Pipe handling unit

Abstract

A pipe handling unit particularly adaptable for use in association with slant wells includes a pipe manipulation mechanism mounted to a mobile pipe storage rack, which when sited adjacent to a drilling rig or service rig can transport pipe sections to or from the rig mast regardless of the angular orientation of the rig mast. The pipe manipulation mechanism includes a boom rotatably mounted to the storage rack, with two or more swivel arms mounted to the mast, with pipe grapple means connected to the outboard end of the swivel arms may be swivelled outward, about axes parallel to the boom, to a position in which the grapple means can grasp a pipe section held in the rig mast. The swivel arms may then be swivelled in the opposite rotation to rotate the pipe away from the mast. The boom and swivel arms are then manipulated in coordinated fashion to deposit the pipe section in the storage rack.

1 . A pipe handling apparatus comprising:
 (a) a mobile pipe storage rack having a longitudinal axis;   (b) a boom having an upper end and a lower end, said lower end being mounted to the pipe storage rack such that the boom is rotatable, in a substantially vertical plane parallel to the longitudinal axis of the storage rack, between a lowered position and a raised position;   (c) a first swivel arm having an inner end and an outer end, said inner end of the first swivel arm being mounted to the boom such that the first swivel arm is swivellable relative to the boom about a first swivel axis parallel to the boom;   (d) a second swivel arm having an inner end and an outer end, said inner end of the second swivel arm being mounted to the outer end of the first swivel arm such that the second swivel arm is swivellable relative to the first swivel arm about a second swivel axis parallel to the boom;   (e) an elongate slide member mounted in association with the outer end of the second swivel arm so as to be slidable relative to the second swivel arm along an axis parallel to the boom; and   (f) grapple means associated with the slide member and adapted for gripping engagement of a length of pipe.   
   
   
       2 . The pipe handling apparatus of  claim 1  wherein the boom comprises a boom extension mounted to the boom so as to be selectively movable in a direction parallel to the boom, and wherein the first swivel arm is swivellably connected to the boom extension. 
   
   
       3 . The pipe handling apparatus of  claim 1  wherein the boom comprises a lower boom member rotatably mounted to the pipe storage rack and a main boom member rotatably mounted to the lower boom member. 
   
   
       4 . The pipe handling apparatus of  claim 3  wherein the boom further comprises a boom extension mounted to the main boom so as to be selectively movable in a direction parallel to the main boon, and wherein the first swivel arm is swivellably connected to the boom extension. 
   
   
       5 . The pipe handling apparatus of  claim 1  wherein the grapple means comprises grapple extension means whereby the position of the grapple means may be selectively adjusted in a radial direction relative to the slide member. 
   
   
       6 . The pipe handling apparatus of  claim 5  wherein the grapple means comprises two or more grapples, and wherein the grapple extension means is adapted for selectively adjusting the radial position of at least one of the grapples. 
   
   
       7 . The pipe handling apparatus of  claim 1 , further comprising a control system for controlling the operation of the pipe handling apparatus. 
   
   
       8 . The pipe handling apparatus of  claim 7  wherein the control system comprises programmable control means. 
   
   
       9 . The pipe handling apparatus of  claim 8  wherein the programmable control means comprises a microprocessor. 
   
   
       10 . The pipe handling apparatus of  claim 8  wherein the programmable control means comprises a programmable logic controller. 
   
   
       11 . The pipe handling apparatus of  claim 7  wherein the control system is adapted for semi-automatic operation of the pipe handling apparatus. 
   
   
       12 . The pipe handling apparatus of  claim 7  wherein the control system is adapted for fully automatic operation of the pipe handling apparatus. 
   
   
       13 . The pipe handling apparatus of  claim 8 , further comprising one or more sensors selected from the group consisting of linear absolute position transducers, rotational absolute position transducers, hydraulic fluid pressure transducers, and proximity sensors. 
   
   
       14 . The pipe handling apparatus of  claim 13  wherein the control system actuates the pipe handling apparatus in response to control inputs received from the one or more sensors. 
   
   
       15 . The pipe handling apparatus of  claim 7  wherein the control system is mounted in association with the mobile pipe storage rack. 
   
   
       16 . The pipe handling apparatus of  claim 1  wherein the mobile storage rack comprises a trailer. 
   
   
       17 . The pipe handling apparatus of  claim 1  wherein the mobile storage rack comprises at least one adjustable stabilizer leg, for adjusting the elevation of the mobile storage rack. 
   
   
       18 . The pipe handling apparatus of  claim 17 , further comprising stabilizer extension means, for adjusting the lateral position of the mobile storage rack. 
   
   
       19 . The pipe handling apparatus of  claim 1  wherein the mobile storage rack comprises at least one set of spaced vertical dividers, with the space between adjacent dividers being selected to receive a pipe section of selected diameter. 
   
   
       20 . The pipe handling apparatus of  claim 19 , wherein the mobile storage rack comprises first and second sets of vertical dividers positioned toward the front end and rear end, respectively, of the mobile storage rack.