Abstract: Apparatuses and methods are disclosed herein relating to an apparatus to support a tubular member. The apparatus includes a bowl having a longitudinal axis extending therethrough, in which the bowl includes an inner wall formed about the longitudinal axis that is tapered with respect to the longitudinal axis. The apparatus further includes a plurality of slip assemblies movably disposed within to the bowl and having a tapered outer surface and a tapered inner surface with respect to the longitudinal axis. The tapered outer surface of the plurality of slip assemblies is configured to engage the tapered inner wall of the bowl. Further, the bowl may include a shoulder disposed on the inner wall that extends towards the longitudinal axis with respect to the inner wall. Each of the plurality of slip assemblies may be configured to engage the shoulder of the bowl.

Abstract: In one embodiment, a tubular handling apparatus is provided with a wedge lock release mechanism that creates a clearance to allow movement by the mandrel having mating wedge surfaces relative to the tubular to release the wedge slips. In another embodiment, a tubular handling apparatus for handling a tubular includes a mandrel; a carrier coupled to the mandrel; a gripping element for engaging the tubular; an engagement member coupled to the carrier for engaging an upper portion of the tubular; and an abutment device adapted to engage the engagement member, wherein a length of the abutment device is adjustable to allow movement of the engagement member.

Abstract: A compensating hobbling assembly secures a set of elevators in a level position, while compensating for side or non-axial loading. An adjustable bail clamp is affixed to a bail, while an extendable hobble compensation assembly is pivotally attached to a set of elevators. A cable, chain or other flexible member having a finite length extends between the bail clamp and the hobble compensation assembly. Tension of said cable, chain or other flexible member can be adjusted so that the elevators are maintained in a substantially level position when suspended or hanging from bails. The hobble compensating assembly can extend, allowing the elevators to tilt and relative to the bails.

Abstract: A method for running a tubular string in wellbore operations according to one or more aspects of the present disclosure includes providing a tubular running tool comprising gripping assembly rotationally connected to a carrier, the gripping assembly comprising a body and slips; connecting the carrier to a quill of a top drive of a drilling rig; positioning an end of a tubular for gripping with the slips; actuating the slips into gripping engagement with the tubular; and rotating the tubular with the slips in gripping engagement therewith.

Abstract: Clamping die (15) in a device for engagement with a cylindrical body (4), which clamping die (15) includes a gripping surface (153) that is arranged to be able to extend in parallel with the center axis of the cylindrical body (4), wherein a groove (154) is provided in each of two side surfaces (151) adjacent to the gripping surface (153) and in close proximity to the gripping surface (153), said groove (154) extending substantially in parallel with the gripping surface (153).

Abstract: One embodiment provides an adjustable guide 10a to steer the end 90 of a pipe string 88 into position to be engaged and supported by a pipe gripping apparatus such as, for example, an externally gripping elevator assembly 10. The adjustable guide 10a may comprise a plurality of angularly distributed guide inserts 30, each having a sloped surface 30A to engage a pipe end 90. Another embodiment provides an adjustable guide 60a to steer a pipe connection into position to pass through a spider 60. The guide inserts 30, 80 of an adjustable guide may be controllably positionable to together form a guide that is concentric with the bore of the tapered bowl of an elevator assembly or a spider. One embodiment comprises a guide insert retainer 11 having a plurality of channels 28, each slidably receiving a guide insert 30 and positionable by rotation of a threaded shaft 40.

Abstract: A collar locating assembly ensures that that an elevator slip assembly does not engage against a pipe collar or coupling. An interlock system controls the operation of elevator slips, as well as related spider slips, in order to prevent unwanted simultaneous disengagement of both elevator and spider slips.

Abstract: An apparatus and method is provided for controlling the coordination of pressure control equipment such as a BOP stack and/or a snubbing unit and/or other pressure control equipment in a well completion system while moving pipes into or out of a wellbore under pressure. In one embodiment, a moveable clamp and a fixed clamp are provided. The moveable clamp is clamped to a pipe while the fixed clamp is open so that the moveable clamp either moves the pipe into the well or pulls it out of the well. The fixed clamp is then clamped to the pipe. The moveable clamp is unclamped and moves to another position whereupon the process is repeated. A computer controls operation of the moveable clamp, fixed clamp, seals, and pipe moving equipment which moves pipe into and out of the mast.

