Patent Publication Number: US-11649840-B2

Title: Hydraulic lift and walking system for catwalk machine

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to U.S. Provisional Patent Application No. 62/475,595, filed on Mar. 23, 2017, which is hereby incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     A catwalk machine may be used to deliver a joint of tubing (e.g., drill pipe or casing) to a drill floor. Once delivered to the drill floor, a top drive may grab the joint and lift the joint up into a mast, where the joint may be assembled with other joints to form a string (e.g., a drill string or a casing string). The string may then be lowered through a wellhead and into a wellbore. 
     The catwalk machine includes a plurality of legs that are configured to move to enable the catwalk machine to “walk” along the ground to reposition the catwalk machine. In some instances, an existing wellhead may be in the path of the catwalk machine. The legs may include one or more hydraulic cylinders that are configured to lift the catwalk machine up high enough to provide a clearance between the wellhead and the catwalk machine as the catwalk machine walks over the wellhead. Although the hydraulic cylinders are able to lift the catwalk machine, the hydraulic cylinders may not be able to support the weight of the catwalk machine indefinitely. 
     SUMMARY 
     This summary is provided to introduce a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter. 
     A locking device is disclosed. The locking device includes an outer portion and an inner portion. The outer portion has a bore formed at least partially axially therethrough and a channel formed laterally therethrough. The inner portion is positioned at least partially within the bore. A first link is positioned at least partially outside of the outer portion and coupled to the inner portion through the channel. A second link is coupled to the outer portion. A pin is coupled to the first link and the second link. The locking device is in an unlocked state when the inner portion is fully positioned within the bore, and the locking device is in a locked state when an end of the inner portion extends axially out of the bore. 
     A system is also disclosed. The system includes a leg and a locking device. The leg includes a lower portion and an upper portion. The upper portion moves with respect to the lower portion as the leg actuates between a contracted state and an extended state. The locking device is coupled to the upper portion of the leg. The locking device actuates between an unlocked state and a locked state. The locking device is not in contact with the lower portion of the leg when the locking device is in the unlocked state, and the locking device is in contact with the lower portion of the leg and secures the leg in the extended state when the locking device is in the locked state. 
     A method for moving a catwalk machine is also disclosed. The method includes engaging a locking device with an actuator. The locking device is coupled to an upper portion of a leg. The locking device includes an outer portion having a bore formed at least partially axially therethrough and a channel formed laterally therethrough. An inner portion is positioned at least partially within the bore. A first link is positioned at least partially outside of the outer portion and coupled to the inner portion through the channel. A second link is coupled to the outer portion. A pin is coupled to the first link and the second link. The method also includes actuating the locking device into a locked state using the actuator to cause an end of the inner portion to extend axially out of the bore and contact a lower portion of the leg. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present teachings and together with the description, serve to explain the principles of the present teachings. In the figures: 
         FIG.  1    shows a perspective view of a catwalk machine, according to an embodiment. 
         FIG.  2    shows a perspective view of a leg of the catwalk machine in a first, contracted state, according to an embodiment. 
         FIG.  3    shows a perspective view of the leg of the catwalk machine in a second, extended state, according to an embodiment. 
         FIG.  4    shows a perspective view of a locking device in a first, unlocked state and being engaged by an actuator, according to an embodiment. 
         FIG.  5    shows a perspective view of the locking device in the first, unlocked state, according to an embodiment. 
         FIG.  6    shows a perspective view of the locking device in a second, locked state and being engaged by the actuator, according to an embodiment. 
         FIG.  7    shows a perspective view of the locking device in the second, locked state, according to an embodiment. 
         FIG.  8    shows a flowchart of a method for moving a catwalk machine, according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings and figures. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments. 
     It will also be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first object or step could be termed a second object or step, and, similarly, a second object or step could be termed a first object or step, without departing from the scope of the present disclosure. The first object or step, and the second object or step, are both, objects or steps, respectively, but they are not to be considered the same object or step. 
     The terminology used in the description herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used in this description and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Further, as used herein, the term “if” may be construed to mean “when” or “upon” or “in response to determining” or “in response to detecting,” depending on the context. 
     Attention is now directed to processing procedures, methods, techniques, and workflows that are in accordance with some embodiments. Some operations in the processing procedures, methods, techniques, and workflows disclosed herein may be combined and/or the order of some operations may be changed. 
       FIG.  1    shows a perspective view of a catwalk machine  100 , according to an embodiment. The catwalk machine  100  may include a substructure  102 , an upper ramp  104 , a lower ramp  106 , a telescopic frame  108 , a tubular feeding unit (TFU)  110 , a pinned leg  112 , a tubular pusher  114 , one or more walking legs (four are shown:  120 A-D), one or more walking feet (four are shown:  122 A-D), and one or more front elevating legs (two are shown:  130 A,  130 B). 
