Method of drilling a ground using a robotic arm

Abstract

The invention relates to a method of drilling ground along a drilling direction, the method comprising: providing at least first and second drill tubes (40, 42); providing an articulated and motorized manipulator arm (12) having a gripper member (30); using the gripper member (30) to take hold of the first drill tube (40); moving the gripper member in the drilling direction so as to drive the first drill tube into the ground, the gripper member releasing the first drill tube; then taking hold of the second drill tube and fastening the second drill tube to the first drill tube; and moving the gripper member so as to drive the first and second drill tubes into the ground.

Claims

1. A method of drilling a ground along a drilling direction, the method comprising: providing at least first and second drill tubes, each having a first end and a second end opposite from the first end, the second end of the second drill tube being suitable for securing to the first end of the first drill tube; providing a robotic arm, which is an articulated and motorized arm presenting at least three articulation points and provided with a gripper member; using the gripper member to take hold of the first drill tube via its first end; using the manipulator arm to align the first drill tube with the drilling direction; actuating the manipulator arm to move the gripper member along the drilling direction so as to drive the first drill tube into the ground without using a slide; after driving the first drill tube into the ground, using the gripper member to release the first drill tube; then using the gripper member to take hold of the second drill tube via its first end; moving the gripper member so as to bring the second end of the second drill tube into a position facing the first end of the first drill tube; fastening the second end of the second drill tube to the first end of the first drill tube; and moving the gripper member in the drilling direction in order to drive the second drill tube fastened to the first drill tube into the ground; using the gripper member for extracting the tubular drilling assembly by decoupling the first and second drill tubes from one another so as to withdraw them in succession from the ground.

2. The drilling method according to claim 1, wherein the first drill tube is driven into the ground by setting it into rotation while exerting thrust thereon in the drilling direction.

3. The drilling method according to claim 1, wherein the first drill tube is driven into the ground by vibrating it while exerting thrust thereon in the drilling direction.

4. The drilling method according to claim 1, further providing a retainer member having a guide axis substantially parallel to the drilling direction, the retainer member being placed facing the ground to be drilled, and wherein the first drill tube is driven into the ground after inserting the second end of the first drill tube through the retainer member.

5. The drilling method according to claim 4, wherein the retainer member is fastened to the ground before the first drill tube is inserted into the ground.

6. The drilling method according to claim 4, wherein, while driving the first drill tube into the ground, the first drill tube is maintained in alignment with the drilling direction, where necessary, by adjusting a position and/or an orientation of the retainer member.

7. An installation for drilling a ground along a drilling direction, comprising: at least first and second drill tubes, each having a first end and a second end opposite from the first end, the second end of the second drill tube being suitable for securing with the first end of the first drill tube; an articulated and motorized manipulator arm, the manipulator arm presenting at least three articulation points, and comprising: a gripper member configured to grip one or the other of the first and second drill tubes via its first end; an alignment device for aligning the first drill tube with the drilling direction; an actuator device for actuating the manipulator arm to move the gripper member along the drilling direction so as to drive the first drill tube into the ground along the drilling direction without using a slide; a fastener device for fastening the second end of the second drill tube to the first end of the first drill tube; and a drive device for moving the gripper member along the drilling direction so as to drive the second drill tube fastened to the first drill tube into the ground; and a retainer member having an axis substantially parallel to the drilling direction, the retainer member being positioned outside of the ground and configured to have one or the other of the first and second drill tubes passed therethrough along said axis, the retainer member further comprising a controllable blocker device for blocking movement in translation of the first drill tube relative to the ground along said axis.

8. The drilling installation according to claim 7, wherein the retainer member further comprises a rotary actuator head for driving in rotation at least the first drill tube when said first drill tube is co-operating with the retainer member.

9. The drilling installation according to claim 7, wherein the manipulator arm further comprises an actuator head enabling at least the first drill tube to be set into rotation and/or into vibration.

10. The drilling installation according to claim 7, further comprising a measurement device for determining a position and an orientation in three-dimensional space of the gripper member, and wherein the alignment device make use of measurement data supplied by the measurement device.

11. The drilling installation according to claim 7, further comprising at least one drillpipe, and wherein the gripper member is also configured to take hold of the drillpipe and to insert the drillpipe in the first drill tube inserted into the ground.

12. The drilling method according to claim 1, further comprising blocking the first drilling tube in the ground after driving the first drill tube into the ground and before releasing the first drill tube.

