WO2008034262A1 - Clé dynamométrique tubulaire de champ pétrolifère avec positionnement automatisé - Google Patents

Clé dynamométrique tubulaire de champ pétrolifère avec positionnement automatisé Download PDF

Info

Publication number
WO2008034262A1
WO2008034262A1 PCT/CA2007/001700 CA2007001700W WO2008034262A1 WO 2008034262 A1 WO2008034262 A1 WO 2008034262A1 CA 2007001700 W CA2007001700 W CA 2007001700W WO 2008034262 A1 WO2008034262 A1 WO 2008034262A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque wrench
positional
oilfield
wrench
monitoring device
Prior art date
Application number
PCT/CA2007/001700
Other languages
English (en)
Inventor
Douglas A. Hunter
Original Assignee
Canrig Drilling Technology Ltd.
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 Canrig Drilling Technology Ltd. filed Critical Canrig Drilling Technology Ltd.
Publication of WO2008034262A1 publication Critical patent/WO2008034262A1/fr

Links

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
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor

Definitions

  • the present invention generally relates to oilfield tubular torque wrenches used in handling make up or breakout of wellbore drill strings, and in particular to apparatus and methods for positioning the torque wrench with respect to the drill rig floor.
  • tongs have been employed when making up or breaking out drill pipe joints, drill collars and the like in oil well drilling operations in which upper and lower tongs sequentially grip and release upper and lower drill pipe joints with the upper and lower tongs being moved in a swivelling or scissoring manner to thread or unthread the threaded connection between the drill pipe joints. Power operated tongs have been provided for this purpose.
  • an upper and lower tong are swiveled with respect to each other by a torqueing cylinder which can be extended or retracted to break out or make up the drill pipe as may be required.
  • a pipe biting or gripping system on each tong utilizes moveable die heads that include pipe gripping dies.
  • the die heads may be moveable by various means including, for example, hydraulic rams that extend to move the die heads into gripping or biting engagement with the pipe.
  • Components including, but not limited to: joints of drill pipe, drill collars, casing, casing collars, wellbore liners, subs drill bits, etc. are referred to herein as tubulars.
  • Oil rig crews make-up and break-out numerous connections between tubulars. Positioning the torque wrench about the tubular string, above the wellbore and a mouse hole, tends to be performed manually each time, using visual inspection to confirm adequate positioning. Considering that drill strings are made-up and broken-out a number of times to drill the well to a desired depth, manually positioning the torque wrench each time it incurs high operational overheads.
  • an oilfield torque wrench comprising: a torque wrench including a lower tong and an upper tong; a support member for supporting the torque wrench above a drilling floor and for moving the torque wrench between a parked position and a position extending out over the drilling floor; a positional monitoring device to detect the position of the torque wrench above the drilling floor; and a control system to monitor the positional monitoring device to obtain a value for the extension of the torque wrench and for controlling the positioning of the torque wrench based on the value obtained.
  • a method for operating an oilfield tubular torque wrench comprising: providing a torque wrench including an upper tong and a lower tong; providing an extendible support member to move the torque wrench over a drilling floor of a rig between a parked position and an extended well center operational position; recording in computer memory a parking position positional threshold value for the torque wrench at the parking position; obtaining reported positional values for the torque wrench during movement thereof; and controlling the wrench to stop at the parked position by comparing the reported positional values against the parking position positional threshold value and stopping the movement of the torque wrench when a reported positional value substantially equals the parking position positional threshold value.
  • a control system for controlling a torque wrench for controlling a torque wrench, the torque wrench being supported above a drilling floor by a support member and drivable between a parked position and an extended well center operational position, the system comprising: a positional monitoring device for generating values relating to the position of the torque wrench; a monitoring function for monitoring the positional monitoring device and obtaining generated values therefrom; a system control function to control torque wrench movement; and a processing function for receiving inputs from the monitoring function and outputting directions to the system control function.
  • an oil field torque wrench having automated positioning means.
  • an oil field torque wrench having automated repositioning means.
  • an oil field torque wrench having automated positioning means configured to position the torque wrench above one of a well bore and a mouse hole.
  • an oil field torque wrench is provided with position feedback means including at least one of an angular encoder and a linear transducer reporting values thereof.
  • position feedback means including at least one of an angular encoder and a linear transducer reporting values thereof.
