EP3167141B1 - Method of drilling a ground using a robotic arm - Google Patents

Method of drilling a ground using a robotic arm 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
Other languages
German (de)
French (fr)
Other versions
EP3167141A2 (en
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
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Soletanche Freyssinet SA
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Publication of EP3167141A2 publication Critical patent/EP3167141A2/en
Application granted granted Critical
Publication of EP3167141B1 publication Critical patent/EP3167141B1/en
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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)

Description

Arrière-plan de l'inventionBackground of the invention

La présente invention concerne le domaine des travaux géotechniques, et notamment les procédés de forage de sol, tel que divulgué par WO2014011100 et WO02103162 , dans tous types de terrains, le forage pouvant être en particulier horizontal, vertical ou inclinéThe 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

Traditionnellement, les machines de forage sont équipées de grandes glissières qui ont pour fonction de guider le déplacement des tubes de forage. Une telle glissière, dont un exemple est illustré en figure 12, forme à la fois un guide en translation et un support au tube de forage, étant souligné que l'organe de forage est le plus souvent constitué d'une pluralité de tubes de forage mis bout à bout. A cet effet, la glissière présente une longueur sensiblement supérieure à l'élément unitaire du tube de forage, c'est-à-dire généralement de l'ordre de cinq mètres.Traditionally, drilling machines are equipped with large slides that serve to guide the movement of the drill pipe. Such a slide, an example of which is illustrated in figure 12 , 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. For this purpose, 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.

L'utilisation d'une glissière présente plusieurs inconvénients.The use of a slide has several disadvantages.

Tout d'abord, comme la glissière forme un guide ayant une taille plus importante que chaque élément unitaire de tube de forage, elle présente un poids très important. En effet, la glissière doit supporter à la fois le poids de l'élément unitaire de tube de forage mais également son poids propre, ainsi que le poids de la tête de forage et les efforts liés au forage. Il s'ensuit que la glissière est très lourde et particulièrement encombrante.Firstly, 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.

En raison du poids et de l'encombrement important de la glissière, la machine de forage doit être équipée d'un mécanisme de déplacement et d'orientation de la glissière qui est complexe, lourd et encombrant.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.

Enfin, le porteur doit également être dimensionné pour pouvoir porter à la fois le mécanisme de déplacement et d'orientation, la glissière ainsi que le premier tube, ce qui impose d'utiliser un porteur puissant qui sera donc encombrant et onéreux.Finally, 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.

Objet et résumé de l'inventionObject and summary of the invention

Un but de la présente invention est de proposer un procédé de forage dans le sol dont la mise en oeuvre est plus aisée et moins encombrante.An object of the present invention is to provide a method of drilling in the soil whose implementation is easier and less cumbersome.

A cet effet, l'invention concerne un procédé de forage d'un sol selon une direction de forage, dans lequel :

  • on fournit au moins un premier et un deuxième tubes de forage, chacun ayant une première extrémité et une seconde extrémité opposée à la première extrémité, la seconde extrémité du deuxième tube de forage étant solidarisable avec la première extrémité du premier tube de forage ;
  • on fournit un bras de manipulation articulé présentant au moins trois points d'articulation, le bras de manipulation étant motorisé et muni d'un organe de préhension et étant dépourvu de glissière ;
  • on saisit le premier tube de forage par sa première extrémité à l'aide de l'organe de préhension ;
  • on aligne le premier tube de forage avec la direction de forage à l'aide du bras de manipulation ;
  • on déplace l'organe de préhension, selon la direction de forage par actionnement du bras de manipulation, afin d'enfoncer le premier tube de forage dans le sol ;
  • après avoir enfoncé le premier tube de forage dans le sol, l'organe de préhension libère le premier tube de forage ; puis
  • on saisit le deuxième tube de forage par sa première extrémité à l'aide de l'organe de préhension ;
  • on déplace l'organe de préhension afin d'amener la seconde extrémité du deuxième tube de forage au regard de la première extrémité du premier tube de forage ;
  • on fixe la seconde extrémité du deuxième tube de forage avec la première extrémité du premier tube de forage ; et
  • on déplace l'organe de préhension selon la direction de forage afin d'enfoncer dans le sol le deuxième tube de forage fixé au premier tube de forage.
For this purpose, the invention relates to a method of drilling a soil in a drilling direction, in which:
  • providing at least a first and a second drill pipe, each having a first end and a second end opposite the first end, the second end of the second drill pipe being integral with the first end of the first drill pipe;
  • providing an articulated manipulation arm having at least three points of articulation, the manipulation arm being motorized and provided with a gripping member and being devoid of slide;
  • the first drill pipe is gripped by its first end with the aid of the gripping member;
  • aligning the first drill pipe with the drilling direction using the manipulator arm;
  • the gripping member is moved in the drilling direction by operation of the manipulator arm to drive the first drill pipe into the ground;
  • after driving the first drill pipe into the ground, the gripping member releases the first drill pipe; then
  • the second drill pipe is gripped by its first end with the aid of the gripping member;
  • moving the gripping member to bring the second end of the second drill pipe to the first end of the first drill pipe;
  • attaching the second end of the second drill pipe to the first end of the first drill pipe; and
  • the gripping member is moved in the drilling direction to drive the second drill pipe attached to the first drill pipe into the ground.

Au sens de l'invention, par tube de forage, on entend également les tiges de forage qui peuvent avoir un diamètre inférieur aux tubes de forage.For the purposes of the invention, the term "drill pipe" also means drilling rods which may have a smaller diameter than the drill pipes.

