DE102015209378A1 - Method for operating a working device of a drilling rig, working device operating according to the method, computer program for implementing the method, control device with an implementation of the method and drilling rig with such a working device - Google Patents

Abstract

Disclosed are a method for operating an implement (10) - "Iron Roughneck" - and a working according to the method implement (10), wherein after an initial positioning of a tong system (18) by means of a positioning device (20) and a subsequent fixation of Pliers system (18) to be connected by means of the pliers system (18) drill string elements (14, 16) a resulting position - "actual position" - the pliers system (18) is detected, then the pliers system (18) by means of a renewed movement of the positioning device ( 20) is aligned until a desired position of the pliers system (18) is reached, and finally a resulting position of the positioning device (20) as a future target position for further movement cycles of the implement (10) is stored.

Description

The invention first and foremost relates to a method for operating a working device on a drilling rig. The implement is a device for connecting and bolting drill pipe elements. Devices for connecting and screwing drill pipe elements as well as for cutting thereby produced screw, so-called Roughnecks or Iron Roughnecks - sometimes referred to in German as Gestängeverschraubungsvorrichtung, Kraftverschraubungsvorrichtung and the like - are known per se. To document the state of the art can be exemplified in the US 3,799,009 to get expelled.

Such a tool is used on a working platform of a drilling rig above the wellbore (bore well). In the area of the borehole, however, handling of the drill pipe elements during installation and removal of the drill string must also take place, among other things. Therefore, the implement can not be permanently in the position above the borehole. It is therefore usual for the implement to include a positioning device. By means of the positioning device, a pliers system likewise encompassed by the working device is movable into a position in the region of the borehole (working position) as well as into a rest position remote from the working position.

In that regard, for example, is a system with rails into consideration, in which the clamp system on the rails from the rest position to the working position and vice versa is movable. However, such rails are sometimes disturbing in the vicinity of the borehole. Other positioning devices work with a movable arm. Such a positioning device is for example from the WO 2005 / 024169A known. The arm there is based on a parallelogram arm, at the end of which the pliers system is located. The kinematics of the Parallelogrammarms requires that the orientation of the forceps system during movement, so for example during the movement from the rest position to the working position, always the same. However, the kinematics is comparatively complicated and thus not only expensive, but also error-prone and to wait in the event of an error only with increased effort.

A particularly simple form of a positioning device comprises a translationally and / or rotationally movable arm, so that the forceps system is movable by means of a translatory movement or a pivoting movement from the rest position to the working position and from the working position back to the rest position.

The pliers system is attached to the free end of the positioning device, namely on the arm encompassed by the positioning device. A particularly space-saving form of such a positioning device is that the pivoting arm has a C-shaped contour in the broadest sense, so that the forceps system is in the rest position and in eingeschwenktem type in the region of a Hüllkontur to the arm. The occupied by the implement on the working platform of the drilling rig is thus essentially determined by the already fixed dimensions of the pliers system and the additional space required by the positioning falls in contrast hardly significant.

Such a positioning device, in which the arm is pivoted to move the forceps system between the rest position and the working position, however, requires that the forceps system is articulated, so pivotally, at the free end of the arm of the positioning device. The implement hangs like a pendulum at the free end of the positioning device. This ensures, in principle, that the pincer system remains sufficiently straight for each swivel configuration of the arm, ie that a relevant axis of the pincer system referred to below as the pincer axis remains substantially parallel to a longitudinal axis through the drill string elements (drill string axis) to be connected or disconnected by the pincer system.

However, the necessary during the movement process pivoting of the implement relative to the arm of the positioning device also allows a misalignment of the pliers system when, for example by means of the pliers system at least one drill string element is detected, although the pliers system is not located at an optimal distance from the drill string element. If during such a misalignment the pliers system is activated for connecting or disconnecting two drill string elements, so-called eccentric forces result, which lead to increased wear of relevant parts of the pliers system and the respectively detected areas of the drill string elements.

An object of the present invention is accordingly to provide a method for operating a working device of the type mentioned above and working according to the method implement which avoids the disadvantages outlined above, in particular eccentric forces when activating the pliers system, or at least reduces their effects.

This object is achieved by means of a method for operating such Working device solved with the features of claim 1. This is in a method for operating a working device of the type mentioned (Iron Roughneck) on a drilling rig, wherein the implement comprises a tong system and a positioning device with an arm for positioning the pivotally mounted at a free end of the arm pliers system and wherein the working device and the pliers system are intended for connecting or disconnecting two drill string elements, the following is provided: In a first method step, the pliers system is moved by means of the arm in the direction of the drill string elements and the implement is brought into a contact position. In a second method step, an actual position of the pliers system is determined in the contact position and at standstill of the arm. In a third method step, the forceps system is moved by means of the arm again until a predetermined desired position of the forceps system is reached.

The above object is also achieved by means of a working device with the features of the parallel independent device claim. This is in a working device of the type mentioned (Iron Roughneck), which is intended for use on a drilling rig, wherein the implement comprises a forceps system and a positioning device with an arm for positioning the pivotally mounted at a free end of the arm pliers system and wherein Working tool and its tong system are intended for connecting or disconnecting two drill string elements, provided the following: The pliers system is movable by means of the arm in the direction of the drill string elements and the implement is maneuverable in a contact position. In the contact position and at standstill of the arm an actual position of the pliers system can be determined. Finally, the forceps system is movable by means of the arm, which is reached by means of the movement of the arm a predetermined desired position of the forceps system.

