• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A robotic apparatus (1) for performing drill floor operations comprises a support arrangement (2) and at least one manipulator arm (6). The at least one manipulator arm (6) is configured to carry an end effector (11) configured to manipulate one or more of tubing, tools and/or equipment on a drill floor (d) or pipe deck of an oil and gas rig in order to perform a given drill floor operation.
    公开号:DK201800111A1
    申请号:DKP201800111
    申请日:2018-03-11
    公开日:2019-09-18
    发明作者:Holck Jesper
    申请人:Maersk Drilling A/S；
    IPC主号:
    专利说明:

    ROBOTIC APPARATUS FOR PERFORMING DRILL FLOOR OPERATIONS
    FIELD
    This relates to a robotic apparatus for performing drill floor operations
    BACKGROUND
    In the oil and gas industry, the construction and operation of a given well involves numerous operations, many of which are carried out manually at the drill floor.
    These manual operations may, for example, include the handling and installation of tubing sections, such as drill pipe, casing, pup-joints, crossovers and/or lifting subs, and require the accurate positioning of the tubing sections at the well centre before the tubing sections are engaged (“stabbed in”).
    The handling and installation operations may involve the use of safety clamps (“dog collars”) and manual slips used to handle drill collars and/or bottom hole assemblies (BHA), and/or the removal of casing thread protectors from the tubing sections while on the drill floor.
    There are a number of challenges and risks associated with conventional operations. For example, a given operation may be carried out on a number of occasions per day and may require 2 to 3 operators to complete, with each operation introducing the possibility of manual error.
    The tubing sections, tools and equipment used to carry out drill floor operations occupy a significant footprint, such that space on the drill floor is typically very limited.
    Also, due to their size and mass the handling of the tubing sections, tools and equipment represent a safety risk to personnel operating on the drill floor.
    The drill floor itself is typically exposed to the surrounding environment, such that the ability to perform manual operations may be limited by adverse weather conditions.
    Moreover, as the drill floor provides access to the well, there is the risk that objects can be accidentally dropped into the well.
    DK 2018 00111 A1
    SUMMARY
    According to a first aspect, there is provided a robotic apparatus for performing drill floor operations, comprising:
    a support arrangement;
    at least one manipulator arm configured for coupling to the support arrangement, the at least one manipulator arm configured to carry an end effector configured to manipulate one or more of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform in order to perform a given drill floor operation.
    In use, the apparatus is configured for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform, while enhancing the safety and efficiency of operations.
    The apparatus may be modular.
    For example, the at least one manipulator arm may be detachably coupled to the support arrangement.
    Beneficially, the provision of a modular apparatus permits a single apparatus to be adapted to perform a variety of drill floor operations, obviating the requirement for bespoke tools for each operation and reducing the space occupied on the drill floor.
    The support arrangement may be configured to move relative to the drill floor.
    In use, the apparatus may be configured to move between a storage position and a deployed position. The deployed position may, for example, be located adjacent to the well centre. The apparatus may be configured to move between the storage position and the deployed position via one or more intermediate location, such as a tool rack or the like disposed on the drill floor.
    The support arrangement may take a number of different forms.
    The support arrangement may for example comprise or take the form of an undercarriage.
    The undercarriage may be configured to travel on a track or defined pathway provided in or on the drill floor.
    For example, the undercarriage may comprise a catwalk machine, skid-base or similar system travelling towards the well/work centre on tracks/skids.
    Alternatively, the undercarriage may take the form of a continuous track system or other arrangement which does not require a defined track or pathway.
    Beneficially, the provision of a continuous track system (also known as a caterpillar track system) means that the apparatus is not limited to a particular pathway, which may otherwise limit freedom of movement of the apparatus and the type of
    DK 2018 00111 A1 operations that it can carry out. Beneficially, the provision of a continuous track system also means that the apparatus can be moved so as to avoid obstructing other equipment on the drill floor.
    Alternatively, the support arrangement may comprise, or take the form of, a base. The base may be configured to fix the apparatus at a given location on the drill floor.
    The base may directly fix the apparatus to the drill floor.
    Alternatively, the base may provide a raised foundation/structure e.g. on a windwall or on a derrick member.
    The apparatus may comprise, or where the apparatus is modular may be configured to comprise, a single manipulator arm.
    In some instances, the operator may require the apparatus to perform a single function. The apparatus permits this function to be carried out without introducing unnecessary equipment onto the drill floor.
    Alternatively, may comprise, or where the apparatus is modular may be configured to comprise, a plurality of manipulator arms.
