CA1142166A - Pipe manipulator - Google Patents
Pipe manipulatorInfo
- Publication number
- CA1142166A CA1142166A CA000361553A CA361553A CA1142166A CA 1142166 A CA1142166 A CA 1142166A CA 000361553 A CA000361553 A CA 000361553A CA 361553 A CA361553 A CA 361553A CA 1142166 A CA1142166 A CA 1142166A
- Authority
- CA
- Canada
- Prior art keywords
- vertical leg
- arm
- power arm
- pipe
- turret
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
Abstract
ABSTRACT OF THE DISCLOSURE
Apparatus for moving stands of pipe in a derrick having a powered turret mounted in a selected position relative to the derrick and a vertical leg supported and rotated by the turret. A powered dolly is mounted on the vertical leg and moves one end of a power arm to selected positions along the vertical leg. A pipe gripping head is mounted to the opposite end of the power arm. A scissor arm is rotatably connected at one end in mid-region of the power arm and at the other end to the vertical leg. As a consequence the pipe gripping head moves reciprocally in a straight line to engage move and disengage stands of pipe.
Apparatus for moving stands of pipe in a derrick having a powered turret mounted in a selected position relative to the derrick and a vertical leg supported and rotated by the turret. A powered dolly is mounted on the vertical leg and moves one end of a power arm to selected positions along the vertical leg. A pipe gripping head is mounted to the opposite end of the power arm. A scissor arm is rotatably connected at one end in mid-region of the power arm and at the other end to the vertical leg. As a consequence the pipe gripping head moves reciprocally in a straight line to engage move and disengage stands of pipe.
Description
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, `"`~ 1:1~2~66 ,:
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BACKG~OIJN~ O'~ TIIE INVENTION
1. ~ield of t^he 'Invent_o~ '}'liS invention relates in i general to an apparatus usecl i.n drilling opcrations, and ~ in particular, to an apparatus used on a rig for moving ; ~ stancls of pipe between the rotary and tlle sethack or rack ~~ 5 area.
' ~. Descrip ion of the rrior Art: Rotary drilling rigs 1, utilize sections of dril]. pipe and drill co].lars which are t-hread~d together or "made up" when the drili stem is being placed in the hole. Conversely, tlle dril] pipe 10 sections and drill collars are "broken out" when the J drill stem is being r~moved from the ho]e. In off-shore operations, drill pi.pe is lea(l through stands of marine riser pipe which must also be transferred and handled on the rig.
The transfer of stands of pipe between the rotary w~ table and a setback area where the stands are racked has ~ been a difElcult and hazardous manual operation in the past. Because of tlle lar~e weight of the stands of pipe great strength and physical stamina are required of ~he drilling crews. A serious accident could result should the crew lose control of a ~tand.
As a consequence, i.t has for years been thought de-sirable and advan~ageous to provide a Inechanical device for transferring stands between the rotary and the set-back or racking area in a drill rig. A mechanical systemshould be safer since greater strength and a more posi-tive control is possible. A reduction in crew fati~ue can be achieved. A mechanical device can be remotely operated, and as a result, safety can be enhanced. In additio~, ~he t~-ans.fer time can be decreased, thereby re-dl~cing triy time to increase efficiency.
- In pursuit of the above objects, mechanical pipe J handling systems for drill rigs l1aS been available for '~ a number of years.
~ 35 A successful pipe h.andling system is disclose~ in the publication, "1978-~979 ~J Hug}les Oi.lfield Products ., ~.i ll~Z16~;
,:
and Systems" catalog~le, page 30~-3lO. The manipulators .~ in this system consist ~L a nul;)ber of cArriages transverse-ly aligned within the derrick, ecl~]l ol whicll includes an arm to support a pipe grippin~ heacl. Although the system is relatively simple and re]l.lble, it requires special derriclc mo~lfications and a different racking se-quence than that usually used by derrick personnel.
Golar-Nor Offshore ~/S of Oslow, ~lorway has a sys-tem consisting of a cylinder pivotally attache~l by a turret to a dolly movably nounted on ~ ~rack secured to the lower side of the monlceyboard in the derrick. A
pipe gripping head is mounted on the end of the cylinder rod, and although the mechanism is relatively simDle, it is excessively space consuming because the retracted length of the cyLinder, rod and pipe grippin,~ head is greater than the strol;e of thc cyl;ncier. A better under-standin~ of ~his type of devicc- maybe seen ~ith reference to U ~. Patent 4,117,941.
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SUM~RY OF TIIE INV}~NTION
., . _ It is a general object of this inven~ion to provide a j simple, lightweight, easy to operfl~e, and clependable sys-tem for assisting in raclcing st~nds of pi.pe in drilling and workover rigs, one that is retrac~able into a small ~~ 5 space to permit use o~ standard racking sequences.
It is also an o~ject of this inventi.on to provide a pipe manipu].ator for use on drilling rigs which is sturdy enough to handle marine riser pipe without substantial ` modification.
In accordance with these objects, the apparatus in-cludes a powered turret mounted at a selected position on the derrick and supporting a depending vertical leg. Mount-ed on the vertical leg is a powered dolly which supports ; one end of a power arm. The other end of the power arm supports a pipe gripping head. A scissor arm extends from a select one of the turret or vertical legs and is '~ rotatably connected to the power arm.
In a preferred embodiment, the scissor arm is connect-ed at one end to a pOillt on the leg in vertical alignment with the point at which the power arm is connected to the _ dolly and at the other end to the mid--region of the power ; arln. The resulting straight-line mechanism allows the pipe gripping head to move in a straight l.ine to engage, move, and disengage stands of pipe. To insure the pipe gripping head maintains a horizontal attitude, a cross bar havinp~
two pivot points is connected at the first pivot point _ eoincidentally`with the end of the scissor arm in the mid-~ region of the power arm. A firs~ support arm is connected ...
at one end to the second pivot point of the cross bar and ~ at the other end to the turret or leg at a point near to and hGrizontally aligned with the point at which the scissor arm is connected to the turret or leg. A second support _ al~l is coincidentally connected at one end to the second ,~ pivot point of the cross bar and at the other end to the 11~ 6 pipe gripping head at u point near to and hori~ontally a-ned with the point at whi.ch thc power arm is connected to the pipe grippirl~ hea~ I`he dis~ rlc~ ~e~.wcen ~hese last two points, bet~een the ~ivot ~oinLs oE the cross ~ 5 bar, and between the points at whi.ch ~he ~irs~ su~port c ann and scissor arms conllect to the Leg or turre~ are all approximately the same.
Biasing means connected to the vertica`l leg facili-tates movemen~ of the ?ip~ gripping heacl away from the le~ when in the flllly retracted posit:ion.
Aclditional objects, fe.1t-lre; ancl a(lvantages of the invention will beco-lne apparent in the followin~ detailed description.
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~ BRIEF DESCRIrTI0~ OF_TllE DRAWI_CS
; Fi~. l is d side view of the pipe manipulator .lp-paratus whicl1 encompasses the principlcs of thi.s invell-_~ tion with a portion o~ ~he leg broken away;
Fig. 2 is a side vie~J of the upper p~rt of t-he apparatus of FiX. l with a portion of the turret and track cut away;
Fig. 3 is a front view of the upper part of the apparatus of Fig. l showing a sectional view of the trolley and track as seen by looking along lines III-III
of Fig. 2.
Fig. 4 is a back vlew of the.lower part of the apparatus of Fig. l.
Fig. 5 is a side view of the lower part of the apparatus of Fig. l with a portion of the leg broken away.
i Fig. 6 is a sectional view of the dolly as seen by looking along li.nes VI-VI of Fig. 4.
Fig. 7 is a sectional view of the cross bar as seen by looking along lines VII-VII in Fig. l.
Fig. 8 is a sectional view of the base of the pipe _ gripping head as seen by loGking along lines VIII-VlII
f Fig. l.
Fig. 9 is a top view of the fingerboard used to rack stands of pipe which are positioned by the gripping head of the apparatus;
Fig. lO is a top view of a grippi]1g head suitable Eor -~ use with the pipe manipulator apparatus of this invention .. shown with a portion of the head broken away.
Fig. ll is a schemat:ic of the control mechanism of the apparatus.
