EA039871B1 - Method for operating a handling device for a drilling rig, digital storage medium, handling device, drilling rig - Google Patents

Abstract

The invention relates to a handling device (20) for use in a mast (10) of a drilling rig and for moving drill rods (12) or drill pipe elements (14), and to a method for operating same, wherein the handling device (20) comprises a base (52) which is vertically movable in or on the mast (10), wherein the handling device (20) has an arm (54) which is movable about an axis of rotation (R1), wherein the axis of rotation (R1) is parallel or at least substantially parallel to the mast (10) or a movement path of the handling device (20) in or on the mast (10), wherein the arm (54) is pivotable about at least one pivot axis (R2), wherein the pivot axis (R2) lies in a plane perpendicular or at least substantially perpendicular to the mast (10) or a movement path of the handling device (20) in or on the mast (10), wherein the handling device (20) at a free end of the arm (54) comprises a movable tool (64) for gripping a portion of an end of the drill rod (12).

Description

The technical field to which the invention belongs

Manipulator for use on the mast of a drilling rig and for moving drill pipes or drill string elements, the operation of such a manipulator and a drilling rig with such a manipulator.

The invention relates to a manipulator intended for use on the mast of a drilling rig, as well as for moving drill pipes or elements of drill strings. The invention also relates to a drilling rig with such a manipulator, the operation of such a manipulator and the method of operating a drilling rig with such a manipulator. Finally, the invention also relates to a drilling rig with such a manipulator.

State of the art

US Pat. No. 7,246,983 B shows an exemplary drilling rig mast arm in which, by means of a scissor lift mechanism, the gripper can be rotated between the center of the drill hole and a position above for mounting the drill string elements, the so-called top worker's platform. Due to the rotation about the vertical axis, there are different heights of the free end of the scissor lift mechanism, so that the gripper can be moved in the vertical direction to compensate for these differences in height by means of the device provided. To achieve different positions within the platform of the riding worker, additional axial positioning of the gripper is necessary, namely in the horizontal direction. To do this, the US 7246983 B device at the free end of the scissors lifting mechanism contains a device that moves along the free end of the scissors lifting mechanism, in the form of a crane trolley, which performs vertical movement of the gripper.

Such an embodiment of a manipulator for use on a drilling rig mast is relatively complex and also has limited range of motion.

Accordingly, the aim of the invention is to provide a different version of the manipulator for use on the mast of a drilling rig and for moving elements of drill strings, in particular such a manipulator, which will avoid at least some of the disadvantages of the manipulator known in the prior art. Another object of the invention is to provide a simple and effective way to operate a manipulator of the type proposed here.

This goal is achieved by means of a device with the characteristics of claim 1, provided for use in the mast of a drilling rig and designed to move drill pipes or elements of drill strings, hereinafter referred to as a manipulator. For this purpose, such a manipulator provides the following. The manipulator moves vertically in the mast or on it and contains a movable lever, at the free end of the lever there is a tool for fixing a part of the drill pipe element, for example, a tool in the form of a so-called elevator or a tool in the form of a gripper. The lever is attached to the manipulator block, hereinafter referred to as the base. Due to the mobility of the manipulator, on the one hand, vertically in the mast or on it, and on the other hand, thanks to the mobility of the lever, the manipulator has at least three degrees of freedom. The first degree of freedom refers to the vertical mobility of the entire manipulator in or on the mast. The second degree of freedom is the rotational mobility of the manipulator lever relative to its base. The third degree of freedom is the freedom of the rotary movement of the lever relative to the base. Thus, the manipulator comprises a base that moves vertically in or on the mast and a lever that moves on the base about a rotation axis and can be rotated about the rotation axis. The axis of rotation is in a plane parallel or nearly parallel to the mast or the path of the manipulator in or on the mast. The pivot axis is in a plane perpendicular or nearly perpendicular to the mast or the path of the manipulator in or on the mast.

Thanks to the relatively simple kinematics, the manipulator is characterized by extremely flexible movement possibilities. Taking as the z-axis of the Cartesian coordinate system the axis directed from the center of the hole to the top of the mast, the tool arm can move to almost any x and y position. Due to mobility in the vertical direction, the manipulator can also move to different positions on the z-axis. Thus, with the help of the simple kinematics proposed here, the manipulator can also reach its tool at almost any spatial point of the Cartesian coordinate system, while being limited in the z-direction due to the degree of vertical mobility in or on the mast and being limited in the x-direction, y are essentially determined only by the effective length of the lever.

With the help of the manipulator (due to vertical mobility), on the one hand, the drill pipe or drill string element in a horizontal or almost horizontal orientation at the level of the drilling site is directed in a vertical orientation and is lifted in a vertical orientation to the level of the platform of the mounted worker. On the other hand, with the help of a similar manipulator (due to the mobility of the tool in the x and y directions), the drill pipe or drill string element is moved in a vertical or almost vertical orientation from the position of the platform of the mount to a position in the region of the wellbore, namely to a position called

- 1 039871 by the center of the wellbore, and vice versa. In addition, by means of a similar manipulator, the drill pipe or drill string element is vertically moved to a position above the so-called extension hole, from the extension hole to a position above the borehole, namely to the position of the middle of the wellbore, or from the extension hole to a position in the area riding worker's platform. The same machine, namely the machine referred to hereinafter as a manipulator, thus performs a number of functions for which separate machines have hitherto been provided, namely with regard to moving away from or towards the worker's platform or towards the middle of the trunk the well and from it, the machine also performs the function of a riding manipulator fixed under the platform for working with pipes, the function of leveling the drill pipe or the element of the drill string in the vertical direction, the function of the top drive elevator. It is a feature of a particular manipulator that the described processing operations can be performed in parallel with the current drilling operation and that it is not necessary to interrupt the drilling operation to fill the platform of the top worker with elements of the drill strings. In addition, it is possible to continue the drilling operation to combine multiple drill pipes to form a drill string element, referred to in technical terminology as a double (double stand) or triple or standard (triple stand) drill string element. The manipulation operations described are not only performed parallel to the current drilling operation, but are also spatially parallel to the range of motion of the top drive or similar device provided in the mast for rotating the drill pipe in the well, since the vertical range of motion of such a top drive or similar device in the mast and the vertical range of motion of a particular manipulators in the mast or on it are parallel or almost parallel, but in planes spaced from each other. The vertical range of travel of the top drive or the like is above the middle of the wellbore and along the centerline of the wellbore, referred to in specialized terminology as the wellbore centerline. The vertical range of movement of a particular manipulator is along an imaginary line parallel or nearly parallel to the wellbore centerline, but at a distance from the wellbore centerline.

From US 2016312548 A, a device in the form of a crane trolley is known, which moves in the mast of a drilling rig in a vertical direction. A top drive mechanism is fixed on the device, which can be moved in the usual way. Thus, the device takes the place of the lifting winch provided instead of the top drive elevator.

