Drilling rig equipment positioning apparatus

Abstract

The invention relates to a drilling rig equipment positioning apparatus (10) having a stationary base (12), a manipulator (14) that can be pivotally moved on the base, and a drilling rig equipment holder (16) at the free end of the manipulator (14), wherein the manipulator (14) can be retracted and extended by means of a drive unit (26), the manipulator (14) specifically being retractable by extending the drive unit (26) and extensible by retracting the drive unit (26).

Description

[0001] Drilling rig positioning device

[0002] The innovation proposed here concerns a device, referred to below as a drilling rig positioning device and sometimes simply as a positioning device, for positioning a drilling rig component. Such a positioning device is intended for use on a drilling rig, specifically a drilling rig for drilling deep boreholes, particularly in carbon deposits or for geothermal energy development. The positioning device is designed to position a drilling rig component, for example, a device for connecting and bolting drill string elements, as well as for loosening such bolted connections. Such devices for connecting and bolting drill string elements, as well as for disconnecting the resulting bolted connections, are called roughnecks or iron roughnecks, and in German sometimes referred to as drill string bolting devices, force bolting devices, and the like.

[0003] When positioning a drilling rig, the target position must be approached precisely. In the case of an iron roughneck, the target position is, for example, a position above the borehole (drill hole, bore well) and / or a position above the so-called mouse hole. The target position must be approached as accurately as possible to avoid time-consuming readjustment of the drilling rig's position. Especially in the case of an iron roughneck, during a round trip, where the drill string in the borehole is completely removed and reinstalled, and the bolted connections between the individual drill string sections must be loosened during removal and re-tightened during reinstallation, it is easy to imagine that even minor readjustment would significantly increase the duration of a round trip.The Iron Roughneck must be moved alternately to the position above the borehole (working position) and then to a rest position for each screw connection to be loosened and later for each screw connection to be made.

[0004] For the purpose of achieving the most precise and repeatable positioning possible of a positioning device of the type mentioned above, wherein the positioning device comprises a stationary base, a pivotable manipulator / parallelogram arm manipulator extending from the base, and a receptacle (drilling rig receptacle) at the free end of the manipulator / parallelogram arm manipulator designed to receive a respective drilling rig attachment, and wherein the manipulator / parallelogram arm manipulator can be extended and retracted by means of a drive unit, for example, a hydraulic linear motor (hydraulic cylinder) acting as a drive unit, various approaches have become known: a displacement measuring system on the hydraulic cylinder; a hydraulic cylinder with two pistons, namely one piston for a working stroke and one piston for storing the position; limiting the working stroke of the hydraulic cylinder by means of a hydraulic accumulator;Hydraulic cylinder with hydraulically adjustable stroke. One objective of the innovation proposed here is to provide a further embodiment of a positioning device of the type mentioned above, with means for its most precise and repeatable positioning possible. In the following, its parallelogram arm manipulator and the parallelogram arm itself are often referred to simply as the manipulator.

[0005] This problem is solved according to the invention by means of a positioning device (drilling rig positioning device) with the features of claim 1. This device comprises a stationary base, with which it is attached, for example, to or on the so-called drill floor. The base defines a pivot point of the positioning device, and a parallelogram arm manipulator, at least pivotable, in particular rotatable, extends from the base. At its other, free end is a drilling rig mounting. A respective drilling rig, for example an iron roughneck or a combination comprising an iron roughneck and a so-called spinner, can be attached to the free end of the parallelogram arm manipulator by means of the drilling rig mounting. The positioning device is designed for positioning the respective drilling rig.The parallelogram arm manipulator can be extended and retracted by means of a drive unit. Extending the parallelogram arm manipulator moves the drilling rig, for example, towards a working position. Retracting the parallelogram arm manipulator moves the drilling rig towards a rest position. The special feature of the positioning device proposed here is that the parallelogram arm manipulator can be extended by extending the drive unit, and extended by retracting the drive unit. Furthermore, the drive unit is equipped with an adjustable mechanical retraction limiter, which limits the retraction of the drive unit and ensures its extension during operation of the positioning device.

[0006] The drive unit is extendable and retractable for extending and retracting the manipulator itself, as is the case, for example, with a hydraulic linear motor (hydraulic cylinder), a pneumatic linear motor (pneumatic cylinder), a threaded spindle, or the like, or more generally with a linear motor / linear drive. Accordingly, at least one hydraulic linear motor, at least one pneumatic linear motor, at least one threaded spindle, or more generally a linear drive or a group of linear drives can be considered as the drive unit. For example, if there is exactly one linear motor, in particular exactly one hydraulic linear motor, the retraction limiting device is assigned to it. If there is more than one linear motor, in particular more than one hydraulic linear motor, the retraction limiting device is assigned to at least one of the linear motors. This applies accordingly to other drive units.

[0007] The direction of movement of the drive unit and the resulting direction of movement of the manipulator are, in a sense, inverses of each other: Retracting the drive unit leads to extending the manipulator, and vice versa. The retraction limiter—as its name suggests—limits the retraction of the drive unit, for example, the retraction path of a feed element of the drive unit. The retraction path of the feed element of the drive unit and the retraction of the feed element of the drive unit are referred to here and in the following simply as the retraction path of the drive unit and the retraction of the drive unit, respectively. Similarly, the extension of the feed element of the drive unit is referred to here and in the following simply as the extension of the drive unit.

