EP3167141B1 - Verfahren zum bohren eines bodens mit einem roboterarm - Google Patents

Verfahren zum bohren eines bodens mit einem roboterarm Download PDF

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Publication number
EP3167141B1
EP3167141B1 EP15754263.0A EP15754263A EP3167141B1 EP 3167141 B1 EP3167141 B1 EP 3167141B1 EP 15754263 A EP15754263 A EP 15754263A EP 3167141 B1 EP3167141 B1 EP 3167141B1
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EP
European Patent Office
Prior art keywords
drilling
drill tube
ground
drill
drill pipe
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.)
Active
Application number
EP15754263.0A
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English (en)
French (fr)
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EP3167141A2 (de
Inventor
Laredj Benchikh
Daniel Perpezat
Lotfi BEJI
Sara CASCARINO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Soletanche Freyssinet SA
Original Assignee
Soletanche Freyssinet SA
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Publication of EP3167141A2 publication Critical patent/EP3167141A2/de
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Publication of EP3167141B1 publication Critical patent/EP3167141B1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/20—Combined feeding from rack and connecting, e.g. automatically
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/24—Guiding or centralising devices for drilling rods or pipes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling

Definitions

  • the present invention relates to the field of geotechnical work, and in particular the methods of soil drilling, as disclosed by WO2014011100 and WO02103162 in all types of terrain, the drilling may be in particular horizontal, vertical or inclined
  • a slide forms both a guide in translation and a support to the drill pipe, being emphasized that the drill member is most often constituted of a plurality of drill pipes put end to end.
  • the slide has a length substantially greater than the unitary element of the drill pipe, that is to say generally of the order of five meters.
  • the slide since the slide forms a guide having a larger size than each unitary element of a drill pipe, it has a very important weight. Indeed, the slide must support both the weight of the unit drill pipe unit but also its own weight, as well as the weight of the drill head and efforts related to drilling. It follows that the slide is very heavy and particularly bulky.
  • the drilling machine Because of the weight and the large size of the slide, the drilling machine must be equipped with a mechanism of movement and orientation of the slide which is complex, heavy and bulky.
  • the carrier must also be dimensioned to be able to carry both the movement mechanism and orientation, the slide and the first tube, which requires the use of a powerful carrier that will be cumbersome and expensive.
  • An object of the present invention is to provide a method of drilling in the soil whose implementation is easier and less cumbersome.
  • drill pipe also means drilling rods which may have a smaller diameter than the drill pipes.
  • the actuation of the manipulator arm makes it possible, in particular, to grip the first and second drill tubes, to align them with the drilling direction, to fasten them to one another in order to to form a tubular drilling assembly of great length and to introduce into the ground said assembly.
  • the actuation of the articulated manipulation arm which makes it possible to move the gripping member, consists of at least one deformation of the manipulation arm.
  • the gripping member is moved, according to the drilling direction, by deformation of the handling arm.
  • the alignment step is to align the longitudinal axis of the drill pipe with the drill direction.
  • Fixing the second drill pipe to the first drill pipe is performed by acting on the gripping member, for example by a translation of the gripping member in the case of clamping, or by a rotation in the case of a screwing.
  • the second drill pipe is also aligned with the drilling direction before being secured to the first drill pipe.
  • the manipulation arm is an articulated robot, having a number of degrees of freedom sufficient to allow to position and move the gripping member, in particular along a rectilinear path coincident with the direction of drilling.
  • the actuation of the manipulation arm is effected by deformation and movement of the arm.
  • the introduction of the drill pipe into the ground does not require the presence of a slide, since it is the manipulation arm which ensures the alignment of the drill pipe with the direction of drilling.
  • the thrust in the drilling direction is advantageously obtained by moving the gripping member in the drilling direction. More specifically, the actuation of the manipulating arm, by deformation, has the effect of moving the gripping member according to the drilling direction, and thus pushing the first drill pipe in the drilling direction.
  • the gripper To drive the first drill pipe into the ground, the gripper exerts a thrust on the first drill pipe according to the drill direction.
  • the soil to be drilled can be horizontal, vertical, or even inclined.
  • the method according to the invention can be implemented in the case of drilling a substantially vertical wall.
  • the first and second drill tubes are stored in at least one storage zone disposed near the handling arm. It is understood that the gripping member comes to successively seek the first and second drill pipe in the storage area. It will be understood that, thanks to the invention, the drill pipes can be stored in a manner that is not necessarily ordered, the handling arm being arranged to take the drill pipes at one of their ends, whatever their orientation, before to align them.
