EP2470747B1 - Handling device for drill pipes, especially devices known as pipe handlers or top drives with pipe handlers, and operating method therefor - Google Patents

Description

The invention relates to a handling device for drill pipe in deep wells, z. B. for oil and Erdgasexploration. For such a handling device, the term "pipe handler" has prevailed in specialist terminology and accordingly, the term "pipe handler" is used interchangeably with the term "handling unit for drill pipe" in the following. A pipe handler is part of a so-called top drive, that is to say the drive unit which is vertically movable in the mast of a drilling rig and which rotates with a drive unit, usually a motor, which rotates the drill pipe for the drilling operation. The Topdrive is divided into a fixed and a rotatable part. The fixed part comprises the drive unit and via the fixed part, the supply of electrical energy and the connection for receiving or delivering electrical signals to control and / or monitoring of the top drive. The rotatable part is the pipehandler and the aggregates of the pipehandler are supplied via a hydraulic rotary feedthrough between fixed and rotatable part of the top drive, namely by hydraulic actuators, in particular pressure cylinder, and the like are pressurized with a hydraulic fluid, for. B. for moving so-called elevator bracket or to activate a provided on a so-called Torquearm holding pliers for drill pipe.

From the US 4,800,968 is a so-called top drive with two swiveling elevators known, with the top drive a rotational orientation is detected. The detection of a rotational orientation of the top drive can be used to allow a pivoting of the elevator bracket only in a suitable rotational orientation.

Pivoting mobility is provided especially for the elevator hanger of the pipe handler, because the elevator hanger (usually two) carries at its end a so-called boom elevator to remove drill string members from a bearing and to feed the removed drill string member to the holding tongs at the end of the torque arm. A certain amount of drill string elements is normally stored for storage vertically adjacent to or on the mast of the drilling rig and for this purpose a so-called finger platform is provided which is located on the mast in the region of the upper end of the stored drill string elements. So far, the removal of drill string elements takes place from its storage position or the reverse path, namely the placement of drill string elements in one

Storage position, by manual control. For this purpose, the Topdrive is moved to a corresponding vertical position in the mast, which allows a recording or shutdown of drill string elements. As soon as the Topdrive is in this position, the or each elevator bar is pivoted and a drill pipe element is picked up or stored with the boom elevator. Unfavorable in previous implementations, however, is that it is essentially left to the attention of the operating personnel to carry out necessary control operations for initiating and concluding such handling operations. If z. B. after the shutdown of a drill pipe element, the elevators remain pivoted, a downward movement of the top drive is usually not possible without doing touching the ends of an elevator arm with the finger stage or other elements in or on the mast of the rig should be obtained. Particularly critical is when it causes damage to the mast of the rig or parts of the same, which can lead to personal injury in the worst case, for. By damaging the finger stage that is normally entered by operating personnel to pick up or place drill pipe elements.

Accordingly, it is an object of the invention to provide a pipehandler as a drill pipe handling unit, a topdrive with such a pipehandler, and a method of operating or using these units, wherein the above mentioned. Disadvantages are avoided, in particular to provide appropriate devices and methods with which a position monitoring of the pipe handler or for the pipe handler and / or the top drive with pipehandler is possible.

This object is achieved by devices with the features of claims 1 and 3. As far as a pipehandler as a handling unit for drill pipe, so as part of a top drive, with at least one under the influence of at least one actuating element pivotable elevator bracket, the or the elevator bracket hold a linkage elevator or similar adapter for receiving drill pipe elements or the like, is concerned, are means for detecting a position of the at least one Elevatorbügels and means for forwarding a related position information provided. As far as a Topdrive, in addition to a fixed drive unit, the handling unit according to the invention As a rotatable pipehandler is concerned, are on the part of the pipehandler means for detecting a position of the at least one Elevatorbügels and means for forwarding a related position information and on the part of the fixed part of the Topdrives with better ways to receive and forward signals, in particular electrical Signals, for controlling and / or monitoring of the top drive means for obtaining the position information and means for deriving a forwardable signal from the position information provided.

In order to simplify the further description, instead of the expression "at least one elevator bar" below, and thus also in the following description of an exemplary embodiment, the term "the elevator bar" is used and reference is made to the currently used embodiment with two elevator bars. However, the term "the elevator bar" means in each case "at least one or more, in particular two elevator bars" but also "the elevator bar, each elevator bar or at least one of the elevator bars".

In one embodiment of the top drive, the means for detecting the position of the elevator bracket is a first measuring cylinder. The forwarding of the position information acquired with the first measuring cylinder is then carried out by the rotatable part of the top drive, that is from the handling unit - the pipe handler - to the fixed part of the top drive, ie beyond the center of rotation located between the two parts of the top drive.

The advantage of the invention is that with the inclusion of information about the position of the elevator bracket (position information), a signal can be derived, by which it can be seen whether a vertical movement of the top drive or a rotational movement of the pipe handler is certainly possible. Automatic, but also manually triggered or triggerable movement processes in the mast of the drilling rig can then be linked to this information in order to reliably avoid dangerous states.

Advantageous embodiments of the invention are the subject of the dependent claims. This used backlinks point to the further development of the subject matter of the main claim by the features of the respective subclaim; they are not as a renunciation of the achievement of an independent, objective protection for the To understand feature combinations of the related subclaims. Furthermore, with a view to an interpretation of the claims in a closer specification of a feature in a subordinate claim, it is to be assumed that such a restriction does not exist in the respective preceding claims.

A pipe handler normally comprises a pivotable, so-called tilt arm, the pivoting movement of which is transmitted to the elevators; the Elevatorbügel are pivotable by the tilt arm under the influence of or each actuator. Preferably, it is accordingly provided that the detection of a position of the elevator bracket on the tilt arm, because on the one hand the deflection is proportional to the deflection of the elevator bracket and on the other hand with only one position detection position information for the z. B. there is two included by the pipehandler elevator bracket.