The advantage of the innovation proposed here is, above all, that a position of the pliers system relative to the two drill string elements is achieved by means of the alignment of the pliers system to obtain its desired position, in which both drill string elements centered on the rod center, ie centered, by means of the pliers system. can be detected or recorded. Upon engagement of both a pair of pliers enclosed by the lower nipper pliers as well as an upper pliers also on the middle of the respective drill string element resulting in a later activation of the pliers system and a movement of the upper nipper relative to the lower nipper no eccentric forces (shear forces) and no signs of wear of the beginning As a result of the fact that the drill string elements are respectively detected exactly on the middle of the rod and no eccentric forces occur, more accurate achievement of the necessary torque when connecting the drill pipe elements is possible and ensured.

With the movement of the pliers system by means of the arm of the positioning device in the contact position - ie a position in which the pliers system of the implement with at least one linkage element in contact - are on the one hand an initial position of the arm and on the other hand, a defined position of the pliers system relative to at least one drill string element. For example, the initial position of the arm results from a respective default of a respective pivoting range of the arm, for example, such that the initial position corresponds to a percentage, for example 90%, of the maximum swing-out of the arm.

In this contact position is - at standstill of the arm, so halted positioning - determined as an actual position a current position of the pliers system. Should a desired position of the forceps system already result in this situation, the initial position of the arm is already the optimum position of the arm for a later activation of the forceps system. Usually, however, a "skewing" of the pliers system initially results in the contact position. An activation of the pliers system for connecting or disconnecting two drill string elements leads in such a situation to the problems mentioned above. The initial position of the arm is thus not yet the optimal position for such a later activation of the forceps system. Therefore, the initial position of the arm is corrected. This is done by an actual position of the pliers system can be determined in the contact position and at standstill of the arm and is determined within the scope of an embodiment of the method. The actual position is a measure of the actual misalignment of the pliers system. To obtain the optimum position of the arm, the pliers system is movable by means of the positioning device, which is reached by the movement of the arm a predetermined desired position of the pliers system and in an embodiment of the method based on a continuous comparison of a respective actual position with the target Situation is reached. The desired position of the pliers system is the position in which by means of the pliers system both drill string elements in an optimal manner, in particular without the occurrence of shear forces upon activation of the pliers system, are detectable or detected. In short, the tong system is "straight" in the desired position to the drill pipe elements or at least one drill pipe element aligned (pliers system axis and drill pipe axis are parallel or at least substantially parallel). As soon as due to the renewed movement of the arm, the desired orientation of the forceps system is reached, then with the then given position of the arm and the optimal position of the arm and the correlated distance of the forceps system to the drill string elements for subsequent activation of the forceps system found. In a next cycle of motion of the implement can be used directly the thus determined optimal position of the arm. This means that the arm of the positioning device is moved to the optimum position at the beginning of subsequent movement cycles. In this position, the pliers system is now activated in the usual way, for example, such that first a lower drill string element is detected by means of a lower nipper of the pliers system and then an upper drill string element by means of a collet of the pliers system. Due to the optimal position of the arm determined as described above, the pliers system and its lower and upper pliers are in positions in which the respective drill string elements can be detected on the middle of the bar and are detected during the execution of the method. Unfavorable shear forces and other disadvantages are avoided.

Advantageous embodiments of the invention are the subject of the dependent claims or result from an implementation of one or more features of the method claims. In the claims used in the claims point to the further development of the subject of the main claim by the features of the respective subclaim. They should not be construed as a waiver of obtaining independent, objective protection for the feature combinations of the dependent claims. Furthermore, with a view to an interpretation of the claims in a closer specification of a feature in a subordinate claim, it is to be assumed that such a restriction does not exist in the respective preceding claims. Finally, it should be noted that the method specified here can also be developed according to the dependent device claims and vice versa.

Since the subject-matter of the subclaims can form separate and independent inventions with regard to the prior art on the priority date, the Applicant reserves the right to make them the subject of independent claims or statements of division. They may further contain independent inventions having an independent of the subjects of the preceding sub-claims design.

Advantageous embodiments of the working device have means for carrying out the method and one or more embodiments described here and below, for example a control device functioning as a means for carrying out the method or one or more method variants, and a sensor system for obtaining measured values that can be processed by the control device.

In an embodiment of the method, after the orientation of the tong system in the third method step, a measure of a position of the arm, namely the position of the arm when the desired position of the tong system is reached, is detected and stored, so that these are for future use Movements of the positioning device is available. In a subsequent operation cycle of the working device, in particular a movement of the working device from its rest position in the direction of the working position when moving the pliers system by means of an operating action of an operator of the working device, for example an operation of a designated operating element, in particular a button or the like the positioning device in the direction of the drill string elements of the arm automatically moves to a position corresponding to the detected in the third method step target position. In the context of the execution of the first, second and third method step, therefore, a position is detected as the desired position of the arm, in which the pivotally mounted on the arm pliers system is due to the pivoting movement and the direction of gravitational force in the desired position. At the end of the third process step, this desired position is detected and stored for later use ("teach process"). During subsequent movement cycles of the working device, ie at least movements of the forceps system by means of the arm in the direction of the drill string elements, the "learned" desired position is used in each case for optimal, in particular automatic positioning of the positioning device and its arm. Instead of an automatic movement of the arm in the learned target position is also a corresponding positioning due to operator actions of an operator of the implement into consideration. For example, the operator is shown the desired position and a current position of the arm and the operator can stop the movement of the arm if the current position and the target position match sufficiently. When the current position of the arm is displayed as a percentage of the desired position, the operator only needs to monitor one displayed value, namely the respective percentage, and the movement of the arm can be halted if the displayed percentage value is sufficiently precisely one value in the Range of 100%.