[0008] The retraction limiting device, for example, limits the retraction path of a piston rod (feed element) of a hydraulic linear motor (drive unit). By limiting the retraction path of the drive unit using the retraction limiting device, and by limiting the retraction path during operation of the positioning device to ensure the most precise and repeatable positioning possible, the manipulator's range of extension is limited. The retraction limiting device is therefore adjusted to ensure the most precise and repeatable positioning of the positioning device, so that the manipulator extends exactly until the respective drilling rig is in a desired position, referred to below as the working position.By repeatedly extending and retracting the drive unit, the drive unit is always retracted until the retraction limiting device becomes effective. This ensures that the desired position is always reached exactly.

[0009] The aforementioned problem is also solved by means of a method for operating a positioning device as described here and below, with the features of the parallel method claim. In this method, the positioning device is moved into a working position by extending the manipulator (by retracting the drive unit), and the retraction limiting device is activated there. This working position is to be repeatedly approached with high accuracy. The retraction limiting device is activated when the manipulator is in the working position. Activation of the retraction limiting device occurs by securing the drive unit against further retraction in the working position using the retraction limiting device. Moving the positioning device back from the working position, for example to a rest position, remains possible.

[0010] Regarding terminology, it should be noted that a distinction is made between activating the retraction limiter and its becoming effective. The retraction limiter restricts the retraction of the drive unit. Therefore, the retraction limiter is not necessarily permanently active, for example, because it is in a position where it does not currently restrict the retraction of the drive unit, or because it does not restrict the retraction of the drive unit due to a missing fixing or similar mechanism. Only when it has been activated is it possible for it to restrict the retraction of the drive unit. Retraction beyond the limit is no longer possible when the retraction limiter is active. When the retraction limiter is deactivated again, the drive unit can retract completely.The (active) retraction limiting device becomes effective when it specifically prevents / terminates the further retraction of the drive unit during operation of the positioning device. The (active) retraction limiting device becomes effective, for example, when the retraction limiting device, which is fixed to a part of the drive unit that moves during retraction and extension, comes into contact with a part of the drive unit that does not move during retraction and extension, i.e., when it bumps against or strikes this part.

[0011] If, after the manipulator has retracted (for example, to a rest position), the working position is to be approached again, the drive unit begins to retract (and thus the manipulator extends). The retraction limiter is now active and restricts the possible retraction range of the drive unit. As soon as the retraction of the drive unit is stopped by the retraction limiter, i.e., as soon as the retraction limiter becomes effective, the manipulator is again in exactly the extended position (working position) that it was in when the retraction limiter was activated.

[0012] Moving the manipulator to the working position and securing the drive unit against further retraction using the retraction limiter in the working position can also be referred to as teaching the working position. After such a one-time teaching process, the working position can be precisely re-engaged cyclically by retracting the drive unit against the retraction limiter each time.

[0013] In this respect, the aforementioned task is solved in the case of an already learned working position by means of a method for operating a positioning device as described here and below, as follows: The working position is already learned. The retraction limiting device is therefore active, and this means that the drive unit is secured against further retraction in the working position by means of the retraction limiting device. When operating the positioning device, the drive unit can now be retracted to extend the manipulator in a position different from the working position, for example, the rest position, in order to resume the working position. Retracting the drive unit causes the manipulator to extend.When the drive unit retracts, the retraction limiter becomes activated, for example, when it comes into contact with a part of the drive unit that is stationary during retraction and extension. The retraction of the drive unit then stops due to the limiter. If the limiter prevents further retraction, the drive unit is stopped by an operator. Automatic stopping of the drive unit is also possible. In the case of a hydraulic linear actuator acting as the drive unit, this is achieved, for example, based on a known pressure monitoring or current consumption mechanism.When the retraction limiter is activated, an increase in pressure or current draw of the hydraulic unit can be detected, and exceeding a predefined threshold causes the drive unit to stop automatically, thus preventing it from further operating against the retraction limiter. This applies accordingly to other drive units. Such threshold monitoring is implemented, for example, in a control unit and / or as part of a control program for the automatic or semi-automatic operation of the positioning device and the drive unit it comprises.For the purposes of this description, to avoid unnecessary repetition, it should be noted that features and details relating to the method outlined above, as well as to the implementation forms of the method explained later, naturally also apply to and in connection with a positioning device set up for carrying out the method, and vice versa. Accordingly, the method can also be further developed by means of one or more method features relating to method steps carried out by or on the positioning device, or which can be carried out by means of the positioning device, and the positioning device can accordingly also be further developed by means of carrying out method steps carried out within the framework of the method.Consequently, process features and details, as well as any embodiments, also apply in connection with and for the positioning device, and vice versa, so that the disclosure of the individual aspects of the invention always refers to each other or can refer to each other. In other words, the method described here can also be further developed according to the dependent device claims, and vice versa.