  • an oil field torque wrench having a drilling information store for retrievably storing value reported by the position feedback means.
  • an oil field torque wrench applying at least one displacement smoothing or displacement limiting function to torque wrench positioning controls.
  • an oil field torque wrench employing a proportional flow valve to control pressure in hydraulic or pneumatic circuits.
  • a wireless console for an oil field torque wrench enabling an operator to walk about the torque wrench while in operation.
  • Figures IA and I B are perspective and top plan views, respectively, of a torque wrench mounted on a drill floor in an extended position.
  • Figures 2A and 2B are perspective views of a torque wrench with Figure 2A showing the torque wrench tongs in a neutral position and Figure 2B showing the torque wrench tongs in a torque up start position.
  • Figures 3A and 3B are side elevations of a torque wrench mounted on a drill floor, in a parked position and an extended position respectively.
  • the present invention generally relates to drill pipe torque wrench tongs used in making up or breaking apart oilfield tubular strings on the floor of a drilling rig.
  • drill pipe torque wrench tongs used in making up or breaking apart oilfield tubular strings on the floor of a drilling rig.
  • Such devices often include hydraulically or pneumatically powered upper and lower tongs that are swivelly connected for a scissoring action.
  • Each of the tongs includes dies that act to bite into or grip tubular string components to be handled.
  • FIG. 10 one embodiment of a power actuated drill pipe torque wrench of the present invention are generally designated by numeral 10.
  • the torque wrench is illustrated in association with a drill rig floor 12.
  • Torque wrench 10 is supported over the drill floor by a supporting member, which in this embodiment includes an arm 16 with a laterally extending arm extension 18 connected to the wrench.
  • the support member may be mounted on or adjacent the drilling floor in various ways.
  • the supporting member may include a flange 19a that is secured as by bolts 19b onto the rig floor.
  • the supporting member may include a stem that may be inserted into a mounting hole on floor 12 or supporting member may be supported above the floor as by use of a post or other intermediate member.
  • the wrench is often associated with a spinner, generally designated by numeral 20, which is mounted above the wrench for spinning tubulars.
  • Torque wrench 10 includes an upper tong 22 and a lower tong 24 each of which may be substantially identical and which each include a horizontally disposed body 26 with a generally U-shaped recess 28 in an edge thereof to receive oilfield tubulars to be handled thereby including for example joints of drill pipe, drill collars, casing, wellbore liners, drill bits and the like. Recesses 28 are formed to act about an axis x.
  • the torque wrench is moved so that its recesses 28 are positioned about a tubular to be gripped, herein shown in phantom as tubulars 30 and 31.
  • tubulars 30 and 31 In the position to be gripped tubulars 30, 31 extend generally along an axis that is aligned with axis x through the recesses.
  • Upper tong 22 may act on an upper tubular 30 and lower tong 24 may act on a lower tubular 31.
  • the tubulars 30, 31 are shown in phantom to facilitate illustration.
  • tongs 22, 24 may be swiveled relative to each other, which often includes holding one of the tongs stationary, while the other tong swivels relative thereto, to either torque up or break out a threaded connection between the tubulars.
  • dies 34 Mounted on the body 26 in recess 28 is a plurality of dies 34 having pipe gripping teeth mounted thereon.
  • dies 34 are mounted on die heads 38 that are moveable, as by hydraulics 39, pneumatics, screw drives, etc., toward and away from axis x. As such, dies 34 may be moved into a gripping position or pulled back from a gripping position, as desired.
  • the die heads are positioned in each recess 28 to act substantially diametrically opposite each other to act to grip a tubular therebetween.
  • Each die head 38 may have an angular or curved surface on which its dies 34 are mounted in spaced apart relation so that the dies are arranged along an arcuate path to generally follow the outer surface of a tubular 30 to be gripped, which outer surface is, of course, also generally acuate.
  • the spaced, angular positioning may enable the dies 34 to engage spaced points on the circumference of the drill pipe or tool joint.
  • the upper tong 22 may swivel in relation to the lower tong 24 to move the tongs from a neutral position shown in Figures 1 and 2A to one of the make up or break out torqueing positions, the make up torquing start position of which is illustrated in Figure 2B.
  • a driver such as double acting hydraulic piston and cylinder assembly 96 may be provided adjacent the end of the tong bodies 26 remote from the die heads 38 which interconnects the upper and lower tongs 22 and 24 so that by extending and retracting the torqueing piston and cylinder assembly 96 in timed relation to extension and retraction of the die heads, the upper and lower tubulars 30 and 31 may be gripped and torqued in a manner to make-up or break apart a threaded connection therebetween.