The learned target position of the arm can be used for further movement cycles at least as long as the diameter of the drill string elements used does not change. In the event of such a change, a renewed initial positioning of the arm in a contact position and a subsequent movement with the aim of maintaining the desired position of the pliers system determines a valid for the new drill string elements optimal position of the arm for subsequent movement cycles. In the case of a pliers system with centering as in the DE 10 2014 208 113 described, can be dispensed with re-learning the desired position of the arm even. By means of such centering centering of the pliers system takes place with respect to the center of the drill string elements. The respective center does not change even with different diameters of the drill pipe elements.

In the case of an automatic positioning of the arm, an automatically evaluable measure for a respective actual position of the arm is recorded by means of a sensor system, for example an incremental encoder or the like. This is compared automatically, for example by means of a control device provided for this purpose and by means of a controller comprised by the controller, executed in software or in hardware comparator, continuously or cyclically with the desired position. The movement of the forceps system by means of the arm is finally terminated automatically, for example by means of a corresponding control signal generated by the control device on the basis of the result of the comparison, if the actual position and the desired position coincide within predefined or predefinable limits.

In a further embodiment of the method, the renewed movement of the arm for aligning the tong system in the third method step is carried out automatically. In this case, an automatically evaluable measure of the respective actual position of the forceps system is recorded by means of a sensor. The actual position is compared automatically, for example by means of the control device provided therefor or by means of a comparator included in the software or in hardware by the control device, continuously or cyclically with the desired position. On the basis of a respective result of the comparison, the renewed movement of the arm is automatically ended, for example by means of a corresponding control signal generated by the control device on the basis of the result of the comparison, if the actual position and the desired position coincide within predefined or predefinable limits. The alignment of the pliers system, ie the approach of the desired position of the pliers system, can therefore be done automatically and an operator of the implement must read no display elements or the like and intervene in dependence on the reading result in the process.

On the whole, the first, the second and the third method step can be carried out automatically on this basis, for example under the control of the control device, by automatically approaching the contact position, then automatically the actual position of the clamp system and depending on this a possible need for a correction the orientation of the forceps system are determined and finally automatically the orientation of the forceps system is corrected until a predetermined target position is reached. During operation of the working device, an operator can retrieve such an automatic sequence by a corresponding operator action, for example an actuation of a control element provided for this purpose, such as a pushbutton or the like. Such an automatic sequence can also be subdivided into semi-automatic sequences, for example in such a way that the contact position is automatically approached on the basis of a corresponding operator action and the actual position of the forceps system is automatically determined on the basis of a later operator action and then its orientation is corrected.

In a particular embodiment of the method results in the desired in the first process step contact position by the lower drill string member detected by means of a lower nipper pliers system and the lower nipper is centered relative to the detected drill string element. The lower nipper for this purpose comprises centering means which effect such a centering or the pincer system or the lower nipper are assigned such centering means. As an example of the centering means included in the lower tongs, reference can be made to those in the DE 10 2014 208 113 be referred to centering described. The centering means ensures that the lower tongs can grip or at least grasp the lower drill string element on the center of the rod.

Due to the centering of the lower nipper relative to the lower drill string element results in a contact position in which the pincer system is already positioned correctly with respect to the lower nipper. With regard to this position, the alignment of the tong system is carried out until it reaches its desired position. In aligning the forceps system by re-moving the arm, the forceps system is pivoted about the position where the lower jaw has engaged the lower drill string member. The centering of the lower tongs on the lower drill string member is maintained during alignment of the tongs system. Once the desired position of the pliers system is reached, is located Also, the upper nipper in a position in which this can detect the upper drill string element on rod center.

The detection of the lower drill string element by means of the lower nipper and the consequent fixation of the pincer system relative to the lower drill string element is preferably carried out with a lower force than the later activation of the pincer system for connecting or disconnecting two drill string elements. To ensure a lower closing force, for example, in the case of a hydraulically operated lower nipper, a pressure resulting from the detection of the lower drill string element is monitored with respect to a predefined or predefinable threshold value and the further closing of the lower nipper is stopped when the threshold value is reached. This ensures that the forceps system is sufficiently fixed relative to the lower drill string member and subsequent alignment of the forceps system in the form of at least one rotation about the point at which the lower forceps on the lower drill string member engages, possibly also a displacement of the lower forceps in the axial direction of the lower Drill rod element, without unnecessary mechanical force and without undue damage to the lower nipper and the detected surface portions of the lower drill string element can be done. The limitation of the closing force of the lower nipper is carried out, for example, under the control of the aforementioned control device. In a pliers system like in the DE 10 2014 208 113 with the centering means described there, in the first method step and in the contact position, the lower nipper grasps the lower drill string element by means of the centering means. By means of the centering means, the tong system is fixed relative to at least the lower drill string element, namely fixed transversely to the longitudinal axis of the drill string element. The clamping blocks of such a lower nipper are not yet involved, so that the lower nipper remains movable in spite of the fixing transversely to the longitudinal axis of the drill string element in the direction of the longitudinal axis of the drill string element.

