WO1995025216A1 - Manipulator-arm for auxiliary-tool for the joining of drillpipe - Google Patents

Manipulator-arm for auxiliary-tool for the joining of drillpipe Download PDF

Info

Publication number
WO1995025216A1
WO1995025216A1 PCT/NO1995/000056 NO9500056W WO9525216A1 WO 1995025216 A1 WO1995025216 A1 WO 1995025216A1 NO 9500056 W NO9500056 W NO 9500056W WO 9525216 A1 WO9525216 A1 WO 9525216A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator arm
drill string
tool
arm
lubricating
Prior art date
Application number
PCT/NO1995/000056
Other languages
French (fr)
Inventor
Jon Gjedebo
Original Assignee
Hitec As
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitec As filed Critical Hitec As
Priority to AU21142/95A priority Critical patent/AU2114295A/en
Publication of WO1995025216A1 publication Critical patent/WO1995025216A1/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/006—Accessories for drilling pipes, e.g. cleaners
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
    • E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes

Definitions

  • the invention relates to a manipulator arm adapted to work at a drill string joint in connection with tripping out and tripping in of drill string.
  • auxiliary tools In connection with drill string operations when drilling oil and gas wells, it is usual to use different types of auxiliary tools which are operated manually.
  • a drill string e.g. a mud box is mounted around a drill string joint before the pipes are separated from each other, in order to collect and conduct away drilling mud flowing out from the pipe section lifted off.
  • it is common to suspend it from the derrick, so that it can be moved vertically, and the mass is normally balanced by means of counter balance weights.
  • the threaded portion at the end of the drill string is cleaned and lubricated before a new section is jointed. This is either done manually or by suspending cleaning and lubricating equipment in a similar manner as mentioned for the mud box or on a separate manipulator-like arm.
  • the object of the invention is to provide a manipulator arm for tools to be used in operations on the drill deck, especially operations at a pipe joint or an end of a suspended drill string upon tripping out and tripping in of a drill string, wherein the manipulator arm requires little space, readily can be brought out of the area adjacent well centre, and wherein the manipulator arm easily secures that the tool is positioned at the right level.
  • manipulator arm is placed on an existing iron roughneck adapted to be moved to and from the well centre and to be adjusted vertically for adaption to the drill string.
  • Figure 1 shows a side elevational view of a manipulator arm mounted on an ion roughneck and provided with auxiliary tools for cleaning and lubricating threads at the end of a suspended drill string;
  • Figure 2 shows the same as figure 1, seen from above;
  • Figure 3 shows a side elevational view of a manipulator arm mounted on an iron roughneck and provided with a mud box;
  • Figure 4 shows the same as figure 3, seen from above.
  • reference numeral 1 denotes an iron roughneck of a type known and with a vertically displaceable portion 2 to be used upon tightening and abolition of tightening of joints of a suspended drill string 3.
  • a manipulator arm 4 has been assigned, the manipulator arm 4 being rotatably attached in an articulation 5 and provided with a vertical hydraulic cylinder 6 adapted to push a cleaning tool 7 and a lubricating tool 8 into and out out the end of the drill string.
  • the cleaning tool 7 and the lubricating tool 8 are fixed to an arm 9 assigned a rotation motor 10 adapted to rotate the arm 9 in order to alternate between the cleaning tool 7 and the lubricating tool 8.
  • Motors 7' and 8' are adapted to rotate the cleaning tool 7 and the lubricating tool 8, respectively, around a vertical axis.
  • a box 11 containing a lubricant and possibly a cleaning agent, is attached on the iron roughneck's 1 vertically displaceable portion 2.
  • the manipulator arm 4 is substantially adapted to turn between the box 11 and centre of the well.
  • the iron roughneck 1 When a new pipe section is to be jointed at the end of the suspended drill string 3, the iron roughneck 1 is run in toward well centre, whereafter the manipulator arm 4 is turned in toward well centre by means of an actuator, not shown.
  • the cleaning tool 7 which beforehand is positioned to coincide with the well centre, is run down into the threaded portion of the drill string by means of the cylinder 6 and is rotated by the motor 7' .
  • the cleaning tool 7 is lifted out from the threaded portion of the drill string 3, and the rotation motor 10 turns the lubricating tool 8 in toward well centre.
  • the lubricating tool 8 rotated by the motor 8' is run by means of the cylinder 6 down into the threaded portion of the drill string 3 to apply lubricant thereto.
  • the lubricating tool 8 is raised by means of the cylider 6, and the manipulator arm 4 is turned away from well centre at the same time as the rotation motor 10 turns the arm to initial position.
  • the cleaning tool 7 and the lubricating tool 8 are positioned above the box 11 and down into the same in order to clean the cleaning tool 7 and to apply lubricant on the lubricating tool 8.
  • a two-piece articulated mud box 12 having a flexible outlet tube 13 is assigned to the cylinder 6.
  • the iron roughneck 1 is run forward to the drill string 3 as known per se and loosens the threaded connection.
  • the mud box 12 is conducted by means of the manipulator arm 4 in toward well centre and closed around the drill string 3, whereafter the loosened pipe is lifted off from the drill string 3. Drilling mud flowing out from the pipe lifted off, is caught by the mud box and conducted away through the outlet tube 13.
  • the manipulator arm 4 Through the attachment of the manipulator arm 4 on the vertically movable portion 2 of the iron roughneck 1, the manipulator arm 4 becomes correctly positioned vertically, the movable portion 2 always being positioned in connection with the pipe coupling operation, in many cases with an automatized positioning function.
  • the manipulator arm 4 may also carry another type of equipment than said cleaning tool 7, lubricating tool 8 and mud box 12.
  • sensors adapted to read rating plates or other identification with which drill pipes may be provided e.g. visible codes or electronic identification chips.