[0014] Advantageous embodiments of the proposed innovation are the subject of the dependent claims. References within the claims indicate the further development of the subject matter of the referenced claim by the features of the respective dependent claim. They are not to be understood as a waiver of the right to obtain independent, substantive protection for the features or combinations of features of a dependent claim. Furthermore, with regard to the interpretation of the claims and the description, when specifying a feature in a dependent claim in more detail, it must be assumed that no such limitation exists in the preceding claim or any preceding claim. Therefore, any reference in the description to aspects of dependent claims is to be read as a description of optional features, even without a specific indication to the contrary.

[0015] In an advantageous embodiment of the method for operating the positioning device, namely the method for teaching the working position, the drive unit is secured against further retraction in the working position by bringing the retraction limiting device, which is attached to or associated with a part of the drive unit that moves during retraction and extension – the feed element – ​​into contact with a part of the drive unit that remains stationary during retraction and extension. For example, a hydraulic linear motor (hydraulic cylinder), of which a piston rod encompassing the motor and functioning as a feed element, serves as the drive unit. The use of a hydraulic linear motor as the drive unit of a positioning device of this type is known in principle.A hydraulic linear motor comprises a hydraulic cylinder with a hydraulic cylinder housing, in which a piston is movable in a manner known per se, and from which a piston rod extends, movable by means of the piston. A hydraulic linear motor is an example of a retractable drive unit, because its piston rod is extended from or retracted into the hydraulic cylinder housing when the piston moves accordingly (retractable piston rod). In the context of the terminology used above, the hydraulic cylinder housing and the piston rod are examples of fixed and movable parts of the drive unit, respectively, during extension and retraction. As a result of the extension process, the drive unit is secured against further retraction in the working position by means of the extension limiter.In the advantageous embodiment of the method, the retraction limiting device assigned to the drive unit in this manner comes into contact with the stationary part of the drive unit when the working position is reached. This contact occurs on a moving part of the drive unit during retraction and extension. In the case of a hydraulic linear motor as the drive unit, the retraction limiting device on the piston rod thus comes into contact with the hydraulic cylinder housing, thereby preventing further retraction of the drive unit (or hydraulic cylinder).This applies accordingly to other drive units, in that the insertion limiting device on the feed element of the drive unit comes into contact with a part of the drive unit that is stationary when the drive unit is inserted and retracted, thus preventing further insertion of the drive unit.

[0016] In an advantageous embodiment of the positioning device, its drive unit comprises a retractable feed element. This is the case, for example, when a hydraulic linear motor serves as the drive unit, with a piston rod as the feed element. A retraction limiting device of the type proposed here can be readily combined mechanically with such a piston rod or a corresponding component in another drive unit—collectively referred to here and in the following as the feed element or, without prejudice to broader generality, as the piston rod. In such an embodiment, the retraction limiting device is a component that is movable (axially movable) along the respective feed element, in particular the piston rod, and is attached to the feed element.The component, which can be axially fixed to the piston rod, is referred to here and in the following as a stop bushing for the sake of clarity – but without sacrificing broader general applicability. Because the stop bushing is movable along the feed element or piston rod and axially fixable to it, it fulfills its function as an adjustable mechanical retraction limiter associated with the drive unit. Due to its mobility along the feed element or piston rod, the position of the stop bushing can be precisely determined.

[0017] For the sake of readability, the following description will be continued using a piston rod as the feed element of the drive unit. However, whenever a piston rod is mentioned, a feed element should always be implied, and similarly, whenever a hydraulic linear motor or the like is mentioned, a drive unit should always be implied.

[0018] The position of the stop bushing is determined during the learning process for the working position: The manipulator is extended by retracting the drive unit. As the drive unit retracts, the free section of the piston rod shortens. This free section of the piston rod lies between the stationary part of the drive unit (during extension and retraction) and the point where the piston rod engages the manipulator. Within this free section, the position of the stop bushing is determined during the learning process by moving the stop bushing along the piston rod towards the stationary part of the drive unit (during extension and retraction) until it makes contact. At this point, the stop bushing is axially fixed to the piston rod. The piston rod can no longer be retracted due to the fixed stop bushing.The stop bushing, however, does not impede the piston rod from extending again. The manipulator can therefore continue to be moved by extending the drive unit and, for example, be moved into a rest position. When the drive unit is subsequently retracted, it can retract until the stop bushing, fixed to the piston rod, comes into contact with the stationary part of the drive unit, thus preventing further retraction. The manipulator is now extended far enough that, in a corresponding pivot position (due to its rotatability, or at least its pivoting range of motion), it is again in its working position. The stop bushing thus acts as a stop.

[0019] In an advantageous embodiment, a stop bushing attachable to an external thread of the piston rod serves as the retraction limiting device, wherein the stop bushing has an internal thread matching the external thread. With the external thread, the piston rod functions as a threaded rod with at least a partial external thread. When the internal thread of the stop bushing engages with the external thread of the piston rod, the stop bushing can be moved by rotating it along the piston rod. Due to the thread engagement, the position of the stop bushing on the piston rod is advantageously infinitely adjustable, and the learning of the working position can be performed with corresponding precision. Preferably, a lock nut attachable to the external thread of the piston rod and intended to lock the stop bushing serves as an (additional) part of the retraction limiting device.The stop bushing and lock nut then act as a retraction limiter. Like the stop bushing, the lock nut has an internal thread that matches the external thread of the piston rod. The lock nut allows the position of the stop bushing on the piston rod to be fixed particularly well, easily, and continuously in a generally known manner.

