Abstract: Apparatus and methods include a racker device for moving tubular stands on a drilling rig, a fingerboard cooperatively disposed to receive tubular stands from the racker device and to support the tubular stands in a vertical arrangement, and a racking control system in communication with the racker device and configured to control the racker device. The racking control system may include a tubular management system that receives data relating to a well plan and driller settings, assesses the well plan and driller settings, and based on the well plan and driller settings, develops a racking plan setting out proposed racking locations for the tubular stands to be used in a drilling procedure.

Abstract: Automated systems and apparatus for transferring tubulars (tubulars used in wellbore and derrick operations, such as casing, tubing, drill pipe, etc.) or stands of pipe from one location to another in a derrick, e.g. from a fingerboard to a well center are described. The system includes a fully automated drill pipe handling system to move and position the drill pipe through all the steps of the drilling process.

Abstract: Generally, the subject matter disclosed herein relates to an impact absorbing “diving board,” or access platform, of a drilling rig “fingerboard,” or pipe racking assembly. One illustrative diving board assembly of a drilling rig fingerboard assembly disclosed herein includes a first end proximate the drilling rig and a second end positioned remote from the first end, where the first end is more proximal to the drilling rig than the second end. The illustrative diving board assembly further includes a clamping assembly operatively coupled to the first end and to the second end, where the clamping assembly is positioned between the first and second ends and defines a pinned connection adapted to permit a rotation of the first and second ends relative to a plane defined by the fingerboard assembly.

Abstract: Generally, the subject matter disclosed herein relates to an impact absorbing “diving board,” or access platform, of a drilling rig “fingerboard,” or pipe racking assembly. One illustrative diving board assembly of a drilling rig fingerboard assembly disclosed herein includes a first end proximate the drilling rig and a second end positioned remote from the first end, where the first end is more proximal to the drilling rig than the second end. The illustrative diving board assembly further includes a clamping assembly operatively coupled to the first end and to the second end, where the clamping assembly is positioned between the first and second ends and defines a pinned connection adapted to permit a rotation of the first and second ends relative to a plane defined by the fingerboard assembly.

Abstract: An alignment assembly includes a shaft, a first gripper coupled to the shaft, and a second gripper coupled to the shaft. The first gripper includes a fixed gripper body and a first rotating gripper body rotatingly coupled to the fixed gripper body. The second gripper may include a second rotating gripper body and a third rotating gripper body. An axis pivot rotatingly couples the second rotating gripper body and the third rotating gripper body.

Abstract: An apparatus for handling pipes in a derrick and racking the pipes on a pipe racking assembly mounted on the derrick is provided to improve the stability of transferring pipes during a round trip operation.

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: An apparatus and method for handling pipes in a derrick and racking the pipes on a pipe racking assembly mounted on the derrick. The apparatus includes a rotatable gate assembly rotatably mounted on the pipe racking assembly. The rotatable gate assembly includes a collar rotatably mounted to a first end of a rotatable pipe support. A pipe manipulator arm is pivotably mounted on a second end of the rotatable gate assembly. The collar defines a gate for securing an upper portion of the pipe stand. A pipe mount is mounted to a distal end of the arm for holding the pipe stand for transport between the derrick and the gate, and between the gate and the pipe rack. After the arm secures the pipe stand into the gate from the derrick, a drive mechanism rotates the rotatable gate assembly to a rack facing position from the derrick facing position such that the arm may transport the pipe between the gate and the pipe rack.

Abstract: An apparatus for handling pipes in a derrick and racking the pipes on a pipe racking assembly mounted on the derrick is provided to improve the stability of transferring pipes during a round trip operation.

Abstract: An apparatus for handling pipes in a derrick and racking the pipes on a pipe racking assembly mounted on the derrick is provided to improve the stability of transferring pipes during a round trip operation. The apparatus includes a rotatable gate assembly mounted on the pipe racking assembly. The rotatable gate assembly includes a collar rotatably mounted to a first end of a shaft and an arm pivotably and rotatably mounted on a second end of the shaft. The collar defines a gate for securing an upper portion of the pipe stand. A first securing means mounted to a second end of the arm secures the mid-portion of the pipe stand and a second securing means mounted to the first securing means secures the lower portion of the pipe stand. After the arm secures the pipe stand from the derrick, a drive mechanism mounted to the shaft rotates the rotatable gate assembly such that the arm may rack the pipe on the pipe racking assembly.

