U.S. patent number 3,800,962 [Application Number 05/112,540] was granted by the patent office on 1974-04-02 for electrohydraulic control system.
This patent grant is currently assigned to Byron Jackson Inc.. Invention is credited to John E. Ham.
United States Patent |
3,800,962 |
Ham |
* April 2, 1974 |
ELECTROHYDRAULIC CONTROL SYSTEM
Abstract
Control and operating systems for well pipe racking apparatus in
which a number of vertically spaced racker arms are moved
longitudinally to extend and retract the racker arms, as well as
laterally relative to the pipe racking finger board, the racker
arms having pipe supporting means for moving a length of pipe
between the racking finger board and a position disposed over the
rotary table of a drilling rig, and in which the control and
operating systems include a hydraulic operating system comprising a
reversible variable displacement pump for supplying fluid at a
selected rate to either of a pair of motors, one of which effects
longitudinal movement of one of the racker arms and the other of
which effects lateral movement of said one of the racker arms. Such
control and operating systems in which a second reversible variable
displacement pump is employed to selectively supply fluid to either
of a pair of motors for effecting longitudinal movement and lateral
movement of the rest of the racker arms. Such control and operating
systems in which the control system includes selectively operable
control circuits for enabling actuation of an upper and a lower
racker arm from the same location or, alternatively, to enable
operation of the lower racker arm from said location and operation
of the upper arm from another location. Such a control system in
which a variable displacement pump is adjusted and caused to
operate in reversed directions to displace fluid to the racker arm
operating motors at a rate proportional to the extent of movement
of a control member.
Inventors: |
Ham; John E. (Long Beach,
CA) |
Assignee: |
Byron Jackson Inc. (Long Beach,
CA)
|
[*] Notice: |
The portion of the term of this patent
subsequent to June 2, 1987 has been disclaimed. |
Family
ID: |
26810070 |
Appl.
No.: |
05/112,540 |
Filed: |
February 4, 1971 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
779171 |
Nov 26, 1968 |
3615027 |
Oct 26, 1971 |
|
|
Current U.S.
Class: |
414/22.71;
60/476; 60/911; 91/42; 414/137.5 |
Current CPC
Class: |
E21B
19/14 (20130101); Y10S 60/911 (20130101) |
Current International
Class: |
E21B
19/14 (20060101); E21B 19/00 (20060101); E21b
019/00 () |
Field of
Search: |
;60/52VS,DIG.2,476,479
;91/42 ;214/25 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Geoghegan; Edgar W.
Attorney, Agent or Firm: Banner; Donald W.
Parent Case Text
The present application is a divisional application of Ser. No.
779,171, filed Nov. 26, 1968, now U.S. Pat. No. 3,615,027, granted
Oct. 26, 1971 and entitled "PIPE RACKING CONTROL SYSTEM."
Claims
I claim:
1. In well drilling derrick apparatus for vertically racking stands
of well pipe within the derrick: rack means for receiving stands of
well pipe and supporting the same in spaced vertical rows at one
side of the center of the derrick, racker means for successively
moving said stands between positions at the center of the derrick
and said rack means, said racker means including a longitudinally
extended racker arm, carriage means supporting said racker arm for
longitudinal movement in a horizontal plane between projected and
retracted positions relative to said rack means and the center of
said derrick, means supporting said carriage for lateral movements
in said derrick to place stands in and remove stands from said rack
means, reversible hydraulic rotary motor means for moving said arm
and said carriage means, and electrohydraulic operating means for
said motor means for reversing said motor means and for selectively
effecting said movements of said arm and said carriage means at a
selected rate, said electrohydraulic operating means for said motor
means comprising a reversible and variable positive displacement
pump, a pair of fluid conduits leading between said pump and said
motor means for supplying fluid under pressure to said motor means
in opposite directions, adjuster means for said pump for regulating
the direction and rate of flow of fluid from said pump to said
motor means, and means for operating said adjuster means including
an operating potentiometer and slave motor means connected to said
adjuster means and responsive to said operating potentiometer to
vary the direction and rate of flow from said pump, normally closed
solenoid valve means in said pair of fluid conduits for blocking
flow of fluid through both conduits of said pair of fluid conduits,
and circuit means including a switch associated with said means for
operating said adjuster means and responsive to the operation
thereof for opening said solenoid valve means to allow flow of
fluid between said pump and said motor means in either direction
through said pair of conduits, said solenoid valve means, when
closed, blocking the flow of fluid through said motor to
effectively brake the same.
Description
BACKGROUND OF THE INVENTION
Particularly in the operation of offshore well drilling platforms
or barges the maintenance of personnel for operating the drilling
rig is extremely expensive, giving rise to the need for automated
or semi-automated well drilling and pipe handling equipment,
including apparatus for effectively racking the stands of drill
pipe in an out-of-the-way location when the drill pipe is idle and
when the drill string is being removed in order to change bits.
Heretofore, racking apparatus has been devised for supporting the
stands of pipe in substantially vertical positions at one side of
the derrick, as exemplified in: Moore, U.S. Pat. No. 2,507,040;
Stone, U.S. Pat. Nos. 2,619,234 and 2,628,725; and Corn, U.S. Pat.
No. 2,703,178.
SUMMARY OF THE INVENTION
The present invention provides pipe racking apparatus generally
similar to that disclosed in the above-mentioned prior patents, but
the present apparatus being improved in respect of the mode of
operation of the pipe racking arms which are employed to move the
individual stands of the pipe between racked positions and
positions disposed above the rotary table.
The present invention more particularly provides control and
operating systems for racker arms which are longitudinally
extensible and retractable in vertically spaced horizontal planes
and which are also laterally movable in said planes, whereby a
derrick man or an operator on the derrick floor may conveniently
and with accuracy effect the controlled movement of the vertically
spaced racker arms between the pipe racking position and a position
at which a pipe is disposed above the rotary table. In addition,
the control and operating systems enable the movement of the racker
arms between said positions at a variable rate, so that the
operators may rapidly move the racker arms when desired but may
also move the racker arms at a slow rate in order to accurately
locate the pipe stands at desired positions.
