Stabilization Manipulator for Drilling Rigs
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Solution Overview
Problem
Current stabilization manipulators for drilling rigs are limited in their ability to cooperate with other manipulators for both off-line operations, such as assembling or disassembling drill stands, and during the drilling process, and are often costly and space-intensive, lacking the capability to efficiently handle drill pipes between specific areas like the drill floor and fingerboard.
Innovation Solution
A stabilization manipulator with a linear guide, carriage, and independent rotating arms that can move along a drill floor, allowing for various operating configurations to handle and move drilling elements between different positions without holding them hyperstatically, thus facilitating handling and reducing the need for human operators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a stabilization manipulator is designed to cooperate with other manipulators for both off-line operations and drilling process, then the versatility and adaptability of the system is improved, but the device complexity and cost increase
Solution Approach 1:
The stabilization manipulator is designed with universal cooperation capability to work with different types of manipulators (e.g., anthropomorphic arms, vehicle-mounted manipulators) for both off-line operations (assembling/disassembling drill stands) and drilling process operations (handling drill pipes between drill floor and fingerboard). This multi-functionality allows a single device design to serve multiple operational contexts without requiring specialized configurations for each operation type.
Solution Approach 2:
The manipulator employs dynamic positioning capabilities with movable carriage along linear guides and rotatable arms that can adjust their positions and orientations. This dynamic structure allows the manipulator to adapt its configuration based on the specific operational requirements, whether for stabilizing drill pipes during lifting operations or for assisting in assembling drill stands, thereby achieving versatility without proportionally increasing structural complexity.
2Productivity
If the manipulator can move along the drill floor to handle drilling elements between different areas, then the productivity and automation level are improved, but the space occupation and device complexity increase
Solution Approach 1:
The manipulator system incorporates a movable carriage that can travel along linear guides positioned on the drill floor, enabling the manipulator to dynamically reposition itself to different work areas. This dynamic mobility allows the system to handle drilling elements between the drill floor and fingerboard areas efficiently, improving productivity by automating the transfer operations without requiring fixed infrastructure throughout the entire drill floor area.
Solution Approach 2:
The linear guides and movable carriage act as intermediary elements that enable the manipulator to traverse the drill floor area efficiently. Rather than requiring the manipulator to be stationary or to use complex wheeled vehicles, the linear guide system provides a space-efficient pathway that allows the manipulator to access different work areas while minimizing the overall space occupation on the drill floor.
3Ease of operation
If the manipulator uses independent rotating arms with rollers to stabilize drilling elements, then the ease of operation and automation are improved, but the device complexity increases
Solution Approach 1:
The manipulator employs rollers on its arms that can automatically engage with and stabilize drilling elements through gravitational and friction forces. The rollers are positioned and oriented such that they naturally contact the drill pipes or drill stands during the manipulator's movement and operation, providing stabilization without requiring additional active control mechanisms or complex positioning systems. This self-service approach to stabilization improves automation capability while keeping the arm mechanism relatively simple.
4Ease of operation
If the manipulator is designed to minimize space occupation when not in use, then the ease of operation and safety are improved, but the adaptability to different operating configurations is reduced
Solution Approach 1:
The manipulator system incorporates a movable carriage that can travel along linear guides positioned on the drill floor, enabling the manipulator to dynamically reposition itself to different work areas. This dynamic mobility allows the system to handle drilling elements between the drill floor and fingerboard areas efficiently, improving productivity by automating the transfer operations without requiring fixed infrastructure throughout the entire drill floor area.
Data Source
AI summary
A stabilization manipulator for manipulating and moving drilling elements in a drilling rig includes a linear guide fixed to a drill floor; a carriage having a base and sliding blocks, sliding along the linear guide between a positions close to and distant from a well; a first arm having a first end constrained to the carriage base, to rotate about a horizontal axis; and a separate second arm having a first end constrained to the carriage base, to rotate about a horizontal axis. A roller is constrained to the first arm second end, to rotate about an axis substantially perpendicular to the first arm, changing position relative to the first arm. A roller is constrained to the second arm second end, to rotate about an axis substantially perpendicular to the second arm, changing position relative to the second arm. A rotation system rotates the base about a vertical axis.