WO2012165951A2 - Drilling rig for moving a tubular and automatic tripping - Google Patents
Drilling rig for moving a tubular and automatic tripping Download PDFInfo
- Publication number
- WO2012165951A2 WO2012165951A2 PCT/NL2012/050372 NL2012050372W WO2012165951A2 WO 2012165951 A2 WO2012165951 A2 WO 2012165951A2 NL 2012050372 W NL2012050372 W NL 2012050372W WO 2012165951 A2 WO2012165951 A2 WO 2012165951A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tubular
- gripper
- drilling rig
- drilling
- motion apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
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
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
Definitions
- each length of each drilled tubular can be stored in a processing unit having a database to keep track of a total length of a drill string.
- the total length of the drill string is used to perform the main steps in reverse order, thus tripping out the tubular.
- the tubular coupling means and the vertical motion apparatus can easily be brought to the preferred height being respectively the second end of the tubular and the first end of the tubular.
- Figure 3 shows the boom 1 1 being moved in a gripping position such that the gripper 10 grips the tubular 2 at a gripping point between the first end 4a and the second 4b.
- the boom is moved in a rotational direction indicated by C by means of the boom actuator 12b.
- the second end 4b contacts the stop 7.
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
The invention relates to a drilling rig for moving a tubular between a horizontal storage position and a vertical drilling position, comprising a tubular support device for supporting the tubular in the horizontal storage position. The drilling rig further comprises a gripper adapted for gripping the tubular at a grip point between a first end and a second end of the tubular. The drilling rig comprises a base comprising a well head for vertically receiving the tubular and a motion apparatus comprising one or more actuators for moving the tubular from the horizontal storage position to the vertical drilling position by moving the gripper with respect to the base. The drilling rig further comprises a stop having a known position with respect to the base for positioning the tubular in the horizontal storage position by contacting the second end of the tubular with the stop. The drilling rig comprises a tubular positioning device for bringing the second end of the tubular in contact with the stop.
Description
Title: DRILLING RIG FOR MOVING A TUBULAR AND
AUTOMATIC TRIPPING
The present invention relates to a drilling rig for moving a tubular between a horizontal storage position and a vertical drilling position. The drilling comprises a tubular support device for supporting the tubular in the horizontal storage position. The drilling rig further comprises a gripper adapted for gripping the tubular at a grip point between a first end and a second end of the tubular and a base that comprises a well head for vertically receiving the tubular. The drilling rig further comprises a motion apparatus comprising one or more actuators for moving the tubular from the horizontal storage position to the vertical drilling position by moving the gripper with respect to the base.
Drilling rigs that move a tubular between a horizontal storage position and a vertical drilling position are known and are particularly used in for example land-based (drilling) applications, but also offshore (drilling and marine pipe laying) application, e.g. wherein the apparatus is based on a (semi-submersible, monohull) drilling or pipe laying vessel or offshore drilling rig (such as a jack-up platform).
For example, WO-2006/038790 discloses a drilling rig for transferring a tubular that rests horizontally in a tubular storage station towards a vertical drilling rig structure. The apparatus comprises a base, a boom and a gripper. The boom is rotatable with respect to the base between a lowered position and a raised position. The gripper in its turn is rotatably attached to the boom. The gripper grips the tubular when it is in a storage position and the apparatus moves it to a drilling position by actuating the boom and the gripper. The boom is respectively moved from the lowered position to the raised position by means of boom rotation drive means. The gripper is rotated by means of gripper rotation drive means. The storage position corresponds with the tubular resting in the tubular storage station and the drilling position corresponds with the tubular arranged in the vertical drilling rig structure. When the tubular is in the vertical drilling position it is lowered such that it is received by the well head and/or can be coupled to a previous tubular by threading. The drilling rig is manually operated by an operator.
A drawback of this known tubular handling apparatus is that coupling the tubular with the previous tubular and/or tripping in and/or tripping out of the well head is slow. The operator must carefully and slowly operate the apparatus as he must ensure that an end of the tubular does not damage the previous tubular and/or the well head.
A further drawback is that human operators are unfit to do parallel actions such as bringing the tubular from the horizontal position to the drilling position and coupling and/or tripping in and/or tripping out. There is a risk that the drilling rig damages due to incorrect
operation or that the human operator itself gets seriously injured as large forces are present due to heavy moving parts such as the gripper, the tubular and the boom.
It is an object of the present invention to eliminate the abovementioned problems or at least provide an alternative.
In particular, it is an object of the present invention to provide a faster, safer, more efficient and cheaper drilling rig. The object is achieved by a drilling rig according to the invention. This drilling rig is suitable for moving a tubular between a horizontal storage position and a vertical drilling position and comprises a base that comprises a well head for vertically receiving the tubular. Before the well head is able to receive the tubular, the tubular is moved towards the vertical drilling position. The tubular for example is a pipe in particular a drill pipe which is suitable to form a drill string or a pipe string. The drilling rig comprises a gripper adapted for gripping the tubular at a grip point between a first end and a second end of the tubular when the tubular is in the horizontal storage position. The drilling rig comprises further a motion apparatus comprising one or more actuators for moving the tubular from the horizontal storage position to the vertical drilling position by moving the gripper with respect to the base and a tubular support device for supporting the tubular in the horizontal storage position. The motion apparatus may for example be one or more interconnected beams actuated by the actuators. By actuating the actuators the tubular is moved from the horizontal storage position to the vertical drilling position. The drilling rig further comprises a stop having a known position with respect to the base for positioning the tubular in the horizontal storage position by contacting the second end of the tubular with the stop. The stop may for example be a bumper or a check or any suitable physical object. The drilling rig further comprises a tubular positioning device for bringing the second end of the tubular in contact with the stop.