Abstract

A manipulator arm (4) for tools (7, 8, 12) for use in connection with a pipe joint or an end of a suspended drill string (3), wherein jointing is assisted by an iron roughneck (1), and wherein the manipulator arm (4) is disposed on the vertically positionable portion (2) of the iron roughneck (1). The manipulator arm (4) may e.g. be assigned a cleaning tool (7) and a lubricating tool (8) for cleaning and lubricating threads in the end of the drill string (3), as well as a mud box (12) for intercepting and diverting drilling mud in connection with an opening of a pipe joint of the drill string (3).

Description

MANIPULATOR-ARM FOR AUXILIARY-TOOL FOR THE JOINING OF DRILLPIPE
The invention relates to a manipulator arm adapted to work at a drill string joint in connection with tripping out and tripping in of drill string.
In connection with drill string operations when drilling oil and gas wells, it is usual to use different types of auxiliary tools which are operated manually. Upon tripping out of a drill string, e.g. a mud box is mounted around a drill string joint before the pipes are separated from each other, in order to collect and conduct away drilling mud flowing out from the pipe section lifted off. In order to facilitate the work with the mud box, it is common to suspend it from the derrick, so that it can be moved vertically, and the mass is normally balanced by means of counter balance weights. Upon tripping in of a drill string, the threaded portion at the end of the drill string is cleaned and lubricated before a new section is jointed. This is either done manually or by suspending cleaning and lubricating equipment in a similar manner as mentioned for the mud box or on a separate manipulator-like arm.
Common for the two types of tools as mentioned introductorily, is that they are used at a pipe joint or at the end of a suspended drill string, where it is not known beforehand how high above the drill deck or the end of the drill string is positioned, as this varies from time to time. Operations on the drill deck is automatized in an increasing degree, the object, of course, being to achieve a reduced crew for reasons of costs, but it is also an important object to avoid personal injury. As operations on the drill deck are automatized, it has also been necessary to automatize the use of auxiliary tools. The drill deck has limited space, and the area adjacent well centre must be relatively free of installations and equipment or the latter must easily be cleared away. Use of known manipulators or industrial robots will, therefore, give relatively complex and expensive installations as it becomes necessary to automatize an increasing number of auxiliary functions.
The object of the invention is to provide a manipulator arm for tools to be used in operations on the drill deck, especially operations at a pipe joint or an end of a suspended drill string upon tripping out and tripping in of a drill string, wherein the manipulator arm requires little space, readily can be brought out of the area adjacent well centre, and wherein the manipulator arm easily secures that the tool is positioned at the right level.
The objects are achieved in that the manipulator arm is placed on an existing iron roughneck adapted to be moved to and from the well centre and to be adjusted vertically for adaption to the drill string.
Two embodiments of the invention are described, reference being made to the attached drawings, wherein:
Figure 1 shows a side elevational view of a manipulator arm mounted on an ion roughneck and provided with auxiliary tools for cleaning and lubricating threads at the end of a suspended drill string; Figure 2 shows the same as figure 1, seen from above;