For the handling unit, so the pipe handler, it is provided that it acts as a rotatable member in a top drive with a fixed and a rotatable part, said fixed means that the relevant part of the Topdrives is rotationally fixed after a vertical mobility, such as when lowering or Raising the drill pipe is possible and necessary at any time.

The position information can manifest itself in various forms. There are electrical signals and electrical signals a leadless or wired transmission, generally signals in electromagnetic form, ie z. As well as light signals in the visible or non-visible area and the like, into consideration, which are also transferable or lead-bound transferable, acoustic signals or signals that are transferable by hydraulic or pneumatic means or the like and combinations of all the above. If the position information is an electrical signal, preferably a forwarding via a slip ring arrangement from the rotatable part to the stationary part of the top drive comes into consideration. Alternatively or additionally, the position information can be transmitted wirelessly by a transmitter on the rotatable part of the top drive to a receiver, in particular a receiver on the fixed part of the top drive. For the wireless transmission in particular radio signals, infrared signals, but also a electromagnetic signal transmission using conventional protocols, eg. As Bluetooth, GSM, etc., into consideration. When using a transmitter / receiver combination for the wireless transmission of position information is preferably a local power supply into consideration. The wireless transmission of position information obviates the need to provide a slip ring transmission over the pivot point between the two parts of the top drive. Then it is favorable if not the necessary power supply of the transmitter requires the slip ring transmission again. Accordingly, it can be provided that the transmitter is assigned a local energy source, for. As a battery or the like. In order to be able to reliably detect and monitor a possible failure of the local energy supply, the data transmission between transmitter and receiver comprises not only the position information but also a so-called sign of life which is output by the transmitter at predefined or predefinable times or cyclically and to which the receiver with regular receipt, the intact communication relationship is registered and forwarded. If the sign of life fails an error message or the like is triggered, on the one hand makes the staff aware of a necessary maintenance intervention and / or on the other hand with regard to plant safety as an indication of possibly maximally pivoted elevator bracket in the plant control, after no more positional information is present in an interrupted communication relationship and, accordingly, to avoid damage to property or personal injury, a potentially critical deflection of the elevator hanger should be assumed. Other options for local energy supply consist in the use of solar cells or in the generation of the electrical energy necessary for the operation of the transmitter with the deflection of the elevator bracket itself.

In the embodiment of the pipehandler / top drive with a first measuring cylinder, it is preferably provided that the first measuring cylinder is a hydraulic measuring cylinder and the position information can be forwarded via a hydraulic rotary feedthrough existing between stationary and rotatable part of the top drive, one or more free ones being used for forwarding the position information so-called ports of the hydraulic rotary feedthrough can be used. This hydraulic forwarding of the position information is particularly advantageous because special conditions apply to the field of application on a drilling rig, especially if explosion protection is to be ensured. In electrical signal transmission, sparking is never be completely excluded, so that for explosive areas only special, so-called "ex" devices are used, which are in some cases many times more expensive compared to corresponding conventional devices. With a hydraulic signal transmission no sparking is to be obtained. Accordingly, the hydraulic signal transmission is not critical for hazardous areas and a use of expensive special equipment is unnecessary.

In the case of a hydraulic signal transmission, it is preferably provided that a second measuring cylinder for receiving the position information from the first measuring cylinder is provided on the stationary part of the top drive. From a respective position of the second measuring cylinder can then, z. B. with a displacement measuring system, the z. B. detects the position of a movable piston in the second measuring cylinder, derive an electrical signal that is a measure of the position (deflection) of the elevator bracket recorded position information.

As an alternative to a displacement measuring system or the like are also means for deriving an electrical signal from a flow rate through a connecting line between the first and second measuring cylinder into consideration.

It is particularly preferably provided that the first and second measuring cylinders are hydraulically connected in two channels, ie from a bottom side of the first measuring cylinder to a bottom side of the second measuring cylinder and from a side of the first measuring cylinder to a side of the second measuring cylinder. Then any disruptions of the forwarding of the position information, in contrast to a single-channel forwarding, ie a connection z. B. only between the two bottom sides, recognized and optionally even compensated directly. The position information thus reaches with significantly increased security to the second measuring cylinder. For the means for deriving an electrical signal from a flow rate through a hydraulic connecting line between the first and second measuring cylinder is then also the two-channel determination of the flow rate in each connecting line into consideration, in which case the derivative of the electrical signal is also two channels. For a dual-channel generation of the electrical signal with a displacement encoder, a cylinder comes with a rod both on the bottom side and also on the rod side into consideration, wherein in each case a distance measuring system is assigned to each one rod.

The derivation of an electrical signal from a flow rate through a hydraulic connecting line from the first measuring cylinder does not necessarily require a second measuring cylinder with piston and the like, but instead of the second measuring cylinder can also occur a surge tank.

An alternative, preferred embodiment of means for detecting a position of the elevator bracket on Pipehandler and forwarding a related position information is in a Topdrive for handling drill pipe elements with a fixed and a rotatable part, the pipehandler, wherein the rotatable part under the influence of at least one actuating element in that the or each actuator is acting as a slave hydraulic cylinder, that the or each acts as a slave hydraulic cylinder directly or indirectly, namely by one or more acting as a donor hydraulic cylinder, is operable and that for detecting a Position of the Elevatorbügel and for forwarding a related position information means for deriving an electrical signal from a respective position of at least one encoder and / or from a flow rate through ei ne hydraulic connection line between the encoder and slave, so at least one encoder and a slave, or a hydraulic connection line to the slave are provided. This alternative of position detection takes place in the high or working pressure range. Specifically, the flow rate is in a below the necessary for the pivoting of the elevator arm working pressure element, for. B. a hydraulic connection line determined. In contrast, much lower pressure ratios are involved when using the first measuring cylinder and possibly a second measuring cylinder in comparison to this working pressure, which can be regarded as approximately "pressure-less" compared to the working pressure, so that first and / or second measuring cylinder and existing therebetween Compounds must meet according to lower requirements. The alternative embodiment, in which the position detection takes place with respect to components under working pressure, possibly imposes higher requirements with regard to the sensors to be used, but additional components are required as the first and the possibly second measuring cylinder and their connection unnecessary, so that both variants are each characterized by quite considerable advantages.

