EP2799661B1 - Automatic drill rod handling - Google Patents
Automatic drill rod handling Download PDFInfo
- Publication number
- EP2799661B1 EP2799661B1 EP14166503.4A EP14166503A EP2799661B1 EP 2799661 B1 EP2799661 B1 EP 2799661B1 EP 14166503 A EP14166503 A EP 14166503A EP 2799661 B1 EP2799661 B1 EP 2799661B1
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- European Patent Office
- Prior art keywords
- drill
- manipulator
- drill rod
- drill string
- gripping unit
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- 238000005553 drilling Methods 0.000 claims description 64
- 238000003860 storage Methods 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 claims description 26
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Images
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
Definitions
- the invention relates generally to mining industry. More particularly, the invention relates to drill rod handling in a mobile drilling rig.
- the manipulator 210 comprises, as shown in Figure 9 , a control circuitry 902, such as at least one processor, and at least one memory 904 including a computer program code (PROG).
- the memory 904 may be implemented using any suitable data storage technology, such as semiconductor based memory devices, flash memory, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory.
- the user interface 908 may be used to control the manipulator 210 by the user personnel.
- the user personnel may locate in the MDR 200 in a reserved, protected space.
- the gripping unit 214 may in release the drill rod 216 which may already/still be partly screwed to the drill string 108 (which is gripped by the actuator unit 114 below). Then, the gripping unit 214 may be moved back to the start position of Figure 4A , grip the drill rod 216 again and perform the process of Figures 4A to 4C again for as many times as it is needed to completely screw or unscrew the drill rod 216 to/from the drill string 108. This may be beneficial as then no manual labor is needed for the screwing or unscrewing purposes either.
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- 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)
Description
- The invention relates generally to mining industry. More particularly, the invention relates to drill rod handling in a mobile drilling rig.
- Mobile drilling rigs may be used in production or exploration drilling so that the drill rods are fed to the borehole (drill hole) from inside the drilling rig. The plurality of connected drill rods fed to the borehole form a drill string (a.k.a. a rod string) entering beneath the surface of the ground. However, handling the drill rods in a small, closed space, such as in a mobile drilling rig, may be cumbersome.
- A tubular handling apparatus is disclosed in
US-B-8 408 334 which comprises a main rotating structural member pivotally movable between a first position and a second position, an arm interconnected to the main rotating structural member, and a gripper mechanism affixed to an end of the arm opposite the main rotating structural member. - According to an aspect of the invention, there is provided an apparatus as specified in claim 1.
- According to an aspect of the invention, there is provided a method as specified in claims 13.
- According to an aspect of the invention, there is provided a computer program product as specified in claim 14.
- According to an aspect of the invention, there is provided a computer-readable distribution medium carrying the above-mentioned computer program product.
- According to an aspect of the invention, there is provided an apparatus comprising a processing system configured to cause the apparatus to perform any of the embodiments as described in the appended claims.
- According to an aspect of the invention, there is provided an apparatus comprising means for performing any of the embodiments as described in the appended claims.
- Embodiments of the invention are defined in the dependent claims.
- In the following, the invention will be described in greater detail with reference to the embodiments and the accompanying drawings, in which
-
Figure 1 presents a prior art solution for handling drill rods. -
Figure 2A shows a gripping unit approaching a second position, according to an embodiment; -
Figure 2B shows the gripping unit approaching a first position, according to an embodiment; -
Figure 3 shows the gripping unit, according to an embodiment; -
Figure 4 shows screwing or unscrewing of a drill rod, according to an embodiment; -
Figure 5 illustrates a plurality of swivels of a swivel arm, according to an embodiment; -
Figure 6 depicts a monitoring position, according to an embodiment; -
Figure 7 illustrates safety position, according to an embodiment; -
Figure 8 shows storing of drill rods and use of identifiers of the drill rods, according to an embodiment; -
Figure 9 illustrates a controller of the manipulator, according to an embodiment; -
Figure 10 shows the mobile drilling rig, according to an embodiment, and -
Figure 11 shows a method, according to an embodiment. - The following embodiments are exemplary. Although the specification may refer to "an", "one", or "some" embodiment(s) in several locations of the text, this does not necessarily mean that each reference is made to the same embodiment(s), or that a particular feature only applies to a single embodiment. Single features of different embodiments may also be combined to provide other embodiments.
