WO2012148286A1 - Machine de manutention de tuyaux - Google Patents

Machine de manutention de tuyaux Download PDF

Info

Publication number
WO2012148286A1
WO2012148286A1 PCT/NO2012/050074 NO2012050074W WO2012148286A1 WO 2012148286 A1 WO2012148286 A1 WO 2012148286A1 NO 2012050074 W NO2012050074 W NO 2012050074W WO 2012148286 A1 WO2012148286 A1 WO 2012148286A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe
handling machine
gripper
pipe handling
carriage
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
Application number
PCT/NO2012/050074
Other languages
English (en)
Inventor
Ola Lunde
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seabed Rig AS
Original Assignee
Seabed Rig AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Seabed Rig AS filed Critical Seabed Rig AS
Publication of WO2012148286A1 publication Critical patent/WO2012148286A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
    • E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/146—Carousel systems, i.e. rotating rack systems

Definitions

  • a pipe handling machine is provided. More particularly, it is a pipe handling machine for moving pipes between a supply point, a magazine, and a drilling centre where the pipe handling machine includes a column with at least one movable carriage, the carriage being provided with a movable arm which includes a pipe gripper.
  • a pipe which is typically stored in a horizontal position outside the drilling floor is first brought into a vertical position, typically by means of a pipe lift, before a pipe manipulator moves the pipe by parallel displacement into the drilling centre, for example, or into an intermediate store.
  • Raising a relatively long and heavy pipe between the lying and standing positions requires considerable space and calls for machines of considerable dimensions.
  • the invention has for its object to remedy or reduce at least one of the drawbacks of the prior art or at least provide a useful alternative to the prior art.
  • a pipe handling machine for moving pipes between a supply point, a magazine, and a drilling centre including a column with at least one movable carriage, the carriage being provided with a movable arm including a pipe gripper, and the pipe handling machine being characterized by the pipe gripper being rotatable between a first position, in which a pipe which is in the pipe gripper has its longitudinal axis in a horizontal direction, and a second position, in which the longitudinal axis of the pipe has a vertical direction.
  • the pipe handling machine is thereby arranged to move a pipe from a horizontal position into a vertical position at an intermediate store or at the drilling centre.
  • the gripper may include two or more gripping devices spaced apart in the longitudinal direction of a gripped pipe. A steady grip around the pipe is thereby achieved, both when it is being lifted from a horizontal position and when it is in a vertical position.
  • the arm may be rotatable relative to the carriage around a first rotational axis which is parallel to the column.
  • the arms belonging to the different carriages may thereby be in different positions even in the horizontal plane.
  • the arm may include arm portions movable relative to each other.
  • the arm portions may be rotatable or telescopic relative to each other.
  • a pipe which has its longitudinal axis in a horizontal direction is typically at a drilling floor and is picked up from or brought into this position during transport from or to external areas.
  • all displacement functions may be hydrauhcally or electrically activated and may be remotely controlled or automatically controlled.
  • the device in accordance with the invention replaces a conventional pipe lift and the functions of a prior-art pipe manipulator. It is obvious that the omission of a pipe lift contributes to a considerable simplification of the plant, reduced need for space and reduced cost.
  • FIG. 1 shows a pipe handling machine in accordance with the invention
  • Figure 2 shows, on a larger scale, a portion of the pipe handling machine of figure
  • Figure 3 shows a section of the pipe handling machine in another position.
  • the reference numeral 1 indicates a pipe handling machine which is on a drilling floor 2 or an installation similar to a drilling floor.
  • the pipe handling machine 1 cooperates with a pipe magazine 4 and a top-drive drilling machine 6 which is vertically movable along a tower guide 8 and which is arranged to work at a drilling centre 10.
  • the pipe handling machine 1 includes a column 12 and is, in this preferred exemplary embodiment, provided with two carriages 14 running in vertical directions along the column 12.
  • the carriages 14 may be identical, but are arranged to be controlled independently of each other.
  • the column 12 may be rotatable or constituted by a structure connected to the tower guide 8.
  • Each carriage 14 is provided with a movable arm 16 which includes a pipe gripper 18.
  • the arm 16 is connected to the carriage 14 by means of a first rotary joint 20 with a first rotational axis 22 which is parallel to the column 12, and by means of a second rotary joint 24 with a second rotational axis 26 perpendicular to the first rotational axis 22.
  • the arm 16 is provided with a third rotary joint 28 with a third rotational axis 30 which is parallel to the second rotational axis 26.
  • a gripping beam 32 belonging to the pipe gripper 18 is connected to the third rotary joint 28.
  • the gripping beam 32 of the pipe gripper 18 is provided with a gripping device 34 in the form of a gripping clamp at either one of its end portions.
  • the pipe gripper 18 When it is in its first position as shown in figure 2, the pipe gripper 18 is arranged to grip a pipe 36 which has its longitudinal axis 38 in a horizontal direction.
  • the pipe 36 is fed via a conveyor 40 from a store for horizontally stored pipes 36 or from a processing position for pipes 36.
  • the store and the processing position are not shown in the drawings.
  • the conveyor 40 constitutes a supply point for pipes 36.
  • a pipe 36 When, for example, a pipe 36 is to be brought from a horizontal position and carried to the drilling centre 10 or to the pipe magazine 4, the pipe is moved in to the pipe handling machine 1 on the conveyor 40 while in its horizontal position.
  • the gripping clamps 34 of the pipe gripper 18 grip around the pipe 36, see figure 2, after which the carriage 14 is moved along the column 12 while the pipe gripper 18 is rotating the pipe around the third rotational axis 30 into a vertical direction as shown in figure 3.
  • the other rotary joints 20, 24 are used to bring the pipe 36 into the desired position.

