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1.发明申请公开(公告)号：WO2022064374A1
公开(公告)日：2022-03-31
申请号：PCT/IB2021/058625
申请日：2021-09-22
Applicant: DRILLMEC S.P.A.
Inventor： TIBERI, Andrea , BASILE, Adolfo
Abstract: Stabilization manipulator (2) for cooperation in manipulating and moving drilling elements (P) in a drilling rig (1). The stabilization manipulator (2) comprising: a linear guide (3) adapted to be fixed to a drill floor (13) comprised in the drilling rig (1); a carriage (4), comprising a base (40) and sliding blocks (41), adapted to slide along said linear guide to move at least between a position close to a well (M, H) and a position distant from said well (M, H); a first arm (51), a first end of which is constrained to said base (40) of the carriage (4), so that it can rotate about a horizontal axis; and a second arm (52), a first end of which is constrained to said base (40) of the carriage (4), so that it can rotate about a horizontal axis. The second arm (52) is separate from and independent of said first arm (51). A roller (512) being constrained to the second end of said first arm (51), which is adapted to rotate about an axis substantially perpendicular to the extension of said first arm (51), changing position relative to said first arm (51). A roller (522) being constrained to the second end of said second arm (52), which is adapted to rotate about an axis substantially perpendicular to the extension of said second arm (52), changing position relative to said second arm (52). The carriage (4) comprising a rotation system (42) adapted to cause said base (40) to rotate about a vertical axis.
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2.发明申请
公开(公告)号：WO2022064372A1
公开(公告)日：2022-03-31
申请号：PCT/IB2021/058623
申请日：2021-09-22
Applicant: DRILLMEC S.P.A.
Inventor： TIBERI, Andrea , BASILE, Adolfo
IPC: E21B19/14
Abstract: Multifunction manipulator (3) comprising: a carriage (4); an articulated arm (5); a robotic apparatus (6); a manipulation head (7). The robotic apparatus (6) is adapted to move the manipulation head (7) with at least three degrees of freedom. The manipulator (3) is configured to move the manipulation head (7) with at least five degrees of freedom. The carriage (4) comprises: at least one sliding block (41); a pulley-type hoisting device (42) in turn comprising a winch (420); an emergency braking system (43) adapted to prevent the carriage (4) from moving in the event of a malfunction of the hoisting system (42), the latter being adapted to cause said carriage (4) to slide vertically along a first axis (Z) parallel to the longitudinal extension of a mast (12). The articulated arm (5) has a monolithic body (50) constrained, at a first end thereof, to the carriage (4) and, at a second end thereof, to a first end of the robotic apparatus (6). The manipulation head (7) is connected to the second end of the robotic apparatus (6). The articulated arm (5) comprises: a first actuator (51) and a second actuator (52) for moving the articulated arm (5). The articulated arm (5) and the robotic apparatus (6) comprising electric actuators. The manipulator (3) comprises a control system (32) adapted to independently control all the electric actuators comprised in said articulated arm (5) and in said robotic apparatus (6).
