Embodiments of the present invention generally relate to tubular handling tools, and more specifically to methods and apparatuses for monitor and control of slip movement for tubular handling tools.
The handling of tubular strings has traditionally been performed with the aid of a spider and/or an elevator. Typically, spiders and elevators include a plurality of slips that are disposed about the inner circumference of a housing, also known as a bowl. The slips include teeth that grip the tubular string. The inner surface of the housing is inclined so that the slips may be moved downwardly and radially inward into engagement with the tubular string, and may be moved upwardly and radially outward out of engagement with the tubular string.
To ensure that the tubular string is properly supported, it is important that the slips engage the tubular string uniformly about its circumference. The slips are generally positioned symmetrically around the tubular string. However, as the slips are moved into engagement with the tubular string, one slip may contact the tubular before another slip, and thereby move the tubular string into a slightly off-center position. Non-uniform engagement may also result in crushing, tilting, or twisting of the tubular string. Conventional tubular handling tools have relied on the leveling ring to facilitate synchronous movement of the slips. These solutions have proven to be limited under the extreme operating conditions typically experienced by tubular handling tools.
There is a need, therefore, for a method and apparatus of monitoring and controlling the slip movement of a tubular handling tool.
Embodiments of the present invention generally relate to tubular handling tools, and more specifically relates to methods and apparatuses for monitor and control of slip movement for tubular handling tools.
In an embodiment, a slip monitor and control system includes a body; a plurality of slips; a transmitter for each slip; at least one receiver coupled to the body; and an actuator for each slip configured to move the respective slip vertically relative to the body.
In an embodiment, a method of slip monitor and control includes obtaining slip positional information for a plurality of slips; determining whether the slip positional information for each of the slips matches criteria; and sending one or more control signals to one or more actuators, each actuator configured to move one of the slips vertically relative to a body.
In an embodiment, a method of handling a tubular includes actuating a plurality of slips to move vertically relative to a body; engaging the tubular with at least one of the slips; measuring positional data of the plurality of slips; and identifying an offset pipe condition.
So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments.
Embodiments of the present invention generally relate to tubular handling tools, and more specifically to methods and apparatuses for monitor and control of slip movement for tubular handling tools.
In addition to off-center position (
During typical operations, slips 120 and leveling ring 110 operate within a closed environment. Visual access to the positioning of tubular 105 may be limited or completely unavailable. Therefore, embodiments provide systems and methods that may both monitor and control slip position and movement.
Slip monitor and control system 300 may use slip positional information from transmitters 340 and receivers 330 to monitor and control slip movement during operations. In some embodiments, the system 300 may utilize a control module 315 to monitor system 300, for example to identify an offset pipe condition. Control module 315 may determine from the slip positional information that slip 120-1 is higher in body 125 than slip 120-2 (as shown in
In some embodiments, various signal options may be utilized for the slip positional information, the control signals, and/or any other communications between elements of slip monitor and control system 300. The signal options may utilize any of the aforementioned communication channels. The signal options may include, for example, a simple amplitude signal wherein the amplitude of the signal is proportional to the position of the slip. The signal options may include a variety of digital pulses, for example, a first digital pulse may have a duration that is proportional to the desired slip position. As another example, multiple pulses may be used in conjunction, each representing slip movement of a known increment. The signal options may include a digital coding system, for example, with a digital distinctive code for each known slip position, such as Open Slip=code 1, Midway Open Slip=code 2, and Closed Slip=code 3.
In some embodiments, slip monitor and control system 300 may log slip positional information for later review and assessment. For example, in the event that a tubular is mishandled, a log of slip positional information may be reviewed to identify possible fault conditions. Comparison of logs over time for a particular tubular handling tool and/or between or amongst several tubular handling tools may identify expected conditions and/or unexpected conditions. For example, if a particular tubular handling tool logs significantly more adjustments to a particular slip, for example slip 120-3, than to other slips of that tubular handling tool and/or other similarly positioned slips of other tubular handling tools, it may be determined that slip 120-3 is in a potential fault condition. That tubular handling tool may then be taken out of service for remediation of slip 120-3.
In some embodiments, slip monitor and control system 300 may coordinate the position and/or movement of the plurality of slips by way of a master-match system. For example, as illustrated in
As seen in
In some embodiments, each piston 450 may be equipped with a proportional control valve to adjust hydraulic flow, thereby slip speed, in order to maintain coordination of the slips with a higher level of accuracy. In some embodiments, check valves may be utilized to put each piston 450 in a fail-safe condition to prevent accidental opening of the slip 120 in the event hydraulic pressure is lost. In some embodiments, pressure control valves may be utilized with each piston 450, in addition to or in lieu of sensors, to obtain slip positional information based on assumptions about piston pressure and slip position.