  • double acting hydraulic piston and cylinder assembly 96 may be provided adjacent the end of the tong bodies 26 remote from the die heads 38 which interconnects the upper and lower tongs 22 and 24 so that by extending and retracting the torqueing piston and cylinder assembly 96 in timed relation to extension and retraction of the die heads, the upper and lower tubulars 30 and 31 may be gripped and torqued in a manner to make-up or break apart a threaded connection therebetween.
  • Extension and retraction of the piston and cylinder assembly 96 cause the upper and lower tongs 22 and 24 to move toward and away from the torqueing position illustrated in Figure 2B and into or through the neutral position shown in Figure
  • a threaded connection therebetween is positioned between the dies 34 of upper tong 22 and the dies of lower tong 24 and the tubulars extend generally along axis x.
  • die heads 38 of lower tong 24 may be actuated to grip therebetween lower tubular 31.
  • the torque piston and cylinder assembly 96 is extended or retracted.
  • the die heads 38 on the upper tong 22 will be in their retracted positions so that the upper tong 22 can rotate in relation to the upper tubular 40.
  • the upper tong 22 may then be brought into gripping engagement with the upper tubular 30 by moving the die heads out to place the dies carried thereon into gripping relation with the tubular. After this has occurred, both the upper tubular 30 and the lower tubular 31 are securely gripped by the respective tongs. Then, the piston and cylinder assembly 96 is actuated for moving the upper and lower tongs 22 and 24 pivotally or swivelly in relation to each other thus torqueing the drill pipe joints 30 and 31 either in a clockwise manner or a counterclockwise manner depending upon whether the drill pipe is being made up or broken out.
  • Correct positioning of the torque wrench relative to a tubular being handled may be important for a number of reasons. For example, in using torque wrenches for making up/breaking out oilfield tubulars, it is desired that the torque wrench operate close, but not beyond, physical material limits of the tubulars, the rig, the torque wrench and the torque wrench dies. However, such physical material limits are difficult to predict and typically vary with environmental parameters. In one situation for example, it is desired that the torque wrench be operated below a condition where the dies slip on the tubular being handled. Die slippage may be indicative of worn dies, or other problems, but can also occur when the dies are not properly oriented to grip the pipe.
  • efficient and directed movements, including correct positioning, of the torque wrench can speed and facilitate pipe handling.
  • a drilling floor 12 generally has a fixed well center location WC and may include other fixed locations such as the mousehole.
  • the torque wrench support member may be mounted at a fixed location on the drilling floor, as determined by the mounting structure such as flange 19a.
  • the location of the torque wrench relative to fixed spots, such as well center, on drilling floor 12 may be described in terms of an angular displacement A, the extension B of arm 16, including extension 18, and the vertical displacement C of the torque wrench relative to its mount on extension 18.
  • a tubular to be gripped generally will be in a fixed location on the drilling floor extending up substantially vertically at well center or in the mouse hole. Although the vertical position of a tubular at well center may not vary significantly, the height of the tool joint, and therefore the height of the interface at the threaded connection between the upper and lower tubulars may vary.
  • arm 16 may be rotated on its mount, such as a rotary bearing therein, on the drilling floor 12 by a motor 302.
  • Motor 302 drives arm 16 and therefore wrench 10 to pivot about a vertical axis through the floor.
  • Angular displacement A may be measured from an angular origin 300, as the torque wrench 10 is rotated by motor 302.
  • the angular displacement may be measured in various ways, as by use, for example, of an angular encoder 304 on the motor.
  • the angular origin may be any known position.
  • angular original may be a line extending between the mounting location of arm 16 to well center.
  • arm 16 includes a linkage form between hinges between arm 16 and its mount and between the arm and extension 18. Using this linkage form arm 16 may be extended over the drilling floor 12 a length corresponding to extension B.
  • a hydraulic cylinder 310 may be used to control the inclination of arm 16, the displacement of a drive rod 314 of the cylinder determining the degree of extension B.
  • a linear transducer 312 may be used to measure the displacement of drive rod 314 of cylinder 310.
  • extension of drive rod 314 increases extension of the arm and therefore an increase in the length of extension B and conversely when drive rod 314 is withdrawn; the length of extension B is decreased.
  • Tongs 22/24 and the spinner attached thereto may be pivot about axis y, as by gravity acting on the center of gravity of wrench 10, to maintain a substantially vertical orientation of axis x.
  • Vertical displacement C may be varied by movement of the torque wrench 10, including tongs 22, 24, relative to extension 18.
  • Vertical displacement C acts to position the tongs 22, 24 to be in a position to grip a pairs of tubulars on either side of the threaded connection between them.
  • this vertical displacement may be varied by use of a telescopic member including a first slide 324 connected to extension 18, for example through bracket 320 and a second slide 323, telescopically disposed in first slide 324 and connected, for example through bracket 325, to wrench 10.