In a further particular embodiment of the method, the contact position sought in the context of the first method step results as follows: The pliers system comprises a stop. The reaching of the contact position in the first method step is sensed by means of a contact of the stop with one of the drill string elements. Due to the contacting of the stop, the lower drill string element is detected by means of a lower nipper of the pliers system and fixed the pliers system on the lower drill string element. The (variable) position of the stop ensures that the lower nipper is centered relative to the detected drill string element. The subsequent alignment of the pliers system to obtain its desired position is carried out as already described above.

The above-mentioned object is also achieved with a control device which is intended and arranged for carrying out the method described here and below and for controlling the working device as a whole, its positioning device and especially its arm. The control device comprises as means for carrying out the method, for example, a corresponding control program. The invention is insofar preferably implemented in software. The invention is thus on the one hand also a control program in the form of a computer program with executable by a computer program code instructions and on the other hand, a storage medium with such a computer program, ie a computer program product with program code means, and finally also a control device, in the memory as means for carrying out the method and its Embodiments such a computer program is loaded or loadable.

Overall, the invention thus also a drilling rig, in particular a drilling rig for deep drilling, with a working device (Iron Roughneck) as described here and below, in particular such a working device with a control device of the type outlined above.

An embodiment of the invention will be explained in more detail with reference to the drawing. Corresponding objects or elements are provided in all figures with the same reference numerals.

The or each embodiment is not to be understood as limiting the invention. Rather, in the context of the present disclosure, modifications and modifications are possible, for example, by combining or modifying individual in combination with the described in the general or specific description part and in the claims and / or the drawings features or method steps in the art can be removed to the solution of the problem and lead by combinable features to a new subject or to new process steps or process steps, even as far as they relate to work processes.

Show it

1 a working device according to the invention, often referred to as Iron Roughneck in technical terminology,

2 the implement according to 1 in a perspective view,

3A to 3D Snapshots during a movement of a working device according to 1 . 2 and

4 a working device according to 1 . 2 with a control device provided for its control and / or monitoring.

1 shows in the form of an overview representation an example of an embodiment of a working device 10 on a drilling rig, not shown itself. Of the drilling rig are only their working platform 12 (drill floor) and the drill pipe used in sinking the respective deep hole 14 . 16 shown. The location of the passage of the drill string 14 . 16 through the work platform 12 is also referred to as a drill hole (bore hole, bore well). A working position of the implement 10 is above the borehole. A rest position of the implement 10 is removed from the borehole.

At the implement 10 it is a for connecting and screwing or for loosening the threaded portions of two drill string elements 14 . 16 certain device, which is usually referred to in technical terminology as Roughneck or Iron Roughneck and in German sometimes as Gestängeverschraubungsvorrichtung, Kraftverschraubungsvorrichtung or the like.

The working device 10 includes a pliers system 18 and a positioning device 20 , To the pliers system 18 usually belongs to a so-called spinner 22 for fast turning of each upper drill pipe element 16 , In any case, includes the pliers system 18 two usually hydraulically operated and according to their arrangement as a lower nipper 24 and as a top caliper 26 designated pliers 24 . 26 , The working device 10 in total and its pliers system 18 are in a generally known manner for connecting the threaded portions of two drill string elements 14 . 16 determined in a load-bearing manner for the drilling process.

By means of the lower nipper 24 is a lower drill pipe element 14 detectable and is in operation by means of the lower nipper 24 detected. By means of the upper nipper 26 is an upper drill pipe element 16 detectable and in operation by means of the Oberzange 26 detected. The two pliers 24 . 26 are inside a pliers system 18 enclosing housing and are corresponding in the illustration in 1 shown by dotted lines.

Such a forceps system 18 and its functionality are known per se. In that regard, for example, to the earlier application of the same applicant with the official file number DE 10 2014 208 113 with the title "Pliers system for use on a drilling rig and clamping block of such a pliers system", the contents of which are hereby incorporated by reference in order to avoid unnecessary repetition, in particular as far as the mechanical centering of the pliers system described therein 18 relative to the drill string elements 14 . 16 is affected.

The pliers system 18 is at a free end of the positioning device 20 pivotally mounted and by means of the positioning device 20 becomes the pliers system 18 either in a rest position or - as shown in the illustration in 1 is shown - in a position for connecting or disconnecting two drill string elements 14 . 16 emotional. This movement is sometimes referred to as "procedure" in accordance with standard terminology, although the implement 10 does not have to comprise a chassis or the like and according to the embodiment shown here at least substantially in the form of a pivotable arm 30 can be executed.

In the illustrated embodiment, the positioning device comprises 20 in the broadest sense a C-shaped arm 30 , which is composed of several straight segments. Other forms of the arm and other kinematics, for example, a kinematics, as is often found in modern harbor cranes (double-articulated luffing crane, a kinematics in which the boom can be moved back and forth so that the load always on the same Height remains), are also conceivable. The arm shown in the illustration 30 is movable about an axis of rotation D (pivotable). Below the axis of rotation D is the arm 30 in the form of a short leg on which a drive element 32 for triggering the pivoting movement, for example a drive element 32 in the form of a hydraulic cylinder or a lifting spindle, attacks. An activation of the drive element 32 causes the pivoting of the arm 30 , The arm 30 with its drive element 32 is also on an optional column system in the embodiment shown 34 vertically movable.

