EP2799661A3 - Automatic drill rod handling - Google Patents

Automatic drill rod handling Download PDF

Info

Publication number
EP2799661A3
EP2799661A3 EP14166503.4A EP14166503A EP2799661A3 EP 2799661 A3 EP2799661 A3 EP 2799661A3 EP 14166503 A EP14166503 A EP 14166503A EP 2799661 A3 EP2799661 A3 EP 2799661A3
Authority
EP
European Patent Office
Prior art keywords
drill rod
gripping unit
unit
release
grip
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.)
Granted
Application number
EP14166503.4A
Other languages
German (de)
French (fr)
Other versions
EP2799661B1 (en
EP2799661A2 (en
Inventor
Vesa Sieppi
Juha Säärelä
Timo KÄMÄRÄINEN
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.)
Arctic Drilling Co Ltd Oy
Original Assignee
Arctic Drilling Co Ltd Oy
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
Priority claimed from FI20135450A external-priority patent/FI126429B/en
Application filed by Arctic Drilling Co Ltd Oy filed Critical Arctic Drilling Co Ltd Oy
Priority to PL14166503T priority Critical patent/PL2799661T3/en
Publication of EP2799661A2 publication Critical patent/EP2799661A2/en
Publication of EP2799661A3 publication Critical patent/EP2799661A3/en
Application granted granted Critical
Publication of EP2799661B1 publication Critical patent/EP2799661B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • E21B19/08—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
    • 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position

Landscapes

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

Abstract

There is provided a manipulator (210) comprising a mounting base (212), a gripping unit (214) for gripping a drill rod (216), and a swivel arm (218) attached to the mounting base (212) and to the griping unit (214), wherein the swivel arm (218) comprises a plurality of swivels (220 to 230) between the mounting base (212) and the gripping unit (214); wherein the swivel arm (218) is configured to automatically move the gripping unit (214) according to a programmed three-dimensional trajectory between a first position (232) and a second position (234), wherein: in the first position (232), the gripping unit (214) is able to grip or release the drill rod (216) directly from/to a storage unit (202) for a plurality of drill rods, and in the second position (234), the gripping unit (214) is able to grip or release the drill rod (216) when the drill rod (216) is along a drilling axis (116) connected to a drill string (108) entering a borehole (110); and to automatically grip or release the drill rod (216) in the first position (232) or in the second position (234).
EP14166503.4A 2013-04-30 2014-04-30 Automatic drill rod handling Active EP2799661B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL14166503T PL2799661T3 (en) 2013-04-30 2014-04-30 Automatic drill rod handling

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20135450A FI126429B (en) 2013-04-30 2013-04-30 Mobile drill rig with automatic drill rod management, procedure for moving drill rods and computer software product
FI20136017 2013-10-11

Publications (3)

Publication Number Publication Date
EP2799661A2 EP2799661A2 (en) 2014-11-05
EP2799661A3 true EP2799661A3 (en) 2014-12-17
EP2799661B1 EP2799661B1 (en) 2016-02-17

Family

ID=50630633

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14166503.4A Active EP2799661B1 (en) 2013-04-30 2014-04-30 Automatic drill rod handling

Country Status (5)

