Automated wellbore equipment feeding system

US9366128B2 · kind B2 · utility

Assignee

• Baker Hughes Holdings LLC · US

Inventors

• Dominik Brouwer · Burgwedel, DE
• Joerg Lehr · Sulingen, DE

Key dates

• Filing date: May 22, 2013
• Grant date: Jun 14, 2016
• Expiry date: May 18, 2034

Classification

• Technology area (CPC E): Fixed Constructions
• CPC primary: E21B23/00
• WIPO field: Civil engineering
• WIPO sector: Other fields

Abstract

An apparatus for manipulating objects include a plurality of actuators distributed on a rig. The actuators cooperate to orient and move the well equipment. Each actuator may include at least one non-rigid tension member configured to engage the well equipment, and at least one sensor generating a signal representative of at least one parameter of: (i) a length of at least one of the at least one non-rigid tension members, (ii) a tension along at least one of the at least one non-rigid tension members, (iii) a position of at least one of the at least one non-rigid tension members; and (iv) an orientation of at least one of the at least one non-rigid tension members. The actuators may also each include a drum guiding each of the at least one non-rigid tension members and a motor rotating each drum. The apparatus further includes a controller in communication with the actuators, the controller being programmed to move the object based on the at least one sensor signals.