  • Sliding movement between slides 323, 324 may be driven by a hydraulic cylinder acting therebetween, which in this illustrated embodiment is positioned within the slides and cannot be seen in this view.
  • the vertical displacement C may be monitored by various devices, such as for example, a sensor, such as a proximity switch 321 , which may be positioned to identify when the torque wrench is in an appropriate position, such as in a fully elevated position relative to extension 18. Alternately, vertical displacement may be monitored by a measuring device such as by a linear transducer 322 as the member 323 moves with respect to bracket 320.
  • linear transducers may include linear variable transducers, without limiting the invention thereto.
  • any or various combinations of the variables A, B and C may be used to determine the wrench position.
  • the monitoring devices such as angular encoder 304 and linear transducers 312 and 322 may provide feedback in the form of reported values corresponding to the position of the torque wrench 10.
  • a torque wrench control system may be provided for automated positioning and repositioning of the torque wrench.
  • the control system may include an information store, such as for example a computer memory, for storage of reported values, a monitoring function to read outputs from monitoring devices such as encoders, linear transducers, proximity switches, etc., a system control function to control the torque wrench operation, for example, including control of the hydraulic drive systems, pumps, valves, etc. and a processing function for receiving inputs and outputting control functions.
  • the control system may take various forms such as a computer, programmable logic controller, etc.
  • the angular value reported by angular encoder 304 and the linear displacement values reported by linear transducers 312 and 322 when the torque wrench 10 is in a parked position away from well center, Figure 3 A may be considered as a "zero" position. These values may be read, as by logic, electronic or other means, and stored. With the torque wrench 10 accurately positioned over the well center, Figures I A and 3B, the outputs of the angular encoder 304 and the linear displacement values reported by the linear transducers 312 and 322 may be read and may be stored. Such values may be stored in records for a parked position and a well center operational position in a drilling information store, such as in manual or computer logic storage records. In accordance with another implementation of the embodiment of the invention, only the read out values of selected ones of the angular encoder 304, linear transducer 312 or linear transducer 322 may be of interest and stored in the well bore position record in the drilling information store.
  • the torque wrench may be mounted to simply cycle between a parked position and an extended position, directly linearly moved from the parked position, such that the value related to extension B, that of linear transducer 312 in the present embodiment, is of greatest interest with respect to wrench positioning.
  • the value along C during pipe handling at well center may generally be manually controlled to accommodate the variances in the position of the threaded connection, as described hereinbefore.
  • the extension value along C may also be of interest in this operation, in order to ensure that the torque wrench is not driven against the drilling floor during retraction of the arm.
  • a monitoring device such as proximity switch 321 may be used in this regard, rather than a more complex linear transducer.
  • the operator may drive the torque wrench to a position of interest, such as the parked position, the extended to well center operational position, etc. and various device readings can be made and recorded.
  • the operator may position the wrench by use of wrench positioning controls.
  • the operator may further interact with the torque wrench positioning controls to position the torque wrench 10 over the mouse hole or into a fully withdrawn position (i.e. a position where the arm fully folded and rotated as far as possible from well center to leave room for other tools at well center).
  • the positional values can be determined and stored in records associated with the various positions. For example, for a position over the mouse hole, one or more of the outputs of the angular encoder 304 and the linear displacement values reported by the linear transducers 312 and 322 are read out and may be stored in a mouse hole position record in the drilling information store. In accordance with the other implementation of the embodiment of the invention, only the read out value of the angular encoder 304 and the read out value of linear transducer 312 may be stored in the mouse hole position record in the drilling information store.
  • the operator may interact with the torque wrench controls to select any desired position for the torque wrench and the positional information relating to that torque wrench may be retrieved from the drilling information store and used by the control system to automate to some degree, the operation of the torque wrench.
  • the values generated from the positional monitoring devices may be monitored to determine the position of the torque wrench and movement may be stopped when a value reported (i.e generated by the device and obtained by the control system) is compared and is found to be substantially equal with the stored positional values.