- Drilling rigs may be used in exploration or production drilling. Many of the drilling rigs are large stationary platforms, such as oil drilling rigs. On the contrary,
mobile drilling rigs 100 typically comprisewheels 102 or a crawler enabling movement of the drilling rig in the environment. Especially for exploration drilling,mobile drilling rigs 100 may be useful. However, such mobile drilling rigs 100 pose limits to the used drilling machinery. For example, the size of themobile drilling rig 100, which is typically about 3 x 6 meters, limits the freedom of design of space usage. Further, the size poses limits to the used drilling machinery and other equipment in the drilling rig 100 (such as aspace 104 used for storing the drill pipes). Further, the mounting or installation of the machinery to thedrilling rig 100 may need special attention. Thus, the technical field of themobile drilling rigs 100 is significantly different from the world of large, stationary drilling rigs. Thus, most of the prior art solutions with respect to, for example, vertical pipe handling operations in such stationary drilling rigs are unusable for the small andmobile drilling rigs 100. - One of the most time consuming work phases in drilling comprises adding or removing
drill rods 106 to adrill string 108. Thedrill string 108, comprising a plurality ofdrill rods 106, penetrates the floor of the drilling rig and enters theborehole 110 beneath the surface of theground 112 for the purposes of drilling the ground. Adrill bit 109 is mounted on lower end of thedrill string 108. Thedrill string 108 may be moved up and down along adrilling axis 116 with a drillstring actuator unit 114. The drillstring actuator unit 114 may also perform the rotating action of the drill bit, for example. Typically thedrill rods 106 are 3 meters long and may weight up to, e.g., 35 kg. Thus, each time thedrill string 108 is lowered for substantially 3 meters, anew drill rod 106 may need to be added to the upper part of thedrill string 108. Alternatively, two drill rods connected to each other may be handled at once. Thedrills rods 106 are typically connected to each other via threads, as shown with inclined lines at the ends of thedrill rods 106. In any case, there is a frequent need to addmore drill rods 106 to the string. - Further, in the prior art
rod handling machinery 118 is relatively simple. Themachinery 118 may grip the manually providedindividual drill pipes 106 with gripping elements, shown with blocks with right leaning diagonal lines, comprised in arod placement structure 120. However, such machinery is not fully-automatic as the personnel of the rig needs to manually set/remove the drill rod to/from gripping elements of therod handling machinery 118. This may cause a risk of injury and is not effective. Thus, at least some of the tasks in need of manual labor are shown with dashed arrows inFigure 1 . It may also be that thedrill pipe 106 is placed horizontally on therod placement structure 120, which then pivots in the shown vertical position. Then therod placement structure 120 rotates about avertical mast 122 to place thedrill rod 106 to the upper part of thedrill string 108, as shown with dotted lines inFigure 1 , or vice versa. In any case, themachinery 118 is located in immediate proximity of thedrill string 108. This may cause problems from the point of view of the space usage in themobile drilling rig 100. As one example of the problems related to the space usage, the prior art drillrod handling machinery 118 is located very close to the place where the samples from the ground are collected from thedrill string 108 /borehole 110. -
Figures 2A and 2B disclose a mobile drilling rig (MDR) 200 comprising astorage unit 202 inside theMDR 200 for storing a plurality of drill rods. These drill rods may be used in the drilling, for example, in making thedrill string 108 longer by adding one or more drill rods to thedrill string 108. It is beneficial to have such storage unit inside theMDR 200 because then they are easily transported along with theMDR 200 and, as theMDR 200 may have a roof, the drill rods/pipes may stay protected from varying weather conditions. - The
MDR 200 may further comprise the drillstring actuator unit 114 configured to actuate thedrill string 108 entering theborehole 110 along thedrilling axis 116 through the floor of theMDR 200. The drillstring actuator unit 114 may move along thedrilling axis 116 up and down. The movement may be provided by a drillstring support structure 204 having a lower end and an upper end, and achain 206, or alike, enabling the movement of theactuator unit 114, or some other drill string transport block, between the two ends. The inclination of the drillstring support structure 204 and, thus, the angle ofdrill string 108 may be adjusted with the drillstring adjustment structure 205, which may comprise a piston and a cylinder, for example, in order to change the inclination of thesupport structure 204. In an embodiment, the drillstring actuator unit 114 may comprise two parts, one that stays at the lower end and another which moves up and down for moving thedrill string 108. Theactuator unit 114 may comprise one or more gripping elements for gripping thedrill string 108. The gripping element(s) may be jaws or fingers holding the drill string. Further, as said, theactuator unit 114 may also provide the rotation of thedrill bit 109 at the lower end of thedrill string 108. - In order to at least partially solve the problems presented above, the
MDR 200 ofFigures 2A and 2B further comprises amanipulator 210 for handling the drill rods. Themanipulator 210 may comprise a mountingbase 212 for mounting themanipulator 210 inside theMDR 200 to theMDR 200, agripping unit 214 for gripping adrill rod 216, and aswivel arm 218 attached to the mountingbase 212 and to thegripping unit 214, wherein theswivel arm 218 comprises a plurality ofswivels 220 to 230 between the mountingbase 212 and thegripping unit 214. Thus, themanipulator 210 has one arm which can be rotatably controlled with at least one of the plurality ofswivels 220 to 230. The plurality ofswivels 220 to 230 in theswivel arm 218 implies that theswivel arm 218 is made of a plurality of parts which turn independently. The parts form adjacent pairs which are connected to each other with a specific type of swivel. Turning of the parts may comprise rotation about the part's longitudinal axis or hinged movement about an axis which is in right angle with the longitudinal axis (i.e. a transversal axis). The rotation/turning of each of theswivels 220 to 230 are shown in the Figures with bidirectional dotted arrows. The plurality ofswivels 220 to 230 may comprise at least one of the following: hinge joints, swivel joints, or pivot joints. Themanipulator 210 may be made of steel or some other robust material. The plurality ofswivels 220 to 230 may be hydraulic or electric driven, for example. TheMDR 200, although not shown, may comprise a power source for the application of themanipulator 210 as well as any needed equipment, such as conduits, cables, hoses, tubes and valves, for enabling the control of theswivels 220 to 230. - Further, the
manipulator 210 comprises, as shown inFigure 9 , acontrol circuitry 902, such as at least one processor, and at least onememory 904 including a computer program code (PROG). Thememory 904 may be implemented using any suitable data storage technology, such as semiconductor based memory devices, flash memory, magnetic memory devices and systems, optical memory devices and systems, fixed memory and removable memory. There may also be a user interface 908 comprising, for example, at least one keypad, a microphone, a touch display, a display, a speaker, etc. The user interface 908 may be used to control themanipulator 210 by the user personnel. The user personnel may locate in theMDR 200 in a reserved, protected space. - The at least one
