Abstract:
A pipe handling apparatus for moving a pipe from a stowed position to a position deployed above a wellhead has a main rotating structural member pivotally movable between a first position and a second position, an arm interconnected to the main rotating structural member, a gripper affixed to an end of the arm opposite the main rotating structural member, and a tensioner connected to the gripper for applying a tension to the gripper when the arm is in the extended position. The gripper grips a surface of a pipe. The arm is pivotable between a home position and an extended position. The tensioning means has a guy wire connected at one end to the gripper. The guy wire has an opposite end connected to the arm. Alternatively, the opposite end is connected to the main rotating structural member.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation-in-part of U.S. application Ser. No. 12/013,979, filed on Jan. 14, 2008, entitled “Pipe Handling and Casing Stabbing Apparatus and Method”, presently pending. U.S. application Ser. No. 12/013,979 is a continuation-in-part of U.S. application Ser. No. 11/923,451, filed on Oct. 24, 2007, entitled “Pipe Handling Apparatus and Method”, presently pending. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable. 
     NAMES OF THE PARTIES TO A JOINT RESEARCH AGREEMENT 
     Not applicable. 
     INCORPORATION-BY-REFERENCE OF MATERIALS SUBMITTED ON A COMPACT DISC 
     Not applicable. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to the delivery of tubulars from a horizontal orientation to a vertical orientation at a wellhead. More particularly, the present invention relates to a pipe handling apparatus that positions tubulars at a wellhead. More particularly, the present invention relates to controlling undesirable forces that are created while positioning a tubular at a wellhead. 
     2. Description of Related Art Including Information Disclosed Under 37 CFR 1.97 and 37 CFR 1.98. 
     Drill rigs have utilized several methods for transferring tubular members from a pipe rack adjacent to the drill floor to a mousehole in the drill floor or the well bore for connection to a previously transferred tubular or tubular string. The term “tubular” as used herein includes all forms of pipe, drill pipe, drill collars, casing, liner, bottom hole assemblies (BHA), and other types of tubulars known in the art. 
     Conventionally, drill rigs have utilized a combination of the rig cranes and the traveling system for transferring a tubular from the pipe rack to a vertical position above the center of the well. The obvious disadvantage with the prior art systems is that there is a significant manual involvement in attaching the pipe elevators to the tubular and moving the pipe from the drill rack to the rotary table at the well head. This manual transfer operation in the vicinity of workers is potentially dangerous and has caused numerous injuries in drilling operations. Further, the hoisting system may allow the tubular to come into contact with the catwalk or other portions of the rig as the tubular is transferred from the pipe rack to the drill floor. This can damage the tubular and may affect the integrity of the connections between successive tubulars in the well. 
     One method of transferring pipe from the rack to the well platform comprises tying one end of a line on the rig around a selected pipe on the pipe rack. The pipe is thereafter lifted up onto the platform and the lower end thereof is placed into the mousehole. The mousehole is simply an upright, elongate cylindrical container adjacent to the rotary table which supports the pipe temporarily. When it is necessary to add the pipe to the drill string, slips are secured about the drill string on the rotary table thereby supporting the same in the well bore. The pipe is disconnected from the traveling equipment, and the elevators, or the kelly, are connected to the pipe in the mousehole. Next, the traveling block is raised by positioning the pipe over the drill string. Tongs are used to secure the pipe to the upper end of the drill string. The drill pipe elevators suspend the drill pipe from a collar, which is formed around one end of the pipe and does not clamp the pipe, thereby permitting rotational pipe movement in order to threadably engage the same to the drill string. 
     A prior art technique for moving joints of casing from racks adjacent to the drilling rig comprises tying a line from the rig onto one end of a selected casing joint on the rack. The line is raised by lifting the casing joint up a ramp leading to the rig platform. As the rope lifts the casing from the rack, the lower end of the casing swings across the platform in a dangerous manner. The danger increases when a floating system is used in connection with drilling. Because the rope is tied around the casing at one end thereof, the casing does not hang vertically, but rather tilts somewhat. A man working on a platform elevated above the rig floor must hold the top of the casing and straighten it out while the casing is threaded into the casing string which is suspended in the well bore by slips positioned on the rotary table. 
     It is desirable to be able to grip casing or pipe positioned on a rack adjacent a drilling well, move the same into vertical orientation over the well bore, and thereafter lower the same onto the string suspended in the well bore. 
     In the past, various devices have been created which mechanically move a pipe from a horizontal orientation to a vertical orientation such that the vertically-oriented pipe can be installed into the well bore. Typically, these devices have utilized several interconnected arms that are associated with a boom. In order to move the pipe, a succession of individual movements of the levers, arms, and other components of the boom must be performed in a coordinated manner in order to achieve the desired result. Typically, a wide variety of hydraulic actuators are connected to each of the components so as to carry out the prescribed movement. A complex control mechanism is connected to each of these actuators so as to achieve the desired movement. Advanced programing is required of the controller in order to properly coordinate the movements in order to achieve this desired result. 
     Unfortunately, with such systems, the hydraulic actuators, along with other components, can become worn with time. Furthermore, the hydraulic integrity of each of the actuators can become compromised over time. As such, small variations in each of the actuators can occur. These variations, as they occur, can make the complex mechanism rather inaccurate. The failure of one hydraulic component can exacerbate the problems associated with the alignment of the pipe in a vertical orientation. Adjustments of the programming are often necessary to as to continue to achieve the desired results. Fundamentally, the more hydraulic actuators that are incorporated into such a system, the more likely it is to have errors, inaccuracies, and deviations in the desired delivery profile of the tubular. Typically, very experienced and knowledgeable operators are required so as to carry out this pipe movement operation. This adds significantly to the cost associated with pipe delivery. 
