WO2016005701A3 - Procede de forage d'un sol a l'aide d'un bras robotise - Google Patents

Procede de forage d'un sol a l'aide d'un bras robotise Download PDF

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Publication number
WO2016005701A3
WO2016005701A3 PCT/FR2015/051884 FR2015051884W WO2016005701A3 WO 2016005701 A3 WO2016005701 A3 WO 2016005701A3 FR 2015051884 W FR2015051884 W FR 2015051884W WO 2016005701 A3 WO2016005701 A3 WO 2016005701A3
Authority
WO
WIPO (PCT)
Prior art keywords
drilling
ground
gripping member
tube
robotic arm
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/FR2015/051884
Other languages
English (en)
Other versions
WO2016005701A2 (fr
Inventor
Laredj Benchikh
Daniel Perpezat
Lotfi BEJI
Sara CASCARINO
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.)
Soletanche Freyssinet SA
Original Assignee
Soletanche Freyssinet SA
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 Soletanche Freyssinet SA filed Critical Soletanche Freyssinet SA
Priority to JP2017500341A priority Critical patent/JP6675377B2/ja
Priority to US15/323,775 priority patent/US10941617B2/en
Priority to EP15754263.0A priority patent/EP3167141B1/fr
Publication of WO2016005701A2 publication Critical patent/WO2016005701A2/fr
Publication of WO2016005701A3 publication Critical patent/WO2016005701A3/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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable
    • 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
    • E21B19/15—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
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • 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
    • E21B19/20—Combined feeding from rack and connecting, e.g. automatically
    • 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
    • E21B19/24—Guiding or centralising devices for drilling rods or pipes
    • 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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • 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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

L'invention concerne un procédé de forage d'un sol selon une direction de forage, dans lequel : on fournit au moins un premier et un deuxième tubes de forage (40,42); on fournit un bras de manipulation (12) articulé et motorisé muni d'un organe de préhension (30); on saisit le premier tube de forage (40) à l'aide de l'organe de préhension (30); on déplace l'organe de préhension selon la direction de forage afin d'enfoncer le premier tube de forage dans le sol, l'organe de préhension libère le premier tube de forage; puis on saisit le deuxième tube de forage et on fixe le deuxième tube de forage avec le premier tube de forage; et on déplace l'organe de préhension afin d'enfoncer dans le sol les premier et deuxième tubes de forage.
PCT/FR2015/051884 2014-07-09 2015-07-08 Procede de forage d'un sol a l'aide d'un bras robotise Ceased WO2016005701A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017500341A JP6675377B2 (ja) 2014-07-09 2015-07-08 ロボットアームを用いた地盤の掘削方法
US15/323,775 US10941617B2 (en) 2014-07-09 2015-07-08 Method of drilling a ground using a robotic arm
EP15754263.0A EP3167141B1 (fr) 2014-07-09 2015-07-08 Procede de forage d'un sol a l'aide d'un bras robotise

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1456602 2014-07-09
FR1456602A FR3023577B1 (fr) 2014-07-09 2014-07-09 Procede de forage d'un sol a l'aide d'un bras robotise

Publications (2)

Publication Number Publication Date
WO2016005701A2 WO2016005701A2 (fr) 2016-01-14
WO2016005701A3 true WO2016005701A3 (fr) 2016-05-19

Family

ID=52016686

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2015/051884 Ceased WO2016005701A2 (fr) 2014-07-09 2015-07-08 Procede de forage d'un sol a l'aide d'un bras robotise

Country Status (5)

Country Link
US (1) US10941617B2 (fr)
EP (1) EP3167141B1 (fr)
JP (1) JP6675377B2 (fr)
FR (1) FR3023577B1 (fr)
WO (1) WO2016005701A2 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586837B (zh) * 2016-12-19 2017-11-24 四川宏华电气有限责任公司 一种关节吊机自动抓放钻杆系统及方法
EP3361039A1 (fr) * 2017-02-13 2018-08-15 Epiroc Rock Drills Aktiebolag Dispositif de guidage de train de tiges et procédé d'assemblage de composants de train de tiges avec un tel dispositif
JP7110054B2 (ja) * 2018-09-28 2022-08-01 ソイルメックジャパン株式会社 二重管ローディング機
JP7116957B2 (ja) * 2018-09-28 2022-08-12 ソイルメックジャパン株式会社 二重管ローディング機と削孔機の併用使用方法
WO2025179394A1 (fr) * 2024-03-01 2025-09-04 Hoffos Kelsey Leroy Guide d'engagement de tubage robotique