memory 904 and the computer program code (PROG) may be configured, with the at least oneprocessor 902, and more particularly, with a rodmovement control circuitry 910, to control theswivels 220 to 230 (at least one of them) to cause theswivel arm 218 to automatically move thegripping unit 214 according to a programmed three-dimensional trajectory between a first position 232 (shown inFigure 2B ) and a second position 234 (shown inFigure 2A ). In thefirst position 232, thegripping unit 214 is able to grip or release thedrill rod 216 directly from/to thestorage unit 202, as shown inFigure 2B with a dottedrod shape 236. In thesecond position 234, thegripping unit 214 is able to grip or release thedrill rod 216 when thedrill rod 216 is connected to thedrill string 108 and along thedrilling axis 116, as shown inFigure 2A with a dottedrod shape 238. In thesecond position 234, thedrill rod 216 forms an extension part of thedrill string 108. The first andsecond positions gripping unit 214 are defined beforehand in a three-dimensional coordinate system XYZ of theMDR 200, as depicted inFigure 2B . The horizontal Y-axis is towards the paper. - Further, the
gripping unit 214 may be controlled to automatically grip or release thedrill rod 216 in thefirst position 232 or in thesecond position 234. Thus, advantageously, there is no manual work needed to move, grip and/or release thedrill rod 216 from thestorage unit 202 to thedrill string 108, or vice versa. This may significantly increase the safety and efficiency of the drilling which takes plane from inside theMDR 200. It should be noted that the lengths of the swivel arm parts between theswivels 220 to 230 are not in proportion between the Figures. - In an embodiment, the
manipulator 210 may, for example, move the emptygripping unit 214 to thefirst position 232 associated with thestorage unit 202 and grip one of the stored drill rods. Then theswivel arm 218 may move the grippeddrill rod 216 according to the programmed trajectory inside theMDR 200 to thesecond position 234. In thesecond position 234, the grippeddrill rod 216 may be attached to thedrill string 108 to form a part of thedrill string 108. Then, thedrilling unit 214 may release thedrill rod 216 which is attached to thedrill string 108 as an extension part. Then, theswivel arm 218 may move to pick up another drill rod from thestorage unit 202. This may be performed for as long as thedrill string 108 reaches a desirable length. Further, in an embodiment, adrill rod 216 from thestorage unit 202 may be added to thedrill string 108 each time thecontroller 902 receives a command to do so from the user personnel via the user interface 908, for example. - In another embodiment, the
manipulator 210 may, for example, move the emptygripping unit 214 to thesecond position 234 associated with thedrill string 108 and grip the uppermost drill rod (or two uppermost drill rods, which are connected together) of thedrill string 108. Then the uppermost drill rod 215 may be detached from the drill string 108 (as will be explained later). Theswivel arm 218 may then move the grippeddrill rod 216 according to the programmed trajectory inside theMDR 200 to thefirst position 232. In thefirst position 232, the grippeddrill rod 216 may be released directly, without any manual work, to thestorage unit 202. Next, theswivel arm 218 may move to pick up another drill rod from thedrill string 108. This may be performed for as long as thedrill string 108 no longer exists or is short enough according to current needs, for example. Further, in an embodiment, adrill rod 216 may be removed from thedrill string 108 to thestorage unit 202 by theswivel arm 218 each time thecontroller 902 receives a command to do so from the user personnel via the user interface 908, for example. - The drill
string actuator unit 114 may be also controlled with thecontroller 902, and more particularly with a drill stringactuator control circuitry 914, to co-operate in the process of adding or removing drill rods from the drill string. Such co-operation may comprise moving thedrill string 108 up or down, so as to enable removing or adding of a drill rod in thesecond position 234. - In an embodiment, as shown in
Figure 3 , thegripping unit 214 comprises at least twopairs fingers drill rod 216 may be placed between thejaws pair second position 234. Then, the at least onememory 904 and the computer program code may be configured, with the at least oneprocessor 902, to move, in eachpair jaws jaws drill rod 216 between thejaws jaws jaws pair drill rod 216. As shown inFigures 2A and 2B , there may be more than twopairs drill rod 216. -
Figure 3 also shows one of theswivels 230 through which thegripping unit 214 is attached to theswivel arm 218. The shownswivel 230 provides for rotating thegripping unit 214 about the longitudinal axis of the attached part of theswivel arm 218, as will be described later. - In an embodiment, the
drill rod 216 and thedrill string 108 comprise screw threads at least at the connected parts for providing means for attaching thedrill rod 216 and thedrill string 108 together. Therefore, in this embodiment, as shown inFigures 4A to 4C , the at least onememory 904 and the computer program code are configured, with the at least oneprocessor 902, to control the plurality ofswivels 220 to 230 to cause thegripping unit 214 to automatically screw or unscrew thedrill rod 216 and thedrill string 108 in thesecond position 234. - Further, the drill
string actuator unit 114 may be controlled to co-operate during the screwing or unscrewing. Such co-operation may in one embodiment denote preventing thedrill string 108 from rotating during screwing/unscrewing with a grip of thedrill string 108, wherein the drillstring actuator unit 114 may perform the gripping. In such case, as shown inFigures 4A to 4C , it is thedrill rod 216 which may be rotated about thedrilling axis 116 so as to perform the screwing/unscrewing.Figure 4A shows a 0 degrees starting position, for example. InFigure 4B , thedrill rod 216 is turned 90 degrees and inFigure 4C thedrill rod 216 is turned 180 degrees from the start position. Substantially in this position ofFigure 4C , thegripping unit 214 may in release thedrill rod 216 which may already/still be partly screwed to the drill string 108 (which is gripped by theactuator unit 114 below). Then, thegripping unit 214 may be moved back to the start position ofFigure 4A , grip thedrill rod 216 again and perform the process ofFigures 4A to 4C again for as many times as it is needed to completely screw or unscrew thedrill rod 216 to/from thedrill string 108. This may be beneficial as then no manual labor is needed for the screwing or unscrewing purposes either. - The control of the swivels in this embodiment of
Figure 4A to 4C may comprise controlling at least theswivel 228, as shown inFigure 4A to 4C . Further, as thedrill rod 216 stays in the same location during the screwing (expect for rotating about its longitudinal axis), there may also be a need to control some of theswivels gripping unit 214 in the screwing/unscrewing. However, for the sake of simplicity,Figures 4A to 4C show only swivels 228 and 230. - In another embodiment, the co-operation of the drill
