HANDLING DEVICE FOR DRILLING BARS OR PIPES OF DIFFERENT SIZES

Abstract

Handling device associated with a drilling rig to manipulate bars or drilling tubes between a vertical position and a horizontal position in an automated manner that reduces risks in the operation, which is basically made up of a support, a carriage, and an arm with an arm support and at least two gripping means on the arm, separated from each other, for holding, capturing or gripping the drill rods, wherein at least one of said gripping means is movable so that it can be moved or moved to length of the arm, allowing to vary the separation distance between the means of gripping the arm, facilitating the handling of rods or perforation pipes of different lengths.

Claims

1. A handling device associated with a drilling rig to manipulate and transport drilling rods when it is required to extend or decrease the drilling reach of the rig's drill string, which decreases the risks in the operation and facilitates the handling of drill rods of different lengths, including: a support comprising an upper guide and a lower guide fixedly and horizontally mounted; a sliding carriage mounted on the upper guide and the lower guide by means of a sliding joint that allows its movement in the horizontal direction on said guides, comprising a structure with a left wall and a right wall; two sliding supports mounted on the upper part of the sliding carriage and two sliding supports mounted on the lower part of the sliding carriage, arranged between said left and right walls, where said sliding supports generate the sliding joint with the support; an upper guide and a lower guide between the left wall and the right wall; adjustable stroke limiters on the left wall that limit the horizontal stroke of the sliding carriage; an arm support mounted on the upper guide and the lower guide of the sliding carriage by means of a sliding joint that allows its movement in the horizontal direction on said sliding carriage, comprising: a right vertical plate and a left vertical plate parallel to each other; an upper sliding support and a lower sliding support located in the structure of the arm support, between its right and left vertical plates, generating the sliding joint with the sliding carriage; a manipulator arm attached to the arm support by means of an articulated joint that allows articulated movement between said manipulator arm and the arm support; a carriage actuator attached to the support and the sliding carriage, which generates the horizontal movement of said sliding carriage on the support; a carriage arm actuator attached to the sliding carriage and the arm support that generates the horizontal movement of said arm support on the sliding carriage; an arm actuator attached to the arm support and the manipulator arm that controls the articulated movement between both, generating the rotation of the manipulator arm allowing its rotation between a horizontal position and a vertical position, wherein the manipulator arm comprises at least one clamp or gripper and at least one press to hold the drilling rods, in the structure of the manipulator arm and separated from each other, in where the press is mounted on a frame in the structure of the manipulator arm that allows its movement on said frame to move the press along the manipulator arm varying the separation distance between said press and gripper.

2. The handling device for handling and transporting drill rods according to claim 1, wherein the press is mounted on the frame by means of a mobile support, which is linked to at least one actuator advance to produce a sliding movement of the press along the frame, wherein said advance actuator determines the stroke of the press in the manipulator arm.

3. The handling device for handling and transporting drill rods according to claim 2, wherein the advance actuator is located on a side face of the manipulator arm, having one end attached to said side face of the manipulator arm, by means of a fixed joint and the moving part of the advance actuator is attached to the mobile support, generating the movement.

4. The handling device for handling and transporting drill rods according to claim 1, wherein the frame has a rectangular shape and is fixed to the structure of the manipulator arm so that the larger sides of the frame are parallel to the longitudinal axis of the manipulator arm, being fixed on the face of the manipulator arm that faces the ground, floor or surface when the manipulator arm is in a position horizontal, and wherein the mobile support is mounted on the frame by means of a plurality of wheels that allow the sliding of the press on the frame.

5. (canceled)

6. The handling device for handling and transporting drill rods according to claim 4, wherein the plurality of wheels of the mobile support comprises at least one pair of front side wheels in the front part of the mobile support to move, each one on a side face of the frame; at least one pair of rear side wheels at the rear of the mobile support to move, each one on a side face of the frame; at least one front wheel assembly on each side of the front part of the mobile support and at least one rear wheel assembly on each side of the rear part of the mobile support, wherein the front wheel assembly and the rear wheel assembly comprise, respectively, an upper wheel and a lower wheel arranged one on another and separated from each other so that the frame is between said wheels.

7-8. (canceled)

9. The handling device for handling and transporting drill rods according to claim 1, wherein the gripper is installed at the outer end of the manipulator arm, which corresponds to the end of the manipulator arm that is furthest from the arm support and the press is arranged around the middle area of the manipulator arm, in a location close to the area union of the manipulator arm and the arm actuator.

10. The handling device for handling and transporting drill rods according to claim 1, wherein the gripper comprises a first clamp and a second clamp connected in an articulated manner at their ends in a clamp junction box comprising an actuator that controls the opening and closing of the gripper.

