WO2016184667A1

WO2016184667A1 - Method and implement of a drilling rig

Info

Publication number: WO2016184667A1
Application number: PCT/EP2016/059736
Authority: WO
Inventors: Jan Aalderink; Malte Cordes; Michael Gelker; Andre Reuter
Original assignee: Bentec Gmbh Drilling & Oilfield Systems
Priority date: 2015-05-21
Filing date: 2016-05-02
Publication date: 2016-11-24
Also published as: DE102015209378A1

Abstract

What is specified is a method for operating an implement (10) - "Iron Roughneck" - and an implement (10) which operates according to the method, in which after an initial positioning of a tongs system (18) by means of a positioning device (20) and a subsequent fixing of the tongs system (18) to drill string elements (14, 16) to be connected by means of the tongs system (18), a resulting position - "actual position" - of the tongs system (18) is detected, then the tongs system (18) is oriented by means of a renewed movement of the positioning device (20) until a desired position of the tongs system (18) has been reached, and finally a resulting position of the positioning device (20) is stored as a future desired position for further movement cycles of the implement (10).

Description

PROCESS AND WORKING DEVICE OF A DRILLING SYSTEM

1

Method for operating a working device of a drilling rig, operating according to the procedural ^¬ ren working device, computer program for implementing the method, control device with an implementation of the method and drilling rig with such a work apparatus

The invention relates first and foremost to a method for operating a Arbeitsge ^¬ Raets on a drilling rig. The implement is a device for connecting and bolting drill pipe elements. Devices for connecting and screwing drill pipe elements as well as for cutting thereby produced screw connections, so-called Roughnecks or Iron Roughnecks - in German sometimes Gestängeverschraungsvor- direction, Kraftverschraubungsvorrichtung and the like - are known per se. For reference to the state of the art, reference may be made by way of example to US Pat. No. 3,799,009.

Such a tool is used on a working platform of a drilling rig above the wellbore (bore well). In the area of the borehole, however, handling of the drill string ^elements during assembly and disassembly of the drill string must also take place, among other things. Therefore, the implement can not be permanently in the position above the borehole. It is therefore usual for the implement to include a positioning device. By means of the positioning device, a pliers system likewise encompassed by the working device is movable into a position in the region of the borehole (working position) as well as into a rest position remote from the working position.

In that regard, for example, is a system with rails into consideration, in which the clamp system on the rails from the rest position to the working position and vice versa is movable. However, such rails are sometimes disturbing in the vicinity of the borehole. Other positioning devices work with a movable arm. Such a positioning device is known, for example, from WO 2005 / 024169A. The arm there is based on a parallelogram arm, at the end of which the pliers system is located. The kinematics of the Parallelogrammarms requires that the orientation of the forceps system during the movement, so for example during the movement of the

Rest position in the working position, always the same. However, the kinematics is comparatively complicated and thus not only expensive, but also error-prone and to wait in the event of an error only with increased effort.

A particularly simple form of a positioning device comprises a translationally and / or rotationally movable arm, so that the forceps sys- tem is movable by means of a translational movement or a pivoting movement from the rest position to the working position and from the working position back to the rest position. The forceps system is attached at the free end of the positioning device, namely on the arm encompassed by the positioning device. A particularly space-saving form of such

Positioning device is that the pivoting arm has a C-shaped contour in the broadest sense, so that the forceps system is in the rest position and in eingeschwenktem type in the region of a Hüllkontur to the arm. The occupied by the implement on the working platform of the drilling rig is thus determined essentially by the already festste ^¬ ing dimensions of the pliers system and the additional Platzbe ^¬ may the positioning device falls barely in the weight.

Such a positioning device, in which the arm is pivoted to move the Zan- gene system between the rest position and the working position, however, requires that the pincer system is portable, so schwenkbe ^¬ movably hinged at the free end of the arm of the positioning device. The implement hangs like a pendulum at the free end of the positioning ^¬ device. This ensures principle that the clamp system hangs straight enough at each pivot configuration of the arm, ie that a hereinafter referred to as pliers system axis designated relevant axis of the pliers ^¬ systems substantially parallel to a longitudinal axis through the connecting means of the pliers system to or (to be separated drill string elements drilling ^¬ rod axis) remains.

However, the necessary during the movement process pivoting of the working ^¬ device relative to the arm of the positioning device also allows a misalignment of the pliers system, if, for example by means of the pliers ^¬ system at least one drill string element is detected, although the pliers system is not located at an optimum distance from the drill string element , If during such a misalignment the pliers system is activated for connecting or disconnecting two drill string elements, so-called eccentric forces result, which lead to increased wear of relevant parts of the pliers system and the respectively detected areas of the drill string elements.

An object of the present invention is accordingly to provide a method for operating a working device of the type mentioned above as well as a working according to the method implement, the disadvantages outlined above, in particular eccentric forces when activating the

Pliers system, avoids or at least reduces their effects. This object is achieved by means of a method for operating such a working device with the features of claim 1. For this purpose, in a method for operating a working device of the genann ^¬ th species (Iron Roughneck) on a drilling rig, wherein the working device a pliers system and a positioning device with an arm for positioning the at a free end of the arm pivotally mounted, in particular oscillating, attached Pliers system includes and wherein the Arbeitsge ^¬ advises and its pliers system are intended for connecting or disconnecting two drill string elements, the following is provided: In a first procedural ^¬ sen step, the pliers system is moved by means of the arm in the direction of the drill string elements and the implement is in a Kontaktpositi ^¬ on brought. In a second method step, an actual position of the pliers system is determined in the contact position and at standstill of the arm. In a third method step, the forceps system is moved by means of the arm again until a predetermined desired position of the forceps system is reached.

