Abstract: An apparatus for moving a tubular may include a column vertically extending from a drill floor, the column defining an axis; a lower carriage connected to the column and configured to carry the column along the drill floor; an upper arm assembly movable along the column, the upper arm assembly being configured to connect with a tubular; and a lower arm assembly having a lower gripper head configured to attach to the tubular, the lower arm assembly being movable to displace the lower gripper head between a position on a first side of the axis and a position on a second side of the axis.

Abstract: A system for monitoring a drill string comprising: a plurality of image capture devices disposed around a wellbore and adapted to record images of a portion of the drill string; and a logic device adapted to determine linearity of the portion of the drill string based on a form factor deviation. A method of monitoring a drill string comprising: capturing images of a portion of the drill string with an image capture device; assessing a form factor deviation of the portion of the drill string; and determining a linearity of the portion of the drill string based on the form factor deviation.

Abstract: A drilling assembly that can include a first mast, a second mast, a water table coupled between the first and second masts, and a plurality of sheaves coupled to the water table and adapted to translate along a plane oriented generally perpendicular to a height of at least one of the first or second mast. A drilling assembly that can include a mast having a generally C-shaped support structure, as viewed from a top view, and an opening disposed within the support structure, where the mast is disposed adjacent to a wellbore, and where the opening is adapted to permit passage of tubulars from an external position to the wellbore through the mast. A drilling assembly that can include a mast, a water table coupled to the mast, and a drawworks disposed adjacent to the mast, where the drawworks is adapted to laterally translate relative to the mast.

Abstract: A pipe doping system for applying pipe dope to the external threads of a pin end member may comprise a pump fluidly coupled to a dope-containing reservoir and a dope manifold, the pump positioned to pump pipe dope from the reservoir to the dope manifold; an ejector coupled to the dope manifold and positioned to supply a fixed volume of pipe dope from the dope manifold to a dope distribution line; a dope applicator, the dope applicator fluidly coupled to a dope distribution line positioned to deposit pipe dope on the external threads, the dope applicator being located apart from the ejector and including a nozzle positioned to receive a flow of pipe dope from the dope distribution line and apply the pipe dope onto the threaded connection. The system may include a power source to increase the pressure of the pipe dope as it is dispensed by the ejector.

Abstract: A device and method for subterranean operations comprising a latch adapted to be coupled with a fingerboard of a drilling rig, the fingerboard including at least two fingers, wherein: the latch is selectively moveable between an open configuration and a closed configuration, the latch is adapted to selectively permit entrance of a first tubular into a tubular storage area between the at least two fingers when the latch is in the open configuration, and selectively maintain the first tubular in the tubular storage area when the latch is in the closed configuration, and the latch is spaced apart from the fingerboard.

Abstract: A pipe handler comprising a body defining an axis; a slide adapted to translate in a direction parallel with the axis; and a plurality of grippers, wherein at least one of the plurality of grippers is adapted to translate in a direction generally perpendicular to the axis upon translation of the slide and selectively contact a threaded interface of an inner surface of a tubular.

Abstract: The systems, devices, and methods described herein relate to a modular gripperhead system for a drilling rig. The system includes a gripper having a first gripper arm and a second opposing gripper arm, each gripper arm having an inwardly facing gripping surface that forms at least a portion of a chamber sized to receive a portion of a cylindrical tubular, wherein the portion of the chamber has a longitudinal axis. The system also includes a grabber having a first grabber arm and a second grabber arm. Each grabber arm may be displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis. The first and second grabber arms may be pivotable about a first and second pivot point between an open position sized to permit a portion of a cylindrical tubular to enter between the first and the second grabber arms and a closed position sized to secure a portion of a cylindrical tubular between the first and the second grabber arms.

Abstract: Apparatuses and methods for erecting drilling structures including drill floors and drilling masts include attaching a rigging line to the drilling structure and to a strand jack arranged with at least one hydraulic jack and a plurality of clamps that alternatingly secure onto the rigging line and pull the rigging line in tension. Pulling the rigging line with the strand jack raises the drilling structures to an upright or elevated position.

Abstract: A carrier assembly for a catwalk assembly includes a carrier. The carrier assembly includes a skate to move a tubular member along the carrier. The carrier assembly includes a proximity sensor positioned to detect the end of the tubular member as it moves along the carrier. The carrier assembly includes a skate position sensor. The length of the tubular member may be determined by measuring the position of the skate relative to the proximity sensor when the end of the tubular member passes the proximity sensor.

Abstract: The systems, devices, and methods described herein relate to a modular racker system for a drilling rig. The modular racker includes transportable modules including a lower track module comprising a drilling rig floor that includes a lower track arranged and configured to accommodate a lower carriage. The lower track is permanently fixed to the drilling rig floor so as to form a part of the drilling rig floor and is transportable as part of the drilling rig floor. An upper track module comprises a fingerboard and an upper track arranged and configured to accommodate an upper carriage moveable along the upper track. The upper track is permanently fixed to the fingerboard and is transportable in a connected configuration. The lower and upper track modules are attachable to a racker column module.

Abstract: The systems, devices, and methods described herein relate to tubular detection on a gripperhead system for a drilling rig. The gripperhead system includes a grabber and a gripper each having first and second grabber arm and pistons connected to the first and second arms. Each arm may also include an inwardly facing gripping surface forming at least a portion of a chamber sized to receive a portion of a cylindrical tubular. One or more sensors may be disposed on the gripperhead system, including proximity sensors disposed on the arms, inductive sensors disposed within the pistons, and ultrasonic sensors disposed on other features of gripperhead system. The one or more sensors may be configured to determine the position of the tubular in relation to the arms, measure the size of the tubular, measure the compression force of the grabber, and ensure that the tubular is secured within the grabber.

