Abstract: A passive spacer system may include a racking board comprising a slot and a spacer arranged along the slot such that a portion of the spacer impinges on the slot. The spacer may be biased in a neutral position and configured to move to a spacing position due to motion of tubulars into and out of the racking board, which interact with the portion of the spacer that impinges on the slot.

Abstract: Various embodiments disclosed relate to a configurable drill fluid containment device. The present disclosure includes a device including a central shell configured to at least partially enclose an end of a drill pipe. The central shell can have two halves, each of the halves having flanges that are configured to attaching one or more extension features to the device. The flanges can be configured to attach extension features at an upper end of the device, a lower end of the device, or both.

Abstract: A passive spacer system may include a racking board comprising a slot and a spacer arranged along the slot such that a portion of the spacer impinges on the slot. The spacer may be biased in a neutral position and configured to move to a spacing position due to motion of tubulars into and out of the racking board, which interact with the portion of the spacer that impinges on the slot.

Abstract: A pipe handling system for handling drill pipe may include a lifting system configured for handling a load of a pipe stand and a pipe handling robot configured for manipulating a position of the pipe stand. The robot may include an end effector configured for engaging the pipe stand. The system may also include a controller configured for controlling the pipe handling robot to maintain the end effector in substantial alignment with the pipe stand using a vector constraint.

Abstract: A pipe handling system for handling drill pipe on a drill rig may include a lifting system configured for handling a load of a pipe stand and a first pipe handling robot arranged at or near a drill floor of the drill rig and configured for manipulating a bottom end of the pipe stand between a setback area on the drill floor and well center. The system may also include a second pipe handling robot arranged at or near a racking board of the drill rig and configured for manipulating a top end of the pipe stand between the racking board and well center. The first pipe handling robot may have a base that is supported from a location outside a plan view envelope of the setback area of the drill floor.

Abstract: A pipe handling system for handling drill pipe on a drill rig may include a lifting system configured for handling a load of a pipe stand and a first pipe handling robot arranged at or near a drill floor of the drill rig and configured for manipulating a bottom end of the pipe stand between a setback area on the drill floor and well center. The system may also include a second pipe handling robot arranged at or near a racking board of the drill rig and configured for manipulating a top end of the pipe stand between the racking board and well center. The first pipe handling robot may have a base that is supported from a location outside a plan view envelope of the setback area of the drill floor.