     In the past, pipe handling apparatus have not been used for the installation of casing. The problem associated with casing is that the threads of the casing are formed on an inner wall and on an outer wall at the ends of each of the casing sections. Whenever these threads are formed, the relatively thin wall thickness of the casing is further minimized. Additionally, great precision is required so as to properly thread the threads of one casing section within the threads of an adjacent casing section. The amount of accuracy required for the delivery of the casing by a pipe handling apparatus, in the past, has not been sufficient so as to achieve the desired degree of accuracy for the installation of the casing sections in their threaded connection. The improper installation of one casing section upon another casing section can potentially damage the threads associated with such casing sections. Additionally, in the past, the pipe handling apparatus could potentially damage the thin-walled casing sections during the delivery. As such, a need has developed to adapt a pipe handling apparatus so as to achieve the desired amount of accuracy for the installation of casing sections. 
     To address these problems and needs, U.S. application Ser. No. 11/923,451, filed on Oct. 24, 2007 by the present inventor, discloses a pipe handling apparatus that has a boom pivotally movable between a first position and a second position, a riser assembly pivotally connected to the boom, an arm pivotally connected at one end to the first portion of the riser assembly and extending outwardly therefrom, a gripper affixed to a opposite end of the arm suitable for gripping a diameter of the pipe, a link pivotally connected to the riser assembly and pivotable so as to move relative to the movement of the boom between the first and second positions, and a brace having one end pivotally connected to the boom and an opposite end pivotally connected to the arm between the ends of the arm. The riser assembly has a first portion extending outwardly at an obtuse angle with respect to the second portion. 
     The pipe handling apparatus delivers a pipe to a wellhead when in the second position. Pipes can be of extraordinary lengths and weights. As the apparatus arrives in the second position, where the pipe is vertically oriented over the wellhead, the extraordinary weight of a long pipe causes stresses to be created between the gripper and the arm. In some instances, the gripper can bend relative to the arm even if the gripper and arm are fixedly connected. In other instances, the arm may bow in response to the weight of a long pipe held by the gripper. The stresses created by long pipes that are exerted on the gripper and the arm can weaken the connection between the gripper and the arm and also weaken the gripper and the arm themselves. Thus, long lengths of pipe with extraordinary weights can reduce the useful life of the pipe handling apparatus and cause premature fatigue or failure of the component parts of the apparatus. Thus, there is need to reduce the stresses upon the gripper and arm, and the rest of the pipe handling apparatus, that are created by delivering long lengths of extraordinarily heavy pipe to a wellhead in the second position. Another problem associated with the delivery of long lengths of pipe to a wellhead is that, when the gripper and arm bend in response to the stresses created by the pipe, the pipe then becomes off center and non-vertical. Thus, the pipe is not vertically oriented and not precisely aligned with the pipe or casing that is at the wellhead. Thus, there is a need for a pipe handling apparatus that can compensate for variations in the orientation of long lengths of pipe when delivered over a wellhead. 
     Various patents and patent applications relate to apparatus and methods for stiffening and improving the integrity of a pipe handling apparatus. For example, U.S. patent application Ser. No. 12/013,979, filed on Jan. 14, 2008 by the present inventor, discloses a pre-loading system for a pipe handling apparatus in which a boom is pivotally mounted at one end to a skid and in which an arm is interconnected to an opposite end of the boom. The pre-loading system has a tensioning system with one end affixed to the arm and an opposite end fixedly mounted so as to apply tension to the arm when the arm has a load applied to an end of the arm opposite the boom. The tensioning system includes a first cable assembly having one end interconnected to the arm and an opposite end fixedly mounted, and a second cable assembly interconnected to the arm and having an opposite end fixedly mounted. The first and second cable assemblies extend from opposite sides of the arm. 
     U.S. patent application Ser. No. 11/923,451, filed on Oct. 24, 2007 by the present inventor, discloses a pipe handling apparatus that has a boom pivotally movable between a first position and a second position, a riser assembly pivotally connected to the boom, an arm pivotally connected at one end to the first portion of the riser assembly and extending outwardly therefrom, a gripper affixed to a opposite end of the arm suitable for gripping a diameter of the pipe, a link pivotally connected to the riser assembly and pivotable so as to move relative to the movement of the boom between the first and second positions, and a brace having a one end pivotally connected to the boom and an opposite end pivotally to the arm between the ends of the arm. The riser assembly has a first portion extending outwardly at an obtuse angle with respect to the second portion. 
     U.S. Pat. No. 3,177,944, issued on Apr. 13, 1965 to R. N. Knight, describes a racking mechanism for earth-boring equipment that provides for horizontal storage of pipe lengths on one side of and clear of the derrick. This is achieved by means of a transport arm which is pivoted toward the base of the derrick for swing movement in a vertical plane. The outer end of the arm works between a substantially vertical position in which it can accept a pipe length from, or deliver a pipe length to, a station in the derrick, and a substantially horizontal portion in which the arm can deliver a pipe length to, or accept a pipe length from, a station associated with storage means on one side of the derrick. 
