NO334491B1 - Auxiliary arm for drilling device - Google Patents
Auxiliary arm for drilling device Download PDFInfo
- Publication number
- NO334491B1 NO334491B1 NO20110635A NO20110635A NO334491B1 NO 334491 B1 NO334491 B1 NO 334491B1 NO 20110635 A NO20110635 A NO 20110635A NO 20110635 A NO20110635 A NO 20110635A NO 334491 B1 NO334491 B1 NO 334491B1
- Authority
- NO
- Norway
- Prior art keywords
- auxiliary arm
- drilling
- pipe
- drilling center
- center
- Prior art date
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 23
- 238000005516 engineering process Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000009417 prefabrication Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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
- 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
-
- 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
- E21B19/146—Carousel systems, i.e. rotating rack systems
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
Hjelpearm for boreanordning (1) omfattende en toppdrevet boremaskin (4) som er vertikalforskyvbar langs et boresenter (10) og hvor minst én rørmanipulator (6) er innrettet til å kunne forskyve rør (8) mellom boresenteret (10) og et rørmagasin (7), og hvor det ved siden av boresenteret (10) er anordnet minst én i det minste fjernstyrbar eller automatisk drevet hjelpearm (12, 14) for røret (8), idet hjelpearmens (12, 14) gripeorgan (24) er posisjonerbart i det minste i boresenteret (10) eller i rørmanipulatorens (6) arbeidsområde.Auxiliary arm for drilling device (1) comprising a top driven drilling machine (4) vertically displaceable along a drilling center (10) and wherein at least one pipe manipulator (6) is arranged to be able to displace pipe (8) between the drilling center (10) and a pipe magazine (7). ), and wherein at least one at least one remote-controlled or automatically driven auxiliary arm (12, 14) of the tube (8) is arranged next to the drilling center, the gripping means (24) of the auxiliary arm (12) being positionable therein. smallest in the drilling center (10) or in the working area of the pipe manipulator (6).
Description
HJELPEARM FOR BOREANORDNING AUXILIARY ARM FOR DRILLING DEVICE
Oppfinnelsen vedrører en hjelpearm for en boreanordning. Nærmere bestemt dreier det seg om hjelpearm for en boreanordning omfattende en toppdrevet boremaskin som er vertikalforskyvbar langs et boresenter og hvor en rørmanipulator er innrettet til å kunne forskyve rør mellom boresenteret og et rørmagasin. The invention relates to an auxiliary arm for a drilling device. More specifically, it concerns an auxiliary arm for a drilling device comprising a top-driven drilling machine which is vertically displaceable along a drilling center and where a pipe manipulator is arranged to be able to move pipes between the drilling center and a pipe magazine.
Under automatisering av boredekk hvor rør og annet utstyr overføres mellom boresenteret og klargjørings- eller lagerposisjoner ved hjelp av blant annet styrte manipulato-rer, er det av vesentlig betydning å få øke arbeidshastigheten. Dette er særlig aktuelt under såkalt "tripping" hvor et relativt stort antall rørlengder skal mates ut av og inn i borehullet. During the automation of drilling decks where pipes and other equipment are transferred between the drilling center and preparation or storage positions using, among other things, controlled manipulators, it is of significant importance to be able to increase the work speed. This is particularly relevant during so-called "tripping", where a relatively large number of pipe lengths must be fed out of and into the borehole.
Følsomheten for selv små tidsgevinster forsterkes av at den prefabrikkering av rør-strengslengder som tradisjonelt finner sted i såkalte "musehull" i boredekket, ikke i samme grad kan nyttiggjøres når rørhåndteringen er automatisert. The sensitivity to even small time gains is reinforced by the fact that the prefabrication of pipe string lengths, which traditionally takes place in so-called "mouse holes" in the drill deck, cannot be utilized to the same extent when pipe handling is automated.
Petroleumsbransjen er relativ konservativ med hensyn til lay-out av et boredekk og det har derfor måttet gjennomføres relativt betydelig nytenkning og utstyrsmessig omlegging for å kunne oppnå den effektivitet som er ønskelig. The petroleum industry is relatively conservative with regard to the lay-out of a drilling deck and it has therefore been necessary to carry out relatively significant new thinking and equipment-related changes in order to achieve the desired efficiency.