In some embodiments, receivers 340 may be coupled to a tubular handling tool body, such as body 125, in a recess, groove, or pocket. For example,
A method 700 of slip monitor and control is illustrated in
In an embodiment, a slip monitor and control system includes a body; a plurality of slips; a transmitter for each slip; at least one receiver coupled to the body; and an actuator for each slip configured to move the respective slip vertically relative to the body.
In one or more embodiments disclosed herein, the actuators comprise pistons.
In one or more embodiments disclosed herein, the system also includes a proportional control valve for each piston.
In one or more embodiments disclosed herein, the system also includes a hydraulic control reservoir coupled to the pistons with hydraulic control lines.
In one or more embodiments disclosed herein, the body comprises two pivotally coupled sections.
In one or more embodiments disclosed herein, the system also includes, for each slip, at least one of a position sensor, a motion sensor, and an acceleration sensor.
In one or more embodiments disclosed herein, the system also includes, for at least one slip, a relative position sensor configured to measure a vertical distance between the transmitter for that slip and the at least one receiver.
In one or more embodiments disclosed herein, the at least one receiver is coupled to the body in a machined pocket.
In one or more embodiments disclosed herein, the at least one receiver is coupled to the body with an external mounting.
In one or more embodiments disclosed herein, the system also includes a control module.
In one or more embodiments disclosed herein, the at least one receiver is configured to provide input to the control module, and the control module is configured to send control signals to the actuators.
In an embodiment, a method of slip monitor and control includes obtaining slip positional information for a plurality of slips; determining whether the slip positional information for each of the slips matches criteria; and sending one or more control signals to one or more actuators, each actuator configured to move one of the slips vertically relative to a body.
In one or more embodiments disclosed herein, the slip positional information for each slip includes at least one of position data, speed data, and acceleration data.
In one or more embodiments disclosed herein, the slip positional information and the criteria includes position data, and the determining comprises determining whether the slip positional information for each slip matches the criteria to within 0.25 inch.
In one or more embodiments disclosed herein, the slip positional information and the criteria includes speed data, and the determining comprises determining whether the slip positional information for each slip matches the criteria to within 10 cm/s.
In one or more embodiments disclosed herein, the criteria includes a pre-established set of criteria.
In one or more embodiments disclosed herein, the method also includes identifying a master slip and one or more non-master slips from the plurality of slips, wherein the criteria for each of the non-master slips includes slip positional information of the master slip.
In one or more embodiments disclosed herein, the control signals come from a hydraulic control reservoir; and the master slip is closer to the hydraulic control reservoir than any of the non-master slips.
In one or more embodiments disclosed herein, the method also includes sending data from a transmitter on at least one of the plurality of slips to a control module, wherein the control module sends the one or more control signals.
In one or more embodiments disclosed herein, the method also includes sending data from a transmitter on at least one of the plurality of slips to a receiver on the body; and sending data from the receiver to a control module, wherein the control module sends the one or more control signals.
In one or more embodiments disclosed herein, the method also includes sending data from a sensor on at least one of the plurality of slips to a transmitter on that slip; sending data from the transmitter to a receiver on the body; and sending data from the receiver to a control module, wherein the control module sends the one or more control signals.
In one or more embodiments disclosed herein, the one or more control signals include at least one of a simple amplitude signal, a digital pulse, and a digital code.
In an embodiment, a method of handling a tubular includes actuating a plurality of slips to move vertically relative to a body; engaging the tubular with at least one of the slips; measuring positional data of the plurality of slips; and identifying an offset pipe condition.
The method of claim 23, wherein the offset pipe condition comprises the tubular in an off-center position or a tilted position relative to the body.
In one or more embodiments disclosed herein, the method also includes sending one or more control signals to change how one or more slips move relative to the body.
In one or more embodiments disclosed herein, the method also includes repeating the measuring the positional data and the sending one or more control signals until the offset pipe condition is no longer identified.
In one or more embodiments disclosed herein, the method also includes identifying a master slip and one or more non-master slips from the plurality of slips, wherein: the control signals come from a hydraulic control reservoir; and the master slip is closer to the hydraulic control reservoir than any of the non-master slips.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
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