Before gripping the tubular, when the tubular is supported by the tubular support device, the ends of the tubular have a position that is undefined. In other words, they are randomly arranged on the tubular support device. Moreover, the length of the tubular is not sufficiently known as it has an unknown amount of variation in the length compared with another tubular. To define the position of the second end of the tubular the tubular positioning device brings the second end in contact with the stop.
When the second end of the tubular contacts the stop, the tubular is positioned with respect to the base. The second end has a known position with respect to the base as it coincides with the position of the stop which is already know with respect to the base.
Preferably, the tubular support device has a known position with respect to the base, at least a known position with respect to the stop. After positioning, the motion apparatus brings the gripper towards the positioned tubular and grips the tubular between the ends. The location
of the gripper with respect to the stop, the base and the well head is known during movement by the motion apparatus, which for example comprises a boom.
This is advantageous as now during movement of the gripper, the location of the second end of the tubular is known. In other words, the location of the second end is known with respect to the gripper, the stop, the base, and the well head during movement by the motion apparatus. Having knowledge of the location of the second end of the tubular allows increasing speed of movement as it is less likely that the second end of the tubular hits or damages something. This particularly advantageous for tripping in and tripping out. It increases the speed of the drilling rig and increases safety.
A further advantage is that when the tubular is in the drilled position, the second end has a known height above a drilling floor. The drilling floor has a known and preferably fixed location with respect to the base. As the second end of the tubular is always at a known and same height above the drilling floor a tubular coupling means such as an iron roughneck can efficiently be placed at this height. This increases efficiency and reduces costs.
In an embodiment of the drilling rig according to the invention, the tubular positioning device comprises a moveable bumper for contacting the first end of the tubular and moving the second end towards the stop.
The moveable bumper for example is an actuated surface. For example the surface is a cylinder that is actuated by actuation means such as a hydraulic piston. When the moveable bumper contacts the first end and moves preferably in a direction parallel to a longitudinal axis of the tubular, the second end moves towards the stop.
In a further embodiment, the tubular positioning device comprises a tubular positioning device comprises a bumper sensor configured for generating a bumper signal representative for an amount of movement of the moveable bumper.
This is advantageous as by knowing the amount of movement of the moveable bumper for the second end contacting the stop, the length of the tubular can be determined. The length of the tubular is unknown or at least not known sufficiently accurate. Knowing the length of the tubular allows for knowing the location of the complete tubular, including the first end, gripping point and second end when the tubular is in the drilling position. These locations are known with respect to for example the well head, a drilling floor, a vertical motion apparatus such as a top drive, a tubular coupling apparatus such as an iron roughneck. This allows for increasing the speed and safety of the drilling rig.
A further advantage is that knowing the length of the tubular allows for keeping track of a total length of a drill string that comprises at least one tubular. For each tubular that is drilled the length may be stored in a processing unit that is configured to add lengths of each tubular such that the length of the drill string is determined.
A further advantage of knowing the length of the tubular is that the height of the first end above the base and/or drilling floor is known. Knowing the height of the first end, being the top end facing upwards when the tubular is in the vertical drilling position, allows for easy connection with a vertical motion apparatus that engages at the top end of the tubular. The vertical motion apparatus provides the vertical motion needed for drilling and for example is a top drive.
In a further embodiment, the drilling rig comprises a vertical motion apparatus at a known height with respect to the base for drilling the tubular into the well head. The vertical motion apparatus may for example be a top drive that engages the tubular at the first end when it is in the drilling position and subsequently rotates the tubular such that it is drilled into the well head.
Knowing the location of the tubular when in the drilling position allows for the vertical motion apparatus to easily take over the tubular from the gripper. This is advantageous as the vertical motion apparatus can be positioned at a preferred height for engaging with the first end of the tubular. This increases speed because knowing the preferred height allows for easy movement of the entire vertical motion apparatus towards the preferred height for engaging the tubular at its first end.
In an embodiment of the drilling rig according to the invention, the drilling rig comprise a tubular coupling means at a known location with respect to the base for coupling the tubular with a previous tubular. Therefore, the height of the tubular coupling means above the drilling floor is known. The tubular coupling means are arranged at the same height above the base (thus the drilling floor) as the height of the second end of the tubular in its vertical drilling position.
The tubular coupling means for example is a well known iron roughneck. The iron roughneck being at a known height with respect to the base is advantageous as there is no need to vertically move the heavy tubular coupling means which saves time, costs and is more safe. The height of the second end of the tubular above the base is always the same. The tubular coupling means are preferably located near the same known location, such that it can easily couple the tubular with the previous tubular that already is drilled in the well head.
In an embodiment of the drilling rig according to the invention, the drilling rig comprises a drill floor at a known location with respect to the base. Preferably, the drilling floor is at a fixed location with respect to the base.