The above object is also achieved by means of a working device with the features of the parallel independent device claim. This is in a working device of the type mentioned (Iron Roughneck), which is intended for use on a drilling rig, the implement a pincer system and a positioning device with an arm for positioning the at a free end of the arm pivotally mounted, in particular oscillating, attached pliers system and wherein the Arbeitsge advises ^¬ and its pliers system are intended for connecting or disconnecting two drill string elements, the following are provided: the clamp system is moved by means of the arm in the direction of the drill string and the working tool is maneuverable in a contact position. In the contact position and at standstill of the arm is an actual position of the pliers system determined ^¬ bar. Finally, the forceps system is movable by means of the arm, which is reached by means of the movement of the arm a predetermined desired position of the forceps system.

The advantage of the innovation proposed here is, above all, that a position of the pliers system relative to the two drill string elements is achieved by means of the alignment of the pliers system to obtain its desired position, in which both drill string elements centered on the rod center, ie centered, by means of the pliers system. can be detected or recorded ^¬ who. Upon engagement of both a pair of pliers covered by the pliers system and a likewise included in the pliers system upper pliers respectively on the rod center of the respective drill string element results in a subsequent activation of the pliers system and a movement of the upper nipper relative to the lower nipper no eccentric forces (shear forces) and no signs of wear of the type described above. The fact that the drill string elements are each detected exactly on rod center and no eccentric forces occur, a more accurate achievement of the necessary

Torque when connecting the drill string elements possible and guaranteed ^¬ tet.

With the movement of the pliers system by means of the arm of the positioning device into the contact position - ie a position in which the pliers system of the implement is in contact with at least one linkage element - there is an initial position of the arm and a defined position of the pliers system relative to at least one Bohrge ^¬ rod element. The initial position of the arm results, for example, from a corresponding specification based on a respective pivoting range of the arm, for example such that the initial position corresponds to a percentage, for example 90%, of the maximum swing-out of the arm. In this contact position is - at standstill of the arm, so stopped

Positioning device - determined as actual position a current position of the pliers system. Should a desired position of the forceps system already result in this situation, the initial position of the arm is already the optimum position of the arm for a later activation of the forceps system.

Usually, however, results in the contact position initially a "skew ^¬ position" of the tong system. Activation of the pliers system for Verbin ^¬ or separating two drill string elements into such a position to the aforementioned problems. Thus, the initial position of the arm is not yet the optimal position for such later activation of the forceps system, therefore the initial position of the arm is corrected.

This is done by an actual position of the pliers system can be determined in the contact position and at standstill of the arm and is determined within the scope of a Ausfüh ^¬ tion of the method. The actual position is a measure of the actual misalignment of the pliers system. To obtain the optimum position of the arm, the pliers system is movable by means of the positioning device, which can be reached by means of the movement of the arm a predetermined desired position of the pliers system and in an embodiment of the method based on a continuous comparison of a respective actual position with the target position is reached. The desired position of the pliers system is the position in which by means of the pliers system both drill string elements in an optimal manner, ie in particular without activation Shear forces occur, are detectable or detected. Briefly, the clamp system in the theoretical position "straight" to the Bohrge ^¬ stängeelementen or at least aligned with a drill string (gensystemachse Zan- and Bohrgestängeachse are parallel or at least in the materiality borrowed parallel). As soon due to the re-movement of the arm the ge ^¬ desired alignment of the tong system is reached, is found for the subsequent activation of the pliers system with the then each ^¬ weils given position of the arm, the optimum position of the arm and the correlated therewith distance of the pliers system to the drill string. In a next cycle of movement of the working device directly, the thus determined optima ^¬ le position of the arm can be used. this means that the arm of the positi ^¬ oniervorrichtung is moved to the beginning of subsequent cycles of motion in each case up to the optimum position. in this position, the clamp system is now being activated in the usual manner, for example such that initially hst a lower drill string element by means of a pair of pliers of the pliers system and then an upper drill string element is detected by means of an upper pliers of the pliers system. Due to the optimal position of the arm determined as described above, the pliers system and its lower and upper pliers are in positions in which the respective Bohrgestängeele- elements can be detected on rod center and are detected in the execution of the method. Unfavorable shear forces and other disadvantages are avoided.

Advantageous embodiments of the invention are the subject of the subclaims or result from an implementation of one or more features of the method claims. In the claims used in the claims point to the further development of the subject of the main claim by the features of the respective subclaim. They should not be construed as a waiver of obtaining independent, objective protection for the feature combinations of the dependent claims. Of

Furthermore, with a view to an interpretation of the claims in a closer specification of a feature in a subordinate claim, it is to be assumed that such a restriction does not exist in the respective preceding claims. Finally, it should be noted that the method specified here can also be developed according to the dependent device claims and vice versa.

Since the subject-matter of the subclaims can form separate and independent inventions with respect to the prior art on the priority date, the Applicant reserves the right to make them the subject of independent claims or

To make divisional statements. They may also continue to be independent inventors. fertilize having an independent of the subjects of the preceding subclaims design.