    In particular, but not exclusively, the apparatus may comprise two manipulator arms.
    Beneficially, the provision of an apparatus having two manipulator arms permits multiple operations to be carried out on the drill floor. Moreover, a first of the manipulator arms may be used to provide a reference location for the second manipulator arm, reducing the requirement for complex positioning systems.
    The manipulator arm may comprise a body for coupling the manipulator arm to the support arrangement.
    The manipulator arm may comprise a first linkage element.
    The manipulator arm may comprise a second linkage element.
    The first linkage element may be coupled to the body by an actuator.
    The actuator may provide a first degree of freedom of the manipulator arm.
    The actuator may take the form of a rotary actuator.
    The second linkage element may be coupled to the first linkage element by an actuator.
    The actuator may provide a second degree of freedom of the manipulator arm. The actuator takes the form of a rotary actuator.
    The apparatus may comprise the end effector.
    The end effector may be connected to a distal end of the manipulator arm.
    DK 2018 00111 A1
    The end effector may take a number of different forms.
    The end effector may take the form of a clamping tool.
    In use, the apparatus may beneficially be utilised to replace the manual operation of safety clamps and slips, e.g. when handling drill collars and bottom hole assemblies through the rotary.
    The clamping tool may comprise a first jaw portion.
    The clamping tool may comprise a second jaw portion.
    The first jaw portion and the second jaw portion may be pivotably coupled together. The first jaw portion and the second jaw portion may be pivotably coupled together via a joint.
    In use, the clamping tool may be reconfigurable between an open configuration which facilitates location of the clamping tool about a tubing section and a closed configuration permitting the clamping tool to be secured about the tubing section.
    The clamping tool may comprise or may be coupled to slips for gripping the tubing section.
    A portion of the clamping tool may be tapered. Beneficially, providing a tapered portion may provide a guide for location of another tubing section onto the tubing section
    In use, the support arrangement may be moveable across the drill floor from a first, storage, position to a second, deployed, position. In the second, deployed, position the manipulator arm and clamping tool may be operable to engage and hold down the slips until there is sufficient weight on the tubing section to force the tubing section down into the slips.
    The end effector may take the form of a tubing handling tool.
    In use, the tubing handling tool may beneficially replace the manual handling and installation of drill pipe, casing, pup joints, crossovers or the use of lifting-subs where these are being installed inside the tubulars while on the drill floor.
    The tubing handling tool may comprise a first jaw portion.
    The tubing handling tool may comprise a second jaw portion.
    The first jaw portion and the second jaw portion may be pivotably coupled together.
    The first jaw portion and the second jaw portion may be pivotably coupled together via a hinge.
    In use, the manipulator arm and the tubing handling tool may be operable to engage and manipulate a tubing section. In order to engage and manipulate the tubing
    DK 2018 00111 A1 section the tubing handling tool may be reconfigurable between an open configuration and a closed configuration permitting the tubing handling tool to securely grasp tubing section.
    The end effector may comprise a thread protector removal tool.
    The thread protector removal tool may comprise an impact wrench, or the like.
    Beneficially, the apparatus provides the facility for alternative interchangeable robotic tools and manipulator heads etc. used for the various work tasks as defined for the robot (e.g. for gripping, lifting, guiding, stabbing, spinning/torqueing, rotating, turning etc.)
    The apparatus may comprise an electrical power system.
    The apparatus may comprise a hydraulic power system.
    The power system may comprise a cable power system, e.g. a dragchain system or the like.
    The apparatus may be powered by an onboard power supply, e.g. a battery. Where the apparatus is powered by a battery, an electrical charging/docking station may be provided, e.g. in the drill floor area.
    The apparatus may comprise a sensor arrangement.
    The sensor arrangement may comprise a visual sensor arrangement, e.g. a camera system or the like.
    The sensor arrangement may comprise one or more locator tag, e.g. an RFID tag, to identify components of the apparatus and their location.
    The apparatus may comprise an anchor arrangement.
    The anchor arrangement may be configured to anchor the apparatus at a given location on the drill floor, e.g. at the storage location, at the deployed location or at the intermediate location.
    The apparatus may comprise, may be coupled to, or operatively associated with a slewing arrangement.
    The slewing arrangement may enable the apparatus to reorient itself towards and between the working area and adjacent areas for storage of various drilling tools, subs or tubular elements and areas for storage of alternative robotic tools and manipulator heads etc. used for the various work tasks as defined for the robot.
