The invention relates to upside down stand building with manipulators, more in particular the invention relates to a drilling rig for upside down stand building with manipulators and to a method for upside down stand building with manipulators. The invention furthermore relates to use of a drilling rig for upside down stand building with manipulators

Typically, when stand building, a first tubular is supported in a mouse hole, i.e. an opening in the deck, and a second tubular is attached to the top end of the first tubular to create a tubular stand comprising the first tubular and the second tubular.

It is submitted that tubular stand support towers provided with motion arm assemblies for manipulating tubulars in the firing line are known, see for example W015133895 and US2017321500. Tubulars and accessories can be passed along the firing line towards a bore hole.

It is furthermore known to build stands comprising multiple tubulars. These stands are built by supporting a first tubular below a deck, e.g. supporting the top end of the first tubular in slips mounted in the deck of the vessel at the firing line, or in an additional opening in the deck, also known as a mouse hole. Subsequently, a second tubular is with its bottom end attached to the top end of the tubular supported in the deck of the vessel. Once the stand is completed, the stand is lifted into an above deck position, from which it is transferred into a tubular stand storage rack. The tubular stand storage rack may be provided adjacent the tubulars stand support tower.

It is submitted that it is known to provide a motion arm assembly with a tubular connection device, which tubular connection device is configured to engage and spin a tubular for combining, i.e. connecting, one tubular to another tubular. See for example WO2018/199754 and US2016/090796.

It is an object of the invention to provide an alternative way for stand building, more in particular to provide a more efficient way of stand building.

The object of the invention is achieved by providing a drilling rig according to claim 1. The object of the invention is furthermore achieved by providing a method according to claim 5. The invention proposes upside down stand building, i.e. stand building wherein tubulars are added at the bottom end of a tubular, instead of at the top end of a tubular, and to use a tubular stand support tower, provided with three motion arm assemblies, for the upside down stand building, such that the stand building is done above deck.

A drilling rig according to the invention comprises:

- a deck

- a tubular stand support tower, e.g. a drilling tower or multipurpose tower, extending upwards from the deck, the tubular stand support tower defining a firing line;

- a tubular handler, for moving individual tubulars into and out of a stand building line, e.g. the firing line, which stand building line is parallel to the firing line, wherein the tubular handler is configured to move the individual tubulars between a horizontal pick up position and a vertical base position in the stand building line;

- a tubular stand handling system, adapted to support tubulars in the stand building line, and to combine single tubulars into a tubular stand, and preferably to move a tubular stand between the stand building line and a storage rack, the tubular stand handling system comprising:

- a vertical rails, mounted to the tubular stand support tower along at least part of the firing line;

- a lower motion arm assembly, a middle motion arm assembly, and an upper motion arm assembly, mounted on said vertical rails, wherein each motion arm assembly comprises:

- a mobile base, which mobile base is supported by the vertical rails, and is vertically mobile along said vertical rails by a vertical drive including a motor, which vertical drive is positioned on said mobile base;

- a motion arm, preferably a telescopic motion arm, which motion arm is connected to said mobile base, the motion arm preferably being pivotably connected to the mobile base for pivoting about a vertical axis; - a tubular connection device, which tubular connection device is configured to engage and spin a tubular, and

- a first tubular gripper, and a second tubular gripper, each for rotatable engaging a tubular; wherein the lower motion arm assembly supports the first tubular gripper, wherein one of the middle motion arm assembly and the upper motion arm assembly supports the tubular connection device, wherein the other of the middle motion arm assembly and the upper motion arm assembly supports the second tubular gripper, and wherein the middle motion arm assembly and the upper motion arm assembly are thus configured to support and spin a first tubular in a raised position in the stand building line, to thus connect a bottom end of the first tubular to an upper end of a second tubular supported in a base position in the stand building line by the lower motion arm assembly and/or by the tubular handler.

With the proposed way of stand building, there is no space required below the deck for supporting stands, or parts of a stand. Furthermore, the above deck stand building allows for the finished stand to be moved from the stand building line into an above deck tubular storage rack, without the stand having to be lifted or lowered. Thus, the stands can be moved simply and quickly between the stand building line and the tubular storage rack. Therefore the invention allows for a more efficient way of stand building.

The invention provides a tubular handler that is configured to move individual tubulars between a horizontal pick up position and a vertical base position in the stand building line.

By providing the tubular handler, the invention enables moving an individual tubular into the stand building line and below another tubular that is already being supported in the stand building line.

It is submitted that individual tubulars are typically stored on deck in crates or tubs, and in a horizontal position. In general, these tubulars are upended, moved from the horizontal position into a vertical position, using a catwalk device and an elevator, the elevator lifting one end of the tubular, while the catwalk device supports the other end of the tubular. In an embodiment, the tubular handler is supported by the deck of the vessel, and is positioned between a location where individual tubulars are presented in a horizontal pick up position, for engagement by the tubular handler, and the stand building line, where the individual tubular is to be vertically supported in the base position.

In an embodiment, the tubular handler comprises a base, supported by the deck of the vessel, optionally mounted to the deck of the vessel, and a main pivot arm that is pivotable connected at a first end to the base, for moving a tubular between the pick up position and the base position. The tubular handler furthermore comprises gripping members for engaging a tubular, which gripping members preferably are pivotable relative to the main pivot arm. In an embodiment, the tubular handler comprises a secondary pivot arm that supports the gripping members and that is pivotable connected to a second end of the main pivot arm, for pivoting the tubular between a horizontal pick up position and a vertical base position.

The tubular handler is furthermore provided with an actuator for pivoting the main pivot arm relative to the base and preferably is provided with a second actuator for pivoting the secondary pivot arm relative to the main pivot arm.

In an embodiment, the drilling rig comprises a tubulars stand storage rack, e.g. a carousel, adapted for storage of tubular stands, e.g. sets of combined drilling tubulars, in vertical orientation therein, and wherein the tubular stand handling system, is adapted to move a tubular stand between apposition in the stand building line and a storage position in the storage rack.

