OILFIELD TUBULAR TORQUE WRENCH WITH AUTOMATED POSITIONING

摘要

Apparatus and methods for automated positioning of an oilfield torque wrench with respect to the floor of a drilling rig are described. Angular encoders and linear transducers provide feedback with respect to the position of the torque wrench. The position feedback information may be processed through a variety of functions to smooth out changes in the motion control signals from the operator's control console sent to the torque wrench. The position feedback information may also be used to limit the motion of the torque wrench. Proportional flow valves are employed to control the pressure in hydraulic or pneumatic circuits. A learning function is employed for reading out and storing position information such as the angular encoder and liner transducer outputs, a position information recall function being employed for retrieval. A wireless console allows the operator to freely walk about the torque wrench while actuating it.