Articulated arm assembly

Abstract

The invention of an articulated arm assembly described here is to carry and position a drilling related apparatus such as power tong, roughneck, drill sting, top drive, casing tong and any other applicable apparatus from the storage position to a working position such as well center or mouse hole. The combination of a parallelogram, a support arm, and a movable guide provides a simple means to move and position a drilling apparatus between a storage position to a desired working position such as a well center and to maintain the drilling apparatus at any desired position.

1 . An articulated arm assembly comprising:
 at lease one parallelogram in one plan or plurality of parallelograms offset in parallel plans;   at least one upper member and at least one lower member of each said parallelogram;   a guide attached to the upper end of the parallelogram;   a drilling apparatus attached to the lower end of the parallelogram;   a vertical column, wherein the guide slides up and down along the column;   at least one support member, wherein the upper end of the said support member is pivotally connected to at least one upper member or to at least one lower member of a parallelogram; and the lower end of the support member is pivotally connected to the lower portion of the column.   
   
   
       2 . The assembly of  claim 1  further comprising a pedestal attached to the bottom of the column. 
   
   
       3 . The assembly of  claim 1  further comprising a hydraulic cylinder to drive a said guide up or down along the column. 
   
   
       4 . The assembly of  claim 1  further comprising a pin pivotally connecting the support member and a upper or a lower member of a parallelogram. 
   
   
       5 . The assembly of  claim 2 , wherein the pedestal is stabbing into drill floor's receptacle or directly mounted to a derrick structure above the drill floor. 
   
   
       6 . An articulated arm assembly comprising:
 at lease one parallelogram in one plan or plurality of parallelograms offset in parallel plans;   at least one upper member and at least one lower member of each said parallelogram;   a first guide attached to the upper end of the parallelogram;   a drilling apparatus attached to the lower end of the parallelogram;   a vertical column, wherein the guide slides up and down along the column;   a second guide in the lower potion of the column, wherein the second guide slides up and down along the guide;   at least one support member, wherein the upper end of the said support member is pivotally connected to at least one upper member or to at least one lower member; and the lower end of the support member is pivotally connected to the said second guide.   
   
   
       7 . The assembly of  claim 6  further comprising a pedestal attached to the bottom of the column. 
   
   
       8 . The assembly of  claim 6  further comprising a first hydraulic cylinder to drive the said first guide up or down along the column, wherein the lower end of the cylinder is connected to the said second guide. 
   
   
       9 . The assembly of  claim 6  further comprising at least a second hydraulic cylinder to drive the said second guide, wherein the lower end of the said second cylinder is connected to the pedestal. 
   
   
       10 . The assembly  claim 9 , wherein once the second guide moves driven by the said second cylinder, the first said guide, the said support member and the drilling apparatus will move simultaneously with the second guide along the column, wherein a hydraulic valve holds the said first cylinder so the piston of the first said cylinder can not be extended or retracted. 
   
   
       11 . The assembly of  claim 6  further comprising a pin pivotally connecting the support member and a upper or a lower member, and a second pin pivotally connecting the support member and the said second guide. 
   
   
       12 . The assembly of  claim 7 , wherein the pedestal is stabbing into drill floor's receptacle or mounted to a derrick structure above the drill floor. 
   
   
       13 . The assembly of  claim 7 , wherein the pedestal can be rotated about the center of the pedestal by a means such a hydraulic cylinder or motor. 
   
   
       14 . A method of manipulating a drilling apparatus comprising:
 attaching a column to a drill floor or a derrick structure;   attaching a first guide to the upper portion of the column, wherein the guide slides up and down along the column;   attaching a second guide to the lower portion of the column, wherein the guide slides up and down along the column;   attaching at least one parallelogram in one plan or plurality of parallelograms offset in parallel plans, wherein the first said guide is connected to upper end of the parallelogram, and a drilling apparatus is attached to the lower end of the parallelogram;   attaching at least one support member, wherein the upper end of the support member is pivotally connected to at least one upper member or to at least one lower member of the parallelogram; and the lower end of the support member is pivotally connected to the said second guide.   
   
   
       15 . The method of  claim 14  further comprising a pedestal attached to the bottom of the column. 
   
   
       16 . The assembly of  claim 14  further comprising a first hydraulic cylinder to drive the said first guide up or down along the column, wherein the lower end of the cylinder is connected to the said second guide. 
   
   
       17 . The method of  claim 14  further comprising at least a second hydraulic cylinder to drive the said second guide, wherein the lower end of the said second cylinder is connected to the pedestal. 
   
   
       18 . The method of  claim 17 , wherein once the second guide moves driven by the said second cylinder, the first said guide, the said support member and the drilling apparatus will move simultaneously with the second guide along the column, wherein a hydraulic valve holds the said first cylinder so the piston of the first said cylinder can not be extended or retracted. 
   
   
       19 . The method of  claim 14  further comprising a pin pivotally connecting the support member and a upper or a lower member, and a second pin pivotally connecting the support member and the said second guide; 
   
   
       20 . The method of  claim 15 , wherein the pedestal can be rotated about the center of the pedestal by a means such a hydraulic cylinder or motor.