string actuator unit 114 may comprise performing the screwing/unscrewing by a rotation of thedrill string 108 caused by theactuator unit 114, while keeping thedrill rod 216 still with thegripping unit 214. - In one embodiment, the mounting
base 212 of theswivel arm 218 is fixedly mounted on the floor of theMDR 200. In another embodiment, the mounting location inside theMDR 200 may be a roof or a side wall, for example, in order to provide more space in theMDR 200 for user personnel. The mounting may be performed with nuts and bolts, for example, or by welding. When the mountingbase 212 is fixedly mounted to theMDR 200, the end of theswivel arm 218 attached to the mountingbase 218 stays still, whereas the other parts of theswivel arm 218 may move in a controllable manner in order to move thegripping unit 214. In another embodiment, the mountingbase 212 is mounted to a unit which is movable with respect to the mounting location of theMDR 200. It may be for example, that the mountingbase 212 is on top of a unit which may be slid along rails located on the floor/ceiling/wall of theMDR 200. This may provide even more possibilities for the space usage in theMDR 200. - In an embodiment, as shown for example in
Figures 2A, 2B , theswivel arm 218 comprises six controlledswivels gripping unit 214 according to the programmed three-dimensional trajectory. By controlling the amount of rotations of one or more of theswivels 220 to 230, theswivel arm 218, and, thus, thegripping unit 214 attached to the other end of theswivel arm 218, may be moved along the programmed trajectory in the three-dimensional coordinate system XYZ of theMDR 200. - Let us take a closer look at the
swivels 220 to 230 according to an embodiment with reference toFigure 5 . In this embodiment, afirst swivel 220 from the mountingbase 212 enables rotation (of the swivel arm 218) about afirst axis 500. In an embodiment, thefirst axis 500 is a longitudinal axis with respect to the at least one part of theswivel arm 218 which is attached to (e.g. rotate about) thefirst swivel 220. In an embodiment, thisfirst axis 500 is a vertical (Z)axis 500 with respect to the XYZ coordinate system of theMDR 200. - A second 222 and a
third swivel 224 from the mountingbase 212 enable rotation of theswivel arm 218 about a second 502 and a third 504 axis, respectively, which are orthogonal to thefirst axis 500. In an embodiment, thesecond axis 502 is a transversal axis with respect to the parts of theswivel arm 218 which are attached to thesecond swivel 222. In an embodiment, thethird axis 504 is a transversal axis with respect to the parts of theswivel arm 218 which are attached to thethird swivel 224. That is, the second and thethird axes MDR 200. The second 502 and the third 504 (and a fifth 508) axes are shown with a circle having a cross inside to represent a direction towards or out of the paper in the representation ofFigure 5 . Theseswivels 222, 224 (and 228) may be hinged swivels which may comprise, e.g., a shaft about which the two connected parts of theswivel arm 218 may rotate. - A
fourth swivel 226 from the mountingbase 212 enables rotation of theswivel arm 218 about afourth axis 506 which is orthogonal to thesecond axis 502 and to thethird axis 504. In an embodiment, thefourth axis 506 is a longitudinal axis with respect to the parts of theswivel arm 218 which are attached to thefourth swivel 226. - A
fifth swivel 228 from the mountingbase 212 enables rotation of theswivel arm 218 about afifth axis 508 which is orthogonal to thefourth axis 506. In an embodiment, thefifth axis 508 is a transversal axis with respect to the parts of theswivel arm 218 which are attached to thefifth swivel 228. - Finally, a
sixth swivel 230 from the mountingbase 212 enables rotation about asixth axis 510 which is orthogonal to thefifth axis 508. In an embodiment, thesixth axis 510 is a longitudinal axis with respect to the at least one part of theswivel arm 218 which is attached to thesixth swivel 230. It may be noted that on the other side of thesixth swivel 230 there may be thegripping unit 214. - Thus,
such swivel arm 218 of themanipulator 210 provides for ease of control and a large variety in different positions of theswivel arm 218. This may significantly help in increasing the efficiency of the drill rod handling process. - In an embodiment, the
MDR 200 further comprises at least onemonitoring unit 600 to 604 for monitoring the physical condition of thedrill rod 216. The monitoring unit(s) 600 to 604 may be mounted on a specific location in theMDR 200, such as to specific locations on the walls, floor, or roof. Thus, in order to enable the monitoring of the condition of therod 216, therod 216 needs to be brought to the specific location. This specific location to which thedrill rod 216 needs to brought may be preprogrammed in theprocessor 902 and in thememory 904. Thus, there may be a preprogrammedmonitoring position 606 of thegripping unit 214 in which position thegripping unit 214 may hold thedrill rod 216 during the monitoring. Alternatively, in one embodiment, thegripping unit 214 may release thedrill rod 216 in themonitoring position 606. In such embodiment, there may be monitoring equipment which comprises not only the monitoringunits 600 to 604 but also elements for gripping or holding thedrill rod 216 during the measurement of the condition. It should be noted that the monitoring equipment or thegripping unit 214 may even move thedrill rod 216 for the purposes of measurements. Such moving may comprise, for example, rotating thedrill rod 216 about the longitudinal and/or transversal axis of thedrill rod 216 - The
monitoring unit 600 to 604 may monitor the condition of therod 216 with machine vision, for example. The machine vision (marked with the dotted one-directional arrows inFigure 6 ) may examine thedrill rod 216 and detect any breaks or cracks in surface of therod 216. The material of therod 216 may be steel, for example. There may also be monitoringunits hollow rod 216 in longitudinal direction. These may detect any anomaly, such as breaks, in the inner wall of thehollow rod 216. It may also be that at least one of the monitoringunits 600 to 604 applies illumination for better vision. - In another embodiment, the monitoring unit(s) 600 to 604 may apply sounds and echo-analysis for analyzing the condition of the
drill rod 216. For example, if the transmitted sound is reflected back from a solid surface of thedrill rod 216, the detected reflected sound (echo) is detected as normal. The normal echo and its marginals may be predetermined for each type and material ofdrill rods 216. However, when the echo is reflected from a break in the surface of thedrill rod 216, the detected echo is different from the predetermined normal echo. As one further option, laser signals and distance measuring may be used to detect if the distance from the measuringunits 604 to the surface of thedrill rod 216 remains the same throughout the length of thepipe 216 or changes within acceptable margins. A change in the distance exceeding the acceptable margins may imply a crack or break in therod 216 or a part which has become thin during use. Any anomaly, crack or break in the inner or outer walls of therod 216 may imply that the condition of therod 216 is poor. In one embodiment, there may be a predetermined threshold with respect to the number of anomalies detected or with respect to the severity of the anomalies (such as a depth of a break in the wall of the rod 216). When the threshold is exceeded, therod 216 is determined as non-usable. If the threshold is not exceeded, therod 216 may be still used. The threshold may be detected on empirical or mathematical studies, for example. - Thus, in an embodiment, the at least one