Advantageous embodiments of the working device have means for carrying out the method and one or more embodiments described here and below, for example a control device functioning as a means for carrying out the method or one or more variants of the method as well as a sensor system for obtaining by means of Control device processable measured values.

In an embodiment of the method, after the orientation of the tong system in the third method step, a measure of a position of the arm, namely the position of the arm when the desired position of the tong system is reached, is detected and stored, so that these are for future use Movements of the positioning device for avail ^¬ tion is. In a subsequent operation cycle of the working device, in particular a movement of the working device from its rest position in the direction of the working position, during movement of an operating action of an operator of the working device, for example an operation of a designated operating element, in particular a button or the like

Pliers system automatically moves by means of the positioning device in the direction of the drill string elements of the arm in a position corresponding to the detected in the third method step target position. In the context of the execution of the first, second and third method step, therefore, a position is detected as the desired position of the arm, in which the pivotally mounted on the arm pliers system is due to the pivoting movement and the direction of gravitational force in the desired position. At the end of the third method step, this desired position is detected and stored for later use ("teach operation") .So subsequent movement cycles of the working device, ie at least movements of the Zangensys ^¬ tems means of the arm in the direction of the drill string elements, so "Learned" target position used in each case for an optimal, in particular automatic ^¬ cal positioning of the positioning and its arm. Instead of an automatic movement of the arm in the learned target position is also a corresponding positioning due to operator actions of an operator of the implement into consideration. For example, the operator is shown the desired position and a current position of the arm and the operator can stop the movement of the arm if the current position and the target position match sufficiently. If the current position of the arm is displayed in the form of a percentage of the desired position, the operator needs only one displayed value, namely the respective and the movement of the arm can be stopped if the displayed percentage has reached a value in the range of 100%.

The learned target position of the arm can be used for further movement cycles at least as long as the diameter of the drill string elements used does not change. In the event of such a change, a renewed initial positioning of the arm in a contact position and a subsequent movement with the aim of maintaining the desired position of the pliers system determines a valid for the new drill string elements optimal position of the arm for subsequent movement cycles. In the case of a forceps system with centering as described in DE 10 2014 208 113, can be dispensed with re-learning the desired position of the arm even. By means of such centering occurs a centering ^¬ turing of the pliers system in relation to the center of the Bohrgestängeele ^¬ elements. The respective center does not change even with different diameters of the drill pipe elements.

In the case of an automatic positioning of the arm, an automatically evaluable measure for a respective actual position of the arm is recorded by means of a sensor, for example an incremental encoder or the like.

This is automatically, for example by means of a dedicated control device as well as by means of one of the control device included, executed in software or hardware comparator, continuously or cyclically compared with the desired position. The movement of the forceps system by means of the arm is finally terminated automatically, for example by means of a corresponding control signal generated by the control device on the basis of the result of the comparison, when the actual position and the desired position coincide within predefined or predefinable limits.

In a further embodiment of the process of the re-BEWE ^¬ gene of the arm for alignment of the nipper system automatically takes place in the third method step. In this case, an automatically evaluable measure of the respective actual position of the forceps system is recorded by means of a sensor. The actual position is automatically, for example by means of the or a dedicated control device and by means of a encompassed by the controller, the comparator executed in software or in hardware, continu ously ^¬ or cyclically compared with the desired position. Due to a jeweili ^¬ gen result of the comparison, the new movement of the arm is terminated automatic ^¬ table, for example by means of a corresponding and through the Control device based on the result of the comparison generated control signal when the actual position and the desired position match within predetermined or predefinable limits. The alignment of the pliers system, ie the approach of the desired position of the pliers system, can therefore be done automatically and an operator of the implement must read no display elements or the like and intervene in the process depending on the reading result.

On the whole, the first, the second and the third method step can be carried out automatically on this basis, for example under the control of the control device, by automatically approaching the contact position, then automatically the actual position of the clamp system and depending on this a possible need for a correction the orientation of the forceps system are determined and finally automatically the orientation of the forceps system is corrected until a predetermined target position is reached. During operation of the working device, an operator can retrieve such an automatic sequence by a corresponding operator action, for example an actuation of a control element provided for this purpose, such as a pushbutton or the like. Such automatic process can also be divided into semi-automated processes, for example, the ^¬ art that, due to a corresponding control action automatically, the contact position is moved and due to a subsequent control action automatically determines the actual position of the pliers system and then its orientation is corrected.

In a particular embodiment of the method, the contact position desired in the context of the first method step results by the lower drill string element being grasped by means of a lower nipper of the pincer system and the lower nipper being centered relative to the detected drill string element. The lower nipper for this purpose comprises centering means which effect such a centering or the pincer system or the lower nipper are assigned such centering means. As an example of centering means included in the lower tongs, it is possible to refer to those described in DE 10 2014 208 113

Centering be referenced. The centering means ensures that the lower tongs can grip or at least grasp the lower drill string element on the center of the rod.

Due to the centering of the lower nipper relative to the lower drill string element results in a contact position in which the pincer system is already positioned correctly with respect to the lower nipper. With respect to this position, the alignment of the clamp system is done until receipt of its desired position. In aligning the forceps system by re-moving the arm, the forceps system is pivoted about the position where the lower jaw has engaged the lower drill string member. The Zentrie ^¬ tion of the lower nipper on the lower drill pipe element is maintained during the alignment of the pliers system. Once the desired position of the pliers system is reached, the upper nipper is in a position in which it can detect the upper drill rod element on rod center.