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)
  • Drilling And Boring (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne une machine de manutention (1) de tuyaux permettant de déplacer des tuyaux (36) entre un point de fourniture, un râtelier (4) à tuyaux, et un centre de forage (10), la machine de manutention (1) de tuyaux comprenant une colonne (12) dotée d'au moins un chariot mobile (14), le chariot (14) étant doté d'un bras mobile (16) qui comprend un organe de préhension (18) de tuyaux, ce dernier pouvant tourner entre une première position, dans laquelle un tuyau (36), situé dans l'organe de préhension (18) de tuyaux, présente un axe longitudinal (38) suivant une direction horizontale, et une seconde position, dans laquelle l'axe longitudinal (38) du tuyau (36) suit une direction verticale.
PCT/NO2012/050074 2011-04-29 2012-04-23 Machine de manutention de tuyaux Ceased WO2012148286A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201161480902P 2011-04-29 2011-04-29
US61/480,902 2011-04-29
NO20110638A NO20110638A1 (no) 2011-04-29 2011-04-29 Rorhandteringsmaskin
NO20110638 2011-04-29

Publications (1)

Publication Number Publication Date
WO2012148286A1 true WO2012148286A1 (fr) 2012-11-01

Family

ID=47072576

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2012/050074 Ceased WO2012148286A1 (fr) 2011-04-29 2012-04-23 Machine de manutention de tuyaux

Country Status (2)

Country Link
NO (1) NO20110638A1 (fr)
WO (1) WO2012148286A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448071A (zh) * 2013-08-30 2013-12-18 张成功 虎口可倾斜的机械手
WO2014199344A3 (fr) * 2013-06-13 2015-08-13 Mhwirth As Agencement d'élévation pour élever un tuyau
WO2015157815A1 (fr) * 2014-04-14 2015-10-22 Ormarc Engineering Pty Ltd Dispositif de manipulation de tiges de forage
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
AU2016231545B2 (en) * 2015-09-24 2017-11-30 Sandvik Canada Inc. Loading drill rods from cassette to drilling position
US20180087331A1 (en) * 2015-11-16 2018-03-29 Schlumberger Technology Corporation Tubular delivery arm for a drilling rig
CN110173222A (zh) * 2019-05-21 2019-08-27 辽宁工程技术大学 一种坑道钻机连续接杆装置及其使用方法
US10465455B2 (en) 2015-11-16 2019-11-05 Schlumberger Technology Corporation Automated tubular racking system
US10519727B2 (en) 2015-11-17 2019-12-31 Schlumberger Technology Corporation High trip rate drilling rig
US10597954B2 (en) 2017-10-10 2020-03-24 Schlumberger Technology Corporation Sequencing for pipe handling
US10844674B2 (en) 2016-04-29 2020-11-24 Schlumberger Technology Corporation High trip rate drilling rig
US10927603B2 (en) 2016-04-29 2021-02-23 Schlumberger Technology Corporation High trip rate drilling rig
US11118414B2 (en) 2016-04-29 2021-09-14 Schlumberger Technology Corporation Tubular delivery arm for a drilling rig
US12376923B2 (en) 2018-10-15 2025-08-05 Intuitive Surgical Operations, Inc. Systems and methods for sterilization and storage of a sterilized teleoperated component

