HK1237388B - Method of drilling a ground using a robotic arm - Google Patents

Description

Background of the invention

The present invention relates to the field of geotechnical engineering, and in particular to soil drilling processes, as disclosed by WO2014011100 and WO02103162, in all types of terrain, the drilling being in particular horizontal, vertical or inclined

Traditionally, drilling machines are equipped with large slides which are used to guide the movement of the drilling tubes. One such slide, an example of which is shown in Figure 12, forms both a translation guide and a support for the drilling tube, it being noted that the drilling organ is most often made up of a plurality of drilling tubes joined together.

There are several disadvantages to using a slide.

Firstly, because the slide forms a guide with a larger size than each unit of drill pipe, it has a very large weight, since the slide must support both the weight of the unit of drill pipe and its own weight, as well as the weight of the drill head and the drilling effort.

Because of the heavy weight and large size of the slide, the drilling machine must be equipped with a complex, heavy and bulky mechanism for moving and steering the slide.

Finally, the carrier must also be sized to carry both the movement and steering mechanism, the slide and the first tube, which requires a heavy carrier which will be cumbersome and expensive.

Subject matter and summary of the invention

One purpose of the present invention is to propose a method of drilling in the ground which is easier and less cumbersome to implement.

For this purpose, the invention relates to a method of drilling a ground in a direction of drilling, in which: at least one first and a second drill pipe shall be provided, each with a first end and a second end opposite the first end, the second end of the second drill pipe being solidarising with the first end of the first drill pipe; an articulated handing arm with at least three joints shall be provided, the handing arm being motorised and equipped with a grip and having no slide; the first drill pipe shall be grasped at its first end by the grip; the drill pipe shall be aligned with the direction of drilling by the first handing arm; the grip shall be moved;The first drill pipe is inserted into the ground; after inserting the first drill pipe into the ground, the gripper releases the first drill pipe; then grips the second drill pipe by its first end with the gripper; the gripper is moved to bring the second end of the second drill pipe in the direction of the first; the first end of the first drill pipe fixes the first end of the second drill pipe to the first end of the drill pipe and moves the gripper along the first gripper to insert the second drill pipe into the ground.

For the purposes of this invention, drill pipe also includes drill rods which may be smaller in diameter than drill pipe.

It is therefore clear that the operation of the manipulating arm makes it possible, in particular, to grab the first and second drill pipe, align them with the drill direction, bind them together to form a long-distance drill pipe assembly and to introduce the said assembly into the ground.

The advantage of the articulated hand lever, which allows the gripper to be moved, is that it involves at least one deformation of the gripper, i.e. the gripper is moved, depending on the direction of drilling, by deformation of the gripper.

It is also understood that the alignment step consists of aligning the longitudinal axis of the drill pipe with the direction of drilling.

The fixing of the second drill pipe to the first drill pipe is effected by acting on the grip, for example by translation of the grip in the case of a clamping, or by rotation in the case of a screwing.

Preferably, the second drill pipe is also aligned with the drill direction before its solidification to the first drill pipe.

Preferably, the manipulating arm is an articulated robot, with a sufficient number of degrees of freedom to allow the gripper to be positioned and moved, including along a straight line with the direction of drilling.

The invention eliminates the need for a slide to introduce the drill pipe into the ground, since the hand arm is responsible for aligning the drill pipe with the direction of drilling.

The thrust in the direction of the drill is advantageously obtained by moving the gripper in the direction of the drill, and more specifically, the operation of the manipulating arm by deformation has the effect of moving the gripper in the direction of the drill and thus pushing the first drill pipe in the direction of the drill.

To push the first drill pipe into the ground, the gripper pushes the first drill pipe in the direction of the drill.

Depending on the invention, the drilling floor may be horizontal, vertical or inclined, and in particular the invention may be used for drilling a substantially vertical wall.

The first and second drill pipe are stored in at least one storage area near the handling arm, according to a preferred embodiment. The grasping organ is understood to pick up the first and second drill pipe from the storage area in succession. The invention allows drill pipe to be stored in a non-orderly manner, with the handling arm arranged to pick up the drill pipe from either end, regardless of orientation, before aligning it.

Without going beyond the scope of the present invention, the process of the invention may be repeated to introduce into the soil a drill pipe assembly consisting of more than two drill tubes.

Preferably after the drilling operation, the gripper is also used to extract the drill pipe assembly by decoupling the drill tubes from each other to successively remove them from the ground, and finally to deposit them in the storage area.

The drilling process of the invention is therefore faster and easier to implement than the previous state-of-the-art processes in which additional and specific tools are generally required to retrieve and place the drill tubes in the slide.

The advantage is that the first drill pipe is sunk into the ground by rotating it while pushing it in the direction of drilling.

The advantage is that the first drill pipe is driven into the ground by vibrating it while pushing it in the direction of drilling.