The detection of the lower drill pipe element by means of the lower nipper and the consequent fixation of the pincer system relative to the lower Bohrge ^¬ rod element is preferably carried out with a lower force than the later activation of the pliers system for connecting or disconnecting two drill string elements. In order to ensure a lower locking force, a resultant in detecting the lower Bohrgestängeelements pressure with respect to a ^pre-¬ given or predetermined threshold value is monitored, for example, with a hydraulically actuated lower nipper and when reaching the

Threshold stopped closing the lower clamp. This ensures slightest ^¬ tet that the pincer system is fixed relative to the lower drill string from ^¬ reaching and subsequent alignment of the pliers system in the form of at least one rotation about the point at which the lower nipper at the bottom

Drill rod element attacks, possibly also a displacement of the lower nipper in the axial direction of the lower drill string element, without unnecessary mechanical force and without unnecessary damage to the lower nipper and the detected surface portions of the lower drill string element can be done. The limitation of the closing force of the lower tongs takes place for

Example under control of the already mentioned control device. In a clamp system as described in DE 10 2014 208 113 with the centering means described therein detected in the first step and in the contact Posi ^¬ tion the lower nipper the lower drill string by means of the Zentriermit- tel. By means of the centering means, the tong system is fixed relative to at least the lower drill string element, namely fixed transversely to the longitudinal axis of the drill string element. The clamping blocks of such a lower nipper are not yet involved, so that the lower nipper remains movable in spite of the fixing transversely to the longitudinal axis of the drill string element in the direction of the longitudinal axis of the drill string element.

In a further particular embodiment of the method, the contact position sought in the context of the first method step results as follows: The pliers system comprises a stop. The reaching of the contact position in the first method step is sensed by means of a contact of the stop with one of the drill string elements. Due to the contact of the The lower drill string element is detected by means of a lower nipper of the clamp system and the clamp system is fixed to the lower drill string element. The (variable) position of the stop ensures that the lower nipper is centered relative to the detected drill string element. The subsequent alignment of the forceps system to obtain its

Target position as described above.

The above-mentioned object is also achieved with a control device which is intended and arranged for carrying out the method described here and below and for controlling the working device as a whole, its positioning device and especially its arm. The Steuerungsein ^¬ direction as a means for performing the method, for example, comprises a corresponding control program. The invention is insofar preferably implemented in software. On the one hand, the invention is thus also a control program in the form of a computer program with program code instructions executable by a computer and, on the other hand, a storage medium with such a computer program, ie a computer program product with program code means, and finally also a control device, in its memory as means for carrying out the method and its embodiments such a computer program is loaded or loadable. Overall, the invention is also a drilling rig, in particular a drilling rig for deep drilling, with a working device (Iron Roughneck) as described here and below, in particular such a working device with a control device of the type outlined above.

An embodiment of the invention will be explained in more detail with reference to the drawing. Corresponding objects or elements are provided in all figures with the same reference numerals. The or each embodiment is not to be understood as limiting the invention. Rather, in the context of the present disclosure also amendments and

Modifications possible, for example, by combination or modification of individual in conjunction with the described in the general or specific description part as well as in the claims and / or the drawing features or method steps for the skilled in the art with a view to solving the problem and combinable Characteristics lead to a new subject or to new procedural steps or procedural steps, even if they concern work procedures.

Show it

Fig. 1 is a often as Iron roughneck denote ^¬ tes in technical terminology working machine according to the invention, 2 shows the implement according to FIG. 1 in a perspective view, FIG. 3A to FIG. 3D shows snapshots during a movement of a working implement according to FIG. 1, FIG. 2 and FIG

4 shows a working device according to FIG. 1, FIG. 2 with a control device provided for its control and / or monitoring.

1 shows in the form of an overview of an example an embodiment of a power tool 10 on a drilling itself not shown ^¬ system. Of the drilling rig only the working platform 12 (drill floor) and the drill pipe 14 used in sinking the respective deep hole,

16 shown. The location of the passage of the drill string 14, 16 through the work platform 12 is also referred to as a drill hole (bore hole, bore well). A working position of the implement 10 is above the borehole. A rest position of the implement 10 is removed from the wellbore.

The working device 10 is a device intended for connecting and screwing or loosening the threaded sections of two drill pipe elements 14, 16, which is usually referred to in technical terminology as Roughneck or Iron Roughneck and in German sometimes as linkage screwing device, force-fitting device or the like.

The working device 10 comprises a forceps system 18 and a positioning device 20. The forceps system 18 usually includes a so-called spinner

In any case, the pliers system 18 comprises two pliers 24, 26, usually hydraulically actuated and designated according to their arrangement as lower pliers 24 and upper pliers 26. The total implement 10 and its pliers system 18 are shown in FIG basically known per se manner for connecting the threaded portions of two drill pipe elements 14, 16 in a loadable for the drilling process way.

