EP2358972A1 - Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubulars - Google Patents
Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubularsInfo
- Publication number
- EP2358972A1 EP2358972A1 EP09763819A EP09763819A EP2358972A1 EP 2358972 A1 EP2358972 A1 EP 2358972A1 EP 09763819 A EP09763819 A EP 09763819A EP 09763819 A EP09763819 A EP 09763819A EP 2358972 A1 EP2358972 A1 EP 2358972A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- tubulars
- rotary mill
- cutting device
- cutting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B29/00—Cutting or destroying pipes, packers, plugs, or wire lines, located in boreholes or wells, e.g. cutting of damaged pipes, of windows; Deforming of pipes in boreholes or wells; Reconditioning of well casings while in the ground
- E21B29/002—Cutting, e.g. milling, a pipe with a cutter rotating along the circumference of the pipe
- E21B29/005—Cutting, e.g. milling, a pipe with a cutter rotating along the circumference of the pipe with a radially-expansible cutter rotating inside the pipe, e.g. for cutting an annular window
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
Definitions
- the present disclosure generally relates to methods and apparatus for mill cutting through wellbore tubulars, including casing or similar structures.
- An “inner” and “outer” string may be severable, if generally concentrically positioned in relation to each other. However, there is no current capability for severing a multiple non-concentrically (eccentrically) nested tubulars that provides consistent time and cost results in a single trip into the wellbore.
- the remaining portion of the casing forms a "C" or horseshoe-type shape when viewed from above.
- the blade cutter extends to its fullest open cut position after moving across a less dense material or open space (because that material has been cut away) and when the blade cutter impacts the leading edge of the "C" shaped tubular, the force may break off the blade.
- the breaking of a cutter blade requires again tripping out and then back into the well and starting over at a different location in the wellbore in order to attempt severing of the multiple, nested tubulars.
- Non-concentric, multiple, nested tubulars present serious difficulties for mechanical blade cutters. Severing non-concentric multiple, nested tubulars may take a period of days for mechanical blade cutters.
- Another problem encountered by existing abrasive waterjet cutting is the inability to cut all the way through the thicker, more widely spaced mass of non-concentrically positioned tubulars. In this situation, the cut fails to penetrate all the way through on a 360 degree circumferential turn.
- a further disadvantage of traditional abrasive waterjet cutting is that in order to successfully cut multiple, nested tubulars downhole, air must be pumped into the well bore to create an "air pocket" around the area where the cutting is to take place, such that the abrasive waterjet tool is not impeded by water or wellbore fluid. The presence of fluid in the cutting environment greatly limits the effectiveness of existing abrasive waterjet cutting.
- This invention provides a safe and environmentally benign means of completely severing multiple, nested tubulars for well abandonment including overcoming the difficulties encountered by mechanical blade cutting, abrasive waterjet cutting or other means of tubular milling currently available.
- This invention provides methodology and apparatus for efficiently severing installed multiple, nested strings of tubulars, either concentric or eccentric, as well as cement or other material in the annuli between the tubulars, in a single trip into a well bore in an environmentally sensitive manner without the need for a rig.
- the invention utilizes a computer-controlled robotic downhole rotary mill to effectively generate a shape(s) or profile(s) through, or completely sever in a 360 degree horizontal circumferential plane, the installed tubing, pipe, casing and liners as well as cement or other material that may be encountered in the annuli between the tubulars.
- This process occurs under programmable robotic, computerized control, making extensive use of digital sensor data to enable algorithmic, robotic actuation of the downhole assembly and robotic rotary mill cutter.
- the downhole assembly is deployed inside the innermost tubular to a predetermined location and, under computer control, a rotary mill cuts outward radially and vertically, cutting a void (or swath) and completely severing the installed tubing, pipe, casing and liners as well as cement or other material that may be encountered in the annuli between the tubulars. The complete severance process occurs during one trip into the well bore.
- this system is designed for precise W-axis movement in a 360 degree horizontal plane, due to the wide swath or void it generates when removing material in said horizontal plane, it does not require the exact alignment of the starting and ending points in the 360 degree cut that are otherwise required by traditional waterjet systems.
- Another technical advantage of the disclosed subject matter is providing visual verification of severance without employing additional equipment.