     U.S. Pat. No. 3,464,507, issued on Sep. 2, 1969 to E. L. Alexander et al., teaches a portable rotary pipe handling system. This system includes a mast pivotally mounted and movable between a reclining transport position to a desired position at the site drilling operations which may be at any angle up to vertical. The mast has guides for a traveling mechanism that includes a block movable up and down the mast through operation of cables reeved from the traveling block over crown block pulleys into a drawwork. A power drill drive is carried by the traveling block. An elevator for drill pipe is carried by an arm swingably mounted relative to the power unit. Power tongs, slips, and slip bushings are supported adjacent the lower end of the mast and adapted to have a drill pipe extend therethrough from a drive bushing connected to a power drive whereby the drill pipe is extended in the direction of the hole to be drilled. 
     U.S. Pat. No. 3,633,771, issued on Jan. 11, 1972 to Woolslayer et al., discloses an apparatus for moving drill pipe into and out of an oil well derrick. A stand of pipe is gripped by a strongback which is pivotally mounted to one end of a boom. The boom swings the strongback over the rotary table thereby vertically aligning the pipe stand with the drill string. When both adding pipe to and removing pipe from the drill string, all vertical movement of the pipe is accomplished by the elevator suspended from the traveling block. 
     U.S. Pat. No. 3,860,122, issued on Jan. 14, 1975 to L. C. Cernosek, describes an apparatus for transferring a tubular member, such as a pipe, from a storage area to an oil well drilling platform. The positioning apparatus includes a pipe positioner mounted on a platform for moving the pipe to a release position whereby the pipe can be released to be lowered to a submerged position. A loader is operably attached or associated with the platform and a positioner in order to move the pipe from a stored position to a transfer position in which the pipe is transferred to the positioner. The positioner includes a tower having a pipe track pivotally mounted thereon with pipe clamp assemblies which are adapted to receive a pipe length. The pipe track is pivotally movable by a hydraulic power mechanism or gear mechanism between a transfer position in which pipe is moved into the clamp assemblies and the release position in which the pipe is released for movement to a submerged position. 
     U.S. Pat. No. 3,986,619, issued on Oct. 19, 1976 to Woolslayer et al., shows a pipe handling apparatus for an oil well drilling derrick. An inner end of the boom is pivotally supported on a horizontal axis in front of a well. A clamp is pivotally connected to the outer end of the boom on an axis parallel to the horizontal axis at one end. The clamp allows the free end of the drill pipe to swing across the boom as the outer end of the boom is raised or lowered. A line is connected at one end with the traveling block that raises and lowers the elevators and at the other end to the boom so as to pass around sheaves. 
     U.S. Pat. No. 4,172,684, issued on Oct. 30, 1979 to C. Jenkins, shows a floor-level pipe handling apparatus which is mounted on the floor of an oil well derrick. The apparatus includes a support that is rockable on an axis perpendicular to the centerline of a well being drilled. One end of an arm is pivotally mounted on the support on an axis transverse to the centerline of the well. The opposite end of the arm carries a pair of shoes having laterally opening pipe-receiving seats facing away from the arm. The free end of the arm can be swung toward and away from the well centerline and the arm support can be rocked to swing the arm laterally. 
     U.S. Pat. No. 4,403,666, issued on Sep. 13, 1983 to C. A. Willis, shows self-centering tongs and a transfer arm for a drilling apparatus. The clamps of the transfer arm are resiliently mounted to the transfer arm so as to provide limited axial movement of the clamps and thereby of a clamped down hole tubular. A pair of automatic, self-centering, hydraulic tongs are provided for making up and breaking out threaded connections of tubulars. 
     U.S. Pat. No. 4,407,629, issued on Oct. 4, 1983 to C. A. Willis, teaches a lifting apparatus for downhole tubulars. This lifting apparatus includes two rotatably mounted clamps which are rotatable between a side-loading position so as to facilitate the loading and unloading in the horizontal position, and a central position, in which a clamped tubular is aligned with the drilling axis when the boom is in the vertical position. An automatic hydraulic sequencing circuit is provided to automatically rotate the clamps into the side-loading position whenever the boom is pivoted with a downhole tubular positioned in the clamp. In this position, the clamped tubular is aligned with a safety plate mounted on the boom to prevent a clamped tubular from slipping from the clamps. 
     U.S. Pat. No. 4,492,501 provides a platform positioning system for a drilling operation which includes a support structure and a transfer arm pivotally connected to the support structure to rotate about a first axis. This platform positioning system includes a platform which is pivotally connected to the support structure to rotate about a second axis, and a rod which is mounted between the transfer arm and the platform. The position of the arm and platform axes and the length of the rod are selected such that the transfer arm automatically and progressively raises the platform to the raised position by means of the rod as the transfer arm moves to the raised position. The transfer arm automatically and progressively lowers the platform to the lowered position by means of the rod as the transfer arm moves to the lowered position. 
     U.S. Pat. No. 4,595,066, issued on Jun. 17, 1986 to Nelmark et al., provides an apparatus for handling drill pipes and used in association with blast holes. This system allows a drill pipe to be more easily connected and disconnected to a drill string in a hole being drilled at an angle. A receptacle is formed at the lower end of the carrier that has hydraulically-operated doors secured by a hydraulically-operated lock. A gate near the upper end is pneumatically operated in response to the hydraulic operation of the receptacle lock. 
     U.S. Pat. No. 4,822,230, issued on Apr. 18, 1989 to P. Slettedal, teaches a pipe handling apparatus which is adapted for automated drilling operations. Drill pipes are manipulated between substantially horizontal and vertical positions. The apparatus is used with a top mounted drilling device which is rotatable about a substantially horizontal axis. The apparatus utilizes a strongback provided with clamps to hold and manipulate pipes. The strongback is rotatably connected to the same axis as the drilling device. The strongback moves up or down with the drilling device. A brace unit is attached to the strongback to be rotatable about a second axis. 