~i~2166 DESCR_'I'I~N 0~ TllE PI~EFERRED E~ODIM~NT
From the above prior art desc-ription, summary of the invenLion and descripLion oÇ thc drawings it should _ be apparent that the overa:ll ol~j~ct oE t~e i.l~vent:ion ? iS ~O provicle an apparatus as sho~rl in ~iy,s. 1 through ~, .
11 for use in a drilli.ng ri~ (no~ sho~n) for racliing stands oE pipe including drill pipe tubing, co:Llars, or . risers within a fingerboard, ~enerally sho~n at 13 in : ~i.g. 9 of the drawing. The appala~ls could also be used in a "work-over" rig once drilling operations are com-10 plete and sho~lld not b. conside-red as limited solely to drilling rigs. The fingerboard 13 co~nprises racks 15 connected to a derrick 17 wl~ich SUppoLtS a monkeyboard 19 between the racks 15 from whicll the pipe handling ap-/ paratus of Fig. 1 is supportecl. It should be understood, _~ 15 however, that the pipe handling apparatus need not be ~ supported from the monkeyboard but- can be supported else-- - ~here in the derrick or on the 100r of the drilling rig.
A hori~ontal track 21 i~ shown in Fig. 2 as including a C-shaped channel rigidly connected tG the undersurface 20 of the monlceyboard 19 in this :instance. As shown in Yig.
_ 2 and 3, a powered trolley 23 is movably supported by rollers 25, 25' within the track 21 and may be moved to selected hori~ontal positions on tile track. Side rollers 26, 26' are mo~mted on the side of the trolley 23 to assure 25 axi~l alignment. As may be seen witl-l referellce to Fig. 2 a drive sprocket 27 is mounted near the inner end of tracl;
_ 21 and idler sprocket 29 is mounted at the outer end of .~. the tr.. ck. The drive sproclcet 27 i3 securecl to shaft 31 and dr:iven in either the clockwise or counterclockwise direction thlougll a ge~-rbo;~ 33 and'an air ~llotor 35. A
clrive chaln 37 spans the sprockets 27, 2g with ends 39 attachecl to the trolley. Suyport sprocket: 2~ is mounted _~ between drive sprocket 27 and idler sprocket 29 and helps ~.~ sllpport drive chain 37.
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~` Thus, as the drivc sprocket 27 is rotated i.n the counterclockwise direction (as seen in Fi.~.2) the trolley will be`pulled horizorltally to the ri.gllt to a selected pOSitiOll. Convel-~ely, roL~tioll o~' tllc (iri.ve sprock~-ts 27 ~ 5 in the clockwi~se direction will pull tlle trolley 23 to a ; selected position towald tlle left.
A ~am operated valve ~77 ancl can) ac(:nator 1~5 are positioned on troll~y 23. As seen in Fi.~. 2, ~ul].ing the trolley 23 completely to the right eng~ges ca.m actuator 185.
As sho~n in greater detai] i~ .igs. 2 and 3, a turret 41 is rotatably suspended from the ~rolley 23 and includes a shaft 4~ (se~ Fi~. 3) supported on suitable bearings 45, 45' suspended fro~n a'thl.ust plate 47 for rotation relative t~ the trolleY 23. The lower end of the shaft 43 i.s com~ected wi.th a hub o~ a driven sprocket 49,by a ke~ 53. The dri.ven sprocket 49 (see Fig. 2) is ~ in this instance a double sprocket rotated in a cloclcwise ^ or counterclockwise motion by a dou~le chain 55 pul],ed by a pair of drive sprockets 57. A gear box 59, driven by 'an air motor 6]., moves the chaiTI such that the turret 41 can be positioned at any selec~ed angle.
A second cam operated valve l57 an(l cam actuator 163 are mounted on turret 41. Left cam 164 and ri.ght cam 166 are located on driven sprocket 49 and s~.rike the cam ac~ua--~ 25 tor 163 as the driven sprocket 49 is rotated.
SuspcIlded from the lowcr end of the turret 41 is a generally vertical leg 63 inclllding a track 65 (see Figs.
4 & 5), which in this instance is a C-shaped channel similar to that used in the hori~ontal track 21.
' 30 The vertical ~raclc 65 is adapted to receive a powered dolly 67 naving rollers 6q, 69', 7n, 70', con-fined wit,hi~ the track 65, and as shown in ~ig. 4 side rollers 71, 71' to assure a~ial ali.glmlent o~ the dolly within the track. I~ear the lower end of the track 65 is an air motor 73, which througll a reduction gear sYstem and adapter 75, rotates a threaded shaft or worm ~ gear 77, the llpper end of whicll termiilates as shown in `~i 11f~21ti6 ~ (J
~ig. l~ in a bearin~ sul-port ~truct~lre 9 se~ured to the tracl;. As .shown in ~ig. 6 tlle dolly 6i is conllectcd to a pivot h~using ~1. witl~ wllicll i.s ~lpported . drive nut 83 ; secured to sllaft 77 b~ retail~:ing pin 84 in drive nllt hous-ing 86. ~hen the shaft 77 is ;otated the dolly 67 mov-s J Up or dor.~n within the track 65 to selected positions. The 7 pivot housing permits son~e play bet-~een the nut shaft dolly and track to minimize stresses on t-hese components.
Also supported within the dolly 67 is a horizontal : 10 bearing support 85 (see Fig. 4) upon which is rotatably support~d the lower end of a power arm 87. A pi.pe gri.p-ping head 101 is mounted to the other end of the power ann s shown in Fig. 1. A suitab].e pipe gri.pping head for use with the present inVe~ltiOn is sho~m i.n Fig. 10.and discussed in U.S. Patent 4 304,433 of December 8 1981 to Faustyn C. Langowski and entitled "PIPE GRIPPING HEAD"
Other pi.pe gripping heads which can be used ~lith the pres-ent invention are kno-~n :in the art. ~ cross bar 89 (See Fi~s. 1 and 7) having first and second pivot points is con-nected at the first pivot pOillt 91 to the mid-region of the power arm 87. A scissGr arm 93 is rotat-ably connected coincidentally at the first pivot pOillt of the cross bar 89 at one end and is rotaLably carried by a select one of Lhe vertical leg 63 and turret 41 at the other end. In this example the vertical leg 63 was selected.
A fir.st support arm 95 is rotatably connected at one end to the~second pivot point 9~ of the cross bar 89 and at the o~her end to the ve tical leg 63 at a point near to and horizontally aligned with the p~int at ~hich the scissor ann 93 .is connected to the vertical lc; 63 the first suppo~t arm 95 being of equal length to the scissor ar~n 93. A second SUppo-Lt arm 99 i.s rota~ably connected coincidentally at one end to the second pivot point 97 of cross bar 89 and at the other end to the pipe gripping head l01 at a point near to and horizontally ~, ~'w,~
j~W
J ~ 23L66 ali~ned ~ith the point ~t which tl-e pl)wel arm 87 i~
connectecl to the pi.pe gripping head (see l'i~. 8~.
'I`he distante be~t~een ~I~ese I~SL two po~ ts, l)etween the pivot points 91 an~I 97, and ~eLween Lhe points at _1 5 which the firs~ support arm (35 an(l t~Ie sci,sor arm 93 '~ connect to the ver~ical l.e~g 63 sholIld .~11 he approxi-~ mately equal. By keeping these distances the same, keeping first pi.vot point 91 iaI the Inid-regiorl of power arm ~~/, and Iceeping the lengths o~ tht-~ sc; SSOL arm 93 10 and first support arm 95 the same, a pdir t)i parallelo-grams are definecl ~hich c3use tht- pipe gJrippiI-~ head 101 to maintain a horizontal attitude a.s it is exterId-e~ and retracted. The turret 41, ~ihown iTI Fi.~. 2, is provided with biasing means compri.sin~ a cam operated 15 valve 137 and cam actuator 141 to minimi~e shock load-in~ on the turret 41 and facilitat:e movement of the ~ ~ripping head ]01 from t.he f~Il]y retract~ed position as '~ . will be discussed later.