Tradisjonell lay-out vil typisk resultere i relativt lange trippetider ved at sekvensielt utstyr må vente inntil den foregående handlingen i sekvensen er ferdig. Traditional lay-out will typically result in relatively long tripping times in that sequential equipment must wait until the previous action in the sequence is finished.
Patentskrift US 6089333 A beskriver en anordning for lagring av rør i en vertikal posisjon med det formål å forbedre plassutnyttelse på en borerigg. Patent document US 6089333 A describes a device for storing pipes in a vertical position with the aim of improving space utilization on a drilling rig.
I patentskrift US 2007/0114069 Al beskrives en fjernkontrollert anordning for posi-sjonering og stabbing av rør i et boretårn på en borerigg. Patent document US 2007/0114069 Al describes a remote-controlled device for positioning and stabbing pipes in a derrick on a drilling rig.
Patentskrift US 2009/0196712 Al beskriver en roterbar lagringsanordning for rørleng-der. Patent document US 2009/0196712 Al describes a rotatable storage device for pipe lengths.
Oppfinnelsen har til formål å avhjelpe eller redusere i det minste én av ulempene ved kjent teknikk. The purpose of the invention is to remedy or reduce at least one of the disadvantages of known technology.
Formålet oppnås i henhold til oppfinnelsen ved de trekk som er angitt i nedenstående beskrivelse og i de etterfølgende patentkrav. The purpose is achieved according to the invention by the features indicated in the description below and in the subsequent patent claims.
Det er tilveiebrakt en hjelpearm for en boreanordning hvor boreanordningen omfatter en toppdrevet boremaskin som er vertikalforskyvbar langs et boresenter, og hvor en rørmanipulator er innrettet til å kunne forskyve rør mellom boresenteret og et rørma-gasin, hvor boreanordningen kjennetegnes ved at det ved siden av boresenteret er anordnet minst én i det minste fjernstyrbar eller automatisk drevet hjelpearm for rø-ret, idet hjelpearmens gripeorgan er posisjonerbart i det minste i boresenteret eller i rørmanipulatorens arbeidsområde. An auxiliary arm is provided for a drilling device where the drilling device comprises a top-driven drilling machine which is vertically displaceable along a drilling center, and where a pipe manipulator is arranged to be able to move pipes between the drilling center and a pipe magazine, where the drilling device is characterized by the fact that next to the drilling center at least one remotely controllable or automatically operated auxiliary arm for the pipe is arranged, the auxiliary arm's gripping member being positionable at least in the drilling center or in the pipe manipulator's working area.
Hjelpearmen kan derved avlaste rørmanipulatoren for eksempel når røret holdes i ro for å vente på at den toppdrevne boremaskinen kommer i posisjon. Hjelpearmen kan overta røret fra rørmanipulatoren slik at rørmanipulatoren kan påbegynne neste ar-beidsoperasjon, idet hjelpearmen forskyver røret til boresenteret når dette er klar til å motta røret. The auxiliary arm can thereby relieve the pipe manipulator, for example, when the pipe is held still to wait for the top-driven drilling machine to come into position. The auxiliary arm can take over the pipe from the pipe manipulator so that the pipe manipulator can begin the next work operation, as the auxiliary arm moves the pipe to the drilling center when it is ready to receive the pipe.
Hjelpearmen kan være forsynt med et indre dreieledd nær sin innfestning og et mellomdreieledd mellom det indre dreieleddet og gripeorganet for å kunne oppnå et til-fredsstillende arbeidsområde, typisk i horisontalplanet. Det vil si at de nevnte ledd oftest har sine dreieakser parallelt med boresenteret. Hjelpearmen kan være utformet til bare å holde røret i ro etter at den har tatt over fra rørmanipulatoren. The auxiliary arm can be provided with an internal pivot joint near its attachment and an intermediate pivot joint between the internal pivot joint and the gripping member in order to achieve a satisfactory working area, typically in the horizontal plane. That is to say, the aforementioned joints most often have their axes of rotation parallel to the drilling center. The auxiliary arm may be designed to merely hold the tube still after it has taken over from the tube manipulator.