[0020] In a preferred embodiment of the positioning device proposed here (drilling rig positioning device), the manipulator comprises a first parallelogram (double arm) extending from the base and a second parallelogram (double arm) kinematically following the first parallelogram. The drive unit engages the second parallelogram on one side. This is a position of the drive unit such that retracting the drive unit results in the manipulator extending, and vice versa. This position of the drive unit allows the working position to be taught using the retraction limiter, because only then is the working position approached by retracting the drive unit.This location of the drive unit also enables a particularly compact design for the positioning device as a whole, especially when a hydraulic linear motor serves as the drive unit and each positioned drilling rig component is also hydraulically driven and / or hydraulically actuated. The compact design results from the fact that all relevant connections are located in the area of ​​the second double arm of the manipulator. The patent claims filed with the application are formulation proposals without prejudice to obtaining further patent protection.Since the features of the dependent claims, in particular, may constitute independent inventions with regard to the prior art on the priority date, the applicant reserves the right to make these or further combinations of features, previously only disclosed in the description and / or drawings, the subject matter of independent claims or divisional declarations. These may also include independent inventions that exhibit a design independent of the subject matter of the respective referenced claims.

[0021] The following is an exemplary embodiment of the positioning device (drilling rig positioning device) proposed here, explained in more detail with reference to the drawing. Corresponding objects or elements are provided with the same reference symbols in all figures.

[0022] The exemplary embodiment is not to be understood as a limitation of the invention. Rather, within the scope of the present disclosure, additions and modifications are entirely possible, in particular those which, for example, can be deduced by a person skilled in the art from the combination or modification of individual features or process steps in conjunction with those described in the general or specific descriptive section and contained in the claims and / or the drawings, with regard to the solution of the problem, and which, through combinable features, lead to a new subject matter or to new process steps or sequences of process steps. [The following appears to be a separate, unrelated section:]

[0023] Fig. 1 and

[0024] Fig. 2 shows a drilling rig positioning device with a manipulator and a drive unit for moving the manipulator in and out and

[0025] Fig. 3 and

[0026] Fig. 4 shows the drive unit with further details, namely a mechanical insertion limiting device provided for teaching a working position,

[0027] Fig. 5 and

[0028] Fig. 6 shows another embodiment of the innovation proposed here with means for teaching a first working position and a second working position, namely a two-part insertion limiting device as well as

[0029] Fig. 7 shows the two-part entry limiting device from Fig. 5 and Fig. 6.

[0030] Figure 1 shows a sectional view of a drilling rig positioning device 10, hereinafter referred to as positioning device 10. The illustration in Figure 1 shows an isometric view of the positioning device 10.

[0031] The positioning device 10 is designed for use on a drilling rig (not shown), specifically a drilling rig for deep boreholes, in a manner known per se. The positioning device 10 comprises a base 12, a parallelogram arm / parallelogram arm manipulator 14 extending from the base 12, and a drilling rig mounting 16 at the other end of the parallelogram arm / parallelogram arm manipulator 14. The parallelogram arm / parallelogram arm manipulator 14 is often referred to simply as the manipulator 14 in the following. The base 12 defines a pivot point for the positioning device 10. The positioning device 10 is rotatable, or at least pivotable, about this pivot point. Due to this pivotability, and in particular this rotationability, the manipulator 14 extending from the base 12 is also pivotable / rotatable in different directions.This allows the manipulator 14 to be oriented, for example, towards a position above the borehole (not shown) or a position above the so-called mouse hole (also not shown).

[0032] The drilling rig mounting 16 is designed to receive or attach a drilling rig component 18, i.e., a device intended for use on the drilling rig. An example of such a component 18 is a so-called iron roughneck 18 or a combination of an iron roughneck 18 with a so-called spinner 18. No drilling rig components 18 are shown in the isometric view in Figure 2.

[0033] The positioning device 10 as a whole and its manipulator 14 are designed for positioning a respective drilling rig assembly 18. Such positioning includes extending and / or retracting the manipulator 14 and, if necessary, orienting the positioning device 10 by rotating / swiveling. The drilling rig assembly 18, or each one, can also be referred to – individually or collectively – simply as a tool 18.

[0034] The manipulator 14 comprises a first so-called parallelogram (double arm, first double arm) 20 and a second parallelogram (double arm, second double arm) 22, each with opposing arms 20-1, 20-2; 22-1, 22-2. The arms 20-1, 20-2; 22-1, 22-2 of each double arm 20, 22 form a parallelogram. The terms "double arm" and "parallelogram" are therefore used synonymously here.

[0035] The manipulator 14 serves to extend and retract a tool 18 attached to its free end. The arms 20-1, 20-2 – lower arm 20-2, upper arm 20-1 – of the first parallelogram 20 are pivotally attached to the base 12 and, on the opposite side, similarly pivotally to a head 24. On the opposite side of the head 24, the arms 22-1, 22-2 – lower arm 22-2, upper arm 22-1 – of the second parallelogram 22 are pivotally attached. The opposite ends of these arms 22-1, 22-2 are finally pivotally attached to the drilling rig mounting 16.