In the illustration in 2 are further details of the positioning device 20 and the column system 34 recognizable. Accordingly, in the illustrated embodiment, both the arm comprise 30 as well as the column system 34 each parallel segments. The arm 30 consists of two parallel arms and the column system 34 consists of two parallel columns. But these are only the conditions in the embodiment shown here and insofar it does not matter if the arm 30 the positioning device 20 is a single arm or a co-moving group of several arms.

In the illustrated positioning device 20 is the arm 30 formed of two parallel parts, so that each of them in a space between the two columns of the column system 34 and one positioned centrally between the two columns and for vertical movement of the arm 30 certain hydraulic cylinders 36 can be swiveled.

The pliers system 18 is at the free end of the arm 30 pivoted at an attachment point A pivotally. The pliers system 18 So hang on the free end of the arm 30 and thus at the free end of the positioning device 20 like a pendulum. To prevent unwanted pendulum movements when moving the positioning device 20 can the work tool 10 optional as a means 38 To prevent such oscillations include a controllable actuator or a passive damper.

Connecting or disconnecting two drill pipe elements 14 . 16 by means of the working device 10 , namely by means of its pliers system 18 , is usually such that by means of the lower nipper 24 the lower drill pipe element 14 captured and the pliers system 18 so that in total relative to the drill string elements 14 . 16 at least relative to the lower drill string member 14 , is fixed. Then by means of the upper nipper 26 the upper drill string element 16 detected and by means of a movement of the upper nipper 26 relative to the lower nipper 24 the connection or disconnection of the two drill string elements takes place 14 . 16 , In the interests of better readability of the following description, this is the example of connecting two drill string elements 14 . 16 continued. The analogous separation of two drill string elements 14 . 16 is always to read along and mentally supplement.

The following is - but without waiving a broader universality and first and foremost to illustrate the problem underlying the proposed innovation here - of a pliers system 18 assumed, as in the above DE 10 2014 208 113 is described. If the pliers system 18 by means of the arm 30 to the drill pipe elements to be connected 14 . 16 moved up, so that the pliers system 18 relative to the drill string elements 14 . 16 in a position in which by means of the lower nipper 24 a detection of the lower drill string element 14 is possible, the lower tongs 24 activated. By means of the lower nipper 24 becomes the lower drill pipe element 14 captured and thus the lower nipper 24 and the pliers system 18 total at the drill string elements 14 . 16 namely, the detected lower drill string member 14 and the associated upper drill string element 16 , in the axial direction of the drill string element 14 fixed. With the detection of the lower drill pipe element 14 due to the in the DE 10 2014 208 113 Centering described centering the lower tongs 24 relative to the center of the lower drill pipe element 14 ,

Due to this centering, an axis of rotation of the lower tongs falls 24 with the central longitudinal axis ("rod center") of the lower drill string element 14 together. After doing so, the pliers system 18 relative to the drill string elements 14 . 16 is fixed, is also the upper nipper 26 activated. By means of the upper nipper 26 becomes the upper drill string element 16 detected. The position of the axis of rotation of the upper nipper 26 relative to the rod center of the upper drill pipe element 16 depends on the position of the pliers system 18 in total relative to the drill string axis B (hereinafter) 3B ) designated center longitudinal axis through the two drill string elements 14 . 16 from.

For simple conditions, it is assumed in the further course of the description that the drill string axis B coincides with the direction of the gravitational acceleration (vertical drill string axis B). In a pivoting on the arm 30 attached, in particular hinged pliers system 18 can thus with a corresponding mobility of the pliers system 18 relative to the arm 30 It can be assumed that the pliers system 18 is in a rest position in a position parallel to the Bohrgestängeachse B. As determining for the position of the pliers system 18 is an imaginary and hereinafter referred to as the clamp system axis Z ( 3A ) designated axis through the pivot points of the lower tongs 24 and the upper nipper 26 accepted. Due to this parallel position of the pliers system 18 relative to the two drill pipe elements 14 . 16 can the lower nipper 24 and the upper nipper 26 the lower and the upper drill pipe element 14 . 16 each on the center of the bar. The pivot points of the lower tongs 24 and the upper nipper 26 then coincide with the respective rod center and when connecting the two drill string elements 14 . 16 no so-called eccentric forces occur, as would be the case if either the lower nipper 24 or the upper nipper 26 the respective drill pipe element 14 . 16 outside the respective center of the pole.