By means of the lower nipper 24, a lower drill string element 14 can be detected and is detected during operation by means of the lower nipper 24. By means of the upper nipper

26 is an upper drill string element 16 detectable and is detected in operation by means of the upper nipper 26. The two pliers 24, 26 are located within a housing surrounding the pliers system 18 and are shown ent ^¬ speaking in the illustration in Figure 1 by dotted lines. Such a forceps system 18 and its functionality are known per se. In that regard, reference may be made, for example, to the earlier application of the same applicant by the official file reference DE 10 2014 208 113 entitled "Pliers system for use on a drilling rig and clamping block of such a pliers system" whose content is hereby incorporated as complete in order to avoid unnecessary repetition this application is intended to apply, in particular as far as the mechanical centering of the forceps system 18 described therein is concerned relative to the drill string elements 14, 16. The forceps system 18 is pivotally attached to a free end of the positioning device 20 and by means of the positioning device 20, the forceps system 18 either in 1, is moved to a position for connecting or disconnecting two drill string elements 14, 16. This movement is sometimes also referred to as a "method" according to standard terminology, although the implement 10 is referred to as a "process" does not have to comprise a chassis or the like and according to the embodiment shown here at least substantially in the form of a pivotable arm 30 may be executed. In the illustrated embodiment, the positioning device 20 comprises a broadly C-shaped arm 30 which is here composed of a plurality of straight segments. Other forms of the arm and another kine ^¬ matic, for example, a kinematics, as is often found in modern harbor cranes (double-articulated luffing crane, a kinematics in which the boom so forward and backward can be moved, that the load always on the same

Height remains), are also conceivable. The arm 30 shown in the illustration is movable (pivotable) about a rotation axis D. Below the axis of rotation D, the arm 30 continues in the form of a short leg, on which a drive element 32 for triggering the pivoting movement, for example a drive element 32 in the form of a hydraulic cylinder or a Hubspin ^¬ del, attacks. Activation of the drive member 32 causes the pivot of the arm Ver ^¬ 30. The arm 30 with the drive member 32 is also movable vertically on an optional column system 34 in the illustrated embodiment.

2 shows further details of the positioning device 20 and of the column system 34. Accordingly, in the illustrated embodiment, both the arm 30 and the column system 34 each comprise parallel segments. The arm 30 thus consists of two parallel arms and the column system 34 consists of two parallel columns. But these are only the conditions in the embodiment shown here and hence it does not matter whether the arm 30 of the positioning device 20 is a single arm or a group of several arms moved together. In the illustrated positioning device 20, the arm 30 is formed of two parallel parts so that they are each in a space between the two columns of the column system 34 and a centrally positioned between the two columns and the vertical movement of the arm 30 specific hydraulic cylinder 36 can be pivoted.

The forceps system 18 is articulated at the free end of the arm 30 at an attachment point A pivotally. The pliers system 18 thus depends on the free end of the arm 30 and thus at the free end of the positioning device 20 like a pendulum. To prevent undesired oscillatory motions when moving the positioning device 20, the implement 10 may optionally include a controllable actuator or a passive damper as means 38 for preventing such oscillations.

The connection or disconnection of two drill pipe elements 14, 16 by means of the implement 10, namely by means of its pliers system 18, is usually ^{¬ way} such that by means of the lower nipper 24, the lower drill string member 14 detects and the pliers system 18 thus a total relative to the Bohrge ^¬ rod elements 14, 16, at least relative to the lower drill string member 14, is fixed. Then, by means of the nipper knife 26, the upper drilling rigs is stängeelement detected 16 and by means of a movement of the nipper knife 26 to the lower nipper 24 is relatively connection or disconnection of the two drill string elements 14, 16. In order to improve readability of the nachfol ^¬ constricting description, this is the example the joining of two Bohrge ^¬ rod elements 14, 16 continued. The analogous taking place separating two drill pipe elements 14, 16 is always read along and mentally supplement.

The following - but without giving up a more extensive general ^¬ my validity and initially primarily to illustrate the of this proposed innovation underlying problem - by a clamp system

18 assumed, as described in the above-mentioned DE 10 2014 208 113. When the pliers system 18 is moved by means of the arm 30 to the drill string elements 14, 16 to be connected, so that the pliers system 18 is relative to the drill string elements 14, 16 in a position in which by means of the lower pliers 24, a detection of the lower drill string element 14 possible is, the lower nipper 24 is activated. By means of Lower tongs 24, the lower drill string member 14 is detected and thus the lower nipper 24 and the nipper system 18 in total on the drill string elements 14, 16, namely the detected lower drill string member 14 and the associated upper drill string member 16, fixed in the axial direction of Bohrge- rod element 14. With the detection of the lower drill pipe element

14 takes place due to the centering means described in DE 10 2014 208 113 a centering of the lower jaw 24 relative to the center of the lower drill string member 14. Due to this centering, a rotation axis of the lower jaw 24 coincides with the

Having centered the pliers system 18 relative to the drill string elements 14, 16, the upper pliers 26 are also activated by means of the upper pliers 26. The upper drill string element 16 is detected Rotary axis of the upper nipper 26 relative to the middle of the rod of the upper

Drill pipe element 16 depends in this case on the position of the tong system 18 as a whole relative to the central longitudinal axis designated below as the drill string axis B (FIG. 3B) by the two drill string elements 14, 16. For simple conditions, it is assumed in the further course of the description that the drill string axis B coincides with the direction of the gravitational acceleration (vertical drill string axis B). In a pivotally mounted on the arm 30, in particular hinged pliers system 18 can be assumed so with a corresponding mobility of the pliers system 18 relative to the arm 30 that the pliers system 18 is in a rest position in a direction parallel to the Bohrgestängeachse B position. In this case, an imaginary axis, hereinafter referred to as the pincer system axis Z (FIG. 3A), is assumed by the pivot points of the lower nipper 24 and the upper nipper 26 as determining the position of the nipper system 18. Due to this parallel position of the tong system 18 relative to the two drill string elements 14, 16, the lower nipper 24 and the