13. A method of drilling a ground along a drilling direction, the method comprising: providing at least first and second drill tubes, each having a first end and a second end opposite from the first end, the second end of the second drill tube being suitable for securing to the first end of the first drill tube; providing a robotic arm, which is an articulated and motorized arm presenting at least three articulation points and provided with a gripper member; gripping the first end of the first drill tube with the gripper member; using the manipulator arm to align the first drill tube with the drilling direction; moving the gripper member along the drilling direction so as to drive the first drill tube into the ground without using a slide; after the gripper member has driven the first drill tube into the ground, releasing the gripper member from the first end of the first drill tube; then gripping the first end of the second drill tube with the gripper member; moving the gripper member so as to bring the second end of the second drill tube into a position facing the first end of the first drill tube; fastening the second end of the second drill tube to the first end of the first drill tube; and moving the gripper member in the drilling direction in order to drive the second drill tube fastened to the first drill tube into the ground, and using a controllable blocking device positioned outside of the ground for blocking the first drilling tube in the ground after driving the first drill tube into the ground and before releasing the first drill tube from the gripper member.

14. An installation for drilling a ground along a drilling direction, comprising: at least first and second drill tubes, each having a first end and a second end opposite from the first end, the second end of the second drill tube being suitable for securing with the first end of the first drill tube; a robotic arm, being articulated and motorized, the robotic arm presenting at least three articulation points, and comprising: a gripper member configured to grip one or the other of the first and second drill tubes via its first end; an alignment device for aligning the first drill tube with the drilling direction; an actuator device for actuating the manipulator arm to move the gripper member along the drilling direction so as to drive the first drill tube into the ground along the drilling direction; a fastener device for fastening the second end of the second drill tube to the first end of the first drill tube by clamping or by screw-fastening; a drive device for moving the gripper member along the drilling direction so as to drive the second drill tube fastened to the first drill tube into the ground; and a retainer member having an axis substantially parallel to the drilling direction, the retainer member being positioned outside of the ground and configured to have one or the other of the first and second drill tubes passed therethrough along said axis, the retainer member further comprising a controllable blocker device for blocking movement in translation of the first drill tube relative to the ground along said axis.

15. An installation for drilling a ground along a drilling direction, comprising: at least first and second drill tubes, each having a first end and a second end opposite from the first end, the second end of the second drill tube being suitable for securing with the first end of the first drill tube; a robotic arm, being articulated and motorized, the robotic arm presenting at least three articulation points, and comprising: a gripper member configured to grip one or the other of the first and second drill tubes via its first end; an alignment device for aligning the first drill tube with the drilling direction; an actuator device for actuating the manipulator arm to move the gripper member along the drilling direction so as to drive the first drill tube into the ground along the drilling direction; a fastener device for fastening the second end of the second drill tube to the first end of the first drill tube; a drive device for moving the gripper member along the drilling direction so as to drive the second drill tube fastened to the first drill tube into the ground, wherein the installation further comprises a measurement device for determining during the drilling a position and an orientation in three-dimensional space of the gripper member, and wherein the alignment device makes use of measurement data supplied by the measurement device for correcting the drilling path; and a retainer member having an axis substantially parallel to the drilling direction, the retainer member being positioned outside of the ground and configured to have one or the other of the first and second drill tubes passed therethrough along said axis, the retainer member further comprising a controllable blocker device for blocking movement in translation of the first drill tube relative to the ground along said axis.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The disclosure can be better understood on reading the following description of embodiments of the disclosure given as non-limiting examples and with reference to the accompanying drawings, in which:

(2) FIG. 1 shows an installation of the disclosure before beginning drilling operations;

(3) FIG. 2 shows the step of the gripper member taking hold of the first drill tube;

(4) FIG. 3 shows the step of aligning the first drill tube with the drilling direction;

(5) FIG. 4 shows the step of driving the first drill tube into the ground;

(6) FIG. 5 shows the step of moving the second drill tube after it has been taken hold of by the gripper member;

(7) FIG. 6 shows the step of fastening the second drill tube to the first drill tube;

(8) FIG. 7 shows the step of driving the second drill tube, while fastened to the first drill tube, into the ground;

(9) FIG. 8 shows a variant embodiment in which the installation includes a retainer member having a rotary actuator head;

(10) FIG. 9 shows another variant in which the retainer member is placed in front of the wall for drilling;

(11) FIG. 10 shows an embodiment of the retainer member used when the drilling direction is horizontal;

(12) FIG. 11 shows an embodiment of the retainer member used when the drilling direction is vertical; and

(13) FIG. 12 shows an example of a prior art drilling installation.

DETAILED DESCRIPTION OF THE DISCLOSURE

(14) FIG. 1 shows an embodiment of an installation 10 for drilling ground S in accordance with the present disclosure. As described in greater detail below, the installation serves in particular to drill boreholes in a vertical wall P along a drilling direction D that is horizontal.

(15) Without going beyond the ambit of the present disclosure, the wall P could have some other configuration, and the drilling direction D could slope relative to the horizontal, or could indeed be vertical.