From WO 2014179727 A1 a manipulator (Stand Builder) is known which moves in the vertical direction along a guide and has a tool which rotates in a plane perpendicular to the guide. Thus, a drill pipe that is substantially horizontal to the drilling site is received by the manipulator and positioned by moving upward along the guide. During installation, the inclination of the drill pipe changes, and based on the initial horizontal position, the drill pipe moves more and more into a vertical position. The rotation of the tool allows it to control the tilt of the drill pipe and hold it during installation. The drill pipe, placed with the help of a manipulator, can subsequently be installed in the so-called extension hole (mouse norm). The manipulator is then free to accept and install another drill pipe again. In a vertical configuration, this drill pipe can be connected to a drill pipe located in an extension hole. This combination of two drill pipes is a drill string element, which in technical terminology is referred to as a double. The drill string element (double) can be removed from the jack-in hole using the manipulator and fully connected to the drill pipe pre-installed in the second jack-up hole using the manipulator. This combination of three drill pipes is a drill string element, which in technical terminology is referred to as a triple or stand. Thus, the manipulator of WO 2014179727 A1 functions as a device for combining drill pipes into double or triple candles (Stand Builder).

From US 7967540 a manipulator for combining drill pipes is also known. Its vertical mobility in the mast is provided by a cable system and includes a swivel collar, which ensures contact with the threaded part of the drill pipe. The horizontal inlet drill pipe is captured by the collar and installed by lifting it into the mast using a manipulator. In the installed position, the drill pipe can be translated in technical terminology as a traveling block, the so-called movable holder (clamp) of a block of the chain hoist, provided for the vertical movement of the drill pipe. The drill pipe is also held there by a cuff, just like on a manipulator. After that, it is possible to install the second drill pipe using the manipulator and lift the drill pipe previously transferred to the travel block to the upper end of the drill pipe that was installed using the manipulator. Now the first two drill pipes can be connected to each other (double), after which they can be lifted in the connected state to the mast using a traveling block. Subsequently, they are connected to the third drill pipe, raised by the manipulator. The manipulator aligns the individual drill pipes. A winch is required to combine drill pipes to make a double or standard stand

- 2 039871 with a traveling block moving along it, designed to raise and lower the entire drill string. Since the winch is not available to actually drill and hold the drill string in the hole when connecting twin drill pipes or drill stands, it is not possible to speak of autonomous make-up of stands.

US 6,997,265 discloses a method and apparatus for stand-alone make-up of standpipes (combining drill pipes into twin combinations or standpipes while the drilling operation continues in parallel). Here, in addition to the drilling mast, another mast is required, on which two manipulators move vertically. With each manipulator, a drill pipe can be installed. By rotating the mast with the manipulator, the aligned drill pipe can be positioned above the extension hole and placed in it by lowering the manipulator. Further, the drill pipes, installed with the manipulator, can be connected with the drill pipe in the extension hole to form a two-pipe stand or a stand of the drill pipes. The standpipe drill string element is retrieved from the extension hole by a manipulator and transferred by mast rotation to a pipelayer on the drill mast, which either places the drill string element on a mount or transfers it into the wellbore for integration with the drill string.

With regard to the operation method of the manipulator described below, the above problem is solved by a method having the characteristics of an independent claim relating to the method of claim 1. With this method of operation, it is provided that the manipulator for moving drill pipes or elements of drill strings in the vertical direction moves in or on the mast and/or the arm of the manipulator rotates around the rotation axis and/or rotates around the rotation axis. Practical improvements to this method are the subject of dependent additional claims.

Disclosure of invention

For the purpose of further description, in order to avoid unnecessary repetition, the characteristics and details that are described in connection with the method mentioned below and with additional, sometimes optional, details, highlight the way to work with the manipulator and any possible equipment options; of course, they are also associated with and applied to the manipulator set for the implementation of the method of operation, and vice versa, so that this mode of operation can also be developed with the help of individual or several process features that are associated with the execution of the steps of the method of operation by the manipulator itself. or with this manipulator; accordingly, the manipulator can be upgraded with the embodiment within the steps performed within the method of operation. Accordingly, the characteristics and details described in connection with the specified method for operating the manipulator and possible equipment options are naturally applicable to the manipulator approved for performing the method of operation (and vice versa), so that with respect to the disclosure of certain aspects of the invention they are always related to each other or can be related to each other.

The advantage of the invention lies primarily in the simple but powerful kinematics of the manipulator. The manipulator moves with three degrees of freedom, namely: translationally along the mast and rotationally on one side around the axis of rotation, and on the other - around the rotary axis. Thus, a tool attached to the end of the manipulator arm can reach any point in any intended cylinder whose vertical axis is parallel to the vertical axis of the drilling rig and whose radius is determined by the effective length of the manipulator arm.

Preferred embodiments of the invention are indicated in the additional claims. The interrelationships of the additional claims used here indicate a further development of the subject matter of the claimed claims along the lines of the respective dependent claim. They should not be construed as a waiver of independent objective protection of the features or combinations of features of the dependent claim. In addition, with regard to the interpretation of the claims and the description of the more detailed specification of the feature in the dependent claims, it should be understood that such a limitation does not exist in the corresponding previous claims and the more general embodiment of the method of operation or objective manipulator. Therefore, any reference in the description to aspects of the dependent claims should be read, even without specific indication, solely as a description of additional features. Finally, it should be noted that the method of operation indicated here can also be developed in accordance with the dependent claims on the device and vice versa.

On this basis, it should be noted that the claims filed with the application are proposals for wording with the preservation of the right of further protection of the patent. Since the features of dependent claims in relation to the state of the art after the start of the priority period may constitute separate independent inventions, the applicant reserves the right to patent a separate claim or part of a claim with respect to these and other combinations of features disclosed so far only in the descriptions. and/or drawings. They may also contain independent inventions containing objects, the execution of which does not depend on the previous claims.

- 3 039871

In one embodiment of the manipulator, its base is movable in or on the mast between a position where the tool can engage drill pipe or a drill string fed in a horizontal or near-horizontal plane from a drilling rig platform and a position where the combination drill pipes can be installed using a tool on the platform of a riding worker of a drilling rig. The manipulator proposed here differs from the machine, which in specialized terminology is sometimes called the Iron Derrikman and is installed under the platform of the riding worker, due to the possibility of moving in a vertical direction. Only due to the special possibility of movement in the vertical direction, in particular the possibility of moving down to the drilling site, using the same machine, namely the manipulator proposed here, is it possible to lift the drill pipes supplied from the drilling site and install elements of drill strings made up of several drill strings. pipes, on the platform of the riding worker.

In a special embodiment of the manipulator, it can move in a vertical direction along the mast along an axis that is at a distance from the center line of the wellbore and runs parallel or almost parallel to the central axis of the manipulator. Mobility along the central axis of the manipulator, which is located at a distance from the center line of the wellbore, allows the operation of the manipulator independently of drilling in terms of time and space. Due to this temporal and spatial independence, for example with the help of a manipulator, it is possible to combine drill pipes in parallel (temporally and spatially) with the current drilling process into drill string elements consisting of two or three drill pipes for use in drilling operations.

The above tasks are also achieved by means of the manipulator control PLC, as described hereinafter, while the PLC operates in accordance with the method described below and contains all the means to ensure this method of operation. The method described below is preferably implemented in automatic or semi-automatic execution, as well as in the so-called manual mode in the form of a computer program. On the one hand, the invention is also a computer program with program code instructions executable by a computer, and on the other hand, it is a data carrier with such a computer program, i.e. a computer program product with program code, and finally also a PLC, in whose memory downloaded or can be downloaded such a computer program as a means of executing the method of operation and its embodiments.

As will be described below in the steps of the method or sequence of steps of the method, this refers to actions that occur on the basis of a computer program or under the control of a computer program, unless it is expressly indicated that individual actions are initiated by the operator of the manipulator. At a minimum, any use of the term automatic means that the action is based on or under the control of a computer program.