- Yet another technical advantage of the disclosed subject matter is creating a wide void
- An additional technical advantage of the disclosed subject matter is avoiding repeat trips down hole because of cutter breakage.
- Another technical advantage of the disclosed subject matter is efficiently severing non- concentrically (eccentrically) aligned nested tubulars.
- Yet another technical advantage of the disclosed subject matter is accomplishing severance in less time and in an environmentally benign manner.
- Still another technical advantage is providing electronic feedback showing cutter position and severance progress.
- FIGURE 1 depicts the robotic rotary mill cutter of the preferred embodiment.
- FIGURES 2A and 2B depict the upper and lower portions, respectively, of the robotic rotary mill cutter of the preferred embodiment.
- FIGURE 3 depicts an expanded view of an inserted carbide mill of one embodiment.
- FIGURE 4A depicts a top view of multiple casings (tubulars) that are non-concentric.
- FIGURE 4B depicts an isometric view of non-concentric casings (tubulars).
- FIGURE 5A depicts a portion of the robotic rotary mill cutter as it enters the tubulars.
- FIGURE 5B depicts a portion of the robotic rotary mill cutter as it is severing multiple casings.
- casing(s) and tubular(s) are used interchangeably.
- This invention provides a method and apparatus for efficiently severing installed tubing, pipe, casing, and liners, as well as cement or other encountered material in the annuli between the tubulars, in one trip into a well bore.
- the method generally is comprised of the steps of positioning a robotic rotary mill cutter inside the innermost tubular in a pre-selected tubular or plurality of multiple, nested tubulars to be cut, simultaneously moving the rotary mill cutter in a predetermined programmed vertical X-axis, and also 360 degree horizontal rotary W-axis, as well as the spindle swing arm in a pivotal Y-axis arc.
- the vertical and horizontal movement pattern(s) and the spindle swing arm are capable of being performed independently of each other, or programmed and operated simultaneously in conjunction with each other.
- the robotic rotary mill cutter is directed and coordinated such that the predetermined pattern is cut through the innermost tubular beginning on the surface of said tubular with the cut proceeding through it to form a shape or window profile(s), or to cut through all installed multiple, nested tubulars into the formation beyond the outermost tubular.
- a profile generation system simultaneously moves the robotic rotary mill cutter in a vertical Z-axis, and a 360-degree horizontal rotary W-axis, and the milling spindle swing arm in a pivotal Y-axis arc to allow cutting the tubulars, cement, and formation rock in any programmed shape or window profile(s).
- the robotic rotary mill cutter apparatus is programmable to simultaneously or independently provide vertical X-axis movement, 360 degree horizontal rotary W-axis movement, and spindle swing arm pivotal Y-axis arc movement under computer control.
- a computer having a memory and operating pursuant to attendant software, stores shape or window profile(s) templates for cutting and is also capable of accepting inputs via a graphical user interface, thereby providing a system to program new shape or window profile(s) based on user criteria.
- the memory of the computer can be one or more of but not limited to RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, floppy disk, DVD-R, CD-R disk or any other form of storage medium known in the art.
- the storage medium may be integral to the processor.
- the processor and the storage medium may reside in an ASIC or microchip.
- the computer controls the profile generation servo drive systems as well as the milling cutter speed.
- the robotic rotary mill cutter requires load data to be able to adjust for conditions that cannot be seen by the operator.
- the computer receives information from torque sensors attached to Z- axis, W-axis, Y-axis, and milling spindle drive motor, and makes immediate adaptive adjustments to the feed rate and speed of the vertical X-axis, the 360 degree horizontal rotary W-axis, the spindle swing arm pivotal Y-axis and the RPM of the milling spindle motor.
- the shape or window profile(s) are programmed by the operator on a program logic controller (PLC), personal computer (PC), or a computer system designed or adapted for this specific use.
- PLC program logic controller
- PC personal computer
- GUI graphical user interface
- HMI Red Lion G3 Series
- the vertical Z-axis longitudinal computer-controlled servo axis uses a hydraulic cylinder, such as the Parker Series 2HX hydraulic cylinder, housing the MTS model M-series absolute analog sensor for ease of vertical Z-axis longitudinal movements, although other methods may be employed to provide up and down vertical movement of the robotic rotary mill cutter.
