WO2004018829A1 - A drill floor pipe handling device - Google Patents

A drill floor pipe handling device Download PDF

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Publication number
WO2004018829A1
WO2004018829A1 PCT/NO2003/000285 NO0300285W WO2004018829A1 WO 2004018829 A1 WO2004018829 A1 WO 2004018829A1 NO 0300285 W NO0300285 W NO 0300285W WO 2004018829 A1 WO2004018829 A1 WO 2004018829A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe
extension arm
arm
gripper
accordance
Prior art date
Application number
PCT/NO2003/000285
Other languages
French (fr)
Inventor
Brian Cowling
Knut Atle Kaastad
Original Assignee
Maritime Hydraulics As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maritime Hydraulics As filed Critical Maritime Hydraulics As
Priority to AU2003253524A priority Critical patent/AU2003253524A1/en
Publication of WO2004018829A1 publication Critical patent/WO2004018829A1/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position

Definitions

  • This invention pertains to pipe handling on a drill floor.
  • it concerns a device that allows pipes to be raised from a horizontal position to an upright vertical position by means of a traditional pipe manipulator for vertical pipes.
  • a drill floor of the type known from e.g. petroleum production is normally equipped with machines for handling drill pipes and other types of pipes used in the drilling operation.
  • Pipe lengths that have been prepared for insertion into a well, and which are normally placed in transitional storage in a so-called fingerboard, may be from 30 to 40 metres long.
  • the machine used to handle these relatively long pipes, the pipe manipulator, is designed primarily to grip one of these relatively long pipe lengths and transport it between the borehole and the finger board.
  • the object of the invention is to remedy the disadvantages of prior art.
  • the extension arm is formed so as to always be in a vertical position, to prevent an excessive bending moment on the arm.
  • the extension arm will during the vertical and horizontal displacement maintain this predominantly vertical position by means of the parallel guide unit of the first arm, which is known per se.
  • the lower part of the extension arm is designed to rotate about its own longitudinal axis in order to retrieve pipes located at any orientation relative to the pipe manipulator.
  • the pipe gripper When retrieving a pipe that is oriented essentially in the horizontal position, the pipe gripper is displaced by means of a guide to the lower end portion of the extension arm, where it is designed to turn from its vertical position to a horizontal position.
  • the first arm is displaced down towards its lower position, so that the pipe gripper may grip the pipe. It is a favourable characteristic of the invention that the gripper is controlled when turning near the vertical position, while turning freely near the horizontal position.
  • the turning is controlled during the first phase of the rotation of the pipe gripper from the vertical position, while during the last part of the turning toward the horizontal position, the pipe gripper is turned by gravity.
  • the first arm is moved up while the pipe gripper, together with the pipe, turns freely from its horizontal position.
  • the turning control of the pipe gripper is connected, whereby the pipe may be controlled about the near vertical direction and placed in the desired position.
  • the pipe gripper is displaced along the guide of the extension arm in order to be placed in the desired position relative to the first arm.
  • the device is also well suited for turning pipes from a vertical position to a horizontal position.
  • Figure 1 is a side view of a pedestal manipulator fitted with an extension arm
  • Figure 2 is a front view of the pedestal manipulator of figure 1 as a pipe gripper grips a horizontal pipe;
  • Figure 3 shows the same as figure 2, but here the pipe is being turned from a horizontal to a vertical position
  • Figure 4 shows the same as figure 3, but here the pipe is in a position that is nearer to the vertical, where the angle of the pipe relative to the vertical axis is controlled;
  • Figure 5 is a side view of the extension arm on a larger scale, where the pipe gripper, which is in its lower horizontal position, grips a horizontal pipe;
  • FIG 6 shows the same as figure 5, but here the pipe is being pulled up and the pipe gripper is turning freely about its suspension
  • Figure 7 shows the same as figure 6, but here the pipe gripper is displaced to a position in which the turning of pipe gripper about its suspension is controlled;
