An improved multi-bolt and nut torque wrench for installing and removing bolts or nuts from flanged joints or the like which includes a plurality of torque stations having a plurality of high torque wrenches for engaging the heads of the bolts or nuts during a high torque phase of removal or installation; a plurality of low-torque motors operatively engaged with the wrenches for rotating the bolts or nuts during the low torque phase of removal or installation; a source of hydraulic fluid for driving the low-torque motors during the low-torque phase, and driving the high-torque wrenches during the high torque phase; and a mechanism for switching between the two phases depending on the torque needed.

A method of handling pipe segments during makeup and breakout of a drill string. The method uses a hydraulic circuit, which provides fluid to a motor or motors for translating a drill pipe segment. The drill pipe segment is supported by a carriage, which places the segment next to a drill string for addition thereto. Hydraulic pressure within the circuit is monitored to determine if a pressure fluctuation exists. If so, the translation speed is adjusted by modifying the hydraulic fluid flow to the motors. Sensors may be utilized to determine whether or not the system is in a “transition zone” and therefore ready for pressure monitoring for makeup and breakout functions.

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 tong for handling a tubular includes a jaw carrier having an active jaw movable from a retracted position to an extended position relative to the jaw carrier; a cam body disposed about the jaw carrier and rotatable relative to the cam body; and a brake assembly including an first brake member for engaging an upper surface coupled to the jaw carrier.

A method of connecting or disconnecting a first tubular to a second tubular includes engaging the first tubular with a power tong; engaging the second tubular with a backup tong; and rotating the first tubular relative to the second tubular. The method also includes, while rotating, monitoring a distance between the backup tong and the power tong and comparing the distance to a first threshold value; and stopping rotation of the first tubular when the distance equals to the first threshold value. According to one embodiment, a tong assembly includes a power tong, a backup tong, a sensor configured to measure a distance between the power tong and the backup tong, and a controller configured to compare the distance to a threshold value.

A wellbore surface assembly includes a slip assembly, vertical rails, linear actuators, and an iron roughneck. The slip assembly is attached to a floor surface of a wellbore and it includes movable slips that engage a first tube. The vertical rails are attached to the base of the automatic slip assembly. The iron roughneck is movable along the vertical rails. The automatic iron roughneck includes a frame, a rotary ring, die actuators, and dies. The iron roughneck is movable by the linear actuators along a length of the vertical rails, changing an elevation of the iron roughneck with respect to the automatic slip assembly and the floor surface of the wellbore. The dies engage the second tube and the rotary ring rotates the second tube, threadedly attaching or detaching the second tube from the first tube.

A head for a well tubular. The well tubular head includes features that may be applied to a casing head or a tubing head. The well tubular head includes a bowl tubular reversibly connected with a casing connector. The bowl tubular is adapted for connecting with an uphole component of an equipment stack or other system. The bowl tubular includes a hanger profile for receiving a casing hanger or tubing hanger. The casing connector is adapted for connecting with the casing. The bowl tubular and the casing connector may be replaced independently of each other. Removable connection points for flow lines may be included on the well tubular head to facilitate changing flow lines or flow line connection points. The bowl tubular may include a drive system for rotating tubing.

A processor is operably coupled to a time of flight (TOF) camera, a light detection and ranging (LIDAR) sensor, and an optical camera. The processor can receive a TOF signal representative of a first coordinate associated with a stick-up height of a tool joint of a pipe of a drill string during a tripping operation on a rig drill floor, and a pitch and a roll of the tool joint. The processor can receive a LIDAR signal representative of a second coordinate associated with the stick-up height, and the pitch of the tool joint. The processor can receive an optical camera signal representative of a third coordinate associated with the stick-up height of the tool joint and the roll of the tool joint. The processor can generate a pose estimate and an orientation estimate based on the signals.

A power tong locking system includes a gear assembly with an aperture formed to receive a head shaft of a power tong gear shift system. The gear assembly includes discrete positions defined by notches formed between adjacent teeth arranged on a perimeter of the gear assembly. The power tong locking system further includes a lock arm assembly that includes a shift handle that includes an aperture formed to receive the head shaft of the power tong gear shift system adjacent the gear assembly, and a release handle rotatably coupled to the shift handle. The lock arm assembly is movable between a first position in which the release handle is secured in a first position to lock the power tong gear shift system at a first gear setting and a second position to lock the power tong gear shift system at a second gear setting that is different than the first gear setting.

Present embodiments relate to a riser bolt torque device that is configured to couple a first riser joint to a second riser joint to form a riser of a subsea drilling system. The riser bolt torque device includes a first arm and a second arm, multiple torque tools supported on the first arm and the second arm, and one or more actuators configured to drive the first arm and the second arm to pivot relative to one another from an open configuration to a closed configuration to enable alignment between the multiple torque tools and a flange of the first riser joint.