NO20150768A1 - Drill deck system and method for performing fully automated work operations on a drill deck - Google Patents

Drill deck system and method for performing fully automated work operations on a drill deck

Info

Publication number
NO20150768A1
NO20150768A1 NO20150768A NO20150768A NO20150768A1 NO 20150768 A1 NO20150768 A1 NO 20150768A1 NO 20150768 A NO20150768 A NO 20150768A NO 20150768 A NO20150768 A NO 20150768A NO 20150768 A1 NO20150768 A1 NO 20150768A1
Authority
NO
Norway
Prior art keywords
drill
manipulator arm
drill deck
work operations
working tool
Prior art date
Application number
NO20150768A
Other languages
Norwegian (no)
Other versions
NO341203B1 (en
Inventor
Bjørn Eilertsen
Odd B Skjaerseth
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 NO20150768A priority Critical patent/NO341203B1/en
Priority to PCT/IB2016/053460 priority patent/WO2016199103A1/en
Priority to US15/735,903 priority patent/US20190003269A1/en
Publication of NO20150768A1 publication Critical patent/NO20150768A1/en
Publication of NO341203B1 publication Critical patent/NO341203B1/en

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
    • E21B19/02—Rod or cable suspensions
    • E21B19/06—Elevators, i.e. rod- or tube-gripping devices
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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—Programme-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

Landscapes

  • 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

Det er beskrevet et boredekksystem for utføring av et flertall helautomatiserte arbeidsoperasjoner på et boredekk, hvor boredekksystemet omfatter minst en helautomatisk manipulatorarm og minst ett arbeidsverktøy for utføring av et antall forskjellige arbeidsoperasjoner på boredekket. Den minst ene manipulatorarmen og det minst ene arbeidsverktøyet er innrettet for helautomatisk tilkobling av det minst ene arbeidsverktøyet til den minst ene manipulatorarmen og helautomatisk frakobling av et tilkoblet arbeidsverktøy fra den minst ene manipulatorarmen. Videre omfatter boredekksystemet et kontrollsystem som i det minste er innrettet for å styre manipulatorarmens bevegelser og automatisk tilkobling av et arbeidsverktøy til den minst ene manipulatorarmen og automatisk frakobling av et arbeidsverktøy fra den minst ene manipulatorarmen slik at et antall arbeidsoperasjoner på boredekk, med bruk av respektive arbeidsverktøy, kan automatiseres og utføres uten assistanse av personell. Det er også beskrevet en fremgangsmåte for utføring av et flertall arbeidsoperasjoner på et boredekk hvor arbeidsoperasjonene utføres med et slikt boredekksystem.There is disclosed a drill tire system for performing a plurality of fully automated work operations on a drill tire, wherein the drill tire system comprises at least one fully automatic manipulator arm and at least one work tool for performing a number of different work operations on the drill tire. The at least one manipulator arm and the at least one working tool are arranged for fully automatic connection of the at least one working tool to the at least one manipulator arm and fully automatic disconnection of a connected working tool from the at least one manipulator arm. Furthermore, the drill tire system comprises a control system which is at least adapted to control the movements of the manipulator arm and automatic connection of a working tool to the at least one manipulator arm and automatic disconnection of a working tool from the at least one manipulator arm, so that a number of working operations on the drill deck, using work tools, can be automated and performed without the assistance of personnel. There is also described a method for performing a plurality of work operations on a drill deck where the work operations are performed with such a drill tire system.

NO20150768A 2015-06-12 2015-06-12 Drill deck system and method for performing fully automated work operations on a drill deck NO341203B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
NO20150768A NO341203B1 (en) 2015-06-12 2015-06-12 Drill deck system and method for performing fully automated work operations on a drill deck
PCT/IB2016/053460 WO2016199103A1 (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
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 (1)

Application Number Priority Date Filing Date Title
NO20150768A NO341203B1 (en) 2015-06-12 2015-06-12 Drill deck system and method for performing fully automated work operations on a drill deck

Publications (2)

Publication Number Publication Date
NO20150768A1 true NO20150768A1 (en) 2016-12-13
NO341203B1 NO341203B1 (en) 2017-09-11

Family

ID=56409656

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20150768A NO341203B1 (en) 2015-06-12 2015-06-12 Drill deck system and method for performing fully automated work operations on a drill deck

Country Status (3)