- Control mechanisms for the present invention are known in ~he art. The preferred control mechanism for the apparatus is shown schematically in Fig. 11. Along the bot~om edge of the di.agram are fo~Ir control valves connected to a con~on pressure source 109. Beginning on the right side of the diagram, pres~ure source 109 25 supplies fluid through line 11]. to the head control valve 113. Valve 113 is a two position four-way va'lve with detent ~ ich in the- positi.on sho~I al.lows pressure to ~Low along line 115 to one end of hydraulic cylinder 117 in the gripping head 101 to opeIl the ht-~ad. I~leIl valve 113 is shifted to the rigIlt, fluid p~sses along lir.e~ 119 to the opposi~e end of fluid cylin~Ier ll7 to close the head 101., The mechcLnism fcr controlling the porier arm 87 is showrl in Lhe upper right corner of tlle dia~r.lm. Pres-sure source 109 sup,~lics ~lui.d prt.ssure ~hrough line~ 121 to the po-.~er arm contr(?l valve 123. Valvt 123 ls a three poC.ition ~our-way valve with spr;n~ center;n~,. IJhelI valvt . ., ~4~166 -123 is shifted to the right, pressllre trav^ls up line 129 to a pilot operated spring return tllree-way valve 135 where flow is initia]ly bloeke(l. Pressure also flows along line 131 to a cam-operated two position spring re-turn follr-way valve 137. In th~ position shown, pres-sure flo~s out port 139 providin~ a pilot signal to valve 135. Valve 135 is shifted to the left allowing pressure to flow up line 129 to rotate dolly motor 73 in the counter-clockwise direction and retract power arm 87. When power arm 87 is fully retracted, cam actuator 141 on valve 137 is engaged shifting valve 137 upward. Upward movement of valve 137 blocks the flow of pressure from port 139 and allows e~cess pressure to be exhausted from port 143. Valve 135 is spring driven back to the right to block the flow of pressure to motor 73.
Shifting power arm control valve 123 ~o the left al-lows pressure to flow along line 125 to a second pilot operated valve 127 where flo~ is initiaLly blocked.
~ Pressure flows along line 145 providing a pi]ot signal to valve 127 shifting valve 127 to the right. Pressure can then flow up line 125 to rotate motoI 73 in the _ clockwise dir~ction and extend the power arm ~7. Cen-tering the power arm control valve 123 cuts off the pilot signal 145 to valve 127, stops the rotatioll of mo~or 73, and stops the movement of the power arm.
The trolley 23 and turret 41 are operationally interrelated as shown in the center and ]eft hand por-_ tions of the diagram. Rressure from source 109 travels up line 147 to the trolley control valve 1'~9 which is identical in design to the power arm control valve 1~3.
Shifting va]ve 149 to the right allows pressure to flow up line 151 ~o valve 153 where flow is initially block-ed. Valve 153 is a pilot operated valve identical to _ valves 127 and 135 previously described. Pressure flows up line 155 to a second cam-operated valve 157 identical to valve 141. In the pOSitiOII shown, pressure flows out port 159 to provide a pilot signa] to v.llve 153 shifting ,~
lif~Z166 ` - ]. 2 -valve 153 to the let. This movement allows flow t:o con-tinue Up line 151 throu~h valve 161 to turret motor 61 c~using't:hc~ turre~ 4l to ro~nte.
en t1le turret llas rot~ted ~li.nety clegrees, carn ~ a~t~;laror 163 on valve 157 i.!i e.nr~ Cd l~y right cam 166 - 5 (See Fig. 2) caus,ing valve 157 t,.o .shift up~ard. F'l.ow i.s ~locked from port 159 and flows Oll~ port 165 i.nstead to provide a pilot si~na:l. to v~lve 167. The pil.ot signal shifts valve 167 to the lt'ft allOWi.11g pressure tG L10~ Up line 169 to trolle~ moto~- 35 to cau5e clockwise rotation o the clri.ve sp.vcket ~7 and move the trolle~ 2'3 alollg track '21 (Fi~. 1) to the l~ft. ~y centcring the trol.le~
control valve 149, rlow to val~Te 157 and hence the pilot signal to valve 1~7 i~ cut off stopping pr~ssure f].ow up li~e 1.69. Pressure to motol 35 is bl.oclccd and the trol]ey 23 stops nlovilg along track 21.
Shifting the trolley eontrol valve ~.49 to the left ~ allows pressure to flow up 'line 171 where ~low is in-._ itially blocked at another pi].ot operated valve 173.
Flow conti.nues along line 175 to cam-operated v~lve 177.
Flow passes out port 179 t.o pro-~7ide a p.'.lot signal to valve 181, shi.fting valvc 181 to the left. Pressure then flows up line 183 to trolley motor 35 to rotate dri.ve sprocl;et 27 in a counterclockwise directlon and rnove the trolley 23 along track 21 to the ri~ht (s~e ~ig. 1). r,~Then the trolley 23 reaches the end of tra~k 21, cam actuator 185 is engaged on valve 177 shiEting valve 177 upward (S~e ~ig. ?), U~ard mc.vement of the valve 177 cuts off the pilot sign~l to valve 181 and stops tl-le pressure flow to motoL- 35. Simultaneously, pressure flows O~lt port 187 of valve 177 providi,ng a pilG- Sigla~ to valve ].73 and shifting ya].Sve 173 ~o the left. Pressu-re then flows up li.ne 171 thro~lgh valve 16l to tllrret n.cr,or 6-l callsing it.s countel-clockwise rotatlon. I~n the tro:l.ley control J valve 149 is shifte~ to center, ~he fl.ow of pressul-~ to ~:' 35 valv~ l-/3 and mot:or 61 is cut off, StOppi11g rotation of ~ the mo~oL-.
Pressurc is supplied Erom sour(:e :L~)9 to the right-le~t selector valve 19] through line 189. In the posi-~i.on shown, pressure is blocked at valve 191. 13y shifting valve 191 to the lef~, a pi].ot signal is C,ent up line 19~
to pilot operated valve 161 ~o s1li~t valve 161 Lo the left.
~~ Shiftirlg valve 161 to the left reverses the fl~w of pres-~~ sure up llnes 151 and 171 respecti.vely ca~lsin~ motor 61 to rotate ninety degress in the opposi.te direction from that previously described when the troll.ey control valve 149 is shifted.
In operation, an operator stands upon the board 19 at a control console 105 to operate the apparat~ls (see Figs. 1 ~ 9). A stand of pipe 11 is uncoupled from the ~rill pi.pe held by slips in the rotary table (not shown) an~ lifted lnto a set back area by e]evators 107.
When the control.s are as shown in Fig. 11, the ~ trolley 23 is at the end of ~raclc ')1 opposite motor 35 and power arm 87 is colllpletel~T retracted alld aLi.gned ~ along the longitudinal a~is of track 21. The rigllt-left selector val-ve 111 is preset before the trip is made to a]low rac:king to either the right or left side of fing~r-board 13. In normal operation, one side of the fi.nger-board 13 is completely racked before rac1cing the opposite side. In Fig. 11, valve 191 has been preset to rack the right side OI the fingerboard 13.
Power ann control valve 1~3 is s~lifted to the left causing pressure to flow throllgh valve 127 to motor 73 _ to extend the power arm. 'fhe pipe gr;pping head 101 is ln the opell position with the head control valve 113 in ~he position shown in Fig. 11. When the gripping head 1.01 engages the pipe 1l., the head cont~ol valve 113 is shifted to the right~to close the head on the ~ipe as shown in solid lines in I'ig. 9.
Power arlll control valve 123 is then shif~ed to the right sendillg a pilot signal to valve 135 thereby causing pressure to ~low througll valve 135 to motor 73 to retract the power arm 37. 13;a.in~, meclns co.r~lprisin~ m operat~d 16~;
valve 137 ~revellt a mecllanlc.~l. locl~-u~ of the power arm.
~ithout such bias:ing mealls, motor 73 wollld operate at full i speed to torque-up the ~orm gear 77 all(l nnt ~3 to such a de gree t:hat mot:or 73 wollld not be aljle to ov~rcome the torque to reverse the operat:iorl all~ ex~erl~l the arm 8/. rrior to ~ torque-up, cam operated va].ve ]37 ls ac~alate(l as prcviously 1 ~escril~ed to shut off the ci;r supp]y to m-,tor 73 an(l stop movement of the worm gear 77. When the pipe ll is in con-tact with the end of ~he monkeyboard ]'~, t~e operator shifts 1() the trolley control valve 149 to t:he ri~ht. Valves 153 and 167 are initially blc,cked causirlCP~ pressure to flow up line 155 to valve lS~. A pilot signal co~ning out port 159 opens valve 153 and powers thc turr~t motor 61 to rotate the tur-ret 41 ninety degrees to the right. At this point, the right cam 166 located on driven sprockct ~9 depresses cam actuator 163 and blocks flow to valve 153. Pressure flo~s out ~ort 165 to open valve 157 all.owing pressure to pass up line 169 and actuate trolley motor 35.