Preferably, but not necessarily, the vibration is combined with a rotation of the first drill pipe.

In an advantageous implementation, a restraint system with an axis that is substantially parallel to the direction of drilling is also provided, the restraint system is placed facing the ground to be drilled, and the first drill pipe is sunk into the ground after the second end of the first drill pipe is introduced through the restraint system.

The purpose of the restraint is to block the movement of the first drill pipe axially, e.g. to keep the first drill pipe in the ground while it is attached to the second drill pipe.

Preferably, the restraint is fixed to the ground in advance.

Preferably, but not necessarily, the restraint shall have guiding means to facilitate the guiding of the first drill pipe.

Alternatively, the restraint is placed facing the wall to be drilled, without being fixed to it.

It is preferable to keep the first drill pipe in line with the direction of drilling during the first drill pipe's entry into the ground by adjusting the position and/or orientation of the gripper if necessary.

It is understood that the control of the alignment of the first drill pipe allows the drill track to be corrected.The adjustment of the position and/or orientation of the gripper is carried out periodically, preferably in real time, as a result of which the drill track is periodically corrected during the drill.

The invention also relates to a drilling rig for a soil, according to a drilling direction, implementing the drilling process according to the invention, which consists of: at least one 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 solidarizable with the first end of the first drill pipe; an articulated manipulator arm having at least three points of articulation, and the manipulator arm having no slide and comprising: a gripper configured to grip either of the first and second drill pipe at their first ends; alignment means to align the first drill pipe with the direction of drilling; means to push the first drill pipe into the ground according to the direction of drilling; means to fix the second end of the first drill pipe to the first end of the first drill pipe; means to operate the manipulating arm so as to move the gripper along the first drill direction in order to push the second drill pipe attached to the first drill pipe into the ground.

As mentioned above, the manipulating arm is deformable and has several degrees of freedom to orient and move the gripper, in particular in a straight line direction.

The means of inserting either the first or second drill pipe into the ground are arranged to move the gripper holding the drill pipe by its first end in the direction of drilling. To do this, the gripper pushes the drill pipe in the direction of drilling. Preferably, the handling arm has an arm that pushes the gripper in the direction of drilling.

According to an advantage of the invention, the manipulating arm is without a long-shaped slide to guide the drill pipe, i.e. the manipulating arm does not have a slide such as that in Figure 12 which is substantially equal to or greater in length than the drill pipe.

Preferably, the thrust of the gripper on the first drill pipe is determined, and preferably corrected, during the drill.

Preferably, the rate of penetration of the first drill pipe is determined, and preferably corrected, during the drilling.

The control arm has movement and stress sensors to determine the penetration speed of the drill pipe and the force applied to the 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 movement speed of the gripper to correct these values.

The alignment means have the function of aligning the longitudinal axis of the drill pipe with the direction of drilling.

The advantage is that the installation also has measuring means to determine the position and spatial orientation of the gripper, and the alignment means use measurement data provided by the measuring means.

The alignment means also allow the drill pipe trajectory to be corrected during drilling time to ensure that the drill line remains straight during drilling.

Measuring means allow the position and orientation of the gripper to be determined periodically, preferably in real time, and consequently the position and orientation of the drill pipe held by the gripper.

So preferably the manipulating arm is enslaved to trajectory, speed and effort.

Alternatively, the alignment means have the advantage of a sensor capable of following a laser beam defining the direction of drilling.

The advantage of the device according to the invention is that it also has a restraint with an axis that is substantially parallel to the direction of drilling, the restraint being arranged to pass through either the first or second drill pipe.

Preferably, the restraint shall also have a controllable locking device to block the translation of the first drill pipe from the ground in the direction of drilling.

For example, the locking device will be operated in such a way as to block the first drill pipe in the ground while the gripper will, for example by clamping or screwing, link the second drill pipe to the first drill pipe.

The locking device may also be operated during the drill pipe removal phase to hold the first drill pipe in place while the gripper disassembles the second drill pipe from the second drill pipe.

In an advantageous way, the restraint shall also have a rotating head which allows at least the first drill pipe to be rotated when the first drill pipe cooperates with the restraint.

In this embodiment, the gripper only pushes the drill pipe in the direction of the drill, while the rotating head of the restraint rotates it.

The advantage of the handling arm is that it also has a drive head which allows at least the first drill pipe to be rotated and/or vibrated.

The device shall be capable of being operated by a device capable of operating the control device.

In another embodiment, the installation also has at least one drill rod, and the gripper is further configured to grip the drill rod and insert it into the first drill pipe introduced into the ground.

One variant involves first inserting the first drill pipe into the ground before introducing the drill rod into the first drill pipe.

Finally, according to a preferred method of manufacture, the manipulating arm is an articulated robot with at least three points of articulation.