On comprend donc que l'actionnement du bras de manipulation permet notamment de saisir les premier et deuxième tubes de forage, de les aligner avec la direction de forage, de les solidariser l'un à l'autre afin de former un ensemble tubulaire de forage de grande longueur et d'introduire dans le sol ledit ensemble.It is therefore understood that 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.

Avantageusement, l'actionnement du bras de manipulation articulé, qui permet de déplacer l'organe de préhension, consiste en au moins une déformation du bras de manipulation. Autrement dit, on déplace l'organe de préhension, selon la direction de forage, par déformation du bras de manipulation.Advantageously, 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. In other words, the gripping member is moved, according to the drilling direction, by deformation of the handling arm.

On comprend par ailleurs que l'étape d'alignement consiste à aligner l'axe longitudinal du tube de forage avec la direction de forage.It is further understood that the alignment step is to align the longitudinal axis of the drill pipe with the drill direction.

La fixation du deuxième tube de forage au premier tube de forage est réalisée en agissant sur l'organe de préhension, par exemple par une translation de l'organe de préhension dans le cas d'un clampage, ou par une rotation dans le cas d'un vissage.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.

De préférence, le deuxième tube de forage est également aligné avec la direction de forage avant sa solidarisation au premier tube de forage.Preferably, the second drill pipe is also aligned with the drilling direction before being secured to the first drill pipe.

De préférence, le bras de manipulation est un robot articulé, présentant un nombre de degré de liberté suffisants pour permettre de positionner et de déplacer l'organe de préhension, notamment selon une trajectoire rectiligne confondue avec la direction de forage. Ainsi, l'actionnement du bras de manipulation s'effectue par déformation et déplacement du bras.Preferably, 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. Thus, the actuation of the manipulation arm is effected by deformation and movement of the arm.

Grâce à l'invention, l'introduction des tubes de forage dans le sol ne nécessite pas la présence d'une glissière, dans la mesure où c'est le bras de manipulation qui assure l'alignement des tubes de forage avec la direction de forage.Thanks to the invention, 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.

La poussée selon la direction de forage est avantageusement obtenue par le déplacement de l'organe de préhension selon la direction de forage. Plus précisément, l'actionnement du bras de manipulation, par déformation, a pour effet de déplacer l'organe de préhension selon la direction de forage, et donc de pousser le premier tube de forage selon la direction de forage.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.

Pour enfoncer le premier tube de forage dans le sol, l'organe de préhension exerce une poussée sur le premier tube de forage selon la direction de forage.To drive the first drill pipe into the ground, the gripper exerts a thrust on the first drill pipe according to the drill direction.

Selon l'invention, le sol à forer peut être horizontal, vertical, ou bien encore, incliné. En particulier, le procédé selon l'invention pourra être mis en oeuvre dans le cas du forage d'une paroi sensiblement verticale.According to the invention, the soil to be drilled can be horizontal, vertical, or even inclined. In particular, the method according to the invention can be implemented in the case of drilling a substantially vertical wall.

Selon un mode de réalisation préférentiel, les premier et deuxième tubes de forage sont stockés dans au moins une zone de stockage disposée à proximité du bras de manipulation. On comprend que l'organe de préhension vient chercher successivement les premier et deuxième tubes de forage dans la zone de stockage. On comprend que grâce à l'invention, les tubes de forage peuvent être stockés de manière non nécessairement ordonnée, le bras de manipulation étant agencé pour venir prendre les tubes de forage par l'une de leurs extrémités, quelle que soit leur orientation, avant de les aligner.According to a preferred embodiment, 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.

Sans sortir du cadre de la présente invention, le procédé selon l'invention peut être répété afin d'introduire dans le sol un ensemble tubulaire de forage composé d'un nombre de tubes de forage supérieur à deux.Without departing from the scope of the present invention, 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.

Préférentiellement, après l'opération de forage, l'organe de préhension est également utilisé pour extraire l'ensemble tubulaire de forage en désaccouplant les tubes de forage les uns des autres afin de les retirer successivement du sol, et enfin pour les déposer dans la zone de stockage.Preferably, after the drilling operation, 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.

Aussi, le procédé de forage selon l'invention est plus rapide et plus aisé à mettre en oeuvre que les procédés de l'art antérieur dans lesquels des outillages complémentaires et spécifiques sont généralement nécessaires pour aller chercher et placer les tubes de forage dans la glissière.Also, 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 .

Avantageusement, on enfonce le premier tube de forage dans le sol en le mettant en rotation tout en le poussant selon la direction de forage.Advantageously, the first drill pipe is pushed into the ground by rotating it while pushing it in the direction of drilling.

Avantageusement, on enfonce le premier tube de forage dans le sol en le faisant vibrer tout en le poussant selon la direction de forage.Advantageously, the first drill pipe is pushed into the ground by vibrating it while pushing it in the direction of drilling.

De préférence, mais pas nécessairement, la mise en vibration est combinée à une mise en rotation du premier tube de forage.Preferably, but not necessarily, the vibration setting is combined with a rotation of the first drill pipe.

Selon un mode de mise en oeuvre avantageux, on fournit en outre un organe de retenue ayant un axe qui est sensiblement parallèle à la direction de forage, on place l'organe de retenue en regard du sol à forer, et on enfonce le premier tube de forage dans le sol après avoir introduit la seconde extrémité du premier tube de forage au travers de l'organe de retenue.According to an advantageous embodiment, there is further provided 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.

L'organe de retenue a pour fonction de bloquer axialement le déplacement du premier tube de forage, par exemple pour maintenir le premier tube de forage dans le sol pendant sa fixation au deuxième tube de forage.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.

