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| An automated pipe handling system has been developed and all the tripping operations are plc controlled avoiding any interference by the personnel working in the drilling floor. A special device runs casing with a controlled torque force with values selected on the control panel in dog house. The drilling parameters can be controlled during operations by the hydraulic device installed in the rig, which allows automatic drilling with a constant WOB or constant rate of penetration, selected by the operator on the control panel. In case of stuck pipe, controlled and predetermined values of over pull can be set and smoothly reached, and a back reaming operations can be executed during the tripping out of the hole, reducing the risk of loosing the drilling string. |
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