    DK 2018 00111 A1
    According to a second aspect, there is provided a system comprising the apparatus of the first aspect.
    The system may comprise a winch.
    In use, it is envisaged that the SWL-rating of the apparatus will be such that as is necessary for the machine to be able to replace manual work processes normally performed by one or more personnel working around the work-centre - e.g. typically in the range of a few hundred kilos, but significantly less than a thousand kilos. For nonroutine lifting of heavier items near or beyond the SWL-rating of the robot, the load of such items may be partly or entirely taken by a drill floor winch/tugger-line or by other means of hoisting or load carrying, while being guided into the work center position by the robot arm(s).
    The system may comprise a control system.
    The control system may comprise a controller, e.g. a PLC.
    In particular embodiments, the controller may be disposed externally to the apparatus, e.g. in the local equipment room (LER) or operator console. Beneficially, by locating the controller external to the apparatus work on the controller can be carried in a protected/controlled environment.
    The system may comprise an anti-collision system.
    The anti-collision system may take the form of a virtual twin system or the like. Beneficially, the provision of an anti-collision system independent of the rig's control system controls access of the apparatus to the work area, or across the path of other machines based on “access-granted”/”access denied” principle, and without undue interference with the hierarchy of the rig’s primary drilling and pipe handling systems.
    A third aspect relates to use of the apparatus of the first aspect to perform one or more drill floor operation.
    The features defined above or below may be utilised, either alone or in combination with any other defined feature.
    DK 2018 00111 A1
    BRIEF DESCRIPTION OF THE DRAWINGS
    Figure 1 shows a robotic apparatus for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform;
    Figure 2 shows an enlarged perspective view of an end effector of the apparatus shown in Figure 1;
    Figure 3 shows an enlarged plan view of the end effector of the apparatus shown in Figure 1;
    Figure 4 shows an alternative robotic apparatus for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform;
    Figure 5 shows an enlarged perspective view of an end effector of the apparatus shown in Figure 4;
    Figure 6 shows an enlarged plan view of the end effector of the apparatus shown in Figure 4;
    Figure 7 shows an alternative robotic apparatus for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform;
    Figure 8 shows an enlarged perspective view of a first end effector of the apparatus shown in Figure 7;
    Figure 9 shows an enlarged plan view of the first end effector of the apparatus shown in Figure 7;
    Figure 10 shows an enlarged perspective view of a second end effector of the apparatus shown in Figure 7;
    Figure 11 shows an enlarged plan view of the second end effector of the apparatus shown in Figure 7;
    Figure 12 shows an alternative robotic apparatus for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform;
    Figure 13 shows an enlarged perspective view of a first end effector of the apparatus shown in Figure 12;
    Figure 14 shows an enlarged plan view of the first end effector of the apparatus shown in Figure 12;
    Figures 15 to 18 a second end effector of the apparatus shown in Figure 12;
    Figure 19 shows an alternative application of the apparatus shown in Figure 12;
    Figure 20 shows an alternative robotic apparatus for the manipulation of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform;
    Figure 21 shows an enlarged perspective view of a first end effector of the apparatus shown in Figure 20;
    DK 2018 00111 A1
    Figure 22 shows an enlarged plan view of the first end effector of the apparatus shown in Figure 20;
    Figure 23 shows an enlarged perspective view of a second end effector of the apparatus shown in Figure 20; and
    Figure 24 shows an enlarged plan view of the second end effector of the apparatus shown in Figure 20.
    DK 2018 00111 A1
    DETAILED DESCRIPTION OF THE DRAWINGS
    Figure 1 of the accompanying drawings shows a robotic apparatus 1 for the manipulation of tubing, tools and/or equipment on a drill floor D of an oil and gas rig R.
    In use, the apparatus 1 is utilised to replace the manual operation of safety clamps and slips, e.g. when handling drill collars and bottom hole assemblies through the rotary.
    As shown in Figure 1, the apparatus 1 comprises a support arrangement in the form of an undercarriage 2. In the illustrated apparatus 1, the undercarriage 2 is movable relative to the drill floor D and takes the form of a continuous track system having a track 3 which in use is driven by a number of wheels 4. In the illustrated apparatus 1, the track 3 is formed using interconnected chain links and the wheels 4 take the form of sprocket wheels. However, it will be recognised that other drive arrangements may be provided.