De manière préférentiel, l'organe de retenue est préalablement fixé au sol. Selon un exemple de mise en oeuvre, l'organe de retenue est fixé à la paroi à forer.Preferably, the retaining member is previously fixed to the ground. According to an exemplary implementation, the retaining member is attached to the wall to be drilled.

Préférentiellement, mais non nécessairement, l'organe de retenue comporte des moyens de guidage pour faciliter le guidage du premier tube de forage.Preferably, but not necessarily, the retaining member comprises guiding means for facilitating the guidance of the first drill pipe.

En variante, l'organe de retenue est disposé en regard de la paroi à forer, sans y être fixé.Alternatively, the retaining member is disposed opposite the wall to be drilled without being fixed thereto.

Avantageusement, pendant l'enfoncement du premier tube de forage dans le sol, on maintient le premier tube de forage dans l'alignement de la direction de forage en ajustant le cas échéant la position et/ou l'orientation de l'organe de préhension.Advantageously, during the driving of the first drill pipe into the ground, 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. .

On comprend que le contrôle de l'alignement du premier tube de forage permet de corriger la trajectoire du forage. L'ajustement de la position et/ou de l'orientation de l'organe de préhension est réalisé périodiquement, de préférence en temps réel, en conséquence de quoi la trajectoire de forage est corrigée périodiquement pendant le forage.It is understood that the 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.

L'invention porte également sur une installation de forage d'un sol, selon une direction de forage, mettant en oeuvre le procédé de forage selon l'invention, qui comporte :

  • au moins un premier et un deuxième tubes de forage, chacun ayant une première extrémité et une seconde extrémité opposée à la première extrémité, la seconde extrémité du deuxième tube de forage étant solidarisable avec la première extrémité du premier tube de forage ;
  • un bras de manipulation articulé présentant au moins trois points d'articulation, et le bras de manipulation étant dépourvu de glissière et comportant :
    • un organe de préhension configuré pour saisir l'un ou l'autre des premier et deuxième tubes de forage par leurs premières extrémités ;
    • des moyens d'alignement pour aligner le premier tube de forage avec la direction de forage ;
    • des moyens pour enfoncer le premier tube de forage dans le sol selon la direction de forage ;
    • des moyens pour fixer la seconde extrémité du premier tube de forage à la première extrémité du premier tube de forage ;
    • des moyens pour actionner le bras de manipulation de sorte à déplacer l'organe de préhension selon la direction de forage afin d'enfoncer dans le sol le deuxième tube de forage fixé au premier tube de forage.
The invention also relates to a drilling installation of a soil, according to a drilling direction, implementing the drilling method according to the invention, which comprises:
  • at least a first and a second drill pipe, each having a first end and a second end opposite the first end, the second end of the second drill pipe being securable with the first end of the first drill pipe;
  • an articulated manipulation arm having at least three points of articulation, and the manipulation arm being devoid of slide and comprising:
    • a gripping member configured to grip one or the other of the first and second drill pipes at their first ends;
    • alignment means for aligning the first drill pipe with the drilling direction;
    • means for driving the first drill pipe into the ground in the drilling direction;
    • means for attaching the second end of the first drill pipe to the first end of the first drill pipe;
    • means for actuating the manipulator arm to move the gripper in the drilling direction to drive the second drill pipe attached to the first drill pipe into the ground.

Comme mentionné précédemment, le bras de manipulation est déformable et présente plusieurs degrés de liberté permettant d'orienter et déplacer l'organe de préhension, notamment selon une direction rectiligne. L'actionnement du bras de manipulation s'effectue donc par déformation et/ou déplacement dudit bras, ce déplacement pouvant être une rotation.As mentioned above, 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.

Les moyens pour enfoncer l'un ou l'autre des premier et deuxième tubes de forage dans le sol sont agencés pour déplacer selon la direction de forage l'organe de préhension qui tient le tube de forage par sa première extrémité. Pour ce faire, l'organe de préhension exerce une poussée sur le tube de forage, orientée selon la direction de forage. De préférence, le bras de manipulation comporte un bras qui exerce une poussée sur l'organe de préhension, cette poussée étant dirigée selon la direction de forage.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. To do this, the gripping member exerts a thrust on the drill pipe, oriented in the drilling direction. Preferably, the manipulation arm comprises an arm which exerts a thrust on the gripping member, this thrust being directed in the drilling direction.

Selon un aspect avantageux de l'invention, le bras de manipulation est dépourvu de glissière longiforme de guidage des tubes de forage. Autrement dit, le bras de manipulation ne comporte pas de glissière telle que celle de la figure 12 dont la longueur est sensiblement égale ou supérieure à celle du tube de forage.According to an advantageous aspect of the invention, the handling arm is devoid of longiform guide slide of the drill pipes. In other words, 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.

De préférence, la poussée exercée par l'organe de préhension sur le premier tube de forage est déterminée, et préférentiellement corrigée, pendant la durée du forage.Preferably, the thrust exerted by the gripping member on the first drill pipe is determined, and preferably corrected, during the drilling.

Encore de préférence, la vitesse de pénétration du premier tube de forage est déterminée, et préférentiellement corrigée, pendant la durée du forage.More preferably, the penetration rate of the first drill pipe is determined, and preferably corrected, during the duration of drilling.

Pour ce faire, le bras de manipulation comporte des capteurs de déplacement et des capteurs d'efforts permettant de déterminer la vitesse de pénétration des tubes de forage, ainsi que les efforts appliqués sur lesdits tubes de forage. Ces valeurs peuvent être comparées périodiquement, de préférence en temps réel, à des valeurs cibles. L'opérateur peut alors modifier la force de poussée ou la vitesse de déplacement de l'organe de préhension afin de corriger ces valeurs. Selon une variante avantageuse, les corrections sont effectuées de manière automatique.To do this, 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.