The invention furthermore proposes a method for stand building, the method comprising

A method for stand building according to the invention uses a drilling rig, wherein the drilling rig comprises:

- a deck

- a tubular stand support tower, e.g. a drilling tower or multipurpose tower, extending upwards from the deck, the tubular stand support tower defining a firing line;

- a tubular handler, for moving individual tubulars into and out of a stand building line, e.g. the firing line, which stand building line is parallel to the firing line; - a tubular stand handling system, adapted to support tubulars in the stand building line, and to combine single tubulars into a tubular stand, and preferably to move a tubular stand between the stand building line and a storage rack, the tubular stand handling system comprising:

- a vertical rails, mounted to the tubular stand support tower along at least part of the firing line;

- a lower motion arm assembly, a middle motion arm assembly, and an upper motion arm assembly, mounted on said vertical rails, wherein each motion arm assembly comprises:

- a mobile base, which mobile base is supported by the vertical rails, and is vertically mobile along said vertical rails by a vertical drive including a motor, which vertical drive is positioned on said mobile base;

- a motion arm, preferably a telescopic motion arm, which motion arm is connected to said mobile base, the motion arm preferably being pivotably connected to the mobile base for pivoting about a vertical axis; wherein the lower motion arm assembly supports a first tubular gripper for engaging a tubular; wherein one of the middle motion arm assembly and the upper motion arm assembly supports a tubular connection device, which tubular connection device is configured to engage and spin a tubular, and wherein the other of the middle motion arm assembly and the upper motion arm assembly supports a second tubular gripper for rotatable engaging the tubular engaged by the tubular connection device, and wherein the middle motion arm assembly and the upper motion arm assembly are thus configured to support and spin a tubular in a raised position, to thus connect a bottom end of the tubular to an upper end of a tubular supported in the stand building line by the lower motion arm assembly and/or by the tubular handler, and wherein the method comprises the steps: a) positioning a first tubular in a base position above the deck and in the stand building line, using the tubular handler, b) engaging the first tubular using at least the upper motion arm assembly and preferably also using the middle motion arm assembly; c) lifting the first tubular into a first raised position in the stand building line, using at least the upper motion arm assembly and preferably using also the middle motion arm assembly; d) positioning a second tubular in the base position above the deck and in the stand building line below the first tubular in the first raised position, using the tubular handler, e) optionally; engaging, preferably at least partially supporting, the second tubular with the lower motion arm assembly; f) supporting and spinning the first tubular in the raised position, and, while spinning the first tubular, lowering the first tubular, and thus connect a bottom end of the first tubular to an upper end of the second tubular supported in the stand building line by the lower motion arm assembly and/or by the tubular handler.

The invention proposes to build stand upside down, i.e. by attaching a second tubular to a bottom end of the first tubular, above deck. This is enabled by providing the tubular stand support tower with three motion arm assemblies, by providing the middle motion arm assembly or the upper motion arm assembly with a tubular connection device, and by providing the other motion arm assemblies with a tubular gripper.

The stand building line is parallel to the firing line, and lines within the reach of the motion arm assembly arms. The stand building line may coincide with the firing line. Preferably, the stand building line and the tubular handler are aligned, i.e. the tubular handler is configured to move individual tubulars into and out of the stand building line. In such an embodiment, the tubular handler may be used in the stand building process, for example by supporting a first tubular in the base position while a second tubular is attached to the top end of the second tubular.

In an alternative embodiment, tubular handler presents tubulars within reach of the motion arm assemblies, parallel to, but not aligned with the stand building line. In such an embodiment, one or more of the motion arm assemblies may engage a tubular presented by the tubular handler, and move it into the base position in the stand building line.

It is submitted that by building stands outside the firing line, i.e. by working with a stand building line that is parallel to but not coincides with the firing line, allows for performing alternative work in the firing line. Also, when the firing line is blocked, for example by an insert to be lowered along the firing line by drawworks, stand building may still take place. In an embodiment the method according to the invention, following step f), further comprises: g) lifting the first tubular into a second raised position, and thus at the same time lifting the second tubular connected to the first tubular into the first raised position, using at least the upper motion arm assembly and preferably using also the middle motion arm assembly; h) positioning a third tubular in the base position above the deck and in the stand building line below the second tubular in the first raised position, using the tubular handler;

- optionally; engaging, preferably at least partially supporting, the third tubular with the lower motion arm assembly; i) - support and spin the first tubular and the second tubular connected to the first tubular in the first raised position and the second raised position respectively, and, while spinning the first and second tubular, lower the first and second tubular, and thus connect a bottom end of the second tubular to an upper end of the third tubular supported in the stand building line by the lower motion arm assembly and/or by the tubular handler.

In an embodiment, the method further comprises:

- supporting a tubular stand comprising the first and the second tubular or a tubular stand comprising the first and the second and the third tubular, with the upper motion arm assembly and preferably with the lower motion arm assembly, and using the upper motion arm assembly and preferably the lower motion arm assembly to move the tubular stand, from the stand building line into a tubular stand storage rack.

In an embodiment of a method according to the invention, the tubulars are casing tubulars and wherein the tubular connecting device is a toque drive, which torque drive is supported by the upper motion arm assembly.

In an alternative embodiment of a method according to the invention, the tubulars are drilling tubulars and wherein the tubular connecting device is a roughneck, which roughneck is supported by the middle motion arm assembly.

In an embodiment, the torque drive comprises screw thread for cooperating with screw thread in the upper end of a casing tubular, such that the toque drive can be screwed into the top end of the casing tubular similar to a lower end of a casing tubular being screwed into the top end of the tubular. In an alternative embodiment, the torque drive may be provided with an expandable body, to be inserted in a tubular and engage the tubular on the inside by expanding. Such an embodiment is in particular beneficial when handling casing tubulars.

The invention furthermore provides a vessel provided with a drilling rig according to the invention.

The invention furthermore provides a use of a drilling tower according to the invention, or of a vessel according to the invention comprising such a drilling tower, for upside down stand building, i.e. stand building wherein a tubular is added to a lower end of another tubular to build a stand.

