Horizontal pipe handling device

A device for handling pipes or stands including a transportation carriage for transport of pipes or stands between a pipe storage and a place for use. The carriage includes picking columns, each having a first picking arm arranged to move substantially vertically. The arms are capable of lifting at least one horizontal pipe or stand from the pipe storage. The picking columns are also equipped with a respective second picking arm, capable of motion substantially vertically on the opposite side of the picking column, to hold the pipe or stand between the first and second picking arms. Also described are a storage device and a pipe erecting device to be used together with the transportation carriage.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention regards devices for handling pipes, especially devices for handling pipes in connection with petroleum production.

2. Description of the Related Art

In petroleum production, a large number of pipes is used for various purposes. When drilling a well, a total of up to several kilometres of drill pipes may be used, each of which pipes is generally approximately 10 m long. Prior to use, these pipes are stored in horizontal stacks on deck. The pipes are connected by threes to form so-called stands. During drilling, the pipes are stored vertically as stands in so-called finger boards on the drill floor, up along the derrick. During drilling, the entire drill string must be withdrawn from the well at certain intervals, so-called tripping, e.g. in order to change the drill bit. With today's technology, the pipes are inserted back into the finger boards in order to be easily accessible for future use.

Up to several kilometres of casing may also used in a well in order to form walls in the wellbore. In the same way, several kilometres of production tubing is used in order to recover oil and/or gas from the well. In addition, several kilometres of other types of piping would generally then be required, for instance injection piping. All these pipes must at some stage be stored on or near the rig.

Traditionally, the movement of pipes between the pipe rack and the drill floor has to a large extent been accomplished through manual work. This task is heavy and entails a great danger to life, health and materials. Great efforts have therefore been made to reduce the element of manual work and transfer this to machines, which are preferably remotely controlled.

One factor is decisive when it comes to the profitability of petroleum production, and that is time. As the equipment used is very expensive, the time it takes from when the equipment is put into service, i.e. the drilling is initiated, until the production starts, will to a large extent be decisive in the cost of the development. It is therefore of great importance to reduce the time consumption during all parts of the development. During the pipe handling processes, it is important to have all the pipes ready when they are to be run into the well, and also to ensure that they can be carried away quickly from the drill floor when they are retrieved from the well.

Furthermore, the fact that standing pipes or stands contribute towards giving the drilling or production installation a high centre of gravity, is increasingly becoming a problem. With the increase in drilling depth over the recent years, the number of pipes has increased considerably. Also, the use of smaller, floating installations such as drill ships has become increasingly common. A high centre of gravity in such installations causes instability. As such, it becomes difficult to satisfy the requirements for stability. This means that other equipment must be moved down, possibly also involving an increase in ballast. This leads to less flexibility in the utilisation of the available space. In the case of vertically stored pipes, the wind catchment area also increases, which in combination with a high centre of gravity may have fatal consequences. Thus it has long been desired to be able to store the pipes horizontally. This has however involved awkward and time consuming pipe handling.

SUMMARY OF THE INVENTION

One object of the invention has been to provide pipe handling equipment that may operate independently and in parallel with any drilling activities that may be in progress in the derrick. This means that the piping goods must be able to be moved between a horizontal position and a vertical position in or by the derrick, and vice versa, while a drilling machine and drill string is in operation in the drilling centre in the derrick. In the case of a retrieval operation involving the entire drill string, this will have particular significance, as it will speed the operation up considerably compared with what has been possible up until today.

A further object of the invention has been to provide pipe handling equipment that is able to pick up a horizontally positioned pipe directly from the pipe rack on the main deck, bring it to a vertical position, and bring it into the drilling centre ready to be connected into a drill string with a minimum of manipulation. It is also becoming more of a requirement that everything is to be handled by use of remotely controlled mechanical equipment.

It is a further object still of the invention to provide pipe handling equipment that is able to handle piping goods of varying lengths, i.e. single pipes and stands, weights and nature without any significant modifications of the equipment. Further, it will not be necessary to have a finger board in the derrick and intermediate storage in the drill floor.

It is also an object of the present invention to enable the centre of gravity to be lowered and the wind catchment area to be reduced for a floating installation, while retaining efficient pipe handling.

Moreover, the present invention aims to improve the utilisation of the available space and/or reduce the size of the drill floor, by reducing or eliminating the need for storage of pipes on the drill floor. According to the present invention, this is achieved by making the handling of pipes in the pipe rack, and to and from this, more efficient, and more particularly by a transport carriage including picking devices that are designed to pick up pipes lying substantially in the horizontal position at different levels in a pipe rack.