Brief description of the drawings

The invention will be better understood by reading the following description of the methods of implementation of the invention given as a non-limiting example, by reference to the attached drawings, on which: Figure 1 shows the installation according to the invention before the start of drilling operations;Figure 2 shows the step of attachment of the first drill pipe by the grip;Figure 3 shows the step of alignment of the first drill pipe with the direction of drilling;Figure 4 shows the step of sinking of the first drill pipe into the ground;Figure 5 shows the step of displacement of the second drill pipe after it has been seized by the grip;Figure 6 shows the step of attachment of the first drill pipe to the drill pipe;Figure 7 shows the second step of sinking of the drill pipe,The first drill pipe is fixed in the ground;Figure 8 shows a variant in which the system has a restraint with a rotating actuating head;Figure 9 shows another variant in which the restraint is placed in front of the drilling wall;Figure 10 shows a method of making the restraint used when the drilling direction is horizontal;Figure 11 shows a method of making the restraint used when the drilling direction is vertical; andFigure 12 shows an example of a drilling system according to the previous article.

Detailed description of the invention

An example of a drilling rig 10 of a floor S conforming to the present invention is shown in Figure 1, which, as described in more detail below, permits drilling in a vertical P wall in a horizontal D direction.

Without going beyond the scope of the present invention, the wall P may have a different configuration, while the direction of drilling D may be inclined with respect to the horizontal, or be vertical.

Installation 10 has a motorized articulated manipulator arm 12 which in this example is a robot with multiple axes of articulation referred to as X1, X2, X3, X4, X5.

Specifically, the manipulating arm has a first portion 14 that can rotate about a vertical axis of rotation X1, a second portion 16 that can rotate relative to the first portion 14 around an axis of rotation X2, a third portion 18 that can rotate relative to the second portion 16 around an axis of rotation X3, a fourth portion 20 articulated relative to the third portion 18.

Unlike the previous art, the manipulating arm is without a slide.

The manipulating arm 12 also has a grip 30 which is articulated with respect to the fourth portion 20. As shown, the grip is located at the end of the manipulating arm. The manipulating arm 12 has actuators, not shown here, which allow the different portions to be moved relative to each other in such a way as to deform the manipulating arm and thus orient and move the grip 30 in space. This type of grip is manufactured by KUKAUC or FAN. However, the use of a grip arm in the drilling of such a ground according to the present invention is not described in the previous art.

In this example, the joints and the different parts are shown schematically. It is understood that the handling arm is configured to allow, inter alia, a rectilinear movement of the movable gripper, and in particular according to the direction of drilling D.

In this example, the installation 10 also has several drill pipes, namely in this example, a first drill pipe 40 having an L length, a second drill pipe 42 and a third drill pipe 44. Each of the first, second and third drill pipes 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 pipes are designed to be joined to each other, end to end, to form a long-length drill pipe assembly.

The control arm is also without the long-shaped slide to guide the drill pipe as shown in Figure 12 showing an earlier installation.

As shown in Figure 1, the second end 40b of the first drill pipe 40 carries a drill tool 41, in this example, a cutter.

In addition, the second end 42b of the second drill pipe 42 is solidifiable with the first end 40a of the first drill pipe 40. In this example, the solidification of the first drill pipe with the second drill pipe is achieved by screwing.

The grip 30 is configured to grip either of the first, second and third drill pipe at their first ends.

In the example in Figure 2, the grip 30 is attached to the first drill pipe 40 by its first end 40a. To do this, the grip 30 has means forming a clamp 31 which are attached to the first end 40a of the first pipe 40. The first drill pipe 40 then forms an extension of the grip 30.

It is stated that the grip 30 also has a drive head 32 which, in this example, allows the first drill pipe 40 to be rotated and vibrated.

In this example, installation 10 also has a restraint 50 with an A-axis that is substantially parallel to the direction of drilling D.

In the example in Figure 1, the restraint 50 is securely attached to the P wall by means of anchorages 52, 54.

The restraint 50 is sleeve-shaped so that it can be passed through either of the first, second and third drill pipe.

The manipulating arm 12 also has means 60 for plunging the first drill pipe 40 into the ground S in the direction of drilling D. In this example, the means for plunging the first drill pipe include the various portions 14, 16, 18, 20 of the manipulating arm and the means of actuation to move the various portions relative to each other so as to exert a straight thrust on the gripper, this thrust being directed in the direction of drilling D.

This step of sinking of the first drill pipe 40 into the S-soil is shown in Figures 3 and 4.

The manipulating arm also has alignment means 70 to align the first drill pipe 40 with the direction of drilling D, the alignment means comprising in this example the various constituent parts of the manipulating arm and the actuation means, the latter allowing the longitudinal axis of the first drill pipe to be aligned with the direction of drilling D.