In accomplishing the foregoing, electrohydraulic control and
operating systems are employed involving the utilization of a
reversible and variable displacement pump to supply operating fluid
at a selected rate to either a first motor which is adapted to
effect longitudinal movement of a racker arm or to a second motor
which is adapted to effect lateral movement of the same arm, the
electrical control system being such that fluid is supplied from
the pump to only one of the arm shifting motors at a time.
The invention provides, furthermore, control and operating systems
whereby actuator means under the control of an operator may be
disposed in a convenient location, for example, on the derrick
floor within easy reach of a "floor man."
Other objects and advantages of the invention will be hereinafter
described or will become apparent to those skilled in the art, and
the novel features of the invention will be defined in the appended
claims.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a side elevational view of a drilling ship having a
derrick assembly, and including racker apparatus useful in the
present invention;
FIG. 2 is an enlarged side elevational view of the derrick
assembly, taken on the line 2--2 of FIG. 1;
FIG. 3 is an enlarged fragmentary view showing in plan certain of
the racking apparatus, and taken on the line 3--3 of FIG. 2;
FIG. 4 is an enlarged fragmentary view in horizontal section, as
taken on the line 4--4 of FIG. 2;
FIG. 5 is a view in vertical section, as taken on the line 5--5 of
FIG. 4;
FIG. 6 is an enlarged fragmentary detail view showing the
intermediate racker head and support, certain of the parts being
broken away;
FIG. 7 is a fragmentary view in horizontal section and on an
enlarged scale, as taken on the line 7--7 of FIG. 6;
FIG. 8 is a fragmentary view in horizontal section and on an
enlarged scale, as taken on the line 8--8 of FIG. 6;
FIG. 9 is a schematic of an electrically controlled hydraulic
system for actuating the racker arms; and
FIG. 10 is a schematic illustration of the electrical control
system for the hydraulic system of FIG. 9.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to FIGS. 1 and 2, there is shown a drilling ship 21
afloat in the water, the surface of the water being designated 22.
The ship has an elevated platform 23 positioned amidships. Erected
on the platform is a drilling derrick 24. The ship has a moon hole
25 through which a drill string 26 extends from above the platform
23 into the water and thence into the earth (not shown) below. As
this type of drilling ship with a platform and derrick is widely
known in the field to which the invention pertains, it need not be
described here in further detail.
The derrick 24 is shown somewhat schematically, sway braces, guy
wires and similar structural members being omitted to enable
working apparatus to be shown more clearly. The derrick has
generally vertical corner posts 27 and 28 supported on the platform
23 on base members 29 and 31. A water table 32 near the top of the
derrick carries the usual crown block 33 which is aligned with the
vertical center line of the derrick. Suspended from the crown block
by cable 34 is a traveling block 35. As is usual, one end (not
shown) of the cable 34 is anchored to the ship's structure, and the
other end is led to the spool 36 of a drawworks 37 for raising and
lowering the traveling block and the load supported thereby.
A hook structure 38 is swingably suspended from the bottom of the
traveling block 35 by interengaged bails 39 on the hook and 41 on
the block. An elevator link 42 is swingably suspended from an ear
43 on the hook structure, and the link has an elevator 44 swingably
attached by another ear 45 to the lower end of the link 42. A
second elevator link (not seen in FIG. 2) on the other side of the
hook structure 38 similarly connects the elevator 44 to the hook
structure 38.
The general reference numeral 46 denotes apparatus for positioning
and guiding the block and hook structure. An elevator link
stabilizing device is designated by the general reference numeral
47. The general reference numeral 48 designates apparatus for
supplying compressed air to the elevator 44 to actuate it. The
details of the herein block and hook stabilizing and positioning
means 46, the link stabilizing means 47, and the means 48 for
supplying air to the elevator 44 are more particularly disclosed in
letters Patents as follows:
Jones and Turner, Jr. -- Block and Hook Structure Positioning and
Guiding Apparatus, U.S. Pat. No. 3,507,405;
Langowski and Turner, Jr. -- Link Stabilizer for Well Drilling
Rigs, U.S. Pat. No. 3,526,425;
McFadden -- Fluid Conductor Means for Hook Mounted Elevator, U.S.
Pat. No. 3,479,062; and
Turner, Jr. -- Stabilized Pipe Supporting Structure for Drilling
Rigs, U.S. Pat. No. 3,498,586.
A stand 49 of drill pipe is shown as being supported by
pipe-handling equipment including an upper racker assembly 51 and
an intermediate pipe supporting racker assembly 52, which will be
hereinafter described. Other stands 53 of drill pipe or drill
collars 54 are shown at rest in a pipe rack having a finger board
55, a base 56, and an intermediate rack member 57. The upper end of
the string of drill pipe 26 is shown projecting above the power
tongs 58, the slips 59, and the rotary table 61. Casing
manipulating apparatus is shown at 62. A swivel and kelly assembly
63 is disposed in the rat hole 64. These racker assemblies are more
particularly illustrated and described in the patent application of
John W. Turner, Jr., Well Pipe Racker, U.S. Ser. No. 731,542, filed
May 23, 1968 now U.S. Pat. No. 3,561,811, issued Feb. 9, 1971.
Projecting outwardly from the derrick and positioned under the
racker 51 is a horizontal stage 65 upon which an operator may stand
to adjust or repair the racker.
Associated with the racker 52 is a cable 66 actuated by a
fluid-powered piston-and-cylinder motor 67 for raising and lowering
the racker head, as will be hereinafter described in detail.
Referring next primarily to FIG. 3, the finger board assembly 55 is
shown as being in two sections; one, 68, located on the right-hand
side and the other, 69, located on the left-hand side of a central
opening 71. It is noted that this finger board assembly 55 may be
positioned at a considerable height in the derrick 24, for example,
approximately 90 feet above the platform 23.