[0036] A drive unit 26 is provided for extending and retracting the manipulator 14, and thus for extending and retracting the drilling rig mounting 16 and the tool 18 attached thereto. As shown, the drive unit 26 can be, for example, a known hydraulic linear motor 26 with a piston movable in a cylinder housing and a retractable piston rod 28 connected to the piston. The hydraulic linear motor 26 shown is merely an example of a possible drive unit 26. The following description continues with reference to such a drive unit 26, without sacrificing further general applicability. Whenever a hydraulic linear motor 26 or its piston rod 28 is mentioned, the general terms drive unit 26 (or linear drive) or feed element 28 should always be included.

[0037] The drive unit 26 engages the second parallelogram 22 on one side, in the embodiment shown on the lower arm 22-2 of the second parallelogram 22, and on the other side on the drilling rig mounting 16, in the embodiment shown on a lever 30 extending from the drilling rig mounting 16. Alternative mounting locations of the drive unit 26 are as follows: on one side on the drilling rig mounting 16 and on the opposite side on the lower arm 22-2 of the second parallelogram 22; on one side on the drilling rig mounting 16 and on the opposite side on the upper arm 22-1 of the second parallelogram 22; on one side on the base 12 and on the opposite side on the lower arm 20-2 of the first parallelogram 20. one-sided at the base 12 and on the opposite side at the upper arm 20- 1 of the first parallelogram 20 .All these mounting locations have in common that the drive unit 26 is positioned such that the attack point / mounting point of the drive unit 26 on the swiveling arm, for example on the lower arm 22-2 of the second parallelogram 22, and the attack point / mounting point of the drive unit 26 on the non-swiveling counterpart, for example the drilling rig mounting 16, move away from each other when the manipulator 14 is extended. In the illustrated embodiment, the action on the second parallelogram 22 causes the manipulator 14 to extend when the drive unit 26 retracts, for example, when the piston rod 28 of the hydraulic linear motor 26 retracts, and conversely, when the drive unit 26 extends, for example, when the piston rod 28 of the hydraulic linear motor 26 retracts, the manipulator 14 retracts. This applies accordingly to the other mounting locations mentioned.In short, this can be summarized as follows: the directions of movement of the drive unit 26 on the one hand and the manipulator 14 on the other hand are opposite (inverse to each other).

[0038] Figures 3 and 4 show, in enlarged form, a detail of the positioning device 10 in Figure 1 and Figure 2, respectively, namely in a sectional view (Fig. 3) and in an isometric view (Fig. 4). Shown are the drive unit 26, here a hydraulic linear motor 26, and its feed element 28, here the piston rod 28 of the hydraulic linear motor 26.

[0039] The piston rod 28 has – at least in sections – an external thread 32. A stop bushing 34 runs on this thread as an insertion limiting device 34. For this purpose, the stop bushing 34 has – as an integral (one-piece) component – ​​an adjusting nut 36 (Fig. 4) with an internal thread matching the external thread 32 and, adjoining the adjusting nut 36, a bushing section which encloses the piston rod 28 in the form of a hollow cylinder. The adjusting nut 36, with its outer contour, for example a conventional positive-locking contour for engaging a tool, allows the stop bushing 34 to be easily rotated. A hexagonal socket or the like is suitable as a positive-locking contour. In general, the piston rod 28 and the stop bushing 34 each have – at least in sections – features on their outer surfaces.The inner surface features contours that can be combined in a form-fitting manner, i.e., a form-fitting outer surface and a form-fitting inner surface. For the bushing section, the hollow cylindrical shape shown in the exemplary embodiment is one of several possible designs. It is important that a lower edge of the bushing section can act as a stop when it comes into contact with the stationary part of the hydraulic linear motor 26 during its extension and retraction. A hollow cylindrical shape ensures uniform force transmission. However, instead of a closed hollow cylindrical shape, one or more parallel rods or similar elements could also be used.The term "bushing" is therefore not to be interpreted restrictively, and every mention of a stop bushing 34 generally implies a stop device with an adjusting nut 36 and at least one stop extending from it.

[0040] When the tool 18 at the free end of the manipulator 14 has been moved into the working position by extending the manipulator 14 (by retracting the drive unit 26), or generally into a position that is to be repeatedly approached multiple times at a later time – collectively referred to as the working position – this position is taught according to the approach proposed here. In the working position, the drive unit 26 is retracted to a certain extent; in the case of a hydraulic linear motor 26, its piston rod 28, as the moving part of the linear motor 26, is retracted to a certain extent. Now, the stop bushing 34 is moved along the piston rod 28 until it makes contact with the part of the hydraulic linear motor 26 that is stationary during extension and retraction, namely until it makes contact with the hydraulic cylinder housing.Once this contact is established, further retraction of the hydraulic linear motor 26 is no longer possible. The position of the stop bushing 34 on the piston rod 28 can be additionally fixed by means of a lock nut 38.