memory 904 and the computer program code are configured, with the at least oneprocessor 902 and, more particularly, with a rodcondition control circuitry 912, to control the plurality ofswivels 220 to 230 to cause theswivel arm 218 to automatically move thedrill rod 216 to amonitoring position 606 in which at least onemonitoring unit 600t0 604 detects the physical condition of thedrill rod 216. As said, the movement trajectory may be preprogrammed and comprise three-dimensional movements of thegripping unit 214 holding thedrill rod 216 in the three-dimensional XYZ space inside theMDR 200. Further, in response to reception of information indicating that the physical condition of thedrill rod 216 is below the predetermined threshold, the plurality ofswivels 220 to 230 may be controlled to cause theswivel arm 218 to automatically move thedrill rod 216 to a location reserved for non-usable drill rods. Such location may be predetermined and preprogrammed to thememory 904, for example, so that theswivel arm 218 may be automatically configured to move the drill rod to such location. This embodiment may significantly increase the efficiency and reliability of the drilling process as less drill rod condition -related problems occur. - In an embodiment, the
gripping unit 214 holding thedrill rod 216 is moved to themonitoring position 606 after thefirst position 232 and before thesecond position 234. Thus, after taking thedrill rod 216 from thestorage unit 202 and before bringing the grippedrod 216 to thedrill string 108, theswivel arm 218 may move thegripping unit 214 to themonitoring position 606 for rod condition checking. If therod 216 is not in adequate condition, thedrill rod 216 is considered as non-usable and moved to the out-of-usage area. If therod 216 is in adequate condition, therod 216 is taken to thedrill string 108 and may be used for drilling. This embodiment may have the benefit that the condition of thedrill rod 216 is detected before it is added to thedrill string 108 and, thus, no poor conditioned rods are added to thedrill string 108. - In another embodiment, the
gripping unit 214 holding thedrill rod 216 is moved to themonitoring position 606 after thesecond position 234 and before thefirst position 232. This embodiment relates to emptying thedrill string 108. After taking thedrill rod 216 from thedrill string 108 and before bringing the grippedrod 216 to thestorage unit 202, theswivel arm 218 may move thegripping unit 214 to themonitoring position 606 for rod condition checking. If therod 216 is not in adequate condition, thedrill rod 216 is considered as non-usable and moved to the out-of-usage area. If therod 216 is in adequate condition, therod 216 is stored in thestorage unit 202 and may be used for drilling later on without a further check. This embodiment may have the benefit that the condition of thedrill rod 216 is detected in good time and, in case new drill rods are needed (e.g. in case poor ones need to be replaced), the new drill rods may be inserted in thestorage unit 202 in advance of the next drilling process (i.e. well before new drill rods are needed for further drilling). - In an embodiment, as shown in
Figure 7 , the at least onememory 904 and the computer program code are configured, with the at least oneprocessor 902, to control the plurality of swivels 220-230 to cause theswivel arm 218 to retrieve/move/enter into asafety position 700 of themanipulator 210 for a time period reserved for removal ofsamples 706 from thedrill string 108. In thesafety position 700, any given point of themanipulator 210 is at least aguard distance 702 from thedrill string 108. Thesafety position 700 of themanipulator 210 may be preprogrammed to thememory 904 so that thecontroller 902 may automatically move theswivel arm 218 and thegripping unit 214 to thesafety position 700, which may be defined in the three-dimensional coordinate system XYZ of theMDR 200. In an embodiment, themanipulator 210 may be programmed to retrieve to and stay in thesafety position 606 unless themanipulator 210 needs to perform any rod handling tasks. Thus, thesafety position 606 may be regarded as a starting/ending position of themanipulator 210. - The
guard distance 702 may correspond to an empirically derived distance needed by the user personnel to operate around thedrill string 108 during the removal of the samples. In an embodiment, theguard distance 702 equals to substantially 1 meter or more. As known by a skilled person, the ground samples emerge upwards from the depth via the annulus between the borehole 110 anddrill string 108, or within a hollow drill string 108 (as in, e.g., reverse circulation drilling). Further, as in diamond drilling, the ground samples may also be retrieved by using a retractable gripping tube which is lowered within thehollow drill string 108 and which grips a core tube locating close to the drill bit and comprises the ground sample. The core tube then is brought up together with the retractable gripping tube. Thus, the guard distance needed may be drilling type -specific and determined individually for each drilling type. - Therefore, the
safety position 700 may as well be drilling type - specific and programmed individually for each drilling type. Thecontroller 902 and thememory 904 may have knowledge for the safety positions with respect to a plurality of drilling types. These types may include diamond drilling, reverse circulation drilling, direct circulation drilling, etc. Thereafter, thecontroller 902 may select the to-be-used safety position on the basis of what the current type of drilling is. - In an embodiment, the
manipulator 210 is fixedly mounted on themobile drilling rig 200. Further, in this embodiment, the mountingbase 212 of themanipulator 210 is at least theguard distance 702 away from the location in which thedrill string 108 enters theborehole 110. In an embodiment, as said, theguard distance 702 may be one meter or even more. This embodiment thus provides space for the user personnel if the user personnel need to be around theborehole 110. Theswivel arm 218, which may be altogether 280 centimeters long while theswivels 220 to 230 are in positions which provide most length to theswivel arm 218, may provide enough extension for themanipulator 210 to still being able to perform all the rod handling tasks. - In addition, In an embodiment, the
swivel arm 218 may comprise parts which may extend. For example, there may be two parts at least partially overlapping. The inner or outer part may then slide with respect to the other part so as to make the swivel arm longer or shorter, if needed. - In an embodiment the plurality of drill rods are stored in the
storage unit 202 substantially horizontally with respect to a floor of theMDR 200. This provides a benefit according to which the height of theMDR 200, at least while moving, is not as high as if vertical storing of the drill rods was applied. - In an embodiment, as shown in
Figure 8 , each of the plurality of drill rods has an individual location in thestorage unit 202.Figure 8 shows how the drill pipes may be stored in thestorage unit 202. As a result, the at least onememory 904 and the computer program code are configured, with the at least oneprocessor 902, to adjust thefirst position 232 of the programmed three-dimensional trajectory according to the individual location of the drill rod which is currently being moved or which is to be moved. Thecontroller 902 may know thefirst position 232 of eachdrill rod 216 on the basis of machine vision, for example. The machine vision unit may be mounted in thegripping unit 214, for example. - However, in an embodiment, the
