Apparatus for gripping a tubular on a drilling rig
View Patent ↗Methods and apparatus are provided for running tubulars into and out of a wellbore. A tubular handling system having a tubular gripping apparatus having a gripping mechanism and a sensor adapted to track movement of the gripping mechanism, wherein the sensor sends a signal to a controller when the gripping apparatus is in a position that corresponds to the gripping apparatus being engaged with the tubular.
1. A method for operating a tubular handling system, the method comprising:
moving a gripping apparatus toward a tubular;
inserting the gripping apparatus into the tubular;
detecting the presence of an upper end of the tubular using a sensor located on the gripping apparatus during insertion of the gripping apparatus;
sending a signal from the sensor to a controller indicating that the tubular is in an engageable position;
stopping movement of the gripping apparatus relative to the tubular in response to the signal, wherein the tubular is stopped before contact with a stop collar in the gripping apparatus; and
gripping the tubular with the gripping apparatus.
2. The method of claim 1 , further comprising monitoring a position of one or more engagement members of the gripping apparatus relative to the tubular using a second sensor, and sending a second signal to the controller indicating that the gripping apparatus is engaged with the tubular.
3. The method of claim 2 , wherein monitoring a position of one or more engaging members comprises monitoring an entire spectrum of location of the engagement members.
4. The method of claim 2 , wherein monitoring a position of one or more engaging members comprises monitoring a piston for actuating the engagement members.
5. The method of claim 4 , wherein the second sensor comprises a wheel coupled to the piston.
6. The method of claim 2 , further comprising coupling the tubular to a tubular string held by a spider on the rig floor and verifying that the tubular connection is secure.
7. The method of claim 6 , further comprising after verifying the tubular connection is secured and the gripping apparatus is secured, the controller permits release of the spider.
8. The method of claim 1 , further comprising transferring torque from the tubular gripping apparatus to the tubular, thereby rotating the tubular.
9. A tubular handling system for handling a tubular, comprising:
a tubular gripping apparatus having a gripping mechanism;
a stop collar for limiting axial movement of the tubular relative to the tubular gripping apparatus; and
a sensor adapted to track movement of the gripping mechanism, wherein the sensor sends a signal to a controller when the gripping apparatus is in a position that corresponds to the gripping apparatus being engaged with the tubular.
10. The system of claim 9 , wherein the sensor comprises a trigger which is actuated by a wheel coupled to an arm, wherein the wheel moves along a track coupled to an actuator as the actuator moves the gripping mechanism.
11. The system of claim 10 , wherein the track has one or more upsets configured to move the wheel radially and actuate the trigger as the wheel travels.
12. The system of claim 9 , further comprising an indicator sensor for indicating a position of the gripping apparatus relative to the tubular.
13. The system of claim 9 , wherein the gripping mechanism is adapted to be engage an interior surface of the tubular.
14. The system of claim 9 , wherein the tubular gripping apparatus is adapted to grip the tubular and transfer torque to the tubular, to thereby rotate the tubular.
15. A method for operating a tubular handling system, the method comprising:
moving a gripping apparatus toward a tubular;
detecting the presence of an upper end of the tubular using a sensor located on the gripping apparatus;
sending a signal from the sensor to a controller indicating that the tubular is in an engageable position;
stopping movement of the gripping apparatus relative to the tubular in response to the signal, wherein the tubular is stopped before contact with a stop collar in the gripping apparatus; and
gripping the tubular with the gripping apparatus.
16. A tubular handling system for handling a tubular, comprising:
a tubular gripping apparatus having a gripping mechanism; and
a sensor adapted to track movement of the gripping mechanism, wherein the sensor sends a signal to a controller when the gripping apparatus is in a position that corresponds to the gripping apparatus being engaged with the tubular, and
wherein the sensor comprises a trigger which is actuated by a wheel coupled to an arm, wherein the wheel moves along a track coupled to an actuator as the actuator moves the gripping mechanism.
17. The system of claim 16 , wherein the track has one or more upsets configured to move the wheel radially and actuate the trigger as the wheel travels.
18. A method for operating a tubular handling system, the method comprising:
lowering a gripping apparatus axially relative to a tubular, thereby inserting the tubular into the gripping apparatus;
detecting the presence of an upper end of the tubular using a sensor located on the gripping apparatus during insertion of the tubular;
sending a signal from the sensor to a controller indicating that the tubular is in an engageable position;
stopping movement of the gripping apparatus relative to the tubular in response to the signal; and
gripping the tubular with the gripping apparatus.
19. A method for operating a tubular handling system, the method comprising:
moving a gripping apparatus toward a tubular;
detecting the presence of an upper end of the tubular using a sensor located on the gripping apparatus;
sending a signal from the sensor to a controller indicating that the tubular is in an engageable position;
stopping movement of the gripping apparatus relative to the tubular in response to the signal; and
operating the gripping apparatus to grip the tubular from the stopped position.