- a hydraulic cylinder such as the Parker Series 2HX hydraulic cylinder, housing the MTS model M-series absolute analog sensor for ease of vertical Z-axis longitudinal movements, although other methods may be employed to provide up and down vertical movement of the robotic rotary mill cutter.
- the vertical Z-axis longitudinal computer-controlled servo axis may be moved with a ball screw and either a hydraulic or electric motor, such as a computer controlled electric servo axis motor, the Fanuc D2100/150 servo, with encoder feedback to the computer system by an encoder such as the BEI model H25D series incremental optical encoder.
- a hydraulic or electric motor such as a computer controlled electric servo axis motor, the Fanuc D2100/150 servo
- an encoder such as the BEI model H25D series incremental optical encoder.
- Servo motors and ball screws are known in the art and are widely available from many sources.
- the vertical Z-axis longitudinal computer-controlled servo axis may be moved with a rack and pinion, either electrically or hydraulically driven.
- Rack and pinion drives are known in the art and are widely available from many sources.
- the rotational computer controlled W-axis rotational movement is an electric servo motor, although other methods may be employed.
- the rotational computer-controlled W-axis servo motor such as a Fanuc model D2100/150 servo, provides 360-degree horizontal rotational movement of the robotic rotary mill cutter through a specially manufactured slewing gear.
- the Y-axis pivotal milling spindle swing arm computer-controlled servo axis uses a hydraulic cylinder for ease of use, although other methods may be employed.
- the Y-axis pivotal milling spindle swing arm computer-controlled servo axis may utilize the Parker Series 2HX hydraulic cylinder, housing the MTS model M-series absolute analog sensor inside the hydraulic cylinder to provide position feedback to the computer controller for pivotal spindle swing arm Y-axis arc movement.
- an inertia reference system such as, Clymer Technologies model Terrella ⁇ v2
- FIGURE 1 depicts the robotic rotary mill cutter 1.
- the robotic rotary mill cutter 1 shows the position of the vertical Z-axis, and the 360-degree horizontal rotary W-axis, and the milling spindle swing arm pivotal Y-axis.
- FIGURES 2A and 2B depict the upper and lower portions, respectively, of the robotic rotary mill cutter of the preferred embodiment.
- a collar 2 is used to attach the umbilical cord (not shown) and cable (not shown) to the body of robotic rotary mill cutter 1. Collar 2 may be exchanged to adapt to different size work strings (not shown). Additionally, the collar 2 provides a quick disconnect point in case emergency removal of the robotic rotary mill cutter 1 is necessary.
- locking hydraulic cylinders 3 are energized to lock the robotic rotary mill cutter 1 into the well bore (not shown).
- Z-axis hydraulic cylinder 6 is moved to a down position by extending piston rod 4 allowing the Z-axis slide 5 to extend. This permits the robotic rotary mill cutter 1 to begin cutting at the lowest point of the cut and be raised as needed to complete the severance.
- W-axis servo motor 8 rotates the W-axis rotating body 10 under control of the computer (not shown).
- W-axis rotating body 10 houses the milling spindle swing arm 14 and the milling spindle swing arm 14 is driven by motor 11 also housed in the W-axis rotating body 10.
- Milling spindle swing arm 14 is driven by motor 11 through a half-shaft 12 such as Motorcraft model 6L2Z-3A427-AA.
- Half-shaft 12 has a CV. joint (not shown) that allows milling spindle swing arm 14 to pivot in an arc from pivot bearing 13 that goes through W-axis rotating body 10.
- Milling spindle swing arm 14 is moved by Y-axis hydraulic cylinder 16.
- the rotation of W-axis rotating body 10 requires a swivel joint 9, such as Rotary Systems Model DOXX Completion, to allow power and sense lines (not shown) to motor 11, Y-axis hydraulic cylinder 16, and load cell sense wires (not shown).
- Carbide cutter 15 is mounted to the milling spindle swing arm 14 and is moved by Y-axis hydraulic cylinder 16 into the cut under computer control.
- FIGURE 3 depicts an expanded view of one embodiment of an inserted carbide mill 17 that could be attached to milling spindle swing arm 14. Other milling units with different material and/or cutting orientation could be utilized depending on the particular characteristics of the severance to be performed.
- FIGURE 4A depicts a top view of nested multiple casings (tubulars) 18 that are positioned non-concentrically.