11-12. (canceled)

13. The handling device for handling and transporting drill rods according to claim 1, wherein the press comprises a first jaw and a second jaw connected in an articulated manner at their ends in a jaw union box comprising an actuator that controls the opening and closing of the press.

14. The handling device for handling and transporting drill rods according to claim 13, wherein the first jaw comprises a driving roller commanded by a motor, and the second jaw comprises at least two driven rollers smaller than the driving roller, where the motor of the driving roller drives said roller generating a rotary movement that allows unscrewing a drill rod held in the press.

15-20. (canceled)

21. The handling device for handling and transporting drill rods according to claim 2, wherein the manipulator arm further comprises a gripping press mounted on the frame adjacent to the rear of the press, by means of the mobile support.

22. The handling device for handling and transporting drill rods according to claim 21, wherein the gripping press comprises a first jaw and a second jaw connected in an articulated manner at their ends in a jaw union box comprising an actuator that controls the opening and closing of the gripping press.

23-24. (canceled)

25. The handling device for handling and transporting drill rods according to claim 21, wherein the rear part of the movable support comprises a plate with a recess to support a drill rod during the operation of the handling device.

26. (canceled)

27. A manipulator arm for a handling device to manipulate and transport drilling rods, which reduces the risks in the operation and facilitates the handling of drilling rods of different lengths, wherein it comprises at least one clamp or gripper and at least one press to hold the perforation bars, in the manipulator arm structure and separated from each other, wherein the press is mounted on a frame in the structure of the manipulator arm that allows its movement on said frame to move the press along the manipulator arm varying the separation distance between said press and gripper.

28. The manipulator arm for a handling device according to claim 27, wherein the press is mounted on the frame by means of a movable support, which is linked to at least one actuator advance actuator to produce a sliding movement of the press along the frame, wherein said advance actuator determines the stroke of the press in the manipulator arm.

29. The manipulator arm for a handling device according to claim 28, wherein the advance actuator is located on a side face of the manipulator arm, having one end attached to said side face of the manipulator arm, by means of a fixed joint and the moving part of the advance actuator is attached to the mobile support, generating the movement.

30. The manipulator arm for a handling device according to claim 27, wherein the frame has a rectangular shape and is fixed to the structure of the manipulator arm so that the larger sides of the frame are parallel to the longitudinal axis of the manipulator arm, being fixed on the face of the manipulator arm that faces the ground, floor or surface when the manipulator arm is in a horizontal position, wherein the mobile support is mounted on the frame by means of a plurality of wheels that allow the sliding of the press on the frame.

31-34. (canceled)

35. The manipulator arm for a handling device according to claim 27, wherein the gripper comprises a first clamp and a second clamp connected in an articulated manner at their ends in a clamp junction box comprising an actuator that controls the opening and closing of the gripper.

36-37. (canceled)

38. The manipulator arm for a handling device according to claim 27, wherein the press comprises a first jaw and a second jaw connected in an articulated manner at their ends in a jaw union box comprising an actuator that controls the opening and closing of the press.

39. The manipulator arm for a handling device according to claim 38, wherein the first jaw comprises a driving roller commanded by a motor, and the second jaw it comprises at least two driven rollers smaller than the drive roller where the motor of the driving roller drives said roller generating a rotary movement that allows unscrewing a drill rod held in place.

40-45. (canceled)

46. The handling device for handling and transporting drill rods according to claim 28, wherein the manipulator arm further comprises a gripping press mounted on the frame adjacent to the rear of the press, by means of the mobile support.

47-51. (canceled)

Description

BRIEF DESCRIPTION OF THE FIGURES

[0036] FIG. 1 shows an isometric view of the handling device installed in a drilling rig described in the prior art.

[0037] FIG. 2 shows a front view of the handling device described in the prior art.

[0038] FIG. 3 shows a side view of the handling device described in the prior art.

[0039] FIG. 4 shows the elements associated with the horizontal movement of the arm of the handling device.

[0040] FIG. 5 shows the elements associated with the horizontal displacement of the carriage described in the prior art.

[0041] FIG. 6 shows an arm for the handling device according to one embodiment of the invention.

[0042] FIG. 7 shows the arm for the handling device according to one embodiment of the invention when in a horizontal position.

[0043] FIG. 8 shows a gripper installed on the arm for the handling device according to one embodiment of the invention.

[0044] FIG. 9 shows a clamp installed on the arm for the handling device according to one embodiment of the invention.

[0045] FIG. 10A shows a left side view of the clamp installed on the arm for the handling device according to one embodiment of the invention.