A motion arm assembly, more in particular a tubular gripper supported by the motion arm assembly, may engage a tubular in two ways. When gripping members of the tubular gripper fully engage the tubular, the motion arm prevents movement of the tubular in the direction perpendicular to a longitudinal axis of the tubular. Depending on the configuration of the tubular gripper, this may still allow for the tubular to pivot about its longitudinal axis. For example, the tubular gripper may comprise gripping members in the form of rollers for engaging the tubular, which rollers are rotatable supported to enable the tubular to be rotated while fully engaged by the tubular. In an embodiment, the rollers may be driven rollers, to enable the tubular gripper to pivot the tubular about its longitudinal axis.

As an alternative, the motion arm assembly, more in particular a tubular gripper supported by the motion arm assembly, may semi-fully engage the tubular. When the tubular gripper semi- fully engages the tubular, the motion arm assembly engages the tubular by enclosing it with gripping members, thus limiting movement of the first tubular in a direction perpendicular to a longitudinal axis of the first tubular, preferably in all directions perpendicular to the longitudinal axis of the tubular. In an embodiment, the gripping members, when semifully engaging the tubular may form a U-shape, thus in particular limiting movement in a direction perpendicular to the legs of the U-shape. In another embodiment, the gripping members, when semi fully engaging the tubular may form a O-shape, thus limiting movement in in all directions perpendicular to the longitudinal axis of the tubular.

In a tubular takeover position, two motion arm assemblies are positioned adjacent to each other. Preferably, the takeover motion arm assembly, i.e. the motion arm assembly that is to take over engaging the tubular from the other motion arm assembly, engages the tubular prior to the tubular being released by the release motion arm assembly, i.e. the motion arm assembly that is to release the tubular. Thus, the tubular at one moment engaged by both motion arm assemblies.

In an embodiment, of a takeover step in a method according to the invention, the takeover motion arm assembly and the release motion arm assembly fully engage the tubular. In such an embodiment the takeover motion arm assembly fully engages the tubular while the release motion arm assembly is fully engaging the tubular. Thus, the tubular is fully engaged by both motion arm assemblies. In an alternative, the release motion assembly semi-fully engages the tubular, or switches to semi-fully engagement prior to the takeover motion arm assembly fully engaging the tubular. Also, the takeover motion arm assembly may first semi-fully engage the tubular, after which the release motion arm assembly switches from full engagement to semi-full engagement, after which the takeover motion arm assembly switches to full engagement of the tubular.

In an embodiment, a pipe handler comprises one or more motion arm assemblies, which motion arm assemblies are configured to move tubulars between a tubular storage rack and the stand building line, e.g. the firing line.

It is submitted that the device disclosed herein, allows for making stand, by connecting tubulars, and for braking stand, by disconnecting tubulars. The invention furthermore provides a method for making stands by connecting tubulars, and a method for braking stands by disconnecting tubulars, wherein the latter is an inverse from the prior.

In an embodiment of a tubular stand support tower according to the claimed invention, the lower motion arm assembly, the middle motion arm assembly and the upper motion arm assembly are mounted on the same side of the tower, and on the same vertical rails.

Fig. 1 shows a first exemplary embodiment of a drilling rig, comprising a tubular stand handling system, according to the invention in a first working condition;

Fig. 2 shows the tubular stand handling system of fig. 1 in a second working condition;

Fig. 3 shows the tubular stand handling system of fig. 1 in a third working condition;

Fig. 4 shows the tubular stand handling system of fig. 1 in a fourth working condition;

Fig. 5 shows the tubular stand handling system of fig. 1 in a fifth working condition;

Fig. 6 shows the tubular stand handling system of fig. 1 in a sixth working condition;

Fig. 7 shows the tubular stand handling system of fig. 1 in a seventh working condition;

Fig. 8 shows the tubular stand handling system of fig. 1 in a eighth working condition;

Fig. 9 shows the tubular stand handling system of fig. 1 in a ninth working condition; Fig. 10 shows the tubular stand handling system of fig. 1 in a tenth working condition;

Fig. 11 shows the tubular stand handling system of fig. 1 in a eleventh working condition;

Fig. 12 shows the tubular stand handling system of fig. 1 in a twelfth working condition;

Fig. 13 shows the tubular stand handling system of fig. 1 in a thirteenth working condition;

Fig. 14 shows the tubular stand handling system of fig. 1 in a fourteenth working condition;

Fig. 15 shows the tubular stand handling system of fig. 1 in a fifteenth working condition;

Fig. 16 shows the tubular stand handling system of fig. 1 in a sixteenth working condition;

Fig. 17 shows the tubular stand handling system of fig. 1 in a seventeenth working condition;

Fig. 18 shows a perspective view of a tubular stand support tower;

Fig. 19 side view of a tubular gripper;

Fig. 20 perspective view of the tubular gripper of fig. 19;

Fig. 21 shows a second exemplary embodiment of a tubular stand handling system according to the invention in a first working condition;

Fig. 22 shows the tubular stand handling system of fig. 21 in a second working condition;

Fig. 23 shows the tubular stand handling system of fig. 21 in a third working condition;

Fig. 24 shows the tubular stand handling system of fig. 21 in a fourth working condition;

Fig. 25 shows the tubular stand handling system of fig. 21 in a fifth working condition;

Fig. 26 shows the tubular stand handling system of fig. 21 in a sixth working condition;

Fig. 27 shows the tubular stand handling system of fig. 21 in a seventh working condition;

Fig. 28 shows the tubular stand handling system of fig. 21 in a eighth working condition;

Fig. 29 shows the tubular stand handling system of fig. 21 in a ninth working condition;

Fig. 30 shows the tubular stand handling system of fig. 21 in a tenth working condition;

Fig. 31 shows the tubular stand handling system of fig. 21 in a eleventh working condition;

Fig. 32 shows the tubular stand handling system of fig. 21 in a twelfth working condition; and

Fig. 33 shows the tubular stand handling system of fig. 21 in a thirteenth working condition.

Fig. 1 shows a first exemplary embodiment of a drilling rig 1 according to the invention, the drilling rig 1 comprising a deck 2, a tubular stand support tower 3, a tubular handler 4, and a tubular stand handling system 5.