  • Figure 8 shows the same as figure 7, but here the pipe gripper is in its upper and vertical position.
  • reference number 1 denotes an extension arm connected to the parallel guiding first arm 4 of a pedestal manipulator 2.
  • the pedestal manipulator 2 which is placed on a drill floor 5, is of a type that is known per se, is designed to rotate about its vertical axis 6, and is equipped with a second arm 8, see figure 1.
  • the pedestal manipulator is designed to grip a relatively long vertical length of pipe 9 and through use of the arms 4, 8 displace the length of pipe 9 in the radial direction relative to the axis 6.
  • the second arm 8 is shown in the inactive position.
  • the extension arm 1 is hinged to the parallel guiding first arm 4 by means of hinge pins 10.
  • the extension arm 4 will remain in a mainly vertical position during the radial displacement of the first arm 4 relative to the axis 6 and during the vertical displacement of the first arm 4.
  • the extension arm 1 is provided with guide slots 12, see figure 5, which extend along the longitudinal extent of the lower portion 13 of the extension arm 1 and down to the lower end portion 14 of the extension arm 1.
  • the lower portion 13 of the extension arm 1 may be rotated about its own longitudinal extent by use of a rotary motor 15.
  • a guide carriage 16 on wheels is designed to be displaced along guide slots 12 by means of a guide cylinder 18 jointed to the extension arm 1 and guide carriage 16, respectively.
  • a pipe gripper 20 is jointed to the guide carriage 16 by means of an articulated axle 22.
  • the pipe gripper 20 is equipped with hydraulically controlled gripper shoes 24 of a design that is known per se.
  • An articulated cylinder 26 jointed to the guide carriage 16 is designed to turn the pipe gripper 20 about the articulated axle 22 by means of an articulated arm 28 rotatable about the articulated axle 22, when the pipe gripper 20 is located about its vertical position, see figures 4 and 7.
  • the pipe gripper 20 In order for the pipe gripper 20 to be free to turn about the articulated axle 22 when the pipe gripper is near its horizontal position, see figures 2 and 5, the pipe gripper 20 is equipped with a locking bolt 30.
  • the locking bolt is designed to be releasable, to allow the pipe gripper 20 to turn freely about the articulated axle 22 relative to the articulated arm 28.
  • the extension arm 1 is only subjected to a slight bending moment from a pipe 32 held by one end by the pipe gripper shoes 24 of the pipe gripper 20.
  • the pipe gripper shoes 24 then grip the pipe 32, whereupon the arm 4 is displaced upwards, and the pipe 32 is then lifted by one end from the feed way 34 on the drill floor 5, while at the same time being turned freely from a horizontal position to a vertical position about the articulated axle 22, see figures 3 and 6.
  • the locking bolt 30 -locks *the pipe gripper 20 to the articulated arm 28, see figures 4 and 7.
  • the pipe 32 may, when located near its vertical position, be turned about the articulated axle 22 by means of the articulated cylinder 26 and be placed in the desired position in a controlled manner.
  • the guide cylinder 18 is well suited for precise positioning of the pipe 32, e.g. when the pipe 32 is to be joined with another pipe.
  • the guide carriage 16 is equipped with wheels 36, the wheels 36 being designed to roll on the lower portion 13 of the extension arm 1.
  • the lower end portion 14 of the extension arm 1 is rounded to allow the wheels 36 to enter the end portion 14 in an expedient manner during the vertical displacement of the guide carriage 16. This design causes the guide carriage 16 to be locked about its turning direction when in a pulled-up position.
  • the pipe gripper 20 is used in a manner similar to that of the pipe gripper of the first arm 4 on a conventional pedestal manipulator 2.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Manipulator (AREA)

Abstract

A device for a drill floor (5) pipe manipulator (2), where the pipe manipulator (2) is designed to handle relatively long vertical lengths of pipe and comprising a fist arm (4) able to be raised and lowered, wherein the arm (4) is equipped with an extension arm (1), where the extension arm (1) forms a downward projecting extension of the arm (4), thus allowing a pipe gripper (20) connected to the extension arm to be placed around an approximately horizontal pipe (32) located near the drill floor (5).