The finger board assembly 55 has what may be termed a rear rail 72
extending across the derrick man's side of the combined finger
board assembly 55. Extending across the outer or closed side of the
right-hand finger board section 68 is what may be termed the end
rail 73, and extending across the left-hand outer end of the finger
board section 69 is what may be termed the end rail 74. Extending
inwardly from the end rails 73 and 74 are the front rails 75 and
76, respectively. The rails 72, 73, 74, 75 and 76 comprise the
framework for supporting the finger board sections, and may be
referred to as a walk-around. The front rails 75 and 76 have the
braces 77, 78, 79 and 80.
Mounted on the end rail 74 are the drill pipe fingers 81, 82, 83,
84, 85 and 86, and one or more drill collar fingers 87. These
fingers are mounted on their left-hand ends to extend horizontally
toward a median vertical plane of the derrick and are spaced apart
laterally from the front rail 76 to the drill collar pipe finger 87
a distance sufficient to accommodate the size of drill pipe to be
racked therein. The finger 87 is spaced from the rear rail 72 a
distance to accommodate the diameter of the drill collar to be
racked therein. The space between the front rail 76 and the finger
81 is here shown at 88. This space extends from the outer end of
the finger to the base of the finger near the rail 74 and has
sufficient horizontal depth to accommodate a selected number of
stands of pipe, in the illustration here shown as 12. The same
holds true with respect to the spaces 89, 90, 91, 92, 93 and 94.
The space 95 between the drill collar finger 87 and the rear rail
72 is greater than that between the other fingers, but the depth of
the space is shown as being such that it will accommodate six
stands of drill collars. The left-hand end of the space is shown as
being closed by a gusset 96 which is preferably attached between
the rear rail 72 and the drill collar finger 87 and extends
horizontally outward a distance to provide a support and
reinforcement for the assembly and a stop for the first drill
collar stand 54 racked therein.
Each of the fingers 81 through 87 has a series of spaced latches 97
spaced apart a sufficient distance to accommodate the diameter of a
drill pipe, and extending from end to end of the fingers, there
being shown in the illustration 12 such latches for each finger.
The latches are indicated in their opened or raised position at 98,
for example, and in the closed position at 99. In the opened
position, pipe may be moved freely into and out of the openings
between the fingers.
Similarly, the rear rail 72 has a number of drill collar latches
101 extending for the length of the opening 95 at spaced intervals.
The drill collar latches are indicated closed at 102 and opened at
103 for a purpose similar to the opened and closed latches of the
racking fingers above described. At the outer end of the opening
95, the drill collar latch, here designated 104, is shown as
reinforced.
The right-hand racking board section 73 is provided with drill pipe
fingers 105, 106, 107, 108, 109 and 111, to accommodate drill pipe,
and with the drill collar finger 112. In general, these fingers are
identical with the fingers 81 through 87 above described, and
function the same way. The space here shown as space 113, between
the drill collar finger 112 and the rear rail 72, has, in the
right-hand end thereof, what may be termed a stub finger 114 which
reduces the width of the space between the drill collar finger 112
and the rear rail 72 for the purpose of the racking of drill pipe
between the stub rail 114 and the drill collar finger 112. However,
between the end of the stub finger 114 and the open end of the
space 113, provision is made for the racking of drill collars, here
shown as spaces (sometimes referred to as "compartments") for drill
collars. The stub finger 114 has the same latch arrangement as the
other fingers, and the drill collar latches are provided in
connection with the rear rail 72 the same as was the situation with
respect to the left-hand racker section 69.
These various latches are not germane to the present invention, and
their structure and mode of operation may be ascertained in detail
by reference to Johnson and Turner, Jr., Finger Board and Racker
Apparatus, U. S. Pat. No. 3,501,017. However, these latches may be
hydraulically operated. Therefore, in FIG. 3, there are shown on
each rail 73 and 74, manifolds 115, there being in the illustration
shown one manifold for each racking finger. Each manifold contains
suitable valve means and solenoids (not shown) for actuating the
valves for each latch on the racking finger served thereby,
together with hydraulic lines leading to the latch-actuating
mechanism and electrical connections leading to a console switch
under control of a derrick man.
In this connection, the derrick man (shown at A in FIG. 2) has a
seat 116 and a console 117 preferably centered between right- and
left-hand racking sections and facing toward the center of the
drilling derrick 24 along the space 71. This console has two banks
of toggle switches schematically illustrated thereon, a switch for
each latch and a row of switches for each racking finger.
There is also illustrated in FIG. 3 a portion of the upper racker
means 51, including a racker arm 118 having a racker head 119 with
pipe-guiding means 121, herein referred to as a hook or claw 121.
Illustrated as being held in the claw 121 is the drill pipe 49. The
racker arm 118 is mounted in a carriage 122 and has means, as will
hereinafter be described, for extending and retracting the arm
longitudinally. In addition, the carriage 122 is mounted in a
horizontal track means or frame structure 125 extending
horizontally along the side of the derrick, and has means, as will
also hereinafter be described, under control of the derrick man or
a "floor man" B for moving the carriage laterally in the track
means from side to side of the derrick. Such racker arms and
carriage means are actuated by hydraulic motors under control of
the electrohydraulic systems hereinafter to be described; the
control handle 123 being shown schematically on the right-hand side
of the derrick man's console 117. This console 117 also has valve
means indicated schematically at 124 and 124' for manipulating the
racker head and claw for grasping and releasing the pipe 49. It is
noted that the racker arm 118 normally will be at a height so that
it may pass over the derrick man's station without interfering with
his position.
Referring again briefly to FIG. 2, the intermediate racker assembly
52 is under control of the aforementioned floor man B. A console
117b, but without the toggle switches to control the latches, is
operated by the floor man B to operate the intermediate racker 52,
which will now be described.