  • the method according to the invention can be repeated in order to introduce into the ground a tubular drilling assembly composed of a number of drill pipes greater than two.
  • the gripping member is also used to extract the tubular drilling assembly by uncoupling the drill pipes from each other in order to remove them successively from the ground, and finally to deposit them in the storage area.
  • the drilling method according to the invention is faster and easier to implement than the processes of the prior art in which complementary and specific tools are generally necessary to get and place the drill pipes in the slideway .
  • the first drill pipe is pushed into the ground by rotating it while pushing it in the direction of drilling.
  • the first drill pipe is pushed into the ground by vibrating it while pushing it in the direction of drilling.
  • the vibration setting is combined with a rotation of the first drill pipe.
  • a retaining member having an axis which is substantially parallel to the drilling direction, the retaining member is placed facing the soil to be drilled, and the first tube is pushed in drilling in the soil after introducing the second end of the first drill pipe through the retaining member.
  • the retainer has the function of axially blocking the displacement of the first drill pipe, for example to maintain the first drill pipe in the soil during its attachment to the second drill pipe.
  • the retaining member is previously fixed to the ground.
  • the retaining member is attached to the wall to be drilled.
  • the retaining member comprises guiding means for facilitating the guidance of the first drill pipe.
  • the retaining member is disposed opposite the wall to be drilled without being fixed thereto.
  • the first drill pipe is maintained in alignment with the drilling direction by adjusting, if appropriate, the position and / or the orientation of the gripping member. .
  • control of the alignment of the first drill pipe makes it possible to correct the trajectory of the borehole. Adjustment of the position and / or orientation of the gripper is performed periodically, preferably in real time, as a result of which the drilling path is corrected periodically during drilling.
  • the handling arm is deformable and has several degrees of freedom to guide and move the gripping member, in particular in a rectilinear direction.
  • the actuation of the manipulator arm is therefore performed by deformation and / or movement of said arm, this displacement being able to be a rotation.
  • the means for driving one or the other of the first and second drilling tubes into the ground are arranged to move in the drilling direction the gripping member which holds the drill pipe by its first end.
  • the gripping member exerts a thrust on the drill pipe, oriented in the drilling direction.
  • the manipulation arm comprises an arm which exerts a thrust on the gripping member, this thrust being directed in the drilling direction.
  • the handling arm is devoid of longiform guide slide of the drill pipes.
  • the manipulation arm does not include a slide such as that of the figure 12 whose length is substantially equal to or greater than that of the drill pipe.
  • the thrust exerted by the gripping member on the first drill pipe is determined, and preferably corrected, during the drilling.
  • the penetration rate of the first drill pipe is determined, and preferably corrected, during the duration of drilling.
  • the handling arm comprises displacement sensors and force sensors for determining the penetration rate of the drill pipe, as well as the forces applied to said drill pipe. These values can be compared periodically, preferably in real time, with target values. The operator can then change the thrust force or the speed of movement of the gripping member to correct these values. According to an advantageous variant, the corrections are performed automatically.
  • the alignment means have the function of aligning the longitudinal axis of the drill pipes with the drilling direction.
  • the installation further comprises measuring means for determining the position and the spatial orientation of the gripping member, and the alignment means use the measurement data provided by the measuring means.
  • the alignment means also make it possible to correct the trajectory of the drill pipe during the drilling period, in order to ensure that the trajectory of the drilling remains rectilinear during drilling.
  • the measuring means make it possible to periodically determine, preferably in real time, the position and orientation of the gripping member, and consequently the position and orientation of the drill pipe held by the gripping member. .
  • the manipulation arm is slaved in trajectory, speed and effort.
  • the alignment means advantageously comprise a sensor adapted to follow a laser beam defining the drilling direction.
  • the installation according to the invention further comprises a retaining member having an axis which is substantially parallel to the direction of drilling, the retaining member being arranged to be traversed by one or the other of the first and second drill pipe.
  • the retaining member further comprises a controllable locking device for blocking the translation of the first drill pipe relative to the ground in the drilling direction.
  • the blocking device will be operated to lock the first drill pipe in the soil while the gripping solidarisera, for example by clamping or screwing, the second drill pipe to the first drill pipe.
  • the locking device may also be actuated during the withdrawal phase of the drill pipe, in order to keep in place the first drill pipe while the gripping member disengages the second drill pipe from the second drill pipe.