Les moyens d'alignement ont pour fonction d'aligner l'axe longitudinal des tubes de forage avec la direction de forage.The alignment means have the function of aligning the longitudinal axis of the drill pipes with the drilling direction.

Avantageusement, l'installation comporte en outre des moyens de mesure pour déterminer la position et l'orientation spatiale de l'organe de préhension, et les moyens d'alignement utilisent les données de mesures fournies par les moyens de mesure.Advantageously, 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.

Les moyens d'alignement permettent également de corriger la trajectoire du tube de forage pendant la durée de forage, afin de s'assurer que la trajectoire du forage reste rectiligne pendant le forage.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.

Les moyens de mesure permettent de déterminer périodiquement, de préférence en temps réel, la position et l'orientation de l'organe de préhension, et par voie de conséquence la position et l'orientation du tube de forage maintenu par l'organe de préhension.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. .

Aussi, de préférence, le bras de manipulation est asservi en trajectoire, en vitesse et en efforts.Also, preferably, the manipulation arm is slaved in trajectory, speed and effort.

Alternativement, les moyens d'alignement comportent avantageusement un capteur apte à suivre un rayon laser définissant la direction de forage.Alternatively, the alignment means advantageously comprise a sensor adapted to follow a laser beam defining the drilling direction.

Avantageusement, l'installation selon l'invention comporte en outre un organe de retenue ayant un axe qui est sensiblement parallèle à la direction de forage, l'organe de retenue étant agencé pour être traversé par l'un ou l'autre des premier et deuxième tubes de forage.Advantageously, 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.

De préférence, l'organe de retenue comporte en outre un dispositif de blocage commandable pour bloquer la translation du premier tube de forage par rapport au sol selon la direction de forage.Preferably, 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.

Par exemple, le dispositif de blocage sera actionné de manière à bloquer le premier tube de forage dans le sol pendant que l'organe de préhension solidarisera, par exemple par clampage ou vissage, le deuxième tube de forage au premier tube de forage.For example, 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.

Le dispositif de blocage pourra également être actionné pendant la phase de retrait des tubes de forage, afin de maintenir en place le premier tube de forage pendant que l'organe de préhension désolidarise le deuxième tube de forage du deuxième tube de forage.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.

Selon un mode de réalisation avantageux, l'organe de retenue comporte en outre une tête rotative permettant la mise en rotation d'au moins le premier tube de forage lorsque ledit premier tube de forage coopère avec l'organe de retenue.According to an advantageous embodiment, 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.

Dans ce mode de réalisation, l'organe de préhension exerce seulement une poussée sur le tube de forage, orientée selon la direction de forage, pendant que la tête rotative de l'organe de retenue le met en rotation.In this embodiment, 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.

Avantageusement, le bras de manipulation comporte en outre une tête d'actionnement permettant la mise en rotation et/ou en vibration d'au moins le premier tube de forage.Advantageously, the handling arm further comprises an actuating head for rotating and / or vibrating at least the first drill pipe.

Selon un mode réalisation, l'organe de préhension comporte ladite tête d'actionnement.According to one embodiment, the gripping member comprises said actuating head.

Selon un autre mode de réalisation, l'installation comporte en outre au moins une tige de forage, et l'organe de préhension est en outre configuré pour saisir la tige de forage et l'insérer dans le premier tube de forage introduit dans le sol.According to another embodiment, the installation further comprises at least one drill pipe, and the gripping member is further configured to grasp the drill pipe and insert it into the first drill pipe introduced into the ground. .

Selon une variante, on insère tout d'abord le premier tube de forage dans le sol avant d'introduire la tige de forage dans le premier tube de forage. Selon une autre variante, on insère la tige de forage dans le premier tube de forage avant d'introduire l'ensemble dans le sol.Alternatively, the first drill pipe is first inserted into the soil prior to introducing the drill pipe into the first drill pipe. According to another variant, the drill pipe is inserted into the first drill pipe before introducing the assembly into the ground.

Enfin, selon un mode de réalisation préféré, le bras de manipulation est un robot articulé présentant au moins trois points d'articulation.Finally, according to a preferred embodiment, the manipulation arm is an articulated robot having at least three points of articulation.

Brève description des dessinsBrief description of the drawings

L'invention sera mieux comprise à la lecture de la description qui suit de modes de réalisation de l'invention donnés à titre d'exemple non limitatif, en référence aux dessins annexés, sur lesquels :

