WO2016199103A1 - Bras de manipulation de tuyaux, et système de plancher de forage et procédé permettant d'effectuer des opérations de travail totalement automatiques sur un plancher de forage - Google Patents

Bras de manipulation de tuyaux, et système de plancher de forage et procédé permettant d'effectuer des opérations de travail totalement automatiques sur un plancher de forage Download PDF

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Publication number
WO2016199103A1
WO2016199103A1 PCT/IB2016/053460 IB2016053460W WO2016199103A1 WO 2016199103 A1 WO2016199103 A1 WO 2016199103A1 IB 2016053460 W IB2016053460 W IB 2016053460W WO 2016199103 A1 WO2016199103 A1 WO 2016199103A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe handling
handling arm
drill floor
work
work tool
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/IB2016/053460
Other languages
English (en)
Inventor
Odd B. Skjaerseth
Bjørn EILERTSEN
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.)
West Drilling Products AS
Original Assignee
West Drilling Products 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 West Drilling Products AS filed Critical West Drilling Products AS
Priority to US15/735,903 priority Critical patent/US20190003269A1/en
Publication of WO2016199103A1 publication Critical patent/WO2016199103A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • E21B19/02—Rod or cable suspensions
    • E21B19/06—Elevators, i.e. rod- or tube-gripping devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • 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
    • E21B19/18—Connecting or disconnecting drill bit and drilling pipe

Definitions

  • the present application relates to a drill floor system for performing a plurality of fully automatic work operations on a drill floor, and to a method for performing a plurality of work operations on a drill floor.
  • BHA bottom hole assembly
  • the bottom hole assembly components have to be assembled and the bottom hole assembly mounted on the pipe string on the drill floor before it is lowered, and more tubular elements are screwed onto the pipe string as it is run into the borehole and as the drilling advances. If some form of intervention has to be made in the well, different types of tools will be used depending on what well operation is to be carried out.
  • the object of the present invention has therefore been to develop a new system for handling different types of work tools and/or downhole tools on the drill floor.
  • it has been an object of the present invention to provide a tool for automatic handling of both tubular elements and the different components of a bottom hole assembly and other parts that are to be lowered into the borehole.
  • a pipe handling arm comprising a pipe gripping tool with gripping devices for gripping and holding a tubular element, wherein the pipe handling tool further comprises a first coupling half arranged on the pipe gripping tool for connection of a work tool.
  • the work tool can, for example, be used to handle a downhole device such as small subs (i.e., short pipes that are to be screwed into the drill string, bit, bit breaker, or to handle work platforms and personnel baskets and parts of other machines on the drill floor.
  • the pipe handling arm is preferably adapted for fully automatic connection to and disconnection from the work tool.
  • a drill floor system is also provided for performing a plurality of fully automatic work operations on a drill floor.
  • the drill floor system comprises at least one fully automatic pipe handling arm as described above and at least one work tool for performing a number of different work operations on the drill floor, where the at least one pipe handling arm and the at least one work tool are adapted for fully automatic connection of the at least one work tool to the at least one pipe handling arm and fully automatic disconnection of a connected work tool from the at least one pipe handling arm.
  • the drill floor system further comprises a control system which at least is adapted to control the movements of the pipe handling arm, the automatic connection of the at least one work tool to the at least one pipe handling arm, and the automatic disconnection of the at least one work tool from the at least one pipe handling arm such that a number of work operations on the drill floor can be automated and performed without the assistance of personnel.
  • a control system which at least is adapted to control the movements of the pipe handling arm, the automatic connection of the at least one work tool to the at least one pipe handling arm, and the automatic disconnection of the at least one work tool from the at least one pipe handling arm such that a number of work operations on the drill floor can be automated and performed without the assistance of personnel.
  • a work operation here will typically be taking a downhole device, for example, a bottom hole assembly component, and mounting it on another downhole device, which also may be a component of the bottom hole assembly, or mounting a tubular element on a downhole device, for example, a bottom hole assembly component, or vice versa.