However, this can happen during operation. Due to the centering of the lower tongs 24 by means of respective centering means relative to the lower drill string element 14 (the fulcrum of the lower tongs 24 coincides with the rod center of the lower drill string member 14 together) there may be a "skewing" of the arm 30 attached pliers system 18 come, so that the pliers system axis Z is no longer parallel to the Bohrgestängeachse B The lower tongs 24 pulls or pushes the pliers system 18 As part of the Agility of its attachment to the arm 30 in a position where the lower nipper 24 to the middle of the rod of the lower drill string element 14 is centered. If in this situation by means of the upper pair of pliers 26 the upper drill string element 16 is detected, the fulcrum of the upper nipper falls 26 no longer with the rod center of the upper drill pipe element 16 together. If in this situation the pliers system 18 is activated, such that the upper nipper 26 relative to the lower nipper 24 is moved, the aforementioned eccentric forces arise. These are dependent on the extent to which a pivot point of one of the pliers (lower tongs 24 or upper nipper 26 ) is removed from the respective rod center. Such eccentric forces lead to significant wear of the jaws of the pliers system 18 or the like and the respective detected areas of the drill pipe elements 14 . 16 , It is therefore important that such eccentric forces are avoided during operation and an accurate tightening torque is achieved.

The foregoing will be described below with reference to the schematically simplified illustrations in FIG 3A to 3D explained again.

The representation in 3A first shows the rotatable at least about the pivot point D arm 30 the positioning device 20 of the implement 10 and that at the free end of the arm 30 attached, in particular pivotally mounted pliers system 18 with the two pliers included 24 . 26 , When displayed in 3A is the pliers system 18 at rest, for example because a swinging of the arm 30 is completed and / or a possible oscillation of the pliers system 18 has subsided, in particular by such a pendulum is already initially at least substantially prevented by means of at least one intended actuator or is sufficiently damped. The pliers system 18 So depends straight, at least to the extent that results in a vertical and the Bohrgestängeachse B parallel pliers system axis Z. In the interest of clarity of presentation are in 3A the two drill pipe elements 14 . 16 and the drill string axis B not shown (see 3B to 3D ).

The representation in 3B shows a situation where the pliers system 18 by means of the swung-out arm 30 so far in the direction of the drill pipe elements 14 . 16 is moved until the (imaginary) pliers system axis Z almost coincides with the (imaginary) Bohrgestängeachse B. - The forceps system 18 is by means of the arm 30 towards the drill pipe elements 14 . 16 has been moved (first step of the outlined method).

If in this situation the pliers system 18 is activated, such that by means of the lower nipper 24 the lower drill pipe element 14 is detected while using the lower nipper 24 associated centering means (not shown, see eg DE 10 2014 208 113 ) a centering of the lower tongs 24 relative to the lower drill pipe element 14 takes place, results in a contact position of the implement 10 (End of the first process step) and there is a misalignment of the pliers system 18 , as this - for exaggeration considerably exaggerated - in the representation in 3C is shown. In the situation shown, the pliers system 18 by means of the lower tongs 24 associated centering in the direction of the Bohrgestängeachse B pulled. The arm 30 stands still and that on the arm 30 pivoting pliers system 18 is pivoted about the attachment point A, as well as by means of the block arrow below the pliers system 18 is indicated.

By detecting the lower drill pipe element 14 with the lower nipper 24 this is relative to the lower drill string element 14 centered. The pivot point of the lower tongs 24 coincides with the rod center of the lower drill string element 14 together. In the illustration in 3C This is also illustrated by the fact that by the fulcrum of the lower nipper 24 extending pincer axis Z the Bohrgestängeachse B exactly at the pivot point of the lower tongs 24 cuts. The also on the course of the pliers system axis Z recognizable pivot point of the upper nipper 26 falls in contrast due to the misalignment of the pliers system 18 not together with the drill string axis B.

At least in the situation shown, at least initial activation of the lower nipper 24 at least such that the lower nipper as a result of activation relative to the longitudinal axis of the lower drill string element 14 is fixed, usually follows the activation of the upper nipper 26 for detecting the upper drill pipe element 16 , The upper drill pipe element 16 can not be detected on the center of the pole. In a subsequent movement of the upper nipper 26 relative to the lower nipper 24 arise the already mentioned eccentric forces with the also mentioned unfavorable effects.

To avoid such eccentric forces, the forceps system 18 adjusted with the aim of a vertical alignment of the pliers system axis Z. For this, in a second method step of the method outlined initially, an actual position of the pliers system is initially determined 18 determined. This can be done by an operator of the implement 10 take place, for example, by reading a clamp attached to the clamp system or the like. Alternatively, the actual position of the pliers system 18 also be detected electronically and automatically by means of a dedicated sensor, for example, a tilt sensor or the like.

Subsequently, (third step), the arm 30 moved again. This renewed movement of the arm 30 occurs after detecting the lower drill pipe element 14 by means of the lower nipper 24 and the associated centering of the lower nipper 24 relative to the lower drill pipe element 14 , The pliers system 18 is thus already in one point, namely in the pivot point of the lower tongs 24 , on rod center of drill pipe elements 14 . 16 fixed. The renewed movement of the arm 30 - Here also illustrated by the block arrow pivoting the arm 30 about its pivot point D - takes place in such a way that at the end of the movement, a desired position of the pliers system 18 results. When moving the arm again 30 may also be a movement of the pliers system 18 in the axial direction of the drill string elements 14 . 16 arise, because when moving the arm again 30 is by means of the lower nipper 24 the lower drill pipe element 14 captured and the lower nipper 24 fixed at this transversely to its longitudinal extent. Detecting the lower drill pipe element 14 by means of the lower nipper 24 but does not fix the pliers system 18 in the axial direction of the lower drill pipe element 14 , The desired target position of the pliers system 18 arises by the operator of the implement 10 during the renewed movement of the arm 30 the respective actual position compared with the desired position and upon reaching the desired position, the movement of the arm 30 and by making such a comparison electronically and automatically using appropriate measurements.