[0041] Figures 5 and 6 show an advantageous, albeit optional, embodiment of the innovation proposed here. Each figure depicts a section of the drive unit 26. The drive unit 26 can be, for example, a hydraulic linear motor 26. In principle, other forms of drive units 26 are also possible, and the above applies accordingly.

[0042] Both illustrations show the piston rod 28

[0043] (without the external thread 32 there), the mechanical insertion limiting device 34 and the lock nut 38. The insertion limiting device 34 is now in two parts and thus allows the programming of a first working position (exit position) and a second working position. Programming two working / exit positions and thus the possibility of repeatable approach to two working / exit positions is useful, for example, if the positioning device 10 is to be used, for example, to approach a position above the borehole center (first working / exit position) and a position above the mouse hole (second working / exit position). The two parts of the insertion limiting device 34 according to Figures 5 and 6 are referred to as the inner stop bushing 40 and the outer stop bushing 42 for differentiation. The inner stop bushing 40 corresponds in its function and mode of operation to that shown previously (Figures 1 to 6).4) described stop bushing 34 and to avoid unnecessary repetition, reference is made to the preceding description.

[0044] The inner stop bushing 40 runs with its adjusting nut 44 on the external thread 32 of the piston rod 28. The axial position of the inner stop bushing 40 can be adjusted there as described above, and a determined position can be fixed by means of the lock nut 38. The inner stop bushing 40 has its own external thread 46 below its adjusting nut 44 and at least partially on its bushing section. The outer stop bushing 42 runs on this thread with its adjusting nut 48. That is, the axial position of the outer stop bushing 42 can be adjusted at / along the external thread 46 of the inner stop bushing 40, and a determined position can be fixed by means of a lock nut 50.

[0045] The outer stop bushing 42 includes a detachable bushing section, referred to here as a collar 52. Here too, the term "bushing" is not to be interpreted restrictively, and any mention of a stop bushing 40, 42 generally implies a stop device with an adjusting nut 44, 48 and at least one stop extending from it, and any mention of a collar 52 implies any form that acts as a stop. The outer stop bushing 42, together with the collar 52 attached to it, is shorter than the inner stop bushing 40. The length of the stop bushings 40, 42 is measured along the piston rod 28. The detachability of the collar 52 and the length of the outer stop bushing 42 in relation to the length of the inner stop bushing 40 are essential characteristics of this embodiment of the innovation proposed here.

[0046] The collar 52 is detachably connectable to the outer stop bushing 42 and likewise detachably to the inner stop bushing 40. For connecting the collar 52 to the inner stop bushing 40 or to the outer stop bushing 42, a suitable positive-locking contour 54 is provided on the surface of the inner stop bushing 40, particularly below the adjusting nut 44, and a similar positive-locking contour 56 is provided on the surface of the outer stop bushing 42, particularly below the adjusting nut 48. The collar 52 itself has a positive-locking counter contour 58 suitable for positive engagement therein. The positive locking contour 54, 56 and positive locking counter contour 58 can be contour 54, 56 and counter contour 58, which allow the collar 52 to be connected to the inner stop bushing 40 or to the outer stop bushing 42 by means of a plug-and-turn movement, as is known, for example, from the bayonet fastener.The circumferential or at least partially circumferential positive-locking contours 54, 56 are labeled on only one side in the illustrations in Figures 5 and 6. A counter-contour 58 in the form of a pin or the like, engaging in one of the respective groove-shaped positive-locking contours 54, 56, is considered. The illustration in Figure 7 shows isometric views of the drive unit 26 from Figures 5 and 6. On the far left in Figure 7, the drive unit 26 is shown in a configuration as shown in Figure 5. In the center of Figure 7, the drive unit 26 is shown in a configuration as shown in Figure 6. On the far right (from top to bottom), the inner stop bushing 40 with its adjusting nut 44 and its external thread 46 is shown at the top, the outer stop bushing 42 with its adjusting nut 48 is shown in the middle, and the collar 52 is shown at the bottom.This provides a clear view of the positive locking contours 54 and 56 provided in the inner stop bushing 40 and the outer stop bushing 42 in the illustrated embodiment. The positive locking contour 54 of the inner stop bushing 40 allows the collar 52 to be fixed and locked to the inner stop bushing 40. The positive locking contour 56 of the outer stop bushing 42 allows the collar 52 to be fixed and locked to the outer stop bushing 42. The positive locking contour 54 of the inner stop bushing 40 is, for example, open "downwards" (also in the direction of the outer stop bushing 42), and the positive locking contour 56 of the outer stop bushing 42 is correspondingly open "upwards" (also in the direction of the inner stop bushing 40).Thus, the collar 52 can, for example, be released from a locking mechanism on the outer stop bushing 42 (engagement of the positive locking counter contour 58 into the positive locking contour 56 there) and locked onto the inner stop bushing 40 (engagement of the positive locking counter contour 58 into the positive locking contour 54 there) and vice versa.