Referring again to FIGS. 1 and 2, it will be noted that the
intermediate racker assembly 52, like the upper assembly 51,
comprises a carriage 122 and a frame structure 125 which supports
the carriage 122 for movement laterally with respect to the side of
the derrick. The general details of the carriage and frame
structures are shown in FIGS. 4 and 5. The frame 125 comprises
vertical side members 126 and horizontal channel members 127
interconnected at their ends and suitably reinforced to form a
rigid rectangular frame suitably affixed to the side of the
derrick. The carriage 122 also includes rigid side members 128 and
top and bottom members 129 interconnected at their ends and forming
a rectangular carriage support disposed between the structural
members 126 and 127 of the frame 125. Suitable roller means,
including upper and lower rollers 130 on the carriage support are
revolvable on vertical axes and are disposed in the frame channel
members 127 to support the carriage against tilting; and other
roller means, such as a number of rollers 131 revolvable on
horizontal axes above and beneath the upper and lower carriage
support members 129, engage in the channels of the horizontal frame
members 127 to support the vertical load of the carriage 122 while
facilitating movement of the carriage from side to side in the
frame 125.
A hollow guide 132 is centrally supported in the carriage support
members 128 and 129 by suitable rigid braces 133 and an outer
rectangular carriage support 134. Reciprocable in the guide 132 is
a rigid elongated racker arm 135 adapted to move longitudinally in
the guide 132. Preferably, suitable rollers are interposed between
the sides of the arm 135 and the inside of the guide 132, as
indicated at 136, and other rollers 137 are interposed between the
top and bottom of the arm 135 and the guide 132 so as to facilitate
longitudinal movement of the arm 135, notwithstanding the fact that
the arm may support a latch weight at its end, namely, a stand of
drill pipe or drill collar, as will hereinafter appear.
Means are provided for effecting lateral movement of the carriage
122 within the frame 125, and, illustratively, such means comprises
a drive chain 138 extending across the frame 125 and connected at
its ends to the frame side members 126, the chain engaging a drive
sprocket 139 adapted to be driven by a reversible motor 140, the
motor being suitably mounted on the guide 132. Means are also
provided for effecting longitudinal movement of the arm 135, and,
illustratively, such means comprises a chain 141 extending
longitudinally beneath the arm and attached at its opposite ends to
the arm. A sprocket 142 driven by a reversible motor 143 acts to
move the chain 141 and thus the arm longitudinally of the guide
132. In a manner requiring no further illustration, it will be
understood that both of the chain drive motors 140 and 143 may be
conventional rotary hydraulic motors adapted to be operated in
reverse directions in response to manipulation of control means
under control of the floor man B at the console 117b. It will also
be understood that the carriage 122 of the upper racker 51 and the
arm 118 thereof may be caused to traverse the upper frame 125 and
to be longitudinally shifted, in the same manner as just described,
and that the casing handling means 62 consists of a similar
carriage and arm assembly and provides a lower racker.
At the inner end of the racker arm 135 of the intermediate assembly
52 is a racker head 152 adapted for vertical movement in a head
support 153 which is rigidly joined with the arm 135. The details
of this head and head support structure are best seen in FIGS. 6,
7, and 8.
In this connection, the racker head 152 includes a support plate
154 extending vertically and having a central flange 155 projecting
outwardly therefrom and made a part thereof as by welding. Adjacent
its upper and lower ends, the plate 154 has bearing blocks 156,
each adapted to support an axle 157 for a pair of rollers 158. Each
block 156 also has ears 159 projecting therefrom for supporting
axles of rollers 161. While the rollers 158 and 161 are shown in
FIG. 6 only on the visible side of plate 154, it will be understood
that similar rollers should also be provided at the other side of
plate 154. The rollers 158 and 161 are revolvable on horizontal
axes displaced 90.degree., whereby to support the head 152 against
cocking in any direction relative to the head support 153. This
support 153 is a vertically elongated fabricated body having side
members 153a providing channels defined by opposing walls 162
adapted to receive the rollers 158 therebetween and the members
153a cooperating to provide opposing side walls 163 adapted to
receive the rollers 161 therebetween. These channel members 153a
are welded or otherwise connected to a vertical plate 153b, which,
in the illustrative embodiment, is welded or otherwise attached to
a channel member 164, which is, in turn, connected to the inner end
of the racker arm 135, as seen in FIG. 6, by means of reinforced
brackets 165. In any event, the construction of the head support
153 and its connection to the arm 135 should be strong and rigid,
since it must support substantial weight and hold the racker head
152 against undesired movement, even when the vessel is subjected
to heavy pitch and roll and the head 152 may be supporting a stand
of pipe or drill collars, and as such stand is being elevated or
lowered or moved laterally into the racking fingers previously
described.
Such elevation and lowering of the racker head 152 is accomplished
by the cable 66, previously described, which is suitably connected
to the racker head, as seen in FIG. 6, for example. In this
illustrative embodiment, the cable 66 is provided with a rope
socket 66a connected by a clevis or other connector 66b to a web
66c provided on the head 152. In addition, if desired, a roller 166
may be journalled between ears 167 provided at the upper end of the
head support 153, so as to engage the cable, as seen in broken
lines in FIG. 6, when the head 152 is lowered.
The racker head 152, as seen in FIGS. 6 and 7, comprises opposing
sidewalls 170 connected as by screws 171 beneath a top wall 172 and
suitably otherwise braced as by a crosspiece 173, shown in FIG. 8.
At their ends facing into the derrick, the walls 170 of the head
152 are provided with extensions 170a of reduced height providing
upper horizontal surfaces 174; and between these wall extensions is
a support plate 175, welded or otherwise affixed, and having its
upper surface flush with the extension surfaces 174 of walls 170.
An adaptor plate 176 is disposed on the surfaces 174, being secured
thereto by fasteners 177 and fasteners 178 (see FIG. 7). This
adaptor plate 176 has a throat or pipe opening of a desired size,
say to fit under the shoulder of a drill collar, as will
hereinafter be more fully described; and the peripheral edge of the
throat is provided with a surface or radius at 176a for this
purpose. Below this surface 176a, the periphery of the plate
defining the throat flares outwardly so as to not interfere with
the proper engagement of the surface 176a with the shoulder of the
drill collar.