  • the retaining member further comprises a rotating head for rotating at least the first drill pipe when said first drill pipe cooperates with the retaining member.
  • the gripping member only exerts a thrust on the drill pipe, oriented in the drilling direction, while the rotating head of the retaining member rotates it.
  • the handling arm further comprises an actuating head for rotating and / or vibrating at least the first drill pipe.
  • the gripping member comprises said actuating head.
  • the installation further comprises at least one drill pipe
  • the gripping member is further configured to grasp the drill pipe and insert it into the first drill pipe introduced into the ground.
  • the first drill pipe is first inserted into the soil prior to introducing the drill pipe into the first drill pipe.
  • the drill pipe is inserted into the first drill pipe before introducing the assembly into the ground.
  • the manipulation arm is an articulated robot having at least three points of articulation.
  • FIG. 1 There is illustrated an exemplary embodiment of a drilling 10 of installing a ground S according to the present invention. As will be described in more detail below, this installation makes it possible in particular to drill holes in a vertical wall P in a horizontal drilling direction D.
  • the wall P may have another configuration, while the drilling direction D may be inclined relative to the horizontal, or be vertical.
  • the installation 10 comprises an articulated and motorized manipulation arm 12 which, in this example, is a robot presenting several axes. articulated hinges X1, X2, X3, X4, X5 .
  • the manipulation arm has three points of articulation.
  • the manipulation arm comprises a first portion 14 which can pivot about a vertical axis of rotation X1 , a second portion 16 which can pivot relative to the first portion 14 about an axis of rotation X2, a third portion 18 which is pivotable relative to the second portion 16 around an axis X3 of rotation, a fourth portion 20 hinged to the third portion 18.
  • the manipulator arm is devoid of slide.
  • the manipulation arm 12 further comprises a gripping member 30 which is articulated with respect to the fourth portion 20. As can be seen, the gripping member is disposed at the end of the handling arm.
  • the manipulation arm 12 comprises actuating means, not shown here, which make it possible to set the various portions in motion relative to one another so as to deform the manipulating arm and thus to orient and move in space the grasping member 30.
  • This type of manipulation arm is manufactured by the KUKA or FANUC companies.
  • the use of such a manipulator arm in the context of drilling a soil according to the present invention is not described in the prior art.
  • the joints and the different portions are presented schematically. It is understood that the handling arm is configured to allow in particular a rectilinear movement of the movable gripping member, and in particular according to the drilling direction D.
  • the installation 10 also comprises several drill pipes, namely in this example, a first drill pipe 40 having a length L, a second drill pipe 42 and a third drill pipe 44.
  • Each of the first second and third drill pipe has a first end 40a, 42a, 44a and a second end 40b, 42b, 44b opposite the first end.
  • Each of these drill pipes has a longitudinal axis.
  • These tubes are intended to be secured to each other, end to end, to form a tubular drill assembly of great length. Of course, without out of the scope of the present invention, these tubes could be in the form of drill pipes.
  • the handling arm does not have a long guide slide for drilling tubes that can be seen on the figure 12 illustrating an installation of the prior art.
  • the second end 40b of the first drill pipe 40 carries a drilling tool 41, in this example, a cutter.
  • the second end 42b of the second drill pipe 42 is securable with the first end 40a of the first drill pipe 40.
  • the first drill pipe is joined to the second drill pipe by screwing.
  • the gripping member 30 is configured to grip one or the other of the first, second and third drill pipes at their first ends.
  • the gripping member 30 grasps the first drill pipe 40 by its first end 40a.
  • the gripping member 30 comprises clamp means 31 which clamp the first end 40a of the first tube 40.
  • the first drill tube 40 then forms an extension of the gripping member 30.
  • the gripping member 30 further comprises an actuating head 32 which, in this example, allows the rotation and vibration of the first drill pipe 40.
  • the installation 10 further comprises a retaining member 50 having an axis A which is substantially parallel to the drilling direction D.
  • the retaining member 50 is fixed integrally to the wall P by means of fixing means 52, 54.
  • the retaining member 50 has the shape of a sleeve so that it can be crossed by one or the other of the first, second and third drill pipe. Still in the example of the figure 1 , the retaining member 50 further comprises a controllable locking device 56, which will be described in more detail below, to block the translating the first drill pipe relative to the ground according to the drilling direction D.