Knowing the location of the drilling floor allows an efficient placement of the tubular coupling means at a preferred height above the drilling floor. As the second end is always at a same height above the drilling floor (due to the stop) the tubular coupling means can be located at this same height above the drilling floor. The base is located with the drilling floor
such that in need of emergency an operator with average length can easily reach the tubular coupling means. This may be handy for maintenance or repairs.
In an embodiment of the drilling rig according to the invention, the tubular positioning device comprise one or more drive rollers. The one or more drive rollers are for example arranged below the tubular in the horizontal stored position. The one or more drive rollers hereby support the tubular. By driving the one or more rollers the tubular is moved in a horizontal direction until its second end contacts the stop.
This is advantageous as it provides an easy way to bring the second end of the tubular in contact with the stop.
In a further embodiment a first end sensor is provided that is configured to generate a first end position signal representative for the location of the first end of the tubular with respect to the base. This has as advantage that the total length of the tubular can be determined by a processing unit. Therefore the height with respect to the base of the first end of the tubular when in vertical drilling position can be determined. This is advantageous for the vertical motion apparatus to engage with the first end of the tubular.
In an embodiment of the drilling rig according to the invention, the tubular positioning device comprise one or more auxiliary grippers. The one or more auxiliary grippers grip the tubular in the horizontal stored position and by moving the grippers by means of auxiliary actuators the tubular is moved in a horizontal direction until its second end contacts the stop.
In an embodiment of the drilling rig according to the invention, the tubular positioning device comprises a cantilever for vertically raising the first end with respect to the second end of the tubular. This allows the tubular to glide towards the stop until the second end contacts the stop.
In an embodiment of the drilling rig according to the invention, the tubular positioning device is the motion apparatus. The motion apparatus moves the gripper such that the tubular is brought from the horizontal storage position to the vertical drilling position. In this embodiment the tubular is first gripped by the gripper when the tubular has an undefined position and unknown length and is supported by the horizontal storage. Thus, before the second end of the tubular contacts the stop. After gripping, the motion apparatus serves as the tubular positioning device and brings the second end of the tubular in contact with the stop. For this purpose, the drilling rig further comprises a contact sensor configured to generate a contact signal representative for a contact position being a presence of contact between the second end of the tubular and the stop. The motion apparatus moves the second end until it contacts the stop. The contact sensor notifies when this happens. To ensure that the position of the gripper is known, the drilling rig comprises a gripper position sensor configured to generate a gripper position signal representative for a position of the gripper with respect to the base. For example, the gripper position sensor acquires the
position of the gripper by measuring an amount of actuation of the one or more actuators. The drilling rig further comprises a processing unit configured to receive the contact signal and the gripper position signal and to generate a tubular position signal dependent on the contact signal and the gripper position signal. This can easily be determined by the processing unit as the location of the stop is known with respect to the base and the gripper position is also known with respect to the base. The location of the second end of the tubular is also known when it contacts the stop. During movement the gripper position is known by the gripper position sensor such that during movement the position of the second end of the tubes is known with respect to the gripper, the stop, the base and the well head.
This has as advantage that no separate tubular positioning device is needed.
In a further embodiment the processing unit is configured to generate a motion signal dependent on the tubular position signal. The motion apparatus is configured to receive the motion signal. The motion apparatus is adapted for moving the gripper dependent on the motion signal.
This allows for further automation of moving the tubular from the horizontal stored position to the vertical drilling position. Having more detailed knowledge of the tubular position allows for automated motion as it is less likely that the tubular hits or damages for example the drill rig.
In an embodiment of the drilling rig according to the invention the one or more actuators comprise one or more hydraulically actuated cylinders.
This has as advantage that the actuators can be controlled accurately by means of off the shelve techniques.
In an embodiment of the drilling rig according to the invention the motion apparatus comprises a boom comprising one or more beams.
This has advantage that by having beams a stable and safe motion apparatus can be acquired.
In an embodiment of the drilling rig according to the invention the stop is arranged at least a horizontal distance equal to a length of the motion apparatus away from the well head.
This has as advantage that the stop is located sufficiently away from the well head, resulting in a more safe environment in an area nearby the well head. As large forces are acting upon the tubular in particular when coupling with a previous tubular, the area nearby the well head must be free of obstacles as much as possible. Locating the stop away from the well head ensures the stop is not an obstacle nearby the well head.
In an embodiment of the drilling rig according to the invention the motion apparatus is adapted for moving the gripper such that the second end of the gripped tubular faces downwards in the vertical drilling position.
This has as advantage that less complicated movement are needed during movement of the tubular from the horizontal stored position to the vertical drilling position. This allows a more fast drilling rig. The invention further relates to a method for moving a tubular between a horizontal storage position and a vertical drilling position. The method comprises the step of supporting a tubular in a horizontal storage position by means of a tubular support device, wherein the tubular has a first end and a second end. The tubular supporting device is located nearby the gripper, such that the gripper is able to grip the tubular that rests on the tubular supporting device. The method further comprises the step of positioning the tubular by means of a tubular positioning device for bringing the second end of the tubular in contact with a stop arranged at a known position with respect to a base comprising a well head. The tubular positioning device for example are rollers or an auxiliary gripper and bring the second end in contact with the stop. Preferably, the tubular positioning device is a moveable bumper that engages the first end and pushes the second end towards the stop. This positions the tubular, as now the second end coincides with the stop and the stop has a known location with respect to the base. The method further comprises the step of gripping the tubular at a grip point between the first end and the second end. At the moment that the gripper grips the tubular the second end of the tubular has a known location with respect to the gripper. The method further comprises the step of moving the gripper with respect to the base towards the vertical drilling position by means of a motion apparatus having one or more actuators. The motion apparatus defines a predefined movement of the gripper and the location of the second end with respect to the gripper is known.