Instead of a computer program with individual program code instructions, the method described herein and below may be implemented as firmware. The person skilled in the art will appreciate that instead of implementing the method in software, it is always possible to implement it in firmware and software, or in firmware and hardware. Therefore, for the purposes of the description herein, the terms software or the terms control program and computer program also include other implementations, namely firmware, firmware and software, or firmware and hardware.

Next, based on the drawing, an exemplary embodiment of the invention is explained in more detail. Corresponding objects or elements are represented in all figures with the same reference numbers.

The exemplary embodiment is not to be construed as a limitation of the invention.

On the contrary, within the framework of this disclosure, additions and modifications are certainly possible, in particular by combining or changing individual characteristics or process steps described in conjunction with the general or special part of the description, as well as contained in the claims and / or drawing, which the specialist can borrow. and use to develop new objects, process steps, or sequences of process steps.

Brief description of the drawings

Fig. 1 - a manipulator designed for use in the mast of a drilling rig and for moving elements of drill strings;

fig. 2 - the mast of the drilling rig with the manipulator moving along it according to FIG. one;

fig. 3 shows the mast in a section transverse to its vertical axis, with a view of the manipulator moving along it in the vertical direction (along the vertical axis of the mast) according to FIG. one;

fig. 4 shows the manipulator according to FIG. 1 mast bases;

fig. 5 shows the manipulator according to FIG. 4, side view and with different positions of rotation of the lever of the manipulator;

fig. 6 shows various vertical positions of the manipulator according to FIG. 1 and 4 on the mast;

fig. 7 and 8 - pictures when receiving a drill pipe using a manipulator;

fig. 9 are snapshots of connecting a drill pipe to another drill pipe to form a drill string element, the operation temporally and spatially parallel to and independent of the drilling process;

fig. 10 shows the manipulator according to FIG. 1 and 4 is located above the platform mounted on the mast of the riding worker;

fig. 11-13 - pictures during the extraction of the element of the drill string from the platform of the riding worker on the mast;

fig. 14 - PLC for automatic or semi-automatic operation of the manipulator.

Implementation of the invention

In FIG. 1 shows an embodiment of a manipulator 20 of the type proposed here, intended for use in the mast 10 of a drilling rig and for moving drill pipes 12 (FIGS. 6, 7 and 8) or drill string elements 14 (FIG. 9).

The manipulator 20 generally moves vertically in or on the mast 10. In FIG. 1 and other drawings show an embodiment in which the manipulator 20 moves vertically on the mast 10, namely on the front corner posts 22, 24 of the mast 10 (corner posts of the mast 22, 24). To do this, the manipulator 20 is directed to the corner posts of the mast 22, 24, for example, by means of a corresponding guide profile 26, 28 (Fig. 3) fixed on the corner posts of the mast 22, 24. The guide profiles 26, 28 form positive contact with the manipulator 20 with using the corresponding guide counter-profiles 30, 32.

As an alternative to such a guide in or on the mast 10, for example, an adapter frame connected to the mast 10 (not shown) is also considered. Such an adapter frame, for example, in the context of retrofitting, is mounted on the mast 10 and installed for the operation of the manipulator 20 on the mast 10, but in this case, for example, the adapter frame is welded to the mast 10 and/or bolted, etc. The adapter frame is mounted, for example, indirectly or directly on the mast 10, in particular on the front corner posts 22, 24, for example by means of a plurality of spacers between the mast 10 and the adapter frame. The adapter frame then forms a plane parallel to one side of the envelope surface of the mast 10. Such an adapter frame is placed across the width of the manipulator 20 so that the manipulator 20 can move vertically on the mast 10 along the adapter frame parallel to the mast 10. Such an adapter frame in the broadest sense is a rectangular structural element, the width of which is determined by the width of the manipulator 20 and which is aligned with its largest longitudinal axis parallel or almost parallel to the vertical axis of the mast 10. For vertical movement of the manipulator 20 on the adapter frame along the vertical sections in the assembled state, a guide profile 26, 28 of the described above type, or at least one toothed rack or similar device, or at least one vertical section of the adapter frame acts as such a guide profile 26, 28.

In the image in Fig. 2 shows the top of the rig mast 10 with additional details. In the mast 10, the traveling block 34 can be moved in a known manner by means of a lifting mechanism, which is not shown. A top drive 36 is attached to it, while the drill pipe rotates in the borehole in the usual way. In the lower part of the section of the depicted mast 10, the platform of the mounted worker 38 is shown. Here, the elements of the drill strings 14 stop in a known manner, for example, when adding a drill pipe or in the process of connecting to a drill pipe when drilling a well. A manipulator 20 is located above the platform of the rider 38. In the embodiment shown, the manipulator 20 is moved vertically on the mast 10 by means of, for example, a winch 40 mounted on the top of the mast. The winch 40 drives the cable pulling mechanism, on which the manipulator 20 is fixed by means of a deflecting roller 42. In FIG. 2 is only a snapshot, the vertical position shown should be taken as a guide only. The manipulator 20 can assume various vertical positions along the mast 10. Instead of being vertically movable, the manipulator 20 with the help of a winch 40 is considered as an alternative embodiment, in which the manipulator 20 itself contains a drive for vertical movement in or on the mast 10. For this purpose, for example, it is considered that on or in the mast 10, in particular on one of the front corner posts of the mast 22, 24 or on the front corner posts of the mast 22, 24, a toothed rack (or the like) is installed, from which engage the gear by means of a motor on the manipulator 20, in particular a hydraulic motor or an electric motor, to move the manipulator 20 in or on the mast 10 up or down. The drive during vertical movement of the manipulator 20 using a winch 40 can also be mounted on the base of the mast, at a distance from the mast 10 (for example, at the location of the drawworks) or on the manipulator 20 itself.

In FIG. 3 schematically shows a simplified section of the mast 10 across its vertical axis. The illustration shows a special version, in which the manipulator 20 is directed to the front corner posts of the mast 22, 24, while each front corner post of the mast 22, 24 is equipped with

- 5 039871 guide profile 26, 28, in which the manipulator 20 is engaged by means of the respective guide counter-profiles 30, 32. , it is impossible not to consider such an embodiment, in which the guide profile 26, 28 in cross section is U-shaped and the manipulator 20 as a guide counter-profile 30, 32 has a contact shoe (or the like), which is included in such a guide profile 26, 28. With regard to the direction of the manipulator 20 in or on the mast 10, it is generally important that along the range of movement provided for the manipulator 20, at least one profile functions as the first guide profile 26, 28, and on the manipulator 20 in as a guide counter-profile 30, 32, the corresponding second profile functioned or was already there the missing second profile and that the first profile engages with the corresponding second profile.

In FIG. 3 shows the position of the bore hole 50 at the center of the mast 10. The position of the bore hole 50 defines the central axis of the borehole (see also FIG. 6: A1), namely an imaginary vertical line at the center of the borehole. For further description, the axes of an imaginary Cartesian coordinate system are defined as follows. The z-axis is parallel to the central axis of the wellbore and is directed from the base of the mast to the mast. The respective x-axis and y-axis directions are shown in FIG. 3. The entire coordinate system is shown in FIG. 1 and 2. Vertical mobility of the arm 20 means mobility along the z-axis and parallel to the central axis of the wellbore. The vertical movement of the manipulator 20 occurs in this case at a constant distance d1 from the central axis of the wellbore, and the vertical movement of the manipulator 20 defines an additional line parallel to the central axis of the wellbore and spaced from it.