  • the manipulator arm 12 further comprises means 60 for driving the first drill pipe 40 into the ground S in the drilling direction D.
  • the means for driving the first drill pipe comprise the different portions 14, 16 , 18, 20 constituting the manipulation arm and the actuating means for moving the different portions relative to each other, so as to exert a rectilinear thrust on the gripping member, this thrust being directed in the direction of drilling D.
  • FIG. Figures 3 and 4 This step of driving the first drill pipe 40 into the ground S is illustrated in FIG. Figures 3 and 4 .
  • the manipulation arm further comprises alignment means 70 for aligning the first drill pipe 40 with the drilling direction D, the alignment means comprising in this example the various constituent portions of the handling arm and the means for actuation, the latter making it possible to align the longitudinal axis of the first drill pipe with the drilling direction D.
  • the installation further comprises measurement means 69, illustrated in FIG. figure 4 , to determine the position and the spatial orientation of the gripping member 30, these measuring means comprising in this example one or more gyroscopes, or any other position and spatial orientation sensor.
  • the alignment means uses the measurement data provided by the measuring means 69 to align the longitudinal axis of the first drill pipe 40 with the drill direction D.
  • the gripper 30 is moved so that the drill bit 41 is engaged in the retaining member 50.
  • the manipulator arm is then actuated so as to exert a rectilinear thrust on the gripping member 30 directed in the drilling direction D so as to drive the first drill pipe into the ground S.
  • the actuating head 32 is actuated so as to rotate the first tube 40.
  • the actuation head also comprises a vibration generator for vibrating the first drill pipe 40.
  • the first drill pipe is driven into the ground by rotating it while vibrating and pushing it along the drilling direction D, as shown in FIG. figure 4 .
  • the blocking device 56 is actuated to prevent axial displacement of the first drill pipe 40.
  • the gripping member 30 releases the first end 40a of the first drill pipe 40. drilling 40, and fetching the second drill pipe 42 by grasping its first end 42a.
  • the manipulator arm is then actuated to align the longitudinal axis of the second drill pipe 42 with the drill direction D.
  • the gripping member 30 is then moved so as to bring the second end 42b of the second drill pipe 42 opposite the first end 40a of the first drill pipe 40.
  • the second drill pipe 42 is then secured with the first drill pipe 40, by screwing, by rotating with the actuating head 32 the second drill pipe 42 to screw the second end of the second drill pipe to the end piece of the first pipe of drilling 40 blocked in the ground by the blocking device 56.
  • the manipulator arm 12 also comprises means for fixing the second end 42b of the second tube 42 at the first end 40a of the first drill tube 40, in this example, said means including in particular the actuating head of the gripping member 30.
  • the blocking device 56 is released. in order to allow the free translation of the first drill pipe 40 in the direction of drilling D.
  • the gripping member 30 is then moved along the drilling direction D in order to drive the second drill pipe into the ground. drill fixed to the first drill pipe. This displacement movement is therefore a translation made according to the direction of drilling D.
  • the second drill pipe 42 will be rotated during the displacement of the gripping member 30, so as to rotate the drill bit 41.
  • the second drill pipe is also vibrated. This step is illustrated in figure 7 .
  • FIGS. Figures 1 to 7 There is provided a first and a second drill pipe 40, 42, each having a first end 40a, 42a and a second end 40b, 42b opposite the first end, the second end of the second drill tube being made integral with the first end the first drill pipe; providing a manipulator arm 12 provided with a movable gripping member 30 ; the first drill pipe 40 is gripped by its first end 40a with the aid of the gripping member 30 ; aligning the first drill pipe with the drilling direction D with the aid of the handling arm 12, and more specifically by adjusting the position of the gripping member 30 ; the grip member 30 is moved in the drilling direction to drive the first drill pipe 40 into the ground while rotating the first drill pipe; after driving the first drill pipe 40 into the ground, the gripping member 30 releases the first drill pipe; then the second drill pipe 42 is gripped by its first end 42a with the aid of the gripping member 30 ; the gripping member 30 is moved to bring the second end
  • the first and second drill pipes are maintained in alignment with the drill direction in periodically comparing the actual trajectory of the borehole with the desired drilling direction D and adjusting, as appropriate, the position and spatial orientation of the gripping member 30 to correct the path.
  • the retainer further comprises a rotary head 55 which allows the rotation of the first drill pipe 40 when the first drill pipe 40 cooperates with the retainer 50 .