Gripeorganet kan være koplet til hjelpearmen ved hjelp av et ytre dreieledd som typisk også har sin akse parallelt med boresenteret. The gripper can be connected to the auxiliary arm by means of an external pivot which typically also has its axis parallel to the drilling center.
Minst det indre dreieleddet, mellomleddet eller det ytre dreieleddet kan være dreibart om mer enn én akse. Dette muliggjør at i det minste et parti av hjelpearmen kan dreies bort fra sitt hovedarbeidsplan. En slik løsning kan for eksempel anvendes til å parkere hjelpearmen i en hensiktsmessig posisjon når den ikke er i bruk. At least the inner swivel joint, the intermediate joint or the outer swivel joint can be rotatable about more than one axis. This enables at least part of the auxiliary arm to be turned away from its main working plan. Such a solution can, for example, be used to park the auxiliary arm in an appropriate position when it is not in use.
Minst ett parti av hjelpearmen kan være dreibart i mer enn ett plan, noe som også kan oppnås ved å anordne flere ledd etter hverandre langs hjelpearmen, idet leddenes dreieakse har ulik retning. At least one part of the auxiliary arm can be rotatable in more than one plane, which can also be achieved by arranging several joints one after the other along the auxiliary arm, the axis of rotation of the joints being in different directions.
Videre kan det være anordnet minst én hjelpearm på motstående sider av boresenteret. En slik løsning muliggjør tilgang til boresenteret fra motstående sider, noe som vil kunne effektivisere trippearbeidet ytterligere. Hjelpearmene kan være høydeforskyv-bare. Furthermore, at least one auxiliary arm can be arranged on opposite sides of the drilling center. Such a solution enables access to the drilling center from opposite sides, which will make tripping work even more efficient. The auxiliary arms can be height-displaced only.
Armpartiene og gripeorganet kan være manøvrert på i og for seg kjent måte, for eksempel ved hjelp av elektriske eller hydrauliske aktuatorer. The arm parts and the gripping member can be maneuvered in a manner known per se, for example by means of electric or hydraulic actuators.
En anordning ifølge oppfinnelsen bidrar på en enkel og rimelig måte til å oppnå en økning av trippehastigheten sammenlignet med kjent teknikk. A device according to the invention helps in a simple and reasonable way to achieve an increase in the tripping speed compared to known technology.
I det etterfølgende beskrives et eksempel på en foretrukket utførelsesform som er anskueliggjort på medfølgende tegninger, hvor: Fig. 1 viseren boreanordning med hjelpearmer i henhold til oppfinnelsen; Fig. 2 viser et snitt I-l i fig. 1; In what follows, an example of a preferred embodiment is described which is visualized in the accompanying drawings, where: Fig. 1 shows a drilling device with auxiliary arms according to the invention; Fig. 2 shows a section I-1 in fig. 1;
Fig. 3 viser et utsnitt fra fig. 2 i større målestokk; og Fig. 3 shows a section from fig. 2 on a larger scale; and
Fig. 4 viser et riss II-II i fig. 2 i større målestokk. Fig. 4 shows a diagram II-II in fig. 2 on a larger scale.
På tegningene betegner henvisningstallet 1 en boreanordning omfattende en tårnfø-ring 2 som er forsynt med en toppdrevet boremaskin 4, hvor boremaskinen 4 er vertikalforskyvbar langs tårnføringen 2. Rørmanipulatorers 6 arbeidsområde og posisjon av rørmagasin 7 er indikert i fig. 2. In the drawings, the reference number 1 denotes a drilling device comprising a tower guide 2 which is equipped with a top-driven drilling machine 4, where the drilling machine 4 is vertically displaceable along the tower guide 2. The working area of the pipe manipulators 6 and the position of the pipe magazine 7 are indicated in fig. 2.