    A manipulator arm 5 is coupled to the undercarriage 2. The manipulator arm 5 comprises a body 6 for coupling the manipulator arm 5 to the undercarriage 2, a first linkage element 7 and a second linkage element 8. The first linkage element 7 is coupled to the body 6 by an actuator 9. The actuator 9 provides a first degree of freedom of the manipulator arm 5. In the illustrated apparatus 1, the actuator 10 takes the form of a rotary actuator. The second linkage element 8 is coupled to the first linkage element 7 by an actuator 10. The actuator 10 provides a second degree of freedom of the manipulator arm 5. In the illustrated apparatus 1, the actuator 10 takes the form of a rotary actuator.
    As shown in Figure 1, and referring also to Figures 2 and 3 of the accompanying drawings, an end effector - which in the illustrated apparatus 1 takes the form of a clamping tool 11 - is connected at a distal end of the manipulator arm 5.
    As shown in Figures 2 and 3, the clamping tool 11 comprises a first jaw portion 12 and a second jaw portion 13. The first jaw portion 12 and the second jaw portion 13 are pivotably coupled together at hinge 14.
    In use, the clamping tool 11 is reconfigurable between an open configuration which facilitates location of the clamping tool 11 about a tubing section T and a closed configuration (as shown in Figures 2 and 3) permitting the clamping tool 11 to be secured about the tubing section T. The clamping tool 11 further comprises or is coupled to slips 15 for gripping the tubing section 19. In the illustrated apparatus 1, the slips 15 form part of the clamping tool 11. A lower section of the clamping tool 11 is
    DK 2018 00111 A1 tapered, providing a guide for location of another tubing section onto the tubing section T (as will be described further below).
    In use, the undercarriage 2 is moveable across the drill floor D from a first, storage, position to a second, deployed, position (as shown in Figure 1). In the second, deployed, position the manipulator arm 5 and clamping tool 11 are operable to engage and hold down the slips 15 until there is sufficient weight on the tubing section T to force the tubing section T down into the slips 15.
    Figure 4 of the accompanying drawings shows a robotic apparatus 101 for the manipulation of tubing, tools and/or equipment on the drill floor D.
    As shown in Figure 4, the apparatus 101 comprises a support arrangement which in the illustrated apparatus 101 takes the form of a catwalk 102. The catwalk 102 comprises a platform 103 and is supported on the drill floor D by a number of wheels 104.
    In use, the apparatus 101 is utilised to replace the manual handling and installation of drill pipe, casing, pup joints, crossovers or the use of lifting-subs where these are being installed inside the tubulars while on the drill floor 2.
    As shown in Figure 4, a manipulator arm 105 is coupled to the catwalk 102. The manipulator arm 105 comprises a body 106 for coupling the manipulator arm 105 to the catwalk 102, a first linkage element 107 and a second linkage element 108. The first linkage element 107 is coupled to the body 106 by an actuator 109. The actuator 109 provides a first degree of freedom of the manipulator arm 105. In the illustrated apparatus 101, the actuator 109 takes the form of a rotary actuator. The second linkage element 108 is coupled to the first linkage element 107 by an actuator 110. The actuator 110 provides a second degree of freedom of the manipulator arm 105. In the illustrated apparatus 101, the actuator 110 takes the form of a rotary actuator.
    As shown in Figure 4, and referring also to Figures 5 and 6 of the accompanying drawings, an end effector - which in the illustrated apparatus 101 takes the form of a tubing handling tool 111 - is connected at a distal end of the manipulator arm 105.
    As shown in Figures 5 and 6, the tubing handling tool 111 comprises a first jaw portion 112 and a second jaw portion 113. The first jaw portion 112 and the second jaw portion 113 are pivotably coupled together at hinge 114.
    In use, the catwalk 102 is moveable across the drill floor D from a first, storage, position to a second, deployed, position (as shown in Figure 4). In the second, deployed, position the manipulator arm 105 and tubing handling tool 111 are operable
    DK 2018 00111 A1 to engage and manipulate a tubing section, in the illustrated apparatus 101 a pup joint T2, so as to locate the pup joint T2 on a tubing section T.
    In order to engage and manipulate the pup joint T2 the tubing handling tool 111 is reconfigurable between an open configuration and a closed configuration (as shown in Figures 5 and 6) permitting the tubing handling tool 111 to securely grasp pup joint T2.
    Figure 7 of the accompanying drawings shows an alternative robotic apparatus
    201 for the manipulation of tubing, tools and/or equipment on the drill floor D.