     U.S. Pat. No. 4,834,604, issued on May 30, 1989 to Brittain et al., provides a pipe moving apparatus and method for moving casing or pipe from a horizontal position adjacent a well to a vertical position over the well bore. The machine includes a boom movable between a lowered position and a raised position by a hydraulic ram. A strongback grips the pipe and holds the same until the pipe is vertically positioned. Thereafter, a hydraulic ram on the strongback is actuated thereby lowering the pipe or casing onto the string suspended in the well bore and the additional pipe or casing joint is threaded thereto. 
     U.S. Pat. No. 4,708,581 issued on Nov. 24, 1987 H. L. Adair, provides a method for positioning a transfer arm for the movement of drill pipe. A drilling mast and a transfer arm are mounted at a first axis adjacent the mast to move between a lowered position near ground level and an upper position aligned with the mast. A reaction point anchor is fixed with respect to the drilling mast and spaced from the first axis. A fixed length link is pivotably mounted to the transfer arm at a second axis, spaced from the first axis, and a first single stage cylinder is pivotably mounted at one end to the distal end of the link and at the other end to the transfer arm. A second single stage hydraulic cylinder is pivotably mounted at one end to the distal end of the link and at the other end to the reaction point. 
     U.S. Pat. No. 4,759,414, issued on Jul. 26, 1988 to C. A. Willis, provides a drilling machine which includes a drilling superstructure skid which defines two spaced-apart parallel skid runners and a platform. The platform supports a drawworks mounted on a drawworks skid and a pipe boom is mounted on a pipe boom skid sized to fit between the skid runners of the drilling substructure skid. The drilling substructure skid supports four legs which, in turn, support a drilling platform on which is mounted a lower mast section. The pipe boom skid mounts a pipe boom as well as a boom linkage, a motor, and a hydraulic pump adapted to power the pipe boom linkage. Mechanical position locks hold the upper skid in relative position over the lower skid. 
     U.S. Pat. No. 5,458,454, issued on Oct. 17, 1995 to R. S. Sorokan, describes a pipe handling method which is used to move tubulars used from a horizontal position on a pipe rack adjacent the well bore to a vertical position over the well center. This method utilizes bicep and forearm assemblies and a gripper head for attachment to the tubular. The path of the tubular being moved is close to the conventional path of the tubular utilizing known cable transfer techniques so as to allow access to the drill floor through the V-door of the drill rig. U.S. Pat. No. 6,220,807 describes an apparatus for carrying out the method of U.S. Pat. No. 5,458,454. 
     U.S. Pat. No. 6,609,573, issued on Aug. 26, 2003 to H. W. F. Day, teaches a pipe handling system for an offshore structure. The pipe handling system transfers the pipes from a horizontal pipe rack adjacent to the drill floor to a vertical orientation in a set-back area of the drill floor where the drill string is made up for lowering downhole. The cantilevered drill floor is utilized with the pipe handling system so as to save platform space. 
     U.S. Pat. No. 6,705,414, issued on Mar. 16, 2004 to Simpson et al., describes a tubular transfer system for moving pipe between a substantial horizontal position on the catwalk and a substantially vertical position at the rig floor entry. Bundles of individual tubulars are moved to a process area where a stand make-up/break-out machine makes up the tubular stands. The bucking machine aligns and stabs the connections and makes up the connection to the correct torque. The tubular stand is then transferred from the machine to a stand storage area. A trolley is moved into position over the pick-up area to retrieve the stands. The stands are clamped to the trolley and the trolley is moved from a substantially horizontal position to a substantially vertical position at the rig floor entry. A vertical pipe-racking machine transfers the stands to the traveling equipment. The traveling equipment makes up the stand connection and the stand is run into the hole. 
     U.S. Pat. No. 6,779,614, issued on Aug. 24, 2004 to M. S. Oser, shows another system and method for transferring pipe. A pipe shuttle is used for moving a pipe joint into a first position and then lifting upwardly toward an upper second position. 
     It is an object of the present invention to provide a pipe handling apparatus that can deliver long lengths of pipe to a wellhead. 
     It is another object of the present invention to minimize the amount of calibration required when moving a pipe from a horizontal orientation to a vertical orientation with the pipe handling apparatus. 
     It is another object of the present invention to provide a pipe handling apparatus that has increased durability. 
     It is still another object of the present invention to provide a pipe handling apparatus that has a longer useful life. 
     It is another object of the present invention to provide a pipe handling apparatus that operates within a single degree of freedom so as to move the pipe without adjustments between the components. 
     It is another object of the present invention to strengthen a pipe handling apparatus that delivers pipe to an existing derrick. 
     It is another object of the present invention to mitigate damages of the components of the pipe handling apparatus. 
     It is another object of the present invention to achieve greater precision in the delivery and installation of pipe and/or casing to a wellhead with a pipe handling apparatus. 
     It is still another object of the present invention to increase the structural stiffness of a pipe handling apparatus. 
     It is another object of the present invention to provide a pipe handling apparatus that can grip both long lengths of pipe and small lengths of pipe. 
     It is another object of the present invention to provide a pipe handling apparatus that utilizes different types of grippers. 
     It is still another object of the present invention to increase the lateral stiffness of the pipe handling apparatus. 
     It is another object of the present invention to increase the vertical stiffness of the pipe handling apparatus. 