It is specified that the installation also includes measuring devices 69, as shown in Figure 4, for determining the position and spatial orientation of the gripper 30, including in this example one or more gyroscopes or any other position and spatial orientation sensor.

The alignment means use the measurement data provided by the measurement means 69 to align the longitudinal axis of the first drill pipe 40 with the direction of drill D.

As shown in Figure 3, after gripping the first drill pipe 40, the grip 30 is moved so that the drill tool 41 is engaged in the grip 50. The handle arm is then operated in such a way as to exert a straight line thrust on the grip 30 directed in the direction of the drill D so as to penetrate the first drill pipe into the ground S.

Simultaneously with the thrust on the first drill pipe 40 by the grip 30 the actuating head 32 is actuated in such a way as to rotate the first drill pipe 40.

In this example, the actuating head also has a vibration generator to vibrate the first drill pipe 40.

In other words, the first drill pipe is sunk into the ground by rotating it while vibrating and pushing it in the direction of drill D, as shown in Figure 4.

After the first drill tube 40 has been driven into the ground S, the locking device 56 is actuated to prevent axial movement of the first drill tube 40. The gripper 30 releases the first end 40a of the first drill tube 40 and goes to fetch the second drill tube 42 by gripping it by its first end 42a.

The handling arm is then operated in such a way as to align the longitudinal axis of the second drill pipe 42 with the direction of drilling D.

The grip 30 is then moved to bring the second end 42b of the second drill pipe 42 in front of the first end 40a of the first drill pipe 40. The second drill pipe 42 is then bolted to the first drill pipe 40 by screwing, rotating the second drill pipe 42 with the actuator 32 to screw the second end of the second drill pipe to the end piece of the first drill pipe 40 stuck in the ground by the locking device 56.

It is therefore understood that the manipulating arm 12 also contains means for attaching the second end 42b of the second tube 42 to the first end 40a of the first drill tube 40, in this example including in particular the actuating head of the gripper 30.

After the second drill pipe 42 has been bonded to the first drill pipe 40, and more specifically after the second end of the second drill pipe has been attached to the first end of the first drill pipe, the locking device 56 is released to allow the first drill pipe 40 to translate freely in the direction of drill D. The grip 30 is then moved in the direction of drill D to push the second drill pipe attached to the first drill pipe into the ground.

Similarly, the second drill pipe 42 shall be rotated when the grip 30 is moved in such a way as to drive the drill tool 41 to rotate.

Thus, in the example of the implementation of the drilling process according to the invention, shown in Figures 1 to 7, a first and a second drill pipe 40, 42, each with a first end 40a, 42a and a second end 40b, 42b opposite the first end, is provided, the second end of the second drill pipe being solidarizable with the first end of the first drill pipe; - What? a handhold 12 with a movable grip 30 is provided; - What? The first drill pipe 40 shall be held by its first end 40a with the grip 30; - What? the first drill pipe is aligned with drill direction D by means of the 12th hand handle.and more specifically by adjusting the position of the grip 30; - What? the grip 30 shall be moved in the direction of the drill to penetrate the first drill pipe 40 into the ground while rotating the first drill pipe; - What? After the first drill pipe 40 has been sunk into the ground, the grip 30 shall release the first drill pipe; - What? The second drill pipe 42 shall be held by its first end 42a with the grip 30; - What? the grip 30 shall be moved to bring the second end of the second drill pipe in relation to the first end of the first drill pipe; - What? the second end 42b of the second drill pipe 42 is attached by screw to the first end 40a of the first drill pipe 40 by rotating the actuating head 32; and - What? the grip 30 is moved in the direction of the drill D to penetrate the second drill attached to the first drill.

In addition, during the grounding of the first drill pipe 40 and also during the grounding of the second drill pipe, the first and second drill pipe shall be kept in alignment with the direction of drilling by periodically comparing the actual drill track with the desired drill direction D and adjusting, if necessary, the position and spatial orientation of the gripper 30 to correct the track.

Figure 8 shows an embodiment in which the restraint 50 also has a rotating head 55 which allows the first drill pipe 40 to be rotated when the first drill pipe 40 cooperates with the restraint 50. In other words, in the embodiment in Figure 13 the rotating head is located in the restraint 50 and not in the grip 30

It is therefore understood that the rotary head 55 is arranged to rotate the first drill pipe 40 while the grip 30 moves to push the first guide pipe 40 into the ground.

In the variant in Figure 9, the restraint 50 is placed facing the wall P to be drilled, without being attached to it.

In Figure 10 the restraint 50 is shown when the bore is horizontal, in this example the restraint 50 has 56 hydraulic bites mounted on a plate 57.

Figure 11 shows a variant of the restraint 50 used when the drill is vertical. In this example, the restraint 50 has a collapsible guillotine system 59 with frictional restraint from 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.