Abstract: A pipe clamp mechanism and method for use with a pipe arm retracts beneath two laterally positioned pipe guide surfaces in a retracted position to allow a pipe to roll laterally into a pipe receptacle on the pipe arm along either of the two pipe guide surfaces. After at least one pipe is positioned within the pipe receptacle, then the pipe clamp utilizes one or more pipe clamps which extend outwardly of the pipe guide surfaces to clamp the pipe into the pipe receptacle.

Abstract: A completion system and method adapted for use in wells having long lateral boreholes includes a mast assembly, a pipe handling mechanism, a pipe arm, a pipe tub, a pump/pit combination skid, a rig carrier, and a control system. The mast assembly can extend in a generally vertical direction, e.g., perpendicular to the rig carrier and/or the earth's surface, such that the rig can be placed directly adjacent to a wellbore, and the top drive or a similar drive system can be engaged with and move along the mast while remaining above the wellbore. The top drive can be engaged with a support fixture that resists torque and rotation during operation. The support fixture can in turn be engaged with the mast to transfer torque forces to the mast while being vertically movable along the mast to enable positioning of the top drive.

Abstract: An elevator connector device designed with an opening for passage of a pipe having a socket, wherein a locking jaw complementary fitting in the elevator connector is arranged to come to abutment against the socket when the pipe is lifted, and wherein the elevator connector is provided with several connected, different locking jaws fitting different pipe dimensions.

Abstract: A method and apparatus for running tubular(s) into a well bore for use with a top drive or power swivel comprising a make-up assembly with inner and outer members, one of which has an array of ramped or inclined surface(s) while the other is an inner or outer cage with rolling support(s) with or without a central spindle and openings which may also be referred to as tubular engagement apparatus wherein relative movement of the members urges the rolling support(s) to protrude radially through the openings to engage a tubular internally or externally. Also provided is an elevator assembly with elevator links and transfer elevators to position tubular for engagement by the make-up assembly.

Abstract: An apparatus for gripping a string of well pipe being lowered into or retrieved from a well includes pipe slips defining a central bore opening having an axis. The pipe slips are configured to abut and grip a surface of a pipe passing through the central bore opening while the pipe slips are in a first position. The pipe slips are further configured to allow axial movement of the pipe when moved to a second position. The apparatus includes at least one hydraulic ram device configured to exert an axial force on the pipe slips while the pipe slips are in the first position to enhance gripping of the pipe.

Abstract: Embodiments disclosed herein relate to methods and apparatus to inhibit rotation within a drilling rig. The apparatus may include a first member connected to a first component of the drilling rig, and a second member connected to the first member and connected to a second component of the drilling rig, the second component configured to move vertically with respect to the first component. The first member is configured to move vertically with respect to the second member and the first member and the second member substantially inhibit rotation between each other. The apparatus may include a rotational adjustment system, in which the rotational adjustment system is used to connect with one of the components of the drilling rig.

Abstract: Apparatus and methods may be used to prevent an operator from inadvertently dropping a string into a wellbore during assembling and disassembling of tubulars. Additionally, the apparatus and methods may be used for running in casing, wellbore components, or a drill string.

Abstract: Systems and methods for wellbore operations which employ a drive subsystem for rotating tubulars releasably connected to a hoist subsystem for moving tubulars, the hoist subsystem and the drive subsystem movable as a unit or the subsystems movable independently of each other and the subsystems independently dockable at selected locations in the derrick. This abstract is provided to comply with the rules requiring an abstract which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure and is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims, 37 C.F.R. 1.72(b).

Abstract: A method for running a tubular string in wellbore operations according to one or more aspects of the present disclosure includes providing a tubular running tool comprising gripping assembly rotationally connected to a carrier, the gripping assembly comprising a body and slips; connecting the carrier to a quill of a top drive of a drilling rig; positioning an end of a tubular for gripping with the slips; actuating the slips into gripping engagement with the tubular; and rotating the tubular with the slips in gripping engagement therewith.

Abstract: In one embodiment, a tubular gripping assembly for use with a top drive to handle a tubular includes a tubular gripping tool having a mandrel and gripping elements operatively coupled to the mandrel; and a link assembly attached to the mandrel, wherein a load of the link assembly is transferred to the mandrel. In another embodiment, the tubular gripping assembly includes a swivel having selectively actuatable seals. In yet another embodiment, the tubular gripping assembly includes a thread compensator to facilitate tubular make-up. In yet another embodiment, the tubular gripping assembly includes a wedge lock release apparatus to facilitate the release of gripping elements from the tubular.