Figure 3 shows a side elevational view of a manipulator arm mounted on an iron roughneck and provided with a mud box;
Figure 4 shows the same as figure 3, seen from above.
In figure 1, reference numeral 1 denotes an iron roughneck of a type known and with a vertically displaceable portion 2 to be used upon tightening and abolition of tightening of joints of a suspended drill string 3. To the portion 2, according to the invention, a manipulator arm 4 has been assigned, the manipulator arm 4 being rotatably attached in an articulation 5 and provided with a vertical hydraulic cylinder 6 adapted to push a cleaning tool 7 and a lubricating tool 8 into and out out the end of the drill string. The cleaning tool 7 and the lubricating tool 8 are fixed to an arm 9 assigned a rotation motor 10 adapted to rotate the arm 9 in order to alternate between the cleaning tool 7 and the lubricating tool 8. Motors 7' and 8' are adapted to rotate the cleaning tool 7 and the lubricating tool 8, respectively, around a vertical axis. A box 11 containing a lubricant and possibly a cleaning agent, is attached on the iron roughneck's 1 vertically displaceable portion 2. The manipulator arm 4 is substantially adapted to turn between the box 11 and centre of the well.
When a new pipe section is to be jointed at the end of the suspended drill string 3, the iron roughneck 1 is run in toward well centre, whereafter the manipulator arm 4 is turned in toward well centre by means of an actuator, not shown. The cleaning tool 7 which beforehand is positioned to coincide with the well centre, is run down into the threaded portion of the drill string by means of the cylinder 6 and is rotated by the motor 7' . The cleaning tool 7 is lifted out from the threaded portion of the drill string 3, and the rotation motor 10 turns the lubricating tool 8 in toward well centre. Now, the lubricating tool 8 rotated by the motor 8' is run by means of the cylinder 6 down into the threaded portion of the drill string 3 to apply lubricant thereto. Then, the lubricating tool 8 is raised by means of the cylider 6, and the manipulator arm 4 is turned away from well centre at the same time as the rotation motor 10 turns the arm to initial position. The cleaning tool 7 and the lubricating tool 8 are positioned above the box 11 and down into the same in order to clean the cleaning tool 7 and to apply lubricant on the lubricating tool 8.
In figure 3, a two-piece articulated mud box 12 having a flexible outlet tube 13 is assigned to the cylinder 6. When a pipe joint is to be opened, the iron roughneck 1 is run forward to the drill string 3 as known per se and loosens the threaded connection. The mud box 12 is conducted by means of the manipulator arm 4 in toward well centre and closed around the drill string 3, whereafter the loosened pipe is lifted off from the drill string 3. Drilling mud flowing out from the pipe lifted off, is caught by the mud box and conducted away through the outlet tube 13.
Through the attachment of the manipulator arm 4 on the vertically movable portion 2 of the iron roughneck 1, the manipulator arm 4 becomes correctly positioned vertically, the movable portion 2 always being positioned in connection with the pipe coupling operation, in many cases with an automatized positioning function.
Of course, the manipulator arm 4 may also carry another type of equipment than said cleaning tool 7, lubricating tool 8 and mud box 12. As examples of other actual equipment can be mentioned sensors adapted to read rating plates or other identification with which drill pipes may be provided, e.g. visible codes or electronic identification chips.