  • the positional monitoring devices may be substantially continuously monitored or set to report such that they provide feedback on the wrench location.
  • the control system may offer automatic control or operator control with automatic limiting.
  • the control system may reference the stored positional values as position threshold values.
  • an operator may actuate the torque wrench controls manually until at least one of the positional value thresholds is substantially met, as determined by the control system, at which point the control system may prevent further drive of the torque wrench along the limited direction of movement.
  • the operator may drive the torque wrench until angular encoder 304, linear transducer 312 and/or transducer 322 reported values substantially equal the corresponding position threshold values, at which time the motor or cylinder having reached the position threshold values would be shut down.
  • an operator may drive the torque wrench under control by the control system by, for example, requesting power to be delivered to the motor 302, cylinder 310 (and vertical translation means) until the reported values of the angular encoder 304, linear transducer 312 and/or transducer 322 substantially equal the recorded position values corresponding to any position of interest.
  • the torque wrench controls may include a joystick, a positional selector such as a touch screen, a button, a knob, etc.
  • the control system can be used to provide soft start and/or soft stop functions.
  • the control system may monitor actual reported values from the monitoring devices and when a value approaches a positional threshold value, the control system may regulate operation of the torque wrench drivers to ramp down the speed of the drive.
  • a proportional flow valve may be used in the hydraulic circuit of cylinder 310 wherein feedback from the linear transducer 312 is employed to control the hydraulic pressure in the hydraulic circuit using the proportional flow valve.
  • the difference between the value reported by the linear transducer 312 and the corresponding position threshold value may be employed to actuate the proportional flow valve.
  • a function may be applied to the difference between the value reported by the linear transducer 312 and the corresponding position threshold value in controlling the proportional flow valve.
  • the hydraulic fluid flow may be ramped up to high speed and ramped down when nearing the threshold position value in a controlled manner thereby reducing operational time overheads while minimizing wear and tear.
  • the force applied or the degree to which the control is actuated by the operator may be used to control the proportional flow valve subject to the feedback from the linear transducer 312 and the corresponding position threshold value when set.
  • the torque wrench 10 may speed up when the degree of joystick deflection is large up to a maximum speed after which the piston 314 moves at a constant speed until the difference between the value reported by the linear transducer 312 and the position threshold value set overrides the effect of the joystick deflection.
  • allowing the joystick to return to its neutral position may not result in an immediate closure of the proportional flow valve but rather a second function having a gradual dropdown characteristic may be applied to smooth out the sudden joystick release and provide a soft stop for the torque wrench.
  • automatic positioning of the torque wrench 10 may be provided by actuating a control at the operator's console, without limiting the invention, for example by double clicking the joystick and letting go, wherein a ramp-up function responsive to the double clicking action may be employed to ramp up hydraulic flow via the proportional flow valve, and a ramp-down function may be applied to gradually reduce the hydraulic fluid flow via the proportional flow valve responsive to the difference between the value reported by the linear transducer 312 and the value of the position threshold set.
  • further overhead reductions may be gained by enabling the operator to freely walk about the drill site, while operating the torque wrench 10 as by use of a wireless device with torque wrench controls thereon. This may enable the operator to be on the drilling floor, so that the entire torque wrench and tubular condition can observed, which is otherwise hard to do from the cabin where the drilling console is generally located.
  • the operator may be provided with a wireless console, typically embodying a portable wireless device incorporating controls otherwise integrated into the operator's console in the cabin.
  • the portable wireless device may be worn around the operator's neck, over the shoulder, around the waist, etc.
  • a torque wrench is shown in parked and extended positions, respectively, relative to well center WC.
  • many of the torque wrench and arm components are substantially similar to those described in reference to Figure 1 , as indicated by the use of corresponding reference numerals.
  • arm 16 is driven by a second hydraulic cylinder 410 acting between arm 16 and extension 18.
  • Second hydraulic cylinder 410 may include a linear transducer 412 that measures extension of drive rod 414.
  • the second hydraulic cylinder and liner transducer 412 may be monitored and controlled by an automated torque wrench positioning system, as desired, in addition or alternatively to cylinder 310.