  • the rotary head is located in the retaining member 50 and not in the gripping member 30.
  • the rotary head 55 is arranged to rotate the first drill pipe 40 while the gripping member 30 moves so as to drive the first guide tube 40 into the ground.
  • the retaining member 50 is disposed facing the wall P to be drilled without being fixed thereto.
  • the retaining member 50 is placed on the ground by means of a foot 57.
  • the retainer 50 when the borehole is horizontal.
  • the retaining member 50 comprises hydraulic jaws 56 mounted on a plate 57.
  • the retaining member 50 comprises a folding guillotine system 59 with frictional retention of the first guide tube 40.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (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)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Claims (13)

  1. Verfahren zum Bohren eines Bodens in einer Bohrrichtung, wobei:
    mindestens ein erstes und ein zweites Bohrrohr (40, 42) bereitgestellt werden, von denen jedes ein erstes Ende (40a, 42a) und ein zweites Ende (40b, 42b) aufweist, das dem ersten Ende gegenüberliegt, wobei das zweite Ende des zweiten Bohrrohrs mit dem ersten Ende des ersten Bohrrohrs fest verbunden werden kann,
    ein Manipulatorarm (12) bereitgestellt wird, der ein angelenkter und ein motorgetriebener Arm ist, der mindestens drei Anlenkstellen aufweist, keinen Schlitten hat und der mit einem Greiforgan (30) versehen ist,
    das erste Bohrrohr (40) an seinem ersten Ende (40a) mithilfe des Greiforgans (30) ergriffen wird,
    das erste Bohrrohr mit der Bohrrichtung (D) mithilfe des Manipulatorarms (12) ausgerichtet wird,
    das Greiforgan (30) in der Bohrrichtung durch Betätigen des Manipulatorarms bewegt wird, um das erste Bohrrohr in den Boden zu treiben,
    nach dem Eintreiben des ersten Bohrrohrs in den Boden, das Greiforgan (30) das erste Bohrrohr freigibt, dann das zweite Bohrrohr (42) an seinem ersten Ende (42a) mithilfe des Greiforgans (30) ergriffen wird,
    das Greiforgan (30) so bewegt wird, dass das zweite Ende des zweiten Bohrrohrs in eine dem ersten Ende des ersten Bohrrohrs zugewandte Position gebracht wird,
    das zweite Ende (42b) des zweiten Bohrrohrs (42) an dem ersten Ende (40a) des ersten Bohrrohrs (40) befestigt wird und
    das Greiforgan (30) in Bohrrichtung bewegt wird, um das zweite Bohrrohr, das am ersten Bohrrohr befestigt ist, in den Boden zu treiben.
  2. Bohrverfahren nach Anspruch 1, wobei das erste Bohrrohr (40) in den Boden getrieben wird, indem es in Drehung versetzt wird, während es in Bohrrichtung geschoben wird.
  3. Bohrverfahren nach Anspruch 1 oder 2, wobei das erste Bohrrohr (40) in den Boden getrieben wird, indem es in Vibration versetzt wird, während es in Bohrrichtung geschoben wird.
  4. Bohrverfahren nach einem der Ansprüche 1 bis 3, wobei ferner ein Halteorgan (50) bereitgestellt wird, das eine Führungsachse (A) aufweist, die im Wesentlichen parallel zur Bohrrichtung ist, wobei das Halteorgan dem zu bohrenden Boden zugewandt angeordnet wird, und wobei das erste Bohrrohr in den Boden getrieben wird, nachdem das zweite Ende des ersten Bohrrohrs mittels des Halteorgans eingeführt wurde.
  5. Bohrverfahren nach Anspruch 4, wobei das Halteorgan (50) zuvor am Boden befestigt wird.
  6. Bohrverfahren nach einem der Ansprüche 1 bis 5, wobei, während das erste Bohrrohr (40) in den Boden getrieben wird, das erste Bohrrohr (40) in Ausrichtung der Bohrrichtung gehalten wird, indem gegebenenfalls die Position und/oder die Ausrichtung des Greiforgans (30) angepasst wird.