    In use, the apparatus 201 is utilised to replace the manual operation of safety clamps and slips when handling drill collars and bottom hole assemblies through the rotary and to replace the manual handling and installation of drill pipe, casing, pup joints, crossovers or the use of lifting-subs where these are being installed inside the tubulars while on the drill floor D.
    As shown in Figure 7, the apparatus 201 comprises a support arrangement in the form of an undercarriage 202. In the illustrated apparatus 201, the undercarriage
    202 is movable relative to the drill floor D and takes the form of a continuous track system having a track 203 which in use is driven by a number of wheels 204. In the illustrated apparatus 201, the track 203 is formed using interconnected chain links and the wheels 204 take the form of sprocket wheels. However, it will be recognised that other drive arrangements may be provided.
    As shown in Figure 7, the apparatus 201 comprises two manipulator arms in the form of a first manipulator arm 205a and a second manipulator arm 205b coupled to the undercarriage 202.
    The first manipulator arm 205a is coupled to the undercarriage 202. The first manipulator arm 205a comprises a body 206a for coupling the manipulator arm 205a to the undercarriage 202, a first linkage element 207a and a second linkage element 208a. The first linkage element 207a is coupled to the body 206a by an actuator 209a. The actuator 209a provides a first degree of freedom of the manipulator arm 205a. In the illustrated apparatus 201, the actuator 209a takes the form of a rotary actuator. The second linkage element 208a is coupled to the first linkage element 207a by an actuator 210a. The actuator 210a provides a second degree of freedom of the manipulator arm 205a. In the illustrated apparatus 201, the actuator 210a takes the form of a rotary actuator.
    As shown in Figure 7, and referring also to Figures 8 and 9 of the accompanying drawings, an end effector - which in the illustrated apparatus 201 takes
    DK 2018 00111 A1 the form of a clamping tool 211a - is connected at a distal end of the manipulator arm 205a.
    As shown in Figures 8 and 9, the clamping tool 211a comprises a first jaw portion 212a and a second jaw portion 213a. The first jaw portion 212a and the second jaw portion 213a are pivotably coupled together at hinge 214a.
    In use, the clamping tool 211a is reconfigurable between an open configuration which facilitates location of the clamping tool 211a about a tubing section T and a closed configuration (as shown in Figures 8 and 9) permitting the clamping tool 211a to be secured about the tubing section T. The clamping tool 211a further comprises or is coupled to slips 215a for gripping the tubing section T. In the illustrated apparatus 201, the slips 215a form part of the clamping tool 211a. A lower section of the clamping tool 211a is tapered, providing a guide for location of another tubing section onto the tubing section T (as will be described further below).
    The manipulator arm 205b comprises a body 206b for coupling the manipulator arm 205b to the undercarriage 202, a first linkage element 207b and a second linkage element 208b. The first linkage element 207b is coupled to the body 206b by an actuator 209b. The actuator 209b provides a first degree of freedom of the manipulator arm 105. In the illustrated apparatus 201, the actuator 209b takes the form of a rotary actuator. The second linkage element 208b is coupled to the first linkage element 207b by an actuator 210b. The actuator 210b provides a second degree of freedom of the manipulator arm 205b. In the illustrated apparatus 201, the actuator 210b takes the form of a rotary actuator.
    As shown in Figure 7, and referring also to Figures 10 and 11 of the accompanying drawings, an end effector - which in the illustrated apparatus 201 takes the form of a tubing handling tool 211b - is connected at a distal end of the manipulator arm 205b.
    As shown in Figures 10 and 11, the tubing handling tool 211b comprises a first jaw portion 212b and a second jaw portion 213b. The first jaw portion 212b and the second jaw portion 213b are pivotably coupled together at hinge 214b.
    In use, the undercarriage 202 is moveable across the drill floor D from a first, storage, position to a second, deployed, position (as shown in Figure 7). In the second, deployed, position the manipulator arm 205a and clamping tool 211a are operable to engage and hold down the slips 215a until there is sufficient weight on the tubing section T to force the tubing section T down into the slips 215a.
    DK 2018 00111 A1
    The manipulator arm 205b and the tubing handling tool 211b are operable to engage and manipulate a tubing section, in the illustrated apparatus 201 a crossover T2, so as to locate the crossover T2 on the tubing section T.
    In order to engage and manipulate the crossover T2 the tubing handling tool 211b is reconfigurable between an open configuration and a closed configuration (as shown in Figures 10 and 11) permitting the tubing handling tool 211b to securely grasp crossover T2.