By moving the trolley control valve 14g to t'ne center position shown in Fig. 11, the trolley 23 is stopped at the desired po~si~i~n along fingerboard 13. I'he operator then _ extends the power arm 87 as previously explained to place the top of pipe 11 in the selectl~d rack 15 as shown in dot-Led lines in Fig. 9. The head cor.trol valve 113 is shifted to the left to open the hea~ lnl and release the pipe 11.
Power arln 87 is retracted by shifting ~alve 123 to the right.
The trolley COIItrO] valve ]49 is thell shifted t-o the left a]lowing the flow to pass up line l71 to reverse the above ,.; procedure and return the apparatus to the starting position.
The operation o~ cam operclted valves 157 and 177 de-_, scribed above will not allow the turre~ 41 to rotate un-less the.trolley ~3 is a~ the end of track 21 opposite motor 35. The trolley 23 cannot be moved alon~ the track ~ .
21 in the direction of motor 35 ullless th~ t~lrreL 41 has been rotated ninety dec~,rees. Tlllls, usincP~ the preferred control mechanism, the power arm 87 will always he ~, ~l~Z~L66 rot~ted ninety ~egrees from the po;it.i.on .sllown in Fig. 1 when the trolley is at an intermedil~e posi.tion along the track. This feature of ~he preerred control mechanism is desi.gned ~o ~revent an operntor from nccident~lly ramming the monlce)board 19 with a stan(l of pipe.
~~ It should be apparent to those ski].l.ed in the art ~ that the above described apparatus has a rugged con-; struction that will enhance reliability ancl minimize maintenance. The straigh~ line mechanism composed es-sentiall.y of the power arm 87 and scissor arm 93 can be used to move the pipe gripping head 101 into engage-ment and di.sengagement with tle pipe 11. The use of first and second suppvrt arms 95 and ~9 and cross bar 89 to form a pair of parallelograms maintain3 the pipe - 15 gri.pping head in a hGri~ontal pOSitiOII and adds stabil-it~..
~ ~ilc the invention has been shown in only one of - its forn~s it sllould be apparent to those skil].ed in the ~ art that it is not thus limited but is susceptible to various changes an~ modifi.cations without depar~ing from the spirit thereof.
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BACKG~OIJN~ O'~ TIIE INVENTION
1. ~ield of t^he 'Invent_o~ '}'liS invention relates in i general to an apparatus usecl i.n drilling opcrations, and ~ in particular, to an apparatus used on a rig for moving ; ~ stancls of pipe between the rotary and tlle sethack or rack ~~ 5 area.
' ~. Descrip ion of the rrior Art: Rotary drilling rigs 1, utilize sections of dril]. pipe and drill co].lars which are t-hread~d together or "made up" when the drili stem is being placed in the hole. Conversely, tlle dril] pipe 10 sections and drill collars are "broken out" when the J drill stem is being r~moved from the ho]e. In off-shore operations, drill pi.pe is lea(l through stands of marine riser pipe which must also be transferred and handled on the rig.
The transfer of stands of pipe between the rotary w~ table and a setback area where the stands are racked has ~ been a difElcult and hazardous manual operation in the past. Because of tlle lar~e weight of the stands of pipe great strength and physical stamina are required of ~he drilling crews. A serious accident could result should the crew lose control of a ~tand.
As a consequence, i.t has for years been thought de-sirable and advan~ageous to provide a Inechanical device for transferring stands between the rotary and the set-back or racking area in a drill rig. A mechanical systemshould be safer since greater strength and a more posi-tive control is possible. A reduction in crew fati~ue can be achieved. A mechanical device can be remotely operated, and as a result, safety can be enhanced. In additio~, ~he t~-ans.fer time can be decreased, thereby re-dl~cing triy time to increase efficiency.
- In pursuit of the above objects, mechanical pipe J handling systems for drill rigs l1aS been available for '~ a number of years.
~ 35 A successful pipe h.andling system is disclose~ in the publication, "1978-~979 ~J Hug}les Oi.lfield Products ., ~.i ll~Z16~;
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and Systems" catalog~le, page 30~-3lO. The manipulators .~ in this system consist ~L a nul;)ber of cArriages transverse-ly aligned within the derrick, ecl~]l ol whicll includes an arm to support a pipe grippin~ heacl. Although the system is relatively simple and re]l.lble, it requires special derriclc mo~lfications and a different racking se-quence than that usually used by derrick personnel.
Golar-Nor Offshore ~/S of Oslow, ~lorway has a sys-tem consisting of a cylinder pivotally attache~l by a turret to a dolly movably nounted on ~ ~rack secured to the lower side of the monlceyboard in the derrick. A
pipe gripping head is mounted on the end of the cylinder rod, and although the mechanism is relatively simDle, it is excessively space consuming because the retracted length of the cyLinder, rod and pipe grippin,~ head is greater than the strol;e of thc cyl;ncier. A better under-standin~ of ~his type of devicc- maybe seen ~ith reference to U ~. Patent 4,117,941.
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~ 66 . ~
SUM~RY OF TIIE INV}~NTION
., . _ It is a general object of this inven~ion to provide a j simple, lightweight, easy to operfl~e, and clependable sys-tem for assisting in raclcing st~nds of pi.pe in drilling and workover rigs, one that is retrac~able into a small ~~ 5 space to permit use o~ standard racking sequences.
It is also an o~ject of this inventi.on to provide a pipe manipu].ator for use on drilling rigs which is sturdy enough to handle marine riser pipe without substantial ` modification.
In accordance with these objects, the apparatus in-cludes a powered turret mounted at a selected position on the derrick and supporting a depending vertical leg. Mount-ed on the vertical leg is a powered dolly which supports ; one end of a power arm. The other end of the power arm supports a pipe gripping head. A scissor arm extends from a select one of the turret or vertical legs and is '~ rotatably connected to the power arm.
In a preferred embodiment, the scissor arm is connect-ed at one end to a pOillt on the leg in vertical alignment with the point at which the power arm is connected to the _ dolly and at the other end to the mid--region of the power ; arln. The resulting straight-line mechanism allows the pipe gripping head to move in a straight l.ine to engage, move, and disengage stands of pipe. To insure the pipe gripping head maintains a horizontal attitude, a cross bar havinp~
two pivot points is connected at the first pivot point _ eoincidentally`with the end of the scissor arm in the mid-~ region of the power arm. A firs~ support arm is connected ...
at one end to the second pivot point of the cross bar and ~ at the other end to the turret or leg at a point near to and hGrizontally aligned with the point at which the scissor arm is connected to the turret or leg. A second support _ al~l is coincidentally connected at one end to the second ,~ pivot point of the cross bar and at the other end to the 11~ 6 pipe gripping head at u point near to and hori~ontally a-ned with the point at whi.ch thc power arm is connected to the pipe grippirl~ hea~ I`he dis~ rlc~ ~e~.wcen ~hese last two points, bet~een the ~ivot ~oinLs oE the cross ~ 5 bar, and between the points at whi.ch ~he ~irs~ su~port c ann and scissor arms conllect to the Leg or turre~ are all approximately the same.
Biasing means connected to the vertica`l leg facili-tates movemen~ of the ?ip~ gripping heacl away from the le~ when in the flllly retracted posit:ion.
Aclditional objects, fe.1t-lre; ancl a(lvantages of the invention will beco-lne apparent in the followin~ detailed description.
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~ BRIEF DESCRIrTI0~ OF_TllE DRAWI_CS
; Fi~. l is d side view of the pipe manipulator .lp-paratus whicl1 encompasses the principlcs of thi.s invell-_~ tion with a portion o~ ~he leg broken away;
Fig. 2 is a side vie~J of the upper p~rt of t-he apparatus of FiX. l with a portion of the turret and track cut away;
Fig. 3 is a front view of the upper part of the apparatus of Fig. l showing a sectional view of the trolley and track as seen by looking along lines III-III
of Fig. 2.
Fig. 4 is a back vlew of the.lower part of the apparatus of Fig. l.
Fig. 5 is a side view of the lower part of the apparatus of Fig. l with a portion of the leg broken away.
i Fig. 6 is a sectional view of the dolly as seen by looking along li.nes VI-VI of Fig. 4.