  • a work operation can also involve moving a device, for example, a valve device that is to be used in a downhole operation, from a position in which the device is stored into a position in which the device can be lowered into the well.
  • a work operation can, of course, also consist of dismantling a pipe string and/or downhole devices that are pulled out of the well and placing tubular elements and/or downhole devices in their respective positions on the drill floor.
  • the pipe handling arm preferably comprises gripping devices such that when no work tool is mounted on the pipe handling arm, it can preferably be used to handle tubular elements.
  • the control system preferably has control of where the different work tools and/or downhole devices are located, and monitors and controls the operations required to connect a work tool to the pipe handling arm, the operations required to disconnect a work tool from the pipe handling arm, and it monitors and controls the pipe handling arm and the mounted work tool when the pipe handling arm performs a work operation with the work tool on the drill floor, such as gripping and assembling the components of a bottom hole assembly as mentioned above, or moving a downhole device into a position in which it can be run into the well, and moving a downhole device that has been taken up from the well into its storage position on the drill floor.
  • the only thing the personnel need do is therefore to sit in a control room and start the process.
  • the control system has received a message as to what is to be done, i.e., what process should be performed, it takes over and controls the pipe handling arm, the connection and disconnection of work tools and the performance of the necessary work operations in order to execute the desired process, as, for example, assembling a bottom hole assembly.
  • the need to have personnel moving around on the drill floor is obviated, which will reduce significantly the number of personal injuries.
  • the drill floor system may comprise one or a plurality of work tools for performing a number of different work operations on the drill floor, wherein the at least one pipe handling arm and the work tool or tools are adapted for fully automatic connection to the at least one pipe handling arm and fully automatic disconnection from the at least one pipe handling arm.
  • the at least one work tool preferably comprises at least one holding device for gripping and holding a downhole device on the drill floor. It may, for example, be a holding device for a tubular element or a downhole tool such as a component of a bottom hole assembly, a valve device, a pipe plug etc.
  • the drill floor system may comprise a separate storage space for each work tool and/or each downhole device, where the work tools and/or downhole devices are placed when they are disconnected from the at least one pipe handling arm and are not in use.
  • the position for each work tool and each downhole device is entered in the control system such that the pipe handling arm can move into the right place for connection of the right work tool or downhole device, or disconnection and placing in the correct storage space for downhole devices and work tools after use.
  • the drill floor system comprises at least one tool store comprising at least one storage space for a tool that is adapted for connection to the at least one pipe handling arm, and/or a downhole device that is adapted for connection to the work tool.
  • the drill floor system may comprise two or more tool stores.
  • the at least one tool store preferably comprises a plurality of storage spaces for a number of work tools and/or downhole devices. All the work tools and downhole devices preferably have their own storage space in the tool store, unless they are of a shape and/or size which makes it impossible for them to fit into such a tool store.
  • the work tools and/or downhole devices that perhaps for different reasons do not fit into the tool store will preferably have a specific storage space on the drill floor where they are stored when not in use.
  • the tool store preferably comprises a system of shelves, each shelf having one or more compartments depending on the size and shape of the work tools and/or downhole devices and available space on the drill floor.
  • the storage spaces may comprise a holding device to hold the at least one work tool and/or downhole device or devices in a fixed position in their respective storage spaces.
  • the control system will then know exactly where the different work tools and/or downhole devices are and how they are oriented in the space.
  • Holding devices can, for example, comprise a depression in the surface of the storage space and a
  • the at least one pipe handling arm is preferably provided with a first coupling half and each work tool is provided with a second coupling half, wherein the first coupling half and the second coupling half are matingly configured for fully automatic connection of the work tools to the at least one pipe handling arm and fully automatic disconnection of a connected work tool from the at least one pipe handling arm.
  • a fully automatic connection and disconnection of the work tools means, as in the above, that the connection and disconnection of the work tools is monitored and controlled by the control system, and that the connection and disconnection takes place without personnel being involved in the process.