Abstract: A method and apparatus for conducting earth borehole operations comprising a CT system comprising a first carrier with a reel of CT and a CT injector, a second carrier comprising a top drive rig having a mast, and a lifter operative to move the CT injector from the first carrier to an operative or near operative position with respect to the mast on the second carrier.

Abstract: A method and apparatus for facilitating running or pulling tubulars from a well bore whereby the functions of a surface mounted traditional spider/elevator are replaced by an FMS which may also be remotely controlled. The FMS comprises a main body consisting of upper and lower plates assembled in a bolted and welded configuration, a slip assembly each said slip assembly comprising a slip back, a slip, one or more die inserts, a hydraulic or pneumatic cylinder and multiple sized die blocks to conform to the tubular OCTG diameter.

Abstract: A method for running a tubular string in wellbore operations according to one or more aspects of the present disclosure includes providing a tubular running tool comprising gripping assembly rotationally connected to a carrier, the gripping assembly comprising a body and slips; connecting the carrier to a quill of a top drive of a drilling rig; positioning an end of a tubular for gripping with the slips; actuating the slips into gripping engagement with the tubular; and rotating the tubular with the slips in gripping engagement therewith.

Abstract: One embodiment provides an adjustable guide 10a to steer the end 90 of a pipe string 88 into position to be engaged and supported by a pipe gripping apparatus such as, for example, an externally gripping elevator assembly 10. The adjustable guide 10a may comprise a plurality of angularly distributed guide inserts 30, each having a sloped surface 30A to engage a pipe end 90. Another embodiment provides an adjustable guide 60a to steer a pipe connection into position to pass through a spider 60. The guide inserts 30, 80 of an adjustable guide may be controllably positionable to together form a guide that is concentric with the bore of the tapered bowl of an elevator assembly or a spider. One embodiment comprises a guide insert retainer 11 having a plurality of channels 28, each slidably receiving a guide insert 30 and positionable by rotation of a threaded shaft 40.

Abstract: A casing gripper is stabbed into a casing and energized by a top drive, gripping the casing. The casing gripper includes a load bearing mandrel that has external threads. The casing gripper also includes a nut threaded over the external threads, and a wrench having a portion of the upper end of the load bearing mandrel inserted into an opening of the wrench. The wrench is configured to prevent rotation of the nut but allow axial movement while the op drive rotates the mandrel. The casing gripper includes a grapple coupled to the nut and extending along a portion of the lower end of the load bearing mandrel. The grapple moves axially with the nut an is configured to radially expand and engage a casing member.

Abstract: A method of severing a well string that extends into an oil well from an oil platform with a deck includes supporting upper and lower sections of the well string, the lower section supported at the platform deck with a deck located string support. A shear mechanism cuts the well string at a position that can be above the deck located string support. The upper section is then lifted a selected distance and the deck located string support again supports the string at a position below the cut.

Abstract: A top drive system includes a top drive, top drive adapter, and a tubular positioning apparatus. In another aspect, the top drive adapter includes a housing operatively connected to the top drive and a plurality of retaining members disposed in the housing for gripping the tubular. In another aspect, the tubular positioning apparatus includes a gripping member for engaging a tubular and a conveying member for positioning the gripping member. A spinner may be provided to rotate the tubular.

Abstract: A remotely operated joint elevator for use in handling a tubular is provided. The single joint elevator including a housing having an access opening configured to receive the tubular. The single joint elevator further including at least one closure member connected to the housing via a hinge pin. Additionally, the single joint elevator including a power assembly configured to rotate at least one closure member around the hinge pin to selectively open and close the access opening. In another aspect, a method of handling a tubular using a remotely operated joint elevator is provided. In yet a further aspect, a remotely operated joint elevator for use in handling a tubular.

Abstract: A system and method for building and handling oilfield tubular stands while drilling operations are simultaneously and independently occurring with one drilling deck, one derrick, and one rotary system. An offline guided path horizontal to vertical arm lifts and moves in the same plane tubulars stored horizontally on the catwalk and positions the tubulars vertically directly into a preparation hole for assembling and disassembling tubular stands while online drilling operations are simultaneously being conducted. A stand arm lifts and lowers the tubulars into and out of the adjustable preparation hole, and transports the tubulars for storage to an auxiliary tubular racking station in the upper part of the derrick. A bridge racker crane moves tubular stands from the auxiliary tubular racking station to the top drive or another tubular racking station.