[0046] FIG. 10B shows a right side view of the clamp installed on the arm for the handling device according to one embodiment of the invention.

[0047] FIG. 11 shows the arm press according to one embodiment of the invention.

[0048] FIG. 12 shows an arm for the handling device according to an alternative embodiment of the invention.

[0049] FIG. 13 shows the arm for the handling device according to an alternative embodiment of the invention when it is in a horizontal position.

[0050] FIG. 14 shows the arm grip press according to an alternative embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

[0051] The invention refers to a handling device that facilitates the handling of different-sized drill rods or tubes, also reducing the risks in handling a tube from the drilling line and depositing it horizontally in an automated manner in a storage place for said tubes and vice versa.

[0052] FIG. 1 shows the handling device (1) according to the prior art, which is used as the basis for the present invention. Said handling device (1) is installed in a drilling rig (2), in that the device (1) is controlled from a control console (3) and is basically made up of a support (4) installed in the front part of the base or lower area of the drilling tower (2) and a manipulator arm (13) with an arm support (16) connected to said support (4).

[0053] In the front view shown in FIG. 2, it can be seen that the support (4) comprises an upper guide (5) of the support (4) and a lower guide (6) of the support (4) fixedly mounted and in the opposite direction. horizontal; a sliding carriage (7) mounted on the upper guide (5) and the lower guide (6) of the support (4) by means of a sliding joint that allows its movement in a horizontal direction on said guides (5, 6) and parallel to the floor with respect to the support (4).

[0054] The connection between the sliding carriage (7) and the upper guide (5) and lower guide (6) of the support (4) is produced by means of two sliding supports (8) mounted on the upper part of the sliding carriage (7) and two sliding supports (9) mounted at the bottom of the sliding carriage (7), wherein said sliding supports (8, 9) are arranged between a left wall (23) and a right wall (23′) of the sliding carriage structure (7). The sliding carriage (7) comprises a cable-carrying chain (14), which comprises two opposite ends, being fixed at one end to the right wall (23′) of the sliding carriage (7) and at the opposite end it is fixed to a wall of the support (4) in such a way that it restricts the maximum horizontal displacement or stroke that the sliding carriage (7) can move. The horizontal sliding movement of the sliding carriage (7) is carried out by means of a carriage actuator (20) joined at one of its ends to the support structure (4), by means of an articulated joint (21) and, at the other end, to the right wall (23′) of the sliding carriage structure (7) by means of a fixed joint (22). The sliding carriage (7) further comprises an upper guide (10) and a lower guide (11) arranged between the left wall (23) and the right wall (23′) of the sliding carriage (7).

[0055] On the upper guide (10) and the lower guide (11) of the sliding carriage (17) the arm support (16) is mounted by means of a sliding joint that allows movement in a horizontal direction parallel to the floor on the sliding carriage (7), and through an upper sliding support (29) and a lower sliding support (30) located in the arm support structure (16), where said sliding supports (29, 30) are arranged between a right vertical plate (26) and a left vertical plate (27) of the arm support (16), being parallel to each other.

[0056] In one embodiment, the support guides (5, 6), carriage guides (10, 11) and sliding support (8, 9) of the sliding carriage (7) are cylindrical.

[0057] As shown in FIG. 3, the arm support (16) is attached, in turn, to an elongated manipulator arm (13), whose connection is made by means of a pin (17) that generates an articulated connection and allows movement. articulated between the manipulator arm (13) and the arm support (16). The movement of the manipulator arm (13) is carried out by means of an arm actuator (12) joined at one of its ends to the arm support (16) and, at the other end, to said manipulator arm (13), so that its Drive produces the rotation of the manipulator arm (13) allowing its rotation between a horizontal position and a vertical position. The union of the manipulator arm (13) with the arm actuator (12) is carried out by means of a first pin (18) and the union of the arm support (16) with the arm actuator (12) is carried out with a second pin (19).

[0058] To produce the horizontal movement of the manipulator arm (13), with respect to the sliding carriage (7), a carriage arm actuator (15) is used, which is attached by one of its ends to the left wall (23) of the sliding carriage (7).), by means of an articulated joint (24) and, at the other end, it is connected, by means of a fixed joint (25), to the right vertical plate (26) of the arm support (16). The horizontal movement of the arm support (16) on the sliding carriage (7) is regulated by two adjustable limiters (28) located on the left wall (23) of the sliding carriage (7). The arm support (16) also includes a cable chain (31), which includes two opposite ends, a first end being fixed to the right vertical plate (26) of the arm support (16) and a second fixed end. to the support (4), restricting the maximum horizontal displacement that the arm support (16) and the manipulator arm (13) can move.