As a means for deriving an electrical signal from a respective position of the second measuring cylinder or from a respective position of the encoder acts preferably a limit switch or a pair of limit switches. A limit switch is sufficient to provide positional information that the elevator bar or an elevator bar is pivoted about at least one particular deflection that allows unwanted contact with parts in or on the mast of the rig. With a pair of limit switches, it is possible to detect at least two positions with respect to the deflection of the elevator bracket, z. B. a position in which hang the elevator bracket vertically or substantially vertically from the pipe handler and insofar no risk of contact of parts in or on the mast is to get, and another position in which a related "danger zone" begins. With other limit switches, a possible maximum deflection of the elevator bracket can be detected.

If this is a limit switch or a pair of limit switches, there are two limit switches for each direction of movement for detecting an entry into a possible danger area and evtl. Elevator buckles, which are pivotable starting from a substantially vertical rest position both clockwise and counterclockwise Two additional limit switches are provided for detecting a maximum deflection in each direction of movement. Also, for detecting the rest position, a limit switch may be provided, which makes preferably minor deflections next to the rest position still recognizable as a rest position, or there are two limit switches provided which respond at each minor deflections, so that it can be assumed that when occupying none of these Limit switch and a preceding corresponding assignment order of the other limit switch, the elevator bracket in the area defined by these two limit switches as rest position.

As an alternative or in addition to detecting individual positions of the elevator stirrups, a displacement measuring system can be considered as means for deriving an electrical signal from a respective position of the second measuring cylinder or the encoder. The position measuring system supplies an analog signal as a measure of a position of the elevator bracket and is so much more accurate than a derivative of an electrical signal with one or more limit switches.

As a further alternative for the derivation of an electrical signal is a flow sensor into consideration, which monitors a flow rate through the hydraulic connection line between the encoder and slave and z. B. integrated. The signal supplied by the flow sensor is thus, just as in the derivation of an electrical signal from the flow rate through a hydraulic connecting line between the first and second measuring cylinder, an analog signal that is a measure of a position of the elevator bracket.

All the aforementioned configurations and variants have in common that the position information - by (liquid) mass flow, electrically or electromagnetically and thereby conduction-less or conduction-bound - is transmitted over the fixed between the rotating and rotatable part of the top drive pivot point.

The o. G. The object is also achieved by a method for operating a top drive as described here and below by a detected position of the elevator bracket for releasing or blocking a vertical movement of the top drive in a mast of a drilling rig, in particular for releasing or blocking an electrical signal to trigger a Vertical movement of the topdrive is used. In accordance with this aspect of the invention, therefore, the detected position is used for a logical combination of signals that can lead to a vertical movement of the top drive. Such a signal can result in a manual, set-up or automatic mode and in every situation should be ensured that no vertical movement of the top drive is possible, if due to the position of the elevator bracket unwanted contact with parts in or on the mast is possible.

Particularly preferably, it is provided that the release or blocking of the vertical movement takes place as a function of a vertical position of the top drive. This aspect of the invention takes into account that certain vertical positions or -positionsbereiche the top drive for a vertical movement are not critical even with pivoted elevator arms, while for other positions or position ranges, the desired with the invention monitoring is advantageous This is taken into account when the release or Locked the vertical movement in response to a vertical position of the top drive.

Additionally or alternatively, it is preferably provided that a release or lock a pivoting movement of the elevator bracket takes place in dependence on a vertical position of the top drive. This makes it possible to ensure that in a basically collision-prone vertical position of the top drive, no or only limited pivoting of the elevator arms or at least only pivoting of the elevator arms in the direction of their rest position is possible.

A particularly preferred embodiment combines the mutual locks and releases for the elevator hanger and the topdrive. For the entire vertical mobility of the Topdrives a maximum value for the pivotability of the elevator arms can be specified for each vertical position or for certain vertical position ranges. Around the range of motion of the top drive results in an imaginary envelope ("envelope") up to which the elevator arms may be pivoted maximum. With the envelope surface or a quantity of individual interpolation points on the enveloping surface provided for its electronic processing, the collision-free activation of the elevator hoop and the top drive can be achieved. If, in a vertical position of the top drive, the elevator bows are only pivoted so far that the envelope is not reached, further pivoting of the elevator bails and / or vertical movement of the top drive is possible. As soon as there is a violation of the envelope for a deflection of the elevator hanger, neither a further deflection of the elevator hanger nor a vertical movement of the top drive is permitted. The only permissible is a movement of the elevator bracket in the direction of its rest position. As soon as there is no violation of the envelope, the vertical movement of the topdrive is allowed again.

So far, the envelope, so an electronically processed equivalent of such an envelope, for deriving Abschaltbedingungen for certain movement processes has been described. The envelope can also be used to derive allowable intermediate positions in a composite movement, ie a vertical movement of the top drive and a simultaneous pivoting of the elevator arms. When in the composite movement, starting from a position of the top drive z. B. approached a position on the mast base above the finger stage to be and at this position, the elevator bar should be pivoted maximum, a maximum allowable value for the deflection of the elevator bracket is determined in the downward movement of the top drive on the basis of the envelope and the elevator bracket are pivoted during the movement of the top drive accordingly. The ends of the elevator arms then "glide" along the imaginary envelope, and as soon as the target position for the Topdrive has been reached, the elevator arms have already reached or at least largely reached their target position.

It is particularly preferred in a method for operating the top drive as described here and below that upon actuation of a first operating element by an operator an instantaneous value of the detected position of the elevator bracket is stored as Elevatorbügelsollwert that upon actuation of a second operating element, the at least one actuating element for pivoting the elevator hanger is activated so that a detected when the actuator activated detected position of the elevator bracket is detected as Elevatorbügelistwert and compared with the Elevatorbügelsollwert and that the actuating element is disabled for pivoting the elevator bracket when the elevator bow target and actual value within predetermined or predeterminable tolerances match.