Description

A DRILL FLOOR PIPE HANDLING DEVICE
This invention pertains to pipe handling on a drill floor. In particular, it concerns a device that allows pipes to be raised from a horizontal position to an upright vertical position by means of a traditional pipe manipulator for vertical pipes.
A drill floor of the type known from e.g. petroleum production is normally equipped with machines for handling drill pipes and other types of pipes used in the drilling operation.
Thus it is known to use one machine to bring pipes from a horizontal position to a vertical position and another machine to handle vertical pipe lengths during so-called tripping, where relatively long pipe lengths are joined to form a pipe string, or a pipe string is separated into pipe lengths. According to prior art, pipes having a length of the order of 10 metres are moved onto the drill floor in a horizontal position. A machine for turning pipes grips the pipe and turns the pipe from a horizontal to a vertical position, whereupon the vertical pipe is placed in the so-called mouse hole of the drill floor to enable it to be joined with other pipes, or it is carried to the drilling centre, where it joins a pipe string.
Pipe lengths that have been prepared for insertion into a well, and which are normally placed in transitional storage in a so-called fingerboard, may be from 30 to 40 metres long. The machine used to handle these relatively long pipes, the pipe manipulator, is designed primarily to grip one of these relatively long pipe lengths and transport it between the borehole and the finger board.
Due to the design of known pipe manipulators, it is not possible to use a pipe manipulator according to prior art to rotate horizontal pipes located on/by the drill floor to a vertical position.
The object of the invention is to remedy the disadvantages of prior art.
The object is achieved in accordance with the invention, by the characteristics given in the description below and in the appended claims.
Fitting an extension arm to the grip arm, hereinafter designated the first arm, of the pipe manipulator, where the extension arm is designed to displace an adapted pipe gripper from its normal lower position downwards to a horizontally positioned pipe on/by the drill floor, makes it possible to use the manipulator to turn the pipe from a horisontal position immediately above the drill floor upwards to a vertical position which is adjusted so as to allow the pipe to be coupled to pipes of the same type.
In a preferred embodiment the extension arm is formed so as to always be in a vertical position, to prevent an excessive bending moment on the arm. The extension arm will during the vertical and horizontal displacement maintain this predominantly vertical position by means of the parallel guide unit of the first arm, which is known per se.
The lower part of the extension arm is designed to rotate about its own longitudinal axis in order to retrieve pipes located at any orientation relative to the pipe manipulator.
When retrieving a pipe that is oriented essentially in the horizontal position, the pipe gripper is displaced by means of a guide to the lower end portion of the extension arm, where it is designed to turn from its vertical position to a horizontal position. The first arm is displaced down towards its lower position, so that the pipe gripper may grip the pipe. It is a favourable characteristic of the invention that the gripper is controlled when turning near the vertical position, while turning freely near the horizontal position.
Thus the turning is controlled during the first phase of the rotation of the pipe gripper from the vertical position, while during the last part of the turning toward the horizontal position, the pipe gripper is turned by gravity. When the pipe gripper has gripped the horizontally oriented pipe, the first arm is moved up while the pipe gripper, together with the pipe, turns freely from its horizontal position. When the pipe nears its vertical position, the turning control of the pipe gripper is connected, whereby the pipe may be controlled about the near vertical direction and placed in the desired position. The pipe gripper is displaced along the guide of the extension arm in order to be placed in the desired position relative to the first arm.
The device is also well suited for turning pipes from a vertical position to a horizontal position.
For a person skilled in the art it is obvious that a reduction in the number of machines located on a drill floor, where the space is relatively restricted, is of great value. The relatively simple structure of the invention will also make it possible to save both on investment and operating costs.
The following describes a non-limiting example of a preferred embodiment illustrated in the accompanying drawings, in which:
Figure 1 is a side view of a pedestal manipulator fitted with an extension arm;
Figure 2 is a front view of the pedestal manipulator of figure 1 as a pipe gripper grips a horizontal pipe;
Figure 3 shows the same as figure 2, but here the pipe is being turned from a horizontal to a vertical position; Figure 4 shows the same as figure 3, but here the pipe is in a position that is nearer to the vertical, where the angle of the pipe relative to the vertical axis is controlled;