  • the mating first and second coupling halves are preferably standard coupling elements that can be controlled by a control system.
  • the at least one pipe handling arm preferably comprises a permanently mounted tool, for example, one or more gripping tools for tubular elements, in addition to the first coupling half.
  • the at least one pipe handling arm thus normally handles tubular elements that are taken from their storage space and screwed onto the drill pipe as the drilling of the well advances, and, where relevant, tubular elements that are unscrewed and placed in the storage space if the drill pipe has to be taken up from the well.
  • a first coupling half for fully automatic connection of a work tool and fully automatic disconnection of a connected work tool from the at least one pipe handling arm is preferably provided on the permanently mounted work tool.
  • the at least one pipe handling arm can be connected to the desired work tool which is preferably stored in the tool store.
  • the pipe handling arm and/or the at least one work tool is preferably provided with necessary sensors of various types, such as GPS devices and other position- determining devices, speed sensors etc., the various sensors being signally connected to the control system, such that the control system is able to control the connection and disconnection of the work tool to/from the at least one pipe handling arm, the movement of the pipe handling arm and connected work tool, and the handling of downhole devices and tubular elements on the drill floor through use of the at least one pipe handling arm and the connected work tool.
  • various sensors being signally connected to the control system, such that the control system is able to control the connection and disconnection of the work tool to/from the at least one pipe handling arm, the movement of the pipe handling arm and connected work tool, and the handling of downhole devices and tubular elements on the drill floor through use of the at least one pipe handling arm and the connected work tool.
  • the first coupling half on the at least one pipe handling arm may comprise a position- determining device for determining the position of the first coupling half on the drill floor, which position-determining device is signally connected to the control system
  • the second coupling half on the work tools may comprise a position- determining device for determining the position of the second coupling half on the drill floor, which position-determining device is signally connected to the control system.
  • the position-determining devices preferably comprise one or more sensors that are signally connected to the control system and which, in a known way, will be able to determine the precise position of the first coupling half and/or the second coupling half.
  • control system is preferably adapted to at least register and remember the respective disconnected positions of the work tools, to monitor and control the movements of the at least one pipe handling arm, and to monitor and control fully automatic connection of a work tool to the at least one pipe handling arm and fully automatic disconnection of a work tool from the at least one pipe handling arm, such that a plurality of work operations on the drill floor, using respective work tools, can be automated and performed without the assistance of personnel.
  • the at least one pipe handling arm can be movably arranged on the drill floor for vertical and/or horizontal movement of the at least one pipe handling arm relative to the drill floor.
  • the at least one pipe handling arm can, for example, be arranged on a support element that can be moved up and down along one or more columns for vertical movement of the pipe handling arm. For horizontal movement of the at least one pipe handling arm, it can be arranged on a support element that runs on guides, such as rails, on the drill floor.
  • the drill floor system may comprise a plurality of pipe handling arms that are adapted for fully automatic connection of a work tool to each of the pipe handling arms and fully automatic disconnection of a work tool from each of the pipe handling arms.
  • a first pipe handling arm with a work tool can bring a device into a position above the drill pipe where a second pipe handling arm with a second work tool is ready to connect this device to equipment for lowering the device into the well.
  • this may be so time-saving that it is worthwhile using two or more pipe handling arms instead of using one pipe handling arm that has to change work tool between the different work operations.
  • a method for performing a plurality of work operations on a drill floor, for example, on a floating structure, where the work operations are performed using a pipe handling arm and a drill floor system, as described above, comprising at least one work tool, wherein the method comprises:
  • each work tool and/or each downhole device is preferably placed in a tool store comprising a plurality of storage spaces for respective downhole tools and/or work tools that are disconnected from the at least one pipe handling arm.
  • the at least one fully automatic work operation may comprise connecting at least one downhole device to a pipe string or to another downhole device.