One embodiment of the invention also comprises a pipe storage device for horizontal storage of pipes.

In a further embodiment, the present invention also comprises pipe handling equipment adapted for automated pipe handling between an approximately horizontal position and an approximately vertical position in a derrick and vice versa.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The pipe storage device1comprises two supporting blocks3and4that are interconnected via a base frame5including two transverse beams6and7and two longitudinal beams8and9. Each supporting block3and4is arranged in a tilting manner about a mounting10and11respectively in the transverse beam6and7respectively. Means are provided (not shown) for synchronization of the tilting motion of the supporting blocks3and4.

The pipe picking device2acts as a transport carriage for pipes to be transported between the storage device1and e.g. a lifting beam for raising pipes from a horizontal to a vertical position in order to bring this into the derrick, and includes picking columns12and13, which are located on a base frame14that includes a longitudinal beam15and a transverse beam16and17at either end of the longitudinal beam15. Each picking column is equipped with two picking arms18and19. The picking columns12and13may advantageously be moved along the longitudinal beam15as shown by arrows35and36, either synchronously towards and away from each other or independently of each other.

It is also possible to provide more than two picking columns on the pipe picker2, in particular for handling long pipes or entire stands.

FIG. 1shows one of the supporting blocks4of the pipe storage device. This is supported in a tiltable manner about the mounting11in the transverse beam7. The transverse beam7is equipped with wheels20. A tilt cylinder21is interposed between the transverse beam7and the supporting block4.

The supporting block4consists of a generally L-shaped cradle22that comprises a generally vertical part23and a generally horizontal part, or bearer24. A generally vertical stop25is provided by the free end of the horizontal part24. The vertical part23has a generally horizontal projection26by its free end. A thickening28is formed at the corner27of the L-shaped cradle22.

Between the projection26and the thickening28there is a bearing shaft29. A plurality of supporting arms30are arranged in a rotatable manner about the shaft29, which supporting arms extend in parallel with the horizontal part24of the cradle22. A respective spacer31is mounted between the supporting arms30on the shaft29. The supporting arms30have at their free ends a respective, generally vertical stop32. The stops32are of such a height that each stop32rests on the stop32underneath, and the lowermost stop32rests on the stop25.

Each arm30is designed to support a plurality of pipes33. When the supporting blocks3and4are tilted to the position shown inFIG. 1, the pipes33roll against the stops25and32abut these.FIG. 1shows a picking column13for the picker2. This has been run up against the storage device1, so that a picking arm19is positioned immediately underneath the uppermost and nearest pipe33.

The pipe storage device1may if desired comprise more than two supporting blocks, particularly if long pipes or entire stands are to be stored.

FIG. 3shows the picking column13with the picking arms18and19. The picking arms18and19may (as will be described in greater detail below) be run up and down along the side of the picking column13, so that e.g. the picking arm18may be brought from the position shown in solid lines to the position shown in broken lines.

InFIG. 1, the picking arm19is ready to lift a pipe33and bring this up to the position shown inFIG. 3, in which the pipe is held between the picking arms18and19at the top of the picking column13. It must be emphasised that the same movement is being performed at the other picking column12, synchronously with the movement at picking column13, although this is not shown in the figures. In this manner, the whole pipe is lifted in parallel from a position of the supporting blocks3and4to a position at the top of the picking columns12and13.

FIG. 2shows the supporting block3, however here it has been tipped backwards so as to make the pipes33abut the spacers31and the projection26. The pipe picker2is now ready to place a pipe33into the storage device1, by placing this on the supporting arm30behind the stop32.

The base frame15of the pipe picker2is also equipped with wheels34(seeFIG. 3) to allow the pipe picker2to run towards and away from the storage device1. It is preferable that the pipe picker2also be able to run along the longitudinal axis of the pipe33in order to arrive at an appropriate position for delivery of a pipe to or receipt of a pipe from e.g. a lifting device designed to lift the pipe to a vertical position in order to bring this into the derrick.

As shown inFIG. 5, the supporting arms30are rotatably supported in the shaft29, so as to allow the arms30to be swung to the side. When all the pipes33have been removed from one arm30, this is swung to the side so as to allow access to the pipes33lying on an underlying arm30. Conversely, when an arm30has been fully loaded with pipes33, the arm30above is swung back to a position over the fully loaded arm so as to allow pipes to be loaded onto the arm above. One arm in the supporting block3and a swivelling operation is preferably carried out by means of an actuator and remote control.