    Beneficially, the apparatus 201 facilitates rapid and accurate location of the crossover T2 onto the tubing section T, since when the first manipulator arm 205a is engaged, the position of the apparatus 201 on the drill floor D is known and can be used to facilitate the accurate positioning and manipulation of the second manipulator arm 205b and crossover T2.
    Figure 12 of the accompanying drawings shows an alternative robotic apparatus 301 for the manipulation of tubing, tools and/or equipment on the drill floor D.
    In use, the apparatus 301 is utilised to replace the manual operation of safety clamps and slips and to replace the manual alignment/guidance and thread alignment (doping”) of connections of drill pipe, casing, pup joints, and crossovers.
    As shown in Figure 12, the apparatus 301 comprises a support arrangement in the form of an undercarriage 302. In the illustrated apparatus 301, the undercarriage 302 is movable relative to the drill floor D and takes the form of a continuous track system having a track 303 which in use is driven by a number of wheels 304. In the illustrated apparatus 301, the track 303 is formed using interconnected chain links and the wheels 304 take the form of sprocket wheels. However, it will be recognised that other drive arrangements may be provided.
    As shown in Figure 12, the apparatus 301 comprises two manipulator arms in the form of a first manipulator arm 305a and a second manipulator arm 305b coupled to the undercarriage 302.
    The first manipulator arm 305a is coupled to the undercarriage 302. The first manipulator arm 305a comprises a body 306a for coupling the manipulator arm 305a to the undercarriage 302, a first linkage element 307a and a second linkage element 308a. The first linkage element 307a is coupled to the body 306a by an actuator 309a. The actuator 309a provides a first degree of freedom of the manipulator arm 305a. In the illustrated apparatus 301, the actuator 309a takes the form of a rotary actuator. The second linkage element 308a is coupled to the first linkage element 307a by an
    DK 2018 00111 A1 actuator 310a. The actuator 310a provides a second degree of freedom of the manipulator arm 305a. In the illustrated apparatus 301, the actuator 310a takes the form of a rotary actuator.
    As shown in Figure 12, an end effector - which in the illustrated apparatus 301 takes the form of a clamping tool 311a - is connected at a distal end of the manipulator arm 205a.
    As shown in Figures 13 and 14, the clamping tool 311a comprises a first jaw portion 312a and a second jaw portion 313a. The first jaw portion 312a and the second jaw portion 313a are pivotably coupled together at hinge 314a. The clamping tool 311a further comprises or is coupled to slips 315a for gripping the tubing section, which in the illustrated apparatus 301 takes the form of a pup joint T2. In the illustrated apparatus 301, the slips 215a form part of the clamping tool 311a.
    The second manipulator arm 305b comprises a body 306b for coupling the manipulator arm 305b to the undercarriage 302, a first linkage element 307b and a second linkage element 308b. The first linkage element 307b is coupled to the body 306b by an actuator 309b. The actuator 309b provides a first degree of freedom of the manipulator arm 305b. In the illustrated apparatus 301, the actuator 309b takes the form of a rotary actuator. The second linkage element 308b is coupled to the first linkage element 307b by an actuator 310b. The actuator 310b provides a second degree of freedom of the manipulator arm 305b. In the illustrated apparatus 301, the actuator 310b takes the form of a rotary actuator.
    As shown in Figure 12, and referring also to Figures 15 to 18, an end effector which in the illustrated apparatus 301 takes the form of a guidance tool 311b - is connected at a distal end of the manipulator arm 305b.
    As shown in Figures 15 to 18, the guidance tool 311b comprises a first jaw portion 312b and a second jaw portion 313b. The first jaw portion 312b and the second jaw portion 313b are pivotably coupled together at hinge 314b. As shown, the guidance tool 311b defines a funnel and beneficially, the apparatus 301 facilitates rapid and accurate location of a tubing section T3 onto tubing section T, since when the first manipulator arm 305a is engaged, the position of the apparatus 301 on the drill floor D is known and can be used to facilitate the accurate guidance of the second manipulator arm 305b and tubing section T3.
    Figure 19 of the accompanying drawings shows an alternative application of the apparatus 301. As shown in Figure 19, the apparatus 301 is configured to facilitate the
    DK 2018 00111 A1 guidance of tubing section T3 onto tubing section T2. To facilitate this, the clamping tool 311a also defines a guidance member 316 to assist in alignment of the tubing section T3 with the tubing section T2.
    Figure 20 of the accompanying drawings shows an alternative robotic apparatus 401 for the manipulation of tubing, tools and/or equipment on the drill floor D.