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

L'appareil et les procédés décrits permettent d'obtenir un positionnement automatisé d'une clé dynamométrique de champ pétrolifère par rapport au plancher d'un appareil de forage. Des encodeurs angulaires et des transducteurs linéaires fournissent une réaction par rapport à la position de la clé dynamométrique. Les informations de réaction de position peuvent être traitées au moyen d'une variété de fonctions afin de faire disparaître les changements des signaux de commande de mouvement provenant du pupitre de commande de l'opérateur envoyés à la clé dynamométrique. Les informations de réaction de position peuvent également être utilisées pour limiter le mouvement de la clé dynamométrique. Des clapets de décharge proportionnels sont employés pour commander la pression dans les circuits hydrauliques ou pneumatiques. Une fonction d'apprentissage est employée pour lire et stocker les informations de position telles que les sorties de l'encodeur angulaire et du transducteur linéaire, une fonction de rappel d'informations de position étant employée pour la recherche d'informations. Un pupitre sans fil permet à l'opérateur de circuler librement autour de la clé dynamométrique tout en l'actionnant.
PCT/CA2007/001700 2006-09-21 2007-09-21 Clé dynamométrique tubulaire de champ pétrolifère avec positionnement automatisé WO2008034262A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US82650806P 2006-09-21 2006-09-21
US60/826,508 2006-09-21

Publications (1)

Publication Number Publication Date
WO2008034262A1 true WO2008034262A1 (fr) 2008-03-27

Family

ID=39200136

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2007/001700 WO2008034262A1 (fr) 2006-09-21 2007-09-21 Clé dynamométrique tubulaire de champ pétrolifère avec positionnement automatisé

Country Status (1)

Country Link
WO (1) WO2008034262A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2288476A2 (fr) 2008-05-02 2011-03-02 Francis, Dale Système amélioré de clé dynamométrique doté de multiples points d application de couple
WO2011049467A1 (fr) * 2009-10-23 2011-04-28 West Drilling Products As Dispositif de guidage d'outil pour un plancher de forage
WO2011119214A2 (fr) * 2010-03-24 2011-09-29 2M-Tek, Inc. Appareil pour supporter ou manipuler des tubulaires
CN104265208A (zh) * 2014-09-25 2015-01-07 通化石油化工机械制造有限责任公司 修井机用送钳装置
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
US9097070B2 (en) 2006-08-25 2015-08-04 Canrig Drilling Technology Ltd. Apparatus for automated oilfield torque wrench set-up to make-up and break-out tubular strings
US9404324B2 (en) 2006-09-08 2016-08-02 Canrig Drilling Technology Ltd. Oilfield tubular spin-in and spin-out detection for making-up and breaking-out tubular strings
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
US9598918B2 (en) 2010-03-24 2017-03-21 2M-Tek, Inc. Tubular handling system
CN110039483A (zh) * 2019-05-29 2019-07-23 国网河南省电力公司电力科学研究院 一种实现交互界面的电动扭矩扳手
US11034003B2 (en) 2016-12-02 2021-06-15 Snap-On Incorporated Holding tool
WO2022186895A1 (fr) * 2021-03-04 2022-09-09 Weatherford Technology Holdings, Llc Accessoire de commande pour un système de positionnement d'ensemble pince

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA984910A (en) * 1972-12-12 1976-03-02 Robert R. Kelly Pipe tong positioning system
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
US4725179A (en) * 1986-11-03 1988-02-16 Lee C. Moore Corporation Automated pipe racking apparatus
CA2479784A1 (fr) * 2002-03-20 2003-10-02 Tommie Louis Rogers Cle a commande hydropneumatique du type fleche
CA2535610A1 (fr) * 2003-08-29 2005-03-17 National-Oilwell, L.P. Bras automatise pour positionnement d'outils de forage tels qu'un iron roughneck

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA984910A (en) * 1972-12-12 1976-03-02 Robert R. Kelly Pipe tong positioning system
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
US4725179A (en) * 1986-11-03 1988-02-16 Lee C. Moore Corporation Automated pipe racking apparatus
CA2479784A1 (fr) * 2002-03-20 2003-10-02 Tommie Louis Rogers Cle a commande hydropneumatique du type fleche
CA2535610A1 (fr) * 2003-08-29 2005-03-17 National-Oilwell, L.P. Bras automatise pour positionnement d'outils de forage tels qu'un iron roughneck

