Tubular delivery arm for a drilling rig

1. A tubular delivery arm for a drilling rig, the tubular delivery arm comprising:

a dolly vertically translatably connected to a front side of a mast of the drilling rig;

an arm extending below the dolly; and

a tubular clasp pivotally connected to a lower end of the arm and configured to engage an upper portion of a tubular stand to enable the tubular delivery arm to adjust a vertical position of the tubular stand by vertical translation of the dolly when the tubular clasp is engaged with the tubular stand;

wherein an upper end of the arm is rotatably connected to the dolly to enable the arm to rotate about a first axis and pivotally connected to the dolly to enable the arm to pivot about a second axis that is transverse to the first axis to enable the tubular delivery arm to move the tubular clasp, and the tubular stand when the tubular clasp is engaged with the tubular stand, between a well center position and a position forward of the well center position;

wherein the tubular clasp is positionable on the tubular stand below an upper end of the tubular stand to secure the upper portion of the tubular stand in the well center position.

2. The tubular delivery arm of claim 1 , wherein the tubular clasp is engageable with a diametral upset at the upper end of the tubular stand.

3. The tubular delivery arm of claim 1 or claim 2 , wherein the tubular clasp is slidable along the tubular stand below a diametral upset at the upper end of the tubular stand to enable coincident attachment by a top drive at the well center position.

4. The tubular delivery arm of claim 1 or claim 2 , wherein the tubular clasp is moveable along the tubular stand below a diametral upset at the upper end of the tubular stand to enable coincident attachment by a top drive at the well center position.

5. The tubular delivery arm of claim 1 , wherein the tubular clasp comprises a gripper configured to grip the tubular stand below a diametral upset at the upper end of the tubular stand to enable coincident attachment by a top drive at the well center position.

6. The tubular delivery arm of claim 1 , wherein the tubular clasp is configured to secure the tubular stand below the upper end of the tubular stand to enable coincident attachment by a top drive at the well center position.

7. The tubular delivery arm of claim 1 , wherein the position forward of the well center position is selected from a mousehole position, a stand hand-off position, a catwalk position, or a combination thereof.

8. The tubular delivery arm of claim 1 , wherein the tubular delivery arm has sufficient capacity to hoist a stand of drilling tubulars.

9. The tubular delivery arm of claim 1 , further comprising:

an arm bracket connected to the dolly;

a horizontally-oriented drive plate rotatably connected to the arm bracket; and

a rotary actuator connected to the arm bracket and the horizontally-oriented drive plate;

wherein the upper end of the arm is pivotally connected to the horizontally-oriented drive plate to enable the arm to pivot about the second axis;

wherein the rotary actuator is configured to drive the arm to rotate about the first axis.

10. The tubular delivery arm of claim 9 , further comprising:

an actuator bracket connected to the arm; and

a tilt actuator pivotally connected between the horizontally-oriented drive plate and the actuator bracket;

wherein the tilt actuator is configured to drive the arm to rotate about the second axis.

11. The tubular delivery arm of claim 9 or claim 10 , further comprising:

an incline actuator pivotally connected between the arm and the tubular clasp, wherein the incline actuator provides a pivotal connection between the tubular clasp and the arm.

12. The tubular delivery arm of claim 1 , further comprising a hoist connected to raise and lower the dolly.

13. The tubular delivery arm of claim 1 , wherein the vertical translation of the tubular delivery arm is independent of a top drive on the mast.

14. The tubular delivery arm of claim 1 , further comprising:

a first rail connected to a driller's side of the mast;

a second rail connected to an off-driller's side of the mast;

slide pads connected to the dolly and engaged with the first rail; and

slide pads connected to the dolly and engaged with the second rail.

15. The tubular delivery arm of claim 14 , further comprising a respective adjustment pad attached to each slide pad of the slide pads.

16. The tubular delivery arm of claim 1 , wherein a centerline of the tubular stand secured in the tubular clasp is located between a pair of pivot connections between the tubular clasp and the lower end of the arm.

17. The tubular delivery arm of claim 1 , wherein the tubular clasp is self-balancing.

18. The tubular delivery arm of claim 1 , further comprising:

a grease dispenser extendably connected to the lower end of the arm; and

a grease supply line connected between the grease dispenser and a grease reservoir;

wherein extension of the grease dispenser is configured to position the grease dispenser at least partially inside of a box connection of the tubular stand engaged by the clasp;

wherein the grease dispenser is configured to deliver grease to the interior of the box connection.

19. The tubular delivery arm of claim 18 , wherein the grease reservoir is mounted on the dolly, and the grease reservoir is pressurized to facilitate delivery of grease through the grease supply line and the grease dispenser.

20. The tubular delivery arm of claim 1 , further comprising:

an articulated rail attached to the arm proximate the tubular clasp; and

a grease dispenser translatably mounted to the articulated rail;

wherein translation of the grease dispenser along the articulated rail is configured to position the grease dispenser to deliver grease to a box connection of the tubular stand when the tubular stand is engaged by the tubular clasp.

21. A method to deliver a tubular stand to and from a well center position, the method comprising:

connecting a dolly of a tubular delivery arm to a front side of a mast;

rotatably and pivotally connecting an upper end of an arm to extend below the dolly;

pivotally connecting a tubular clasp at a lower end of the arm;

securing an upper portion of the tubular stand in the tubular clasp;

vertically translating the dolly on the front side of the mast to adjust a vertical position of the tubular stand secured in the tubular clasp;

rotating the arm about a first axis and tilting the arm about a second axis that is transverse to the first axis to move the tubular stand secured in the tubular clasp between the well center position and a position forward of the well center position; and

positioning the tubular clasp below an upper end of the tubular stand to secure the upper portion of the tubular stand in the well center position.

22. The method of claim 21 , further comprising:

connecting or disconnecting a top drive to the tubular stand secured by the tubular clasp in the well center position; and

removing the tubular clasp from the tubular stand.

23. The method of claim 22 , further comprising connecting or disconnecting a drill string and a lower end of the tubular stand secured by the tubular clasp in the well center position.

24. The method of claim 21 , further comprising engaging the tubular clasp with a diametral upset at the upper end of the tubular stand while vertically translating the dolly.

25. The method of claim 24 , wherein the positioning of the tubular clasp below the upper end of the tubular stand to secure the upper portion of the tubular stand in the well center position comprises moving the tubular clasp along the tubular stand below the diametral upset.

26. The method of claim 24 , wherein the positioning of the tubular clasp below the upper end of the tubular stand to secure the upper portion of the tubular stand in the well center position comprises engaging the tubular clasp and the tubular stand below the diametral upset, and further comprises moving the tubular clasp along the tubular stand to engage the diametral upset.

27. The method of claim 25 or claim 26 , wherein the moving the tubular clasp along the tubular stand comprises sliding.

28. The method of claim 21 , further comprising gripping the tubular stand at or below a diametral upset with the tubular clasp while vertically translating the dolly.

29. The method of claim 21 or claim 28 , wherein the positioning of the tubular clasp below the upper end of the tubular stand to secure the upper portion of the tubular stand in the well center position comprises gripping the tubular stand with the tubular clasp below a diametral upset.

30. The method of claim 21 , further comprising gripping the tubular stand below a diametral upset with the tubular clasp while vertically translating the dolly and while securing the upper portion of the tubular stand in the well center position.