    In use, the apparatus 401 is utilised to replace the manual operation of safety clamps and slips when handling drill collars and bottom hole assemblies through the rotary and to replace the manual operation of removal of thread protectors on the drill floor D.
    As shown in Figure 20, the apparatus 401 comprises a support arrangement in the form of an undercarriage 402. In the illustrated apparatus 401, the undercarriage 402 is movable relative to the drill floor D and takes the form of a continuous track system having a track 403 which in use is driven by a number of wheels 404. In the illustrated apparatus 401, the track 403 is formed using interconnected chain links and the wheels 404 take the form of sprocket wheels. However, it will be recognised that other drive arrangements may be provided.
    As shown in Figure 20, the apparatus 401 comprises two manipulator arms in the form of a first manipulator arm 405a and a second manipulator arm 405b coupled to the undercarriage 402.
    The first manipulator arm 405a is coupled to the undercarriage 402. The first manipulator arm 405a comprises a body 406a for coupling the manipulator arm 405a to the undercarriage 402, a first linkage element 407a and a second linkage element 408a. The first linkage element 407a is coupled to the body 406a by an actuator 409a. The actuator 409a provides a first degree of freedom of the manipulator arm 405a. In the illustrated apparatus 401, the actuator 409a takes the form of a rotary actuator. The second linkage element 408a is coupled to the first linkage element 407a by an actuator 410a. The actuator 410a provides a second degree of freedom of the manipulator arm 405a. In the illustrated apparatus 401, the actuator 410a takes the form of a rotary actuator.
    As shown in Figure 20, and referring also to Figures 21 and 22of the accompanying drawings, an end effector - which in the illustrated apparatus 401 takes the form of a clamping tool 411a - is connected at a distal end of the manipulator arm 405a.
    DK 2018 00111 A1
    As shown in Figures 21 and 22, the clamping tool 411a comprises a first jaw portion 412a and a second jaw portion 413a. The first jaw portion 412a and the second jaw portion 413a are pivotably coupled together at hinge 414a.
    In use, the clamping tool 411a is reconfigurable between an open configuration which facilitates location of the clamping tool 411a about a tubing section T and a closed configuration (as shown in Figures 21 and 22) permitting the clamping tool 411a to be secured about the tubing section T. The clamping tool 411a further comprises or is coupled to slips 415a for gripping the tubing section T. In the illustrated apparatus 401, the slips 415a form part of the clamping tool 411a.
    The manipulator arm 205b comprises an impact wrench tool 411b configured to remove the thread protector from the tubing section T2.
    Beneficially, the apparatus 401 facilitates rapid and accurate location of the crossover T2 onto the tubing section T, since when the first manipulator arm 205a is engaged, the position of the apparatus 201 on the drill floor D is known and can be 15 used to facilitate the accurate positioning and manipulation of the second manipulator arm 205b and crossover T2.
    权利要求:
    Claims (16)
    [1] 1. A robotic apparatus for performing drill floor operations, comprising:
    a support arrangement;
    at least one manipulator arm configured for coupling to the support arrangement, the at least one manipulator arm configured to carry an end effector configured to manipulate one or more of tubing, tools and/or equipment on a drill floor or pipe deck of an oil and gas platform in order to perform a given drill floor operation.
    [2] 2. The apparatus of claim 1, wherein the apparatus is modular.
    [3] 3. The apparatus of claim 1 or 2, wherein the at least one manipulator arm is detachably coupled to the support arrangement.
    [4] 4. The apparatus of claim 1, 2 or 3, wherein the support arrangement is configured to move relative to the drill floor.
    [5] 5. The apparatus of claim 4, wherein the support arrangement comprises or takes the form of an undercarriage.
    [6] 6. The apparatus of claim 5, wherein the undercarriage takes the form of a continuous track system.
    [7] 7. The apparatus of any preceding claim, comprising a plurality of manipulator arms.
    [8] 8. The apparatus of claim 7, wherein a first of the manipulator arms provides a reference location for the second manipulator arm.
    [9] 9. The apparatus of any preceding claim, comprising the end effector.
    [10] 10. The apparatus of claim 9, wherein the end effector comprises or selected from one or more of: a clamping tool; a tubing handling tool; and a thread protector removal tool.
    DK 2018 00111 A1
    [11] 11. The apparatus of any preceding claim, comprising an anchor arrangement configured to anchor the apparatus at a given location on the drill floor.
    [12] 12. The apparatus of any preceding claim, comprising a slewing arrangement.
    [13] 13. A system comprising the apparatus of any preceding claim.