This has as advantage that location of the second is known during all movements after gripping the tubular but most importantly when the tubular is in the vertical drilling position. This allows for faster movement as it is less likely that the second end hits or damages the drilling rig. Moreover, it allows for a more accurate, more easy and more fast coupling of the tubular with a previous tubular in the well head as the height of the second end of the tubular with respect to the base is known.
In an embodiment of the method according to the invention, the method further comprises the steps of taking over the tubular from the gripper by a vertical motion apparatus, moving the gripper to the tubular support device for gripping a subsequent tubular, coupling the tubular with a previous tubular by means of a tubular coupling means, tripping in of a drill string that is comprises of at least one coupled tubular.
These steps define a complete running in hole sequence (or running in well head sequence), which identify 5 main steps being A) preparing for next tubular, B) taking over the tubular by a derrick comprising the vertical motion apparatus C) moving a tubular handler
comprising the gripper and the motion apparatus out of the derrick D) coupling the tubular with the drill string comprising at least one previous tubular by means of the tubular coupling means and E) tripping in the drill string in the well head by means of the vertical motion apparatus.
Each of the main steps A), B), C), D) and E) can be automated by means of a processing unit that is configured to generate a control signal to be received by the motion apparatus, the gripper, the vertical motion apparatus, and the tubular coupling means. The motion apparatus, the gripper, the vertical motion apparatus and the tubular coupling means are configured to receive the control signal.
The main steps are comprises of further smaller steps allowing main steps to be performed simultaneously increasing the speed of the drilling rig. The main step A) comprises the sub-steps of supporting, positioning, gripping and moving the tubular until it is in the drilling position. The main step B) comprises the sub-step of gripping the tubular by the vertical motion apparatus that for this purpose comprises an elevator. Already in main step A) the elevator can be prepared for example by opening the elevator to receive the tubular. When main step B) is performed and main step D) is performed already main step B) can be executed. When the tubular is coupled in main step D), already the tubular handler can be moved away from the derrick such that it can grip a subsequent tubular. As the location of the tubular is known during all these steps, the speed can be increased and the steps can be automated by the processing unit further increasing speed and safety.
In an embodiment of the method according to the invention, the method further comprises the step of determining the position of the first end of the tubular when the tubular is in the horizontal storage position. For example, this can be achieved by the step of actuating the tubular positioning device being a moveable bumper. The moveable bumper contacts the first end of the tubular and pushes the first end of the tubular such that the second end approaches the stop until the second end contacts the stop. As the moveable bumper has a known position with respect to the base and the amount of exertion needed to push the first end until the second end contacts the stop can be read out the length of the tubular can be determined.
In an alternative a first end sensor is used to determine the position of the first end.
This for example may be done by a camera, electromagnetic receivers and transmitters and/or any other means.
Simultaneously knowing the location of first end and the second of the tubular allows for determining the length of the tubular. Each length of each drilled tubular can be stored in a processing unit having a database to keep track of a total length of a drill string.
In an embodiment of the method according to the invention the total length of the drill string is used to perform the main steps in reverse order, thus tripping out the tubular. As the total length of the tubular is known the tubular coupling means and the vertical motion apparatus can easily be brought to the preferred height being respectively the second end of the tubular and the first end of the tubular.
In an embodiment of the method according to the invention, the method further comprises the step of generating a contact signal representative for a contact position being a presence of contact between the second of the tubular and the stop by means of a contact sensor. This is particularly advantageous when the tubular positioning device is not a dedicated device but is the motion apparatus. In this scenario the step of positioning the tubular is after the step of gripping the tubular. For still knowing the location of the second end of the tubular with respect to the gripper, the stop, the base and the well head the contact position must be determined. Moreover, the gripper position must be determined. Therefore, the method further comprises the step of generating a gripper position signal representative for a position of the gripper with respect to the base by means of a gripper position sensor. Based on the gripper position and the contact position the tubular position the method further comprises the step of generating a tubular position signal dependent on the contact signal and the gripper signal by means of a processing unit. The tubular position comprises at least the location of the second end with respect to the base.
In a further embodiment the method further comprises the steps of generating a motion signal dependent on the tubular position signal and moving the gripper depending on the motion signal by means of the motion apparatus receiving the motion signal.
This allows for automating at least a part of the step of moving the gripper with respect to the base. For example, this may be useful when coupling the tubular with a previous tubular.
These and further embodiments of the drilling rig and the method according to the invention are captured in the dependent claims.