  • the at least one downhole device may comprise at least one component of a bottom hole assembly
  • the at least one fully automatic work operation may comprise connecting the at least one component of the bottom hole assembly to a pipe string or to another bottom hole assembly component.
  • the at least one work tool is preferably disconnected from the at least one pipe handling arm before the at least one pipe handling arm is to handle a tubular element.
  • Figure 1 shows a schematic diagram of a drill floor system with one pipe handling arm.
  • Figure 2 shows a schematic diagram of a drill floor system with two pipe handling arms.
  • Figure 3 shows an embodiment of a pipe handling arm with a permanently mounted work tool for handling tubular elements and a removable work tool for handling a downhole device.
  • Figure 4 shows a pipe handling arm that is vertically movable. It should first be mentioned that in all the figures the same reference numerals have been used to designate the same technical features.
  • Figure 1 is a schematic illustration of an embodiment of the present drill floor system 10 with an opening 13 for passage of the drill string 50 and various downhole devices 21, as for instance bottom hole assembly (BHA) components, or valve devices that are run into the well to perform different types of operations downhole.
  • BHA bottom hole assembly
  • the downhole devices 21 are illustrated shown purely schematically in Figures 1 and 2 and will normally have another form in reality.
  • the pipe handling arm 38 comprises a first arm 39 and a second arm 40 that are connected to one another by a first articulated joint 41, such that the first arm 39 and the second arm 40 are able to rotate relative to each other.
  • the first arm 39 is connected to a support element 26 by means of an articulated element 27 such that the first arm is rotatable relative to the support element 26, preferably both up and down in a vertical direction and back and forth in a lateral direction.
  • the support element is preferably arranged movably up and down along a guide element 25, which, for instance, may be a tubular element.
  • the support element 26 may also be arranged rotatably about the guide element 25. It will also be possible to configure the support element 26 as a frame that slides up and down on two or more parallel guide elements 25.
  • the pipe handling arm 38 is shown in the figures with a first arm 39 and a second arm 40, but it may also be equipped with only one arm or with three or more arms if so desired, where the arms are rotatably connected to one another.
  • the permanently mounted work tool 45 preferably comprises a pipe gripping tool with gripping elements 46 that are capable of gripping a tubular element placed in a pipe racking device 20 arranged on or in connection with the drill floor, and moving it into a position above the drill string 50 so as to allow the tubular element to be screwed onto the top of the drill string 50 by suitable pipe handling tools 16, 17 (see Figure 4).
  • the pipe handling arm 38 can, of course, also grip a tubular element at the top of the drill string 50 and put it back in the pipe racking device 20.
  • the permanently mounted work tool can be rotatably connected to the second arm 40 by a second articulated joint 42 as indicated in Figures 1 and 2.
  • the pipe handling arm 38 shown in Figure 1 comprises, in addition to the permanently mounted work tool 45, a first coupling half 44 for connecting a work tool 33.
  • the first coupling half 44 is, in the embodiment of the pipe handling arm shown in Figure 1, preferably provided on the permanently mounted work tool 45, but can of course be arranged immediately on the pipe handling arm 38 itself, if so desired.
  • the drill floor system can, if necessary, comprise a plurality of work tools 33, all of which are provided with a second coupling half 34 that is complementarily shaped to the first coupling half 44 on the pipe handling arm 38, such that the work tools 23 can selectively be connected to the pipe handling arm 38.
  • the pipe handling arm can be used, for example, to grip a bottom hole assembly component and connect it to another component of the bottom hole assembly that is located above the borehole.
  • the downhole devices 21, in addition to being borehole assembly components may be different types of devices that are used in connection with different types of operations in a hydrocarbon well, such as a valve device, a plug etc.
  • the work tool or tools 33 and downhole devices are preferably arranged in a tool store 22 provided on the drill floor 12 as shown in Figures 1 and 2.
  • the tool store 22 is preferably provided with a plurality of storage spaces 23 for work tools 33 and/or downhole devices 21.