[0047] When the collar 52 is locked against the inner stop bushing 40, it and the outer stop bushing 42 are inactive as retraction limits. Only when the collar 52 is locked against the outer stop bushing 42 are it and the outer stop bushing 42 are active as retraction limits. Figure 6 shows a situation in which the collar 52 / outer stop bushing 42 acts as a stop when the piston rod 28 is retracted, preventing further retraction of the piston rod 28 and thus preventing the retraction of the drive unit 26 altogether. Figure 5 shows a situation in which the collar 52 / outer stop bushing 42 is inactive and the inner stop bushing 40 acts as a stop when the piston rod 28 is retracted, preventing further retraction of the piston rod 28 and thus preventing the retraction of the drive unit 26 altogether.

[0048] In short, the effect of a two-part mechanical retraction limiter as shown in Figures 5 and 6 can be summarized as follows: an active inner stop bushing 40 allows the drive unit 26 to retract further than an active outer stop bushing 42. The further the drive unit 26 can be retracted, the further the manipulator 14 can be extended, thus reaching a position further away from the pivot point of the base 12. A more distant position can therefore be learned using the inner stop bushing 40, and a closer position using the outer stop bushing 42. When teaching positions above the borehole center and above the mouse hole on a drilling rig, the distance of these positions from the pivot point of the base 12 determines which of the two positions is learned using which stop bushing 40 or 42.Each working position learned by means of the stop bushings 40, 42 can then be approached with repeatable accuracy, whereby when approaching both positions alternately, the collar 52 must be manually attached either to the inner stop bushing 40 or to the outer stop bushing 42.

[0049] Finally, Figure 8 shows (not to the same scale as Figure 7) a sectional view of the engagement of the aforementioned positive locking contours 54, 56, 58 for fixing the collar 52. Figure 8 also shows an optional embodiment of the previously mentioned positive locking counter contour 58, referred to as a pin. Figure 8 shows so-called pressure pieces whose ends project like pins beyond the inner surface of the collar 52 and thus function as positive locking counter contours 58. These pressure pieces are designed and configured to engage with one of the respective groove-shaped positive locking contours 54, 56. The engagement occurs with one of the positive locking contours 54, 56 of the inner or outer stop bushing 40, 42. What is shown as the stop bushing 40, 42 in Figure 8 depends on the location of the collar 52 and the corresponding section plane. When the collar 52 is attached to the inner stop bushing 40 (Fig.5) The stop bushing 40, 42 shown in Figure 8 would be the inner stop bushing 40, and if the collar 52 were attached to the outer stop bushing 42 (Figure 6), the stop bushing 40, 42 shown in Figure 8 would be the outer stop bushing 42. Accordingly, both reference numerals for the stop bushings 40, 42 are given in the illustration in Figure 8.

[0050] In the case of so-called pressure pieces, it is preferably considered that the form-fitting contours 54, 56 at the end of a path of the plug-and-turn connection, by means of which the collar 52 can be attached to each of the stop bushings 40, 42, have a recess into which the end of a pressure piece engages under spring tension and thus secures the collar 52 against unintentional rotation. These recesses are visible in the illustration in Figure 7.

[0051] Although the invention has been illustrated and described in detail by the exemplary embodiment, the invention is not limited by the obvious example(s) and other variations can be derived from them by a person skilled in the art without leaving the scope of protection of the invention.

[0052] The most important aspects of the description submitted here can be summarized as follows: A drilling rig positioning device (positioning device) 10 is described, comprising a stationary base 12, a pivotally movable manipulator 14 extending from the base 12, and a drilling rig receptacle 16 at the free end of the manipulator 14. The manipulator 14 can be extended and retracted by means of a drive unit 26. A method for operating the manipulator 14 is also described. The special feature is that the manipulator 14 can be extended by extending the drive unit 26, that the manipulator 14 can be extended by retracting the drive unit 26, and that the drive unit 26 is associated with an adjustable mechanical retraction limiting device 34, by means of which the retraction of the drive unit 26 can be limited and is limited during operation of the positioning device 10.Furthermore, a drilling rig positioning device (positioning device) 10 is specified, comprising a stationary base 12, a pivotally movable manipulator 14 extending from the base 12, and a drilling rig mounting 16 at the free end of the manipulator 14, wherein the manipulator 14 can be moved in and out by means of a drive unit 26, the special feature being that the manipulator 14 can be moved in by extending the drive unit 26 and can be moved out by retracting the drive unit 26.

[0053] Reference symbol list

[0054] 10 Drilling rig positioning device, positioning device

[0055] 12 Base (of the positioning device)

[0056] 14 manipulator, parallelogram arm, parallelogram arm

[0057] manipulator

[0058] 16 Drilling rig equipment recording

[0059] 18 Drilling rig equipment, for example iron roughneck or iron roughneck and spinner; tool

[0060] 20 first parallelogram, first double arm (of the manipulator)

[0061] 20-1 Arm (of the first parallelogram) , upper arm

[0062] 20-2 arm (of the first parallelogram), lower arm

[0063] 22 second parallelogram, second double arm (of the manipulator)

[0064] 22-1 Arm (of the second parallelogram) , upper arm

[0065] 22-2 Arm (of the second parallelogram) , lower arm

[0066] 24 Head (of the manipulator)

[0067] 26 Drive unit, hydraulic linear motor

[0068] 28 Feed element (of the drive unit), piston rod

[0069] 30 levers (starting from the drilling rig mounting)

[0070] 32 external threads (on the feed element, on the piston rod)