Claims

C l a i m s
1. A manipulator arm (4) for tools (7, 8, 12) for use in connection with a pipe joint or an end of a suspended drill string (3), wherein pipe jointing is assisted by an iron roughneck (1), c h a r a c t e r i z e d i n that the manipulator arm (4) is disposed on the iron roughnec 's (1) vertically positionable portion (2) .
2. A anipulatorarm as set forth in claim 1, c h a r a c t e r i z e d i n that the manipulator arm (4) is assigned a cleaning tool (7) for cleaning the threads in the end of the drill string (3) .
3. A manipulator arm as set forth in claim 1, c h a r a c t e r i z e d i n that the manipulator arm
(4) is assigned a lubricating tool (8) for lubricating the threads in the end of the drill string (3).
4. A manipulator arm as set forth in claim 1, c h a r a c t e r i z e d i n that the manipulator arm (4) is assigned a mud box (12) .
5. A manipulator arm as set forth in claim 1, c h a r a c t e r i z e d i n that the manipulator arm (4) is assigned a read device for reading a drill pipe's identification plate or code.
PCT/NO1995/000056 1994-03-16 1995-03-14 Manipulator-arm for auxiliary-tool for the joining of drillpipe WO1995025216A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU21142/95A AU2114295A (en) 1994-03-16 1995-03-14 Manipulator-arm for auxiliary-tool for the joining of drillpipe

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO940934A NO940934L (en) 1994-03-16 1994-03-16 Manipulator arm for auxiliary tools for work at drill string firing
NO940934 1994-03-16

Publications (1)

Publication Number Publication Date
WO1995025216A1 true WO1995025216A1 (en) 1995-09-21

Family

ID=19896933

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO1995/000056 WO1995025216A1 (en) 1994-03-16 1995-03-14 Manipulator-arm for auxiliary-tool for the joining of drillpipe

Country Status (3)

Country Link
AU (1) AU2114295A (en)
NO (1) NO940934L (en)
WO (1) WO1995025216A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0984132A2 (en) * 1998-09-02 2000-03-08 The Charles Machine Works Inc A system and a method for automatically controlling a pipe handling assembly for a horizontal boring machine
WO2001011181A1 (en) * 1999-08-11 2001-02-15 Vermeer Manufacturing Company Automated lubricant dispensing system and method for a horizontal directional drilling machine
WO2001051760A2 (en) * 2000-01-12 2001-07-19 The Charles Machine Works, Inc. System for automatically drilling and backreaming boreholes
WO2002008564A1 (en) * 2000-07-25 2002-01-31 Weatherford/Lamb, Inc. Cleaning and doping of tubulars
WO2004025071A1 (en) * 2002-09-12 2004-03-25 Weatherford/Lamb, Inc. Automated pipe joining system
WO2011122954A1 (en) * 2010-03-30 2011-10-06 National Oilwell Varco Norway As Method and device for treatment of a pipestring section that is positioned in a set-back
NO20170804A1 (en) * 2017-05-16 2018-11-19 Farsund Drilling Solution As Lubricating device, lubrication system and method for applying a lubricating fluid to an internal threaded portion of a tubular body
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
WO2024049478A1 (en) * 2022-08-31 2024-03-07 National Oilwell Varco, L.P. Robotic pipe dope application system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3971442A (en) * 1975-01-06 1976-07-27 Scott Thomas W Method of cleaning tubular members on a rig floor
US4450905A (en) * 1982-08-09 1984-05-29 Crain Scott L Mud bucket
US4530127A (en) * 1980-10-17 1985-07-23 Roberts Royce Glen Thread cleaning device
US4593451A (en) * 1978-12-04 1986-06-10 Roberts Royce Glen Apparatus for cleaning large pipe threads
US4843945A (en) * 1987-03-09 1989-07-04 National-Oilwell Apparatus for making and breaking threaded well pipe connections