  • the tool store 22 can advantageously be configured with shelf-like storage spaces 23 arranged vertically one above the other.
  • work tools 33 and/or downhole devices 21 as shown in Figures 1-2 are in a purely schematic form and the work tools and downhole devices will of course have other configurations in reality.
  • the drill floor system 10 also comprises a control system as indicated in Figures 1 and 2.
  • This control system comprises necessary sensors that are arranged on the pipe handling arm 38 and/or the work tools 33 and/or the downhole devices 21 so as to allow the performance of at least the connection of a work tool 33 that is in its storage space 23 in the tool store 22 to the pipe handling arm 38; the placing of a connected work tool in its storage space 33 in the tool store 22 and subsequent disconnection of the work tool 33 from the pipe handling arm 33; and the control of the pipe handling arm 38 and connected work tool 33 such that the pipe handling arm 38 is able to manipulate the downhole devices 21 between desired positions and in a desired sequence.
  • sensors are prior art and are commercially available, and will not be described in more detail here.
  • the sensors are signally connected to a control unit 19 by signal cables (not shown in the figures) or preferably by wireless technology such as Bluetooth.
  • the control unit 19 comprises at least one computer that monitors and controls the drill floor system 10 such that all operations performed by the pipe handling arm 38, and connection and disconnection of work tools 33 as required, are carried out fully automatically by the drill floor system without the assistance of personnel on the drill floor 12. All the work operations that are to be performed by the pipe handling arm can thus be started by personnel who are in a control room, preferably with a full view of the drill floor, so that control of the drill floor system can be taken over manually should there occur an emergency situation or other situations that require personnel to intervene and stop or control the pipe handling arm.
  • FIG. 2 shows a drill floor system 10 that has all the elements shown in Figure 1. These will not be described again.
  • the embodiment of the drill floor system in Figure 2 has a second pipe handling arm 38 that preferably, but not necessarily, is almost identical in form to the first pipe handling arm.
  • the second pipe handling arm 38 is however normally not provided with a permanently mounted work tool 45.
  • the second pipe handling arm 38 comprises a first coupling half 44 for connection of a work tool 33.
  • the first coupling half 44 can be mounted on a support element 43 that is rotatably connected to the second arm 40 on the pipe handling arm by a second articulated joint 42, such that a work tool 33 connected to the pipe handling arm can be pivoted about the second arm 40.
  • the first arm 39 of the second pipe handling arm 38 is at one end rotatably connected to the second arm 40 by a first articulated joint 41. At the other end, the first arm 39 is rotatably connected to a support element 30 by an articulated element 31, preferably such that the first arm 39 can be pivoted in all directions with a desired angle about the articulated element 31.
  • the support element 30 is preferably, but not necessarily, movably arranged along guide elements 29 that are arranged on the drill floor 12. The reach of the second pipe handling arm 38 is thus significantly increased.
  • FIG 3 shows a more detailed embodiment of a pipe handling arm 38 that comprises a permanently mounted work tool 45 as explained in more detail in the description of Figure 1 above.
  • the structure of the pipe handling arm is essentially as described in connection with the pipe handling arm in Figure 1, and it comprises a first arm 39 rotatably connected to a second arm 40 by a first articulated joint 41.
  • the first arm 39 is rotatably connected to a mounting support 48 that is adapted for permanent mounting on the drill floor or for mounting to one or more guide elements 25 such that the mounting arm 38 can be moved vertically.
  • the permanently mounted work tool 45 is rotatably connected to the second arm 40 by a second articulated joint 42.
  • the permanently mounted work tool 45 is preferably, but not necessarily, a pipe gripping device comprising pipe gripping elements 46 for gripping and holding tubular elements that are to be moved between a pipe racking device 20, as indicated in Figures 1 and 2, and a position in which it can be screwed onto the top of the drill string 50, or for moving a tubular element that has been unscrewed from the drill string 50 back to the pipe racking device 20.