Et sammensatt rør 8 i form av et borerør befinner seg i boresenteret 10 og er holdt i denne posisjonen av to første hjelpearmer 12 inntil boremaskinen 4 griper tak i røret 8. A composite pipe 8 in the form of a drill pipe is located in the drilling center 10 and is held in this position by two first auxiliary arms 12 until the drilling machine 4 grips the pipe 8.
I fig. 1 og 2 er det også vist at boreanordningen 1 er forsynt med et andre par hjelpearmer 14 som befinner seg i en uvirksom posisjon på motstående side av boresenteret 10 i forhold til de første hjelpearmer 12. In fig. 1 and 2 it is also shown that the drilling device 1 is provided with a second pair of auxiliary arms 14 which are in an inactive position on the opposite side of the drilling center 10 in relation to the first auxiliary arms 12.
I dette foretrukne utførelseseksempel omfatter hjelpearmene et indre armparti 16 og et ytre armparti 18, se fig. 3 og 4. In this preferred embodiment, the auxiliary arms comprise an inner arm part 16 and an outer arm part 18, see fig. 3 and 4.
Det indre armparti 16 er koplet til tårnføringen 2 ved hjelp av et indre dreieledd 20 og er i sitt motstående endeparti koplet til det ytre armparti 18 via et mellomdreieledd 22. The inner arm part 16 is connected to the tower guide 2 by means of an inner pivot joint 20 and is connected at its opposite end part to the outer arm part 18 via an intermediate pivot joint 22.
Ved sitt motstående endeparti er det ytre armparti 18 koplet til et gripeorgan 24 ved hjelp av et ytre dreieledd 26. At its opposite end part, the outer arm part 18 is connected to a gripping member 24 by means of an outer pivot joint 26.
Hjelpearmene 12, 14 er derved innrettet til å kunne forskyve røret 8 til en hvilken som helst posisjon innen sitt arbeidsområde inkludert i boresenteret 10. The auxiliary arms 12, 14 are thereby arranged to be able to move the pipe 8 to any position within its working area included in the drilling center 10.
I andre ikke viste utførelsesformer kan hjelpearmene 12, 14 være festet til andre konstruksjonsdeler enn tårnføringen 2. In other embodiments not shown, the auxiliary arms 12, 14 can be attached to structural parts other than the tower guide 2.
I den viste utførelsesformen er mellomdreieleddet 22 dreibart om en første akse 28 som er parallell med boresenteret 10, og en andre akse 30 som er parallell med det indre armparti 16. In the embodiment shown, the intermediate pivot joint 22 is rotatable about a first axis 28 which is parallel to the drilling center 10, and a second axis 30 which is parallel to the inner arm part 16.
Det ytre armparti 18 med gripeorganet 24 er derved innrettet til å kunne dreies til en vertikal posisjon, se fig. 4. En slik posisjon kan være gunstig når hjelpearmen 12, 14 skal parkeres. The outer arm part 18 with the gripping member 24 is thereby arranged to be able to be turned to a vertical position, see fig. 4. Such a position can be advantageous when the auxiliary arm 12, 14 is to be parked.
Hjelpearmens 12, 14 virkemåte er forklart i beskrivelsens generelle del. The operation of the auxiliary arm 12, 14 is explained in the general part of the description.