In FIG. 4 shows an isometric view of the manipulator 20 without the mast 10. On the sides are shown two lateral guide profiles 30, 32, and above is a deflecting roller 42, from which the manipulator 20 in the embodiment shown is suspended, together with a cable pulling mechanism passed through the top of the mast. Manipulator 20 can be considered as a combination of top and base 52 or bottom 54. Base 52 carries bottom 54. Bottom 54 is an articulated arm, and bottom 54 is hereinafter referred to as articulated arm 54, or arm 54 for short. Base 52 may also serve as a platform or support for other devices or assemblies. In the embodiment shown in the figures, a winch 56 is shown attached to the base 52, by means of which, for example, loads can be moved and lifted outside the mast 10. In addition, in FIG. 4 shows a hydraulic block 58 mounted on the base 52, which generates the force for the articulation of the arm 54, described below.

In the image in Fig. 5 shows a manipulator 20 according to FIG. 4 in side view and with various pivot positions of the lever 54. The lever 54 includes a rotating arm segment 60, a lever segment 62 pivoting on the arm segment 60, and a tool 64 at the free end of the lever segment 62. In the embodiment shown, the lever segment 62 includes two brackets. arranged in parallel, in the form of so-called link shackles, as is known for the top drive 36. At the free end of the bracket, the tool 64 is pivotally mounted, in particular in such a way that the tool 64 is automatically aligned in a horizontal or almost horizontal plane under the action of gravity . To compensate for tolerance when receiving the end of the drill pipe, a segment of the lever 62 is directed below the point of action of the actuator 66 in each bracket on the swivel transverse to the rotary axis R2. The tool 64, when receiving the end of the drill pipe, closes manually by the operator, automatically or remotely by the operator, and also opens manually, automatically or remotely to release the end of the drill pipe.

To rotate the lever segment 62, a drive mechanism 66 is made in a known manner, which is pivotally connected to the arm segment 60 on one side and to the lever segment 62 on the other side at a distance from the rotary axis R2 (Fig. 4). The actuator 66 can be, for example, a hydraulic cylinder. In the image in Fig. 5 shows the various positions of rotation of the arm segment 62 and with reference to the coordinate system already mentioned (see FIGS. 1-3) it can be seen that the pivotal mobility of the arm segment 62 allows the tool 64 to be positioned transverse to the z-axis. In the shown orientation of the pivot axis R2 of the arm segment 62 (transverse to the plane of the sheet), it is possible to position the tool 64 along the y-axis by rotating the arm segment 62. However, the orientation of the pivot axis of the arm segment 62 is controlled based on the rotation of the arm segment 60 about the pivot axis R1 (FIG. . 4), so that when the arm segment 60 is rotated by +90° or -90° compared to that shown in FIG. 5 situation (with a range of rotation, for example, from + 120° to about -120°) it is possible to position the tool 64 along the x-axis. The rotation of the arm segment 60 is realized, for example, by means of a driven rotating joint of a toothed gear, in particular by means of a hydraulic motor or an electric motor.

The rotary axis R1 runs parallel or almost parallel to the mast 10 (relative to the vertical axis through the mast 10) or the movement path (see Fig. 6: central axis of the manipulator A2)

- 6 039871 of the manipulator 20 on the mast 10. The rotary axis R2 lies in a plane perpendicular or almost perpendicular to the mast 10 (relative to the vertical axis through the mast 10) or the path of the manipulator in or on the mast 10.

Depending on the appropriate rotation of the arm segment 60 and the rotation position of the arm segment 62, the tool 64 can reach any position on the x and y axis, limited only by the length of the arm segment 62 and the maximum deflection of the arm segment 62. Due to the mobility of the manipulator 20 along the z axis and with the help of tool 64 on an imaginary cylinder can be reached along the z-axis to any point in space inside the cylinder and on its side surface. Said imaginary cylinder has a vertical axis parallel or nearly parallel to the vertical axis of the mast 10, a radius determined by the length of the arm segment 62 and the maximum deflection of the arm segment 62, and a height determined by the range of movement of the manipulator 20 in or on the mast 10. The mobility of the manipulator 20 is again shown separately in the lower area of the illustration in FIG. 5 with three double arrows. Thus, the manipulator 20 is a machine with a degree of translational freedom (vertical movement in or on the mast) and two rotational degrees of freedom (rotation of the arm segment 60 around the rotation axis R1, rotational mobility of the arm segment 62 around the rotation axis R2). The rotation axis R1 and the rotation axis R2 are shown in the illustration in FIG. 4. The rotary axis R2 is here primarily referred to as the rotary axis providing differentiation from the rotary axis R1. In fact, the rotary axis R2 can be understood as an axis of rotation, namely as an axis of rotation with a limited range of rotation.

As a tool 64 functions, for example, a well-known elevator, in any case it is a device by means of which one end of the drill pipe 12 can be grasped and moved, that is, a device in the form or type of a clamp or grip. The tool 64 preferably enters a region on the drill pipe 12 where its diameter changes from the diameter of the pipe to the larger diameter of the coupling collar (the end of the drill pipe having an internal thread is referred to as the collar). Due to the resulting larger diameter shoulder sleeve on the outer surface of the drill pipe 12, it can be hung from the tool 64 and locked in the axial direction.

In the image in Fig. 3 in the area of the manipulator 20 also shows the tool 64 under the manipulator 20. When the manipulator 20 is moved vertically in the mast 10, the arm 54 sags vertically under the manipulator 20, in particular due to the disengaged actuator 66 and solely due to gravity or due to the corresponding control of the actuator 66. If using the manipulator 20 to raise or lower the drill pipe 12 or the element of the drill string 14 into the mast 10 or on it, then it sags (at least after mounting with the help of the manipulator 20) also vertically vertically under the manipulator 20. In this case, you can see shown in Fig. 3, the position of the tool 64, as well as the position of the drill pipe 12 or the drill string element 14 suspended under the manipulator 20. The vertical axis (parallel to the central axis of the wellbore) will hereinafter be referred to as the central axis of the manipulator (see also Fig. 6: A2), and the distance from the central axis of the manipulator to the central axis of the wellbore is indicated by d2 in the image in FIG. 3.

So far, priority has been given to the mobility of the manipulator 20. In the following, the description will be devoted to the use of the manipulator 20 during the operation of the drilling rig. The manipulator 20 can be used to perform various functions during a drilling operation. This includes lifting the drill pipe 12 or drill string elements 14 from a horizontal or near horizontal position to the vertical position required for the drilling operation or installation of the mount 38. It also includes moving the drill string elements 14 into the center of the borehole. well during drilling of a well or receiving a drill string element 14 into the center of the wellbore and temporarily storing the received drill string elements 14, for example, at the platform of a mounted worker 38. or candles (screwing candles).

In the illustration depicted in Fig. 6 shows a manipulator 20 which is mounted in a known manner on the base of an elevating mast 10 in side view and in various positions and is movable in the shown embodiment of the mast 10, as well as in other mast 10 embodiments. A manipulator 20 is shown along the mast 10 for illustration purposes. of its mobility in the vertical direction from the bottom up (also visible from the base of the mast towards the top) in various positions, namely: in the lower position (U), the middle position (M), in the position at the level of the platform of the mounted worker 38 (F) and the upper position (O). Below the base and above the top of the mast, in the form of parallel and alternating arrows, the central axis of the wellbore A1 and the central axis of the manipulator A2 are shown.