The tubular handler 4 is configured to move individual tubulars between a horizontal pick up position and a vertical base position in a stand building line. Fig. 1 shows the tubular handler 4 in three positions. One in which the tubular handler 4 supports a first tubular 7 in the horizontal pick up position, one in which the tubular handler 4 supports the tubular 7 in the vertical base position in the firing line 6, and one intermediate position, in which the tubular handler 4 supports the tubular 7 in position between the pickup positon and the base position.

Figs. 1-11 show subsequent steps of an exemplary embodiment of a method for upside down stand building according to the invention.

According to the invention, in the method use is made of the drilling rig 1.

It is submitted that in the figures the tubular stand support tower 3 and the vertical rails 8 are only partially depicted. An exemplary embodiment of a tubular stand support tower is also shown in fig. 18.

In the exemplary embodiment shown in Figs. 1-11, the tubular stand support tower 3 is multipurpose tower. The tubular stand support tower 3 extending upwards from the deck 2. The tubular stand support tower furthermore defines a firing line 6. In the embodiment shown, the firing line 6 coincides with the stand building line. In an alternative embodiment, the stand building line does not coincide with the firing line, but is parallel to the firing line just like the firing line, the stand building line is located within the reach of the motion arm assemblies.

In the exemplary embodiment shown, the tubular handler 4 is set up on the deck 2, next to the tubular stand support tower 3. The tubular handler 4 is configured for moving individual tubulars into and out of the firing line 6. The tubular handler 4 is supported by the deck 2 of the vessel, and is positioned between a location where individual tubulars are presented in a horizontal pick up position, for engagement by the tubular handler, and the stand building line, where the individual tubular is to be vertically supported in the base position.

The tubular stand handling system 5 is adapted to support tubulars in the firing line 6, and to combine single tubulars into a tubular stand. In the exemplary embodiment shown, the tubular stand handling system 5 is furthermore configured to move a tubular stand between the firing line and a storage rack, which is shown in Fig. 9 and Fig. 10.

The tubular stand handling system 5 comprises a vertical rails 8, a lower motion arm assembly 9, a middle motion arm assembly 10, and an upper motion arm assembly 11. The tubular stand handling system 5 furthermore comprises a tubular connection device 14 and a first tubular gripper 15 and a second tubular gripper 16.

The vertical rails 8, of which only a part adjacent the motion arm assemblies is shown, are mounted to the tubular stand support tower 3 along part of the firing line 6.

The lower motion arm assembly 9, the middle motion arm assembly 10, and the upper motion arm assembly 11 , are mounted on the vertical rails 8.

Each motion arm assembly 9,10,11 comprises a mobile base 12 and a motion arm 13.

Each mobile base 12 is supported by the vertical rails 8, and is vertically mobile along said vertical rails by a vertical drive 17 including a motor. The vertical drive 17 is positioned on the mobile base 12.

Each motion arm 13 is connected to the mobile base 12. In the exemplary embodiment shown, the motion arm 13 is pivotably connected to the mobile base 12 for pivoting about a vertical axis. Furthermore, in the exemplary embodiment shown, the motion arm 13 is a telescopic motion arm.

According to the invention one of the middle motion arm assembly and the upper motion arm assembly supports the tubular connection device, and the other of the middle motion arm assembly and the upper motion arm assembly supports the second tubular gripper.

In the exemplary embodiment shown in figs 1-11, the upper motion arm 11 supports the tubular connection device 14. The tubular connection device 14 is configured to engage and spin a tubular.

The lower motion arm assembly 9 supports the first tubular gripper 15, and the middle motion arm assembly 10 supports the second tubular gripper 16. The tubular grippers 15,16 are each configured for rotatable engaging a tubular.

According to the invention are the middle motion arm assembly 10 and the upper motion arm assembly 11, supporting the second tubular gripper 16 and the tubular connection device 14 respectively, are thus configured to support and spin a first tubular in a raised position, to thus connect a bottom end of the first tubular to an upper end of a second tubular supported in the firing line 6 by the lower motion arm assembly 9 and/or by the tubular handler. In the exemplary embodiment shown, the tubulars are casing tubulars, and the tubular connection device 14 is a toque drive that is supported by the upper motion arm assembly 11. The torque drive 14 is configured for being inserted into a top end of a tubular casing to thus be coupled with the casing tubular and enable rotating of the casing tubular.

In an embodiment, the torque drive 14 comprises screw thread for cooperating with screw thread in the upper end of a casing tubular, such that the toque drive can be screwed into the top end of the casing tubular similar to a lower end of a casing tubular being screwed into the top end of the tubular. In an alternative embodiment, the torque drive may be provided with an expandable body, to be inserted in a tubular and engage the tubular on the inside by expanding. Such an embodiment is in particular beneficial when handling casing tubulars.

Fig. 1 shows the tubular handler 4 in three positions. One in which the tubular handler 4 supports a first tubular 7 in a horizontal pick up position, one in which the tubular handler 4 supports the tubular 7 in a vertical base position in the firing line 6, and one intermediate position, in which the tubular handler 4 supports the tubular 7 in position between the pickup positon and the base position.

Step a of a method according to the invention, shown in Fig. 1, comprises positioning the first tubular 7 in the base position above the deck 2 and in the firing line 6, using the tubular handler 4.

Step b of a method according to the invention comprises engaging the first tubular 7 using at least the upper motion arm assembly 11. In the embodiment shown, this step comprises coupling the torque wrench 14 with the first tubular 7 by inserting part of the torque wrench 14 into the upper end of the first tubular 7. Fig. 2 shows the torque wrench 14 coupled with the first tubular 7.

Furthermore, in the exemplary embodiment shown, the method also comprises engaging the first tubular 7 with the middle motion arm assembly 10, more in particular with the second tubular gripper 16 supported by the middle motion arm assembly 10.