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9097070B2 (en) 2006-08-25 2015-08-04 Canrig Drilling Technology Ltd. Apparatus for automated oilfield torque wrench set-up to make-up and break-out tubular strings
US10329857B2 (en) 2006-09-08 2019-06-25 Nabors Drilling Technologies Usa, Inc. Oilfield tubular spin-in and spin-out detection for making-up and breaking-out tubular strings
US9404324B2 (en) 2006-09-08 2016-08-02 Canrig Drilling Technology Ltd. Oilfield tubular spin-in and spin-out detection for making-up and breaking-out tubular strings
EP2288476A2 (fr) 2008-05-02 2011-03-02 Francis, Dale Système amélioré de clé dynamométrique doté de multiples points d application de couple
US8651200B2 (en) 2009-10-23 2014-02-18 West Drilling Products As Tool guide device for a drill floor
RU2544198C2 (ru) * 2009-10-23 2015-03-10 Вест Дриллинг Продактс Ас Направляющее устройство инструмента для пола буровой установки
WO2011049467A1 (fr) * 2009-10-23 2011-04-28 West Drilling Products As Dispositif de guidage d'outil pour un plancher de forage
NO331722B1 (no) * 2009-10-23 2012-03-05 West Drilling Products As Anordning ved verktøyføring for et boredekk
US9181763B2 (en) * 2010-03-24 2015-11-10 2M TEK, Inc. Apparatus for supporting or handling tubulars
US20130008641A1 (en) * 2010-03-24 2013-01-10 2M-Tek, Inc. Apparatus for supporting or handling tubulars
WO2011119214A2 (fr) * 2010-03-24 2011-09-29 2M-Tek, Inc. Appareil pour supporter ou manipuler des tubulaires
US9598918B2 (en) 2010-03-24 2017-03-21 2M-Tek, Inc. Tubular handling system
WO2011119214A3 (fr) * 2010-03-24 2014-03-27 2M-Tek, Inc. Appareil pour supporter ou manipuler des tubulaires
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
US9945193B1 (en) 2011-11-18 2018-04-17 Schlumberger Technology Corporation Drill floor mountable automated pipe racking system
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
CN104265208A (zh) * 2014-09-25 2015-01-07 通化石油化工机械制造有限责任公司 修井机用送钳装置
US11034003B2 (en) 2016-12-02 2021-06-15 Snap-On Incorporated Holding tool
CN110039483A (zh) * 2019-05-29 2019-07-23 国网河南省电力公司电力科学研究院 一种实现交互界面的电动扭矩扳手
WO2022186895A1 (fr) * 2021-03-04 2022-09-09 Weatherford Technology Holdings, Llc Accessoire de commande pour un système de positionnement d'ensemble pince

Similar Documents

Publication Publication Date Title
WO2008034262A1 (fr) Clé dynamométrique tubulaire de champ pétrolifère avec positionnement automatisé
US7958787B2 (en) Oilfield tubular torque wrench
AU2008245622B2 (en) Apparatus and methods for tubular makeup interlock
US20080307930A1 (en) Wrap around tong and method
US7946795B2 (en) Telescoping jack for a gripper assembly
US10190374B2 (en) Vertical pipe handling system and method
EP2612982B1 (fr) Appareil et procédé de positionnement d'un équipement de connexion
CA2911386C (fr) Systeme de manipulation d'elements tubulaires pour operations souterraines
CA2514768C (fr) Systeme et procede de positionnement de cle a tige
US20040003490A1 (en) Positioning and spinning device
JP4109289B2 (ja) バック・リーミング用自動制御システム
BR112013014858B1 (pt) sistema de manipulação de tubulares
EP1660754A2 (fr) Bras automatise pour positionnement d'outils de forage tels qu'un iron roughneck
US10174570B2 (en) System and method for mud circulation
CA2778400C (fr) Systeme electronique de couple avec tiges et procede d'utilisation
US8727039B1 (en) Torque measuring top drive
US20160076318A1 (en) Griphead Assembly for Manipulating Tubulars for Subterranean Operations
US8631882B1 (en) Drilling rig with torque measuring top drive
US20160060981A1 (en) System and Method for Manipulating Tubulars for Subterranean Operations

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07815889

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 07815889

Country of ref document: EP

Kind code of ref document: A1