[0059] The manipulator arm (13) comprises at least two capture or gripping means (34, 35) of the drilling rods, installed in the structure of the manipulator arm (13) and separated from each other, so that when the manipulator arm (13)) is in a horizontal position, said gripping means (34, 35) remain in a position facing the ground surface; and an adjustable stop (32) attached to the structure of the manipulator arm (13) by means of a square (33) located in an area close to the end of the manipulator arm (13), to regulate or ensure the alignment of the bar with the head when the manipulator arm (13) will position the rod in the drill string.

[0060] The handling device (1) is connected to a control console (3), which is located at a safe distance from the drilling rig (2) so that an operator controls and actuates the handling device (1) without intervening directly on it. The handling device (1) is connected to the control console (3) through a wired system or through a wireless connection. The control console (3) allows to activate and control the arm actuator (12), the carriage arm actuator (15), the carriage actuator (20) and the gripping means (34, 35).

[0061] In this invention, a manipulation device is provided that corresponds to a modification of the manipulation device (1), providing a new manipulator arm (13′), as shown in FIG. 6, which is attached to the support of arm (16) whose connection is made by means of the pin (17) that generates an articulated connection and allows articulated movement between the manipulator arm (13′) and the arm support (16). The movement of the manipulator arm (13′) is carried out by means of the arm actuator (12), joined at one of its ends to the arm support (16) and, at the other end, to said manipulator arm (13′), in such a way that so that its activation produces the rotation of the manipulator arm (13′) allowing its rotation between a horizontal position and a vertical position. The union of the manipulator arm (13′) with the arm actuator (12) is made by means of the first pin (18)

[0062] The manipulator arm (13′) comprises means for capturing or gripping drilling rods, which include at least one clamp or gripper (36) and at least one press (37) installed in the structure of the manipulator arm (13′) and separated from each other, so that when the manipulator arm (13′) is in a horizontal position, said gripper (36) and press (37) remain in a position facing the ground surface, position shown in FIG. 7 The manipulator arm (13′) also includes an adjustable stop (40) attached to the arm structure (13′) by means of a square (41), to regulate or ensure the alignment of the bar with the head when the arm manipulator (13′) is going to position the rod in the drill string.

[0063] In one embodiment, as shown in FIG. 8, the gripper (36) is installed at the outer end of the manipulator arm (13′), which corresponds to the end of the manipulator arm (13′) that is furthest from the support of arm (16), the gripper (36) being made up of a first clamp (42) and a second clamp (42′) articulatedly connected at their ends in a clamp junction box (43). For its part, the press (37) is arranged around the middle area of the manipulator arm (13′), in a location close to the junction area of the manipulator arm (13′) and the arm actuator (12), as shown in FIGS. 6 and 7. As can be seen in FIG. 9, the press (37) is made up of a first jaw (44) and a second jaw (44′) connected in an articulated manner at their ends in a jaw junction box (45), wherein the first jaw (44) comprises a driving roller (46) commanded by a motor (47), and the second jaw (44′) comprises at least two more driven rollers (48). smaller than the driving roller (46), where, in addition, the rear part of the press (37) comprises a platen (49) with a recess to support a perforation bar during the operation of the handling device. In one embodiment, the sinker knockout (49) has a semicircular shape that allows the drill rod to fit properly. The plate (49) is a guide, slightly larger in diameter than the drill rod, being an interchangeable element. The motor (47) of the driving roller (46) allows driving said roller (46) generating a rotary movement that allows unscrewing a perforation rod held in the press (37). The driving roller (46) and the driven rollers (48) are arranged parallel to each other, allowing the handling of drill rods of different lengths. The opening and closing of the gripper (36) and the vise (37) is controlled by actuators inside the junction box for grippers (43) and inside the junction box for jaws (45), respectively.

[0064] The press (37) is mounted on a frame (38) in the structure of the manipulator arm (13′) that allows its movement on said frame (38), moving along the arm (13′) allowing to vary the distance of separation between the press (37) and the gripper (36) to facilitate the manipulation of perforation rods of different lengths.

[0065] In one embodiment, the frame (38) has a rectangular shape and is fixed to the structure of the manipulator arm (13′) so that the long sides of the frame (38) are parallel to the longitudinal axis of the manipulator arm (13′), being fixed on the face of the manipulator arm (13′) that faces the ground, floor or surface when the manipulator arm (13′) is in a horizontal position, as shown in FIG. 9.