  • la figure 1 illustre l'installation selon l'invention avant le début des opérations de forage ;
  • la figure 2 illustre l'étape de saisie du premier tube de forage par l'organe de préhension ;
  • la figure 3 illustre l'étape d'alignement du premier tube de forage avec la direction de forage ;
  • la figure 4 illustre l'étape d'enfoncement du premier tube de forage dans le sol ;
  • la figure 5 illustre l'étape de déplacement du deuxième tube de forage après qu'il a été saisi par l'organe de préhension;
  • la figure 6 illustre l'étape de fixation du deuxième tube de forage au premier tube de forage ;
  • la figure 7 illustre l'étape d'enfoncement du deuxième tube de forage, fixé au premier tube de forage, dans le sol ;
  • la figure 8 illustre une variante de réalisation dans laquelle l'installation comporte un organe de retenue muni d'une tête d'actionnement rotative ;
  • la figure 9 illustre une autre variante dans laquelle l'organe de retenue est posé devant la paroi à forer ;
  • la figure 10 illustre un mode de réalisation de l'organe de retenue utilisé lorsque la direction de forage est horizontale ;
  • la figure 11 illustre un mode de réalisation de l'organe de retenue utilisé lorsque la direction de forage est verticale ; et
  • la figure 12 illustre un exemple d'une installation de forage selon l'art antérieur.
The invention will be better understood on reading the following description of embodiments of the invention given by way of non-limiting example, with reference to the appended drawings, in which:
  • the figure 1 illustrates the installation according to the invention before the start of the drilling operations;
  • the figure 2 illustrates the step of gripping the first drill pipe by the gripping member;
  • the figure 3 illustrates the step of aligning the first drill pipe with the drilling direction;
  • the figure 4 illustrates the step of driving the first drill pipe into the ground;
  • the figure 5 illustrates the step of moving the second drill pipe after it has been grasped by the gripping member;
  • the figure 6 illustrates the step of attaching the second drill pipe to the first drill pipe;
  • the figure 7 illustrates the step of driving the second drill pipe, attached to the first drill pipe, into the ground;
  • the figure 8 illustrates an alternative embodiment in which the installation comprises a retaining member provided with a rotary actuating head;
  • the figure 9 illustrates another variant in which the retaining member is placed in front of the wall to be drilled;
  • the figure 10 illustrates an embodiment of the retainer used when the drilling direction is horizontal;
  • the figure 11 illustrates an embodiment of the retainer used when the drilling direction is vertical; and
  • the figure 12 illustrates an example of a drilling rig according to the prior art.

Description détaillée de l'inventionDetailed description of the invention

Sur la figure 1 , on a illustré un exemple de réalisation d'une installation 10 de forage d'un sol S conforme à la présente invention. Comme il sera décrit plus en détail ci-dessous, cette installation permet notamment de réaliser des forages dans une paroi P verticale selon une direction de forage D horizontale.On the figure 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.

Sans sortir du cadre de la présente invention, la paroi P pourra présenter une autre configuration, tandis que la direction de forage D pourra être inclinée par rapport à l'horizontale, ou bien être verticale.Without departing from the scope of the present invention, the wall P may have another configuration, while the drilling direction D may be inclined relative to the horizontal, or be vertical.

L'installation 10 comporte un bras de manipulation 12 articulé et motorisé qui, dans cet exemple, est un robot présentant plusieurs axes d'articulation référencés X1, X2, X3, X4, X5. Le bras de manipulation présente trois points d'articulation.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.

Plus précisément, le bras de manipulation comporte une première portion 14 qui peut pivoter autour d'un axe de rotation vertical X1, une deuxième portion 16 qui peut pivoter par rapport à la première portion 14 autour d'un axe de rotation X2, une troisième portion 18 qui peut pivoter par rapport à la deuxième portion 16 autour d'un axe de rotation X3, une quatrième portion 20 articulée par rapport à la troisième portion 18. More specifically, 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.

Contrairement à l'art antérieur, le bras de manipulation est dépourvu de glissière.Unlike the prior art, the manipulator arm is devoid of slide.

Le bras de manipulation 12 comporte en outre un organe de préhension 30 qui est articulé par rapport à la quatrième portion 20. Comme on le constate, l'organe de préhension est disposé à l'extrémité du bras de manipulation. Le bras de manipulation 12 comporte des moyens d'actionnement, non représentés ici, qui permettent de mettre en mouvement les différentes portions les unes par rapport aux autres de manière à déformer le bras de manipulation et ainsi orienter et déplacer dans l'espace l'organe de préhension 30. Ce type de bras de manipulation est notamment fabriqué par les sociétés KUKA ou FANUC. En revanche, l'utilisation d'un tel bras de manipulation dans le cadre d'un forage d'un sol selon la présente invention n'est pas décrite dans l'art antérieur.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. On the other hand, 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.

Dans cet exemple, les articulations et les différentes portions sont présentées de manière schématique. Il est entendu que le bras de manipulation est configuré pour permettre notamment un déplacement rectiligne de l'organe de préhension mobile, et notamment selon la direction de forage D. In this example, 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.

Dans cet exemple, l'installation 10 comporte par ailleurs plusieurs tubes de forage, à savoir dans cet exemple, un premier tube de forage 40 ayant une longueur L, un deuxième tube de forage 42 et un troisième tube de forage 44. Chacun des premier, deuxième et troisième tubes de forage comporte une première extrémité 40a, 42a, 44a et une seconde extrémité 40b, 42b, 44b opposée à la première extrémité. Chacun de ces tubes de forage présente un axe longitudinal. Ces tubes sont prévus pour être solidarisés les uns aux autres, bout à bout, afin de former un ensemble tubulaire de forage de grande longueur. Bien entendu, sans sortir du cadre de la présente invention, ces tubes pourraient se présenter sous la forme de tiges de forage.In this example, 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.

Par ailleurs, le bras de manipulation est dépourvu de glissière longiforme de guidage des tubes de forage que l'on voit sur la figure 12 illustrant une installation de l'art antérieur.Moreover, 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.

Comme on le constate sur la figure 1 , la deuxième extrémité 40b du premier tube de forage 40 porte un outil de forage 41, dans cet exemple, un taillant.As we see on the figure 1 , the second end 40b of the first drill pipe 40 carries a drilling tool 41, in this example, a cutter.

En outre, la seconde extrémité 42b du deuxième tube de forage 42 est solidarisable avec la première extrémité 40a du premier tube de forage 40. Dans cet exemple, la solidarisation du premier tube de forage avec le deuxième tube de forage est réalisée par vissage.In addition, the second end 42b of the second drill pipe 42 is securable with the first end 40a of the first drill pipe 40. In this example, the first drill pipe is joined to the second drill pipe by screwing.