  • Drive units 47 for driving the pipe handling arm are also indicated in Figure 3.
  • Figure 3 further shows a work tool 33 that is connected to the pipe handling arm 38.
  • the permanently mounted work tool 45 comprises the first coupling half 44 that is connected the second coupling half 34 on the work tool 33 as indicated in Figure 3.
  • the work tool comprises a gripping element 36 or a similar device for gripping, holding and moving a downhole device 21 between desired positions on the drill floor 12.
  • the gripping element 36 is arranged on a projecting support element such that the gripping element more easily reaches and grips the downhole device 21 that preferably is placed in its storage position in the tool store 22.
  • Figure 4 indicates how a pipe handling arm as shown in Figure 3 can be arranged on one or more guide elements 25 using support elements 26 as described above, such that the pipe handling arm 38 can be moved upwards and downwards along the guide element or elements 25 in a vertical direction.
  • a tower 15 with two pipe handling tools 16, 17 that are used to screw tubular elements to and unscrew them from the drill string 50 (not shown in Figure 4).
  • the pipe handling tools 16, 17 can also be configured in such a way that they are also able to handle downhole devices 21 that are to be used for purposes and operations of different types in the well.
  • the pipe handling arm 38 will then be adapted such that it fully automatically connects to a desired work tool 33 that is located in its storage space 23 and then grips and moves the desired downhole device 21, as for example, a bottom hole assembly component, to the pipe handling tools 16, 17 which take over the handling of the downhole devices.
  • first arm 39 or the second arm 40 may have a telescopic configuration.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Robotics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un bras de manipulation de tuyaux, lequel bras comprend un outil de saisie de tuyau monté de façon permanente avec des dispositifs de saisie pour saisir et maintenir un élément tubulaire. Le bras de manipulation de tuyaux comprend en outre une première moitié d'accouplement montée sur l'outil de saisie de tuyau pour la liaison d'un outil de travail apte à saisir, à maintenir et à déplacer un dispositif de fond de trou. L'invention concerne également un système de plancher de forage et un procédé pour effectuer une pluralité d'opérations de travail totalement automatiques sur un plancher de forage, lequel système de plancher de forage comprend au moins un bras de manipulation de tuyaux entièrement automatique et au moins un outil de travail pour effectuer des opérations de travail sur le plancher de forage. Lesdits bras de manipulation de tuyaux et lesdits outils de travail sont aptes à une liaison entièrement automatique desdits outils de travail au ou aux bras de manipulation de tuyaux et à une déconnexion entièrement automatique d'un outil de travail relié à partir desdits bras de manipulation de tuyaux. Le système de plancher de forage comprend en outre un système de commande, lequel système est au moins apte à commander les mouvements du bras de manipulation de tuyaux, la liaison automatique d'un outil de travail auxdits bras de manipulation de tuyaux et la déconnexion automatique d'un outil de travail à partir desdits bras de manipulation de tuyaux de telle sorte qu'un certain nombre d'opérations de travail sur le plancher de forage, à l'aide d'outils de travail respectifs, peuvent être automatisées et effectuées sans l'assistance de personnel.
PCT/IB2016/053460 2015-06-12 2016-06-12 Bras de manipulation de tuyaux, et système de plancher de forage et procédé permettant d'effectuer des opérations de travail totalement automatiques sur un plancher de forage Ceased WO2016199103A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/735,903 US20190003269A1 (en) 2015-06-12 2016-06-12 Pipe handling arm, and a drilling floor system and a method for performing fully automatic work operations on a drilling floor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20150768A NO341203B1 (no) 2015-06-12 2015-06-12 Boredekkssystem og fremgangsmåte for utføring av helautomatiserte arbeidsoperasjoner på et boredekk
NO20150768 2015-06-12

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WO2019174691A1 (fr) * 2018-03-11 2019-09-19 Maersk Drilling A/S Appareil robotique pour effectuer des opérations de plancher de forage
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