Abstract: Single joint elevator and method for releasably securing a tubular segment. A generally horseshoe-shaped body has a slot for receiving a tubular segment, and an actuator assembly that selectively moves opposing jaws from a removed position to a deployed position to grip and retain the tubular segment within the slot of the body while hoisting the body. The deployable jaws are either rotatably or translatably moved from the removed position to the deployed position and may be pneumatically, hydraulically, and/or electrically actuated. The actuator assembly may include wedges operatively coupled to actuators for selectively biasing the wedges against the jaws, or a cam ring rotationally coupled to the body and rotated by an actuator coupled between the body and the cam ring, wherein the cam ring has an inner cam surface for inwardly biasing the opposing jaws.

Abstract: In one embodiment, a top drive system includes a quill; a motor operable to rotate the quill; a gripper operable to engage a joint of casing; a connector bi-directionally rotationally coupled to the quill and the gripper and longitudinally coupled to the gripper; and a compensator longitudinally coupled to the quill and the connector. The compensator is operable to allow relative longitudinal movement between the connector and the quill.

Abstract: A system for running a string of casing into a well utilizes a casing gripping assembly. The casing gripping assembly connects to a top drive and has radially movable gripping elements. A pair of links have upper ends pivotally connected to the casing gripping assembly. A casing elevator is mounted below the casing gripping assembly to lower ends of the links. A guide is mounted to the links between the elevator and the casing gripping assembly. The guide has a vertically extending central opening that has a lower portion that defines a flared entrance to the opening.

Abstract: An internally gripping tong to rotate tubular segments comprising a central cam body rotatably disposed within a housing having a plurality of windows. The cam body is surrounded by a plurality of angularly distributed gripping jaws slidably received within the windows. The tong is disposed within a bore of a tubular segment, and rotation of the housing relative to the cam body deploys the gripping jaws radially outwardly within the windows to engage the interior wall of the tubular segment. The tong may be self-energizing in both the make-up and the break-out modes of operation. The tong may be deployed to grip the tubular segment using a device to frictionally couple the housing to the tubular segment that cooperates with the top drive assembly, or by an internal actuator that imparts rotation to the housing relative to the cam body.

Abstract: A top drive system with a plurality of top drive modules, which are configured to be quickly exchanged. The top drive modules may include any or all of the following: a main body module, a gearbox module, a drive motor module, a pipe handler module, an upper fluid module, a lower well control valve module, a block interface module, a retract system interface frame module, a cooling system module, a work platform guard module, and a quill saver sub module. Alternatively, the top drive may comprise a first top drive and a second top drive which are configured to be quickly exchanged.

Abstract: A pipe elevator comprised of a frame pivotally mounted on elongated hangers and having a body with an inward tapered opening that is configured to receive a length of pipe having an outwardly protruding collar around its periphery. A plurality of shoes is mounted within the body. The shoes are poweredly positionable upward and downward within the inward tapered opening of the body and thereby positionable radially inward and outward around the pipe. A means for biasing the shoes upward is provided whereby the weight of the pipe against the shoes will move the shoes around the pipe collar against the periphery of the pipe.

Abstract: A method of running casing into a well utilizes a load sensor to avoid dropping the casing string accidentally. The rig has a spider at the rig floor that suspends a casing string in the well when in a gripping position. A casing lifting mechanism will place a new joint of casing on the casing string suspended in the spider. The new joint of casing is rotated to make up with the casing string. After makeup, the casing lifting mechanism lifts the new joint of casing and the casing string. The operator releases the spider to allow the casing string to be lowered further into the well. Before releasing the spider, a load sensor will send a signal indicating that the casing lifting mechanism is supporting a minimum amount of weight.

Abstract: According to one or more aspects of the invention an interlock device is adapted for connection within a load path of a tubular support device to lock the tubular support device in a closed position in response to detecting a load suspended from the tubular support device. The interlock device includes a first member moveably connected to a second member and a biasing mechanism operationally connected to the first member and the second member providing a load setting resisting movement of the first member and the second member relative to one another. The first and the second member may be rotationally locked with one another to transmit rotation across the interlock device to the elevator.

Abstract: One embodiment provides an adjustable guide 10a to steer the end 90 of a pipe string 88 into position to be engaged and supported by a pipe gripping apparatus such as, for example, an externally gripping elevator assembly 10. The adjustable guide 10a may comprise a plurality of angularly distributed guide inserts 30, each having a sloped surface 30A to engage a pipe end 90. Another embodiment provides an adjustable guide 60a to steer a pipe connection into position to pass through a spider 60. The guide inserts 30, 80 of an adjustable guide may be controllably positionable to together form a guide that is concentric with the bore of the tapered bowl of an elevator assembly or a spider. One embodiment comprises a guide insert retainer 11 having a plurality of channels 28, each slidably receiving a guide insert 30 and positionable by rotation of a threaded shaft 40.