L'organe de préhension 30 est configuré pour saisir l'un ou l'autre des premier, deuxième et troisième tubes de forage par leurs premières extrémités.The gripping member 30 is configured to grip one or the other of the first, second and third drill pipes at their first ends.

Dans l'exemple de la figure 2 , l'organe de préhension 30 vient saisir le premier tube de forage 40 par sa première extrémité 40a. Pour ce faire, l'organe de préhension 30 comporte des moyens formant pince 31 qui viennent serrer la première extrémité 40a du premier tube 40. Le premier tube de forage 40 forme alors un prolongement de l'organe de préhension 30. In the example of the figure 2 , the gripping member 30 grasps the first drill pipe 40 by its first end 40a. To do this, 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.

On précise que l'organe de préhension 30 comporte en outre une tête d'actionnement 32 qui, dans cet exemple, permet la mise en rotation et en vibration du premier tube de forage 40. It is specified that 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.

Dans cet exemple, l'installation 10 comporte en outre un organe de retenue 50 ayant un axe A qui est sensiblement parallèle à la direction de forage D. In this example, the installation 10 further comprises a retaining member 50 having an axis A which is substantially parallel to the drilling direction D.

Dans l'exemple de la figure 1 , l'organe de retenue 50 est fixé solidairement à la paroi P par l'intermédiaire de moyens de fixation 52, 54. In the example of the figure 1 , the retaining member 50 is fixed integrally to the wall P by means of fixing means 52, 54.

L'organe de retenue 50 présente la forme d'un manchon de manière à pouvoir être traversé par l'un ou l'autre des premier, deuxième et troisième tubes de forage. Toujours dans l'exemple de la figure 1 , l'organe de retenue 50 comporte en outre un dispositif de blocage commandable 56, qui sera décrit plus en détail ci-dessous, pour bloquer la translation du premier tube de forage par rapport au sol selon la direction de forage D. 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.

Le bras de manipulation 12 comporte par ailleurs des moyens 60 pour enfoncer le premier tube de forage 40 dans le sol S selon la direction de forage D. Dans cet exemple, les moyens pour enfoncer le premier tube de forage comportent les différentes portions 14, 16, 18, 20 constitutives du bras de manipulation et les moyens d'actionnement permettant de bouger les différentes portions les unes par rapport aux autres, de manière à exercer une poussée rectiligne sur l'organe de préhension, cette poussée étant dirigée selon la direction de forage 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. In this example, 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.

Cette étape d'enfoncement du premier tube de forage 40 dans le sol S est illustrée en figures 3 et 4 . This step of driving the first drill pipe 40 into the ground S is illustrated in FIG. Figures 3 and 4 .

Le bras de manipulation comporte par ailleurs des moyens d'alignement 70 pour aligner le premier tube de forage 40 avec la direction de forage D, les moyens d'alignement comportant dans cet exemple les différentes portions constitutives du bras de manipulation et les moyens d'actionnement, ces derniers permettant d'aligner l'axe longitudinal du premier tube de forage avec la direction de forage D. 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.

On précise que l'installation comporte en outre des moyens de mesure 69, illustrés en figure 4 , pour déterminer la position et l'orientation spatiale de l'organe de préhension 30, ces moyens de mesure comprenant dans cet exemple un ou plusieurs gyroscopes, ou tout autre capteur de position et d'orientation spatiale.It should be noted that 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.

Les moyens d'alignement utilisent les données de mesures fournies par les moyens de mesure 69 afin d'aligner l'axe longitudinal du premier tube de forage 40 avec la direction de forage D. 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.

Comme illustré en figure 3 , après avoir saisi le premier tube de forage 40, l'organe de préhension 30 est déplacé de manière à ce que l'outil de forage 41 soit engagé dans l'organe de retenue 50. Le bras de manipulation est ensuite actionné de manière à exercer une poussée rectiligne sur l'organe de préhension 30 dirigé selon la direction de forage D de manière à enfoncer le premier tube de forage dans le sol S. As illustrated in figure 3 , After inputting the first drill pipe 40, 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.

Concomitamment à la poussée exercée sur le premier tube de forage 40 par l'organe de préhension 30, la tête d'actionnement 32 est actionnée de manière à mettre en rotation le premier tube de forage 40. Concomitantly with the thrust exerted on the first tube 40 by the gripping member 30, the actuating head 32 is actuated so as to rotate the first tube 40.

Dans cet exemple, la tête d'actionnement comporte également un générateur de vibrations pour faire vibrer le premier tube de forage 40. In this example, the actuation head also comprises a vibration generator for vibrating the first drill pipe 40.

Dit autrement, on enfonce le premier tube de forage dans le sol en le mettant en rotation tout en le faisant vibrer et en le poussant selon la direction de forage D, comme représenté sur la figure 4 . In other words, 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 .

Après avoir enfoncé le premier tube de forage 40 dans le sol S, le dispositif de blocage 56 est actionné afin d'empêcher tout déplacement axial du premier tube de forage 40. L'organe de préhension 30 libère la première extrémité 40a du premier tube de forage 40, et va chercher le deuxième tube de forage 42 en le saisissant par sa première extrémité 42a. After driving the first drill pipe 40 into the ground S, 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.

Le bras de manipulation est ensuite actionné de manière à aligner l'axe longitudinal du deuxième tube de forage 42 avec la direction de forage D. The manipulator arm is then actuated to align the longitudinal axis of the second drill pipe 42 with the drill direction D.