Prior to the middle motion arm assembly 10 engaging the first tubular 7, the first tubular is lifted by the upper motion arm assembly 11. In the exemplary embodiment the first tubular 7 is initially guided by the tubular handler while being lifted. This is achieved by the tubular handler 4 engaging the first tubular 7, by enclosing with gripping members and thus limiting movement of the first tubular in a direction perpendicular to a longitudinal axis of the first tubular, while allowing for the first tubular to be moved in the vertical direction.

Once the upper motion arm assembly 11 is moved upwards while lifting the first tubular 7, the middle motion arm assembly is moved upwards as well, to engage the first tubular 7 above the tubular handler 4. This is shown in Fig. 3. In the embodiment shown, the middle motion arm engages the first tubular 7, more in particular the second tubular gripper 16 fully engages the tubular, by rotatable engaging the first tubular. Thus, the engagement by the middle motion arm 10 prevents movement of the first tubular in the direction perpendicular to a longitudinal axis of the first tubular, while allowing the first tubular to pivot about its longitudinal axis.

In an alternative embodiment, the middle motion arm engages the first tubular 7, more in particular the second tubular gripper 16 engages the tubular, below the tubular handler, after which the tubular handler disengages the first tubular 7, to enable the middle motion arm assembly to move upwards while engaging the first tubular.

After the middle motion arm assembly 10 has engaged the first tubular 7, the middle motion arm assembly 10 moves in unison with the upper motion arm assembly 11, to move the first tubular in a first raised position.

Fig. 4 shows the middle motion arm assembly 10 and the upper motion arm assembly 11 supporting the first tubular 7 in the first raised position in the firing line.

Step d of a method according to the invention, shown in Fig. 5 and fig. 6. Step d comprises positioning a second tubular 18 in the base position above the deck 2 and in the firing line 6 below the first tubular 7 in the first raised position, using the tubular handler 4.

In the embodiment shown, the second tubular 18 is engaged by the lower motion arm assembly, more in particular by the first tubular gripper 15 supported by the lower motion arm assembly 9.

In the embodiment shown, the lower motion arm assembly 9 engages the first tubular 7, by enclosing with gripping members and thus limiting movement of the first tubular in a direction perpendicular to a longitudinal axis of the first tubular. In an alternative embodiment, the lower motion arm assembly 9 is fully engages the second tubular, thus lower motion arm would prevent movement of the second tubular in the direction perpendicular to a longitudinal axis of the second tubular, and the lower motion arm would preferably at least partially support the second tubular.

In the embodiment shown, the second tubular 18 is thus held in the base positon by the tubular handler 4, which fully engages the second tubular 18 and supports the second tubular in the base position.

In subsequent step f, the first tubular is coupled with the second tubular, more in particular a lower end of the first tubular 15 is screwed into the upper end of the second tubular 18.

Step f comprises supporting and spinning the first tubular 15 in the raised position, and, while spinning the first tubular, lowering the first tubular, and thus connecting a bottom end of the first tubular to an upper end of the second tubular supported 16 in the firing line 6.

Step f is shown in Fig. 6. In the embodiment shown, the second tubular 18 is supported in the firing line 6 by the tubular handler 4.

After the first tubular 7 and the second tubular 18 are connected, the tubular handler 4 and the middle motion arm assembly 10 disengage, which is shown in Fig. 7. Subsequently, the middle motion arm assembly moves upwards and fully engages the first tubular at a section close to the end at which the first tubular is engaged by the upper motion arm assembly.

Once the middle motion arm assembly 10 has fully engaged the first tubular 7 near the upper motion arm assembly 11 , the upper motion arm 11 assembly disengages the first tubular 7, which is shown in Fig. 8. Now, the middle motion arm assembly 10 supports a tubular stand 20 comprising the first tubular 7 and the second tubular 18, while the lower motion arm assembly 9 limits movement of a lower end of the tubular stand 19.

The exemplary embodiment shown comprises a step, following step f, in which the tubular stand 19 is moved into a tubular stand storage rack 20.

The step comprises supporting the tubular stand 19, comprising the first tubular 7 and the second tubular 18 connected to the first tubular 7, with the middle motion arm assembly 10 and with the lower motion arm assembly 9, and moving the tubular stand from the firing line into a tubular stand storage rack using the middle motion arm assembly 10 and the lower motion arm assembly 9.

In the particular embodiment shown, moving the tubular stand 19 into the tubular stand storage rack 20 comprises lifting the tubular stand by moving the middle motion arm assembly upwards, shown in Fig. 9, moving the tubular stand into the tubular stand storage rack, and lowering the tubular stand into a storage positon in the storage rack, shown in Fig. 10.

In the particular embodiment shown, the lower motion arm assembly moves in unison with the middle motion arm assembly while lifting the tubular stand into the storage rack.

The Figs. 1-11 show a first method according the invention, for upside down stand building a stand comprising two tubulars. A further method according to the invention comprises upside down stand building a stand comprising three tubulars. The first steps of this method are identical to the steps of the method shown in figs. 1-11, however, once the stand comprising two tubulars is build, shown in Fig. 7, the stand is not transferred to the tubular stand storage rack. Instead, the stand is lifted into a raised position, shown in Fig. 12, such that e new tubular can be attached to the stand, at the bottom end of that stand, shown in fig. 13.

In the particular embodiment shown, middle motion arm assembly 10 takes over engaging the lower end of the stand 19 from the lower motion arm assembly 9. This can be done by moving the lower motion arm assembly 9 upwards, or by moving the middle motion arm assembly 10 downwards, to position the middle motion arm assembly adjacent the lower motion arm assembly in a tubular takeover position.

In a tubular takeover position, two motion arm assemblies are positioned adjacent to each other. Preferably, the takeover motion arm assembly, i.e. the motion arm assembly that is to take over engaging the tubular from the other motion arm assembly, engages the tubular prior to the tubular being released by the release motion arm assembly, i.e. the motion arm assembly that is to release the tubular. Thus, the tubular at one moment engaged by both motion arm assemblies.