These and other aspects, characteristics and advantages of the present invention will be explained in more detail by means of the following description of an embodiment of the drilling rig according to the invention, and in which:
fig. 1 shows a side view of a drilling rig where a tubular is in a horizontal storage position and is not positioned;
fig. 2 shows a side view of the drilling rig where the tubular is positioned and a second end of the tubular contacts a stop;
fig. 3 shows a side view of the drilling rig where a gripper grips the positioned tubular;
fig. 4 shows a side view of the drilling rig where a motion apparatus moves the tubular from the horizontal storage position towards a vertical drilling position;
fig. 5 shows a side view of the drilling rig where the motion apparatus has moved the tubular in the vertical drilling position and the tubular is taken over by a vertical motion apparatus.
fig. 6 shows a side view wherein the vertical motion apparatus brings the second end of the tubular towards a first end of a previous tubular and simultaneously the gripper is moved towards the tubular support device for gripping a subsequent tubular.
fig. 7 shows a side view wherein the tubular is coupled with a previous tubular and simultaneously the subsequent tubular is moved towards its vertical drilling position.
fig. 8 shows a side view showing an alternative embodiment of the tubular positioning device.
The figures shall be explained by describing a scenario where a tubular 2 is brought from a horizontal storage position to a vertical drilling position and subsequently a drilled position. In the drilled position the tubular 2 is coupled to a previous tubular 102 and drilled into the ground through a well head 9.
Figure 1 shows a drilling rig 1 for moving the tubular 2 from a horizontal storage position towards a vertical drilling position and into the drilled position. The tubular 2 is supported by a tubular storage 3 which is in a rack form. Although not shown, more than one tubular may be stored in the tubular storage 3. When the tubular 2 is supported by the tubular storage 3, the tubular 2 is in the horizontal storage position. The tubular 2 has a first end 4a and a second end 4b. The drilling rig 1 further comprises a base 5. The drilling rig further comprises a stop 7 that has a fixed location with respect to the base 5. Also shown is a motion apparatus and a gripper 10. The motion apparatus comprises of a boom 1 1 and a gripper actuator 12a and a boom actuator 12b. The motion apparatus an the gripper 10 have a known position with respect to the base. In this embodiment the boom 11 has a constant length. The gripper 10 is suitable to grip the tubular 2. The base 5 comprises a well head 9 suitable for receiving a drill string made out of at least one tubular. The well head 9 has a fixed location with respect to the base. Also shown is a drilling floor 8 with a fixed location with respect to the base.
The tubular 2 has an unknown length and an unknown location, at least in a horizontal direction, with respect to the base. By unknown length it is meant that length variations between tubulars are unknown. By means of a tubular positioning device the tubular 2 can be positioned, which is best shown in figure 2.
In figure 2 it is shown that the tubular positioning device is a moveable bumper 15 having a surface that contacts the first end 4a of the tubular 2. The moveable bumper 15 is
moved in a direction indicated by B. When the moveable bumper 15 contacts the first end 4a it moves the tubular 2 in a parallel direction indicated by A. As a result the second end 4b of the tubular 4b moves towards the stop 7 until it hits the stop 7. This situation is shown in figure 2 wherein the tubular 2 contacts the moveable bumper 15 with its first end 4a and contacts the stop 7 with its second end 4b. Now, the tubular 2 is positioned as the second end 4b is at a known location namely coinciding with the location of the stop 7. The location of the second end 4b is now known with respect to the base. In this embodiment the first end 4a is also known with respect to the base as the surface of the moveable bumper 15 which contacts the first end 4a has a known location with respect to the base. This allows for determining the length of the tubular 2. As the tubular 2 is positioned it can be brought in the vertical drilling position where the second end 4b has a predetermined and constant height above the drilling floor 8. This can be shown in figure 5. This is advantageous as having knowledge of the location of the tubular in its vertical drilling position allows other elements of the drilling rig to be efficiently used as they do not have to search for the location of the tubular 2. This increases speed and is more safe. This is also the case of the first end 4a as can be seen below.
Figure 3 shows the boom 1 1 being moved in a gripping position such that the gripper 10 grips the tubular 2 at a gripping point between the first end 4a and the second 4b. The boom is moved in a rotational direction indicated by C by means of the boom actuator 12b. During gripping by the gripper 10 the second end 4b contacts the stop 7.
Subsequently, the boom 1 1 is moved towards the vertical drilling position by an angular movement indicated by D. The boom is hereby actuated by the boom actuator 12b. Not shown is a possible angular movement of the gripper 10 with respect to the boom 1 1 by gripper actuator 12a. The gripper actuator 12a can be actuated for moving the second end 4b into the vertical drilling position wherein the second end 4b faces downwards. The gripper actuator 12a can alternatively be actuated for moving the first end 4a into the vertical drilling position wherein the first end 4a faces downward. This movement is predefined and results in the second end 4b having a known height above the drilling floor 8 when the tubular 2 is in the vertical drilling position.
Figure 5 shows the tubular 2 in the vertical drilling position. The second end 4b of the tubular is now at a predefined height above the drilling floor 8. The predefined height is always the same or at least known for each tubular that is moved into the vertical drilling position. Here the location, being the height above the drilling floor 8, of the first end 4a of the tubular 4a is also known as the length of the tubular 2 is known. This length may be stored in a database such that the total length of the drilling string can be kept track of.
