Patent ID: 8696288
Filing Date: 2014-04-15
Classification: E21B,F16L,Y10S

Abstract:
1. A pipe handling apparatus comprising: a boom pivotally mounted on a surface structure, the boom movable between first and second positions; a lever pivotally mounted to the boom, and having an outboard portion and an inboard portion; an arm connected at one end to the outboard portion of the lever; a gripper carried by an opposite end of the arm, the gripper configured to selectively grip and release a tubular; and, a first tensioning assembly comprising: a first line having a first end connected to the arm, and an opposite second end connected to a first connector; a first lower cable offset from linear alignment with the first line, and having a first end connected to the surface structure, and an opposite second end connected to the first connector; and, a first actuator having a first end connected to the surface structure, and an opposite second end connected to at least one of the first line, first lower cable and the connector, the first actuator being controllable to alter an angular relationship between the first line and the first lower cable.