Pipe handling apparatus and methods
A pipe handling system comprises a carriage having an upper surface adapted to support a tubular. The carriage comprises a first section and a second section. The first and second sections are pivotally coupled together for rotation about a pivot axis. The carriage is movable relative to a base and configured such that the leading end of the carriage is elevated as the carriage is advanced. An actuator is coupled between the first and second sections. The actuator is operable to pivot the second section relative to the first section about the pivot axis. In some embodiments the carriage is configured with a positive kink to deliver tubulars to a rig floor and with a negative kink to deliver tubulars to an online or offline stand building system. In some embodiments a live surface on the carriage is controllable to reduce or eliminate swinging of tubulars as they are transferred to or from the drill rig.
1. A method for pipe handling in drilling, the method comprising:
grasping a first end of a tubular with an elevator;
changing an elevation of the first end of the tubular by moving the elevator;
while changing the elevation of the first end of the tubular, allowing a second end of the tubular to rest on a live surface and operating the live surface to control motion of the second end of the tubular relative to a well center;
wherein moving the elevator comprises hoisting the elevator and the method comprises operating the live surface to reduce a velocity of the second end of the tubular to a velocity of less than 25 cm/sec when the tubular becomes vertical;
wherein operating the live surface comprises, in a first period operating a drive to move the live surface at a first speed sufficient to create slack between a top end of the tubular and an elevator hoisting the tubular and, in a second period subsequent to the first period, decelerate the tail end of the tubular such that, at the end of the second period the tail end of the tubular is stopped or almost stopped.
2. A method according to claim 1 comprising hoisting the elevator during the first and second periods.
3. A method according to claim 1 wherein the elevator is associated with a top drive and the method comprises maintaining the elevator in a side tilted configuration while moving the first end of the tubular.