Fig. 7 is a sectional view of the cross bar as seen by looking along lines VII-VII in Fig. l.
Fig. 8 is a sectional view of the base of the pipe _ gripping head as seen by loGking along lines VIII-VlII
f Fig. l.
Fig. 9 is a top view of the fingerboard used to rack stands of pipe which are positioned by the gripping head of the apparatus;
Fig. lO is a top view of a grippi]1g head suitable Eor -~ use with the pipe manipulator apparatus of this invention .. shown with a portion of the head broken away.
Fig. ll is a schemat:ic of the control mechanism of the apparatus.
~i~2166 DESCR_'I'I~N 0~ TllE PI~EFERRED E~ODIM~NT
From the above prior art desc-ription, summary of the invenLion and descripLion oÇ thc drawings it should _ be apparent that the overa:ll ol~j~ct oE t~e i.l~vent:ion ? iS ~O provicle an apparatus as sho~rl in ~iy,s. 1 through ~, .
11 for use in a drilli.ng ri~ (no~ sho~n) for racliing stands oE pipe including drill pipe tubing, co:Llars, or . risers within a fingerboard, ~enerally sho~n at 13 in : ~i.g. 9 of the drawing. The appala~ls could also be used in a "work-over" rig once drilling operations are com-10 plete and sho~lld not b. conside-red as limited solely to drilling rigs. The fingerboard 13 co~nprises racks 15 connected to a derrick 17 wl~ich SUppoLtS a monkeyboard 19 between the racks 15 from whicll the pipe handling ap-/ paratus of Fig. 1 is supportecl. It should be understood, _~ 15 however, that the pipe handling apparatus need not be ~ supported from the monkeyboard but- can be supported else-- - ~here in the derrick or on the 100r of the drilling rig.
A hori~ontal track 21 i~ shown in Fig. 2 as including a C-shaped channel rigidly connected tG the undersurface 20 of the monlceyboard 19 in this :instance. As shown in Yig.
_ 2 and 3, a powered trolley 23 is movably supported by rollers 25, 25' within the track 21 and may be moved to selected hori~ontal positions on tile track. Side rollers 26, 26' are mo~mted on the side of the trolley 23 to assure 25 axi~l alignment. As may be seen witl-l referellce to Fig. 2 a drive sprocket 27 is mounted near the inner end of tracl;
_ 21 and idler sprocket 29 is mounted at the outer end of .~. the tr.. ck. The drive sproclcet 27 i3 securecl to shaft 31 and dr:iven in either the clockwise or counterclockwise direction thlougll a ge~-rbo;~ 33 and'an air ~llotor 35. A
clrive chaln 37 spans the sprockets 27, 2g with ends 39 attachecl to the trolley. Suyport sprocket: 2~ is mounted _~ between drive sprocket 27 and idler sprocket 29 and helps ~.~ sllpport drive chain 37.
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~` Thus, as the drivc sprocket 27 is rotated i.n the counterclockwise direction (as seen in Fi.~.2) the trolley will be`pulled horizorltally to the ri.gllt to a selected pOSitiOll. Convel-~ely, roL~tioll o~' tllc (iri.ve sprock~-ts 27 ~ 5 in the clockwi~se direction will pull tlle trolley 23 to a ; selected position towald tlle left.
A ~am operated valve ~77 ancl can) ac(:nator 1~5 are positioned on troll~y 23. As seen in Fi.~. 2, ~ul].ing the trolley 23 completely to the right eng~ges ca.m actuator 185.
As sho~n in greater detai] i~ .igs. 2 and 3, a turret 41 is rotatably suspended from the ~rolley 23 and includes a shaft 4~ (se~ Fi~. 3) supported on suitable bearings 45, 45' suspended fro~n a'thl.ust plate 47 for rotation relative t~ the trolleY 23. The lower end of the shaft 43 i.s com~ected wi.th a hub o~ a driven sprocket 49,by a ke~ 53. The dri.ven sprocket 49 (see Fig. 2) is ~ in this instance a double sprocket rotated in a cloclcwise ^ or counterclockwise motion by a dou~le chain 55 pul],ed by a pair of drive sprockets 57. A gear box 59, driven by 'an air motor 6]., moves the chaiTI such that the turret 41 can be positioned at any selec~ed angle.
A second cam operated valve l57 an(l cam actuator 163 are mounted on turret 41. Left cam 164 and ri.ght cam 166 are located on driven sprocket 49 and s~.rike the cam ac~ua--~ 25 tor 163 as the driven sprocket 49 is rotated.
SuspcIlded from the lowcr end of the turret 41 is a generally vertical leg 63 inclllding a track 65 (see Figs.
4 & 5), which in this instance is a C-shaped channel similar to that used in the hori~ontal track 21.
' 30 The vertical ~raclc 65 is adapted to receive a powered dolly 67 naving rollers 6q, 69', 7n, 70', con-fined wit,hi~ the track 65, and as shown in ~ig. 4 side rollers 71, 71' to assure a~ial ali.glmlent o~ the dolly within the track. I~ear the lower end of the track 65 is an air motor 73, which througll a reduction gear sYstem and adapter 75, rotates a threaded shaft or worm ~ gear 77, the llpper end of whicll termiilates as shown in `~i 11f~21ti6 ~ (J
~ig. l~ in a bearin~ sul-port ~truct~lre 9 se~ured to the tracl;. As .shown in ~ig. 6 tlle dolly 6i is conllectcd to a pivot h~using ~1. witl~ wllicll i.s ~lpported . drive nut 83 ; secured to sllaft 77 b~ retail~:ing pin 84 in drive nllt hous-ing 86. ~hen the shaft 77 is ;otated the dolly 67 mov-s J Up or dor.~n within the track 65 to selected positions. The 7 pivot housing permits son~e play bet-~een the nut shaft dolly and track to minimize stresses on t-hese components.
Also supported within the dolly 67 is a horizontal : 10 bearing support 85 (see Fig. 4) upon which is rotatably support~d the lower end of a power arm 87. A pi.pe gri.p-ping head 101 is mounted to the other end of the power ann s shown in Fig. 1. A suitab].e pipe gri.pping head for use with the present inVe~ltiOn is sho~m i.n Fig. 10.and discussed in U.S. Patent 4 304,433 of December 8 1981 to Faustyn C. Langowski and entitled "PIPE GRIPPING HEAD"
Other pi.pe gripping heads which can be used ~lith the pres-ent invention are kno-~n :in the art. ~ cross bar 89 (See Fi~s. 1 and 7) having first and second pivot points is con-nected at the first pivot pOillt 91 to the mid-region of the power arm 87. A scissGr arm 93 is rotat-ably connected coincidentally at the first pivot pOillt of the cross bar 89 at one end and is rotaLably carried by a select one of Lhe vertical leg 63 and turret 41 at the other end. In this example the vertical leg 63 was selected.
A fir.st support arm 95 is rotatably connected at one end to the~second pivot point 9~ of the cross bar 89 and at the o~her end to the ve tical leg 63 at a point near to and horizontally aligned with the p~int at ~hich the scissor ann 93 .is connected to the vertical lc; 63 the first suppo~t arm 95 being of equal length to the scissor ar~n 93. A second SUppo-Lt arm 99 i.s rota~ably connected coincidentally at one end to the second pivot point 97 of cross bar 89 and at the other end to the pipe gripping head l01 at a point near to and horizontally ~, ~'w,~
j~W
J ~ 23L66 ali~ned ~ith the point ~t which tl-e pl)wel arm 87 i~
connectecl to the pi.pe gripping head (see l'i~. 8~.
'I`he distante be~t~een ~I~ese I~SL two po~ ts, l)etween the pivot points 91 an~I 97, and ~eLween Lhe points at _1 5 which the firs~ support arm (35 an(l t~Ie sci,sor arm 93 '~ connect to the ver~ical l.e~g 63 sholIld .~11 he approxi-~ mately equal. By keeping these distances the same, keeping first pi.vot point 91 iaI the Inid-regiorl of power arm ~~/, and Iceeping the lengths o~ tht-~ sc; SSOL arm 93 10 and first support arm 95 the same, a pdir t)i parallelo-grams are definecl ~hich c3use tht- pipe gJrippiI-~ head 101 to maintain a horizontal attitude a.s it is exterId-e~ and retracted. The turret 41, ~ihown iTI Fi.~. 2, is provided with biasing means compri.sin~ a cam operated 15 valve 137 and cam actuator 141 to minimi~e shock load-in~ on the turret 41 and facilitat:e movement of the ~ ~ripping head ]01 from t.he f~Il]y retract~ed position as '~ . will be discussed later.