     These and other objects and advantages of the present invention will become apparent from a reading of the attached specification and appended claims. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention is a pipe handling apparatus for moving a pipe from a stowed position to a position deployed above a wellhead. The apparatus comprises a main rotating structural member pivotally movable between a first position and a second position, an arm interconnected to the main rotating structural member, a gripper means affixed to an end of the arm opposite the main rotating structural member, and a tensioning means connected to the gripper means for applying a tension to the gripper means when the arm is in the extended position. The gripper means grips a surface of a pipe. The arm is pivotable between a home position and an extended position. 
     In one embodiment, the tensioning means comprises at least one guy wire connected at one end to the gripper means. The guy wire has an opposite end connected to the arm. The guy wire has a constant tension as the main structural member moves between the first and second positions. 
     In another embodiment, the tensioning means is connected at one end to the gripper means and at an opposite end to the main rotating structural member. The tensioning means comprises a guy wire. The guy wire has a minimum tension when the main rotating structural member is in the first position and a maximum tension when the main rotating structural member is in the second position. Alternatively, the tensioning means comprises a first guy wire affixed at one end to the main rotating structural member and an opposite end affixed to the gripper means, and a second guy wire affixed at one end to the main rotating structural member and an opposite end affixed to the gripper means. The first and second guy wires converge toward the gripper means. 
     In another embodiment, the gripper means comprises a stab frame affixed to the opposite end of the arm, a first gripper extending outwardly from a side of the stab frame opposite the arm, and a second gripper extending outwardly from the side of the stab frame opposite the arm the in spaced relation to set first gripper. The tensioning means is connected to the stab frame. The tensioning means comprises at least one guy wire connected at one end to the stab frame and an opposite end connected to the arm. Alternatively, the tensioning means comprises at least one guy wire connected at one end to the stab frame and an opposite end connected to the main rotating structural member. The stab frame comprises a first stab frame, and a second stab frame positioned below the first stab frame. The tensioning means is connected to the first stab frame. 
     The apparatus further comprises a lever assembly pivotally connected to the main rotating structural member where the lever assembly has a first portion that extends outwardly at an obtuse angle with respect to a second portion and where the arm is pivotally connected at one end to the first portion of the lever assembly and extends outwardly therefrom, at least one arm pivotally that is connected at one end to the first portion of the lever assembly and that extends outwardly therefrom, a gripper means affixed to an opposite end of the arm for gripping a surface of a pipe, a link pivotally connected to the second portion of the lever assembly where the link is pivotable at an end of the second portion opposite of the first portion so as to move relative to the movement of the main rotating structural member between the first and second positions, and a brace having an end pivotally connected to the main rotating structural member and an opposite end pivotally connected to the arm between the ends of the arm. 
     The present invention is a gripper assembly for a pipe handling apparatus comprising a stab frame, a gripper connected to the stab frame and extending outwardly therefrom where the gripper is suitable for gripping a surface of a pipe, an arm connected to the stab frame where the arm is movable between a first position and a second position, and a tensioning means connected to the stab frame for applying a tension force to the stab frame when the arm is in the second position. 
     In one embodiment, the tensioning means comprises at least one guy wire having an end affixed to the stab frame. The guy wire has an opposite end connected to the arm. In another embodiment, the gripper assembly further comprises a main structural member interconnected to the arm. The tensioning means is connected to the main structural member. The main structural member is pivotal between a first position and a second position. The tensioning means applies a maximum tension to the stab frame when the main structural member is in the second position. The tensioning means comprises at least one guy wire having an end connected adjacent an end of the main structural member and an opposite end connected to the stab frame. The guy wire extends angularly upwardly from the main structural member in the second position. Alternatively, the tensioning means comprises a first guy wire having one end affixed to the main structural member and an opposite end affixed to the gripper means, and a second guy wire having an end affixed to the main structural member and an opposite end affixed to the gripper means. The first and second guy wires converge toward the gripper means. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         FIG. 1  is a side elevation view showing a pipe handling apparatus in accordance with the teachings of the present invention. 
         FIG. 2  is a side elevational view showing the pipe handling apparatus in a first position. 
         FIG. 3  is a side elevational view showing the pipe handling apparatus moving from the first position toward the second position. 
         FIG. 4  is a side elevation view of the pipe handling apparatus showing the pipe handling apparatus as moving the pipe further to the second position. 
         FIG. 5  is a side elevational view showing the pipe handling apparatus in its second position in which the pipe extends in a vertical orientation. 
         FIG. 6  shows a side elevational view of the grippers of the present invention. 
         FIG. 7  shows a side elevational view of the preferred embodiment of the pipe handling apparatus of the present invention in the first position, with the guy wire attached to the stab frame and arm. 
         FIG. 8  shows a side elevational view of the preferred embodiment of the pipe handling apparatus of the present invention in the second position, with the guy wire attached to the stab frame and arm. 
         FIG. 9  shows an isolated side elevational view of the preferred embodiment, with the guy wire attached to the stab frame and the arm. 
         FIG. 10  shows a side elevational view of a first alternative embodiment of the pipe handling apparatus of the present invention in the first position, with the guy wire attached to the stab frame and to the main rotating structural member. 
         FIG. 11  shows a side elevational view of the first alternative embodiment pipe handling apparatus of the present invention in the second position, with the guy wire attached to the stab frame and to the main rotating structural member. 
         FIG. 12  shows an isolated side elevational view of the first alternative embodiment of the guy wire attached to the stab frame and to the main rotating structural member. 