In the lower position U, the tool 64 is located at the so-called drilling site level (drill site 70) or, in fact, at the drilling site. Here, the drill pipe 12 is fed and received by the manipulator 20 with the help of the tool 64. Briefly, with regard to this position, it is also mentioned that the manipulator 20 is located at the level of the drilling site, even if this refers more to the tool 64 of the manipulator 20. The manipulator 20 moves along the mast 10 between the lower position U and the upper position O and between each position above the lower position U and below the upper position O and possibly also passes the platform of the mounted worker 38. The platform of the mounted worker 38 is fixed to the mast 10 and is located at a sufficient distance from it distance, and in a specific embodiment, it is provided that the platform of the mounted worker 38 has a recess 74 (Fig. 11), which allows the manipulator 20 to pass the platform of the mounted worker 38 during vertical movement along the mast 10.

In the illustration depicted in Fig. 6, drill pipe 12 is shown sideways to manipulator 20 in the lower position and gripped by tool 64 (longitudinal axis of drill pipe 12 transverse to the sheet plane). For the manipulator 20 in the middle position M in FIG. 6 shows drill pipe 12 suspended below manipulator 20 (on tool 64). With manipulator 20 at mount position F, arm 54 is shown tilted toward derman platform 38 (away from mast 10) to illustrate that manipulator 20 can place elements of drill string 14 on or off derrick platform 38 38. Based on this, in almost any vertical position of the manipulator 20 (depending on the vertical position of the top drive 36 or comparable device), the tool 64 can rotate towards the central axis of the wellbore A1 or deviate towards the central axis of the wellbore A1.

The range of movement of the manipulator 20 in the vertical direction along the mast 10 comprises at least a lower position U and a position in the platform area of the mount 38, that is, for example, the position of the mount F shown in FIG. 6. At least in this area on the mast 10 is at least one guide profile 26, 28 or, as shown in the illustration, two guide profiles 26, 28, respectively attached to the front corner posts of the mast 22, 24.

In the illustrations in Fig. 7 and 8 show the reception of the drill pipe 12 fed from the outside to the drilling site 70 using the manipulator 20. The drill pipe 12 is not necessarily fed from the side, since there may be additional boreholes in front and/or behind the drilling rig (the side of the drilling rig indicates the direction, transverse to the plane through the central axis of the wellbore A1 and the central axis of the arm A2; ahead and/or behind the drilling rig means the direction parallel to the plane through the central axis of the wellbore A1 and the central axis of the arm A2). Other feed directions are also allowed. The feeding of the drill pipe 12 is carried out, for example, by means of a provided machine, in particular a PULD machine (pulling and laying machine). However, the method of supply is not important, other methods of supply are also possible, which should be considered within the framework of the above description. It is important that the drill pipe 12 reaches the well site 70 in a horizontal or nearly horizontal orientation and is received there by the manipulator 20 in that orientation. In FIG. 8 shows the reception of the drill pipe 12 as an enlarged segment of the illustration in FIG. 7. To receive the drill pipe 12, the manipulator 20 moves on the guide profiles 26, 28 to the lower position U (see Fig. 6). Further, in the lower position U, the arm segment 60 rotates around the axis of rotation R1 in the direction of the received drill pipe 12 (rotation of the arm segment 60 can, in principle, begin before reaching the lower position U). Then, in the lower position U to receive the drill pipe 12, the arm segment 62 is rotated about the rotary axis R2 in the direction of the received drill pipe 12 (the rotation of the arm segment 62 can in principle already start before reaching the lower position U). As soon as the tool 64, due to the appropriate positioning of the lever 54 (rotation around R1, rotation around R2), can grip the end of the drill pipe 12 and the so-called coupling sleeve, the tool 64 is closed (automatically and/or manually) and the drill pipe 12 is secured in the manipulator 20. The manipulator 20 then moves along the mast 10 towards the top of the mast. This levels the drill pipe 12 (drill pipe 12 enters a vertical orientation) until the drill pipe 12 finally hangs on the tool 64 vertically below the manipulator 20. By moving the manipulator 20 upwards, the actuator 66 can be disabled (for example, acting as actuator 66, the hydraulic cylinder oscillates freely) so that the arm 54 is free to move and eventually also hangs vertically under the base 52 of the manipulator 20. Similarly, it is possible to actively rotate the arm 54 in a vertical position by means of the actuator 66 when moving up. After the drill pipe 12 is aligned, it can be positioned with the manipulator 20 in the extension hole 72. The illustration in 8 shows the drill pipe 12 installed in the extension hole 72, from which only the upper end with the local coupling of the joint lock can be recognized. If the extension hole 72 is located in the central axis extension of the manipulator A2, then the installation of the drill pipe 12 in the extension hole 72 can be performed by simply moving the manipulator 20 down. This does not require that the drill hole 72 is located in the extension of the central axis of the manipulator A2, and if it is located at a distance from the central axis of the manipulator A2 (for example, with several extension holes 72), then the drill pipe 12 will be moved by appropriate positioning of the lever 54 (rotate on the R1 axis and/or rotate around the R1 axis

- 8 039871

R2; when pivoting and/or rotation about the axes R1 and R2 is mentioned, hereinafter it is understood that the manipulator 20 can simultaneously, precede or subsequently move along the z-axis to adjust the height) to a position above the extension hole 72 and, finally, will be installed in the extension hole 72. When the first received drill pipe 12 (first drill pipe 12) is installed in the extension hole 72, subsequent drill pipes 12 (second drill pipe 12) will be received and installed by the manipulator 20. This happens exactly as described above.

In the image in Fig. 9 shows the connection of a second drill pipe 12 to a first drill pipe 12 located in an extension hole 72 to form a drill string member 14; the entire operation in time and space occurs in parallel with the drilling process and independently of it. To do this, the manipulator 20 moves with the second drill pipe 12 along the mast 10 and towards the top of the mast until the second drill pipe 12 hangs freely under the manipulator 20. Depending on the position of the extension hole 72 or the corresponding extension hole 72, i.e. hole for extension 72, in which the first drill pipe 12 is installed, the manipulator 20 for connecting the second drill pipe 12 with the first drill pipe 12 moves with the second drill pipe 12 vertically hanging under the manipulator 20 down and towards the end of the first drill pipe 12 protruding from extension hole 72, or prior positioning of the lever 54 (rotation about the R1 axis and/or rotation about the R2 axis) is required to move the second drill pipe 12 to a position above the first drill pipe 12.

The connection of the second drill pipe 12 with the first drill pipe 12 (threaded connection of the pin and the coupling of the connecting lock) is carried out using a typical machine, which is not shown in the drawings, for example, a device for mechanized suspension and breakout of pipes. Hanging in the tool 64, the drill pipe 12 can rotate relative to the tool 64 because there is no force-locked connection between the tool 64 and the drill string 12, or such a force-locked connection will open during the connection process. As a result of the connection of the second drill pipe 12 with the first drill pipe 12, a drill string element 14 is formed, which in specialized technical terminology is referred to as a two-pipe stand.