Abstract: A method for positioning a pipe stand in a fingerboard having fingers with a pipe racking apparatus includes gripping the pipe stand with an upper grabber and gripping the pipe stand with a lower grabber. The method also includes moving the pipe stand until it is aligned with a rack slot between two fingers of the fingerboard and extending the upper and lower grabbers to position the pipe stand in the rack slot. The method includes tilting the pipe stand in a first direction by moving one or both of the upper and lower grabbers in the first direction and tilting the pipe stand in a second direction. The method also includes lowering the pipe stand into contact with a setback of a drill floor, moving the pipe stand in the second direction until the pipe stand leans against the fingerboard, and releasing the pipe stand.

Abstract: The systems, devices, and methods described herein describe a control system that automatically determines a trip speed for a surge operation or a swab operation. The control system is used to automatically adjust the trip speed during the respective surge or swab operation in order to optimize the trip speed according to the changing environment of the wellbore that the bottom hole assembly traverses without exceeding the fracture gradient in the wellbore location. A well plan identifies formations along the wellbore route, dynamic real-time tracking of the tubulars added to the drill string and removed therefrom identifies the current location of the BHA in the wellbore, and pressure and fractional gradient at the location of the BHA, and in some embodiments a real-time pressure measurement from the BHA, together are used to automatically determine the maximum tripping speed possible for the formation that the BHA is traversing.

Abstract: Systems, devices, and methods include a racker device and a catwalk structurally arranged to move a tubular or stand about a drilling rig site. A sensing arrangement is cooperatively associated with at least one of the racker device and the catwalk and is configured to sense an aspect of a tubular while the tubular is being handled at the drilling rig and output a signal representative of the aspect of the tubular. A tubular validation system is configured to receive the sensed aspect of the tubular obtained by the sensing arrangement and determine a specification characteristic of the tubular based on the sensed aspect. This may be compared to specification standards to determine whether the tubular or stand should be discarded.

Abstract: The systems, devices, and methods described herein relate to a modular gripperhead system for a drilling rig. The system includes a gripper having a first gripper arm and a second opposing gripper arm, each gripper arm having an inwardly facing gripping surface that forms at least a portion of a chamber sized to receive a portion of a cylindrical tubular, wherein the portion of the chamber has a longitudinal axis. The system also includes a grabber having a first grabber arm and a second grabber arm. Each grabber arm may be displaceable between a retracted position and an extended position in a direction along a first axis that is transverse to the longitudinal axis. The first and second grabber arms may be pivotable about a first and second pivot point between an open position sized to permit a portion of a cylindrical tubular to enter between the first and the second grabber arms and a closed position sized to secure a portion of a cylindrical tubular between the first and the second grabber arms.

Abstract: Apparatus and methods include an x-direction support structure extending in the same direction as a line extending between a well center and a V-door on a drilling rig and include a y-direction support structure moveable along the x-direction support structure. The y-direction support structure extends on a drilling rig in a direction transverse to the line extending between the well center and the V-door on the drilling rig. A racker device is carried by the y-direction support structure and is configured to connect to and carry a tubular stand used in a well drilling process, the racker device being moveable along the y-direction support structure from a position inline with the line extending between the well center and the V-door on the drilling rig to a position offline from the line to provide space for additional drilling processes along the line extending between the well center and the V-door on the drilling rig.

Abstract: Apparatus and methods include a well-center drilling opening in a drilling rig floor of a mobile drilling rig and a v-door to the drilling rig. A mast is disposed about the well-center drilling opening and carrying drilling components of a drilling system. The mast supports a fingerboard that includes a plurality of parallel longitudinally extending fingers having openings between ends thereof and being arranged to receive tubulars therebetween. The plurality of fingers extending in the same direction as a line between the well-center drilling opening and the v-door. A racker device is moveable in a lateral direction relative to the direction of the line between the well-center drilling opening and the v-door.

Abstract: Apparatus and methods include a parking system for a drilling rig. The parking system includes a first track portion extending along a pathway between a well center and a V-door on a drilling rig and a second track portion extending in a transverse direction relative to the first track portion. A trolley is configured to carry a racking device and move along at least a portion of the first track portion and the second track portion between a position in the pathway between well center and the V-door on a drilling rig and a position offline and out of the pathway between well center and the V-door on a drilling rig.

Abstract: The systems, devices, and methods described herein describe a control system that automatically determines a trip speed for a surge operation or a swab operation. The control system is used to automatically adjust the trip speed during the respective surge or swab operation in order to optimize the trip speed according to the changing environment of the wellbore that the bottom hole assembly traverses without exceeding the fracture gradient in the wellbore location. A well plan identifies formations along the wellbore route, dynamic real-time tracking of the tubulars added to the drill string and removed therefrom identifies the current location of the BHA in the wellbore, and pressure and fractional gradient at the location of the BHA, and in some embodiments a real-time pressure measurement from the BHA, together are used to automatically determine the maximum tripping speed possible for the formation that the BHA is traversing.

Abstract: Systems and methods for operating a land-based drilling rig apparatus include a dual-activity mast having a first fingerboard supported by the mast and disposed on a first side of the well center bore, and include a second fingerboard supported by the mast and disposed on a second side of the well center bore. The first and second fingerboards may permit simultaneous operations, such as tripping and casing stand assembly.