Claims (6)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20110635A NO334491B1 (en) | 2011-04-29 | 2011-04-29 | Auxiliary arm for drilling device |
PCT/NO2012/050068 WO2012148284A1 (en) | 2011-04-29 | 2012-04-18 | Auxiliary arm for drilling equipment |
US14/114,686 US20140054089A1 (en) | 2011-04-29 | 2012-04-18 | Auxiliary Arm for Drilling Equipment |
EP12776101.3A EP2702225A4 (en) | 2011-04-29 | 2012-04-18 | Auxiliary arm for drilling equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20110635A NO334491B1 (en) | 2011-04-29 | 2011-04-29 | Auxiliary arm for drilling device |
Publications (2)
Publication Number | Publication Date |
---|---|
NO20110635A1 NO20110635A1 (en) | 2012-10-30 |
NO334491B1 true NO334491B1 (en) | 2014-03-17 |
Family
ID=47072574
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
NO20110635A NO334491B1 (en) | 2011-04-29 | 2011-04-29 | Auxiliary arm for drilling device |
Country Status (4)
Country | Link |
---|---|
US (1) | US20140054089A1 (en) |
EP (1) | EP2702225A4 (en) |
NO (1) | NO334491B1 (en) |
WO (1) | WO2012148284A1 (en) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA3022888A1 (en) | 2016-05-12 | 2017-11-16 | Dreco Energy Services Ulc | System and method for offline standbuilding |
WO2019195651A1 (en) | 2018-04-05 | 2019-10-10 | National Oilwell Varco, L.P. | System for handling tubulars on a rig |
US10808465B2 (en) | 2018-04-27 | 2020-10-20 | Canrig Robotic Technologies As | System and method for conducting subterranean operations |
US11041346B2 (en) | 2018-04-27 | 2021-06-22 | Canrig Robotic Technologies As | System and method for conducting subterranean operations |
US10822891B2 (en) | 2018-04-27 | 2020-11-03 | Canrig Robotic Technologies As | System and method for conducting subterranean operations |
US11015402B2 (en) | 2018-04-27 | 2021-05-25 | Canrig Robotic Technologies As | System and method for conducting subterranean operations |
US11035183B2 (en) | 2018-08-03 | 2021-06-15 | National Oilwell Varco, L.P. | Devices, systems, and methods for top drive clearing |
US11891864B2 (en) | 2019-01-25 | 2024-02-06 | National Oilwell Varco, L.P. | Pipe handling arm |
WO2020172407A1 (en) | 2019-02-22 | 2020-08-27 | National Oilwell Varco, L.P. | Dual activity top drive |
US11834914B2 (en) | 2020-02-10 | 2023-12-05 | National Oilwell Varco, L.P. | Quick coupling drill pipe connector |
US11274508B2 (en) | 2020-03-31 | 2022-03-15 | National Oilwell Varco, L.P. | Robotic pipe handling from outside a setback area |
US12116846B2 (en) | 2020-05-03 | 2024-10-15 | National Oilwell Varco, L.P. | Passive rotation disconnect |
US11365592B1 (en) | 2021-02-02 | 2022-06-21 | National Oilwell Varco, L.P. | Robot end-effector orientation constraint for pipe tailing path |
US11814911B2 (en) | 2021-07-02 | 2023-11-14 | National Oilwell Varco, L.P. | Passive tubular connection guide |
US11982139B2 (en) | 2021-11-03 | 2024-05-14 | National Oilwell Varco, L.P. | Passive spacer system |
NL2034271B1 (en) * | 2023-03-06 | 2024-09-18 | Ter Bron Groep B V | Hydraulic workover unit with tubular handling mechanism for positioning tubulars above a well head. |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4274778A (en) * | 1979-06-05 | 1981-06-23 | Putnam Paul S | Mechanized stand handling apparatus for drilling rigs |
NO891944D0 (en) * | 1989-05-12 | 1989-05-12 | Hitec As | DEVICE FOR ROD HANDLING SYSTEM. |
US5423390A (en) * | 1993-10-12 | 1995-06-13 | Dreco, Inc. | Pipe racker assembly |
US5762150A (en) * | 1996-09-06 | 1998-06-09 | Ingersoll-Rand Company | Drill rod changer assembly |
US7509722B2 (en) * | 1997-09-02 | 2009-03-31 | Weatherford/Lamb, Inc. | Positioning and spinning device |
IT1314808B1 (en) * | 2000-03-08 | 2003-01-16 | Casagrande Spa | AUTOMATIC LOADER FOR DRILLING RODS |