Country Link
EP (1) EP2799661B1 (en)
AU (1) AU2014202340B2 (en)
CA (1) CA2850746C (en)
CL (1) CL2014001102A1 (en)
PL (1) PL2799661T3 (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112016001777T5 (en) * 2015-04-17 2017-12-28 Suk Shin In Bar attachment device for drills
WO2016167636A1 (en) * 2015-04-17 2016-10-20 인석신 Rod mounting device for boring machine
ITPC20150006A1 (en) * 2015-05-08 2016-11-08 Siaem S A S Di Carini Stefano E Paolo & C EQUIPMENT FOR HANDLING DRILLING RODS
NO341203B1 (en) * 2015-06-12 2017-09-11 West Drilling Products As Drill deck system and method for performing fully automated work operations on a drill deck
CN104929544B (en) * 2015-06-21 2017-11-17 常州大学 A kind of oil drilling pipe clamping jaw
CN107143294A (en) * 2017-06-08 2017-09-08 浙江中锐重工科技股份有限公司 Drill rod loading and unloading arm for pumping reverse circulation drilling machine
FI3521550T3 (en) * 2018-01-31 2023-01-31 Apparatus for rod handling, rock drilling unit and method
IT201800004926A1 (en) 2018-04-27 2019-10-27 MULTIFUNCTIONAL MANIPULATOR FOR THE HANDLING OF DRILLING ELEMENTS IN A DRILLING PLANT, DRILLING PLANT AND RELATED METHODS OF HANDLING THE DRILLING ELEMENTS.
CN108756786B (en) * 2018-06-13 2020-02-14 中国煤炭科工集团太原研究院有限公司 Automatic rod changing device for mechanical arm of underground drilling machine
CN108561089B (en) * 2018-06-19 2024-04-09 四川宏华石油设备有限公司 Pipe processing device
CN109577886B (en) * 2018-10-23 2020-05-05 中煤科工集团西安研究院有限公司 Automatic rod loading and unloading device suitable for underground drilling machine of coal mine
CN110952972B (en) * 2019-11-27 2023-08-11 中煤科工集团重庆研究院有限公司 Coal mine drilling machine and control method thereof
US11408236B2 (en) 2020-07-06 2022-08-09 Canrig Robotic Technologies As Robotic pipe handler systems
US11643887B2 (en) 2020-07-06 2023-05-09 Canrig Robotic Technologies As Robotic pipe handler systems
NO20221357A1 (en) 2020-07-06 2022-12-19 Nabors Drilling Tech Usa Inc Robotic pipe handler systems
NO20230209A1 (en) 2020-09-01 2023-03-02 Canrig Robotic Technologies As Tubular handling system
IT202000022483A1 (en) 2020-09-24 2022-03-24 Drillmec Spa INNOVATIVE MULTIFUNCTIONAL MANIPULATOR FOR THE HANDLING OF DRILLING ELEMENTS IN A DRILLING PLANT AND RELATED DRILLING PLANT.
CN112627748A (en) * 2020-12-25 2021-04-09 冀凯河北机电科技有限公司 Full-automatic drill pipe box suitable for spiral drill pipe
CN113530478B (en) * 2021-08-04 2023-09-15 国能神东煤炭集团有限责任公司 Device and method for loading and unloading drill rod
CN114658374B (en) * 2022-03-18 2023-03-14 江苏方正环保集团有限公司 Automatic rod changing device and method for sampling drilling machine
CN117780273B (en) * 2024-02-26 2024-05-24 中国三峡新能源(集团)股份有限公司黑龙江分公司 Geothermal drilling fixing device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2177143A (en) * 1985-06-21 1987-01-14 Apache Corp Transfer arm positioning system
US20050161227A1 (en) * 1997-09-02 2005-07-28 Michael Hayes Method and device to clamp control lines to tubulars
US20060248960A1 (en) * 2005-05-05 2006-11-09 Liskow Karl J Gripper gage assembly
US8408334B1 (en) * 2008-12-11 2013-04-02 T&T Engineering Services, Inc. Stabbing apparatus and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2177143A (en) * 1985-06-21 1987-01-14 Apache Corp Transfer arm positioning system
US20050161227A1 (en) * 1997-09-02 2005-07-28 Michael Hayes Method and device to clamp control lines to tubulars
US20060248960A1 (en) * 2005-05-05 2006-11-09 Liskow Karl J Gripper gage assembly
US8408334B1 (en) * 2008-12-11 2013-04-02 T&T Engineering Services, Inc. Stabbing apparatus and method

Also Published As

Publication number Publication date
EP2799661B1 (en) 2016-02-17
AU2014202340A1 (en) 2014-11-13
CL2014001102A1 (en) 2015-01-16
CA2850746A1 (en) 2014-10-30
PL2799661T3 (en) 2016-06-30
EP2799661A2 (en) 2014-11-05
AU2014202340B2 (en) 2017-10-26
CA2850746C (en) 2021-03-16

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