Knowing the length of tubular also ensures that it reduces the risk of not gripping the tubular 2 by the gripper 10 or by a vertical motion apparatus 14 which takes over the tubular 2 from
the gripper 10 at the first end 4a. As the height of the first end 4a above the drilling floor 8 is known, the vertical motion apparatus 14 does not need to search for the first end 4a to engage it. This increases the speed of the drilling rig 1. The vertical motion apparatus 14 is shown in figure 5 and has a known location, and thus height, with respect to the base 5. The vertical motion apparatus 14 for example is a top drive and is adapted to provide the drilling movement which results in the tubular 2 making a vertical movement. The vertical motion apparatus 14 also ensures the movement of the second end 4b towards a first end 104a of a previous tubular 104 such that they can be coupled. For example, the vertical motion apparatus 14 comprises an elevator for this purpose. To engage with the first end 4a of the tubular 2 the vertical motion apparatus 14 is moved towards to first end 4a. As the height of the first end 4a above the drilling floor 8 is known it is relatively easy to move the vertical motion apparatus 14 to this preferred height. Note, that in the mean time moveable bumper 15 has returned into an initial position such that a subsequent tubular 202 (see figure 6) can be randomly and undefined supported on the tubular support device 3. At least, there is sufficient space between the moveable bumper 15 and the stop 7 for the subsequent tubular 202 in the horizontal storage position.
Note that at the moment that the length of the tubular 2 is determined by the moveable bumper 15 the vertical motion apparatus 14 can already be moved towards the preferred height for engaging with the first end 4a of the tubular in the vertical drilling position.
Figure 6, shows that the tubular is moved vertically downwards indicated by E towards the previous tubular 102. In the mean time, the boom 1 1 is moved angularly indicated by C2, such that the gripper 10 is gripping the subsequent tubular 202 that is positioned by the moveable bumper 15. The positioning of the subsequent tubular 202 is again performed by having the second end 204b of the subsequent tubular 202 contacting the stop 7.
Figure 7 shows a tubular coupling means 16 for coupling the tubular 2 with the previous tubular 102 that is received and vertically aligned with the drill head 9. The first end 104a of the previous tubular 102 is arranged above the drilling floor 8. The tubular 2 is coupled with the previous tubular 102 respectively at the second end 4b of the tubular 2 and the first end 104a of the previous tubular 102. This is for example done by threading wherein for example the vertical motion apparatus 14 provides a rotation by means of for example a top drive. In another example, the rotation for threading is provided by the tubular coupling means 16 for example an iron roughneck.
After coupling of the tubular 2 with the previous tubular 102 the tubular and the previous tubular 102 form a tubular string or drill string that is tripped into the well head 9. It is foreseen that tripping out is also possible. The tripping in and out is performed by the
vertical motion apparatus 14. Subsequently, the tubular 2 and its corresponding drill string is drilled into the well head into a drilled position. This position corresponds to figure 4, wherein now the tubular 2 is the previous tubular 102 as a new cycle has begun.
Note, that in figure 7 in the meantime the subsequent tubular 102 is moved from the horizontal position towards the vertical drilling position into a direction indicated by D2. This corresponds again with figure 4.
With the above described scenario a complete drill string can be drilled using the drilling rig 1. As during the complete scenario the length of the tubular 2 and the second end 4b of the tubular 2 is known the tubular coupling means 16, vertical motion apparatus 14 do not need to move itself for engaging with the first end 4a of the tubular 2 as they know where to expect the first end 4a of the tubular 2. This increases the speed drastically and also allows for further automation.
Figure 8 shows an alternative embodiment of the tubular positioning means. Here, the tubular positioning means comprise two driven rollers 1 15a, 115b. The driven rollers 1 15a, 1 15b are arranged under the tubular support device 3 and support the tubular 2.
When the driven rollers 1 15a, 1 15b are driven in a direction indicated by F, for example by a motor, they move the supported tubular 2 in a substantially horizontal direction indicated by A2 wherein the second end 4b of the tubular 2 moves towards the stop 7 until it contacts the stop 7.
The drilling rig according to the invention is not limited to the described embodiments. Any combination of described embodiments are possible and foreseen. Any element of state of art drilling rigs can be incorporated in the drilling rig according to the invention. When this element has a known and preferably fixed location with respect to the base the advantages of the invention may be present and are foreseen. During drilling with the drilling rig according to the invention the location of the tubular is known with respect to the base.
Claims
1. Drilling rig for moving a tubular between a horizontal storage position and a vertical drilling position, comprising:
a tubular support device for supporting the tubular in the horizontal storage position;
a gripper adapted for gripping the tubular at a grip point between a first end and a second end of the tubular;
a base comprising a well head for vertically receiving the tubular; a motion apparatus comprising one or more actuators for moving the tubular from the horizontal storage position to the vertical drilling position by moving the gripper with respect to the base;
characterised in that the drilling rig further comprises:
a stop having a known position with respect to the base for positioning the tubular in the horizontal storage position by contacting the second end of the tubular with the stop;
a tubular positioning device for bringing the second end of the tubular in contact with the stop.
2. Drilling rig according to claim 1 , wherein the tubular positioning device comprises a moveable bumper for contacting the first end of the tubular and moving the second end towards the stop.
3. Drilling rig according to one of the preceding claims, wherein the tubular
positioning device comprises a tubular positioning device comprises a bumper sensor configured for generating a bumper signal representative for an amount of movement of the moveable bumper.
4. Drilling rig according to one of the preceding claims, wherein the tubular
positioning device comprise one ore more driven rollers.
5. Drilling rig according to one of the preceding claims, wherein the tubular
positioning device comprise one or more auxiliary grippers.
6. Drilling rig according to one of the preceding claims, wherein the tubular positioning device comprises a cantilever for vertically raising the first end with respect to the second end of the tubular.