    [14] 14. The system of claim 13, comprising a control system disposed externally to the apparatus.
    [15] 15. The system of claim 13 or 14, comprising an anti-collision system.
    [16] 16. Use of the apparatus of any one of claims 1 to 12 to perform one or more drill floor operation.
    类似技术:
    公开号 | 公开日 | 专利标题
    DK179938B1|2019-10-14|Robotic Apparatus for performing Drill Floor Operations
    US8863822B2|2014-10-21|Control line running system
    CA2055482C|1990-11-13|Arrangement in a pipe handling system
    US7216716B2|2007-05-15|Control line manipulating arm and method of using same
    US7794192B2|2010-09-14|Apparatus for handling and racking pipes
    US10472904B2|2019-11-12|Pipe handling device
    US20160060979A1|2016-03-03|Laterally moving racker device on a drilling rig
    US7222677B2|2007-05-29|Control line guide and method of using same
    US20160002988A1|2016-01-07|Portable pipe handling system
    RU2734469C2|2020-10-16|Bit replacement mechanism for drilling machine
    CA2060123A1|1993-07-29|Device for handling down-hole pipes
    WO2020028856A1|2020-02-06|Accelerated tripping system and method
    US10190374B2|2019-01-29|Vertical pipe handling system and method
    US20220025715A1|2022-01-27|Pipe handling system and method
    EP1817479A2|2007-08-15|Control line guide and method of using same
    Richard et al.2007|The next major step in total hands-free pipe handling-no derrickman in the derrick racking and unracking pipe
    AU2016200627B2|2016-12-01|Control line running system
    Jacques et al.1992|Pipe-racking systems: Are they cost efficient?
    同族专利:
    公开号 | 公开日
    EP3765703A1|2021-01-20|
    US20210054701A1|2021-02-25|
    DK179938B1|2019-10-14|
    WO2019174691A1|2019-09-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    IT1176582B|1984-08-08|1987-08-18|Re Mo Sa Spa|EQUIPMENT TO TRANSFER PERFORATION RODS BETWEEN A WAREHOUSE OF RODS AND THE ROTATING HEAD OF A PERFORATING MACHINE AND VICEVERSA|
    US4765401A|1986-08-21|1988-08-23|Varco International, Inc.|Apparatus for handling well pipe|
    CA2701232C|2007-10-10|2013-05-28|National Oilwell Varco, L.P.|Pipe connection system|
    US9587449B2|2012-04-14|2017-03-07|Jonathan V. Huseman|Dual rack mast for a well servicing vehicle|
    EP2882924A4|2012-08-08|2016-03-16|Nat Oilwell Varco Lp|Pipe joint apparatus and method|
    US20160201408A1|2013-08-16|2016-07-14|Tot Holdings Inc.|Pipe loader system and method|
    WO2016106327A1|2014-12-22|2016-06-30|Vermeer Manufacturing Company|Positionable carriage assembly|
    NO341203B1|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|US11258987B2|2018-09-21|2022-02-22|Microsoft Technology Licensing, Llc|Anti-collision and motion control systems and methods|
    GB2578754A|2018-11-06|2020-05-27|Tubular Multi Prot As|Protector for drill pipe end|
    CN110905426B|2019-12-12|2021-04-09|南通大学|Oil drill pipe slips|
    NL2024941B1|2020-02-07|2021-09-13|Itrec Bv|A stabbing guide and an operating method|
    WO2021156468A1|2020-02-07|2021-08-12|Itrec B.V.|A stabbing guide and an operating method|
    US20210293091A1|2020-03-19|2021-09-23|Canrig Robotic Technologies As|Robotic system including an electrical clamping system|
    法律状态:
    2019-09-18| PAT| Application published|Effective date: 20190912 |
    2019-10-14| PME| Patent granted|Effective date: 20191014 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201800111A|DK179938B1|2018-03-11|2018-03-11|Robotic Apparatus for performing Drill Floor Operations|DKPA201800111A| DK179938B1|2018-03-11|2018-03-11|Robotic Apparatus for performing Drill Floor Operations|
    US16/979,311| US20210054701A1|2018-03-11|2019-03-11|Robotic apparatus for performing drill floor operations|
    PCT/DK2019/050085| WO2019174691A1|2018-03-11|2019-03-11|Robotic apparatus for performing drill floor operations|
    EP19718242.1A| EP3765703A1|2018-03-11|2019-03-11|Robotic apparatus for performing drill floor operations|
    [返回顶部]