         FIG. 13  shows a plan view of a second alternative embodiment of the apparatus having two arms and two guy wires, where the guy wires are attached to the stab frame and to the arms. 
         FIG. 14  shows a plan view of a third alternative embodiment of the apparatus having two arms and two guy wires, where the guy wires are attached to the stab frame and to the main rotating structural member. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring to  FIG. 1 , there is shown the preferred embodiment of the pipe handling apparatus  10  in accordance with the system of the present invention. The pipe handling apparatus  10  is mounted on a skid  12  that is supported upon the bed  14  of a vehicle, such as a truck. The pipe handling apparatus  10  in particular includes a main rotating structural member  16  that is pivotally movable between a first position and a second position. In  FIG. 1 , an intermediate position of the pipe handling apparatus  10  is particularly shown. In this position, the pipe  18  is illustrated in its position prior to installation on the drill rig  20 . A lever assembly  22  is pivotally connected to the main rotating structural member  16 . An arm  24  is pivotally connected to an end of the lever assembly  22  opposite the main rotating structural member  16 . A gripper means  26  is fixedly connected to an opposite end of the arm  24  opposite the lever assembly  22 . The gripper means  26  includes a body  28  and grippers  30  and  32 . A link  34  has one end pivotally connected to the skid  12  and an opposite end pivotally connected to the end of the lever assembly  22  opposite the arm  24 . A brace  36  is pivotally connected to the main rotating structural member  16  and also pivotally connected to the arm  24  between the lever assembly  22  and the body  28  of gripper means  26 . 
     In the present invention, the main rotating structural member  16  is a structural framework of struts, cross members and beams. In particular, in the present invention, the main rotating structural member  16  is configured so as to have an open interior such that the pipe  18  will be able to be lifted in a manner so as to pass through the interior of the main rotating structural member  16 . As such, the end  38  of the main rotating structural member  16  should be strongly reinforced so as to provide the necessary structural integrity to the main rotating structural member  16 . A lug  40  extends outwardly from one side of the main rotating structural member  16 . This lug  40  is suitable for pivotable connection to the lever assembly  22 . The main rotating structural member  16  is pivotally connected at the opposite end  42  to a location on the skid  12 . The pivotable connection at end  42  of the main rotating structural member  16  is located in offset relationship and above the pivotable connection  44  of the link  34  with the skid  12 . A small frame member  46  extends outwardly from the side of the main rotating structural member  16  opposite the link  34 . This frame assembly  46  has a pivotable connection with the brace  36 . 
     The lever assembly  22  includes a first portion  48  and a second portion  50 . The first portion  48  extends at an obtuse angle with respect to the second portion  50 . The link  34  is pivotally connected to the end of the second portion  50  opposite the first portion  48 . The arm  24  is pivotally connected to the end of the first portion  48  opposite the second portion  50 . The lug  40  of the main rotating structural member  16  is pivotally connected in an area generally between the first portion  48  and the second portion  50 . This unique arrangement of the lever assembly  22  facilitates the ability of the present invention to carry out the movement of the pipe  18  between the horizontal orientation and the vertical orientation. 
     The arm  24  has an end pivotally connected to the end of the first portion  48  of the lever assembly  22 . The opposite end of the arm  24  is connected to the gripper means  26 . In particular, a pair of pin connections engage a surface of the body  28  of the gripper means  26  so as to fixedly position the gripper means  26  with respect to the end of the arm  24 . The pin connections  52  and  54  can be in the nature of bolts, or other fasteners, so as to strongly connect the body  28  of the gripper means  26  with the arm  24 . The bolts associated with pin connections  52  and  54  can be removed such that other gripper means  26  can be affixed to the end of the arm  24 . As such, the pipe handling apparatus  10  of the present invention can be adaptable to various sizes of pipe  18  and various heights of drilling rigs  20 . 
     The gripper means  26  includes the body  28  with the grippers  30  and  32  translatable along the length of the body  28 . This vertical translation of the grippers  30  and  32  allows the pipe  18  to be properly moved upwardly and downwardly once the vertical orientation of the pipe  18  is achieved. The grippers  30  and  32  are in the nature of conventional grippers which can open and close so as to engage the outer diameter of the pipe  18 , as desired. 
     The link  34  is an elongate member that extends from the pivotable connection  44  to the pivotable connection  68  of the second portion  50  of the lever assembly  22 . The link  34  is non-extensible and extends generally adjacent to the opposite side from the main rotating structural member  16  from that of the arm  24 . The link  34  will generally move relative to the movement of the main rotating structural member  16 . The brace  36  is pivotally connected to the small framework  46  associated with main rotating structural member  16  and also pivotally connected at a location along the arm  26  between the ends thereof. Brace  36  provides structural support to the arm  24  and also facilitates the desired movement of the arm  24  during the movement of the pipe  18  between the horizontal orientation and the vertical orientation. 
     Actuators  56  and  58  are illustrated as having one end connected to the skid  12  and an opposite end connected to the main rotating structural member  16  in a location above the end  42 . When the actuators  56  and  58  are activated, they will pivot the main rotating structural member  16  upwardly from the horizontal orientation ultimately to a position beyond vertical so as to cause the pipe  18  to achieve a vertical orientation. Within the concept of the present invention, a single hydraulic actuator can be utilized instead of the pair of hydraulic actuators  56  and  58 , as illustrated in  FIG. 1 . 