7. Drilling rig according to one of the preceding claims, wherein the drilling rig
further comprises a vertical motion apparatus at a known height above a drilling floor that has a known height with respect to the base for drilling the tubular into the well head.
8. Drilling rig according to one of the preceding claims, wherein the drilling rig
further comprises a tubular coupling means at a known height above a drilling floor that has a known height with respect to the base for coupling the tubular with a previous tubular.
9. Drilling rig according to one of the preceding claims, wherein the drilling rig
further comprises a drill floor at a known height with respect to the base.
10. Drilling rig according to one of the preceding claims wherein the tubular
positioning device is the motion apparatus and the drilling rig further comprises: a contact sensor configured to generate a contact signal representative for a contact position being a presence of contact between the second end of the tubular and the stop,
a gripper position sensor configured to generate a gripper position signal representative for a position of the gripper with respect to the base, a processing unit configured to receive the contact signal and the gripper position signal and to generate a tubular position signal dependent on the contact signal and the gripper position signal.
1 1. Drilling rig according to the previous claim, wherein the processing unit is
configured to generate a motion signal dependent on the tubular position signal and the motion apparatus is configured to receive the motion signal and adapted for moving the gripper dependent on the motion signal.
12. Drilling rig according to one of the preceding claims wherein the one or more actuators comprise one or more hydraulically actuated cylinders.
13. Drilling rig according to one of the preceding claims wherein the motion apparatus comprises a boom comprising one or more beams.
14. Drilling rig according to one of the preceding claims wherein the stop is arranged at least a horizontal distance equal to a length of the motion apparatus away from the well head.
15. Drilling rig according to one of the preceding claims wherein the motion
apparatus is adapted for moving the gripper such that the second end of the gripped tubular faces downwards in the vertical drilling position.
16. Method for moving a tubular between a horizontal storage position and a vertical drilling position the method comprising the steps of:
supporting a tubular in a horizontal storage position by means of a tubular support device, wherein the tubular has a first end and a second end;
positioning the tubular by means of a tubular positioning device for bringing the second end of the tubular in contact with a stop arranged at a known position with respect to a base comprising a well head;
gripping the tubular at a grip point between the first end and the second end; moving the gripper with respect to the base towards the vertical drilling position by means of a motion apparatus having one or more actuators.
17. Method according to the previous claim, the method further comprising the steps of:
taking over the tubular from the gripper by a vertical motion apparatus; moving the gripper to the tubular support device for gripping a subsequent tubular;
coupling the tubular with a previous tubular by means of a tubular coupling means;
tripping in of a drill string that is comprises of at least one coupled tubular.
18. Method according to one of the preceding claims, comprising the main steps of a complete running in hole sequence, being:
- A) preparing for next tubular;
B) taking over the tubular by a derrick comprising the vertical motion apparatus; C) moving a tubular handler comprising the gripper and the motion apparatus out of the derrick;
D) coupling the tubular with the drill string comprising at least one previous tubular by means of the tubular coupling means, and;
E) tripping in the drill string in the well head by means of the vertical motion apparatus.
19. Method according to the previous claim, wherein the steps are automated by means a processing unit that is configured to generate a control signal to be received by at least the tubular positioning device, motion apparatus, the gripper, the vertical motion apparatus, and the tubular coupling means, wherein the motion apparatus, the gripper, the vertical motion apparatus and the tubular coupling means are configured to receive the control signal.
20. Method according to one of the preceding claims, wherein at least two main
steps are performed simultaneously.
21. Method according to one of the previous claims further comprising the step of determining the position of the first end of the tubular when the tubular is in the horizontal storage position.
22. Method according to the previous claim further comprising the step of actuating the tubular positioning device being a moveable bumper, wherein the moveable bumper contacts the first end of the tubular and pushes the first end of the tubular such that the second end approaches the stop until the second end contacts the stop.