L'organe de préhension 30 est alors déplacé de manière à amener la seconde extrémité 42b du deuxième tube de forage 42 en regard de la première extrémité 40a du premier tube de forage 40. On réalise alors la solidarisation du deuxième tube de forage 42 avec le premier tube de forage 40, par vissage, en faisant tourner à l'aide de la tête d'actionnement 32 le deuxième tube de forage 42 afin de visser la deuxième extrémité du deuxième tube de forage à la pièce d'extrémité du premier tube de forage 40 bloqué dans le sol grâce au dispositif de blocage 56. 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.

On comprend donc que le bras de manipulation 12 comporte également des moyens pour fixer la seconde extrémité 42b du deuxième tube 42 à la première extrémité 40a du premier tube de forage 40, dans cet exemple, lesdits moyens comprenant notamment la tête d'actionnement de l'organe de préhension 30. It is therefore clear that 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.

Après que le deuxième tube de forage 42 a été solidarisé au premier tube de forage 40, et plus précisément après la fixation de la seconde extrémité du deuxième tube de forage avec la première extrémité du premier tube de forage, le dispositif de blocage 56 est relâché afin de permettre la libre translation du premier tube de forage 40 selon la direction de forage D. On déplace alors l'organe de préhension 30 selon la direction de forage D afin d'enfoncer dans le sol le deuxième tube de forage fixé au premier tube de forage. Ce mouvement de déplacement est donc une translation réalisée selon la direction du forage D. After the second drill pipe 42 has been secured to the first drill pipe 40, and more precisely after the attachment of the second end of the second drill pipe to the first end of the first drill pipe, 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.

De même, le deuxième tube de forage 42 sera mis en rotation lors du déplacement de l'organe de préhension 30, de façon à entraîner en rotation l'outil de forage 41. On fait également vibrer le deuxième tube de forage. Cette étape est illustrée en figure 7 . Similarly, 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 .

Ainsi, dans l'exemple de mise en oeuvre du procédé de forage selon l'invention, illustré aux figures 1 à 7 , on fournit un premier et un deuxième tubes de forage 40, 42, chacun ayant une première extrémité 40a, 42a et une seconde extrémité 40b, 42b opposée à la première extrémité, la seconde extrémité du deuxième tube de forage étant solidarisable avec la première extrémité du premier tube de forage ;
on fournit un bras de manipulation 12 muni d'un organe de préhension mobile 30 ;
on saisit le premier tube de forage 40 par sa première extrémité 40a à l'aide de l'organe de préhension 30 ;
on aligne le premier tube de forage avec la direction de forage D à l'aide du bras de manipulation 12, et plus spécifiquement grâce à un ajustement de la position de l'organe de préhension 30 ;
on déplace l'organe de préhension 30 selon la direction de forage afin d'enfoncer le premier tube de forage 40 dans le sol tout en mettant en rotation le premier tube de forage ;
après avoir enfoncé le premier tube de forage 40 dans le sol, l'organe de préhension 30 libère le premier tube de forage ; puis
on saisit le deuxième tube de forage 42 par sa première extrémité 42a à l'aide de l'organe de préhension 30 ;
on déplace l'organe de préhension 30 afin d'amener la seconde extrémité du deuxième tube de forage au regard de la première extrémité du premier tube de forage ;
on fixe par vissage la seconde extrémité 42b du deuxième tube de forage 42 avec la première extrémité 40a du premier tube de forage 40 en faisant tourner la tête d'actionnement 32 ; et
on déplace l'organe de préhension 30 selon la direction de forage D afin d'enfoncer dans le sol le deuxième tube de forage fixé au premier tube de forage.Thus, in the exemplary implementation of the drilling method according to the invention, illustrated in 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 of the second drill pipe opposite the first end of the first drill pipe;
the second end 42b of the second drill pipe 42 is fixed by screwing with the first end 40a of the first drill pipe 40 by rotating the actuating head 32 ; and
the gripping member 30 is moved along the drilling direction D in order to drive the second drill pipe attached to the first drill pipe into the ground.

Par ailleurs, pendant l'enfoncement du premier tube de forage 40 dans le sol et également pendant l'enfoncement du deuxième tube de forage dans le sol, on maintient les premier et deuxième tubes de forage dans l'alignement de la direction de forage en comparant périodiquement la trajectoire réelle du forage et la direction de forage désirée D et en ajustant, le cas échéant, la position et l'orientation spatiale de l'organe de préhension 30, afin de corriger la trajectoire.Moreover, during the driving of the first drill pipe 40 into the ground and also during the driving of the second drill pipe into the ground, 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.

Sur la figure 8 , on a illustré un mode de réalisation dans lequel l'organe de retenue 50 comporte en outre une tête rotative 55 qui permet la mise en rotation du premier tube de forage 40 lorsque le premier tube de forage 40 coopère avec l'organe de retenue 50. Autrement dit, dans le mode de réalisation de la figure 13, la tête rotative est située dans l'organe de retenue 50 et non pas dans l'organe de préhension 30. On the figure 8 There is illustrated an embodiment 50 wherein 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 . in other words, in the embodiment of Figure 13, the rotary head is located in the retaining member 50 and not in the gripping member 30.

On comprend donc que la tête rotative 55 est agencée pour mettre en rotation le premier tube de forage 40 pendant que l'organe de préhension 30 se déplace de manière à enfoncer le premier tube de guidage 40 dans le sol.It is therefore understood that 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.

Dans la variante de la figure 9 , l'organe de retenue 50 est disposé en regard de la paroi P à forer, sans y être fixé. L'organe de retenue 50 est posé sur le sol par le biais d'un pied 57. In the variant of the figure 9 , 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.