Upper nipper 26, the lower and the upper drill string element 14, 16 each detect on rod center. The pivot points of the lower nipper 24 and the upper nipper 26 then coincide with the respective rod center and when connecting the two drill string elements 14, 16 occur no so-called eccentric forces, as would be the case if either the lower nipper 24 or the upper nipper 26 the respective Drill rod element 14, 16 would detect outside the respective rod center. However, this can happen during operation. Due to the centering of the

Lower tongs 24 by means of respective centering means relative to the lower boring linkage member 14 (the pivot point of sub-joiner 24 coincides with the rod center of lower drill string member 14), may cause the collet system 18 to be "skewed" on the arm 30 such that the collet system axis Z is no longer parallel to the drill string axis B. The lower jaw 24 pulls or pushes the forceps system 18 in the context of

Agility of its attachment to the arm 30 in a position in which the lower tongs 24 centered to the middle of the rod of the lower drill pipe element 14. In this situation, when the upper drill string member 16 is grasped by the upper nipper 26, the fulcrum of the upper nipper 26 will no longer coincide with the rod center of the upper drill string member 16.

In this situation, when the tong system 18 is activated, such that the upper nipper 26 is moved relative to the lower nipper 24, the aforementioned eccentric forces result. These are dependent on the extent to which a fulcrum of one of the pliers (lower tongs 24 or upper tongs 26) is removed from the respective middle of the rod. Such eccentric forces lead to considerable wear of the jaws of the pliers system 18 or the like and the respectively detected areas of the drill string elements 14, 16. It is therefore important that such eccentric forces are avoided during operation and an accurate tightening torque is achieved.

The above will be explained again with reference to the schematically simplified representations in FIGS. 3A to 3D. The illustration in FIG. 3A initially shows the arm 30 of the positioning device 20 of the working device 10 which is rotatable at least about the pivot point D and the tong system attached to the free end of the arm 30, in particular pivotally mounted

18 with the two pliers 24, 26 included. In the illustration in Figure 3A, the pliers system 18 is at rest, for example, because a swinging of the arm 30 is completed and / or a possible oscillation of the pliers system 18 has subsided, in particular by a such oscillation is already initially at least substantially prevented by means of at least one actuator provided for this purpose or is adequately damped. The pliers system 18 thus hangs straight, at least to the extent that results in a vertical and the Bohrgestängeachse B parallel pliers system axis Z. In the interests of clarity of illustration, the two drill string elements 14, 16 and the drill string axis B are not shown in FIG. 3A (see FIG

Fig. 3B to 3D).

The illustration in FIG. 3B shows a situation in which the forceps system 18 is moved by means of the swiveled out arm 30 in the direction of the drill string elements 14, 16 until the (imaginary) clamp system axis Z almost coincides with the drill pipe axis (imaginary) , - The forceps System 18 has been moved by means of the arm 30 in the direction of the drill pipe elements 14, 16 (first method step of the method outlined above). If, in this situation, the forceps system 18 is activated, such that the lower drill string element 14 is detected by means of the lower tongs 24 and centering of the lower tongs 24 relative to the lower tongs 24 associated centering means (not shown, for example see DE 10 2014 208 113) lower drill pipe element 14, there is a contact position of the implement 10 (end of the first process step) and there is a misalignment of the gun system 18, as shown - for exaggeration considerably exaggerated - shown in the illustration in Figure 3C. In the situation shown, the pliers system 18 is pulled by means of the lower tongs 24 associated centering in the direction of the Bohrgestängeachse B. The arm 30 stands still and the arm 30 pivotally movable pliers system 18 is pivoted about the attachment point A, as indicated by the block arrow below the pliers system 18.

By gripping the lower drill string member 14 with the lower jaw 24, it is centered relative to the lower drill string member 14. Of the

Fulcrum of the lower nipper 24 coincides with the middle of the rod of the lower drill pipe element 14. In the illustration in FIG. 3C, this is also illustrated by the fact that the pliers system axis Z running through the pivot point of the lower pliers 24 intersects the drill string axis B exactly at the pivot point of the lower pliers 24. By contrast, the fulcrum point of the upper nipper 26, which can also be identified by means of the course of the pincer system axis Z, does not coincide with the drill pipe axis B due to the misalignment of the pincer system 18. On the already shown in the situation shown at least initial

Activation of the lower nipper 24, at least in such a manner that the lower nipper is fixed as a result of activation relative to the longitudinal axis of the lower drill string member 14, is normally followed by the activation of the upper nipper 26 to engage the upper drill string member 16. The upper drill string member 16 can not be caught mid-pole become. In a subsequent movement of the upper nipper 26 relative to the lower nipper 24, the already mentioned eccentric forces with the also mentioned unfavorable effects. To avoid such eccentric forces, the forceps system 18 is adjusted with the aim of a vertical alignment of the forceps system axis Z. For that will be first determines an actual position of the pliers system 18 in a second process step of the initially outlined procedural ^¬ proceedings. This may be done by an operator of the implement 10, for example by reading a tube level or the like attached to the clamp system. Alternatively, the actual position of the pliers system 18 by means of a designated

Sensors, for example, a tilt sensor or the like, electronically and automatically detected.