(16) The installation 10 comprises an articulated and motorized manipulator arm 12 that, in this example, is a robot having a plurality of articulation axes referenced X1, X2, X3, X4, and X5. The manipulator arm presents three articulation points.

(17) More precisely, the manipulator arm has a first portion 14 that can pivot about a vertical pivot axis X1, a second portion 16 that can pivot relative to the first portion 14 about a pivot axis X2, a third portion 18 that can pivot relative to the second portion 16 about a pivot axis X3, and a fourth portion 20 articulated relative to the third portion 18.

(18) Unlike the prior art, the manipulator arm does not have a slide.

(19) The manipulator arm 12 also has a gripper member 30 that is articulated relative to the fourth portion 20. As can be seen, the gripper member is arranged at the end of the manipulator arm. The manipulator arm 12 has actuator means (not shown) that serve to set the various portions into movement relative to one another so as to deform the manipulator arm and thus steer and move the gripper member 30 in three dimensions. This type of manipulator arm is manufactured in particular by the suppliers Kuka and Fanuc. In contrast, the use of such a manipulator arm in the context of drilling ground in accordance with the present disclosure is not described in the prior art.

(20) In this example, the articulations and the various portions are shown diagrammatically. It should be understood that the manipulator arm is configured in particular to enable the movable gripper member to move in a straight line, and in particular along the drilling direction D.

(21) In this example, the installation 10 also has a plurality of drill tubes, specifically in this example a first drill tube 40 of length L, a second drill tube 42, and a third drill tube 44. Each of the first, second, and third drill tubes has a first end 40a, 42a, 44a, and a second end 40b, 42b, 44b opposite from its first end. Each of these drill tubes presents a longitudinal axis. These tubes are designed to be secured end to end to one another so as to form a tubular drilling assembly of great length. Naturally, without going beyond the ambit of the present disclosure, these tubes could be in the form of drill pipes.

(22) Furthermore, the manipulator arm does not have an elongate slide for guiding drill tubes, as is shown in FIG. 12 illustrating a prior art installation.

(23) As can be seen in FIG. 1, the second end 40b of the first drill tube 40 carries a drill tool 41, in this example a drillbit.

(24) In addition, the second end 42b of the second drill tube 42 can be secured to the first end 40a of the first drill tube 40. In this example, the first and second drill tubes are secured to each other by screw-fastening.

(25) The gripper member 30 is configured to take hold of one or another of the first, second, and third drill tubes via its first end.

(26) In the example of FIG. 2, the gripper member 30 is taking hold of the first drill tube 40 via its first end 40a. To do this, the gripper member 30 includes clamp-forming means 31 that clamp onto the first end 40a of the first tube 40. The first drill tube 40 thus constitutes an extension of the gripper member 30.

(27) It is specified that the gripper member 30 also has an actuator head 32 that, in this example, serves to impart both rotation and vibration to the first drill tube 40.

(28) In this example, the installation 10 also has a retainer member 50 of axis A that is substantially parallel to the drilling direction D.

(29) In the example of FIG. 1, the retainer member 50 is securely fastened to the wall P by fastener means 52, 54.

(30) The retainer member 50 is in the form of a sleeve suitable for having one or another of the first, second, and third drill tubes passed therethrough. Still in the example of FIG. 1, the retainer member 50 also has a controllable blocker device 56, which is described in greater detail below, for the purpose of blocking the first drill tube against moving in translation relative to the ground along the drilling direction D.

(31) The manipulator arm 12 also has drive means 60 for driving the first drill tube 40 into the ground S along the drilling direction D. In this example, the means for driving the first drill tube comprise the various portions 14, 16, 18, and 20 making up the manipulator arm and the actuator means enabling the various portions to be moved relative to one another so as to exert straight-line thrust on the gripper member, this thrust being directed along the drilling direction D.

(32) This step of driving the first drill tube 40 into the ground S is shown in FIGS. 3 and 4.

(33) The manipulator arm also has alignment means 70 for aligning the first drill tube 40 with the drilling direction D, the alignment means in this example comprising the various portions making up the manipulator arm and the actuator means, thereby enabling the longitudinal axis of the first drill tube to be put into alignment with the drilling direction D.

(34) It is specified that the installation further includes measurement means 69 (shown in FIG. 4) for determining the position and the orientation in three dimensions of the gripper member 30, these measurement means in this example comprising one or more gyros, or any other sensor for sensing position and orientation in three dimensions.

(35) The alignment means make use of measurement data supplied by the measurement means 69 in order to put the longitudinal axis of the first drill tube 40 into alignment with the drilling direction D.

(36) As shown in FIG. 3, after taking hold of the first drill tube 40, the gripper member 30 is moved so that the drill tool 41 is engaged in the retainer member 50. The manipulator arm is then actuated so as to exert straight-line thrust on the gripper member 30 acting in the drilling direction D so as to drive the first drill tube into the ground S.