Country Link
US (1) US20190003269A1 (en)
NO (1) NO341203B1 (en)
WO (1) WO2016199103A1 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK179938B1 (en) * 2018-03-11 2019-10-14 Maersk Drilling A/S Robotic Apparatus for performing Drill Floor Operations
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.
US11015402B2 (en) 2018-04-27 2021-05-25 Canrig Robotic Technologies As System and method for conducting subterranean operations
US11041346B2 (en) 2018-04-27 2021-06-22 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10822891B2 (en) 2018-04-27 2020-11-03 Canrig Robotic Technologies As System and method for conducting subterranean operations
US10808465B2 (en) 2018-04-27 2020-10-20 Canrig Robotic Technologies As System and method for conducting subterranean operations
CN108547584A (en) * 2018-05-18 2018-09-18 杜江 A kind of rig floor manipulator
US10837238B2 (en) 2018-07-19 2020-11-17 Nabors Drilling Technologies Usa, Inc. Side saddle slingshot continuous motion rig
WO2020123399A1 (en) * 2018-12-11 2020-06-18 Cameron International Corporation Pipe handling system and method
NO20211072A1 (en) 2019-03-27 2021-09-07 Mhwirth As Methods and systems for earth drilling
GB2582746B (en) * 2019-03-27 2022-08-31 Mhwirth As Methods and systems for earth drilling
US20220306630A1 (en) * 2019-08-06 2022-09-29 Bristol-Myers Squibb Company AGONISTS OF ROR GAMMAt

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3320762C2 (en) * 1983-06-09 1994-10-27 Trumpf Gmbh & Co Punching machine with a stationary magazine
US4611377A (en) * 1984-06-04 1986-09-16 Eoa Systems, Inc. Interchangeable robot end-of-arm tooling system
CA2518604C (en) * 1992-04-30 2008-03-25 Dreco Energy Services Ltd. Gripper head assembly for a pipe handling system
DE602005007619D1 (en) * 2005-11-16 2008-07-31 Abb Research Ltd Method for changing the tool of an industrial robot and system with an industrial robot and a tool
CA2888584C (en) * 2006-06-14 2017-05-16 Motion Metrics International Corp. Systems and methods for autonomous tripping of oil well pipes
US8371790B2 (en) * 2009-03-12 2013-02-12 T&T Engineering Services, Inc. Derrickless tubular servicing system and method
CA2850746C (en) * 2013-04-30 2021-03-16 Arctic Drilling Company Oy Ltd. Automatic drill rod handling
NO20130805A1 (en) * 2013-06-10 2014-12-11 Mhwirth As Lift arm assembly and method of replacing a holder in said lift arm assembly

Also Published As

Publication number Publication date
NO341203B1 (en) 2017-09-11
US20190003269A1 (en) 2019-01-03
WO2016199103A1 (en) 2016-12-15

Similar Documents

Publication Publication Date Title
NO20150768A1 (en) Drill deck system and method for performing fully automated work operations on a drill deck
WO2015117151A3 (en) System, apparatus and method for guiding a drill bit based on forces applied to a drill bit
GB201702053D0 (en) Detecting and locating process control communication line faults from a handheld maintenance tool
EP3983181C0 (en) Tool changer for collaborative robots, a robot tool changer system and a method for connecting a tool to a robot arm
MX2018010684A (en) Methods, apparatuses, and systems for human machine interface (hmi) operations.
BR112017005153A2 (en) portable robotic system for metallurgy work with communication circuit and control system for virtual control of a metallurgical process
EP3765708C0 (en) Drilling parameter optimization for automated well planning, drilling, and guidance systems
GB2535927A (en) Method and criteria for trajectory control
ECSP17053103A (en) UNIFIED CONTROL SYSTEM FOR DRILLING EQUIPMENT
IL286522A (en) Method for guiding a robot arm, guiding system
BR112017020764A2 (en) Work loader device
DK3593939T3 (en) Method for screwing together a flank connection, measuring trolley and robot
NO343149B1 (en) Procedure for visual inspection and logging
WO2012094164A3 (en) Method and apparatus for multi-drop tool control
GB2544016A (en) Feedback based toolface control system for a rotary steerable drilling tool
GB2557458B (en) Control line retainer for a downhole tool
MX2018003737A (en) Method and system for assigning tasks to drill rigs.
MX2017006484A (en) File translator system.
DK3468333T3 (en) DISC TOOLS, AGRICULTURAL EQUIPMENT INCLUDING SUCH A DISC TOOL AND PROCEDURE TO MAKE A DISCOVERY
WO2011155726A3 (en) Apparatus for conveying the work of a large-scale press
DK3581013T3 (en) Device for a mower for a mower or chopper, spare cutting tool as well as mower
EP3907378A4 (en) Monitoring system, monitoring method, and monitoring program for steam-using equipment
WO2015135917A3 (en) Method for operating a robot, and an associated robot comprising a mechanical feeler device
EP2881816A3 (en) Repair method, system for automatic locating and clearing and tool for automated locating and modifying
EP3990231C0 (en) System for performing an input on a robotic manipulator

Legal Events

Date Code Title Description
CHAD Change of the owner's name or address (par. 44 patent law, par. patentforskriften)

Owner name: WEST DRILLING PRODUCTS AS, NO