In this embodiment of the invention is with the operation of the first control element or possibly with a first operation in a control operation of a control element, a current position of the elevator arm for later starting detectable ("teach"). A later start-up of the position of the pivoted elevator arm stored in this way becomes possible on account of the position detection of the elevator hanger, which is initially provided for avoiding danger. Thus, if according to this aspect of the invention, a stored position of the elevator bracket is to be restarted at a later time, by actuating a second control element or by a second operation of a control element in an operating sequence, the first provided for pivoting the elevator arm actuator can be activated so that the pivoting of the elevator bracket begins. This pivoting process can be monitored by the now available position information and the stored value can be compared as a Elevatorbügelsollwert with a respective instantaneous value (Elevatorbügelistwert) in a conventional manner. In the context of this continuous comparison, a deactivation of the Actuating element, ie a termination of the pivoting movement when the elevator arm setpoint and Elevatorbügelistwert match within predetermined or predeterminable tolerances. Instead of the proportional control just described for achieving a stored elevator bar position, any other suitable form of control may be used (eg, PI, PID, etc.) to achieve even more repeatability in approaching the stored elevator bar position.

Further preferably, it is provided that upon actuation of the first operating element (or in a first actuation of a control element) and a current vertical position of the top drive is stored as Topdrive target position that upon actuation of the second control element (or the second actuation of the control element) and an aggregate is activated for the vertical movement of the top drive, that a vertical position which changes with a vertical movement of the top drive is compared with the topdrive setpoint position as topdrive actual position and the unit is deactivated for vertical movement of the topdrive, if topdrive setpoint and actual position are within predefined or predefinable tolerances match. This aspect of the invention is an extension of the possibility for approaching stored positions in connection with a pivoting of the elevator bracket also on the top drive itself, so that by appropriate operations a composite or combined movement can be triggered, which relieves the operating staff for recurring tasks to a considerable extent ,

With regard to the combined or combined movement process during pivoting of the elevator bracket and during lowering and / or lifting of the top drive, it is further preferred that activation of the unit for vertical movement of the top drive and activation of the actuating element triggering the pivoting movement of the elevator bracket take place simultaneously or successively, in particular in such succession that initially the vertical movement of the top drive and then the pivoting movement of the elevator bracket takes place. A sequence of movements, in which the vertical movement of the Topdrives is first triggered, has the advantage that the Topdrive (usually) is in a position after the completion of this movement, which allows a pivoting of the Elevatorbügel otherwise difficult to achieve coordination of the two Movements can then remain under. However, a simple possibility for coordinating the movement sequences consists in determining specific position ranges for the vertical position of the top drive and associating with each such position range in a control program a maximum deflection of the at least one elevator bracket, eg the envelope described above. The coordinated movement can then be done so that z. B. when lifting the Topdrives and simultaneous pivoting of the elevator bracket in each achieved when lifting the top drive range of motion pivoting or further pivoting of the elevator bracket up to each set for this range of motion maximum position takes place. When the Topdrive finally reaches its predetermined end position, the elevator bars are already pivoted by an initial value and reaching the predetermined target position for the elevator bar is correspondingly faster. In this way approachable positions are in particular a position above a so-called mouse hole for receiving there drill pipe elements, a so-called overdrive position in which the elevator bar are pivoted laterally to allow a maximum lowering of the top drive, so that a lifting of downhole located Bohrgestänge is possible and a finger stage position, as it is necessary for receiving placed there drill pipe elements.

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

The or each embodiment is not to be understood as limiting the invention. Rather, numerous changes and modifications are possible within the scope of the present disclosure, in particular those variants, elements and combinations, for example, by combination or modification of individual In conjunction with those described in the general or specific description part and in the claims and / or the drawing Characteristics or elements or method steps for the expert with regard to the solution of the task can be removed.

FIG 1

als Teil einer Bohranlage einen Mast mit zugehörigem Unterbau und einem im Mast geführten Topdrive,

FIG 2

den Topdrive mit weiteren Details,

FIG 3

den Wirkzusammenhang zwischen einem ersten und zweiten, am Topdrive vorgesehnen Messzylinder, zur Erfassung einer Position eines Elevatorbügels am Topdrive,

FIG 4

eine alternative Ausführungsform zur Erfassung einer Position eines Elevatorbügels

FIG 5

ein Netzwerk zur Steuerung einer Vertikalbewegung des Topdrives unter Berücksichtigung der erfassten Position des Elevatorbügels und

FIG 6

ein Flussdiagramm zur Verdeutlichung des Aspekts der Erfindung, nach dem eine Positionsinformation zum späteren Anfahren der zugrunde liegenden Position aufgezeichnet wird.

Show it

FIG. 1

as part of a drilling rig a mast with associated substructure and a Topdrive guided in the mast,

FIG. 2

the Topdrive with further details,

FIG. 3

the operative relationship between a first and a second measuring cylinder, which is intended for the Topdrive, for detecting a position of an elevator bracket on the Topdrive,

FIG. 4

an alternative embodiment for detecting a position of an elevator bracket

FIG. 5

a network for controlling a vertical movement of the top drive taking into account the detected position of the elevator bracket and

FIG. 6

a flowchart illustrating the aspect of the invention, after which a position information for later starting the underlying position is recorded.

FIG. 1 shows as part of a drilling rig a mast 10 with associated substructure 12 on the mast 10 is in a conventional manner, a so-called finger stage 14, the finger covered metal bars or metal profiles are, for upright, so vertical storage of cut off there drill pipe elements are provided. A so-called Topdrive 16 is mounted in the mast 10 in a manner known per se, which (not shown, only indicated by dashed lines) during operation of the drilling rig for lowering or raising the drill string 18 and for rotating the drill string 18 is provided for effecting the drilling operation , The top drive 16 hangs on a roller block 20. The roller block 20 and a crown block 22 located in the area of a mast crown act together like a block and tackle. From the crown block 22 runs a pull rope (not shown) for a vertical movement of the top drive 16 to an intended in the field of drilling rig unit, z. B. a driven by an electric motor winch 23. For the vertical movement of the top drive 16 is held in guide rails 24.