Figure 5 is a side view of the extension arm on a larger scale, where the pipe gripper, which is in its lower horizontal position, grips a horizontal pipe;
Figure 6 shows the same as figure 5, but here the pipe is being pulled up and the pipe gripper is turning freely about its suspension;
Figure 7 shows the same as figure 6, but here the pipe gripper is displaced to a position in which the turning of pipe gripper about its suspension is controlled; and
Figure 8 shows the same as figure 7, but here the pipe gripper is in its upper and vertical position.
In the drawings, reference number 1 denotes an extension arm connected to the parallel guiding first arm 4 of a pedestal manipulator 2. The pedestal manipulator 2, which is placed on a drill floor 5, is of a type that is known per se, is designed to rotate about its vertical axis 6, and is equipped with a second arm 8, see figure 1. The pedestal manipulator is designed to grip a relatively long vertical length of pipe 9 and through use of the arms 4, 8 displace the length of pipe 9 in the radial direction relative to the axis 6. In figure 1, the second arm 8 is shown in the inactive position.
The extension arm 1 is hinged to the parallel guiding first arm 4 by means of hinge pins 10. Thus the extension arm 4 will remain in a mainly vertical position during the radial displacement of the first arm 4 relative to the axis 6 and during the vertical displacement of the first arm 4.
The extension arm 1 is provided with guide slots 12, see figure 5, which extend along the longitudinal extent of the lower portion 13 of the extension arm 1 and down to the lower end portion 14 of the extension arm 1. The lower portion 13 of the extension arm 1 may be rotated about its own longitudinal extent by use of a rotary motor 15. A guide carriage 16 on wheels is designed to be displaced along guide slots 12 by means of a guide cylinder 18 jointed to the extension arm 1 and guide carriage 16, respectively.
A pipe gripper 20 is jointed to the guide carriage 16 by means of an articulated axle 22. The pipe gripper 20 is equipped with hydraulically controlled gripper shoes 24 of a design that is known per se.
An articulated cylinder 26 jointed to the guide carriage 16 is designed to turn the pipe gripper 20 about the articulated axle 22 by means of an articulated arm 28 rotatable about the articulated axle 22, when the pipe gripper 20 is located about its vertical position, see figures 4 and 7.
In order for the pipe gripper 20 to be free to turn about the articulated axle 22 when the pipe gripper is near its horizontal position, see figures 2 and 5, the pipe gripper 20 is equipped with a locking bolt 30. The locking bolt is designed to be releasable, to allow the pipe gripper 20 to turn freely about the articulated axle 22 relative to the articulated arm 28. Through the pipe gripper 20 being designed to turn freely about the articulated axle 22, the extension arm 1 is only subjected to a slight bending moment from a pipe 32 held by one end by the pipe gripper shoes 24 of the pipe gripper 20.
When a horizontal pipe 32 located on a feed way 34 on the drill floor 5 is to be raised to the vertical position, the guide carriage 16 is displaced to its lower position, whereupon the articulated cylinder 26 turns the pipe gripper 20 about the articulated axle 22 from the vertical position and in the direction of the horizontal position. The locking bolt 30 is then released, releasing the pipe gripper 20 with respect to the articulated arm 28 to allow the pipe gripper 20 to turn to the horizontal position under the influence of gravity. The first arm 4 of the pedestal manipulator 2 is displaced down towards it lower position until the pipe gripper shoes 24 of the pipe gripper 20 are placed around the pipe 32, see figures 2 and 5.
The pipe gripper shoes 24 then grip the pipe 32, whereupon the arm 4 is displaced upwards, and the pipe 32 is then lifted by one end from the feed way 34 on the drill floor 5, while at the same time being turned freely from a horizontal position to a vertical position about the articulated axle 22, see figures 3 and 6.
When the pipe 32 and the pipe gripper ,20 approach a vertical position the locking bolt 30 -locks *the pipe gripper 20 to the articulated arm 28, see figures 4 and 7. Thus the pipe 32 may, when located near its vertical position, be turned about the articulated axle 22 by means of the articulated cylinder 26 and be placed in the desired position in a controlled manner. The guide cylinder 18 is well suited for precise positioning of the pipe 32, e.g. when the pipe 32 is to be joined with another pipe.
In this shown preferred embodiment the guide carriage 16 is equipped with wheels 36, the wheels 36 being designed to roll on the lower portion 13 of the extension arm 1. The lower end portion 14 of the extension arm 1 is rounded to allow the wheels 36 to enter the end portion 14 in an expedient manner during the vertical displacement of the guide carriage 16. This design causes the guide carriage 16 to be locked about its turning direction when in a pulled-up position.
When the pedestal manipulator 2 handles relatively long vertical lengths of pipe, the pipe gripper 20 is used in a manner similar to that of the pipe gripper of the first arm 4 on a conventional pedestal manipulator 2.