     The drilling rig  20  is illustrated as having drill pipes  60  and  62  extending upwardly so as to have an end above the drill floor  64 . When the pipe  18  is in its vertical orientation, the translatable movement of the grippers  30  and  32  can be utilized so as to cause the end of the pipe  18  to engage with the box of one of the drill pipes  60  and  62 . 
     In  FIG. 1 , the general movement of the bottom end of the pipe  18  is illustrated by line  66 . The movement of the pivot point  68  of the connection between the lever assembly  22  and the link  34  is illustrated by line  70 . Curved line  71  illustrates the movement of the pivotable connection  40  between the main rotating structural member  16  and the lever assembly  22 . 
     In the present invention, the coordinated movement of each of the non-extensible members of the apparatus  10  is achieved with proper sizing and angular relationships. In essence, the present invention provides a four-bar link between the various components. As a result, the movement of the drill pipe  18  between a horizontal orientation and a vertical orientation can be achieved purely through the mechanics associated with the various components. As can be seen, only a single hydraulic actuator may be necessary so as to achieve this desired movement. There does not need to be coordinated movement of hydraulic actuators. The hydraulic actuators are only used for the pivoting of the main rotating structural member. Since the skid  12  is located on the bed of a vehicle  14 , the vehicle  14  can be maneuvered into place so as to properly align with the centerline of the drill pipe  60  and  62  of the drilling rig  20 . Once the proper alignment is achieved by the vehicle  14 , the apparatus  10  can be operated so as to effectively move the drill pipe to its desired position. The gripper assemblies of the present invention allow the drill pipe  18  to be moved upwardly and downwardly for the proper stabbing of the drill pipes  60  and  62 . The present invention is adaptable to various links of pipe  18 . 
     Various types of gripper means  26  can be installed on the end of the arm  24  so as to properly accommodate longer lengths of pipe  18 . These variations are illustrated herein in connections  FIGS. 6-9 . 
     As such, instead of the complex control mechanisms that are required with prior art systems, the present invention achieves it results by simple maneuvering of the vehicle  14 , along with operation of the hydraulic cylinders  56  and  58 . All other linkages and movement of the pipe  18  are achieved purely because of the mechanical connections between the various components. As such, the present invention assures a precise, self-centering of the pipe  18  with respect to the desired connecting pipe. This is accomplished with only a single degree of freedom in the pipe handling system. 
       FIG. 2  illustrates the drill pipe  18  in a generally horizontal orientation. In the present invention, it is important to note that the drill pipe can be delivered to the apparatus  10  in a position below the main rotating structural member  16 . In particular, the drill pipe can be loaded upon the skid  12  in a location generally adjacent to the grippers  30  and  32  associated with the gripper means  26 . As such, the present invention facilitates the easy delivery of the drill pipe to the desired location. The gripper  30  and  32  will grip the outer diameter of the pipe  18  in this horizontal orientation. 
     In  FIG. 2 , it can be seen that the main rotating structural member  16  resides above the drill pipe  18  and in generally parallel relationship to the top surface of the skid  12 . The lever assembly  22  is suitably pivoted so that the arm  24  extends through the interior of the framework of the main rotating structural member  16  and such that the gripper means  26  engages the pipe  18 . The brace  36  resides in connection with the small framework of the main rotating structural member  16  and also is pivotally connected to the arm  24 . The link  34  will reside below the main rotating structural member  16  generally adjacent to the upper surface of the skid  12  and is connected to the second portion  50  of the lever assembly  22  below the main rotating structural member  16 . 
     Referring to  FIG. 3 , there is shown the preferred embodiment of the tubular handling apparatus  10  in accordance with the system of the present invention. The tubular handling apparatus  10  is mounted on a skid  12  that is supported upon the bed  14  of a vehicle, such as a truck. The tubular handling apparatus  10  in particular includes a main rotating structural member  16  that is pivotally movable between a first position and a second position. In  FIG. 1 , an intermediate position of the tubular handling apparatus  10  is particularly shown. In this position, the pipe  18  is illustrated in its position prior to installation on the drill rig  20 . A lever assembly  22  is pivotally connected to the main rotating structural member  16 . An arm  24  is pivotally connected to an end of the lever assembly  22  opposite the main rotating structural member  16 . A gripper means  26  is fixedly connected to an opposite end of the arm  24  opposite the lever assembly  22 . The gripper means  26  includes a body  28  and grippers  30  and  32 . A link  34  has one end pivotally connected to the skid  12  and an opposite end pivotally connected to the end of the lever assembly  22  opposite the arm  24 . A brace  36  is pivotally connected to the main rotating structural member  16  and also pivotally connected to the arm  24  between the lever assembly  22  and the body  28  of gripper means  26 . 
       FIG. 4  shows a further intermediate movement of the drill pipe  18 . Once again, the hydraulic actuators  56  and  58  urge the main rotating structural member  16  angularly upwardly away from the top surface of the skid  12 . This causes the link  34  to have a pulling force on the pivotal connection  68  of the second portion  50  of the lever assembly  22 . This causes the first portion  48  of the lever assembly  22  to move upwardly thereby causing the arm  24 , in combination with the brace  36  to lift the gripper means  26  further upwardly and draw the pipe  18  completely through the interior of the main rotating structural member  16 . As can be seen, the relative size and relation of the various components of the present invention achieve the movement of the pipe  18  without the need for separate hydraulic actuators. 