       FIG.  2    shows a perspective view of a leg  120 A of the catwalk machine  100  in a first, contracted state, according to an embodiment. While  FIG.  2    shows the walking leg  120 A, the other walking legs  120 B-D may have a similar structure and may function in the same manner as the walking leg  120 A. In at least one embodiment, the elevating legs  130 A,  130 B may have a similar structure and may function in the same manner as the walking leg  120 A, except, the elevating legs  130 A,  130 B may not have the walking foot  122 A coupled thereto. Thus, the elevating legs  130 A,  130 B may be able to extend and contract (e.g., vertically) similar to the walking legs  120 A-D, but may not walk (e.g., horizontally) like the walking legs  120 A-D. 
       FIG.  3    shows a perspective view of the walking leg  120 A of the catwalk machine  100  in a second, extended state, according to an embodiment. The walking leg  120 A may include a first, lower portion  124 A and a second, upper portion  126 A. The lower portion  124 A may be positioned at least partially within the upper portion  126 A. One or more hydraulic cylinders (not shown) positioned within the walking leg  120 A may be configured to raise the upper portion  126 A with respect to the lower portion  124 A. This may extend (i.e., increase the length of) the walking leg  120 A from the first, contracted state ( FIG.  2   ) into the second, extended state ( FIG.  3   ). The hydraulic cylinder(s) may also be configured to lower the upper portion  126 A with respect to the lower portion  124 A. This may contract (i.e., reduce the length of) the walking leg  120 A from the second, extended state ( FIG.  3   ) into the first, contracted state ( FIG.  2   ). 
     Each of the walking legs  120 A-D may be configured to extend simultaneously, thereby lifting/raising the substructure  102  farther off of the ground, as shown in  FIG.  3   . Similarly, each of the walking legs  120 A-D may be configured to contract simultaneously, thereby lowering the substructure  102  closer to the ground, as shown in  FIG.  2   . 
     A locking device  300  may be coupled to or integral with the upper portion  126 A of the walking leg  120 A. Although not shown, in another embodiment, the locking device  300  may instead be coupled to or integral with the lower portion  124 A of the walking leg  120 A. The locking device  300  may be or include a mechanical locking pin. The locking device  300  is described in greater detail below with respect to  FIGS.  4 - 7   . 
     An actuator  330  may also be coupled to the lower portion  124 A of the walking leg  120 A. The actuator  330  may be or include a rod that is configured to be decoupled from the walking leg  120 A and then used/wielded by a user. More particularly, the locking device  300  may be out of the user&#39;s reach when the walking leg  120 A is in the extended state (e.g., greater than 3 meters off of the ground), and the user may use the actuator  330  to extend/reach upward and engage the locking device  300 . 
       FIG.  4    shows a perspective view of the locking device  300  in a first, unlocked state and being engaged by the actuator  330 , and  FIG.  5    shows a perspective view of the locking device  300  in the first, unlocked state (with the walking leg  120 A and actuator  330  omitted for clarity), according to an embodiment. The locking device  300  may include a first, outer portion  302  and a second, inner portion  304 . The outer portion  302  of the locking device  300  may be configured to be coupled to the upper portion  126 A of the walking leg  120 A. More particularly, the outer portion  302  of the locking device  300  may include a flange  306  having one or more openings  308  formed therethrough for receiving coupling devices (e.g., bolts, screws, etc.) for coupling the outer portion  302  of the locking device  300  to the upper portion  126 A of the walking leg  120 A. 
     The outer portion  302  may have a bore  310  formed at least partially axially therethrough, and the inner portion  304  may be positioned at least partially within the bore  310 . The outer portion  302  may also define an axial channel  312  that provides access laterally (e.g., radially) through the outer portion  302  to the inner portion  304 . A first link  318  may be positioned at least partially outside of the outer portion  302  and coupled to the inner portion  304  through the channel  312 . A second link  320  may be positioned at least partially outside of the outer portion  302  and coupled to the outer portion  302 . The first and second links  318 ,  320  may also be coupled together via a pin  322 . The pin  322  may extend laterally-outward from the first and second links  318 ,  320 . As shown in  FIG.  4   , an upper end  332  of the actuator  330  may have an opening  334  that is sized and shaped to engage the pin  322  (e.g., to have the pin  322  fit within the opening  334 ). 
     When the locking device  300  is in the unlocked position, the inner portion  304  may be positioned (e.g., entirely) within the outer portion  302 . In other words, an end  305  (not shown in  FIGS.  4  and  5   ; see  FIG.  7   ) of the inner portion  304  may not extend beyond an end  303  of the outer portion  302 . As a result, the inner portion  304  may not be positioned at least partially within or otherwise contact or engage the lower portion  124 A of the walking leg  120 A. 
     In addition, when the locking device  300  is in the unlocked position, an end  319  of the first link  318  may be positioned proximate to an inner end  314  of the channel  312 . As a result, an angle α between the first and second links  318 ,  320  may be from about 45° to about 170°, about 60° to about 135°, or about 75° to about 105°. 