Claims

C l a i m s
1. A device for a drill floor (5) pipe manipulator (2), where the pipe manipulator (2) is designed to handle relatively long vertical pipe lengths and comprising a
5 first arm (4) able to be raised and lowered, c h a r a c t e r i z e d i n that the arm (4) is equipped with an extension arm (1), where the extension arm (1) forms a downward projecting extension of the raisable and lowerable first arm (4), thus allowing a o pipe gripper (20) connected to the extension arm (1) to be placed around an approximately horizontal pipe (32) located near the drill floor (5).
2. A device in accordance with Claim 1, c h a r a c t e r i z e d i n that the pipe s gripper (20) is designed to, in the vertical plane, turn in under the lower end portion (14) of the extension arm (1).
3. A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the o turning of the pipe gripper (20) in the vertical plane is controlled by means of an actuator (26) when the pipe gripper (20) is in a near vertical position.
4. " A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the 5 pipe gripper (20) turns freely in the vertical plane when the pipe gripper (20) is in a near horizontal position.
5. A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the pipe gripper (20) is connected to the extension arm (1) by means of a guide carriage (16) that is displaceable
5 along the extension arm (1).
6. A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the extension arm (1) is connected to the first arm (4), so that the extension arm (1) is always in a predominantly o vertical position.
7. A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the pipe gripper (20) is equipped with wheels (36) designed to roll on the lower portion (13) of the extension arm s (1) when the pipe gripper is located next to the lower portion ( 13) .
8. A device in accordance with one or more of the preceding claims, c h a r a c t e r i z e d i n that the lower portion (13) of the extension arm (1) is rotatable o about its own longitudinal extent.
9. A method for axial precision feeding of a pipe (32) during the joining of the pipe (32) with another pipe by means of an extension arm (1), where the extension arm (1) comprises a pipe gripper (20) that may be displaced 5 vertically along the extension arm (1) by means of a guide cylinder (18), c h a r a c t e r i z e d i n that after the pipe (32) has been positioned for screwing onto another pipe or pipe length (9), the pipe (32) is precision fed into or over the pipe coupling of the other pipe or pipe length (9) by means of the guide cylinder ( 18 ) .
PCT/NO2003/000285 2002-08-21 2003-08-20 A drill floor pipe handling device WO2004018829A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003253524A AU2003253524A1 (en) 2002-08-21 2003-08-20 A drill floor pipe handling device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20023968 2002-08-21
NO20023968A NO317081B1 (en) 2002-08-21 2002-08-21 Device for drilling deck rudder handling