In an embodiment, of a takeover step in a method according to the invention, the takeover motion arm assembly and the release motion arm assembly fully engage the tubular. In such an embodiment the takeover motion arm assembly fully engages the tubular while the release motion arm assembly is fully engaging the tubular. Thus, the tubular is fully engaged by both motion arm assemblies. In an alternative, the release motion assembly semi-fully engages the tubular, or switches to semi-fully engagement prior to the takeover motion arm assembly fully engaging the tubular. Also, the takeover motion arm assembly may first semi-fully engage the tubular, after which the release motion arm assembly switches from full engagement to semi-full engagement, after which the takeover motion arm assembly switches to full engagement of the tubular.

In Fig. 7 and Fig. 12, the middle motion arm assembly 10 is the takeover motion arm assembly, and the lower motion arm assembly 9 is the release motion arm assembly. In the working position shown in Fig. 12, the tubular stand 19 is supported by both the upper motion arm assembly 11 , fully engaging the first tubular 7 with the torque drive 21 , and the middle motion arm assembly, fully engaging the second tubular 18 with the second tubular gripper 16.

Thus, the tubular stand 19 is supported in a tubular stand raised position, with the first tubular 7 of the tubular stand 19 in a second raised position and the second tubular 18 of the tubular stand 19 in the first raised position.

The further method, for building a stand comprising three tubulars, comprises the steps shown Fig. 12 - Fig. 14

Fig. 12 shows the stand 19 being lifted, by lifting the first tubular 7 into a second raised position, and thus at the same time lifting the second tubular 18 connected to the first tubular into the first raised position, using the upper motion arm assembly 11 and, in the embodiment shown, using also the middle motion arm assembly 10.

Fig. 12 and Fig. 13 show the tubular handler 4 positioning a third tubular 22 in the base position above the deck 2 and in the firing line 6 below the second tubular 18 in the first raised position, using the tubular handler 4.

Furthermore, in the particular embodiment shown, the third tubular 22 is engaged by the lower motion arm assembly 11, more in particular by the first tubular gripper 15 supported by the lower motion arm assembly 9

Similar to the previous steps, for building the tubular stand 19, the lower motion arm assembly 9 engages the third tubular 22 by enclosing with gripping members and thus limiting movement of the first tubular in a direction perpendicular to a longitudinal axis of the first tubular In the embodiment shown, the third tubular 22 is thus held in the base positon by the tubular handler 4, which fully engages the third tubular 22 and supports the third tubular in the base position.

In a subsequent step, the third tubular 22 is coupled with the second tubular 18, more in particular a lower end of the second tubular 18 is screwed into the upper end of the third tubular 22. These steps of the method are similar to the steps shown in Fig. 6 and fig. 7, be it that now the stand 19 comprising the first tubular 7 and the second tubular 18 is spun about its longitudinal axis, instead of only the first tubular. Furthermore, to position and support the tubular stand 19, the middle motion arm assembly 10 engages the lower end of the second tubular 18 and not the lower end of the first tubular 7.

Fig. and fig. 14 show the second tubular 18 connected to the first tubular 7 in the first raised position and the second raised position respectively, the first tubular 7, and thus the tubular stand 19, being supported and spun by the upper motion arm assembly 11, more in particular by the torque drive 21 supported by the upper motion arm assembly 11.

While thus spinning the first tubular 7 and second tubular 18, the first and second tubular are lowered, and thus a bottom end of the second tubular 18 is connected to an upper end of the third tubular 22 supported in the firing line 6 by the tubular handler 4.

Fig. 14 and Fig. 15 also show the middle motion arm assembly 19 taking over support of the tubular stand 23, from the upper motion arm assembly. Again these steps are similar to the steps of the method for building a two tubular stand, in particular the steps shown in Fig. 7 and Fig. 8.

The subsequent steps, shown in Fig. 16 and fig. 17, comprise supporting the tubular stand 23, comprising the first tubular 7, the second tubular 18 connected to the first tubular 7, and the third tubular 22 connected to second tubular 18, with the middle motion arm assembly 10 and with the lower motion arm assembly 9, and moving the tubular stand 23 from the firing line 6 into the tubular stand storage rack 20 using the middle motion arm assembly 10 and the lower motion arm assembly 9.

In the particular embodiment shown, moving the tubular stand 23 into the tubular stand storage rack 20 comprises lifting the tubular stand, shown in Fig. 15, moving the tubular stand into the tubular stand storage rack, and lowering the tubular stand into a storage positon in the storage rack, shown in Fig. 16. Fig. 18 shows a perspective view of an exemplary embodiment of a drilling rig 101. The drilling rig 101 comprises a tubular stand support tower in the form of a multipurpose tower 102, a tubular stand storage rack 104 for supporting tubular stands 103 on each side of the multipurpose tower, a tubular string slip device 105 for supporting a tubular string 106 in the firing line and below the deck.

The tower is provided with a tubular stand handling system 121, comprising a lower motion arm assembly 114, a middle motion arm assembly 125 and an upper motion arm assembly 115, mounted on the same side of the tower and on the same rails 113.

According to the invention, the middle motion arm assembly or the upper motion arm assembly supports the tubular connection device, e.g. a power tong and/or a spinner and/or a torque wrench or a combination of two or more of these.

In the exemplary embodiment shown, the upper motion arm assembly 115 supports a tubular connection device 120 in the form of a torque drive.

The middle motion arm assembly and the lower motion arm assembly support a tubular gripper 119. The tubular grippers 119 are configured for engaging a tubular section of a tubular, and are provided with rollers 122 to enable the gripper to support a tubular along a longitudinal axis of that tubular stand while allowing rotation of that tubular about that longitudinal axis.

In the exemplary embodiment shown, the multi purpose tower 102 is furthermore provided with additional vertical rails 113’ on the opposite side of the tower, the additional vertical rails supporting a single motion arm assembly 107.

In the embodiment shown, the tubular stand support tower is embodied as a multipurpose tower 102, configured to handle different types of tubulars, e.g. drilling tubulars and casing tubulars, and to compose insert a string of tubular stands into a well bore and remove a string of tubular stand from a well bore. The multipurpose tower is furthermore adapted to assist in drilling a wellbore, e.g. by supporting and driving a drilling string.