first position 232 is kept the same for eachdrill rod 216. In this embodiment, thestorage unit 202 may comprise structure, such as an inclined surface, which may be used for automatically causing a new pipe to be moved to thefirst position 232 due to gravity, for example. An inclination in other direction may be used for the process of emptying thedrill string 108 to thestorage unit 202. In yet one embodiment, thefirst position 232 may be adjusted according to whether thedrill string 108 is to be extended or shortened. - In yet one embodiment, each drill rod comprises an identifier known by the
controller 902, and the at least onememory 904 and the computer program code are configured, with the at least oneprocessor 902, to cause themanipulator 210 to detect the identifier (ID) of the drill rod. For example, each drill rod may emit a specific ID which an ID detection unit of themanipulator 210 may detect. Such ID detection unit may be comprised in thegripping unit 214 for providing short distance between the drill rod emitting the ID and the ID detection unit. A possible technology for the ID reading may be radio frequency identification (RFID) -technique. In one embodiment, a configuration known as an Active Reader Passive Tag (ARPT) is applied, in which an active reader (in the gripping unit 214) transmits interrogator signals and receives authentication replies from passive tags in the drill rods. - In another embodiment, the ID detection takes place via machine vision, near field communication, Bluetooth, for example. In any case, the
manipulator 214 may obtain knowledge of the IDs of the drill rod(s) in thestorage unit 202 or of the drill rod which is being gripped currently. Thereafter, thecontroller 902 may adjust thefirst position 232 of the three-dimensional trajectory on the basis of the detected identifier. In such embodiment, each drill rod may be taken to/from a specific location and the order in thedrill storage unit 202 remains good throughout the process, which may expedite the drilling process. - Let us then take a look in how the life span of each
drill rod 216 may be extended. It may be for example that a drill rod at a certain part of thedrill string 108 is prone to damages. Thecontroller 902 may identify which drill rods were in thedrill string 108 and in which location of thedrill string 108 during removal of drill rods from thedrill string 108. Thecontroller 902 may detect, e.g., the order of the drill rods in thedrill string 108 which is a clear indication of the location of the removed drill rod in the drill string. Then each of the drill rods may be taken to a monitoring unit ofFigure 6 for physical condition checking, or to some other type of physical condition checking. As a result, the controlled 902 may detect whether or not a drill rod in a specific location of thedrill string 108 is more damaged than the other drill rods. Thus, by applying the drill rod condition checking, the part which is prone to damages in thedrill string 108 may be more easily detected. As one possible consequence action, thecontroller 902 may avoid putting the same drill rod to that specific part of thedrill string 108 repeatedly. In this manner, the life cycle of the drill rods may be extended. -
Figure 10 shows theMDR 200 in a side view, wherein theMDR 200 comprises hingedstairs support members crawler 1004 may be for moving theMDR 200. The other elements, units, structures presented inFigure 10 have been explained earlier. TheMDR 200 may be a closed space with floor, walls and at least partial roof. As shown, thestorage unit 202 for the plurality of drill rods may be as large as the side wall of theMDR 200. This may be especially the case when thestorage unit 202 stores a plurality of two rods connected together to make one pipe with a length of even 6 meters. The drillstring support structure 204 may have been extended so as to support thedrill string 108 after anew rod 216 has been added to thedrill string 108. It is also shown how the angle between thedrill string 108 and the surface of the ground is substantially 90 degrees. Such change in the inclination angle (fromFigure 2A , for example) may have been caused by the change in the inclination of the drillstring support structure 204. - There is also provided a method, as shown in
Figure 11 , for moving drill rods in themobile drilling rig 200 between thefirst position 232 and thesecond position 234 with themanipulator 210, the method comprising: in step 1100, controlling the plurality ofswivels 220 to 232 to cause theswivel arm 218 to automatically move thegripping unit 214 according to a programmed three-dimensional trajectory between thefirst position 232 and thesecond position 234; and, instep 1102, controlling thegripping unit 214 to automatically grip or release the drill rod in thefirst position 232 or in thesecond position 234. - In an embodiment, the
manipulator 210 may be a stand-alone apparatus for moving drill rods between thefirst position 232 and thesecond position 234. In an embodiment, themanipulator 210 need not locate inside or be mounted to theMDR 200. In an embodiment, there need not be anyMDR 200. In an embodiment, thefirst position 232 and thesecond position 234 are not inside anyMDR 200. In an embodiment, thefirst position 232 and thesecond position 234 are reconfigurable. In an embodiment, themanipulator 210 is mounted, e.g. on a closed or open truck, such as on a platform of the truck. Thestorage unit 202 and/or the drillstring actuator unit 114 may be located outside the truck, such as next to the truck on a separate vehicle, for example. In an embodiment, thestorage unit 202 is on the truck with themanipulator 210, whereas thedrilling actuator unit 114 is located outside the truck platform. In an embodiment, themanipulator 210, thestorage unit 202 and the drillstring actuator unit 114 are on the truck, which may have an open or closed platform/deck. - In an embodiment, the
manipulator 210 may be used undergrounds, in a tunnel, for example. In such embodiment, thestorage unit 202 and the drillstring actuator unit 114 may be also located undergrounds. - In an embodiment, the length of the
drill string 108 may be more than 100 meters. In an embodiment, theMDR 200 may be equipped with a steering unit for steering and moving theMDR 200. In an embodiment, thestorage unit 202 may be open from the top. - As used in this application, the term 'circuitry' refers to all of the following: (a) hardware-only circuit implementations, such as implementations in only analog and/or digital circuitry, and (b) combinations of circuits and software (and/or firmware), such as (as applicable): (i) a combination of processor(s) or (ii) portions of processor(s)/software including digital signal processor(s), software, and memory(ies) that work together to cause an apparatus to perform various functions, and (c) circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. This definition of 'circuitry' applies to all uses of this term in this application. As a further example, as used in this application, the term 'circuitry' would also cover an implementation of merely a processor (or multiple processors) or a portion of a processor and its (or their) accompanying software and/or firmware. The term 'circuitry' would also cover, for example and if applicable to the particular element, a baseband integrated circuit or applications processor integrated circuit for a mobile phone or a similar integrated circuit in a server, a cellular network device, or another network device.