Publications (1)

Publication Number Publication Date
WO2004018829A1 true WO2004018829A1 (en) 2004-03-04

Family

ID=19913915

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2003/000285 WO2004018829A1 (en) 2002-08-21 2003-08-20 A drill floor pipe handling device

Country Status (3)

Country Link
AU (1) AU2003253524A1 (en)
NO (1) NO317081B1 (en)
WO (1) WO2004018829A1 (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005073497A1 (en) * 2004-01-28 2005-08-11 Max Streicher Gmbh & Co. Kg Aa Device and method for manipulation of objects on a drilling installation
WO2010128119A2 (en) * 2009-05-07 2010-11-11 Max Streicher Gmbh & Co. Kg Aa Device and method for handling rod-shaped elements
ITPI20090110A1 (en) * 2009-09-04 2011-03-05 Lodovico Scardigli EQUIPMENT FOR MANIPULATING AUCTIONS FOR THE REALIZATION OF WELLS
WO2012148286A1 (en) * 2011-04-29 2012-11-01 Seabed Rig As Pipe handling machine
US20130302114A1 (en) * 2012-05-14 2013-11-14 Nabors Drilling International Limited Drilling rig employing tubular handling device
US20130330151A1 (en) * 2011-11-28 2013-12-12 T&T Engineering Services, Inc. Tubular Stand Building and Racking System
ITPC20130014A1 (en) * 2013-04-18 2014-10-19 Robotics W Srl B SYSTEMS COMPLEX FOR MOVING DRILL TUBULARS FROM THE GROUND FLOOR TO THE PROBE PLAN AND ON BOTH, TO THEIR COMPLETELY AUTOMATIC MANAGEMENT, TO STORAGE IN TRANSPORTABLE CONTAINERS AND TO THE FEEDING OF THE CHARGER
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
WO2014199344A3 (en) * 2013-06-13 2015-08-13 Mhwirth As Lifting arrangement for lifting a pipe
US9410382B2 (en) 2012-05-14 2016-08-09 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
WO2016181272A1 (en) * 2015-05-08 2016-11-17 Siaem S.A.S. Di Carini Stefano E Paolo & C. Equipment for handling drill pipes
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
WO2020028852A1 (en) * 2018-08-03 2020-02-06 National Oilwell Varco, L.P. Devices, systems, and methods for robotic pipe handling
US10995564B2 (en) 2018-04-05 2021-05-04 National Oilwell Varco, L.P. System for handling tubulars on a rig
US11274508B2 (en) 2020-03-31 2022-03-15 National Oilwell Varco, L.P. Robotic pipe handling from outside a setback area
US11352843B2 (en) 2016-05-12 2022-06-07 Nov Canada Ulc System and method for offline standbuilding
US11365592B1 (en) 2021-02-02 2022-06-21 National Oilwell Varco, L.P. Robot end-effector orientation constraint for pipe tailing path
US11814911B2 (en) 2021-07-02 2023-11-14 National Oilwell Varco, L.P. Passive tubular connection guide
US11834914B2 (en) 2020-02-10 2023-12-05 National Oilwell Varco, L.P. Quick coupling drill pipe connector
US11891864B2 (en) 2019-01-25 2024-02-06 National Oilwell Varco, L.P. Pipe handling arm
US11982139B2 (en) 2021-11-03 2024-05-14 National Oilwell Varco, L.P. Passive spacer system
US11988059B2 (en) 2019-02-22 2024-05-21 National Oilwell Varco, L.P. Dual activity top drive