NL1016051C2 (en) * | 2000-08-30 | 2002-03-01 | Huisman Spec Lifting Equip Bv | Double mast. |
US6763898B1 (en) * | 2002-08-06 | 2004-07-20 | Itrec B.V. | Dual hoist system |
DE10341437B4 (en) * | 2003-09-09 | 2012-02-23 | Klemm Bohrtechnik Zweigniederlassung Der Bauer Maschinen Gmbh | Drilling rig with boom magazine and boom manipulation device |
US7322406B2 (en) * | 2004-07-16 | 2008-01-29 | Frank's Casing Crew & Rental Tools, Inc. | Elevation sensor for a service hose and an apparatus for positioning and stabbing well tubulars |
NO323508B1 (en) | 2005-07-05 | 2007-05-29 | Seabed Rig As | Drilling rig located on the seabed and equipped for drilling of oil and gas wells |
NO329080B1 (en) | 2006-03-20 | 2010-08-16 | Seabed Rig As | Device for tool handling in a drilling rig located on the seabed |
US20090196712A1 (en) * | 2008-01-31 | 2009-08-06 | Asbjorn Mortensen | Pipe handling system and method |
US8371790B2 (en) * | 2009-03-12 | 2013-02-12 | T&T Engineering Services, Inc. | Derrickless tubular servicing system and method |
WO2010126357A1 (en) * | 2009-04-29 | 2010-11-04 | Itrec B.V. | A tubulars storage and handling system |
-
2011
- 2011-04-29 NO NO20110635A patent/NO334491B1/en unknown
-
2012
- 2012-04-18 US US14/114,686 patent/US20140054089A1/en not_active Abandoned
- 2012-04-18 EP EP12776101.3A patent/EP2702225A4/en not_active Withdrawn
- 2012-04-18 WO PCT/NO2012/050068 patent/WO2012148284A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
NO20110635A1 (en) | 2012-10-30 |
US20140054089A1 (en) | 2014-02-27 |
EP2702225A1 (en) | 2014-03-05 |
WO2012148284A1 (en) | 2012-11-01 |
EP2702225A4 (en) | 2015-06-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
NO334491B1 (en) | Auxiliary arm for drilling device | |
NO20110638A1 (en) | Rorhandteringsmaskin | |
NO322288B1 (en) | Device for handling rudder at a drill floor | |
NO20110639A1 (en) | Rorhandteringsanordning | |
NO20054447D0 (en) | Device for storing rudder and device for handling rudder | |
CN102913162B (en) | Deep-sea sediment continuous pressure maintaining coring submarine drilling machine and operation method | |
US8235104B1 (en) | Apparatus for pipe tong and spinner deployment | |
US8936424B1 (en) | Vertical pipe handler with pivoting arms and smart grip | |
NO327032B1 (en) | Drilling mast | |
NO180392B (en) | The pipe handling system | |
NO175604B (en) | drilling equipment | |
CN202012302U (en) | Linkage manipulator | |
CN203485206U (en) | Power assisting manipulator | |
US8408334B1 (en) | Stabbing apparatus and method | |
NO323151B1 (en) | Method and apparatus for positioning a power tong at a helm | |
WO2014029812A3 (en) | Drill-rod handling device, drilling mast for a drilling rig and method for moving drill rods at a drilling rig | |
NO154933B (en) | STEERING HANDLING APPLIANCE. | |
US20210054700A1 (en) | Multifunction handler for handling drilling elements in a drilling rig, drilling rig and related methods for handling drilling elements | |
KR20160040148A (en) | Handling device for drill string component in respect of a rock drill rig and rock drill rig | |
KR20150031420A (en) | Device and method for handling drill string components in rock drilling and rock drill rig | |
NO20190405A1 (en) | Handling Tool For Casing Tongs | |
NO331722B1 (en) | Tool for guiding a drilling deck | |
IT202000022483A1 (en) | INNOVATIVE MULTIFUNCTIONAL MANIPULATOR FOR THE HANDLING OF DRILLING ELEMENTS IN A DRILLING PLANT AND RELATED DRILLING PLANT. | |
NO314810B1 (en) | Device for pipe control | |
NO337227B1 (en) | Vessel and pipeline laying method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
CHAD | Change of the owner's name or address (par. 44 patent law, par. patentforskriften) |
Owner name: ROBOTIC DRILLING SYSTEMS AS, NO |