Automated tubular racking system

Abstract

A tubular racking system has a racking module connected to a drilling rig mast. The racking module has a frame, a fingerboard assembly, and a clasp extendable to a stand hand-off position for securing a tubular stand in position. An upper racking mechanism (upper racking mechanism) has a bridge translatably connected to the frame. An arm is rotatably and translatably connected to the bridge. A gripper is translatably connected to the arm. A setback platform module has a platform and an alleyway adjacent the platform. A lower racking mechanism (lower racking mechanism) is translatably connected to the alleyway. The lower racking mechanism is rotatably and extendable with a clasp operable to secure a tubular stand from horizontal movement. Movements of the lower racking mechanism are controlled by movements of the upper racking mechanism.

1 . A tubular racking system, comprising:
 a racking module ( 300 ) connected to a drilling rig mast ( 10 ), the racking module ( 300 ) comprising;
 a frame ( 302 ); 
 a fingerboard assembly ( 310 ) connected to the frame ( 302 ), having columns receivable of tubular stands ( 80 ), the columns oriented in a direction towards the mast ( 10 ); 
 a fingerboard alleyway ( 316 ) connecting the columns on a mast side of the columns; 
 an upper racking mechanism ( 350 ) comprising:
 a bridge ( 358 ) connected to the frame ( 302 ) in translatable relation; 
 an arm ( 370 ) connected to the bridge ( 358 ) in rotatable and translatable relation; and, 
 a gripper ( 382 ) connected to the arm ( 370 ) in vertically translatable relation. 
 
   
     
     
         2 . The tubular racking system of  claim 1 , further comprising:
 a setback platform module comprising:
 a platform positioned beneath the fingerboard assembly; 
 a platform alleyway adjacent to the platform; 
 a lower racking mechanism comprising:
 a base connected to the alleyway in translatable relation; 
 a frame connected to the base in rotatable and pivotal relation; 
 an arm pivotally connected to the frame; and, 
 a clasp pivotally connected to the arm. 
 
   
     
     
         3 . The tubular racking system of  claim 2 , further comprising:
 positioning of the lower racking mechanism electronically synchronized to complement positioning of the upper racking mechanism.   
     
     
         4 . The tubular racking system of  claim 2 , further comprising:
 a stand hand-off position for vertically secured set-down of a tubular stand;   the stand hand-off position located proximate to a mast side of the platform.   
     
     
         5 . The tubular racking system of  claim 4 , further comprising:
 the stand hand-off position intersecting the platform alleyway and the fingerboard alleyway.   
     
     
         6 . The tubular racking system of  claim 1 , further comprising:
 an upper stand constraint connected to the fingerboard assembly, the upper stand constraint comprising:
 a carriage connected to the frame in extendable relationship; 
 a carriage actuator connected between the frame and the carriage, and operable to extend or retract the carriage outward from the frame; 
 a clasp attached to the extendable end of the carriage; and, 
 a clasp actuator connected to the clasp, and operable to open or close the clasp around a tubular stand. 
   
     
     
         7 . The tubular racking system of  claim 6 , further comprising:
 the carriage being extendable towards the mast sufficiently to position the clasp vertically above the stand hand-off position; and,   the carriage being retractable away from the mast sufficiently to remove the clasp from the position vertically above the stand hand-off position.   
     
     
         8 . The tubular racking system of  claim 6 , further comprising:
 the carriage being extendable in the direction of the well center a sufficient distance to enable connection of a tubular stand secured by the clasp to a top drive.   
     
     
         9 . The tubular racking system of  claim 2 , further comprising:
 the lower racking mechanism operable to clasp a tubular stand in a position on the setback platform and follow it to the stand hand-off position.   
     
     
         10 . The racking module of  claim 1 , further comprising:
 the frame having an inner runway and an outer runway;   the bridge connected to the inner and outer runways in translatable relation;   a trolley connected to the bridge in translatable relation;   the arm rotatably connected to the trolley;   a sleeve translatably connected to the arm; and,   the gripper attached to the sleeve and operable to grip an upper end of a tubular stand and to hoist the stand by upward translation of the sleeve along the arm.   
     
     
         11 . The tubular racking system of  claim 1 , further comprising:
 a tubular centerline at the center of tubulars held by the gripper;   an arm rotation centerline at the center of rotation of the arm; and,   the tubular centerline being coincident to the arm rotation centerline.   
     
     
         12 . The tubular racking system of  claim 1 , further comprising:
 a lower stand constraint connected to the platform, the lower stand constraint comprising:
 a frame; 
 a carriage connected to the frame in extendable relationship; 
 a carriage actuator connected between the frame and the carriage, and operable to extend or retract the carriage outward from the frame; 
 a clasp attached to the extendable end of the carriage; and, 
 a clasp actuator connected to the clasp, and operable to open or close the clasp around a tubular stand. 
   
     
     
         13 . A method of racking tubular stands on a drilling rig comprising:
 providing a racking module ( 300 ) with a fingerboard assembly ( 310 ) having a racked tubular stand ( 80 );   providing a setback platform module ( 900 ) beneath the racking module ( 300 ) with a platform ( 910 ) on which a lower end of the tubular stand ( 80 ) rests;   gripping an upper end of the tubular stand ( 80 ) with a gripper ( 382 ) of an upper racking mechanism ( 350 ) movably connected to the racking module ( 300 );   clasping a lower end of the tubular stand ( 80 ) with a clasp ( 990 ) of a lower racking mechanism ( 950 );   raising the gripper ( 382 ) in relation to the racking module ( 300 ) to lift the tubular stand ( 80 ) off the platform ( 910 );   moving the upper racking mechanism ( 350 ) and tubular stand ( 80 ) to an alleyway ( 316 ) on the racking module ( 300 );   moving the lower racking mechanism ( 950 ) simultaneously and coincidentally to the movement of the upper racking mechanism ( 350 ) to maintain verticality of the tubular stand ( 80 );   rotating the gripper ( 382 ) of the upper racking mechanism ( 350 ) so as to rotate the tubular stand ( 80 ) ninety degrees on a centerline of the tubular stand ( 80 );   rotating the lower racking mechanism ( 950 ) coincidentally to the rotation of the upper racking mechanism ( 350 );   moving the upper racking mechanism ( 350 ) to a stand hand-off position ( 50 );   moving the lower racking mechanism ( 950 ) simultaneously and coincidentally to the movement of the upper racking mechanism ( 350 ) to maintain verticality of the tubular stand ( 80 );   lowering the gripper ( 382 ) in relation to the racking module ( 300 ) to set the tubular stand ( 80 ) on the platform ( 910 ) at a stand hand-off position ( 50 );   clasping the upper end of the tubular stand ( 80 ) with a clasp ( 408 ) of an upper stand constraint ( 420 );   releasing the gripper ( 382 ) of the upper racking mechanism ( 350 ) from the tubular stand ( 80 ); and,   releasing the clasp ( 990 ) of the lower racking mechanism ( 950 ) from the tubular stand ( 80 ).