In order that the head may be capable of also supporting pipe of a
diameter smaller than that supportable on the surface 176a, slide
means are provided, as best seen in FIG. 8, including a slide plate
180. This plate 180 is slidably disposed in opposed grooves 181 in
the side wall extensions 170a of the head, and is connected by
fasteners 182 to a slide actuator head 183 so as to be reciprocable
in the grooves 181 as will later be described. Slide plates 180 of
the desired size may be employed, say a slide plate 180 related to
the adaptor plate 176, so that the head 152 is adapted to support
related drill pipe and drill collar sizes. In this connection, the
slide plate 180, as best seen in FIG. 7, has a throat or pipe
opening 180a adapted to receive a drill pipe of a smaller diameter
than the throat of the adaptor plate 176. Moreover, the plate 180
is provided with a surface 180b (see FIG. 8) adapted to receive the
body of the drill pipe and engage the taper or shoulder provided by
the tool joint when the slide plate 180 is in the projected
position of FIGS. 7 and 8, but this slide plate 180 may be
withdrawn so as to not engage a larger pipe adapted to be engaged
by the adaptor plate 176.
Accordingly, it will be understood that different combinations of
adaptor plates 176 and slide plates 180, having related throat
diameters, may be interchangeably employed in the head 152, whereby
to enable the handling and racking of drill pipe and drill collars
of a range of relative diameters.
Hook or claw means 185 are provided for engaging a drill pipe or
drill collar above the support surfaces 176a and 180b, such means
operating to urge the drill pipe or drill collars, as the case may
be, into the throat of the slide plate 180 or the adaptor plate
176, respectively. More particularly, the claw means 185 comprises
a lever 186 pivotally connected to the body of the racker head 152
as by means of a pivot pin 187, this pin extending downwardly
through the upper wall 172 of the racker head into an opening
provided in the previously described plate 175 which extends
transversely between the sidewalls 170 of the racker head. The
lever 186 includes an actuator arm 189 and a working arm 190, the
latter extending generally arcuately in the nature of a hook or
claw and having an inner arcuate surface 191 adapted, when the
lever arm 190 is in one position, to engage a drill pipe tool joint
or a drill collar to apply a force thereto tending to urge the same
into the appropriate throat 180a or surface 176a of the drill pipe
supporting slide 180 and the adaptor plate 176, respectively, while
being movable to a second position, as shown in broken lines in
FIG. 7, at which they are open for reception of the drill pipe or
drill collar.
Actuator means 195 are provided for effecting the movement of the
drill pipe supporting slide 180 between the outwardly projected
position and the retracted position, and actuator means 196 are
provided for effecting movement of the hook or claw lever 186
between the full line and broken line positions of FIG. 7. The
first-mentioned actuator means 195 may comprise a fluid pressure
operated actuator cylinder 197 having a rod 198 projecting
therefrom and suitably connected to the slide actuator head 183 by
a suitable fastener means 199, so that extension and retraction of
the rod 198 will effect projection of the drill pipe supporting
slide 180 to the pipe supporting position, and retraction of the
rod 198 will effect movement of the drill pipe supporting slide 180
to the out-of-the-way position. The actuator means 196 also may
comprise a fluid pressure actuator cylinder 200 having an actuator
rod 201 projecting therefrom and pivotally connected as at 202 to
the actuator arm 189 of the claw lever 186. Thus, projection of the
rod 201 will effect pivotal movement of the lever 186 to the broken
line position of FIG. 7, and retraction of the rod 201 will effect
movement of the lever 186 to the full line position of FIG. 7.
It will be understood that the control of the respective actuator
means 195 and 196 may be effected by the previously described floor
man B by the operation of suitable valve control means.
Without requiring further illustration and with reference to FIG.
2, it will be apparent that the upper pipe racker head 119 on the
racker arm 118 may be so constructed, including the provision of
the previously described hook or claw 121 thereon, that said claw
121 may be opened or closed to confine an upper region of a stand
of drill pipe, such as the stand 49 of FIG. 2, or a stand of drill
collars, such as the stand 54 of FIG. 2, against lateral movement
relative to the head 119; but the stand may be elevated and lowered
relative to the head 119. In addition, while the means 62 of FIG. 2
has been previously described as casing handling apparatus, such
means may include another head and claw means adapted to effect
sliding engagement with the stand in certain pipe handling
operations.
In the use of the apparatus as described above, the stand of drill
pipe 49 illustrated in FIG. 2 in a position disposed above and in
alignment with the drill string 26 supported in the slips 59 may be
either made up in the pipe string 26 or moved into the rack
therefor. In the latter case, the floor man B will effect operation
of the motor 143 in a direction to effect retraction of the racker
arm 135, and, correspondingly, such retraction of the racker arm
118 of the upper racker means 51 may be effected. When the stand of
pipe 49 is retracted to a location aligned with the desired space
between any of the racker fingers 81 through 87 or 105 to 112, the
floor man B will arrest retraction of the racker arms 118 and 135
and effect lateral movement of the carriages 122 relative to the
frames 125 of the racker means 52 and 51 by causing operation of
the chain drive motor 140 in the desired direction, arresting such
lateral movement when the stand is at the desired location between
the fingers so as to be latched in place upon movement of the latch
means previously described to a pipe stand confining position.
Thereafter, the racker head 152 may be lowered by the actuator
cylinder 67 so as to allow the pipe stand to come to rest upon the
racker base 56 which may, if desired, be provided with upstanding
protuberances, designated 160 in FIG. 3, for engagement in the open
lower end of the pipe stand for holding the same against
displacement responsive to pitch or roll of the vessel 21.
Following this, the floor man B may effect opening of the claws 121
and 185 so that the racker heads may be moved in a reverse
direction, that is, back to the center of the rack assemblies 51
and 52 and then back towards a position at which the next stand of
pipe may be picked up. During the operation of racking a stand as
just described, the pipe hoisting equipment, comprising the
traveling block 35, the hook 38, the links 42 and the elevator 44,
may be lowered so as to allow engagement of the next stand of pipe
included within the drill string 26, so that the drill string may
be elevated to a position for allowing removal therefrom of the
next stand of pipe in response to operation of the power tong
mechanism 58.
