Abstract: A quick connect pipe connection for drill pipe may include a box end having an annular end surface that gives way internally to a receiving portion and externally to an engagement portion. The connection may also include a pin end configured for rotationally and longitudinally engaging the box end. The pin end may include a tapered portion configured for longitudinal insertion into the receiving portion and resisting relative rotation between the box end and the pin end. The pin end may also include a collar configured for sleeving over the engagement portion of the box end and resisting relative longitudinal motion between the box end and the pin end.

Abstract: A coupling mechanism for securing a tool to a tool arm may include a housing and an engaging lock. The engaging lock may be arranged within the housing and configured for rotation by the tool arm. Rotation of the engaging lock may drive locking mechanisms partially through the housing to establish a longitudinally secured connection.

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.

Abstract: An end effector (400) for a robotic arm, the end effector (400) comprising: two pipe engaging jaws (404), each jaw comprising an inner contour configured for engaging a pipe section, wherein at least one jaw (404) is a fixed jaw; wherein the end effector (400) is configured to restrict radial movement of the pipe section while permitting axial movement.

Abstract: A quick connect pipe connection for drill pipe may include a box end having an annular end surface that gives way internally to a receiving portion and externally to an engagement portion. The connection may also include a pin end configured for rotationally and longitudinally engaging the box end. The pin end may include a tapered portion configured for longitudinal insertion into the receiving portion and resisting relative rotation between the box end and the pin end. The pin end may also include a collar configured for sleeving over the engagement portion of the box end and resisting relative longitudinal motion between the box end and the pin end.