(37) While exerting thrust on the first drill tube 40 via the gripper member 30, the actuator head 32 is actuated in such a manner as to set the first drill tube 40 into rotation.

(38) In this example, the actuator head also includes a vibration generator for vibrating the first drill tube 40.

(39) In other words, the first drill tube is driven into the ground by setting it into rotation, while also causing it to vibrate and thrusting it along the drilling direction D, as shown in FIG. 4.

(40) After the first drill tube 40 has been driven into the ground S, the blocker device 56 is actuated in order to prevent any axial movement of the first drill tube 40. The gripper member 30 releases the first end 40a of the first drill tube 40, and retrieves the second drill tube 42, taking hold of it via its first end 42a.

(41) The manipulator arm is then actuated so as to put the longitudinal axis of the second drill tube 42 into alignment with the drilling direction D.

(42) The gripper member 30 is then moved so as to bring the second end 42b of the second tube 42 into a position facing the first end 40a of the first drill tube 40. The second drill tube 42 is then secured to the first drill tube 40 by screw-fastening, by using the actuator head 32 to turn the drill tube 42 so as to screw the second end of the second drill tube to the end part of the first drill tube 40 that is held blocked in the ground by the blocker device 56.

(43) It can thus be understood that the manipulator arm 12 also has fastener means 80 for fastening the second end 42b of the second tube 42 to the first end 40a of the first drill tube 40, and in this example said means comprise in particular the actuator head of the gripper member 30.

(44) After the second drill tube 42 has been secured to the first drill tube 40, and more precisely after the second end of the second drill tube has been fastened to the first end of the first drill tube, the blocker device 56 is released so as to allow the first drill tube 40 to move freely in translation along the drilling direction D. The gripper member 30 is then moved along the drilling direction D so as to drive the second drill tube fastened to the first drill tube into the ground. This movement is thus a movement in translation performed along the drilling direction D.

(45) Likewise, the second drill tube 42 is set into rotation while moving the gripper member 30 so as to drive the drill tube 41 in rotation. The second drill tube is also caused to vibrate. This step is shown in FIG. 7.

(46) Thus, the implementation of the drilling method of the disclosure as shown in FIGS. 1 to 7 comprises: providing first and second drill tubes 40, 42, each having a first end 40a, 42a and a second end 40b, 42b opposite from the first end, the second end of the second drill tube being suitable for securing to the first end of the first drill tube; providing a manipulator arm 12 having a movable gripper member 30; using the gripper member 30 to take hold of the first drill tube 40 via its first end 40a; using the manipulator arm 12 to align the first drill tube with the drilling direction D, and more specifically by adjusting the position of the gripper member 30; moving the gripper member 30 in the drilling direction so as to drive the first drill tube 40 into the ground while putting the first drill tube into rotation; after driving the first drill tube 40 into the ground, using the gripper member 30 to release the first drill tube; then using the gripper member 30 to take hold of the second drill tube 42 via its first end 42a; moving the gripper member 30 so as to bring the second end of the second drill tube into a position facing the first end of the first drill tube; screw-fastening the second end 42b of the second drill tube 42 to the first end 40a of the first drill tube 40 by causing the actuator head 32 to turn; and moving the gripper member 30 in the drilling direction D in order to drive the second drill tube fastened to the first drill tube into the ground.

(47) Furthermore, while driving the first drill tube 40 into the ground, and likewise while driving the second drill tube into the ground, the first and second drill tubes are kept in alignment with the drilling direction by periodically comparing the real drilling path with the desired drilling direction D and, where necessary, by adjusting the position and the orientation in three-dimensional space of the gripper member 30, in order to correct the path.

(48) FIG. 8 shows an embodiment in which the retainer member 50 also has a rotary head 55 that enables the first drill tube 40 to be set into rotation when the first drill tube 40 is co-operating with the retainer member 50. In other words, in the embodiment of FIG. 13, the rotary head is situated in the retainer member 50 and not in the gripper member 30.

(49) It can thus be understood that the rotary head 55 is arranged to set the first drill tube 40 into rotation while the gripper member 30 is moving so as to drive the first guide tube 40 into the ground.

(50) In the variant of FIG. 9, the retainer member 50 is arranged facing the wall P for drilling, but is not fastened thereto. The retainer member 50 stands on the ground via a stand 57.

(51) In FIG. 10, there can be seen the retainer member 50 when drilling is horizontal. In this example, the retainer member 50 has hydraulic jaws 56 mounted on a plate 57.

(52) In FIG. 11, there can be seen a variant of the retainer member 50 used when the drilling is vertical. In this example, the retainer member 50 comprises a collapsible guillotine system 59 with the first guide tube 40 being held by friction.