- Control mechanisms for the present invention are known in ~he art. The preferred control mechanism for the apparatus is shown schematically in Fig. 11. Along the bot~om edge of the di.agram are fo~Ir control valves connected to a con~on pressure source 109. Beginning on the right side of the diagram, pres~ure source 109 25 supplies fluid through line 11]. to the head control valve 113. Valve 113 is a two position four-way va'lve with detent ~ ich in the- positi.on sho~I al.lows pressure to ~Low along line 115 to one end of hydraulic cylinder 117 in the gripping head 101 to opeIl the ht-~ad. I~leIl valve 113 is shifted to the rigIlt, fluid p~sses along lir.e~ 119 to the opposi~e end of fluid cylin~Ier ll7 to close the head 101., The mechcLnism fcr controlling the porier arm 87 is showrl in Lhe upper right corner of tlle dia~r.lm. Pres-sure source 109 sup,~lics ~lui.d prt.ssure ~hrough line~ 121 to the po-.~er arm contr(?l valve 123. Valvt 123 ls a three poC.ition ~our-way valve with spr;n~ center;n~,. IJhelI valvt . ., ~4~166 -123 is shifted to the right, pressllre trav^ls up line 129 to a pilot operated spring return tllree-way valve 135 where flow is initia]ly bloeke(l. Pressure also flows along line 131 to a cam-operated two position spring re-turn follr-way valve 137. In th~ position shown, pres-sure flo~s out port 139 providin~ a pilot signal to valve 135. Valve 135 is shifted to the left allowing pressure to flow up line 129 to rotate dolly motor 73 in the counter-clockwise direction and retract power arm 87. When power arm 87 is fully retracted, cam actuator 141 on valve 137 is engaged shifting valve 137 upward. Upward movement of valve 137 blocks the flow of pressure from port 139 and allows e~cess pressure to be exhausted from port 143. Valve 135 is spring driven back to the right to block the flow of pressure to motor 73.
Shifting power arm control valve 123 ~o the left al-lows pressure to flow along line 125 to a second pilot operated valve 127 where flo~ is initiaLly blocked.
~ Pressure flows along line 145 providing a pi]ot signal to valve 127 shifting valve 127 to the right. Pressure can then flow up line 125 to rotate motoI 73 in the _ clockwise dir~ction and extend the power arm ~7. Cen-tering the power arm control valve 123 cuts off the pilot signal 145 to valve 127, stops the rotatioll of mo~or 73, and stops the movement of the power arm.
The trolley 23 and turret 41 are operationally interrelated as shown in the center and ]eft hand por-_ tions of the diagram. Rressure from source 109 travels up line 147 to the trolley control valve 1'~9 which is identical in design to the power arm control valve 1~3.
Shifting va]ve 149 to the right allows pressure to flow up line 151 ~o valve 153 where flow is initially block-ed. Valve 153 is a pilot operated valve identical to _ valves 127 and 135 previously described. Pressure flows up line 155 to a second cam-operated valve 157 identical to valve 141. In the pOSitiOII shown, pressure flows out port 159 to provide a pilot signa] to v.llve 153 shifting ,~
lif~Z166 ` - ]. 2 -valve 153 to the let. This movement allows flow t:o con-tinue Up line 151 throu~h valve 161 to turret motor 61 c~using't:hc~ turre~ 4l to ro~nte.
en t1le turret llas rot~ted ~li.nety clegrees, carn ~ a~t~;laror 163 on valve 157 i.!i e.nr~ Cd l~y right cam 166 - 5 (See Fig. 2) caus,ing valve 157 t,.o .shift up~ard. F'l.ow i.s ~locked from port 159 and flows Oll~ port 165 i.nstead to provide a pilot si~na:l. to v~lve 167. The pil.ot signal shifts valve 167 to the lt'ft allOWi.11g pressure tG L10~ Up line 169 to trolle~ moto~- 35 to cau5e clockwise rotation o the clri.ve sp.vcket ~7 and move the trolle~ 2'3 alollg track '21 (Fi~. 1) to the l~ft. ~y centcring the trol.le~
control valve 149, rlow to val~Te 157 and hence the pilot signal to valve 1~7 i~ cut off stopping pr~ssure f].ow up li~e 1.69. Pressure to motol 35 is bl.oclccd and the trol]ey 23 stops nlovilg along track 21.
Shifting the trolley eontrol valve ~.49 to the left ~ allows pressure to flow up 'line 171 where ~low is in-._ itially blocked at another pi].ot operated valve 173.
Flow conti.nues along line 175 to cam-operated v~lve 177.
Flow passes out port 179 t.o pro-~7ide a p.'.lot signal to valve 181, shi.fting valvc 181 to the left. Pressure then flows up line 183 to trolley motor 35 to rotate dri.ve sprocl;et 27 in a counterclockwise directlon and rnove the trolley 23 along track 21 to the ri~ht (s~e ~ig. 1). r,~Then the trolley 23 reaches the end of tra~k 21, cam actuator 185 is engaged on valve 177 shiEting valve 177 upward (S~e ~ig. ?), U~ard mc.vement of the valve 177 cuts off the pilot sign~l to valve 181 and stops tl-le pressure flow to motoL- 35. Simultaneously, pressure flows O~lt port 187 of valve 177 providi,ng a pilG- Sigla~ to valve ].73 and shifting ya].Sve 173 ~o the left. Pressu-re then flows up li.ne 171 thro~lgh valve 16l to tllrret n.cr,or 6-l callsing it.s countel-clockwise rotatlon. I~n the tro:l.ley control J valve 149 is shifte~ to center, ~he fl.ow of pressul-~ to ~:' 35 valv~ l-/3 and mot:or 61 is cut off, StOppi11g rotation of ~ the mo~oL-.
Pressurc is supplied Erom sour(:e :L~)9 to the right-le~t selector valve 19] through line 189. In the posi-~i.on shown, pressure is blocked at valve 191. 13y shifting valve 191 to the lef~, a pi].ot signal is C,ent up line 19~
to pilot operated valve 161 ~o s1li~t valve 161 Lo the left.
~~ Shiftirlg valve 161 to the left reverses the fl~w of pres-~~ sure up llnes 151 and 171 respecti.vely ca~lsin~ motor 61 to rotate ninety degress in the opposi.te direction from that previously described when the troll.ey control valve 149 is shifted.
In operation, an operator stands upon the board 19 at a control console 105 to operate the apparat~ls (see Figs. 1 ~ 9). A stand of pipe 11 is uncoupled from the ~rill pi.pe held by slips in the rotary table (not shown) an~ lifted lnto a set back area by e]evators 107.
When the control.s are as shown in Fig. 11, the ~ trolley 23 is at the end of ~raclc ')1 opposite motor 35 and power arm 87 is colllpletel~T retracted alld aLi.gned ~ along the longitudinal a~is of track 21. The rigllt-left selector val-ve 111 is preset before the trip is made to a]low rac:king to either the right or left side of fing~r-board 13. In normal operation, one side of the fi.nger-board 13 is completely racked before rac1cing the opposite side. In Fig. 11, valve 191 has been preset to rack the right side OI the fingerboard 13.
Power ann control valve 1~3 is s~lifted to the left causing pressure to flow throllgh valve 127 to motor 73 _ to extend the power arm. 'fhe pipe gr;pping head 101 is ln the opell position with the head control valve 113 in ~he position shown in Fig. 11. When the gripping head 1.01 engages the pipe 1l., the head cont~ol valve 113 is shifted to the right~to close the head on the ~ipe as shown in solid lines in I'ig. 9.
Power arlll control valve 123 is then shif~ed to the right sendillg a pilot signal to valve 135 thereby causing pressure to ~low througll valve 135 to motor 73 to retract the power arm 37. 13;a.in~, meclns co.r~lprisin~ m operat~d 16~;
valve 137 ~revellt a mecllanlc.~l. locl~-u~ of the power arm.
