Dual path robotic derrick and methods applicable in well drilling

Abstract

The invention disclosed herein pertains to a drilling rig comprising of a dual path derrick, racking board robotic arm and drill floor robotic arm. Useable in drilling operations, the invention disclosed herein decreases time in assembling the drilling string and removes pipe handling personnel from the drilling rig racking board and rig floor.

The invention claimed is: 
     
         1 . A drilling rig comprising of:
 a. A derrick assembly with primary and secondary vertical paths, wherein the secondary path allows the top drive to travel vertically within the derrick while plurality of pipe handling devices transport drill stand between primary path and racking board, connect a drill stand to or disconnect from the drill string; and   b. Plurality of sliding assemblies wherein the plurality of sliding assemblies move the top drive in the axis perpendicular to the wellbore axis and the axis of the top drive remains parallel to the wellbore axis at all times; and   c. Plurality of pipe handling devices wherein the plurality of pipe handling devices are capable of lifting, transporting the drill stand between the racking board and wellbore axis, and connecting the drill stand with the drill string   
     
     
         2 . A method of trip in sequence using the drilling rig derrick of  claim 1 , the method comprising the steps of:
 a. Moving the top drive horizontally, into the secondary path in such a way that top drive axis and secondary path axis are aligned   b. Initiating raising of the top drive along the secondary path   c. Engaging the drill stand in the racking board with plurality of pipe handling devices, while raising the top drive   d. Lifting and Transporting the drill stand between racking board and primary path, while raising the top drive   e. Aligning the drill stand to the drill string, while raising the top drive   f. Connecting the drill stand to the drill string, while raising the top drive   g. Moving the top drive horizontally, into the primary path directly above the drill string, while engaging the drill string with plurality of pipe handling devices   h. Engaging the drill string with the top drive elevator   i. Disengaging the drill string from the plurality of pipe handling devices   j. Disengaging the drill string from the floor slips   k. Lowering the top drive with the drill string engaged by the length of the drill stand   l. Engaging the drill string by the floor slips   m. Disengaging the drill string from the top drive elevator   
     
     
         3 . A method of trip out sequence using the drilling rig derrick of  claim 1 , the method comprising the steps of:
 a. Moving the top drive horizontally, into primary path in such a way that the top drive axis and primary path axis are aligned and top drive is positioned directly above the drill string   b. Engaging the drill string by a top drive elevator   c. Disengaging the drill string from the floor slips   d. Raising the top drive, with the drill string engaged, by the length of the drill stand   e. Engaging the drill string with the floor slips   f. Engaging the drill string with plurality of pipe handling devices   g. Disengaging the drill string from the top drive elevator   h. Moving the top drive horizontally, into the secondary path   i. Initiating lowering of the top drive along the secondary path   j. Disconnecting the pipe stand from the drill string, while lowering the top drive   k. Lifting and Transporting the pipe stand between the primary path and racking board, while lowering the top drive   l. Placing the drill stand into the racking board   m. Disengaging the drill stand from plurality of pipe handling devices