  7. Anlage (10) zum Bohren eines Bodens (S) in einer Bohrrichtung (D), mit der das Bohrverfahren nach einem der vorhergehenden Ansprüche durchgeführt wird, dadurch gekennzeichnet, dass sie umfasst:
    mindestens ein erstes und ein zweites Bohrrohr (40, 42), von denen jedes ein erstes Ende (40a, 42a) und ein zweites Ende (40b, 42b, 44b) aufweist, das dem ersten Ende gegenüberliegt, wobei das zweite Ende (42b) des zweiten Bohrrohrs (42) mit dem ersten Ende (40a) des ersten Bohrrohrs (40) fest verbunden werden kann,
    einen angelenkten und motorgetriebenen Manipulatorarm (12), wobei der Manipulatorarm mindestens drei Anlenkpunkte aufweist und keinen Schlitten hat und umfasst:
    ein Greiforgan (30), das ausgelegt ist, um das erste oder das zweite Bohrrohr an seinem ersten Ende zu ergreifen,
    Ausrichtungseinrichtungen (70) zum Ausrichten des ersten Bohrrohrs (40) mit der Bohrrichtung (D),
    Einrichtungen (60) zum Betätigen des Manipulatorarms, um das Greiforgan in der Bohrrichtung (D) zu bewegen, um das erste Bohrrohr (40) in der Bohrrichtung (D) in den Boden (S) zu treiben,
    Einrichtungen zum Befestigen des zweiten Endes (40b) des zweiten Bohrrohrs (42) an dem ersten Ende (40a) des ersten Bohrrohrs (40) und
    Einrichtungen zum Bewegen des Greiforgans in Bohrrichtung, um das zweite Bohrrohr, das am ersten Bohrrohr befestigt ist, in den Boden zu treiben.
  8. Bohranlage nach Anspruch 7, dadurch gekennzeichnet, dass sie ferner ein Halteorgan (50) umfasst, das eine Achse aufweist, die im Wesentlichen parallel zur Bohrrichtung (D) ist, wobei das Halteorgan so angeordnet ist, dass das erste oder zweite Bohrrohr (40, 42) durch dieses verläuft.
  9. Bohranlage nach Anspruch 8, dadurch gekennzeichnet, dass das Halteelement (50) ferner eine steuerbare Blockiervorrichtung (56) zum Blockieren der Translation des ersten Bohrrohrs in Bezug auf den Boden in Bohrrichtung umfasst.
  10. Bohranlage nach Anspruch 8 oder 9, dadurch gekennzeichnet, dass das Halteelement (50) ferner einen drehbaren Kopf (55) umfasst, der das in Drehung versetzen mindestens des ersten Bohrrohrs (40) ermöglicht, wenn das erste Bohrrohr (40) mit dem Halteorgan zusammenwirkt.
  11. Anlage (30) zum Bohren nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, dass der Manipulatorarm (12) ferner einen Betätigungskopf (32) umfasst, der es ermöglicht, dass mindestens das erste Bohrrohr (40) in Drehung und/oder in Vibration versetzt wird.
  12. Bohranlage nach einem der Ansprüche 7 bis 11, dadurch gekennzeichnet, dass sie ferner Messeinrichtungen (69) umfasst, um die Position und die räumliche Ausrichtung des Greiforgans (30) zu bestimmen, und dadurch, dass die Ausrichteinrichtungen Messdaten verwenden, die von den Messeinrichtungen bereitgestellt werden.
  13. Bohranlage nach einem der Ansprüche 7 bis 12, dadurch gekennzeichnet, dass sie ferner mindestens ein Bohrgestänge umfasst, und dadurch, dass das Greiforgan ferner ausgelegt ist, um das Bohrgestänge zu ergreifen und es in das erste Bohrrohr einzusetzen, das in den Boden eingeführt ist.
EP15754263.0A 2014-07-09 2015-07-08 Verfahren zum bohren eines bodens mit einem roboterarm Active EP3167141B1 (de)

Applications Claiming Priority (2)

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FR1456602A FR3023577B1 (fr) 2014-07-09 2014-07-09 Procede de forage d'un sol a l'aide d'un bras robotise
PCT/FR2015/051884 WO2016005701A2 (fr) 2014-07-09 2015-07-08 Procede de forage d'un sol a l'aide d'un bras robotise

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Publication number Publication date
WO2016005701A3 (fr) 2016-05-19
US20170159361A1 (en) 2017-06-08
US10941617B2 (en) 2021-03-09
FR3023577A1 (fr) 2016-01-15
EP3167141A2 (de) 2017-05-17
WO2016005701A2 (fr) 2016-01-14
FR3023577B1 (fr) 2019-07-12
JP6675377B2 (ja) 2020-04-01
JP2017519922A (ja) 2017-07-20

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