~ithout such bias:ing mealls, motor 73 wollld operate at full i speed to torque-up the ~orm gear 77 all(l nnt ~3 to such a de gree t:hat mot:or 73 wollld not be aljle to ov~rcome the torque to reverse the operat:iorl all~ ex~erl~l the arm 8/. rrior to ~ torque-up, cam operated va].ve ]37 ls ac~alate(l as prcviously 1 ~escril~ed to shut off the ci;r supp]y to m-,tor 73 an(l stop movement of the worm gear 77. When the pipe ll is in con-tact with the end of ~he monkeyboard ]'~, t~e operator shifts 1() the trolley control valve 149 to t:he ri~ht. Valves 153 and 167 are initially blc,cked causirlCP~ pressure to flow up line 155 to valve lS~. A pilot signal co~ning out port 159 opens valve 153 and powers thc turr~t motor 61 to rotate the tur-ret 41 ninety degrees to the right. At this point, the right cam 166 located on driven sprockct ~9 depresses cam actuator 163 and blocks flow to valve 153. Pressure flo~s out ~ort 165 to open valve 157 all.owing pressure to pass up line 169 and actuate trolley motor 35.
By moving the trolley control valve 14g to t'ne center position shown in Fig. 11, the trolley 23 is stopped at the desired po~si~i~n along fingerboard 13. I'he operator then _ extends the power arm 87 as previously explained to place the top of pipe 11 in the selectl~d rack 15 as shown in dot-Led lines in Fig. 9. The head cor.trol valve 113 is shifted to the left to open the hea~ lnl and release the pipe 11.
Power arln 87 is retracted by shifting ~alve 123 to the right.
The trolley COIItrO] valve ]49 is thell shifted t-o the left a]lowing the flow to pass up line l71 to reverse the above ,.; procedure and return the apparatus to the starting position.
The operation o~ cam operclted valves 157 and 177 de-_, scribed above will not allow the turre~ 41 to rotate un-less the.trolley ~3 is a~ the end of track 21 opposite motor 35. The trolley 23 cannot be moved alon~ the track ~ .
21 in the direction of motor 35 ullless th~ t~lrreL 41 has been rotated ninety dec~,rees. Tlllls, usincP~ the preferred control mechanism, the power arm 87 will always he ~, ~l~Z~L66 rot~ted ninety ~egrees from the po;it.i.on .sllown in Fig. 1 when the trolley is at an intermedil~e posi.tion along the track. This feature of ~he preerred control mechanism is desi.gned ~o ~revent an operntor from nccident~lly ramming the monlce)board 19 with a stan(l of pipe.
~~ It should be apparent to those ski].l.ed in the art ~ that the above described apparatus has a rugged con-; struction that will enhance reliability ancl minimize maintenance. The straigh~ line mechanism composed es-sentiall.y of the power arm 87 and scissor arm 93 can be used to move the pipe gripping head 101 into engage-ment and di.sengagement with tle pipe 11. The use of first and second suppvrt arms 95 and ~9 and cross bar 89 to form a pair of parallelograms maintain3 the pipe - 15 gri.pping head in a hGri~ontal pOSitiOII and adds stabil-it~..
~ ~ilc the invention has been shown in only one of - its forn~s it sllould be apparent to those skil].ed in the ~ art that it is not thus limited but is susceptible to various changes an~ modifi.cations without depar~ing from the spirit thereof.
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Claims (4)
1. Apparatus for moving stands of pipe in a derrick, said apparatus comprising:
a powered turret for rotation about a generally vertical axis;
mounting means for positioning said turret at a selected location relative to the derrick;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm; and a scissor arm having one end rotatably connected to the power arm and the other end rotatably connected to a selected one of the leg and the turret.
a powered turret for rotation about a generally vertical axis;
mounting means for positioning said turret at a selected location relative to the derrick;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm; and a scissor arm having one end rotatably connected to the power arm and the other end rotatably connected to a selected one of the leg and the turret.
2. Apparatus for moving stands of pipe in a derrick, said apparatus comprising;
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the track;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a scissor arm having one end rotatably connected to the vertical leg and the other end rotatably connected to the power arm; and biasing means connected to a select one of the vertical leg and turret to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the track;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a scissor arm having one end rotatably connected to the vertical leg and the other end rotatably connected to the power arm; and biasing means connected to a select one of the vertical leg and turret to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
3. Apparatus for moving stands of pipe in a derrick, said apparatus comprising:
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the track;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a scissor arm rotatably connected at one end in the mid-region of the power arm and at the other end to the vertical leg at a point in generally vertical alignment with the point at which the power arm is mounted to the dolly; and biasing means connected to the vertical leg to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the track;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected positioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a scissor arm rotatably connected at one end in the mid-region of the power arm and at the other end to the vertical leg at a point in generally vertical alignment with the point at which the power arm is mounted to the dolly; and biasing means connected to the vertical leg to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
4. Apparatus for moving stands of pipe in a derrick, said apparatus comprising:
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the tracks;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected posi-tioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a cross bar having a first and second pivot points connected at the first pivot point to the mid-region of the power arm;
a scissor arm having one end rotatably connected to the power arm coincidentally with the first pivot point of the cross bar and the other end rotatably carried by the vertical leg;
a first support arm connected at one end to the second pivot point of the cross bar and at the other end to the vertical leg at a point near to and horizontally aligned with the point at which the scissor arm is connected to the vertical leg said first support arm being of equal length to the scissor arm;
a second support coincidentally connected at one end to the second pivot point of the cross bar and at the other end to the pipe gripping head at a point near to and horizontally aligned with the point at which the power arm is connected to the pipe gripping head so that the distance between these two points, between the pivot points of the cross bar, and between the points at which the first support arm and scissor arms connect to the vertical leg are all approximately the same; and biasing means connected to the vertical leg to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
a generally horizontal track mounted at a selected location relative to the derrick;
a powered trolley mounted for selected movements and positioning along the tracks;
a powered turret mounted on the trolley for rotation about a generally vertical axis;
a generally vertical leg supported and rotated by the turret;
a powered dolly mounted for movement and selected posi-tioning along the vertical leg;
a power arm having one end rotatably mounted to the dolly;
a pipe gripping head mounted to the opposite end of the power arm;
a cross bar having a first and second pivot points connected at the first pivot point to the mid-region of the power arm;
a scissor arm having one end rotatably connected to the power arm coincidentally with the first pivot point of the cross bar and the other end rotatably carried by the vertical leg;
a first support arm connected at one end to the second pivot point of the cross bar and at the other end to the vertical leg at a point near to and horizontally aligned with the point at which the scissor arm is connected to the vertical leg said first support arm being of equal length to the scissor arm;