       FIG.  6    shows a perspective view of the locking device  300  in a second, locked state and being engaged by the actuator  330 , and  FIG.  7    shows a perspective view of the locking device in the second, locked state (with the walking leg  120 A and actuator  330  omitted for clarity), according to an embodiment. When the actuator  330  is engaged with the pin  322 , the user may actuate the locking device  300  into the locked state. More particularly, the user may exert a downward force on the actuator  330 , which may pull the pin  322  downward. As the pin  322  moves downward, the end  319  of the first link  318  may move or slide toward an outer end  316  (see  FIG.  5   ) of the channel  312 . This may cause the angle α to increase to from about 150° to about 180°, about 160° to about 180° or about 170° to about 180°. 
     The end  319  of the first link  318  may be coupled to the inner portion  304 , as described above. Thus, as the end  319  of the first link  318  moves toward the outer end  316  of the channel  312 , this may cause the inner portion  304  to move or slide with respect to the outer portion  302 . More particularly, the end  305  of the inner portion  304  may slide beyond the end  303  of the outer portion  302 . As a result, the inner portion  304  may be positioned at least partially within or otherwise contact or engage the lower portion  124 A of the walking leg  120 A to lock/secure the lower and upper portions  124 A,  126 A of the walking leg  120 A in the (e.g., extended) state. 
     Although the locking device  300  is described as actuating into the locked position when the pin  322  is moved downward and actuating into the unlocked position when the pin  322  is moved upward, in a different embodiment, the locking device  300  may instead actuate into the locked position when the pin  322  is moved upward and actuate into the unlocked position when the pin  322  is moved downward. 
       FIG.  8    shows a flowchart of a method  800  for moving the catwalk machine  100 , according to an embodiment. The method  800  may include causing the walking leg  120 A to actuate from the first, contracted state into the second, extended state, as at  802 . For example, this may include a user manually actuating a button or lever on an operator panel, control chair, etc., which may cause one or more hydraulic cylinders in the walking leg  120 A to lift the upper portion  126 A of the walking leg  120 A upward with respect to the lower portion  124 A of the walking leg  120 A. 
     The method  800  may also include decoupling the actuator  330  from the (e.g., walking leg  120 A of the) catwalk machine  100 , as at  804 . The method  800  may also include engaging the locking device  300  with the actuator  330 , as at  806 . This may include (e.g., manually) raising the upper end  332  of the actuator  330  and positioning it such that the pin  322  of the locking device  300  is inserted at least partially into the opening  334  in the actuator  330 . 
     The method  800  may also include actuating the locking device  300  into the locked state using the actuator  330 , as at  808 . This may include pulling the actuator  330  downward, thereby pulling the pin  322  downward. As described above, as the pin  322  moves downward, the first link  314  may move the inner portion  304  of the locking device  300  horizontally at least partially into a corresponding hole or opening in the lower portion  124 A of the walking leg  120 A. This may lock/secure the lower and upper portions  124 A,  126 A of the walking leg  120 A in the (e.g., extended) state, which places the load of the (e.g., substructure  102  of the) catwalk machine  100  on the locking device  300 , thereby taking the load off of the hydraulic cylinder(s). 
     The method  800  may also include coupling the actuator  330  to the (e.g., walking leg  120 A of the) catwalk machine  100 , as at  810 . The method  800  may also include causing the catwalk machine  100  to walk along the ground to another position, as at  812 . This may include walking over an existing wellhead while the walking leg  120 A is in the extended state. The walking leg  120 A being in the extended state may provide a clearance between the substructure  102  and the existing wellhead as the catwalk machine  100  walks. 
     When in the desired position (e.g., after walking), the method  800  may again include decoupling the actuator  330  from the (e.g., walking leg  120 A of the) catwalk machine  100 , as at  814 . The method  800  may again include engaging the locking device  300  with the actuator  330 , as at  816 . 
     The method  800  may also include actuating the locking device  300  into the unlocked state using the actuator  330 , as at  818 . This may include pushing the actuator  330  upward, which pushes the pin  322  upward. As described above, as the pin  322  moves upward, the first link  314  may move the inner portion  304  of the locking device  300  horizontally out of the hole or opening in the lower portion  124 A of the walking leg  120 A, and back (e.g., fully) into the outer portion  302  of the locking device  300 . This may unlock the lower and upper portions  124 A,  126 A of the walking leg  120 A, which places the load of the catwalk machine  100  back onto the hydraulic cylinder(s). 
     The method  800  may also include causing the walking leg  120 A to actuate from the second, extended state back into the first, contracted state, as at  820 . For example, this may include the user manually actuating the button or lever on the operator panel, control chair, etc., which may cause one or more hydraulic cylinders in the walking leg  120 A to lower the upper portion  126 A of the walking leg  120 A downward with respect to the lower portion  124 A of the walking leg  120 A. 
     The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Moreover, the order in which the elements of the methods are illustrated and described may be re-arranged, and/or two or more elements may occur simultaneously. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.