23. Method according to one of the preceding claims further comprising the steps of:
generating a contact signal representative for a contact position being a presence of contact between the second of the tubular and the stop by means of a contact sensor;
generating a gripper position signal representative for a position of the gripper with respect to the base by means of a gripper position sensor;
generating a tubular position signal dependent on the contact signal and the gripper signal by means of a processing unit. Method according to the previous claim further comprising the steps of:
generating a motion signal dependent on the tubular position signal;
moving the gripper depending on the motion signal by means of the motion apparatus receiving the motion signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161491000P | 2011-05-27 | 2011-05-27 | |
| US61/491,000 | 2011-05-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2012165951A2 true WO2012165951A2 (en) | 2012-12-06 |
| WO2012165951A3 WO2012165951A3 (en) | 2013-04-25 |
Family
ID=46245609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/NL2012/050372 Ceased WO2012165951A2 (en) | 2011-05-27 | 2012-05-25 | Drilling rig for moving a tubular and automatic tripping |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2012165951A2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160017673A1 (en) * | 2013-03-01 | 2016-01-21 | Itrec B.V. | Tubulars handling system and apparatus |
| WO2022048923A1 (en) * | 2020-09-01 | 2022-03-10 | Canrig Robotic Technologies As | Tubular handling system |
| US11408236B2 (en) | 2020-07-06 | 2022-08-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
| US11486209B2 (en) | 2020-07-06 | 2022-11-01 | Nabors Drilling Technologies Usa, Inc. | Robotic pipe handler systems |
| US11492856B2 (en) | 2019-11-29 | 2022-11-08 | Canrig Robotic Technologies As | Inventory system |
| US11643887B2 (en) | 2020-07-06 | 2023-05-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
| US11913293B2 (en) | 2019-11-27 | 2024-02-27 | Canrig Robotic Technologies As | Slip wear detection |
| CN118187708A (en) * | 2024-05-20 | 2024-06-14 | 新疆青蓝科技有限公司 | Sucker rod fixture |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006038790A1 (en) | 2004-10-07 | 2006-04-13 | Itrec B.V. | Tubular handling apparatus and a drilling rig |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2111996B1 (en) * | 1970-01-09 | 1974-03-01 | Petroles Cie Francaise | |
| US4834604A (en) * | 1987-10-19 | 1989-05-30 | Lee C. Moore Corporation | Pipe moving apparatus and method |
| US7363991B2 (en) * | 2004-10-18 | 2008-04-29 | Richard Dean Baer | System and method for relocating extended length objects |
| US8210279B2 (en) * | 2008-12-02 | 2012-07-03 | Schlumberger Technology Corporation | Methods and systems for tripping pipe |
| US8992152B2 (en) * | 2009-08-05 | 2015-03-31 | Itrec B.V. | Tubular handling system and method for handling tubulars |
-
2012
- 2012-05-25 WO PCT/NL2012/050372 patent/WO2012165951A2/en not_active Ceased
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006038790A1 (en) | 2004-10-07 | 2006-04-13 | Itrec B.V. | Tubular handling apparatus and a drilling rig |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9580979B2 (en) * | 2013-03-01 | 2017-02-28 | Itrec B.V. | Tubulars handling system and apparatus |
| US20160017673A1 (en) * | 2013-03-01 | 2016-01-21 | Itrec B.V. | Tubulars handling system and apparatus |
| US11913293B2 (en) | 2019-11-27 | 2024-02-27 | Canrig Robotic Technologies As | Slip wear detection |
| US11492856B2 (en) | 2019-11-29 | 2022-11-08 | Canrig Robotic Technologies As | Inventory system |
| US11643887B2 (en) | 2020-07-06 | 2023-05-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
| US12270264B1 (en) | 2020-07-06 | 2025-04-08 | Canrig Robotic Technologies As | Robotic pipe handler systems |
| US11408236B2 (en) | 2020-07-06 | 2022-08-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
| US11486209B2 (en) | 2020-07-06 | 2022-11-01 | Nabors Drilling Technologies Usa, Inc. | Robotic pipe handler systems |
| US11371299B2 (en) | 2020-09-01 | 2022-06-28 | Canrig Robotic Technologies As | Robotic pipe handler and pipe storage |
| CN116134208A (en) * | 2020-09-01 | 2023-05-16 | 坎里格机器人技术有限公司 | Tube handling system |
| US11767719B2 (en) | 2020-09-01 | 2023-09-26 | Canrig Robotic Technologies As | Robotic pipe handler |
| US11414936B2 (en) | 2020-09-01 | 2022-08-16 | Canrig Robotic Technologies As | Robotic pipe handler |
| WO2022048923A1 (en) * | 2020-09-01 | 2022-03-10 | Canrig Robotic Technologies As | Tubular handling system |
| US12378829B2 (en) | 2020-09-01 | 2025-08-05 | Canrig Robotic Technologies As | Robotic pipe handler |
| CN118187708A (en) * | 2024-05-20 | 2024-06-14 | 新疆青蓝科技有限公司 | Sucker rod fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012165951A3 (en) | 2013-04-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2012165951A2 (en) | Drilling rig for moving a tubular and automatic tripping | |
| EP2803811B1 (en) | Method of disconnecting a drill string at a drill rig | |
| KR102798948B1 (en) | Pipe handling column racker with retractable arm | |
| US10190374B2 (en) | Vertical pipe handling system and method | |
| EP2799661B1 (en) | Automatic drill rod handling | |
| US10745985B2 (en) | Rig-floor pipe lifting machine | |
| CA2551901C (en) | Horizontal pipe handling system | |
| US6752044B2 (en) | Power tong assembly and method | |
| US7946795B2 (en) | Telescoping jack for a gripper assembly | |
| US20110030942A1 (en) | Pipe stand | |
| US8051909B2 (en) | Method and apparatus for positioning the proximal end of a tubular string above a spider | |
| CN104093927B (en) | Drilling pipe manipulation device and method | |
| CN109403889B (en) | Moving and transporting discharge method for drill pipe of offshore drilling platform | |
| NO341340B1 (en) | Device and method for preventing well component collisions on a rig | |
| US20190078400A1 (en) | Systems, devices, and methods to detect pipe with a gripperhead | |
| CN101718177B (en) | Horizontal automatic tube-arranging device | |
| CN112431562B (en) | Full-automatic drilling tool combination method | |
| CA3061916C (en) | Rig-floor pipe lifting machine | |
| WO2024076763A1 (en) | Bridge offline activity racking crane | |
| US20200063529A1 (en) | Tong cassette positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NENP | Non-entry into the national phase in: |
Ref country code: DE |
|
| 122 | Ep: pct app. not ent. europ. phase |
Ref document number: 12726656 Country of ref document: EP Kind code of ref document: A2 |