The operation of running the pipe stands will be understood without
further description herein as being simply a reversal of the
above-described operation. When drill collar stands 54 are to be
run into the well or racked, as the case may be, the operations
moreover are substantially the same as those described above,
except for the fact that the drill pipe supporting slide 180 will
be retracted by the actuator means 195 so as to allow engagement of
the adaptor plate 176 with the drill collars. The upper head 119,
thus, will be understood without need of illustration to include a
retractable plate such as the plate 180 and an adaptor plate such
as the plate 176, so that the upper head is adapted to guide pipe
and drill collars of different diameters, while snugly held by the
claw 121. Since the upper head in the illustrative embodiment is
merely a guide, it will also be understood that the just-mentioned
slide and adaptor plates will have openings such as the throat 180a
and surface 176a, respectively of slightly larger size so as to
receive the major drill pipe and drill collar diameters.
The casing manipulating apparatus 62, like the intermediate racker
assembly 52 and the upper racker assembly 51, will be understood to
comprise a racker arm 62a--similar to the racker arms 118 and 135,
the casing manipulator racker arm having a head adapted to engage
lengths of well casing, for example, when such casing is being
moved into a well bore. Accordingly, it is desirable that the
casing manipulator racker arm be capable of longitudinal extension
and retraction during the manipulation of the casing as well as
capable of lateral movements with respect to a line extending
radially from the well bore.
Moreover, it will be understood that the upper racker assembly 51
and the casing handling apparatus 62 will include motor means for
effecting longitudinal extension and retraction of the respective
racker arms as well as the lateral movement of such arms, such
motor means corresponding to the previously described motor means
140 and 143 of the intermediate pipe racker assembly 52.
As will now be described, these motor means for effecting actuation
of the respective racker arms are adapted to be supplied with fluid
under pressure from a reservoir which may be suitably located
beneath the derrick floor. Referring to FIG. 9, such a reservoir is
generally illustrated at 300, the reservoir being adapted to supply
fluid to and receive fluid from the hydraulic systems for supplying
pressurized fluid to the motor means for effecting actuation of the
intermediate racker assembly, on the one hand, and the upper and
lower racker assemblies. on the other hand. In these systems the
carriage motor 140 and the racker arm motor 143 of the intermediate
racker apparatus 52 are adapted to receive pressurized fluid from a
reversible, variable, positive displacement pump denoted at
301.
A similar pump 302 is adapted to supply pressurized fluid to the
carriage motor 140a and the racker arm motor 143a of the lower
racker or casing handling apparatus 62. This reversible, variable,
positive displacement pump 302 is also adapted to supply fluid
under pressure to the carriage motor 140b and the racker arm motor
143b of the upper racker assembly 51. The motors 140, 140a and 140b
for effecting lateral translations of the carriages of the
respective rackers are reversible motors, of the positive type,
operable in opposite directions depending upon the direction of
flow of pressurized fluid thereto and, likewise, the motors 143,
143a and 143b are of the same reversible and positive type, so that
the supply of fluid from the respective pumps 301 and 302 will
effect reversal of the motors under the control of selectively
operable valve means, and the speed of the motors will be a
function of the volume displaced by the pumps 301 and 302.
The pump 301 is adapted to supply fluid to the intermediate racker
carriage motor 140 and to return such fluid to the reservoir 300
via a pair of conduits 303 in which is a solenoid actuated valve
304, this valve being normally closed but being operable when
energized to allow the flow of fluid through the conduits 303 in
either direction so as to effect reverse operation of the motor
140. Correspondingly, a pair of conduits 305 lead between the
intermediate racker arm motor 143 and the pump 301; and interposed
between the motor 143 and the pump 301 is another solenoid actuated
valve 306 normally closing the conduits 305 but adapted when
energized to permit the flow of fluid through the conduits 305 in
either direction so as to enable reverse operation of the motor
143. Each of the motors 140 and 143 is connected via a suitable
dump conduit 307 to the reservoir 300, and without need of specific
illustration herein, it will be understood that the motor systems
may include suitable pressure relief valves generally denoted at PR
as may be desired or necessary to establish and regulate the
desired flow of fluid from the pump 301 to the motors 140 and
143.
A pair of conduits 303a having a solenoid operated valve 304a is
adapted to supply fluid to the lower racker carriage motor 140a in
either direction from the pump 302, and a pair of conduits 305a is
similarly adapted to supply fluid in either direction to the lower
racker arm motor 143a under the control of a solenoid actuated
valve 306a. A pair of conduits 303b having a solenoid actuated
valve 304b is adapted to supply fluid from the pump 302 to the
upper racker carriage motor 140b, and, correspondingly, a pair of
conduits 303b supplies fluid in either direction to the upper
racker arm motor 143b under the control of a solenoid actuated
valve 306b.
It is notable that another solenoid actuated valve 308 is
interposed between the pump 302 and the pairs of conduits 303a and
303b, so that the fluid may be supplied from the pump 302 either
via one of the valves 304a and 306a to the respective motors 140a
and 143a or via the valves 304b and 306b to the respective motors
140b and 143b. In addition, a dump conduit 307a connects the motors
140a and 143a to the reservoir 300 and a dump conduit 307b connects
the motors 140b and 143b to the reservoir 300. Like the system for
the intermediate racker 52, the upper and lower racker systems 51
and 62 may also include suitable pressure relief valves PR.
From the foregoing it will be understood that the pumps 301 and 302
are adapted to effect the desired opposite drive of any of the
motors 140, 140a, 140b and 143, 143a, 143b under the control of the
respective solenoid valves 304, 304a, 304b and 306, 306a, 306b; but
when the motors have effected the desired extent of carriage
translation or longitudinal movement of the respective racker arms,
de-energization of the solenoid valves will allow the latter to
assume their normally closed positions blocking off the flow of
hydraulic fluid to the respective motors so that further movement
of the carriages and arms due to inertia forces is effectively
braked, since flow of motor fluid is shut off. Moreover, due to the
fact that the pumps 301 and 302 are of the variable displacement
type, the rate of movement of the carriages and the racker arms may
be varied by varying the rate of fluid displacement by the pumps.