Subsequently (third method step) the arm 30 is moved again. This re-movement of the arm 30 occurs after the detection of the lower

Drill pipe element 14 by means of the lower nipper 24 and the associated ^¬ centering of the lower nipper 24 relative to the lower drill pipe element 14. The nipper system 18 is thus already at a point, namely at the pivot point of the lower nipper 24, fixed to the rod center of the drill string elements 14, 16. The renewed movement of the arm 30 - here also illustrated by the block arrow pivoting the arm 30 about its pivot point D - takes place in such a way that at the end of the movement, a desired position of the pliers ^¬ system 18 results. When moving the arm 30 again, a movement of the pliers system 18 in the axial direction of the drill string elements 14, 16 may result, because when the arm 30 is moved again by means of the

Lower tongs 24, the lower drill string member 14 detected and fixed the lower tongs 24 at this transversely to its longitudinal extent. However, the detection of the lower drill pipe element 14 by means of the lower tongs 24 causes no fixation of the tong system 18 in the axial direction of the lower Bohrge- rod member 14. The desired target position of the pliers system 18 is obtained by the operator of the implement 10 during the renewed movement of the arm 30 compares the respective actual position with the desired position and ends the movement of the arm 30 when the desired position has been reached, and in that such a comparison is carried out electronically and autoretatically on the basis of corresponding measured values.

The desired position of the forceps system 18 is a position in which the tongs system Z is perpendicular, so that the upper forceps 26 also acts on the middle of the upper drill rod element 16. Then grab both pliers 24, 26, the respective drill string element 14, 16 each exactly

Rod center. Exzenterkräfte then no longer occur when moving the upper nipper 26 relative to the lower nipper 24. The otherwise resulting wear effects are avoided. In the illustration in Figure 3D, in a simplified schematic form the

Result of this renewed movement of the arm 30 and the resulting direction of the forceps system 18, the forceps axis Z is shown only for reasons of distinctness of the Bohrgestängeachse B slightly adjacent to this. In fact, the pliers axis Z coincides with the achievement of the desired position of the pliers system 18 with the Bohrgestängeachse B.

The actual position of the arm 30 when the desired position of the forceps system 18 is received is recorded and stored for later reuse as the desired position of the arm 30. In future movement cycles of the implement 10, this target position can be retrieved. The arm 30 is then moved toward the drill pipe elements 14 as the tong system 18 moves.

16 moves directly into the respective stored desired position, pivoted in the embodiment shown. Deviating from the situation shown in ^Dar¬ position in Figure 3B then results for the hanging at the free end of the arm 30 pliers system 18 a position relative to the drill string elements 14, 16, in which the collet system axis Z coincides with the Bohrgestängeachse B or at least Essentially coincides. During the subsequent activation of the lower nipper 24, there is then no longer a misalignment of the nipper system 18, as shown in FIG. 3C, and during the subsequent activation of the upper nipper 26, the upper nipper 26 engages the local drill pipe element 16 on the middle of the rod. Then, without inconvenient shearing forces, the upper nipper 26 can be moved relative to the lower nipper 24 to connect the two drill string members 14, 16 in a manner suitable for drilling operation. When installing drill pipe 14, 16, the implement 10 is alternately moved to a working position and a rest position. When starting the working position, the (learned) desired position determined by the method described here is used in each case for the optimum positioning of the arm 30 and of the pincer system 18 attached to it. If necessary, a renewed determination of the desired position of the arm 30 is necessary, which can then be used for the further installation of drill pipe elements 14, 16 with the other diameter When using a pliers system 18 as in DE 10 2014 208 113 with the local centering means or Similar centering is a renewed determination of the desired position of the

Arms 30 advantageously not necessary. The once determined target position can be used regardless of the diameter of later used drill string elements. Finally, the illustration in FIG. 4 shows a method intended for automatic or partially automatic execution of the method proposed here Control device 40. This includes, for example, in a conventional manner, a processing unit 42 in the form of or in the manner of a microprocessor and a memory 44. The control device 40 is, for example, a so-called programmable logic controller. A control program 46 executable by means of the processing unit 42 and executed during operation of the implement 10 is loaded into the memory 44 for implementing the method proposed here. Instead of an implementation of the method in software in the form of a control program 46 of the proposed method according to the functionality ^means of corresponding switching elements is alternatively known tion also a realization into account.

In an automatic embodiment of the method, the respective actual position of the tong system 18 is detected in the form of a corresponding measured value 48 when the contact position is reached. The measured value 48 can be determined by means of a

Pliers system 18 associated sensor, for example, a tilt sensor, are detected. Alternatively or additionally, the measured value 48 can also be detected by means of a sensor 30 associated with the arm, for example an incremental encoder. When the forceps system 18 is aligned by means of a renewed movement of the arm 30, the control device 40 continuously or cyclically compares a respective currently detected actual position of the forceps system 18 with a coding of the desired position suitable for automatic comparison. A previously effected under control of the control device 40 again movement of the arm 30 is at a match or at least sufficient match of the respective actual position with the desired position due to a generated by means of the control ^¬ device 40 control signal 50, here a control signal 50 for driving of the drive element 32, finished. One then each resulting ^¬ de position of the arm 30 is detected in the form of a measured value 52 as a future target position of the arm 30 and stored in a memory cell of Steuerungsein ^¬ direction 40th On subsequent movement cycles of the working device 10, the stored ( "trained") is desired position of the arm 30 is used as target ^¬ value 54 for driving the arm 30, here for a control of the drive member 32 by means of the control device 40th