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024215226A1 (fr) * 2023-04-12 2024-10-17 Epiroc Rock Drills Aktiebolag Dispositif de manipulation de tige

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993015303A1 (fr) * 1992-01-28 1993-08-05 Hepburn, John T. Limited Appareil servant a manipuler des conduits de fond
WO2004018829A1 (fr) * 2002-08-21 2004-03-04 Maritime Hydraulics As Dispositif de manipulation de tuyau sur un plancher de forage
WO2005017306A1 (fr) * 2003-08-15 2005-02-24 Maritime Hydraulics As Systeme anti-collision

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993015303A1 (fr) * 1992-01-28 1993-08-05 Hepburn, John T. Limited Appareil servant a manipuler des conduits de fond
WO2004018829A1 (fr) * 2002-08-21 2004-03-04 Maritime Hydraulics As Dispositif de manipulation de tuyau sur un plancher de forage
WO2005017306A1 (fr) * 2003-08-15 2005-02-24 Maritime Hydraulics As Systeme anti-collision

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
US9856117B2 (en) 2013-06-10 2018-01-02 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
GB2529337B (en) * 2013-06-13 2016-10-19 Mhwirth As Lifting arrangement for lifting a pipe
US9752397B2 (en) 2013-06-13 2017-09-05 Mhwirth As Lifting arrangement for lifting a pipe
WO2014199344A3 (fr) * 2013-06-13 2015-08-13 Mhwirth As Agencement d'élévation pour élever un tuyau
GB2529337A (en) * 2013-06-13 2016-02-17 Mhwirth As Lifting arrangement for lifting a pipe
CN103448071A (zh) * 2013-08-30 2013-12-18 张成功 虎口可倾斜的机械手
US10385634B2 (en) 2014-04-14 2019-08-20 Ormarc Engineering Pty Ltd Drill rod handler
WO2015157815A1 (fr) * 2014-04-14 2015-10-22 Ormarc Engineering Pty Ltd Dispositif de manipulation de tiges de forage
AU2016231545B2 (en) * 2015-09-24 2017-11-30 Sandvik Canada Inc. Loading drill rods from cassette to drilling position
EP3147448B1 (fr) * 2015-09-24 2019-07-10 Sandvik Canada Inc. Tiges de forage de chargement de cassette à position de forage
US20180087331A1 (en) * 2015-11-16 2018-03-29 Schlumberger Technology Corporation Tubular delivery arm for a drilling rig
US10465455B2 (en) 2015-11-16 2019-11-05 Schlumberger Technology Corporation Automated tubular racking system
US10697255B2 (en) * 2015-11-16 2020-06-30 Schlumberger Technology Corporation Tubular delivery arm for a drilling rig
US10865609B2 (en) 2015-11-17 2020-12-15 Schlumberger Technology Corporation High trip rate drilling rig
US10519727B2 (en) 2015-11-17 2019-12-31 Schlumberger Technology Corporation High trip rate drilling rig
US10550650B2 (en) 2015-11-17 2020-02-04 Schlumberger Technology Corporation High trip rate drilling rig
US10844674B2 (en) 2016-04-29 2020-11-24 Schlumberger Technology Corporation High trip rate drilling rig
US10927603B2 (en) 2016-04-29 2021-02-23 Schlumberger Technology Corporation High trip rate drilling rig
US11118414B2 (en) 2016-04-29 2021-09-14 Schlumberger Technology Corporation Tubular delivery arm for a drilling rig
US11136836B2 (en) 2016-04-29 2021-10-05 Schlumberger Technology Corporation High trip rate drilling rig
US10597954B2 (en) 2017-10-10 2020-03-24 Schlumberger Technology Corporation Sequencing for pipe handling
US11346164B2 (en) 2017-10-10 2022-05-31 Schlumberger Technology Corporation Sequencing for pipe handling
US12376923B2 (en) 2018-10-15 2025-08-05 Intuitive Surgical Operations, Inc. Systems and methods for sterilization and storage of a sterilized teleoperated component
CN110173222A (zh) * 2019-05-21 2019-08-27 辽宁工程技术大学 一种坑道钻机连续接杆装置及其使用方法

Also Published As

Publication number Publication date
NO20110638A1 (no) 2012-10-30

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