- The techniques and methods described herein may be implemented by various means. For example, these techniques may be implemented in hardware (one or more devices), firmware (one or more devices), software (one or more modules), or combinations thereof. For a hardware implementation, the apparatus(es) of embodiments may be implemented within one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof. For firmware or software, the implementation can be carried out through modules of at least one chip set (e.g. procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory unit and executed by processors. The memory unit may be implemented within the processor or externally to the processor. In the latter case, it can be communicatively coupled to the processor via various means, as is known in the art. Additionally, the components of the systems described herein may be rearranged and/or complemented by additional components in order to facilitate the achievements of the various aspects, etc., described with regard thereto, and they are not limited to the precise configurations set forth in the given figures, as will be appreciated by one skilled in the art.
- Embodiments as described may also be carried out in the form of a computer process defined by a computer program. The computer program may be in source code form, object code form, or in some intermediate form, and it may be stored in some sort of carrier, which may be any entity or device capable of carrying the program. For example, the computer program may be stored on a computer program distribution medium readable by a computer or a processor. The computer program medium may be, for example but not limited to, a record medium, computer memory, read-only memory, electrical carrier signal, telecommunications signal, and software distribution package, for example. Coding of software for carrying out the embodiments as shown and described is well within the scope of a person of ordinary skill in the art.
- Even though the invention has been described above with reference to an example according to the accompanying drawings, it is clear that the invention is not restricted thereto but can be modified in several ways within the scope of the appended claims. Therefore, all words and expressions should be interpreted broadly and they are intended to illustrate, not to restrict, the embodiment. It will be obvious to a person skilled in the art that, as technology advances, the inventive concept can be implemented in various ways. Further, it is clear to a person skilled in the art that the described embodiments may, but are not required to, be combined with other embodiments in various ways.
Claims (14)
- A manipulator (210) comprising:a mounting base (212) for mounting the manipulator (210);a gripping unit (214) for gripping a drill rod (216);a swivel arm (218) attached to the mounting base (212) and to the griping unit (214), wherein the swivel arm (218) comprises at least six controlled swivels (220 to 230) between the mounting base (212) and the gripping unit (214), wherein each swivel (220 to 230) has an individual axis (500 to 510) of rotation for moving the gripping unit (214) according to a programmed three-dimensional trajectory;at least one processor (902) and at least one memory (904) including a computer program code, wherein the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:control the plurality of swivels (220 to 230) to cause the swivel arm (218) to automatically move the gripping unit (214) according to the 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, andin 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); andcontrol the gripping unit (214) to automatically grip or release the drill rod (216) in the first position (232) or in the second position (234).
- The manipulator (210) of claim 1, wherein the gripping unit (214) comprises at least two pair (300, 302) of jaws (304, 306), and the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:move, in each pair (300, 302) of jaws (304, 306), the jaws (304, 306) towards each other in order to grip the drill rod (216) between the jaws (304, 306).
- The manipulator (210) of any of claims 1 to 2, wherein the drill rod (216) and the drill string (108) comprise screw threads at the connected parts, and the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:control the plurality of swivels (220 to 230) to cause the swivel arm (218) to automatically screw or unscrew the drill rod (216) and the drill string (108) in the second position (234);control a drill string actuator unit (114) to co-operate during the screwing or unscrewing, wherein the drill string actuator unit (114) is configured to actuate the drill string (108).
- The manipulator (210) of any of claims 1 to 3, wherein:a first swivel (220) from the mounting base (212) enables rotation about a first axis (500);a second and a third swivel (222, 224) from the mounting base (212) enable rotation about a second and a third axis (502, 504), respectively, which are orthogonal to the first axis (500);a fourth swivel (226) from the mounting base (212) enables rotation about a fourth axis (506) which is orthogonal to the second axis and to the third axis (502, 504);a fifth swivel (228) from the mounting base (212) enables rotation about a fifth axis (508) which is orthogonal to the fourth axis (506); anda sixth swivel (230) from the mounting base (212) enables rotation about a sixth axis (510) which is orthogonal to the fifth axis (508).
- The manipulator (210) of any of claims 1 to 4, wherein the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:control the plurality of swivels (220 to 230) to cause the swivel arm (218) to automatically move the gripping unit (214) holding the drill rod (216) to a monitoring position (606) in which at least one monitoring unit (600 to 604) detects the physical condition of the drill rod (216); andin response to reception of information indicating that the physical condition of the drill rod (216) is below a predetermined threshold, control the plurality of swivels (220 to 230) to cause the swivel arm (218) to automatically move the drill rod (216) to a location reserved for non-usable drill rods.