FIG. 2 shows the Topdrive 16 FIG. 1 with more details. Thereafter, the top drive 16 includes a fixed portion 26 and a rotatable portion 28. The fixed portion 26 includes the drive for moving the rotatable portion 28, e.g. B. in the form of a motor. The fixed part 26 of the top drive 16 is also referred to as a drive unit and means fixed that it is the non-rotatable Teit the top drive 16th acts, which is vertically movable in total in the guide rails 24. The rotatable part 28 of the top drive 16 is referred to in the technical terminology and accordingly also as a pipehandler and comprises at least one pivotable elevator bracket 30 and at least one actuating element 32 for effecting the pivoting operation of the or each elevator bracket 30. In the illustrated embodiment, two elevator bracket 30 and Each elevator bar 30, an actuator 32 (only one visible) available. The use of the input explained "elevator buckle" with the defined scope of meaning is continued accordingly.

In a rest position, the elevator bars 30 are oriented substantially vertically, ie the elevator bars 30 hang vertically downwards. At least in such a position, a vertical movement of the top drive 16 on the guide rails 24 in the mast 10 is possible without the risk of collision with parts in or on the mast 10 to be obtained for the elevator bar 30, z. B. with the finger stage 14 ( FIG. 1 ) or one of the guide rails 24.

In the illustrated embodiment of the pipe handler, the actuator 32 does not act directly on the Elevatorbügel30, but first on a so-called Tiltarm 34, which in turn acts on the buckles 30 so that a triggered by the at least one actuator 32 pivoting the Tiltarms 34 pivoting the Elevator bracket 30 pulls. The actuator 32 is often referred to in the terminology as Tiltzylinder.

Other components of Topdrives 16 or its Pipehandler - for the invention, however, without particular importance - are a so-called Torquearm 36 and provided at the lower end holding pliers 38 for drill pipe.

For detecting a position of the elevator bracket 30 and for forwarding a related position information, a first and second measuring cylinder 40, 42 are provided in the illustrated embodiment of the top drive 16. The first measuring cylinder 40 is actuated with each movement of the tilt arm 34 and a hydraulic connection between first and second measuring cylinders 40, 42, such that an actuation of the first measuring cylinder 40 by the tilt arm 34 affects a position of the second measuring cylinder 42 via a hydraulic rotary feedthrough 44 between stationary Part 26 and rotatable part 28 of the top drive 16 out. About this hydraulic rotary feedthrough 44 reaches z. As well as hydraulic fluid from the fixed part 26 of the Topdrives 16 for pivoting the elevator bracket 30 to the or each designated actuator 32. In the hydraulic rotary feedthrough 44 is for each such hydraulic connection between the two parts 26, 28 of the Topdrives 16 a known per se , so-called port provided, and for the connection between the first and second measuring cylinder 40, 42 an additional port (or ports) is provided or a previously free port (or ports) is used.

FIG. 3 2 shows a schematically simplified representation of the operative relationship between the first and second measuring cylinders 40, 42. The two measuring cylinders 40, 42 are cylinders, in particular hydraulic or pneumatic cylinders, with a piston 48 guided in a manner known per se on a rod 46 The first measuring cylinder 40 is actuated by the tilt arm 34 during a pivoting movement of the elevator bracket 30. The arrow on the right side of the rod 46 of the first measuring cylinder 40 is intended to indicate this influence. With a movement of the piston 48 in the first measuring cylinder, medium located there is displaced in a manner known per se, and the displaced medium passes from a bottom side 50 to a corresponding bottom side 50 of the second measuring cylinder 42, so that there one of the movement of the piston 48 in the first measuring cylinder 40 corresponding movement of the piston 48 in the second measuring cylinder 42 sets. First and second measuring cylinder 40, 42 are connected for this purpose by a line 52, in particular hydraulic line, and the connection effected in this way also includes the in FIG. 3 only shown as a dashed line hydraulic rotary feedthrough 44 (see also FIG. 2 ).

Notwithstanding the embodiment according to FIG. 3 For example, the hydraulic connection between the first and second measuring cylinders 40, 42 can also take place from the bottom side 50 of the first measuring cylinder 40 to a rod side 54 of the second measuring cylinder 42 or from the rod side 54 of the first measuring cylinder 40 to the bottom side 50 of the second measuring cylinder 42. The illustrated line 52 is so far only one of several possible, basically equivalent connections. The representation in FIG. 3 but also shows a particularly preferred embodiment in the (hydraulic) connection between the first and second measuring cylinder 40, 42, namely a two-channel connection, which in addition to the first line 52 comprises a further line 56 The illustrated another line-56 connects via the hydraulic rotary feedthrough 44, the two rod sides 54 of the first and second measuring cylinder 40, 42. The two-channel connection (first line 52, second line 56) causes both pistons 48 of the extent in a z. B. hydraulic circuit connected measuring cylinder 40, 42 are loaded at a caused by the tilt arm 34 position change of the piston 48 in the first measuring cylinder 40 both by train as well as by pressure, so that a possibly disturbed forwarding a position information on the first or second line 52nd , 56 is supported by a corresponding position information on the remaining line 52, 56.

The position information forwarded in relation to the position of the elevator bracket 30 is thus the volume of a medium (eg hydraulic fluid) provided therein that is moved by the piston 48 of the first measuring cylinder 40. The forwarding of the position information, namely in the form of a volumetric flow can be done via the rotary feedthrough 44 between fixed and rotatable member 26, 28 of the top drive 16, after this rotary feedthrough 44 in previously known top drives a supply of z. B. hydraulic fluid for deflecting the elevator bracket 30 takes place. The volumetric flow resulting from the first to the second measuring cylinder 40, 42 is so far only one more through the rotary leadthrough 44 guided volume flow, which is still under significantly lower pressure or can stand, as in a or each actuator 32 for pivoting the elevator bracket 30 supplied volume flow is the case.

