativi metodi di movimentazione degli elementi di perforazione.
CN108756786B (zh) * 2018-06-13 2020-02-14 中国煤炭科工集团太原研究院有限公司 一种井下钻机的机械手自动换杆装置
CN108561089B (zh) * 2018-06-19 2024-04-09 四川宏华石油设备有限公司 一种管具处理装置
CN109577886B (zh) * 2018-10-23 2020-05-05 中煤科工集团西安研究院有限公司 一种适用于煤矿井下钻机的自动加卸杆装置
CN110952972B (zh) * 2019-11-27 2023-08-11 中煤科工集团重庆研究院有限公司 一种煤矿钻机及其控制方法
US11643887B2 (en) 2020-07-06 2023-05-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11408236B2 (en) 2020-07-06 2022-08-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11486209B2 (en) 2020-07-06 2022-11-01 Nabors Drilling Technologies Usa, Inc. Robotic pipe handler systems
NO20230209A1 (en) 2020-09-01 2023-03-02 Canrig Robotic Technologies As Tubular handling system
IT202000022483A1 (it) 2020-09-24 2022-03-24 Drillmec Spa Manipolatore multifunzionale innovativo per la movimentazione di elementi di perforazione in un impianto di perforazione e relativo impianto di perforazione.
CN112627748A (zh) * 2020-12-25 2021-04-09 冀凯河北机电科技有限公司 一种适用螺旋钻杆的全自动钻杆箱
CN113530478B (zh) * 2021-08-04 2023-09-15 国能神东煤炭集团有限责任公司 装卸钻杆的装置和方法
CN114059941B (zh) * 2021-12-07 2024-07-16 湖南三一石油科技有限公司 钻修井作业系统的操作方法、控制装置及油井作业系统
CN114658374B (zh) * 2022-03-18 2023-03-14 江苏方正环保集团有限公司 一种取样钻机自动换杆装置和方法
CN114673462A (zh) * 2022-03-30 2022-06-28 中煤科工集团重庆研究院有限公司 一种钻杆运送装置及方法
NL2034271B1 (en) * 2023-03-06 2024-09-18 Ter Bron Groep B V Hydraulic workover unit with tubular handling mechanism for positioning tubulars above a well head.
CN117780273B (zh) * 2024-02-26 2024-05-24 中国三峡新能源(集团)股份有限公司黑龙江分公司 一种地热钻井固定装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2177143B (en) * 1985-06-21 1988-06-08 Apache Corp Transfer arm positioning system
US7249637B2 (en) * 1997-09-02 2007-07-31 Weatherford/Lamb, Inc. Method and device to clamp control lines to tubulars
US7694583B2 (en) * 2005-05-05 2010-04-13 Control Gaging, Inc. Gripper gage assembly
US8408334B1 (en) * 2008-12-11 2013-04-02 T&T Engineering Services, Inc. Stabbing apparatus and method

Also Published As

Publication number Publication date
AU2014202340A1 (en) 2014-11-13
AU2014202340B2 (en) 2017-10-26
CL2014001102A1 (es) 2015-01-16
PL2799661T3 (pl) 2016-06-30
CA2850746A1 (fr) 2014-10-30
EP2799661B1 (fr) 2016-02-17
EP2799661A2 (fr) 2014-11-05
EP2799661A3 (fr) 2014-12-17

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EEER Examination request

Effective date: 20190404

MKLA Lapsed

Effective date: 20210429