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US5458454A (en) * 1992-04-30 1995-10-17 The Dreco Group Of Companies Ltd. Tubular handling method
US5941324A (en) * 1998-01-27 1999-08-24 Schramm, Inc. Drilling apparatus
WO2000065193A1 (en) * 1999-04-28 2000-11-02 Boart Longyear Pty. Ltd. Drill rod handling device

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005073497A1 (en) * 2004-01-28 2005-08-11 Max Streicher Gmbh & Co. Kg Aa Device and method for manipulation of objects on a drilling installation
US8910719B2 (en) 2009-05-07 2014-12-16 Max Streicher Gmbh & Co. Kg Aa Apparatus and method of handling rod-shaped components
WO2010128119A2 (en) * 2009-05-07 2010-11-11 Max Streicher Gmbh & Co. Kg Aa Device and method for handling rod-shaped elements
WO2010128119A3 (en) * 2009-05-07 2011-01-13 Max Streicher Gmbh & Co. Kg Aa Device and method for handling rod-shaped elements
ITPI20090110A1 (en) * 2009-09-04 2011-03-05 Lodovico Scardigli EQUIPMENT FOR MANIPULATING AUCTIONS FOR THE REALIZATION OF WELLS
WO2012148286A1 (en) * 2011-04-29 2012-11-01 Seabed Rig As Pipe handling machine
US9091128B1 (en) * 2011-11-18 2015-07-28 T&T Engineering Services, Inc. Drill floor mountable automated pipe racking system
US9945193B1 (en) 2011-11-18 2018-04-17 Schlumberger Technology Corporation Drill floor mountable automated pipe racking system
US20130330151A1 (en) * 2011-11-28 2013-12-12 T&T Engineering Services, Inc. Tubular Stand Building and Racking System
US9121235B2 (en) * 2011-11-28 2015-09-01 T&T Engineering Services, Inc. Tubular stand building and racking system
US9309728B2 (en) * 2012-05-14 2016-04-12 Nabors Drilling International Limited Drilling rig employing tubular handling device
US20130302114A1 (en) * 2012-05-14 2013-11-14 Nabors Drilling International Limited Drilling rig employing tubular handling device
US9410382B2 (en) 2012-05-14 2016-08-09 Nabors Drilling International Limited Drilling rig carriage movable along racks and including pinions driven by electric motors
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
ITPC20130014A1 (en) * 2013-04-18 2014-10-19 Robotics W Srl B SYSTEMS COMPLEX FOR MOVING DRILL TUBULARS FROM THE GROUND FLOOR TO THE PROBE PLAN AND ON BOTH, TO THEIR COMPLETELY AUTOMATIC MANAGEMENT, TO STORAGE IN TRANSPORTABLE CONTAINERS AND TO THE FEEDING OF THE CHARGER
GB2529336B (en) * 2013-06-10 2017-10-04 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
US9856117B2 (en) 2013-06-10 2018-01-02 Mhwirth As Lifting arm assembly and method of changing a holder in said lifting arm assembly
GB2529337A (en) * 2013-06-13 2016-02-17 Mhwirth As Lifting arrangement for lifting a pipe
GB2529337B (en) * 2013-06-13 2016-10-19 Mhwirth As Lifting arrangement for lifting a pipe
WO2014199344A3 (en) * 2013-06-13 2015-08-13 Mhwirth As Lifting arrangement for lifting a pipe
US9752397B2 (en) 2013-06-13 2017-09-05 Mhwirth As Lifting arrangement for lifting a pipe
WO2016181272A1 (en) * 2015-05-08 2016-11-17 Siaem S.A.S. Di Carini Stefano E Paolo & C. Equipment for handling drill pipes
US11352843B2 (en) 2016-05-12 2022-06-07 Nov Canada Ulc System and method for offline standbuilding
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US11891864B2 (en) 2019-01-25 2024-02-06 National Oilwell Varco, L.P. Pipe handling arm
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NO20023968D0 (en) 2002-08-21
NO317081B1 (en) 2004-08-02
AU2003253524A1 (en) 2004-03-11

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