The nominal position of the pliers system 18 is a position in which the pincer axis Z is perpendicular, so that the upper nipper 26 on the middle of the rod at the local upper drill string element 16 attacks. Then grab both pliers 24 . 26 the respective drill pipe element 14 . 16 each exactly on the middle of the pole. Eccentric forces then occur when moving the upper nipper 26 relative to the lower nipper 24 not on anymore. The otherwise resulting wear effects are avoided.

In the illustration in 3D , which in a simplified schematic form the result of this renewed movement of the arm 30 and the resulting orientation of the forceps system 18 shows, the forceps axis Z is located only for reasons of distinctness of the Bohrgestängeachse B slightly adjacent to this. In fact, the pliers axis Z falls with the achievement of the desired position of the pliers system 18 with the Bohrgestängeachse B together.

The while preserving the desired position of the pliers system 18 current position of the arm 30 is recorded and for later reuse as the target position of the arm 30 stored. For future motion cycles of the implement 10 This nominal position can be called up. The arm 30 is then during a movement of the pliers system 18 towards the drill pipe elements 14 . 16 moved directly into the respective stored desired position, pivoted in the embodiment shown. Deviating from the one shown in 3B shown situation then results for the at the free end of the arm 30 hanging forceps system 18 a position relative to the drill string elements 14 . 16 in which the pincer system axis Z coincides with the drill pipe axis B or at least substantially coincides. When subsequently activating the lower tongs 24 then it no longer comes to a misalignment of the pliers system 18 like this in 3C is shown, and upon subsequent activation of the upper nipper 26 also grabs the upper nipper 26 the local drill pipe element 16 on the middle of the pole. Then, without unfavorable shearing forces, the upper nipper 26 relative to the lower nipper 24 be moved to the two drill pipe elements 14 . 16 in a suitable manner for drilling operation together.

When installing drill pipe 14 . 16 becomes the work tool 10 alternately moved to a working position and a rest position. When the working position is approached, the desired position for the optimum positioning of the arm determined by the method described here ("learned") is determined 30 and the attached pliers system 18 used. Once drill pipe elements 14 . 16 may be used with a different diameter, is possibly a re-determination of the desired position of the arm 30 necessary. This can then be used in further installation of drill pipe elements 14 . 16 to be used with the other diameter. When using a pliers system 18 like in the DE 10 2014 208 113 with the local centering or similar centering means is a renewed determination of the desired position of the arm 30 advantageously not necessary. The once determined target position can be used regardless of the diameter of later used drill string elements.

The representation in 4 finally shows a for automatic or semi-automatic execution of the method proposed here certain control device 40 , This comprises, for example, a processing unit in a manner known per se 42 in the form of or in the nature of a microprocessor and a memory 44 , In the control device 40 it is for example a so-called programmable logic controller. In the store 44 is one for implementing the method proposed here by means of the processing unit 42 executable and during operation of the implement 10 executed control program 46 loaded. Instead of implementing the method in software in the form of a control program 46 Alternatively, as is known, a realization of the functionality provided by the method by means of corresponding switching elements is also possible.

In an automatic embodiment of the method when reaching the contact position, the respective actual position of the pliers system 18 in the form of a corresponding measured value 48 detected. The measured value 48 can by means of a pliers system 18 associated sensor, for example, a tilt sensor, are detected. Alternatively or additionally, the measured value 48 also by means of an arm 30 assigned sensors, for example, an incremental encoder, are detected. When aligning the clamp system 18 by means of a renewed movement of the arm 30 takes place under the control of the control device 40 continuous or cyclical comparison of each currently detected actual position of the clamp system 18 with a suitable coding for an automatic comparison of the desired position. A previously under control of the controller 40 caused renewed movement of the arm 30 is at a match or an at least sufficient match of the respective actual position with the desired position due to one by means of the control device 40 generated control signal 50 , here a control signal 50 for controlling the drive element 32 , completed. One then resulting position of the arm 30 is in the form of a measured value 52 as the future target position of the arm 30 detected and in a memory cell of the control device 40 saved. For future motion cycles of the implement 10 becomes the stored ("learned") target position of the arm 30 as setpoint 54 for a control of the arm 30 , here for a control of the drive element 32 , by means of the control device 40 used.

Essential aspects of the description presented here can thus be briefly summarized as follows: A method for operating a working device 10 (Iron Roughneck) and a working device according to the method 10 in which, after an initial positioning of a tong system 18 by means of a positioning device 20 and a subsequent fixation of the pliers system 18 by means of the pliers system 18 to be connected drill string elements 14 . 16 a resulting position (actual position) of the pliers system 18 is detected, then the pliers system 18 by means of a renewed movement of the positioning device 20 is aligned until a desired position of the pliers system 18 is achieved, and finally a resulting position of the positioning device 20 as a future target position for further movement cycles of the implement 10 is stored. In an aligned according to the target position pliers system 18 when connecting two drill string elements 14 . 16 otherwise possible shear forces avoided. When moving the positioning device 20 in the detected and stored desired position results for the pliers system 18 Immediately the desired desired position, so that unfavorable shear forces also in the continued installation and removal of drill string elements 14 . 16 and corresponding movement cycles of the implement 10 be avoided.