Abstract: Method and apparatus for handling a supported tubular string with a string elevator and a spider on a rig to prevent damaging contact between the string elevator and spider while facilitating further connections of add-on tubular segments. The string elevator and supported tubular string descend toward the spider until reaching a predetermined position. The process of setting the spider into engagement of the tubular string is automatically initiated in response to detecting the predetermined position of the string elevator. With the spider set, the string elevator can be unloaded. Optionally, the method may also automatically terminate the string elevator descent in response to detecting that the spider has been set. A preferred apparatus for detecting the position of the elevator includes a tilt switch secured to a fixed position along the length of the Kelly hose.

Abstract: A pipe handling assembly includes a pipe engaging apparatus having a pipe gripping mechanism connectable to a top drive such that the top drive transmits rotational movement and axial movement to the pipe gripping mechanism. A pipe handling device is mounted onto the pipe engaging apparatus, the pipe handling device including a link hanger mounted on the pipe engaging apparatus. A link arm has a first end pivotally connectable to the link hanger and an outboard end selected to carry a pipe into a position to be gripped by the pipe engaging apparatus. A bearing isolates rotational movement to the pipe gripping mechanism from the link hanger. A connection rigidly connects the link hanger to the pipe engaging apparatus during operation of the pipe handling assembly. The connection is selected to substantially prevent the link hanger from rotating with the pipe gripping mechanism should the bearing seize.

Abstract: One embodiment provides an adjustable guide 10a to steer the end 90 of a pipe string 88 into position to be engaged and supported by a pipe gripping apparatus such as, for example, an externally gripping elevator assembly 10. The adjustable guide 10a may comprise a plurality of angularly distributed guide inserts 30, each having a sloped surface 30A to engage a pipe end 90. Another embodiment provides an adjustable guide 60a to steer a pipe connection into position to pass through a spider 60. The guide inserts 30, 80 of an adjustable guide may be controllably positionable to together form a guide that is concentric with the bore of the tapered bowl of an elevator assembly or a spider. One embodiment comprises a guide insert retainer 11 having a plurality of channels 28, each slidably receiving a guide insert 30 and positionable by rotation of a threaded shaft 40.

Abstract: The present invention is directed to a segmented bottom guide for directing the top of a tubular member into and through a bore in the bottom of a tapered bowl so that the tubular member can be engaged by pipe slips. One embodiment of the segmented bottom guide of the present invention comprises a bottom guide retainer having a plurality of chambers for being disposed intermediate the top of a bell guide and the bottom of the tapered bowl. The bottom guide segments are radially received into, and securable in, the retainer to therein and together form a generally conical frustum generally aligned with and intermediate the top of the bell guide and the opening of the tapered bowl.

Abstract: One embodiment provides an adjustable guide 10a to steer the end 90 of a pipe string 88 into position to be engaged and supported by a pipe gripping apparatus such as, for example, an externally gripping elevator assembly 10. The adjustable guide 10a may comprise a plurality of angularly distributed guide inserts 30, each having a sloped surface 30A to engage a pipe end 90. Another embodiment provides an adjustable guide 60a to steer a pipe connection into position to pass through a spider 60. The guide inserts 30, 80 of an adjustable guide may be controllably positionable to together form a guide that is concentric with the bore of the tapered bowl of an elevator assembly or a spider. One embodiment comprises a guide insert retainer 11 having a plurality of channels 28, each slidably receiving a guide insert 30 and positionable by rotation of a threaded shaft 40.

Abstract: A slip spool includes radially disposed actuators for radially moving slip blocks between a loose encirclement position in which they surround the tubing string and a cached position in which the slip blocks clear an axial passage of the slip spool. The slip spool further includes axially disposed actuators for axially displacing the slip blocks between the loose encirclement position and an engagement position in which the slip blocks are seated within a slip bowl of the slip spool so that a weight of the suspended tubing string causes the slip blocks to tightly grip the tubing string. The slip spool facilitates positioning and repositioning of the tubing string in the wellbore and can be used for supporting or snubbing a tubing string in a live well bore.