Substantial aspects of the description presented here can thus be briefly summarized as follows: A method for operating an implement 10 (Iron Roughneck) and a working implement 10 according to the method are indicated in which after an initial positioning of a forceps system 18 by means of a positioning device 20 and a subsequent sequent ^¬ fixing of the pincers system 18 is attached by means of the pliers system 18 to connecting the drill string elements 14, 16 a resultant position (actual position) of the forceps system 18 is detected, then the forceps system 18 is aligned by means of a renewed movement of the positioning device 20 until a desired position of the forceps system 18 is reached, and finally a resulting Position of the positioning device 20 as a future target

Position for further movement cycles of the implement 10 is stored. In an aligned according to the target position pliers system 18 otherwise possible shear forces are avoided when connecting two drill string elements 14, 16. When moving the positioning device 20 in the detected and stored desired position results for the forceps system 18 directly the desired target position, so that unfavorable shear forces even with the continued installation and removal of drill string elements 14, 16 and corresponding movement cycles of the implement 10 avoided become.

LIST OF REFERENCE NUMBERS

10 working device

12 work platform

14 drill string / drill pipe element

16 drill string / drill pipe element

18 pincer system (part of the implement)

20 positioning device (part of the

Working device)

22 spinner (part of the implement)

24 lower tongs (part of the tongs system)

26 upper pliers (part of the pliers system)

28 (free)

30 arm (part of the positioning device)

32 drive element (for pivoting the arm)

34 column system

36 hydraulic cylinders

38 means for preventing pendulum movements of the forceps system

40 control device

42 processing unit

44 memory

46 Control program

48, 52 measured value

50, 54 control signal / setpoint A mounting point B drill pipe axis

D Pivot / rotation axis Z Pliers system axis

Claims

claims

A method of operating a work implement (10) on a drilling rig, the implement (10) including a tong system (18) and an arm (30) for positioning the tong system (18) pivotally mounted at a free end of the arm (30) .

wherein the implement (10) and its tong system (18) are intended to connect or disconnect two drill string elements (14, 16),

wherein in a first method step, the tong system (18) is moved by means of the arm (30) in the direction of the drill string elements (14, 16) and the working device (10) is brought into a contact position,

wherein in a second method step in the contact position and at standstill of the arm (30) an actual position of the pliers system (18) is determined, and

wherein in a third method step by means of the arm (30), the pliers system (18) is moved again until a predetermined desired position of the pliers system (18) is reached.

2. The method according to claim 1,

wherein in the third step after reaching the desired position of the tong system (18) as a target position, a measure of an reached position of the arm (30) is detected and stored and

wherein an operating action of an operator of the working device (10) in a subsequent movement cycle of the working device (10) when moving the tong system (18) by means of the arm (30) in the direction of the Bohrge ^¬ rod elements (14, 16) of the arm (30) is automatically moved to a position entspre ^¬ accordingly recognized in the third method step, the nominal position.

3. The method according to any one of claims 1 or 2,

wherein the renewed movement of the arm (30) in the third method step is carried out automatically by an automatically evaluable measure of the respective actual position of the forceps system (18) is recorded by a sensor, by the actual position is automatically compared with the desired position and the re-movement of the arm (30) is automatically terminated when the actual position and the desired position coincide within predetermined or predefinable limits.

4. The method according to any one of claims 1, 2 or 3,

the pliers system (18) for connecting or disconnecting two drill pipe elements (14, 16), namely a lower drill pipe element (14) and an upper drill pipe element (16), at least one lower nipper (24),

wherein in the first step in the contact position the lower nipper (24) detects the lower drill string element (14),

wherein the lower nipper (24) is centered relative to the lower drill string member (14) by centering means encompassed by the lower nipper (24) or associated with the lower nipper (24) and

wherein the tong system (18) is fixed relative to at least the lower drill string member (14).

5. The method according to any one of claims 1, 2 or 3, wherein the forceps system (18) comprises a stop,

wherein in the first method step, the reaching of the contact position by means of a contact of the stop with one of the drill string elements (14, 16) is sensed and

wherein also in the first method step, the tong system (18) in the contact position relative to at least one of the drill string elements (14, 16) is fixed.

6. implement (10) for use on a drilling rig,

the implement (10) comprising a tong system (18) and an arm (30) for positioning the tong system (18) pivotally mounted to a free end of the arm (30),

wherein the tong system (18) is movable by means of the arm (30) towards the drill string elements (14, 16) and the implement (10) is maneuverable to a contact position,

wherein in the contact position and at standstill of the arm (30) an actual position of the pliers system (18) can be determined,

wherein the pliers system (18) by means of the arm (30) is movable until a predetermined desired position of the pliers system (18) is reached.

7. Tool (10) according to claim 6 having means for carrying out the method according to any one of claims 1 to 5.

Computer program or computer program product with microprocessor-executable program code instructions for implementing the method according to one of claims 1 to 5, when the computer program is executed on a computer acting as control device (40) for controlling a working device (10) according to one of claims 6 or 7 becomes.

9. Control device (40) for controlling a working device (10) according to any one of claims 6 or 7, with a memory (44) in which a computer program is loaded according to claim 8.

10. drilling rig, in particular drilling rig for deep drilling, with a working device (10) according to any one of claims 6 or 7, in particular a working device (10) according to any one of claims 6 or 7 with a control device (40) according to claim 9.