a second support coincidentally connected at one end to the second pivot point of the cross bar and at the other end to the pipe gripping head at a point near to and horizontally aligned with the point at which the power arm is connected to the pipe gripping head so that the distance between these two points, between the pivot points of the cross bar, and between the points at which the first support arm and scissor arms connect to the vertical leg are all approximately the same; and biasing means connected to the vertical leg to urge the pipe gripping head away from the vertical leg when the pipe gripping head is retracted.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/130,762 US4345864A (en) | 1980-03-17 | 1980-03-17 | Pipe manipulator |
| US130,762 | 1980-03-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1142166A true CA1142166A (en) | 1983-03-01 |
Family
ID=22446206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000361553A Expired CA1142166A (en) | 1980-03-17 | 1980-10-03 | Pipe manipulator |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4345864A (en) |
| CA (1) | CA1142166A (en) |
| DE (1) | DE3048523C2 (en) |
| NO (2) | NO156699C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007143842A1 (en) * | 2006-06-14 | 2007-12-21 | Roboweld Inc. | Systems and methods for autonomous tripping of oil well pipes |
| CN112096315A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Multifunctional manipulator |
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| US4462733A (en) * | 1982-04-23 | 1984-07-31 | Hughes Tool Company | Beam type racking system |
| US4494899A (en) * | 1982-04-28 | 1985-01-22 | Tri-Star Enterprises, Inc. | Pipe trough for transporting pipe between upper and lower positions |
| US4621974A (en) * | 1982-08-17 | 1986-11-11 | Inpro Technologies, Inc. | Automated pipe equipment system |
| US4548544A (en) * | 1982-12-30 | 1985-10-22 | Prince Corporation | Robot apparatus particularly adapted for removing and handling die cast parts |
| US4552506A (en) * | 1984-01-24 | 1985-11-12 | Gmfanuc Robotics Corporation | Opener mechanism and system utilizing same |
| NO154933B (en) * | 1984-06-18 | Kjell Haughom | STEERING HANDLING APPLIANCE. | |
| US4709766A (en) * | 1985-04-26 | 1987-12-01 | Varco International, Inc. | Well pipe handling machine |
| FR2585066B1 (en) * | 1985-07-19 | 1988-05-13 | Brissonneau & Lotz | METHOD AND INSTALLATION FOR VERTICAL STORAGE OF DRILL RODS ON A DRILL TOWER |
| US4765401A (en) * | 1986-08-21 | 1988-08-23 | Varco International, Inc. | Apparatus for handling well pipe |
| US4725179A (en) * | 1986-11-03 | 1988-02-16 | Lee C. Moore Corporation | Automated pipe racking apparatus |
| US4789125A (en) * | 1986-12-11 | 1988-12-06 | Pritchard James A | Linear moving carriage |
| US4791997A (en) * | 1988-01-07 | 1988-12-20 | Vetco Gray Inc. | Pipe handling apparatus and method |
| US4877093A (en) * | 1988-03-03 | 1989-10-31 | National-Oilwell | Spring actuated power swivel support rollers |
| NO891944D0 (en) * | 1989-05-12 | 1989-05-12 | Hitec As | DEVICE FOR ROD HANDLING SYSTEM. |
| US5183366A (en) * | 1990-12-04 | 1993-02-02 | Longyear Company | Rod handler apparatus |
| CA2060123A1 (en) * | 1992-01-28 | 1993-07-29 | Ronald Ballantyne | Device for handling down-hole pipes |
| JP2558080B2 (en) * | 1994-11-02 | 1996-11-27 | 株式会社奈和精機製作所 | Transfer device |
| US6085852A (en) | 1995-02-22 | 2000-07-11 | The Charles Machine Works, Inc. | Pipe handling device |
| DE19654041A1 (en) * | 1996-12-23 | 1998-06-25 | Focke & Co | Device for handling objects |
| IT1292791B1 (en) * | 1997-06-20 | 1999-02-11 | Soilmec Spa | MANEUVERING EQUIPMENT FOR AUCTIONS USED IN DRILLING SYSTEMS |
| US6554075B2 (en) * | 2000-12-15 | 2003-04-29 | Halliburton Energy Services, Inc. | CT drilling rig |
| TW200505606A (en) * | 2003-05-20 | 2005-02-16 | Ishikawajima Harima Heavy Ind | Panel transporting device |
| US7178612B2 (en) * | 2003-08-29 | 2007-02-20 | National Oilwell, L.P. | Automated arm for positioning of drilling tools such as an iron roughneck |
| CN1938207A (en) * | 2004-05-10 | 2007-03-28 | 石川岛播磨重工业株式会社 | Panel carrying device |
| US7794192B2 (en) * | 2004-11-29 | 2010-09-14 | Iron Derrickman Ltd. | Apparatus for handling and racking pipes |
| US7802636B2 (en) | 2007-02-23 | 2010-09-28 | Atwood Oceanics, Inc. | Simultaneous tubular handling system and method |
| US7841415B2 (en) * | 2007-03-22 | 2010-11-30 | National Oilwell Varco, L.P. | Iron roughneck extension systems |
| US8317448B2 (en) * | 2009-06-01 | 2012-11-27 | National Oilwell Varco, L.P. | Pipe stand transfer systems and methods |
| US8215888B2 (en) | 2009-10-16 | 2012-07-10 | Friede Goldman United, Ltd. | Cartridge tubular handling system |
| DE102010016585A1 (en) * | 2010-04-22 | 2011-10-27 | Bentec Gmbh Drilling & Oilfield Systems | Drill pipe handling device, method of operating the device and use of means for moving such device |
| US8961093B2 (en) * | 2010-07-23 | 2015-02-24 | National Oilwell Varco, L.P. | Drilling rig pipe transfer systems and methods |
| CN102407524A (en) * | 2010-09-21 | 2012-04-11 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| US9505137B2 (en) | 2011-03-30 | 2016-11-29 | Squse Inc. | Scott Russell mechanism device |
| US8523721B2 (en) * | 2011-04-06 | 2013-09-03 | National Oilwell Varco, L.P. | Belt tensioner |
| GB2498190A (en) | 2012-01-04 | 2013-07-10 | Nat Oilwell Varco Lp | Apparatus and method for positioning and connecting equipment on a drilling rig |
| US8936424B1 (en) * | 2012-01-17 | 2015-01-20 | Canyon Oak Energy LLC | Vertical pipe handler with pivoting arms and smart grip |
| ITUD20130037A1 (en) * | 2013-03-20 | 2014-09-21 | Fincantieri Cantieri Navali It | "SYSTEM AND METHOD OF MOVEMENT OF TUBULAR ELEMENTS" |
| US9181764B2 (en) | 2013-05-03 | 2015-11-10 | Honghua America, Llc | Pipe handling apparatus |
| NO337367B1 (en) | 2013-10-22 | 2016-03-29 | Mhwirth As | Lifting arm assembly and method for lifting a pipe. |
| WO2015103150A1 (en) * | 2013-12-30 | 2015-07-09 | Longyear Tm, Inc. | Drill rod handling system for moving drill rods to and from an operative position |
| CN104908037A (en) * | 2015-05-26 | 2015-09-16 | 成都高普石油工程技术有限公司 | Rotary upper mechanical arm for drill moving |
| CN104989305A (en) * | 2015-05-26 | 2015-10-21 | 成都高普石油工程技术有限公司 | Drilling tool clamping member having firm clamping function |
| CN104818954B (en) * | 2015-05-27 | 2017-10-13 | 重庆探矿机械厂 | A kind of vertical shaft type core-drill(ing) machine |
| CN108547585A (en) * | 2018-06-19 | 2018-09-18 | 四川宏华石油设备有限公司 | A kind of pipe tool angle controller |
| US11891864B2 (en) * | 2019-01-25 | 2024-02-06 | National Oilwell Varco, L.P. | Pipe handling arm |
| US11286731B1 (en) * | 2021-09-01 | 2022-03-29 | Sichuan Honghua Petroleum Equipment Co., Ltd. | Pipe racking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3655071A (en) * | 1970-05-27 | 1972-04-11 | Byron Jackson Inc | Horizontal pipe racking and handling apparatus |
| US3921823A (en) * | 1970-12-15 | 1975-11-25 | Activite Atom Avance | Movement compensating apparatus for floating drilling |
| US3710954A (en) * | 1971-11-24 | 1973-01-16 | Chevron Res | Apparatus for handling well elements |
| JPS5546458Y2 (en) * | 1973-04-11 | 1980-10-30 | ||
| US3840128A (en) * | 1973-07-09 | 1974-10-08 | N Swoboda | Racking arm for pipe sections, drill collars, riser pipe, and the like used in well drilling operations |
| US4077525A (en) * | 1974-11-14 | 1978-03-07 | Lamb Industries, Inc. | Derrick mounted apparatus for the manipulation of pipe |
| US4274778A (en) * | 1979-06-05 | 1981-06-23 | Putnam Paul S | Mechanized stand handling apparatus for drilling rigs |
-
0
- NO NO803628B patent/NO156699B/en unknown
-
1980
- 1980-03-17 US US06/130,762 patent/US4345864A/en not_active Expired - Lifetime
- 1980-10-03 CA CA000361553A patent/CA1142166A/en not_active Expired
- 1980-12-02 NO NO803628A patent/NO156699C/en unknown
- 1980-12-22 DE DE3048523A patent/DE3048523C2/en not_active Expired
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007143842A1 (en) * | 2006-06-14 | 2007-12-21 | Roboweld Inc. | Systems and methods for autonomous tripping of oil well pipes |
| CN112096315A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Multifunctional manipulator |
| CN112096315B (en) * | 2020-08-11 | 2022-01-11 | 四川宏华石油设备有限公司 | Multifunctional manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3048523A1 (en) | 1981-09-24 |
| NO156699B (en) | |
| DE3048523C2 (en) | 1986-01-16 |
| NO156699C (en) | 1987-11-04 |
| NO803628L (en) | 1981-09-18 |
| US4345864A (en) | 1982-08-24 |
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Legal Events
| Date | Code | Title | Description |
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| MKEX | Expiry |