[0071] 34 Entry limiting device, stop bushing

[0072] 36 Adjusting nut (of the insertion limiting device) 38 Lock nut (for fixing the insertion limiting device)

[0073] 40 inner stop bushing

[0074] 42 outer stop bushing

[0075] 44 Adjusting nut (of the inner stop bushing)

[0076] 46 External threads (of the inner stop bushing)

[0077] 48 Adjusting nut (of the outer stop bushing)

[0078] 50 Locknut (for fixing the outer stop bushing)

[0079] 52 Collar (bushing section detachable from the outer stop bushing)

[0080] 54 Form-fit contour (on the surface of the inner

[0081] Stop bushing )

[0082] 56 Form-fit contour (on the surface of the outer

[0083] Stop bushing )

[0084] 58 Form-fitting counter contour (at the collar)

Claims

Patent claims 1. Drilling rig positioning device (10) with a stationary base (12), a pivotable parallelogram arm manipulator (14) extending from the base (12), and a drilling rig mounting (16) at the free end of the parallelogram arm manipulator (14), wherein the parallelogram arm manipulator (14) is extendable and retractable by means of a drive unit (26), characterized in that the parallelogram arm manipulator (14) is extendable by extending the drive unit (26), that the parallelogram arm manipulator (14) is extendable by retracting the drive unit (26), and that the drive unit (26) is associated with an adjustable mechanical retraction limiting device (34) by means of which the retraction of the drive unit (26) can be limited.

2. Drilling rig positioning device (10) according to claim 1, wherein the drive unit (26) comprises a retractable and extendable feed element (28) and wherein a component movable along the feed element (28) and axially fixable to the feed element (28) serves as a retraction limiting device (34).

3. Drilling rig positioning device (10) according to claim 2, wherein the insertion limiting device (34) is a device attachable to an external thread (32) of the feed element (28). The stop bushing (34) has an internal thread that matches the external thread (32).

4. Drilling rig positioning device (10) according to claim 3, wherein a lock nut (38) which can be attached to the external thread (32) of the feed element (28) and is intended to lock the stop bushing (34) functions as part of the insertion limiting device (34).

5. Drilling rig positioning device (10) according to one of the preceding claims, wherein a hydraulic linear motor (26) acts as the drive unit (26).

6. Drilling rig positioning device (10) according to one of the preceding claims, wherein the manipulator (14) comprises a first, base-mounted (12) outgoing parallelogram (20) and a second parallelogram (22) kinematically following the first parallelogram (20) and wherein the drive unit (26) acts on one side of the second double arm (22).

7. Drilling rig positioning device (10) according to one of the preceding claims and with a two-part entry limiting device (34) comprising an inner stop bushing (40) and an outer stop bushing (42), wherein the inner stop bushing (40) has its own external thread (46) on which an adjusting nut (44) of the outer stop bushing (42) runs, wherein the outer stop bushing (42) has a detachable this connectable collar (52) and wherein the outer stop bushing (42) together with the collar (52) attached to it is shorter than the inner stop bushing (40).

8. Drilling rig positioning device (10) according to claim 7, wherein the inner and outer stop bushings (40, 42) each have a positive locking contour (54, 56) on their surface and the collar (52) has a positive locking counter contour (58) intended for engagement with each positive locking contour (54, 56) and wherein the collar (52) can be detachably attached to either the inner stop bushing (40) or the outer stop bushing (42) by means of the positive locking counter contour (58) by engaging each positive locking contour (54, 56).

9. Method for operating a drilling rig positioning device (10) according to one of the preceding device claims, wherein the drilling rig positioning device (10) is moved into a working position by extending the manipulator (14) by means of retracting the drive unit (26) and wherein in the working position the drive unit (26) is secured against further retraction by means of the retraction limiting device (34).

10. Method according to claim 9, wherein in the working position the drive unit (26) is secured against further retraction by making contact with the retraction limiting device (34) on a part of the drive unit (26) that is movable during retraction and extension. is brought with a part of the drive unit (26) that is stationary during insertion and retraction.

11. Method according to claim 10, wherein, in a hydraulic linear motor (26) functioning as a drive unit (26) with a piston rod (28) movable during extension and retraction, the retraction limiting device (34) is brought into contact along the piston rod (28) as a part movable during extension and retraction with a cylinder housing of the hydraulic linear motor (26) as a part that is not movable during extension and retraction.

12. Method according to claim 11, wherein, in a hydraulic linear motor (26) functioning as a drive unit (26) with a piston rod (28) having an external thread (32) and a stop bushing (34) attachable to the external thread (32) of the piston rod (28), the stop bushing (34) is moved along the piston rod (28) and on the external thread (32) therein in the direction of the cylinder housing of the hydraulic linear motor (26) and brought into contact with the cylinder housing.

13. Method for operating a drilling rig positioning device (10) according to one of the preceding device claims and with a drive unit (26) secured against further retraction in the working position by means of the retraction limiting device (34) according to a method according to one of claims 7 to 10, wherein retraction of the drive unit (26) is triggered in a position different from the working position. and the drive unit (26) is automatically stopped when the retraction limiting device (34) prevents the drive unit (26) from retracting further.

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