- FIGURE 4B depicts an isometric view of nested multiple casings (tubulars) 18 that are positioned non-concentrically.
- FIGURE 5 A depicts a portion of the robotic rotary mill cutter 1 as it enters the nested multiple casings (tubulars) 18.
- FIGURE 5B shows the nested multiple casings (tubulars) 18 with the void that has been created by the robotic rotary mill cutter 1.
- the profile generation system (not shown) simultaneously moved the robotic rotary mill cutter 1 in a vertical Z-axis, and a 360-degree horizontal rotary W-axis, and the milling spindle swing arm 14 in a pivotal Y-axis arc to allow cutting of the tubulars, cement (not shown), and formation rock (not shown) in any programmed shape or window profile(s) thereby cutting through the multiple casing (tubulars) 18, cement (not shown) or other encountered material in casing annuli (not shown).
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Milling Processes (AREA)
- Earth Drilling (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13187408P | 2008-06-14 | 2008-06-14 | |
PCT/US2009/053900 WO2009152532A1 (en) | 2008-06-14 | 2009-08-14 | Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubulars |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2358972A1 true EP2358972A1 (en) | 2011-08-24 |
EP2358972A4 EP2358972A4 (en) | 2013-07-24 |
EP2358972B1 EP2358972B1 (en) | 2018-12-05 |
Family
ID=41413715
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09763819.1A Not-in-force EP2358972B1 (en) | 2008-06-14 | 2009-08-14 | Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubulars |
Country Status (6)
Country | Link |
---|---|
US (1) | US20090308605A1 (en) |
EP (1) | EP2358972B1 (en) |
AU (1) | AU2009257222A1 (en) |
IL (1) | IL209863A0 (en) |
WO (1) | WO2009152532A1 (en) |
ZA (1) | ZA201008943B (en) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9759030B2 (en) * | 2008-06-14 | 2017-09-12 | Tetra Applied Technologies, Llc | Method and apparatus for controlled or programmable cutting of multiple nested tubulars |
WO2012083016A2 (en) * | 2010-12-16 | 2012-06-21 | Applied Completion Technologies, Inc. | Method and apparatus for controlled or programmable cutting of multiple nested tubulars |
GB0911672D0 (en) | 2009-07-06 | 2009-08-12 | Tunget Bruce A | Through tubing cable rotary system |
US8757269B2 (en) * | 2010-07-22 | 2014-06-24 | Oceaneering International, Inc. | Clamp for a well tubular |
WO2012025816A2 (en) * | 2010-08-24 | 2012-03-01 | Stanislav Tolstihin | Device for drilling through a formation |
BR112014001623B1 (en) * | 2011-07-05 | 2021-07-13 | Bruce A. Tunget | WIRING SYSTEM COMPATIBLE WITH WIRELESS OPERATION FOR UNDERGROUND WELL USE AND ABANDONMENT |
GB2506235B (en) * | 2012-07-05 | 2017-07-05 | Arnold Tunget Bruce | Apparatus and method for cultivating a downhole surface |
CN105518248B (en) | 2013-07-05 | 2019-09-24 | 布鲁斯·A.·通盖特 | For cultivating the device and method of downhole surface |
AU2015252881B2 (en) * | 2014-05-01 | 2019-11-07 | Abrado, Inc. | Cutting tool with expandable cutter bases and nose section cutting capability |
US10030459B2 (en) | 2014-07-08 | 2018-07-24 | Smith International, Inc. | Thru-casing milling |
US10675729B2 (en) | 2017-05-31 | 2020-06-09 | Baker Hughes, A Ge Company, Llc | Electromechanical rotary pipe mill or hone and method |
CN112513410A (en) * | 2018-06-28 | 2021-03-16 | 斯伦贝谢技术有限公司 | Method and apparatus for removing a portion of a wellbore wall |
CN108729889B (en) * | 2018-07-16 | 2024-04-02 | 物华能源科技有限公司 | Accurate omnibearing control wireless cascade communication gun interval measurement and control device |
US11248430B2 (en) * | 2020-04-20 | 2022-02-15 | Dynasty Energy Services, LLC | Multi-string section mill |
