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: 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 drilling assembly including a sensor coupled to a gear, the gear in direct or indirect rotational communication with a component of drilling assembly, such as a bull gear or a pipe handler. The drilling assembly further including a logic device configured to calculate a wear status of the drilling assembly, indicating wear of one or more components of the drilling assembly. The logic device can also be configured to calculate an alignment value of the gear for engagement of a locking device.

Abstract: A top drive includes a plurality of modules. The top drive includes a first fastening member and a second fastening member. The first fastening member and the second fastening member are configured to be removably coupled to connect a first module and a second module. In some embodiments, the top drive includes a third fastening member. The third fastening member is configured to be removably coupled to at least one of the first fastening member and the second fastening member, to connect the first module, the second module, and a third module. A tool for assembling or disassembling a top drive includes a fastening portion including an attachment mechanism configured to releasably couple the tool to a portion of a top drive. The tool includes a first housing including a recess disposed therein. The tool includes a first rod disposed at least partially within the recess.

Abstract: A drilling assembly including a sensor coupled to a gear, the gear in direct or indirect rotational communication with a component of drilling assembly, such as a bull gear or a pipe handler. The drilling assembly further including a logic device configured to calculate a wear status of the drilling assembly, indicating wear of one or more components of the drilling assembly. In another aspect, the logic device is configured to calculate an alignment value of the gear for engagement of a locking device.

Abstract: A top drive includes a plurality of modules. The top drive includes a first fastening member and a second fastening member. The first fastening member and the second fastening member are configured to be removably coupled to connect a first module and a second module. In some embodiments, the top drive includes a third fastening member. The third fastening member is configured to be removably coupled to at least one of the first fastening member and the second fastening member, to connect the first module, the second module, and a third module. A tool for assembling or disassembling a top drive includes a fastening portion including an attachment mechanism configured to releasably couple the tool to a portion of a top drive. The tool includes a first housing including a recess disposed therein. The tool includes a first rod disposed at least partially within the recess.