The combination of such elements of the drill string 14 can be performed independently of the current drilling operation, as the manipulator 20 moves along the central axis of the manipulator A2, while the top drive 36 or the like moves along the central axis of the wellbore A1, so that they can both move without collisions and independently. In the image in Fig. 9, the top drive 36 can be seen above the wellbore 50 in the well site 70. The top drive 36 moves along the central axis of the well A1 defined by the wellbore 50 and the drill string (FIG. 6). The manipulator 20 moves along the central axis of the manipulator A2, which is at a distance and is parallel or almost parallel to the central axis of the wellbore A1. In the image in Fig. 9, the central axis of the manipulator A2 coincides with the longitudinal axis of the drill string element 14. Due to the distance between the central axis of the wellbore A1 and the central axis of the manipulator A2, the assembly of the elements of the drill strings 14 can occur temporally, spatially in parallel and independently of the drilling operation.

To further compose the drill string element 14 containing three drill pipes 12 (triple stand or stand), the drill string element 14, previously containing two drill pipes 12, is removed from the extension hole 72 using the manipulator 20 and moved using the manipulator 20 and behind by appropriately positioning the arm 54 (rotating about R1 and R2 or pivoting about R2) into or near the mast 10. For such an installation, a known mounting position (not shown) is provided in which the drill string member 14 is held at least higher, additionally at the top and bottom, by a claw or the like. Once the extension hole 72 is released by the drill string member 14 after splicing the two drill pipes 12, the next drill pipe 12 (the third drill pipe 12) as described above can be aligned and placed in the extension hole 72 using the manipulator 20 Finally, using the manipulator 20, the drill string element 14, which was previously set in the installation position, is lifted here and placed over the end of the third drill pipe 12 protruding from the extension hole 72, as described above. The connection of the element of the drill string 14, which previously contained two drill pipes 12, with the third drill pipe 12 again takes place using the above-mentioned machine provided for the manufacture of such a threaded connection. By connecting the third drill pipe 12 to the drill string element 14, which previously contained two drill pipes 12 (the first drill pipe 12, the second drill pipe 12), a drill string element 14 was constituted, which is called a triple stand or stand.

Alternatively, it is also possible to construct a drill string element 14 (triple stand or stand) containing three drill pipes 12 with an additional extension hole 72. 12 is a drill string member 14 containing two drill pipes 12, this will be referred to as the first extension hole 72 and the additional hole for the bunk

- 9 039871 of the extension (not shown) will be referred to as the second extension hole. Then, using the manipulator 20, as described above, the third drill pipe 12 is held and leveled and finally installed in the second hole for an addition. Then, the element of the drill string 14, which is located in the first extension hole 72, is lifted with the help of a manipulator at least to the height of the end of the third drill pipe 12 protruding from the second extension hole 72, and then is installed with the help of the manipulator 20 above the second extension hole. There now, as described above, the threaded connection of the drill string element 14 vertically hanging from the manipulator 20 (combination of the first drill pipe 12 and the second drill pipe 12) and the third drill pipe 12 located in the second hole for the extension of the third drill pipe is performed. The result is a drill string element 14, consisting of three drill pipes 12 (candle).

The combination of such stands can be performed completely independently of the current drilling operation, since the arm 20 also moves along the central axis of the A2 arm, while the top drive 36 or equivalent moves along the central axis of the wellbore A1, so that both of them can move without collision. and independently of each other. Such combination of stand members 14, which is performed independently of the current drilling process, is also referred to as stand-alone make-up, and accordingly, the manipulator 20 present acts as a stand-alone stand assembly.

Using the manipulator 20, it is possible to disassemble the element of the drill string 14, consisting of several drill pipes 12, following the reverse order described above. In order to avoid unnecessary repetition, it should be noted in accordance with the above description that the described steps of the method when disassembling a drill string element 14 containing several drill pipes 12 proceed in reverse order.

The element of the drill string 14 assembled using the manipulator 20, namely the element of the drill string 14 containing two drill pipes 12 (two-pipe stand) or three drill pipes 12 (three-pipe stand, stand), can be fed using the manipulator 20 directly in the drilling process. To do this, the top drive 36 opens on the drill pipe head at the level of the drilling site and moves in the mast 10 to the top of the mast. Then, with the help of the manipulator 20, by appropriate positioning of the lever 54 (rotation around the axis R1, rotation around R2), the element of the drill string 14 is transferred to the center of the wellbore and there it is connected in a known way on one side with the top drive 36, and on the other with the drill string head . In this case, the arm 54 of the manipulator 20 controls, in the range of travel (central axis of the wellbore A1), the top drive 36 or the like for driving the drill pipe. This is possible without collision, provided that you have previously moved to a sufficient height on the mast 10. In the image in FIG. 1 shows a manipulator 20 with an arm 54 inclined toward the center of the wellbore, but (in the interest of clarity of illustration) without a drill string member 14 suspended from the tool 64.

The element of the drill string 14, assembled using the manipulator 20, namely the element of the drill string 14, containing two drill pipes 12 (two-pipe candle) or three drill pipes 12 (three-pipe candle, candle), can be installed using the manipulator 20 on the platform of the riding worker 38 or comparable equipment. The fact that a two- or three-pipe stand can be installed on the derrick platform 38 depends on the length of the individual drill pipe 12 as well as the height of the derby platform 38 on the mast 10. Often, the derrick platform 38 is located on the mast 10 at a height which allows you to install the elements of the drill string 14 (stands) containing three drill pipes 12. This is also accepted in the future for the subsequent description, first of all without abandoning the generally accepted universality, sometimes it is said in short only the installation of the stands in the platform of the riding worker 38 (or vice versa, the extraction candles from the platform of the riding worker 38).

In FIG. 10 shows the actual manipulator 20 in position above the mount platform 38 (see FIG. 6: position F). The manipulator 20 is shown with the arm 54 rotated towards the center of the wellbore. Similarly, the arm 54 can pivot over the derrick platform 38 (rotating around R1 and/or pivoting around R2) to allow the drillstring elements 14 to be installed and the drillstring elements 14 to be retrieved by passing them in known manner between the fingers of the derricker platform 38.

In FIG. 11 shows a snapshot of the moment when the drill string element 14 is installed with the manipulator 20 on the platform of the mount 38 (or the removal of the element of the drill string 14 from the platform of the mount 38). It can be seen that the arm segment 60 (FIG. 5) rotates and the arm segment 62 rotates to hold the drill string member 14 gripped by the tool 64 in its current position.

Two rotational degrees of freedom of the manipulator 20 (arm 54 of the manipulator 20) allow linear movements in the xy plane while simultaneously activating both degrees of freedom. The effective height of the arm 54 resulting from the increase in the deflection of the arm 54 (rotation about the axis R2) can be compensated by vertical movement (movement along

- 10 039871 z-axis) so that the tool 64 of the manipulator 20 can follow the given or given linear paths along the xy-axis. Thus, the manipulator 20 can automatically set the element of the drill string 14 between two set or set fingers of the platform of the mounted worker 38 (initial linear movement transverse to the fingers of the platform of the mounted worker and into the platform of the mounted worker 38 by turning around the axis R2, and then linear movement parallel to the fingers of the platform mounted worker 38 and into the space between two fingers due to rotation around the axis R1 and rotation around the axis R2) or take the element of the drill string 14 from there. 38 can be performed in parallel (temporally and spatially) with the current drilling operation and independently of it, since the arm 20 moves in the vertical direction only along the central axis of the manipulator A2 and does not fall within the range of movement of the top drive or similar device, therefore both mechanisms can move independently of each other and without collision.