FIG. 6shows an alternative embodiment of a storage device according to the present invention. The storage device101comprises a plurality of generally vertical fingers102that between them define a storage space103for pipes33. The fingers102are connected to a bearer104by their lower ends, which bearer is located on the piping deck50. The pipes33are designed to be stored on top of each other, and the bottom pipe rests against the bearer104. The distance between the fingers102is slightly greater than the outer diameter of the pipes33.

FIG. 6shows two storage devices101and a pipe picker2that is principally of the same design as the pipe picker mentioned above.

FIG. 7is a top view of the storage device101and the pipe picker2. Here, each pipe rack101can be seen to include two supporting blocks105, each of which is equipped with a number of vertical fingers102. The distance between the two picking columns12and13of the pipe picker is set so as to allow the whole pipe picker2to pass between the supporting blocks105of the same storage device101.

On the piping deck50are provided rails106along which the pipe picker2can move in order to collect pipes from one or the other of the storage devices101, or if required replace pipes in the storage devices101.

When the pipe picker2retrieves pipes from the storage devices101, it will first retrieve that pipe33which is located at the top in the nearest storage space103. When all the pipes have been retrieved from the nearest space103, the pipe picker2proceeds to retrieve pipes from the next space103, starting with the top pipe33in this space.

FIGS. 8 and 9show in greater detail how the picking arms are manipulated. One of the picking columns12is shown partly sectioned. The picking column is formed as a generally vertical column comprising straight side walls120and121that extend vertically from the base frame15and inclined walls122and123that are angled towards each other from respective side walls120and121and are connected via a generally arched top wall124.

The picking arms18and19are connected to separate continuous chains107and108. The chain107extends over an upper end wheel109(hidden inFIG. 8) at the top124of the picking column12, an intermediate wheel110at the point where the inclined wall122and the wall120meet and a lower end wheel111by the base frame15. Likewise, the continuous chain108extends over an upper end wheel112, which inFIG. 8is located outside of the end wheel19, an intermediate wheel113located at the point where the inclined wall123meets the wall121, and a lower end wheel124by the base frame15.

FIG. 9is a sectional top view of the picking column12, taken along the line IX. Here, it can be seen that the intermediate wheels110and113and the picking arms18and19are staggered in the sideways direction. The picking arms18and19can thereby be moved independently of each other. InFIG. 8, the solid line shows the picking arm18in one possible position, while the broken lines show it in another possible position. The arms18and19may independently of each other be moved from a position by the base frame15to a position by the top wall124. This distance is at least equivalent to the relevant height interval within which the pipes in the pipe rack are stored. The walls120,121,122,123and124are provided with through grooves130(seeFIG. 10) through which the picking arms18and19extend, and along which they move.

FIG. 10shows an embodiment of the pipe picer2that includes a supplementary function. This supplementary function is represented by a pipe lifter139that in general comprises an actuator140, e.g. a hydraulic cylinder as shown. One end of the cylinder140is connected to the frame15, and the other end is connected to a generally V-shaped fork141including two legs142and143interconnected via a base144. The fork is shown in its lower position by means of solid lines, and in its upper position by means of broken lines.

The pipe lifter139is used to hold large diameter pipes, e.g. casing pipes that are either too large to be held by the picking arms and/or are not designed to be stored in the storage device1or101. In these cases, the pipe picker2is used to transport pipes between e.g. a crane and the derrick. In this manner, all types of piping may be brought to the same position as that of the pipes that are stored in the pipe storage device1or101, so that further pipe handling equipment (for example as described below) can handle these in an expedient manner.

FIG. 11shows how the pipe storage device1and the pipe picker2feed a pipe erecting device201such as is described in greater detail below, with pipes or stands33. Here, two pipe storage devices1and1′ are positioned on either side of a pipe picker2. The pipe picker2retrieves a pipe from one of the pipe storage devices1or1′ and transports it up to the pipe erecting device201. The pipe erecting device201may be located immediately above the pipe picker2or at a distance away from this, across the plane of the paper. Grappler claws204on the pipe erecting device201are lowered and grip the pipe or the stand33, lifting this up. The pipe picker2may also receive pipes from the pipe erecting device201in order to put these back in the pipe storage devices1and1′. InFIG. 11, there is also shown a crane150that may be used to bring other equipment in underneath the pipe erecting device201.