For example, the pumps 301 and 302 may be of the typical adjustable
wobble plate type adapted to constantly run in a neutral position,
but to have the angle of the wobble plate adjusted in either
direction to effect reversal of flow at a desired rate. Thus, each
of the pumps 301 and 302 is generally illustrated as having an
actuator 301A and 302A, respectively, adapted to effect the desired
adjustment of the pump operation.
In order to effect operation of the pumps 301 and 302 as desired,
as well as to effect energization of the respective solenoid valves
304, 304a, 304b and 306, 306a, 306b, suitable control means are
provided adjacent to the derrick man A and the floor man B
previously referred to. More particularly, such controls may be
incorporated in the derrick man's console 117 and in the floor
man's console 117b and may comprise operating means, for example,
of the type shown and described in the application for U.S. Pat. of
John E. Ham, Ser. No. 779,046, filed Nov. 26, 1968 for
MULTI-DIRECTIONAL CONTROL, now U.S. Pat. No. 3,550,466 issued Dec.
29, 1970. In any event, actuator means are provided for
simultaneously effecting actuation of the respective pumps 301 and
302 in the desired direction and operation of the respective
solenoid valves 304, 304a, 304b and 306, 306a, 306b.
Referring to FIG. 10, operating means generally denoted at 400 are
illustrated as being adapted for control of the intermediate racker
assembly 52. At 500 there is generally illustrated a similar
control means for the upper racker assembly 51. At 600 there is
generally illustrated a control means for the lower casing handling
apparatus or racker 62, this means 600 also being selectively
operable to control operation of the upper racker apparatus 51 as
will hereinafter be described.
The control means 400 includes, for example, a first micro-switch
401 in a circuit, one side of which is designated 402, with the
solenoid valve 304 which controls the flow of pressure fluid from
pump 301 to the carriage motor 140 of the intermediate racker
assembly 52. Also included in the control means 400 is a second
micro-switch 403 which is in a circuit, one side of which is
designated 404, with the solenoid valve 306 which controls the flow
of fluid to the racker arm motor 143 of the intermediate racker
apparatus 52. Operating means are herein illustrated as a rotary
member 405 adapted to close the switch 401. A similar rotary member
406 is adapted to close the switch 403. Simultaneously, with
closure of either of the switches 401 or 403, the rotary members
405 and 406 are adapted to effect adjustment or the desired
operation of the pump 301, but it is desired that the operation of
the motors 140 and 143, upon operation of either of the actuators
301A or 301B, be exclusive of one another.
Accordingly, the rotary operator 405 is illustrated as being in the
form of a gear segment in mesh with a gear 407 which drives the
center tap of a potentiometer 408, the latter being connected in a
circuit 409 by a normally open relay 410. This relay 410 is
connected by a conductor 411 with the switch 401 so as to close the
relay 410 upon closure of the switch 401. When the relay 410 is
closed, the circuit 409 is completed to a first or "No. 1 CONT."
feed-back controller or other suitable slave motor means 412 which
will respond to the adjustment of the potentiometer 408 to
correspondingly adjust the actuator 301A of the pump 301, as
previously described. The details of the particular slave motor
system need not be specifically illustrated herein since various
selsyn motor type controls or the like may be availed of whereby to
adjust the function of the pump 301 both as to direction and rate
of flow in response to movement of the member 405 in either
direction and to a given extent.
The operator member 406 is also illustrated as being a segment of a
gear in mesh with a gear 413 which drives the center tap of a
potentiometer generally denoted at 414, the latter being connected
in the circuit 409, previously referred to, by a normally closed
relay 415, this relay also being connected by a conductor 416 to
the micro-switch 401. Thus, closure of the micro-switch 401, in
response to movement of the operator member 405 in either
direction, both closes the normally open relay 410 and opens the
normally closed relay 415, whereby the circuit 409 is at all times
isolated from one or the other of the potentiometers 408 and 414.
However, upon closure of the micro-switch 401, the potentiometer
414 is effective through the circuit 409 to energize the previously
referred to slave motor means 412. Thus, movement of the operator
member 406 in either direction will also effect corresponding
adjustment of the direction and rate of flow of the pump 301.
As will now be apparent, the remotely operable control means 400
through the movement of either of the members 405 and 406, in
either direction and to a selected extent, will effect the desired
rotation of the motors 140 and 143 and at a desired rate of motor
speed, whereby to effect the desired translation of the
intermediate carriage 122 of the pipe racker assembly 52 as well as
the desired extension and retraction of the racker arm 135
thereof.
The control means 500 includes normally open micro-switches
corresponding to those included in the control means 400 as
previously described, namely, a first micro-switch 501 connected by
a circuit, one side of which is designated 502, to the solenoid
valve 304b which controls the upper carriage motor 143b; and a
second micro-switch 503 connected by a circuit, one side of which
is designated 504, to the solenoid valve 306b which controls the
operation of the upper racker arm motor 143b. A rotary operator 505
is adapted to effect closure of the micro-switch 501 and a similar
rotary operator 506 is adapted to effect closure of the
micro-switch 503. Operator 505 is a gear segment in mesh with a
gear 507 which drives the center tap of a potentiometer generally
denoted at 508. Potentiometer 508 is in a circuit 509 with a
normally open relay 510, connected by a conductor 511 to the switch
501 so as to be closed when the switch 501 is closed, the circuit
509 including selsyn motor means 512 or other slave motor means
which is responsive to the adjustment of the potentiometer 508 to
adjust the pump actuator 302A of pump 302. The rotary operator 506
is a gear segment in mesh with a gear 513 which drives the center
tap of a potentiometer generally denoted at 514. Potentiometer 514
is connected to the circuit 509 through a normally closed relay
515, this relay 515 being connected by a conductor 516 to the
micro-switch 501. Therefore, the circuit 509 and the function of
the slave motor means 512 may be affected only by one of the rotary
operators 505 and 506, since closure of the micro-switch 501
effects simultaneous opening of the normally closed relay 515 and
closure of the normally open relay 510.