Citations (2)
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---|---|---|---|---|
US1731553A (en) * | 1928-12-28 | 1929-10-15 | Godefridus Hendrikus Cl Keulen | Apparatus for cutting openings in deep-well casings |
WO1999064715A1 (en) * | 1998-06-10 | 1999-12-16 | Shell Internationale Research Maatschappij B.V. | Downhole milling device |
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US3331439A (en) * | 1964-08-14 | 1967-07-18 | Sanford Lawrence | Multiple cutting tool |
US4368786A (en) * | 1981-04-02 | 1983-01-18 | Cousins James E | Downhole drilling apparatus |
US4479541A (en) * | 1982-08-23 | 1984-10-30 | Wang Fun Den | Method and apparatus for recovery of oil, gas and mineral deposits by panel opening |
US5197783A (en) * | 1991-04-29 | 1993-03-30 | Esso Resources Canada Ltd. | Extendable/erectable arm assembly and method of borehole mining |
US5857530A (en) * | 1995-10-26 | 1999-01-12 | University Technologies International Inc. | Vertical positioning system for drilling boreholes |
US20020043404A1 (en) * | 1997-06-06 | 2002-04-18 | Robert Trueman | Erectable arm assembly for use in boreholes |
US7077206B2 (en) * | 1999-12-23 | 2006-07-18 | Re-Entry Technologies, Inc. | Method and apparatus involving an integrated or otherwise combined exit guide and section mill for sidetracking or directional drilling from existing wellbores |
OA12179A (en) * | 2000-02-16 | 2006-05-09 | Performance Res & Drilling Llc | Horizontal directional drilling in wells. |
US6412578B1 (en) * | 2000-08-21 | 2002-07-02 | Dhdt, Inc. | Boring apparatus |
GB2373266B (en) * | 2001-03-13 | 2004-08-18 | Sondex Ltd | Apparatus for anchoring a tool within a tubular |
US6595301B1 (en) * | 2001-08-17 | 2003-07-22 | Cdx Gas, Llc | Single-blade underreamer |
CA2388793C (en) * | 2002-05-31 | 2009-09-15 | Tesco Corporation | Under reamer |
AU2003275131A1 (en) * | 2002-09-20 | 2004-04-08 | Enventure Global Technology | Cutter for wellbore casing |
US7063155B2 (en) * | 2003-12-19 | 2006-06-20 | Deltide Fishing & Rental Tools, Inc. | Casing cutter |
US7357182B2 (en) * | 2004-05-06 | 2008-04-15 | Horizontal Expansion Tech, Llc | Method and apparatus for completing lateral channels from an existing oil or gas well |
EP1817474A2 (en) * | 2004-11-12 | 2007-08-15 | Alberta Energy Holding Inc. | Method and apparatus for jet-fluid abrasive cutting |
US7823632B2 (en) * | 2008-06-14 | 2010-11-02 | Completion Technologies, Inc. | Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubulars |
-
2009
- 2009-06-14 US US12/484,211 patent/US20090308605A1/en not_active Abandoned
- 2009-08-14 AU AU2009257222A patent/AU2009257222A1/en not_active Abandoned
- 2009-08-14 EP EP09763819.1A patent/EP2358972B1/en not_active Not-in-force
- 2009-08-14 WO PCT/US2009/053900 patent/WO2009152532A1/en active Application Filing
-
2010
- 2010-12-09 IL IL209863A patent/IL209863A0/en unknown
- 2010-12-13 ZA ZA2010/08943A patent/ZA201008943B/en unknown
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1731553A (en) * | 1928-12-28 | 1929-10-15 | Godefridus Hendrikus Cl Keulen | Apparatus for cutting openings in deep-well casings |
WO1999064715A1 (en) * | 1998-06-10 | 1999-12-16 | Shell Internationale Research Maatschappij B.V. | Downhole milling device |
Non-Patent Citations (1)
Title |
---|
See also references of WO2009152532A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2358972A4 (en) | 2013-07-24 |
EP2358972B1 (en) | 2018-12-05 |
WO2009152532A1 (en) | 2009-12-17 |
AU2009257222A1 (en) | 2009-12-17 |
AU2009257222A2 (en) | 2011-04-28 |
ZA201008943B (en) | 2012-01-25 |
IL209863A0 (en) | 2011-02-28 |
US20090308605A1 (en) | 2009-12-17 |
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