LIST OF REFERENCE NUMBERS

10

 implement

12

 working platform

14

 Drill pipe / drill pipe element

16

 Drill pipe / drill pipe element

18

 Pliers system (part of the implement)

20

 Positioning device (part of the working device)

22

 Spinner (part of the implement)

24

 Lower tongs (part of the tongs system)

26

 Upper pliers (part of the pliers system)

28

 (free)

30

 Arm (part of the positioning device)

32

 Drive element (for pivoting the arm)

34

 column system

36

 hydraulic cylinders

38

 Means for preventing pendulum movements of the forceps system

40

 control device

42

 processing unit

44

 Storage

46

 control program

48, 52

 reading

50, 54

 Control signal / setpoint

A

 attachment point

B

 Bohrgestängeachse

D

 Pivot / rotation axis

Z

 Pliers system axis

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• US 3799009 [0001]
• WO 2005/024169 A [0003]
• DE 102014208113 [0018, 0022, 0024, 0039, 0046, 0046, 0053, 0061]

Claims (10)

Method for operating a working device ( 10 ) on a drilling rig, the implement ( 10 ) a pliers system ( 18 ) and an arm ( 30 ) for positioning the at a free end of the arm ( 30 ) pivotally mounted pliers system ( 18 ), wherein the implement ( 10 ) and its pliers system ( 18 ) for connecting or disconnecting two drill pipe elements ( 14 . 16 ), wherein in a first method step, the forceps system ( 18 ) by means of the arm ( 30 ) in the direction of the drill pipe elements ( 14 . 16 ) and the implement ( 10 ) is brought into a contact position, wherein in a second method step in the contact position and at standstill of the arm ( 30 ) an actual position of the pliers system ( 18 ) is determined, wherein in a third method step by means of the arm ( 30 ) the pliers system ( 18 ) is moved again until a predetermined desired position of the pliers system ( 18 ) is reached. The method of claim 1, wherein in the third step after reaching the desired position of the pliers system ( 18 ) as a target position is a measure of an reached position of the arm ( 30 ) is detected and stored, and wherein an operating action of an operator of the implement ( 10 ) in a subsequent movement cycle of the implement ( 10 ) when moving the pliers system ( 18 ) by means of the arm ( 30 ) in the direction of the drill pipe elements ( 14 . 16 ) the arm ( 30 ) is automatically moved to a position corresponding to the target position detected in the third step. Method according to one of claims 1 or 2, wherein the re-moving of the arm ( 30 ) is carried out automatically in the third method step, by means of a sensor system an automatically evaluable measure of the respective actual position of the forceps system ( 18 ) is compared by the actual position is automatically compared with the target position and the re-movement of the arm ( 30 ) is terminated automatically if the actual position and the desired position coincide within predefined or predefinable limits. Method according to one of claims 1, 2 or 3, wherein the forceps system ( 18 ) for connecting or disconnecting two drill pipe elements ( 14 . 16 ), namely a lower drill pipe element ( 14 ) and an upper drill pipe element ( 16 ), at least one lower nipper ( 24 ), wherein in the first step in the contact position, the lower nipper ( 24 ) the lower drill string element ( 14 ), the lower nipper ( 24 ) by means of the lower nipper ( 24 ) or the lower nipper ( 24 ) associated centering relative to the lower drill string element ( 14 ) and wherein the pliers system ( 18 ) relative at least to the lower drill string element ( 14 ) is fixed. Method according to one of claims 1, 2 or 3, wherein the forceps system ( 18 ) comprises a stop, wherein in the first method step reaching the contact position by means of a contact of the stop with one of the drill string elements ( 14 . 16 ) is sensed and wherein also in the first process step, the pliers system ( 18 ) in the contact position relative to at least one of the drill pipe elements ( 14 . 16 ) is fixed. Working device ( 10 ) for use on a rig, the implement ( 10 ) a pliers system ( 18 ) and an arm ( 30 ) for positioning the at a free end of the arm ( 30 ) pivotally mounted pliers system ( 18 ), wherein the implement ( 10 ) and its pliers system ( 18 ) for connecting or disconnecting two drill pipe elements ( 14 . 16 ), the pliers system ( 18 ) by means of the arm ( 30 ) in the direction of the drill pipe elements ( 14 . 16 ) and the implement ( 10 ) is maneuverable in a contact position, wherein in the contact position and at standstill of the arm ( 30 ) an actual position of the pliers system ( 18 ) can be determined, wherein the pliers system ( 18 ) by means of the arm ( 30 ) is movable until a predetermined desired position of the pliers system ( 18 ) is reached. Working device ( 10 ) according to claim 6 with means for carrying out the method according to any one of claims 1 to 5. Computer program or computer program product with microprocessor-executable program code instructions for implementing the method according to one of Claims 1 to 5, if the computer program is stored as a control device ( 40 ) for controlling a working device ( 10 ) is executed according to one of claims 6 or 7 acting computer. Control device ( 40 ) for controlling a working device ( 10 ) according to one of claims 6 or 7, with a memory ( 44 In which a computer program according to claim 8 is loaded. Drilling rig, in particular drilling rig for deep drilling, with a Working device ( 10 ) according to one of claims 6 or 7, in particular a working device ( 10 ) according to one of claims 6 or 7 with a control device ( 40 ) according to claim 9.

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