[0066] In one embodiment, the press (37) is mounted on the frame (38) by means of a movable support (50), which is linked to at least one advance actuator (39) to produce a sliding movement of the press (37) at along the frame (38) determining the stroke of the press (37). Said advance actuator (39) is located on a side face of the manipulator arm (13′), as shown in FIG. 10A, having one end attached to said side face of the manipulator arm (13′), by means of a fixed joint (53) and the mobile part of the advance actuator (39) is attached to the mobile support (50), generating the movement. As shown in FIG. 11, the mobile support (50) is mounted on the frame by means of a plurality of wheels that allow the sliding of the press (37) on the frame (38), these being at least one pair of lateral wheels front (51A) in the front part of the mobile support (50) to move, each one on a side face of the frame (38); at least one pair of rear side wheels (51B) at the rear of the mobile support (50) to move, each one on a side face of the frame (38); at least one front wheel assembly (52A) on each side of the front part of the mobile support (50), and on the first jaw (44) and the second jaw (44′), respectively, comprising an upper wheel and a lower wheel arranged one above the other and separated from each other so that the frame (38) is between said wheels; and at least one rear wheel assembly (52B) on each side of the rear part of the mobile support (50), and on the first jaw (44) and the second jaw (44′), respectively, comprising an upper wheel and a lower wheel arranged one above and separated from each other so that the frame (38) is between said wheels.

[0067] In one modality, the gripper (36) and the press (37) allow manipulating drilling rods between 3 and 6 meters long. In another embodiment, the vise (37) can handle 3 meter long drill rods by itself without the need to use the grip of the drill rod with the gripper (36). Optionally, the manipulator arm (13′) It can include an additional press, for example, installed between the gripper (36) and the jaw (37), favoring the screwing or unscrewing of the drilling rod.

[0068] The handling device is connected to the control console (3), which is located at a safe distance from the drilling rig (2) so that an operator can control and activate the handling device without directly intervening on it. The handling device is connected to the control console (3) through a wired system or through a wireless connection. The control console (3) allows activating and controlling the arm actuator (12), the carriage arm actuator (15), the carriage actuator (20), the actuators inside the clamp junction box (43) and inside the jaw junction box (45), and the advance actuator (39) of the press (37).

[0069] In an alternative embodiment of the manipulator arm (13′), as shown in FIGS. 12 and 13, which further comprises a gripping press (54) mounted on the frame (38) in the structure of the manipulator arm (13′) by means of the mobile support (50) together with the press (37) and adjacent to the rear part of the press (37). The gripping press (54) complements the grip of the press (37) favoring the screwing or unscrewing of the drilling rod.

[0070] As can be seen in FIG. 14, the gripping press (54) comprises a first jaw (55) and a second jaw (55′) articulatedly connected at their ends in a jaw junction box (56), in wherein the first jaw (55) and the second jaw (55′) comprise a first jaw (57) and a second jaw (57′), respectively for holding and securing the drill rod during operation of the handling device, wherein The rear part of the gripper (54) comprises a platen (58) with a recess for supporting a drill rod during operation of the handling device. In one embodiment, the sinker knockout (58) has a semicircular shape that allows the drill rod to fit properly. The plate (58) is a guide, slightly larger in diameter than the drill rod, being an interchangeable element. The opening and closing of the gripping press (54) is controlled by at least one actuator inside the jaw junction box (56).

[0071] In one modality, the principle of operation of the manipulator arm (13′) for the manipulation device, when it includes a clamp (54), consists of screwing and unscrewing the drilling rods of a drilling string, for which it is used a hydraulic circuit that operates under the flotation principle according to the following sequence: [0072] 1. To remove a drill rod from the drill string: [0073] Activate the closing function of the manipulator arm (13′) to simultaneously close the press (37) and gripping press (54); [0074] Activate a sequence control by pressure to activate the advance actuator (39), keeping the rod threaded in the drill string; [0075] Activate the unscrewing function that produces, by means of a hydraulic sequence and hydraulic piloting, the opening of the gripping press (54) and activation of the motor (47) of the press (37) to unscrew the drilling rod; [0076] Close the vise grip (54) and activate the feed actuator (39) to lift the rod up and out of the drill string. [0077] 2. To add a drill rod to the drill string: [0078] When a drill rod is added, the vise (37) and clamp (54) are closed holding a drill rod and the frame (38) is at the top of its travel; [0079] Place the function of the press (37) in neutral, so that the advance actuator (39) descends by its own weight; [0080] When the press (37) is close to the drilling string, the screw-in function is activated, which produces, through a hydraulic sequence and hydraulic piloting, the opening of the gripping press (54) and activation of the motor (47) of the drill string. press (37) to thread the drill rod into the drill string.