Reference is now made toFIG. 12for a more detailed description of the pipe erecting device201, which is located on a drilling rig (not shown). The pipe picker is not shown inFIG. 12-14either. The drilling rig includes a main deck210that comprises a pipe storage device215having a large number of stands33lying in the horizontal position, which stands are in turn comprised of three single pipes. A derrick211projects vertically at one end of the main deck210. A traditional top mounted drilling machine (not shown) operates along drilling centre C in the derrick211. An elevator213suspended from the drilling machine can handle a vertically upright stand33in the derrick211, and can lift the stand33up and down along drilling centre C. A spinning and torque tong212is located at a drill floor216near drilling centre C, and may be moved into and out of drilling centre C. The spinning and torque tong212is used to spin in and tighten up the correct torque in the pipe joints214between the stands33, as well as to release and spin the pipe joints214out again.

The actual pipe erecting device201comprises an elongated boom202shown in three different transport positions on the rig. The boom202has two grappler claws204associated with it, which are able to move in towards a stand33, grip it and pick it up from the pipe storage device215and retain the stand33during the subsequent transport. Each grappler claw204is placed at the end of an arm205that may be actuated into manipulation of the grappler claw204away from and in towards the boom202. Each arm205is actuated by an actuating cylinder206, one end of which is connected in an articulated manner to the boom202, and the other end of which is connected in an articulated manner to the arm205.

The boom202is further arranged telescopically along its longitudinal axis, as indicated by arrow P. This means that the boom202can be shortened when piping goods of a shorter length is to be handled. In the figure, this is indicated by one half of the boom202having a slightly smaller cross-sectional dimension than the other half of the boom202. One half may be pushed into and guided in the other half, and they may be interlocked at the desired length. The displacement can be manual, by means of rack mechanisms or by means of actuating cylinders acting between the two halves.

In one end portion of the boom202guide means have been provided in the form of wheels207running in corresponding guides in the form of guide rails208attached to the top of two horizontal and parallel girders220, which at one end are attached to the derrick structure and at the other end are attached to supports221located on the main deck210. The guide rails208must extend far enough towards the drilling centre C to allow the boom202to be brought into a parallel position with the drilling centre C. At the other end portion of the boom202are also provided wheels207′ that run in guide rails208′ placed essentially vertically along the derrick211. At the lower end, the vertical guide rails208′ deflect out onto the girders220, and the last portion of the guide rails208′ run essentially horizontally out onto the girders220for a short distance.

In order to describe a pipe handling operation using the pipe erecting device201, a start is made with an initial position in which the boom202lies horizontally on the girders220. The arms205are manipulated so as to bring the grappler claws204down into the pipe rack215on the main deck210. The grappler claws204grip a stand33and lilt it up against the boom202. Then the boom202is run along the guide rails208,208′ from its horizontal position and gradually to an increasingly vertical position until the boom202ends up in an essentially vertical position along the derrick211. Throughout the operation, the grappler claws204that hold the stand33are brought up against the boom200.

When the boom202is in its final, vertical position, the arms205are manipulated to bring the grappler claws204, still holding the stand33, away from the boom202, and place the stand33in the drilling centre C. The drilling machine with the elevator213is run down, and the elevator213is arranged supportingly around the upper pipe joint. The grappler claws204loosen their grip on the stand33, and the arms205are activated to withdraw the grappler claws204in towards the boom202. The boom202may now be run back down to the pipe rack215in order to retrieve another stand33and repeat the above described operation.

The stand33now depends from the elevator213, and the stand33is lowered towards a vertical pipe string217located below, called a “stick up”. Normally, the string217includes a pipe box at the top, and the stand33includes a pin end at the bottom. When the pin end has been inserted into the pipe box, the spinning and torque tong212is run in against the pipe joint. The spinning tong first performs a spinning operation to screw the pin into the pipe box. Then the pipe joint is tightened to the correct make-up torque using the torque tong.

It must be appreciated that the boom202may be run completely independently of what is in progress in drilling centre C. Thus the end projection of the boom202and the placement of the guide rails208,208′ are calculated so as not to bring the stand33into or into conflict with drilling centre C while the boom202is being run between the pipe rack215and the derrick211, i.e. between the horizontal and the vertical position, and vice versa.