Abstract: An operational system and method and improved apparatus for positioning and stabbing well tubulars wherein: the grasping members of the apparatus can be folded and unfolded; the boom assembly can be pivoted to a downward clearance position; a plurality of stabbing apparatuses can be placed and used in a stacked position in the derrick; the grasping members can opened at an angle with respect the boom; the grasping members can be mounted on either lateral side of the boom; a sensor monitors the relative position of the rig top drive with respect to the stabbing apparatus; the grasping members and/or the boom will automatically pivot to a breakaway position if impacted; and/or the system is programmed and configured to prevent the accidental performance of critical operations out of sequence.

Abstract: The pipe racking system is designed to handle drilling tubulars (primarily drill pipe and drill collars) between the racked or setback position and the well center. The racking system can mechanically grasp a stand of pipe, lift the pipe sufficient for free movement, and deliver the pipe to either the setback area for storage or to well center to be added to the drilling string. The purpose of this newly developed system is to move pipe safely and efficiently in the vertical position for drilling operations. Together with the use of its mechanized fingerboard, the system automates the process of handling and storing pipe vertically, thus eliminating the need for a worker at the racking board level. The system is capable of being installed within the masts of smaller rigs and may remain installed in the mast during rig moves thus minimizing any disassembly for rig-down.

Abstract: An automatic pipe handling system for automatically transporting pipe sections to and from a horizontal boring machine. The system comprises a pipe handling assembly, a pipe lubrication assembly, a makeup/breakout assembly, and an automatic control system. The pipe handling assembly stores pipe sections and transports the pipe sections to and from the drill string of a boring machine. As the pipe handling assembly transports a pipe section, the pipe lubrication assembly lubricates the appropriate pipe joints. The makeup/breakout assembly secures the drill string and pipe joints so that pipe sections can be added to or removed from the drill string. A programmed controller automatically operates the pipe handling system and its components by synchronizing the operations of the pipe handling system. The controller sequences and times the operation of each aspect of the pipe handling system during both the boring operation and the backreaming operation.

Abstract: A pipe handling apparatus for raising and lowering pipe to and from a raised derrick work floor. The apparatus comprises a longitudinally-extending base, with a longitudinally-extending cavity therein. An elongate, longitudinally-extending boom member is provided, which is adapted for raising out of and nestable positioning in such cavity. The boom member has a longitudinally-extending trough therein on an upperside surface thereof, adapted to receive at least one section of pipe. At least one arm member is coupled to the boom member for raising a proximal end of such boom member. A pipe ejection assembly, integrated into said boom, is operable as the boom lowers into the cavity for the purpose of laterally ejecting pipe from the trough. The ejection assembly is adaptable for uni-directional or bi-directional ejection. Motive means are provided to permit powered movement of the ejector members when the boom is nested.

Abstract: An automatic pipe handling system for automatically transporting pipe sections to and from a horizontal boring machine. The system comprises a pipe handling assembly, a pipe lubrication assembly, a makeup/breakout assembly, and an automatic control system. The pipe handling assembly stores pipe sections and transports the pipe sections to and from the drill string of a boring machine. As the pipe handling assembly transports a pipe section, the pipe lubrication assembly lubricates the appropriate pipe joints. The makeup/breakout assembly secures the drill string and pipe joints so that pipe sections can be added to or removed from the drill string. A programmed controller automatically operates the pipe handling system and its components by synchronizing the operations of the pipe handling system. The controller sequences and times the operation of each aspect of the pipe handling system during both the boring operation and the backreaming operation.

Abstract: An automatic pipe handling system for automatically transporting pipe sections to and from a horizontal boring machine. The system comprises a pipe handling assembly, a pipe lubrication assembly, a makeup/breakout assembly, and an automatic control system. The pipe handling assembly stores pipe sections and transports the pipe sections to and from the drill string of a boring machine. As the pipe handling assembly transports a pipe section, the pipe lubrication assembly lubricates the appropriate pipe joints. The makeup/breakout assembly secures the drill string and pipe joints so that pipe sections can be added to or removed from the drill string. A programmed controller automatically operates the pipe handling system and its components by synchronizing the operations of the pipe handling system. The controller sequences and times the operation of each aspect of the pipe handling system during both the boring operation and the backreaming operation.