The position of the second measuring cylinder 42 is detected by a sensor, not shown. As a sensor comes a limit switch or a group of limit switches, z. B. a limit switch pair, into consideration. A limit switch can, for. B. be arranged so that a certain deflection of the second measuring cylinder 42 is detected, wherein the selected position of this limit switch corresponds to a monitored deflection of the elevator bracket 30. An actuation of this limit switch then means that the elevator bar 30 have reached at least the predetermined deflection, and at the predetermined deflection may be a deflection in which a contact of the elevator bar 30 with parts in or on the mast 10 is to get. Specifically, when the elevator bars 30 are pivotable both clockwise and counterclockwise, two such limit switches will be provided to move in both directions of movement be able to monitor the achievement of a possibly critical deflection position. Another approach may additionally or alternatively be based on monitoring a rest position of the elevator bracket 30, wherein each leaving the rest position is evaluated as a fundamentally critical Auslenksituation.

While one can regard one or more limit switches with respect to the detection of the position information supplied by the first measuring cylinder 40 as a digital sensor or digital sensors, instead of or in addition to a digital measured value recording preferably also an analog sensor, for. B. a sensor for path detection (displacement encoder) into consideration. The recorded path is for the in FIG. 3 illustrated embodiment, the deflection of the piston 48 of the second measuring cylinder 42, which is detected either directly on the piston 48 or on the rod 46. As Wegmesssensoren known displacement sensors come into consideration, for. As incremental encoder, and as the analog sensor on the underlying measuring principle is any known measuring principle into consideration, for. B. ohmic, inductive, capacitive, piezoelectric base, etc ..

Another embodiment for detecting a position of the elevator bracket 30 and for forwarding a related position information is in 4a and 4b shown. 4a and 4b show in the upper region as an actuating element 32 for pivoting the elevator bracket 30 each one (possibly two) hydraulic cylinder. In the embodiment according to FIG. 4a The or each actuator 32 acts as a slave with respect to a flow direction of the hydraulic fluid and is fed via a transmitter (master cylinder) 58 located on the non-rotatable part 26 of the top drive 16, ie on the other side of the rotary feedthrough 44. A pivoting movement of the elevator bracket 30 is thereby triggered by a located on an input side of the sensor 58 valve 60 (directional control valve) is suitably controlled to a pressurized hydraulic fluid reservoir or a hydraulic unit. Due to the hydraulic fluid flow caused by the actuation of the valve 60, there is a movement in the transmitter 58, which causes a movement of the receiver, that is, in the or each actuator 32, and thus the intended pivotal movement of the elevator bracket 30. For detecting a position of the elevator hanger 30, in this scenario, there is a possibility of detecting a piston 48 in the transmitter 58 which is displaceable with a hydraulic fluid mass flow. In the illustrated configuration, the transmitter 58 is located in a working line (line 52, symbol "P" on FIG Valve). In principle, a unit in the manner of the sensor 58 can also be provided in a venting or drainage line (line 56, symbol "T" on the valve) and a position detection there. In addition, the position detection comes in the manner described in both lines 52, 56 into consideration so that again results in a two-channel position detection.

4b shows a substantially the embodiment according to FIG. 4a corresponding variant. Instead of the encoder 58 ( FIG. 4a ), a flow sensor 61 is provided. This is provided for measuring a flow rate through the line 52 between the valve 60 and actuator 32 (slave). Additionally or alternatively, a flow sensor 61 may also be provided in the further line 56. A flow sensor 61 in both lines 52, 56 makes the position detection with flow sensor 61 to a two-channel position detection. For flow rate measurement, that is, for the derivation of a signal proportional to the respective volume flow, each flow meter or each flow sensor comes into consideration. The use of flowmeters or flow sensors also occurs in the embodiment FIG. 3 into consideration, whereby possibly a displacement measuring system is replaceable

The advantage of the variants according to FIGS. 4a and 4b is that additional components such as the first and second measuring cylinders 40, 42 ( FIG. 3 ) are not required. However, in the variant according to FIG. 4 the measurement under high-pressure influence, while in the variant according to FIG. 3 the pressure conditions in the first and second measuring cylinders 40, 42 can be lower, possibly even orders of magnitude lower, than applies to the actuating element 32 and its supply-side supply.

For all variants according to FIG. 3 or FIGS. 4a, 4b the two-channel version of the position detection becomes clear. The two-channel design increases the reliability of the measured value acquisition with regard to safety-related monitoring and, if necessary, downstream control of the deflection of the elevator bracket 30. The two-channel design can be supplemented and, if necessary, improved by diversifying the measured value. In the variant according to FIG. 3 comes z. As a displacement measuring system as a first electrical sensor and a flow sensor as diversified, second electrical sensor into consideration. In such a configuration, the derivation of an electrical Signal from the position information supplied by the first measuring cylinder 40 in addition to the two-channel connection (lines 52, 56) between the two measuring cylinders 40, 42 not only also two-channel, namely by two sensors, but two-channel diversified, ie by two different, based on different measuring principles sensors , As a result, the error safety when detecting the position of the elevator bracket 30 is again significantly increased. The same can also or with other sensors for the in FIGS. 4a and 4b Realize embodiment shown, for example by in the variant according to FIG. 4a in the further line 56 of the flow sensor 61 of the variant according to 4b is provided or vice versa.