In particular, in this way, by means of the manipulator 20, by continuously receiving new drill pipes 12, as described above, and combining individual drill pipes 12 into elements of the drill string 14, which is also described above, it is possible to sequentially fill the platform of the mount 38 with candles, which is absolutely independent of the current drilling operation. During the filling of the platform of the mount 38, it is possible, using the manipulator 20, if necessary, to remove the element of the drill string 14 from the platform of the mount 38 and submit it to the drilling operation, as described above, or immediately after combining the individual drill pipes 12, the resulting element of the drill string 14 can be fed into the process drilling using the manipulator 20, as already described above.

In FIG. 12 shows a snapshot of the moment in which the drill string element 14 has been removed from the platform of the mount 38 using the manipulator 20 and hangs vertically below the manipulator 20 in the tool 64. The received drill string element 14 must be fed into the drilling operation. The manipulator 20 is in the standby position and will remain there until the top drive has moved in the mast 10 a sufficient distance up towards the top of the mast 10 until the received drill string element 14 has been moved down to the center of the wellbore under the top drive 36 with using the manipulator 20, as shown in Fig. 13 in the picture. Thus, the placed element of the drill string 14 in a known manner at the lower end (at the level of the drilling site) is combined with the upper end of the drill pipe by means of a special machine, namely a machine known in shape or type as a device for mechanized suspension and breakout of pipes. The upper end of the drill string element 14 is previously or subsequently connected to the top drive 36 in a known manner. The tool 64 can then be opened (manually, automatically, or remotely controlled by an operator) and the drill string element 14 can be released from the manipulator 20.

In the illustrations in Fig. 11-13 depict a recess 74 in the worker's platform 38 which is adjacent to the mast 10. This recess 74 allows the manipulator 20 to vertically move from a position above the worker's platform 38 to a position below the worker's platform 38, i. the so-called passage through the platform of the riding worker 38.

The determination of the motion path for the tool 64 occurs in a known manner, for example by converting coordinates from a Cartesian coordinate system to a cylindrical coordinate system. In the Cartesian coordinate system, the starting and ending points of the planned trajectory are given, and, possibly, individual reference points on such a trajectory or a set of such reference points. For each such point and its Cartesian coordinates (x, y, z), an equivalent in a cylindrical coordinate system is obtained using a coordinate transformation. From the obtained coordinates (r, φ, h) in the cylindrical coordinate system, the corresponding positions of individual degrees of freedom of the manipulator 20 arise, namely, the vertical position h along the z axis (h = z), rotation of the lever segment 62 through an angle α around the rotary axis R2 (α = arc sin (r/l), l = length of the lever segment 62, r = / [x ² + y ² ]) and rotation of the arm segment 60 through an angle φ around the rotation axis R1 (φ = arc sin (y/r)) . Calculation of the corresponding required positions of the individual degrees of freedom of the manipulator 20 and generation of appropriate control signals 80 to control the unit provided for moving the manipulator (for example, a winch 40 to change the vertical position; an actuator 66 to change the rotation of the lever segment 62; an electric or hydraulic motor to drive the rotary connection for rotation of the shoulder segment 60) through automatic or semi-automatic operation provided for the manipulator 20 PLC 76 (Fig. 14), for example PLC 76 in the form of a programmable logic controller or equivalent.

Finally, in FIG. 14 shows in a greatly simplified form the aforementioned PLC 76, which, as is known, itself contains a processing unit in the form of a microprocessor or in the form of a microprocessor and a memory device loaded with a computer program 78 executable for the operation of the manipulator 20 and during its operation and acting as the control program of the manipulator 20. Under the control of the PLC 76 or by means of a computer program 78 executed by the PLC 76, signals 80 are generated to control the units designed to move the ma

- 11 039871 nipulator 20, and the control is affected in a known way by the corresponding control signal 80 or the corresponding control signals 80. This includes, for example, the following units: a winch 40, a hydraulic unit 58 and an engine 82. A winch 40 or a similar unit is provided for vertical movement of the manipulator 20 in the mast 10 or on it. The hydraulic block 58 is designed to generate pressure to move the actuator 66 and to rotate the lever segment 62 around the rotary axis R2. Motor 82, such as motor 82 in the form of a hydraulic or electric motor, is associated with a rotary drive to rotate arm segment 60 about the axis of rotation R1. The movement of the manipulator 20 can take place in automatic, semi-automatic or so-called manual mode. In manual mode, the operator moves the manipulator 20 to a certain extent in view, and for this purpose uses one or more controls on the PLC, such as a control panel or the like. Activation of the control element is determined and evaluated by the PLC 76, and control signals are automatically generated by the PLC 76, which activate one or another assembly necessary for the corresponding movement of the manipulator 20. In semi-automatic mode, for example, by actuating the control element, it is possible start the movement of the manipulator 20 to a certain position, for example, to the lower position U or the position of the platform of the mounted worker. Within the semi-automatic mode, for example, the lever 54 is moved to a vertical position, for example prior to or in connection with the vertical movement, or the vertical movement remains blocked until the lever 54 hangs vertically. In automatic mode, various movement sequences can be automatically performed and, in principle, without the need for operator intervention, for example, setting the drill pipe 12 in the extension hole 72, receiving the drill pipe 12 supplied from the outside and then installing it in the extension hole 72, combining several supplied outside of the drill pipes 12 into the drill string element 14, connecting a plurality of externally supplied drill pipes 12 into the drill string element 14, and then placing a mount 38 on the platform, and so on.

Although the invention has been further illustrated and described in detail in an illustrative embodiment, the invention is not limited to the disclosed examples, and other variations of the art can be obtained by those skilled in the art without derogating from the protection of the invention.

The individual aspects at the forefront of the description presented here can be summarized as follows. The manipulator 20 is intended for use on the mast 10 of a drilling rig and for moving drill pipes 12 or elements of drill strings 14, and the method of its operation is also presented. The manipulator 20 includes a base 52 which is movable in the vertical direction in or on the mast 10, and a lever 54 which is located on the base 52 and rotates about the axis of rotation R1. The axis of rotation R1 runs parallel or almost parallel to the mast 10 or the movement path (central axis of the manipulator A2) of the manipulator 20 in or on the mast 10. On the axis of rotation R1, the rotating arm 54 is additionally movable on a hinge, namely, it can be rotated around at least one rotary axis R2. The rotary axis R2 lies in a plane perpendicular or almost perpendicular to the mast 10 or the movement path (central axis of the arm A2) of the arm 20 in or on the mast 10. At the free end of the arm 54, the manipulator 20 includes a highly movable tool 64 for gripping a segment of one end of the drill pipe 12 or one end of the drill string element 14.

Enumeration of symbols

- Mast;

- drill pipe;

- element of the drill string;

, 18 - free;

- manipulator;

, 24 - (mast-) corner support;

, 28 - guide profile;

, 32 - guide counter-profile;

- traveling block;

- top drive;

- horse worker's balcony;

- winch;

- deflecting roller;

, 46, 48 - (free);

- the mouth of the borehole;

- top/base;

- lower part, articulated arm, lever;

- winch;

- hydraulic unit;

- 12 039871

- shoulder segment;

- lever segment;

- tool;

- actuating mechanism;

- (free);

- drilling site;

- shaft for building;

- excavation;

- PLC;

- computer program;

- control signal;

- engine.