The multipurpose tower 102 defines a firing line 112 alongside a frontal surface. The firing line is concentric with the slip device 105 supporting the tubular string 106. The tubulars string slip device 105 is adapted to support the weight of a tubular string comprising multiple tubular stands. The multipurpose tower 102 is on opposite sides provided with the tubulars stand storage racks 104, in the embodiment shown in the form of carousels, adapted for storage of tubular stands 103, e.g. sets of combined drilling tubulars, in vertical orientation therein.

In the exemplary embodiment shown, each motion arm assembly comprises a mobile base 117, a motion arm 118. The mobile base 117 of a motion arm assembly is supported by the vertical rails 113, and is vertically mobile along said vertical rails by a vertical drive including a motor, which vertical drive is positioned on said mobile base. The motion arm 118 is connected to the mobile base 117. In the embodiment shown, the motion arm 118 is pivotably connected to the mobile base 117 for pivoting about a vertical axis. Thus, the motion arm assemblies are configured to move a tubular stand into and out of the firing line by pivoting the motion arm about the vertical axis. In the embodiment shown, the motion arms furthermore are telescopic arms.

The motion arm assemblies are configured to move independently from each other and are adapted to support different tools. Thus, the gripper members can be replaced with different tool when needed.

Exemplary embodiments of the tubular grippers 119 are shown in Fig. 19 and Fig. 20, wherein Fig. 19 shows side view of a tubular gripper 119, and Fig. 20 shows a perspective view of the tubular gripper 119.

Figs. 21-33 show subsequent steps of a second exemplary embodiment of a method for upside down stand building according to the invention. Components similar to the components used in the method shown in fig. 1-17 are indicated with similar reference signs

It is submitted that the main difference with the method shown in Figs. 1-17 is that the middle motion arm assembly 10 supports the tubular connection device 14, which is embodied as a torque wrench. The torque wrench engages the outside of the first and the second tubular, while the torque drive is inserted in the top end of the first tubular. Furthermore, due to its position and its configuration, the torque wrench may in a preferred embodiment be configured to semi-fully engage the first and or the second tubular. In such an embodiment, the torque wrench thus allows for moving a tubular in a vertical direction through the torque wrench, for example when the tubular is lifted by the upper motion arm assembly, see for example fig. 26 and fig. 27. Furthermore, due to the position of the tubular connection device, the tubular handler can position a tubular in the firing line, and with the upper end of the tubular in the tubular connection device, see for example fig. 27 and fig. 28.

Besides the differences mentioned above, the upside down stand building process shown in figs 21-33 is similar to the process shown in Figs. 1-17. In particular, the steps shown in Figs. 1-3 are similar to the steps shown in Figs. 21-23, the steps shown in Figs. 5-7 are similar to the steps shown in Figs 24-26, and the steps shown in Figs. 12-15 are similar to the steps shown in Figs. 27-30, and the steps shown in Figs. 16-17 are similar to the steps shown in Figs. 32-33.

Fig. 21 shows an exemplary embodiment of a drilling rig 1 according to the invention, the drilling rig 1 comprising a deck 2, a tubular stand support tower 3, a tubular handler 4, and a tubular stand handling system 5.

Fig. 21 shows the tubular handler 4 in three positions. One in which the tubular handler 4 supports a first tubular 7 in the horizontal pick up position, one in which the tubular handler 4 supports the tubular 7 in the vertical base position in the firing line 6, and one intermediate position, in which the tubular handler 4 supports the tubular 7 in position between the pickup positon and the base position.

Figs. 21-26 show subsequent steps of an exemplary embodiment of a method for upside down stand building according to the invention. According to the invention, in the method use is made of the drilling rig 1.

It is submitted that in the figures the tubular stand support tower 3 and the vertical rails 8 are only partially depicted. An exemplary embodiment of a tubular stand support tower is also shown in fig. 18.

In the exemplary embodiment shown in Figs. 21-33, the tubular stand support tower 3 is multipurpose tower. The tubular stand support tower 3 extending upwards from the deck 2. The tubular stand support tower furthermore defines a firing line 6. In the embodiment shown, the firing line 6 coincides with the stand building line. In an alternative embodiment, the stand building line does not coincide with the firing line, but is parallel to the firing line just like the firing line, the stand building line is located within the reach of the motion arm assemblies.

In the exemplary embodiment shown, the tubular handler 4 is set up on the deck 2, next to the tubular stand support tower 3. The tubular handler 4 is configured for moving individual tubulars into and out of the firing line 6. The tubular handler 4 is supported by the deck 2 of the vessel, and is positioned between a location where individual tubulars are presented in a horizontal pick up position, for engagement by the tubular handler, and the stand building line, where the individual tubular is to be vertically supported in the base position.

The tubular stand handling system 5 is adapted to support tubulars in the firing line 6, and to combine single tubulars into a tubular stand. In the exemplary embodiment shown, the tubular stand handling system 5 is furthermore configured to move a tubular stand between the firing line and a storage rack, which is shown in Fig. 31 and Fig. 32.

The tubular stand handling system 5 comprises a vertical rails 8, a lower motion arm assembly 9, a middle motion arm assembly 10, and an upper motion arm assembly 11. The tubular stand handling system 5 furthermore comprises a tubular connection device 14 and a first tubular gripper 15 and a second tubular gripper 16.

The vertical rails 8, of which only a part adjacent the motion arm assemblies is shown, are mounted to the tubular stand support tower 3 along part of the firing line 6.

The lower motion arm assembly 9, the middle motion arm assembly 10, and the upper motion arm assembly 11 , are mounted on the vertical rails 8.

Each motion arm assembly 9,10,11 comprises a mobile base 12 and a motion arm 13.

Each mobile base 12 is supported by the vertical rails 8, and is vertically mobile along said vertical rails by a vertical drive 17 including a motor. The vertical drive 17 is positioned on the mobile base 12.

Each motion arm 13 is connected to the mobile base 12. In the exemplary embodiment shown, the motion arm 13 is pivotably connected to the mobile base 12 for pivoting about a vertical axis. Furthermore, in the exemplary embodiment shown, the motion arm 13 is a telescopic motion arm.