The idea underlying the invention, namely the detection of a position of the elevator bracket 30 and the forwarding of a relevant position information can be done redundantly and / or diversified in various ways. The embodiment according to FIG. 3 is redundantly designed on the side of the detection of the position information by both position information from the bottom side 50 as well as from the rod side 54 of the first measuring cylinder 40 as a measure of a deflection of the elevator bracket 30 emanates. Also, the forwarding of the relevant position information is redundant after the first and second connection (line 52, 56) are provided by the hydraulic rotary feedthrough 44 to the second measuring cylinder 42 for the forwarding of the position information. By the second measuring cylinder 42 is coupled both on its bottom side 50 as well as on its rod side 54 with the first measuring cylinder 40, the recording of the position information from the first measuring cylinder 40 is redundant. Depending on the type and number of or each provided means for deriving an electrical signal from a respective position of the second measuring cylinder 42 and the electrical signal generation is redundant or possibly even here even diversified. Starting from this general scheme, numerous changes are conceivable without departing from the basic approach of the invention. So z. B. in addition to the arrangement according to FIG. 3 or z. B. instead of the rod-side coupling of the two measuring cylinders 40, 42 via the second line 56 to the first measuring cylinder 40, a transmitter may be provided which emits an electromagnetic signal in dependence on the position of the first measuring cylinder 40 (or the position of the tilt arm 34) and which is received on the side of the fixed part 26 of the top drive 16 by a corresponding receiver. The dual-channel detection of the position of the elevator bracket 30 and the two-channel transmission of a related position information is retained. However, dual-channeling in such an embodiment is not only a redundant two-channel system, but already a diversified two-channel system, so that the overall reliability of the solution is increased.

For z. B. electrical or electromagnetic detection of a position of the elevator bracket 30 may additionally or alternatively a variety of measurement and detection principles are used: z. B. on the stationary part 26 of the Topdrives 16 vertically or substantially vertically downwardly directed photosensitive elements for mounting a "light curtain", which is interrupted at pivoted Elevatorbügeln 30 so that a position information with respect to the elevator bracket 30 can be derived on the basis of such an interruption ; a detection of a caused by the pivoting of the elevator bracket 30 change in an electromagnetic field below the fixed part 26 of the top drive 16, wherein limit or threshold values are stored or stored for recorded characteristic values of the electromagnetic field, with the achievement or exceeding certain pivoting positions of the elevator bracket 30 associated are, so that it can derive position information with respect to the elevator bracket 30. Other, not explicitly mentioned, but known per se sensor is also considered and each mentioned possibility for detecting the position of the elevator bracket 30 may be provided in duplicate or multiple execution for redundant, two- or multi-channel detection and transmission of position information. In addition, any combination of mentioned sensors for two- or multi-channel redundant, diverse position detection and forwarding of position information can be provided.

FIG. 5 shows by way of example a network 62 with logic operations, as this can be used in a control program for controlling the vertical movement of the top drive 16, taking into account the detected position of the elevator bracket 30. The network 62 has a first and second input 64, 66, possibly a further, third input 68 and an output 70. At the first input 64, a signal is supplied to the network 62, with which an activation of an aggregate for vertical movement of the top drive 16 is to take place. In the prior art, ie without taking into account the detected position of the elevator bracket 30 in the vertical movement of the top drive 16, the network 62 or a similar logic operation is not required and the first Input 64 is forwarded directly as output 70 for controlling the respective unit. The network 62, in contrast, provides an AND gate 72 with a logical AND connection of the first input 64, so that a signal only results at the output 70 when a signal is present at the first input 64 and at the same time the position of the elevator bracket 30 Switching through the first input 64 to the output 70 allowed. For this purpose, the AND gate 72 in addition to the first input 64 comprises a negating input 74 and the logical AND operation, which is realized by the AND gate 72, can only be fulfilled if no signal is present at the negating input 74, ie no critical position the elevator bracket 30 is reported. In principle, the second input 66 can be led directly to the negating input 74 of the AND gate 72 for this purpose. Is shown in FIG. 5 an embodiment in which there are redundant electrical signals with respect to the position of the elevator bracket 30, which are supplied to an OR gate 76 of the network 62 at its inputs as the second and third inputs 66, 68. In operation, OR gate 76 causes a signal to be present at its output when either a critical position of elevator bar 30 is signaled at either the second or third input 66, 68. The output of the OR gate 76 is inverted at the negative input 74, so that at least one critical position signaling input 66, 68 realized with the AND gate 72 logic operation is no longer feasible and accordingly a signal at the output 70 is suppressed , In a critical position of the elevator bracket 30 so provided for the vertical movement of the top drive 16 unit can no longer be activated. The OR gate 76 allows for a redundant or diversified generation of electrical signals for position information from the elevator bracket 30, the separate consideration of two or more signals (in other signals receives the OR gate 76 additional inputs), so that in only one critical signal activatability of a Vertical movement of Topdrives 16 is prevented.

FIG. 6 Finally, FIG. 3 shows a flowchart for clarifying the aspect of the invention, according to which position information is recorded for later approaching the underlying position. This is shown in the flow chart in FIG. 6 greatly simplifies a part of a control program 78 for controlling and / or monitoring individual units in or on the mast 10 of a drilling rig. The control program 78 runs essentially in an endless loop, and to illustrate the addressed aspect of the invention, only two branch blocks, 80, 82 are shown, wherein is checked with a first branch block 80, if z. B. a first control element or within a control action, a control element is pressed a first time. If the extent defined condition is met, ie upon actuation of the control element, a branch is made to a first function block 84, with which the respective position information, ie, for. B. the position information with respect to a deflection of the elevator bracket 30 is stored. Thereafter, a branch is made back to the loop of the control program 78. With the second branch block 82 is checked whether z. B. a second control or within a control action, a control is operated a second time. If the condition defined so far is satisfied, a branch is made to a subroutine 86, with which, for example, in a second function block 88. B. the actuator 32 is activated for pivoting the elevator bracket 30. In a subsequent, third branching block 90, a detected position of the elevator hanger 30, which changes when the activation element 32 is activated, is compared as an actual elevator-lift value with an elevator-arm setpoint value stored by the first function block 84. As long as the condition implemented by the third branch block 90 is not met, the program execution loops back to a position before the second function block 88. The actuator 32 is deactivated when the condition is met, when the elevator arm setpoint and actual value within predetermined or predetermined tolerances match, and accordingly the otherwise effective loop is left. After the end of the subroutine 86, the predetermined elevator bow target position is reached and the system branches back to the infinite loop of the control program 78.