- The manipulator (210) of claim 5, wherein the gripping unit (214) is moved to the monitoring position (606) after the first position (232) and before the second position (234).
- The manipulator (210) of claim 5, wherein the gripping unit (214) is moved to the monitoring position (606) after the second position (234) and before the first position (232).
- The manipulator (210) of any of claims 1 to 7, wherein the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:control the plurality of swivels (220 to 230) to cause the swivel arm (218) to move into a safety position (700) of the manipulator (210) for a time period reserved for removal of samples (700) from the drill string (108), wherein, in the safety position (700), any given point of the manipulator (210) is at least a guard distance (702) from the drill string (108).
- The manipulator (210) of claim 8, wherein the safety position (700) is drilling type -specific, and the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:acquire knowledge of the safety positions with respect to a plurality of drilling types; andselect the to-be-used safety position (700) on the basis of what the current type of drilling is.
- The manipulator (210) of any of claims 1 to 9, wherein each drill rod (106) comprises an identifier known by the at least one processor (902), and the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:cause the manipulator (210) to detect the identifier of the drill rod (106) which is currently being moved or which is to be moved, wherein the detection takes place with an identifier detecting unit comprised in the manipulator (210); andadjust the first position of the three-dimensional trajectory on the basis of the detected identifier, wherein each drill rod (216) has an individual location in the storage unit (202).
- The manipulator (210) of any of claims 1 to 10, wherein each drill rod (106) comprises an identifier known by the at least one processor (902), and the at least one memory (904) and the computer program code are configured, with the at least one processor (902), to:during removing of drill rods from the drill string (108), identify which drill rods were in the drill string (108) and in which locations of the drill string (108);detect the physical condition of each of the drill rods which were in the drill string (108); anddetect whether or not a specific drill rod in a specific location of the drill string (108) is more damaged than the other drill rods.
- The manipulator (210) of any of claims 1 to 11, wherein the manipulator (210) is mounted to a mobile drilling rig (200).
- A method for moving drill rods between a first position (232) and a second position (234) with a manipulator (210) comprising a mounting base (212) for mounting the manipulator (210), 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 at least six controlled swivels (220 to 230) between the mounting base (212) and the gripping unit (214), wherein each swivel (220 to 230) has an individual axis (500 to 510) of rotation for moving the gripping unit (214) according to a programmed three-dimensional trajectory, the method comprising:controlling the plurality of swivels (220 to 230) to cause the swivel arm (218) to automatically move the gripping unit (214) according to the programmed three-dimensional trajectory between the 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 storing a plurality of drill rods; andin 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 the drilling axis (116) connected to a drill string (108) entering a borehole (110); andcontrolling the gripping unit (216) to automatically grip or release the drill rod (216) in the first position (232) or in the second position (234).
- A computer program product embodied on a distribution medium readable by a computer and comprising program instructions which, when loaded into an apparatus, execute the method according to claim 13.
Priority Applications (1)
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PL14166503T PL2799661T3 (en) | 2013-04-30 | 2014-04-30 | Automatic drill rod handling |
Applications Claiming Priority (2)
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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 |
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EP2799661A2 EP2799661A2 (en) | 2014-11-05 |
EP2799661A3 EP2799661A3 (en) | 2014-12-17 |
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EP14166503.4A Active EP2799661B1 (en) | 2013-04-30 | 2014-04-30 | Automatic drill rod handling |
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EP (1) | EP2799661B1 (en) |
AU (1) | AU2014202340B2 (en) |
CA (1) | CA2850746C (en) |
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PL (1) | PL2799661T3 (en) |
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GB2177143B (en) * | 1985-06-21 | 1988-06-08 | Apache Corp | Transfer arm positioning system |
US7249637B2 (en) * | 1997-09-02 | 2007-07-31 | Weatherford/Lamb, Inc. | Method and device to clamp control lines to tubulars |
US7694583B2 (en) * | 2005-05-05 | 2010-04-13 | Control Gaging, Inc. | Gripper gage assembly |
US8408334B1 (en) * | 2008-12-11 | 2013-04-02 | T&T Engineering Services, Inc. | Stabbing apparatus and method |
-
2014
- 2014-04-29 CA CA2850746A patent/CA2850746C/en not_active Expired - Fee Related
- 2014-04-29 CL CL2014001102A patent/CL2014001102A1/en unknown
- 2014-04-30 AU AU2014202340A patent/AU2014202340B2/en not_active Ceased
- 2014-04-30 PL PL14166503T patent/PL2799661T3/en unknown
- 2014-04-30 EP EP14166503.4A patent/EP2799661B1/en active Active
Cited By (6)
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US11408236B2 (en) | 2020-07-06 | 2022-08-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
US11486209B2 (en) | 2020-07-06 | 2022-11-01 | Nabors Drilling Technologies Usa, Inc. | Robotic pipe handler systems |
US11643887B2 (en) | 2020-07-06 | 2023-05-09 | Canrig Robotic Technologies As | Robotic pipe handler systems |
US11371299B2 (en) | 2020-09-01 | 2022-06-28 | Canrig Robotic Technologies As | Robotic pipe handler and pipe storage |
US11414936B2 (en) | 2020-09-01 | 2022-08-16 | Canrig Robotic Technologies As | Robotic pipe handler |
US11767719B2 (en) | 2020-09-01 | 2023-09-26 | Canrig Robotic Technologies As | Robotic pipe handler |
Also Published As
Publication number | Publication date |
---|---|
EP2799661A3 (en) | 2014-12-17 |
PL2799661T3 (en) | 2016-06-30 |
AU2014202340B2 (en) | 2017-10-26 |
CA2850746A1 (en) | 2014-10-30 |
CA2850746C (en) | 2021-03-16 |
EP2799661A2 (en) | 2014-11-05 |
AU2014202340A1 (en) | 2014-11-13 |
CL2014001102A1 (en) | 2015-01-16 |
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