FIG. 13shows the same pipe handling equipment201as that shown inFIG. 12, and equal components have been given the same reference numbers. It is the piping goods to be handled that differs from FIG.12. The piping goods is now a riser or production tubing33′. The Figure will also be representative of the handling of casing. The riser33′ has considerable dimensions, and has smaller pipes222and buoyancy elements223clamped onto the outside. The rear grappler claw204can grip a sling tool209that holds and guides the riser33′. The forward grappler claw204can hold a tool224, the end of which is run into the riser33′ and braced inside the pipe33′ by means of clamps. Here, a situation is shown in which the arms205that carry the grappler claws204are kept permanently extended from the boom202while this is run up and into the derrick211, thereby inserting the riser33′, directly into drilling centre C.

FIG. 14also shows the same pipe handling equipment201as inFIGS. 12 and 13. Here however, the object being handled is not piping goods, but an item33″ being brought from the piping rack215on the main deck210, slightly up and into the derrick211, and down onto the drill floor216, but close to drilling centre C. The item33″, e.g. a tool, is held by the rear grappler claw204by means of a piece of pipe218that faces the direction of travel and a sling that holds a basket or the item33″. The arm205is kept in an extended position, and when the boom202is vertical, the basket is brought directly into drilling centre C. Then the elevator213can be brought down to grip the pipe joint, the grappler claw204can release its hold, and the basket is lowered onto the drill floor216.

For the pipe erecting device201according to the invention, it is clear to see how the drilling machine and the elevator213handle single items vertically, while the boom202and the grappler claws204handle items from the vertical position and out onto the drill floor to a horizontal position and vice versa.

FIGS. 12-14also show that the drill floor216and the main or piping deck210can be disposed at the same level. This is an advantage that may be derived by use of the present invention as a result of the pipes being stored horizontally and thereby not is requiring much space in the height direction, and as a result of the efficient pipe handling achieved by the devices according to the invention described above.

FIG. 15shows an alternative embodiment to that shown inFIGS. 12-14. Here, two pipe erecting devices201′ and201″ are arranged in separate guide rails208′ and208″. The guide rails208′ and208″ have been placed at a distance from and on either side of a line L that runs horizontally through drilling centre C.

Each of the rails208″ and208′″ and each of the pipe erecting devices201′ and201″ may in principle be designed in the same manner as the pipe erecting device201ofFIGS. 12-14. It may however be practical for the arms205′ and205″ with the grappler claws204′ and204″ to be rotatable about the longitudinal axis of the boom202′ and202″ respectively. In this manner, the pipes33may be brought in directly over drilling centre C. For the remainder, the pipe erecting devices201′ and201″ are designed in the same manner as the pipe erecting device202ofFIGS. 12-14.

By using two pipe erecting devices, the capacity may be doubled.

FIG. 16illustrates a case in which the pipe erecting devices201′ and201″ co-operate in lifting a very heavy pipe33′, e.g. a drill collar. This pipe may be transported up to the pipe erecting devices by use of the pipe picker2and the pipe lifter139shown inFIG. 10, by use of the crane150or in another expedient manner. In this case, the pipe erecting devices201′ and201″ are connected to each other via two yokes225and226. The yokes225and226are held by the claws204′ and204″, so that each yoke forms a bridge between the booms202′ and202″. Each yoke comprises a beam227, an arm228placed approximately at the middle of the beam227, and a claw229placed at the outer end of the arm228. The arm228may be longitudinally adjustable.

Further modifications of the invention, beyond what is mentioned above, may be envisaged. This includes using e.g. a crane to replace pipes in the pipe rack instead of using the pipe picker. The pipe picker may be designed so as to be able to handle several pipes at once. It is also possible to imagine each pipe picking column being equipped with more than two picking arms, so that the pipe picker may handle several pipes separately.

It is also conceivable for the pipe picker to be equipped with only one picking arm on each picking column, and, if desired, for a fixed back stop to be arranged by the top of the picking column instead of the other arm. This will be appropriate if the pipe picker is to retrieve pipes from a rack on one side only.

Alternatively, it is also conceivable for both picking arms to be brought down on the same side of the picking column, so that a pipe may also be held between these while being lifted.

It is also conceivable that the picking arms on different picking columns may be adjustable to different levels, so as to enable the pipe picker to pick up and put down inclined pipes.

Any combination of the various types of pipe pickers and storage devices and/or mutual co-operation that are practical, also lie within the scope of the present invention, provided this falls within the following independent claims.