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002016728A1 (fr) * 2000-08-23 2002-02-28 Techmo Entwicklungs- Und Vertriebs Gmbh Procede et dispositif pour assembler, en particulier prolonger, un tube ou une tige
WO2002103162A1 (fr) * 2001-06-18 2002-12-27 Russell Mineral Equipment Pty Limited Appareil et procede de pose de boulons d'ancrage
EP2351903A2 (fr) * 2010-01-11 2011-08-03 TERRA AG fuer Tiefbautechnik Procédé et agencement de fabrication et/ou d'élargissement d'un trou dans la terre
US20130277118A1 (en) * 2010-03-31 2013-10-24 Gdf Suez Method for operating a horizontal drilling device and horizontal drilling device
WO2014011100A1 (fr) * 2012-07-09 2014-01-16 Atlas Copco Rock Drills Ab Procédé et appareil de boulonnage dans la roche pour l'installation d'un boulon d'ancrage

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US3833071A (en) * 1973-05-03 1974-09-03 R Koosman Apparatus and process for soil dewatering
FR2452587A1 (fr) * 1979-03-26 1980-10-24 Montabert Roger Bras-support articule pour glissiere d'appareil de foration
CN1008382B (zh) * 1984-11-08 1990-06-13 林明鸾 打桩、拔桩和/或钻孔机
GB8428285D0 (en) * 1984-11-08 1984-12-19 Lam M L Pile driver drawer/drilling machine
US4750571A (en) * 1986-10-08 1988-06-14 Geeting Marvin D Screen placement method and apparatus
JPH07139662A (ja) * 1993-11-15 1995-05-30 Kazunori Sugimoto 地下埋設管の布設方法
US5752789A (en) * 1995-12-15 1998-05-19 The Boeing Company Right angle peck drill
US6234260B1 (en) * 1997-03-19 2001-05-22 Coast Machinery, Inc. Mobile drilling apparatus
JP2000104474A (ja) * 1998-09-28 2000-04-11 Chuo Jidosha Kogyo Kk 補助アーム及びオーガ出力装置並びにアースオーガ
FI107182B (fi) * 1998-12-09 2001-06-15 Tamrock Oy Menetelmä asemointivirheiden korjaamiseksi kallionporauksessa ja kallionporauslaitteisto
JP2000337079A (ja) * 1999-05-31 2000-12-05 Drill Machine Kk 二重管方式削孔工法及びその装置並びに埋設管押し込みアダプタ
US6641332B1 (en) * 2002-07-10 2003-11-04 Appalachian Structural Systems, Inc. Foundation support and process for structures
JP4068926B2 (ja) * 2002-09-09 2008-03-26 日本車輌製造株式会社 鋼管チャック装置
JP2005220627A (ja) * 2004-02-06 2005-08-18 Enzan Kobo:Kk 削岩機搭載台車における穿孔位置決め制御方法
FI121025B (fi) * 2004-12-07 2010-06-15 Sandvik Mining & Constr Oy Menetelmä putkiporaukseen, porausyksikkö sekä adapterilaite
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JP4657996B2 (ja) * 2006-07-14 2011-03-23 古河ロックドリル株式会社 支保工キャッチャー
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JP5921209B2 (ja) * 2012-01-25 2016-05-24 古河ロックドリル株式会社 さく孔機用ロッド脱着装置
JP6124586B2 (ja) * 2012-12-27 2017-05-10 西松建設株式会社 管支持装置および管の支持方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002016728A1 (fr) * 2000-08-23 2002-02-28 Techmo Entwicklungs- Und Vertriebs Gmbh Procede et dispositif pour assembler, en particulier prolonger, un tube ou une tige
WO2002103162A1 (fr) * 2001-06-18 2002-12-27 Russell Mineral Equipment Pty Limited Appareil et procede de pose de boulons d'ancrage
EP2351903A2 (fr) * 2010-01-11 2011-08-03 TERRA AG fuer Tiefbautechnik Procédé et agencement de fabrication et/ou d'élargissement d'un trou dans la terre
US20130277118A1 (en) * 2010-03-31 2013-10-24 Gdf Suez Method for operating a horizontal drilling device and horizontal drilling device
WO2014011100A1 (fr) * 2012-07-09 2014-01-16 Atlas Copco Rock Drills Ab Procédé et appareil de boulonnage dans la roche pour l'installation d'un boulon d'ancrage

Also Published As

Publication number Publication date
FR3023577A1 (fr) 2016-01-15
WO2016005701A2 (fr) 2016-01-14
FR3023577B1 (fr) 2019-07-12
JP2017519922A (ja) 2017-07-20
US20170159361A1 (en) 2017-06-08
EP3167141A2 (fr) 2017-05-17
JP6675377B2 (ja) 2020-04-01
US10941617B2 (en) 2021-03-09
EP3167141B1 (fr) 2018-09-12

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