According to the invention one of the middle motion arm assembly and the upper motion arm assembly supports the tubular connection device, and the other of the middle motion arm assembly and the upper motion arm assembly supports the second tubular gripper. In the exemplary embodiment shown in Figs 21-33, the middle motion arm 11 supports the tubular connection device 14, which is embodied as a torque wrench. The torque wrench 14 is configured to engage the outside of a first and a second tubular, and to engage and spin the first tubular relative to the second tubular, to thus connect the respective tubulars, more in particular establish a screw connection.

The lower motion arm assembly 9 supports the first tubular gripper 15, and the upper motion arm assembly 10 supports the second tubular gripper 16. The tubular grippers 15,16 are each configured for rotatable engaging a tubular.

According to the invention are the middle motion arm assembly 10 and the upper motion arm assembly 11, supporting the second tubular gripper 16 and the tubular connection device 14 respectively, thus configured to support and spin a first tubular in a raised position, to thus connect a bottom end of the first tubular to an upper end of a second tubular supported in the firing line 6 by the lower motion arm assembly 9 and/or by the tubular handler.

Fig.2 1 shows the tubular handler 4 in three positions. One in which the tubular handler 4 supports a first tubular 7 in a horizontal pick up position, one in which the tubular handler 4 supports the tubular 7 in a vertical base position in the firing line 6, and one intermediate position, in which the tubular handler 4 supports the tubular 7 in position between the pickup positon and the base position.

Step a of a method according to the invention, shown in Fig. 1, comprises positioning the first tubular 7 in the base position above the deck 2 and in the firing line 6, using the tubular handler 4.

Step b of a method according to the invention comprises engaging the first tubular 7 using at least the upper motion arm assembly 11. In the embodiment shown, this step comprises engaging the first tubular 7 with the upper motion arm assembly 10, more in particular with the second tubular gripper 16 supported by the upper motion arm assembly 10. by inserting part of the torque wrench 14 into the upper end of the first tubular 7. Fig. 2 shows the torque wrench 14 coupled with the first tubular 7. Furthermore, in the exemplary embodiment shown, the method also comprises engaging the first tubular with the torque wrench held in the middle motion arm assembly.

Prior to the middle motion arm assembly 10 engaging the first tubular 7, the first tubular is lifted by the upper motion arm assembly 11. The middle motion arm assembly may be moved into an engagement position prior to the upper motion arm assembly reaching the desired position. It is noted that the torque wrench may be configured with an openings for receiving a tubular in the lateral direction, i.e. perpendicular to a longitudinal axis of the tubular.

In an alternative embodiment, the tubular is passed through a central opening in the torque wrench.

Once the upper motion arm assembly 11 is moved upwards while lifting the first tubular 7, the middle motion arm assembly is moved into position, to engage the first tubular 7 at a lower end thereof. This is shown in Fig. 24.

In the embodiment shown, the upper motion arm supports the first tubular 7, more in particular the second tubular gripper 16 fully engages the tubular, by rotatable engaging the first tubular. Thus, the engagement by the upper motion arm 10 prevents movement of the first tubular in the direction perpendicular to a longitudinal axis of the first tubular, while allowing the first tubular to pivot about its longitudinal axis.

Step d of a method according to the invention, shown in Fig. 24 and Fig. 25. Step d comprises positioning a second tubular 18 in the base position above the deck 2 and in the firing line 6 below the first tubular 7 in the first raised position, using the tubular handler 4.

In the embodiment shown, the second tubular 18 is engaged by the lower motion arm assembly, more in particular by the first tubular gripper 15 supported by the lower motion arm assembly 9.

In the embodiment shown, the lower motion arm assembly 9 engages the first tubular 7, by enclosing with gripping members and thus limiting movement of the first tubular in a direction perpendicular to a longitudinal axis of the first tubular.

In the embodiment shown, the second tubular 18 is thus held in the base positon by the tubular handler 4, which fully engages the second tubular 18 and supports the second tubular in the base position.

In subsequent step f, the first tubular is coupled with the second tubular, more in particular a lower end of the first tubular 15 is screwed into the upper end of the second tubular 18.

Step f comprises supporting and spinning the first tubular 15 in the raised position, and, while spinning the first tubular, lowering the first tubular, and thus connecting a bottom end of the first tubular to an upper end of the second tubular supported 16 in the firing line 6. It is submitted that known torque wrenches are configured to engage tubulars form the outside, spin one tubular relative to the other tubular, and allowing the tubulars to move towards each other to make the screw connection.

Step f is shown in Fig. 25. In the embodiment shown, the second tubular 18 is supported in the firing line 6 by the lower motion arm assembly.

After the first tubular 7 and the second tubular 18 are connected, the upper motion arm assembly moves upwards and lifts the tubular stand to enable another tubular to be connected to the tubular stand at a bottom end thereof.

Figs. 28-29 show a third tubular being connected to the tubular stand. Figs 31-32 show how the tubular stand is moved into a tubular stand storage rack 20. Fig. 33 show how a tubular is moved into the firing line, to start building a new tubular stand.

reference signs

01 drilling rig

02 deck drilling rig

03 tubular stand support tower

04 tubular handler

05 tubular stand handling system

06 firing line tubular stand support tower

07 first tubular

08 vertical rails

09 lower motion arm assembly

10 middle motion arm assembly

11 upper motion arm assembly

12 mobile base motion arm assembly

13 motion arm motion arm assembly

14 tubular connection device

15 first tubular gripper

16 second tubular gripper

17 vertical drive mobile base

18 second tubular

19 tubular stand comprising the first and second tubular

20 tubular stand storage rack

21 torque drive

22 third tubular

23 tubular stand comprising the first, second and third tubular

101 drilling rig

102 mpt tower

103 tubular stands

104 storage rack

105 slip device

106 tubular string

107 motion arm assembly opposite side tower 112 firing line 113 rails

113’ additional vertical rails (opposite side tower)

114 lower motion arm assembly

115 upper motion arm assembly 117 mobile base

118 motion arm

119 Tubular gripper

120 tubular connection device

121 tubular stand handling system

122 rollers tubular grippers 125 middle motion arm assembly