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3971442A (en) * 1975-01-06 1976-07-27 Scott Thomas W Method of cleaning tubular members on a rig floor
US4593451A (en) * 1978-12-04 1986-06-10 Roberts Royce Glen Apparatus for cleaning large pipe threads
US4530127A (en) * 1980-10-17 1985-07-23 Roberts Royce Glen Thread cleaning device
US4450905A (en) * 1982-08-09 1984-05-29 Crain Scott L Mud bucket
US4843945A (en) * 1987-03-09 1989-07-04 National-Oilwell Apparatus for making and breaking threaded well pipe connections

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0984132A2 (en) * 1998-09-02 2000-03-08 The Charles Machine Works Inc A system and a method for automatically controlling a pipe handling assembly for a horizontal boring machine
EP0984132A3 (en) * 1998-09-02 2003-01-08 The Charles Machine Works Inc A system and a method for automatically controlling a pipe handling assembly for a horizontal boring machine
US6550547B1 (en) 1998-09-02 2003-04-22 The Charles Machine Works, Inc. System and method for automatically controlling a pipe handling system for a horizontal boring machine
US6557651B1 (en) 1999-08-11 2003-05-06 Vermeer Manufacturing Company Automated lubricant dispensing system and method for a horizontal directional drilling machine
WO2001011181A1 (en) * 1999-08-11 2001-02-15 Vermeer Manufacturing Company Automated lubricant dispensing system and method for a horizontal directional drilling machine
WO2001051760A2 (en) * 2000-01-12 2001-07-19 The Charles Machine Works, Inc. System for automatically drilling and backreaming boreholes
WO2001051760A3 (en) * 2000-01-12 2002-03-07 Charles Machine Works System for automatically drilling and backreaming boreholes
US7371289B2 (en) 2000-07-25 2008-05-13 Weatherford/Lamb, Inc. Cleaning and doping of tubulars
WO2002008564A1 (en) * 2000-07-25 2002-01-31 Weatherford/Lamb, Inc. Cleaning and doping of tubulars
WO2004025071A1 (en) * 2002-09-12 2004-03-25 Weatherford/Lamb, Inc. Automated pipe joining system
US7114235B2 (en) 2002-09-12 2006-10-03 Weatherford/Lamb, Inc. Automated pipe joining system and method
AU2003267157B2 (en) * 2002-09-12 2008-12-18 Weatherford Technology Holdings, Llc Automated pipe joining system
NO330045B1 (en) * 2002-09-12 2011-02-07 Weatherford Lamb Automatic pipe joining system
NO333870B1 (en) * 2010-03-30 2013-10-07 Nat Oilwell Varco Norway As Method and apparatus for treating a pipe string section located in an intermediate bearing
WO2011122954A1 (en) * 2010-03-30 2011-10-06 National Oilwell Varco Norway As Method and device for treatment of a pipestring section that is positioned in a set-back
RU2553690C2 (en) * 2010-03-30 2015-06-20 Нэшнел Ойлвелл Варко Норвей Ас Method and device for servicing of tubing section fitted on setback
US9586322B2 (en) 2010-03-30 2017-03-07 National Oilwell Varco Norway As Method and device for treatment of a pipestring section that is positioned in a set-back
NO20170804A1 (en) * 2017-05-16 2018-11-19 Farsund Drilling Solution As Lubricating device, lubrication system and method for applying a lubricating fluid to an internal threaded portion of a tubular body
WO2018212664A1 (en) 2017-05-16 2018-11-22 Farsund Drilling Solution As Lubrication device, lubrication system and method for application of a lubricant to the internal threads of a pipe body
NO343498B1 (en) * 2017-05-16 2019-03-25 Farsund Drilling Solution As Lubricating device, lubrication system and method for applying a lubricating fluid to an internal threaded portion of a tubular body
US11435027B2 (en) 2017-05-16 2022-09-06 Farsund Drilling Solution As Lubrication device, lubrication system and method for application of a lubricant to the internal threads of a pipe body
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
WO2024049478A1 (en) * 2022-08-31 2024-03-07 National Oilwell Varco, L.P. Robotic pipe dope application system

Also Published As

Publication number Publication date
NO940934D0 (en) 1994-03-16
NO940934L (en) 1995-09-18
AU2114295A (en) 1995-10-03

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