According to the principle of in FIG. 6 The flowchart shown can also be a "teaching" - as storage - a vertical position of the top drive 16 and their subsequent startup done. For the required activation of an aggregate for the vertical movement of the top drive 16 (a function block corresponding to the second function block 88), a functionality as implemented by the network 62 according to FIG FIG. 5 is realized, taken into account, so that when starting a Topdrive target position is monitored at any time, whether the current deflection of the elevator bracket 30 allows vertical movement or further vertical movement of the Topdrive 16.

Thus, the invention can be represented as follows: There are a handling device for drill pipe 18 and this handling device as a so-called pipe handler comprehensive, so-called top drive 16 with means for detecting a position of an encompassed by the manipulator / pipehandler elevator arm 30 and for forwarding a related position information specified, the position information from the pipehandler z. B. forwarded to Topdrive 16 and is converted into an electrical signal for detecting and avoiding possibly critical situations due to a position / deflection of the Elevatorbügels 30. For the forwarding of the position information from the pipe handler different variants are proposed. Combining individual variants results in two-channel solutions that are favorable in terms of error safety. The combination of different variants results in two-channel, diverse solutions, which are further improved in terms of error safety. The dual-channeling and / or diversity is also possible in the derivation of electrical signals from the transmitted position information. The monitoring of a position of the elevator hanger 30 which is now possible for the first time with the availability of position information for the elevator hanger 30 of the pipe handler therefore satisfies the highest demands with respect to a failsafe design. LIST OF REFERENCE NUMBERS 10 mast 42 second measuring cylinder 12 substructure 44 Rotary union 14 racking 46 pole 16 Topdrive 48 piston 18 drill pipe 50 bottom side 20 pulley block 52 management 22 crown block 54 rod side 23 winch 56 management 24 guide rail 58 giver 26 firmly stand. Topdrive part 60 Valve 28 rotatable Topdrive part 61 Flow Sensor 30 Elevator Ironing 62 network 32 actuator 64 first entrance 34 Tiltarm 66 second entrance 36 Torquearm 68 third entrance 38 holding forceps 70 output 40 first measuring cylinder 72 AND gate 74 negating input 84 first functional block 76 OR gate 86 subroutine 78 control program 88 second function block 80 first branch block 0 90 third branch block 82 second branching block

Claims (13)

1. Handling unit for drill pipes, comprising at least one elevator bail (30) that can be pivoted in particular by a tilt arm (34) under the action of at least one actuating element (32),
   characterized by
   means for detecting a deflection of the at least one elevator bail (30) and for transmitting associated deflection information.
2. Handling unit according to Claim 1 that functions as a rotatable part of the top drive (16) in a top drive (16) comprising a fixed and a rotatable part (26, 28).
3. Top drive (16) for handling drill pipes (18) comprising a fixed part (26) and a rotatable part (28), wherein the rotatable part (28) functions as a handling unit according to Claim 1.
4. Top drive (16) according to Claim 3,
   wherein the or each actuating element (32) is a hydraulic cylinder functioning as a slave,
   wherein the or each hydraulic cylinder functioning as a slave can be actuated by one or more hydraulic cylinders acting as masters (58), and
   wherein means are provided to derive an electrical signal from a given position from at least one master (58) and/or from a flow rate through a hydraulic connecting line between master (58) and slave in order to detect a deflection of the at least one elevator bail (30) and to transmit associated deflection information.
5. Top drive (16) according to Claim 4, wherein a limit switch or a pair of limit switches functions as means for deriving an electrical signal from a given position of the master (58).
6. Top drive (16) according to Claim 4, wherein a position measuring system functions as means for deriving an electrical signal from a given position of the master (58).
7. Top drive (16) according to Claim 4, wherein a flow rate sensor functions as means for deriving an electrical signal from a flow rate through the hydraulic connecting line.
8. Method for operating a top drive (16) according to one of Claims 3 through 7, wherein a detected deflection of the at least one elevator bail (30) is used to enable or to block a vertical movement of the top drive (16) in a mast (10) of a drilling rig, in particular, to enable or to block an electrical signal for activating a vertical movement of the top drive (16).
9. Method according to Claim 8, wherein enabling or blocking the vertical movement is effected as a function of a vertical position of the top drive (16).
10. Method according to Claims 8 or 9, wherein enabling or blocking a pivoting movement of the at least one elevator bail (30) is effected as a function of a vertical position of the top drive (16).
11. Method for operating a top drive (16) according to one of Claims 3 through 7, or a method according to one of Claims 8 through 10,
    wherein an instantaneous value of the detected deflection of the at least one elevator bail (30) is stored as the elevator bail desired value when a first operating element is actuated by an operator,
    wherein the at least one actuating element (32) is activated when a second operating element is actuated,
    wherein a detected deflection of the at least one elevator bail (30) that changes when the actuating element (32) is activated is compared as the elevator bail actual value with the elevator bail desired value, and
    wherein the actuating element (32) is deactivated whenever elevator bail desired value and elevator bail actual value agree within specified or specifiable tolerances.
12. Method according to Claim 11, wherein an instantaneous vertical position of the top drive (16) is also stored as the top drive desired value when the first operating element is actuated,
    wherein a power unit for vertically moving the top drive (16) is also activated when the second operating element is actuated,
    wherein a vertical position that changes with a vertical movement of the top drive (16) is compared as the top drive actual position with the top drive desired position, and
    wherein the power unit for vertically moving the top drive (16) is deactivated whenever top drive desired position and top drive actual position agree within specified or specifiable tolerances.
13. Method according to Claim 12, wherein activation of the actuating element (32) and activation of the power unit for vertically moving the top drive (16) are effected simultaneously or successively, in particular successively such that the vertical movement of the top drive (16) is effected first and the pivoting movement of the at least one elevator bail (30) is effected subsequently.

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