CLAIM

Claims (10)

CLAIM 1. A method for moving drill pipes or elements of drill strings of a drilling rig using an automated manipulator (20), moreover, an automated manipulator (20) contains a base (52) made with the possibility of vertical movement in or on the mast (10), moreover, on the base (52 ) of the automated manipulator (20), a movable arm (54) is located with the possibility of rotation around the axis of rotation (R1), and the axis of rotation (R1) is parallel or at least mainly parallel to the mast (10) or the trajectory of the movement of the automated manipulator (20 ) in or on the mast (10), wherein the arm (54) is rotatable about at least one pivot axis (R2), wherein the pivot axis (R2) is in a plane perpendicular to or at least substantially , perpendicular to the mast (10) or the trajectory of the automated manipulator (20) in or on the mast (10), and the automated manipulator (20) contains at the free end of the lever (54 ) a movable tool (64) for engaging a part of the end of the drill pipe (12), wherein the automated manipulator (20) is movable to move the drill pipes (12) or elements of the drill string (14) in a vertical direction in or on the mast (10) and/or the lever (54) of the manipulator (20) is rotatable about a rotation axis (R1) and/or about a rotation axis (R2), the method comprising the following steps: in a horizontal or almost horizontal plane, the first drill pipe (12) is grasped by an automated manipulator (20) in the area of the mast base and is set by moving vertically along the mast (10) with a vertical orientation, the first drill pipe (12) is set with a vertical orientation in the area mast (10) using an automated manipulator (20), in a horizontal or almost horizontal plane, the second drill pipe (12) is grasped with an automated manipulator (20) in the area of the mast base and set by moving vertically along the mast (10) with a vertical orientation, the second drill pipe (12) is pulled using an automated manipulator (20) by means of vertical movement along the mast (10) to the height of the upper end of the first drill pipe (12), the second drill pipe (12) is placed above the first drill pipe (12) using an automated manipulator (20) to obtain e drill string element (14) in the form of a combination of the first drill pipe (12) and the second drill pipe (12). 2. The method according to claim 1, characterized in that the element of the drill string (14), containing the first drill pipe (12) and the second drill pipe (12), is installed in the area of the mast (10) using an automated manipulator (20), with in this case, in a horizontal or almost horizontal plane, the third drill pipe (12) is received using an automated manipulator (20) in the area of the mast base and is installed by vertical movement along the mast (10) with a vertical orientation, and the third drill pipe (12) is installed by an automated manipulator with vertical orientation in the area of the mast (10), while the element of the drill string (14), containing the first drill pipe (12) and the second drill pipe (12), is pulled up using an automated manipulator (20) and by means of vertical movement along the mast (10) to a height in the region of the upper end of the third drill pipe (12), and the element of the drill string (14) is positioned above the third drill pipe (12) with using an automated manipulator (20) to obtain a drill string element (14) in the form of a combination of the first drill pipe (12) and the second drill pipe (12) with the third drill pipe (12). 3. The method according to claim 1 or 2, characterized in that the first drill pipe (12) and the third drill pipe - 13 039871 pipe (12) is installed with the help of an automated manipulator (20) in a vertical orientation into the receiving device, designated as the extension hole (72). 4. The method according to any one of claims 1 to 3, characterized in that the automated manipulator (20) is moved in a vertical direction along the mast (10) along the central axis of the manipulator (A2), which is located at a distance from the central axis of the wellbore (A1) and parallel or nearly parallel to the central axis of the wellbore (A1). 5. A digital storage medium with electronically readable control signals, which is designed to interact with the PLC (76) for the automated manipulator (20), so that the procedure according to any one of claims 1-4 is performed, while the automated manipulator (20) is designed to use on the mast (10) of the drilling rig and for moving drill pipes (12) or elements of drill strings (14), while the automated manipulator (20) contains a base (52) made with the possibility of vertical movement in the mast (10) or on it , moreover, the automated manipulator (20) contains on the base (52) a movable lever (54), made with the possibility of rotation around the axis of rotation (R1), which is in a plane perpendicular or almost perpendicular to the mast (10) or the trajectory of the automated manipulator (20 ) in or on the mast (10), wherein the arm (54) is rotatable about at least one pivot axis (R2) which of the mast (10) or the trajectory of the automated manipulator (20) passing in the mast (10) or on it, and at the same time the automated manipulator (20) contains at the free end of the lever (54) a movable tool ( 64) to engage part of one end of the drill pipe (12). 6. Automated manipulator (20) for use in a drilling rig and for moving drill pipes (12) or elements of drill strings (14), containing a base (52) made with the possibility of vertical movement in the mast (10) or on it, while the automated manipulator (20) provides on the base (52) a movable lever (54), made with the possibility of rotation around the axis of rotation (R1), while the rotary axis (R1) is located in a plane perpendicular or almost perpendicular to the mast (10) or the trajectory of movement of the manipulator (20) in or on the mast (10), wherein the lever (54) is rotatable about at least one rotary axis (R2) which is in a plane perpendicular or almost perpendicular to the mast (10) or the trajectory of the automated manipulator ( 20), passing in the mast (10) or on it, and at the same time, the automated manipulator (20) contains at the free end of the lever (54) a movable tool (64) for engaging a part of one the end of the drill pipe (12), with the PLC (76) for the specified automated manipulator (20), which during its operation carries out the method according to any one of claims 1-4. 7. Drilling rig, characterized in that it contains an automated manipulator (20) for use in a drilling rig and for moving drill pipes (12) or drill string elements (14), at least one guide profile (26, 28) attached to the mast (10) of the drilling rig, which determines the vertical range of movement of the automated manipulator (20), and the PLC (76) for the specified manipulator (20), which during its operation carries out the method according to any of claims 1-4, while the automated manipulator ( 20) contains a base (52), made with the possibility of vertical movement in the mast (10) or on it, and also contains on the base (52) a movable lever (54), rotating around the axis of rotation (R1), which is in a plane perpendicular to or almost perpendicular to the mast (10) or the trajectory of the automated manipulator (20) in or on the mast (10), while the lever (54) is rotatable around at least one th rotary axis (R2), wherein the rotary axis (R2) is in a plane perpendicular or almost perpendicular to the mast (10) or the trajectory of the automated manipulator (20) passing in or on the mast (10), and the automated manipulator (20) comprises at the free end of the lever (54) a movable tool (64) for engaging a part of one end of the drill pipe (12), and also has at least one guiding counterprofile (30, 32) corresponding to the guiding profile (26, 28), while the guiding profile (26, 28) and the guide counter-profile (30, 32) engage in vertical movement of the automated manipulator (20). 8. Drilling rig according to claim 7, characterized in that a guide profile (26, 28) is installed on the front corner post of the mast (22, 24) of the mast (10) of the drilling rig or a corresponding guide profile (26, 28) on two front corner mast legs (22, 24). 9. Drilling rig according to claim 8, characterized in that one or each guide profile (26, 28) on the mast (10), in particular on its front posts (22, 24), is mounted on a mounted adapter frame. 10. Drilling rig according to any one of claims 7 to 9, in which the platform of the riding worker (38) mounted on the mast (10) of the drilling rig has a recess (74) that allows vertical movement of the automated manipulator (20) from a position above platform of the riding worker (38) to the position under the platform of the riding worker (38) and vice versa.