A horizontal directional drilling machine having a modular pipe loader system. The system comprises a first and second pipe loader assembly supported on a drill frame. Each assembly supports a shuttle arm. The shuttle arms are configured to move independently of one another along a shuttle path that is traverse to a longitudinal axis of the drill frame. Movement of each shuttle arm is powered by an actuator supported on each pipe loader assembly. Each pipe loader assembly includes a sensor used to measure parameters related to the position of each shuttle arm relative to the drill frame. A controller analyzes the measured parameters and directs operation of each actuator in order to keep the shuttle arms moving in unison during operation.

A horizontal directional drilling machine having a modular pipe loader system. The system comprises a first and second pipe loader assembly supported on a drill frame. Each assembly supports a shuttle arm. The shuttle arms are configured to move independently of one another along a shuttle path that is traverse to a longitudinal axis of the drill frame. Movement of each shuttle arm is powered by an actuator supported on each pipe loader assembly. Each pipe loader assembly includes a sensor used to measure parameters related to the position of each shuttle arm relative to the drill frame. A controller analyzes the measured parameters and directs operation of each actuator in order to keep the shuttle arms moving in unison during operation.

A multifunction handler for handling drilling elements in a drilling rig includes a slide, which has a guide system and a lifting system. The slide is adapted to slide along a first axis parallel to the longitudinal extension of a drilling rig mast. An articulated arm, a robotic apparatus, and a handling head are adapted to seize, hold and release a drilling element. The articulated arm is fixed at a first end to the slide. A first end of the robotic apparatus is fixed to the second end of the articulated arm. The articulated arm allows moving the robotic apparatus along a second axis perpendicular to the first axis. The handling head connects to the second end of the robotic apparatus. The robotic apparatus moves the handling head with at least three degrees of freedom and the handler moves the handling head with at least five degrees of freedom.

A locking device includes an outer portion and an inner portion. The outer portion has a bore formed at least partially axially therethrough and a channel formed laterally therethrough. The inner portion is positioned at least partially within the bore. A first link is positioned at least partially outside of the outer portion and coupled to the inner portion through the channel. A second link is coupled to the outer portion. A pin is coupled to the first link and the second link. The locking device is in an unlocked state when the inner portion is fully positioned within the bore, and the locking device is in a locked state when an end of the inner portion extends axially out of the bore.

A system includes a first structure configured to be coupled to a tubular string extending to a seafloor, whereby the first structure comprises a drill floor. The system further includes a second structure configured to provide a lateral force to the first structure while allowing for vertical movement between the first structure and the second structure relative to the seafloor.

A drilling rig includes a drill floor with a well center opening, a derrick having a drilling machine which is suspended above the well center opening, a pipe supply area which is arranged adjacent to the well center opening on the drill floor, and a pipe handling machine. The pipe supply area has at least one pipe rack which horizontally stores pipe sections. The pipe handling machine moves at least one of the pipe sections between a horizontal storage position in the at least one pipe rack and a vertical position or a substantially vertical position above the well center opening.

A drilling rig includes a drill floor with a well center opening, a derrick having a drilling machine which is suspended above the well center opening, a pipe supply area which is arranged adjacent to the well center opening on the drill floor, and a pipe handling machine. The pipe supply area has at least one pipe rack which horizontally stores pipe sections. The pipe handling machine moves at least one of the pipe sections between a horizontal storage position in the at least one pipe rack and a vertical position or a substantially vertical position above the well center opening.

A robotic apparatus (1) for performing drill floor operations comprises a support arrangement (2) and at least one manipulator arm (6). The at least one manipulator arm (6) is configured to carry an end effector (11) configured to manipulate one or more of tubing, tools and/or equipment on a drill floor (d) or pipe deck of an oil and gas rig in order to perform a given drill floor operation.

A yoke for a pipe handling crane. The yoke includes a magazine having storage slots for tubular pipes, and a pipe lifting unit having a lifting tool. The lifting tool supplies a tubular pipe to and retrieves a tubular pipe from the magazine.

A yoke for a pipe handling crane. The yoke includes a magazine having storage slots for tubular pipes, and a pipe lifting unit having a lifting tool. The lifting tool supplies a tubular pipe to and retrieves a tubular pipe from the magazine.