A similar arrangement is provided in the control means 600,
including a normally closed micro-switch 601 connected in a
circuit, one side of which is designated 602, with the solenoid
valve 304a for controlling operation of the lower carriage motor
140a. A second micro-switch 603 is connected in a circuit, one side
of which is designated 604, with the solenoid valve 306a which
controls the operation of the lower racker arm motor 143a. In
addition, the control means 600 includes a rotary operator 605 for
closing the micro-switch 601 and another rotary operator 606 for
closing the micro-switch 603. Operator 605 is a gear segment in
mesh with a gear 607 which drives the center tap of a potentiometer
generally denoted at 608 which is connected in a circuit 609, the
latter in turn being connected with the circuit 509 through a
normally open relay 610, this relay 610 being connected by a
conductor 611 to the micro-switch 601, whereby upon closure of the
relay 610 the potentiometer 608 may regulate the slave motor means
512 for the pump control 302A. Likewise, the rotary operator 606 is
a gear segment in mesh with a gear 613 which drives the center tap
of a potentiometer generally designated at 614 which is connected
to the circuit 609 by a normally closed relay 615, thus here again
the slave motor means 512 is operable only in response to movement
of one or the other of the rotary operators 605 and 606, provided
that selector means 700 hereinafter described is conditioned to
permit such operation.
This selector means, generally denoted at 700, is provided whereby
to enable the selective utilization of the control means 500 or the
control means 600 to effect operation of the upper racker assembly
51 by the derrick man A, at the console 117, or by the floor man B,
at the console 117b. This selective means 700, in other words,
enables the control means 600 at the floor man's console 117b, for
example, to selectively effect the operation of either the upper
racker apparatus 51 or the lower casing handling or racking
apparatus 62, individually. Illustratively, the selector means
comprises a selector switch 701 which has a central inactive
position, "UPPER (DERRICK)," at which the operation of the upper
racker apparatus 51 is under the control of the control means 500
at the derrick man's console 117. Under these circumstances, the
solenoid valve 308 will be in the condition shown in FIG. 9,
establishing communication between the pump 302 and the upper
racker hydraulic system. This switch 701 has one contact designated
702 which is in circuit with a number of relays, whereby when the
switch is in a first position, "UPPER (FLOOR)," the control means
600 at the floor man's console 117b is effective to control the
operation of the upper racker apparatus 51. The switch contact 602
is in circuit with a first normally opened relay 703 which is
interposed between the normally open and normally closed relays 610
and 615 of the control means 600 and the circuit 609 previously
referred to, so that when the normally open relay 703 is closed
responsive to closure of the selector switch 701 the control means
600 is connected to the circuit 509 through the relay 703. At the
same time, the control means 500 is disconnected from the circuit
509 by a normally closed relay 704 which is in series circuit with
the normally open relay 703. Likewise, a normally closed relay 705
in series circuit with the relays 703 and 704 will be opened so as
to interrupt the connections 502 and 504 between the micro-switches
501 and 503, respectively, and the solenoid valves 304b and 306b.
Thus, when the selector switch 701 is in engagement with the
contact 702 the control means 500 is rendered inoperative either to
effect operation of the solenoid valves 304b and 306b or the slave
motor means 512. Also in circuit with the contact 702 of the
selector switch 701 is a normally open relay 706 which when closed
is adapted to establish, via a conductor 707, the circuit between
the micro-switch 601 of the control means 600 and the solenoid
valve 304b which controls operation of the upper carriage motor
140b of the upper racker apparatus 51. Similarly, the normally open
relay 706 when closed is adapted to establish connection, via a
conductor 708, between the micro-switch 603 and the solenoid valve
306b which controls the operation of the arm actuating motor 143b
of the upper racker apparatus 51. The selector switch 701 has
another position, "LOWER," including a contact 709 which is in
circuit with another normally open relay 710. Closure of the switch
contact 709 is effective to close the relay 710 to complete a
circuit via a conductor 711 between the micro-switch 601 and the
lower carriage solenoid valve 304a; and closure of the normally
open relay 710 will effect a connection, via a conductor 712,
between the micro-switch 603 and the lower arm solenoid valve
306a.
Accordingly, the control members 605 and 606 in the control means
600 are respectively operable to effect translation of either the
upper carriage or the lower carriage of the racker apparatus 51 or
62 or to effect operation of the arms of the respective upper and
lower racker apparatus 51 and 62, depending upon the selective
condition of the selector switch 701. Thus, when the selector
switch 701 is employed to close contact 702 the upper racker
apparatus 51 is operable by the control means 600 at the floor
man's console 117b, but when the selector switch contact 709 is
closed then the same control means 600 is effective to cause
operation of only the lower racker apparatus 62. Moreover, when the
contact 709 is closed, the circuit to solenoid valve 308 is also
closed to shift the valve 308 to its position allowing flow of
fluid to motors 140a and 143a from pump 302.
From the foregoing it will be apparent that in the utilization of
any of the control means 400, 500, and 600, a stand of pipe
supported in the racker heads 119 and 152 may be moved in either of
two directions, i.e., either on a horizontal X-axis or a
perpendicular Y-axis, at a rate and to the extent desired. In such
operations the extent of movement of any of the rotary control
members 405, 406 or 505, 506, or 605, 606, regardless of the
condition of the selector switch 701 of the selector means 700,
will be effective to condition one of the pumps 301 and 302 to
supply fluid under pressure to the motors 140, 143 or 140a, 143a,
or 140b, 143b at the desired rate and for the desired period of
time to allow movement of the stand to the desired position,
whereupon movement of the rotary control members aforesaid back to
a starting position at which the micro-switches 401, 403 or 501,
503 or 601, 603 are open, at which point in time movement of the
respective carriages and arms will be arrested and the stand of
pipe will be positioned either over the well bore or between the
appropriate fingers of the pipe rack finger board sections 68, 69,
as previously described.
From the foregoing, it is believed that further description of the
mode of operation of the apparatus and systems is unnecessary, and
changes and alterations may be made without departing from the
spirit of the invention .
* * * * *