Abstract: A tubular handling apparatus including a tubular member running tool adapted to provide load-bearing, and preferably torquing, capacity upon the gripping of a tubular is provided. The running tool includes a slotted member having a plurality of elongated slots, a recessed member associated with the slotted member and having a plurality of recesses, and a plurality of gripping elements disposed between the slotted member and recessed member. Each such gripping element is adapted to move with an engaged tubular so as to grip the tubular. A tubular member elevator associated to the running tool, as well as related floor slips, are also encompassed. Methods of casing running are also included.

Abstract: The handling apparatus is used for positioning and holding of drill pipes. At least, a handling apparatus for the drill pipes is so arranged that it can be positioned both horizontally and vertically and it is equipped with a controllable clamping apparatus for the drill pipes. In the vicinity of the holding apparatus, a centering apparatus is arranged for the drill pipe to be held.

Abstract: A pipe handling apparatus has a base, a main rotating structural member pivotally connected to the base, a pipe handler connected to the main rotating structural member for moving a pipe from a generally horizontal orientation to a vertical orientation, and a jack connected to the pipe handler. The jack exerts a downward force in generally parallel relation to the pipe when the pipe is in the vertical orientation. The pipe handler has a gripping structure for gripping an outer surface of the pipe. The gripping structure has a stab frame. The jack is affixed to the stab frame. The jack has a piston-and-cylinder assembly positioned relative to the stab frame, and a hydraulic actuator connected to the piston-and-cylinder assembly. The hydraulic actuator is suitable for passing hydraulic fluid to the piston-and-cylinder assembly so as to move the piston-and-cylinder assembly from a retracted position to an extended position.

Abstract: A well drilling apparatus (10?) (top drive) designed to be suspended from a travelling block (6?) in a drawworks and laterally supported by a dolly (9?) running together with the well drilling apparatus along tracks or rails fixed to a derrick. The drilling apparatus (10?) comprises at least one driving motor (5?), one power transmission (4?) powered by the at least one driving motor (5?), a drive shaft (70) driven from the power transmission (4?) and designed to be connected to a drill string, load transferring means, and a torque arresting device (3?) fixed to and depending from the power transmission (4?). The load transferring means is in the form of a load frame module (1?) that relieves the drive shaft (70) and the power transmission (4?) at the same time as the load frame module (1?) forms a central component module that the other main components of the well drilling apparatus are releasable connected to.

Abstract: A gripping tool having at least one body, including an associated load adaptor adapted to be connected to and interact with one of a drive head or reaction frame. A gripping assembly, carried by the body, has a grip surface adapted to move from a retracted position to an engaged position to radially engage one of an interior surface or an exterior surface of a work piece upon relative axial displacement of the body relative to the grip surface in at least one axial direction. A grip activation assembly acts between the body and the grip surface to increase a grip ratio of radial load upon the gripping assembly relative to axial displacement of the body relative to the grip surface. The grip activation assembly includes a motor driven load screw to create relative axial displacement of the body relative to the grip surface.

Abstract: Apparatus and methods are provided to prevent an operator from inadvertently dropping a string into a wellbore during assembling and disassembling of tubulars. Additionally, the apparatus and methods may be used to for running in casing, running in wellbore components or for a drill string.

Abstract: A robotic system coupled to a racking platform of an oil well service or drilling rig comprising a base coupled to the racking platform at a fixed location, a mast pivotally coupled to the base by a mast pivot joint allowing rotation of the mast about a mast axis, a mast actuator for controllably rotating the mast about the mast pivot joint, an arm coupled to the mast and moveable along a radial direction with respect to the mast axis, an arm actuator for controllably moving the arm along the radial direction, an end effector pivotally coupled to an end of the arm by an end effector pivot joint allowing rotation of the end effector about an end effector axis oriented generally parallel to the mast axis, and an end effector actuator for controllably rotating the end effector about the end effector pivot joint. The end effector comprises at least one grabbing member operable to selectively grab an elongated object under control of a grabbing member actuator.

Abstract: A system and method for building and handling oilfield tubular stands while drilling operations are simultaneously and independently occurring with one drilling deck, one derrick, and one rotary system. An offline guided path horizontal to vertical arm lifts and moves in the same plane tubulars stored horizontally on the catwalk and positions the tubulars vertically directly into a preparation hole for assembling and disassembling tubular stands while online drilling operations are simultaneously being conducted. A stand arm lifts and lowers the tubulars into and out of the adjustable preparation hole, and transports the tubulars for storage to an auxiliary tubular racking station in the upper part of the derrick. A bridge racker crane moves tubular stands from the auxiliary tubular racking station to the top drive or another tubular racking station.