Sur la figure 10 , on a illustré l'organe de retenue 50 lorsque le forage est horizontal. Dans cet exemple, l'organe de retenue 50 comporte des mors hydrauliques 56 montés sur une plaque 57. On the figure 10 There is illustrated the retainer 50 when the borehole is horizontal. In this example, the retaining member 50 comprises hydraulic jaws 56 mounted on a plate 57.

Sur la figure 11 , on a illustré une variante de l'organe de retenue 50 utilisé lorsque le forage est vertical. Dans cet exemple, l'organe de retenue 50 comporte un système de guillotine rabattable 59 avec retenue par frottement du premier tube de guidage 40. On the figure 11 , there is illustrated a variant of the retainer 50 used when drilling is vertical. In this example, the retaining member 50 comprises a folding guillotine system 59 with frictional retention of the first guide tube 40.

Claims (13)

  1. A method of drilling ground along a drilling direction, the method comprising
    providing at least first and second drill tubes (40, 42), each having a first end (40a, 42a) and a second end (40b, 42b) opposite from the first end, the second end of the second drill tube being suitable for securing to the first end of the first drill tube;
    providing a manipulator arm (12), which is an articulated and motorized arm presenting at least three articulation points, not having a slide, and provided with a gripper member (30);
    gripping the first drill tube (40) via its first end (40a)using the gripper member (30);
    aligning the first drill tube with the drilling direction (D) using the manipulator arm (12);
    moving the gripper member (30) along the drilling direction by actuating the manipulator so as to drive the first drill tube into the ground;
    after driving the first drill tube into the ground, the gripper member (30) releases the first drill tube; then
    gripping the second drill tube (42) via its first end (42a)using the gripper member (30);
    moving the gripper member (30) so as to bring the second end of the second drill tube into a position facing the first end of the first drill tube;
    fastening the second end (42b) of the second drill tube (42) to the first end (40a) of the first drill tube (40); and
    moving the gripper member (30) in the drilling direction in order to drive the second drill tube fastened to the first drill tube into the ground.
  2. A drilling method according to claim 1, wherein the first drill tube (40) is driven into the ground by setting it into rotation while exerting thrust thereon in the drilling direction.
  3. A drilling method according to claim 1 or claim 2, wherein the first drill tube (40) is driven into the ground by vibrating it while exerting thrust thereon in the drilling direction.
  4. A drilling method according to any one of claims 1 to 3, wherein there is also provided a retainer member (50) having a guide axis (A) substantially parallel to the drilling direction, the retainer member is placed facing the ground to be drilled, and wherein the first drill tube is driven into the ground after inserting the second end of the first drill tube through the retainer member.
  5. A drilling method according to claim 4, wherein the retainer member (50) is fastened to the ground beforehand.
  6. A drilling method according to any one of claims 1 to 5, wherein, while driving the first drill tube (40) into the ground, the first drill tube (40) is maintained in alignment with the drilling direction, where necessary, by adjusting the position and/or the orientation of the retainer member (30).
  7. An installation (10) for drilling ground (S) along a drilling direction (D), by performing the drilling method according to any preceding claim, wherein it comprises:
    at least first and second drill tubes (40, 42), each having a first end (40a, 42a) and a second end (40b, 42b, 44b) opposite from the first end, the second end (42b) of the second drill tube (42) being suitable for securing with the first end (40a) of the first drill tube (40); and
    an articulated and motorized manipulator arm (12), the manipulator arm presenting at least three articulation points and not having a slide, and comprising:
    a gripper member (30) configured to grip one or the other of the first and second drill tubes via its first end;
    alignment means (70) for aligning the first drill tube (40) with the drilling direction (D);
    actuator means (60) for actuating the manipulator arm to move the gripper member along the drilling direction (D) so as to drive the first drill tube (40) into the ground (S) along the drilling direction (D);
    fastener means for fastening the second end (40b) of the second drill tube (42) to the first end (40a) of the first drill tube (40); and
    drive means for moving the gripper member along the drilling direction so as to drive the second drill tube fastened to the first drill tube into the ground.
  8. A drilling installation according to claim 7, wherein in that it further comprises a retainer member (50) having an axis substantially parallel to the drilling direction (D), the retainer member being arranged to have one or the other of the first and second drill tubes (40, 42) passed therethrough.
  9. A drilling installation according to claim 8, wherein in that the retainer member (50) further comprises a controllable blocker device (56) for blocking movement in translation of the first drill tube relative to the ground along the drilling direction.
  10. A drilling installation according to claim 8 or claim 9, wherein in that the retainer member (50) further comprises a rotary head (55) enabling at least the first drill tube (40) to be set into rotation when said first drill tube (40) is co-operating with the retainer member.
  11. A drilling installation (30) according to any one of claims 7 to 10, wherein in that the manipulator arm (12) further comprises an actuator head (32) enabling at least the first drill tube (40) to be set into rotation and/or into vibration.
  12. A drilling installation according to any one of claims 7 to 11, wherein in that it further comprises measurement means (69) for determining the position and the orientation in three-dimensional space of the gripper member (30), and in that the alignment means make use of measurement data supplied by the measurement means.
  13. A drilling installation according to any one of claims 7 to 12, wherein in that it further comprises at least one drillpipe, and in that the gripper member is also configured to take hold of the drillpipe and to insert it in the first drill tube inserted into the ground.
EP15754263.0A 2014-07-09 2015-07-08 Method of drilling a ground using a robotic arm Active EP3167141B1 (en)

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FR1456602A FR3023577B1 (en) 2014-07-09 2014-07-09 METHOD OF DRILLING A FLOOR USING A ROBOTIC ARM
PCT/FR2015/051884 WO2016005701A2 (en) 2014-07-09 2015-07-08 Method of drilling a ground using a robotic arm

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

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