       FIG. 5  illustrates the drill pipe  18  in its vertical orientation. As can be seen, the drill pipe  18  is positioned directly above the underlying pipe  62  on the drilling rig  20 . The further upward pivotal movement of the main rotating structural member  16  is caused by the hydraulic cylinders  56  and  58 . This causes the link  34  to rotate and draw the end of the second portion  50  of the lever assembly  22  downwardly. The lever assembly  22  rotates about the pivot point  40  such that the first portion  48  of the lever assembly  22  has a pivot  72  at its upper end. The brace  36  is now rotated in a position so as to provide support for the arm  24  in this upper position. The gripper means  26  has grippers  30  and  32  aligned vertically and in spaced parallel relationship to each other. If any further precise movement is required between the bottom end  80  of the pipe  18  and the upper end  82  of pipe  62 , then the vehicle  14  can be moved slightly so as to achieve further precise movement. In the manner described hereinbefore, the drill pipe  18  has achieved a completely vertical orientation by virtue of the interrelationship of the various components of the present invention and without the need for complex control mechanisms and hydraulics. 
     In order to install the drill pipe  18  upon the pipe  62 , it is only necessary to vertically translate the grippers  30  and  32  within the body  28  of the gripper means  26 . As such, the end  80  can be stabbed into the box connection  82  of pipe  62 . Suitable tongs, spinners, or other mechanisms can be utilized so as to rotate the pipe  18  in order to achieve a desired connection. The grippers  30  and  32  can then be released from the exterior of the pipe  18  and returned back to the original position such that another length of drill pipe can be installed. 
       FIG. 6  is a detailed view of the gripper means  26  of the present invention. In  FIG. 6  the pin connections  52  and  54  have been installed into alternative holes formed on the body  28  of the gripper means  26 . The holes, such as hole  84  can be formed in a surface of the body  28  so as to allow selective connection between the end of the arm  24  and the body  28  of gripper means  26 . As such, the position of the gripper means  26  in relation to the arm  24  can be adapted to various circumstances. 
     It can be seen that the pipe  18  is engaged by grippers  30  and  32  of the gripper means  26 . The configuration of the grippers  30  and  32 , as shown in  FIG. 6 , is particularly designed for short length (approximately 30 feet) of drill pipe. In  FIG. 6 , it can be seen that the grippers  30  and  32  aretranslated relative to the body  28  so as to lower end  80  of pipe  18  downwardly for connection to an underlying pipe. 
     Referring to  FIG. 7 , there is shown a side elevational view of the pipe handling apparatus  10  of the present invention, with the guy wire  200  attached to the arm  24  and to the first stab frame  150  of the gripper means  26 . The guy wire  200  has a constant tension in the first position. 
     Referring to  FIG. 8 , there is shown a side elevational view of the pipe handling apparatus  10  of the present invention in the second position, with the guy wire  200  connected to the stab frame  150  and the arm  24 . The end  202  of the guy wire  200  is connected to the first stab frame  150 . The opposite end  204  of the guy wire  200  is connected to the arm  24 . The guy wire  200  has a constant tension when the pipe handling apparatus  10  is in the second position. Moreover, the guy wire  200  has a constant tension as the main rotating structural member  16  moves between the first and second positions. The guy wire  200  can be made of a metallic material so that is suitable for withstanding stresses created by the weight of pipe  18  that has held in the gripper assemblies  154 ,  156 , and  158 . The guy wire  200  adds strength to the connection between the first stab frame  150  and the arm  24 . It can be seen in  FIG. 11  that the pipe  18  is exactly vertical with the wellhead  62 . Without the guy wire  200 , the pipe  18  would have a slightly less than vertical orientation because the weight of the pipe  18  would cause the connection between the stab frame  150  and  152  and the arm  24 , the stab frame  150  and  152  itself, or the arm  24  itself to bend under the weight of the extremely long pipe  18 . 
     Referring to  FIG. 9 , there is shown an isolated side elevational view of the guy wire  200  attached to the first stab frame  120  and the arm  24 . The end  202  of the guy wire  200  is connected to the first stab frame  120  near the top of the first stab frame  120 . The opposite end  204  of the guy wire  200  is mounted adjacent the end of the arm  24  opposite stab frames  120  and  122 . 
     Referring to  FIG. 10 , there is shown a side elevational view of a first alternative embodiment of the pipe handling apparatus  17  of the present invention in the first position, with the guy wire  206  attached to the main rotating structural member  16  and to the gripper means  26 . In the first position, the guy wire  206  is under a maximum tension. As the pipe handling apparatus  10  moves between the first position and the second position, the guy wire  206  loses maximum tension between the first and second positions and again gains maximum tension when the pipe handling apparatus  10  reaches the second position. 
     Referring to  FIG. 11 , there is shown a side elevational view of the first alternative embodiment of the pipe handling apparatus  17  in the second position, with the guy wire  206  connected to the first stab frame  150  of the gripper means  26  and to the boom  16 . Particularly, the end  208  of the guy wire  206  is attached to the first stab frame  150 . The opposite end  210  of the guy wire  206  is attached the main rotating structural member  16 . The end  208  of the guy wire  206  is attached adjacent the top of the first stab frame  150 . The opposite end  210  of the guy wire  206  is attached adjacent the top of the main rotating structural member  16 . As can be seen, the guy wire  206  is under maximum tension so as to provide a stiffening of the arm  24 , the stab frame  150  and  152 , and the connection between the arm  24  and the stab frame  150  and  152 . 
     Referring to  FIG. 12 , there is shown an isolated side-elevational view of first alternative embodiment with the guy wire  206  attached to the stab frame  120  and  122  and the main rotating structural member  16 . The guy wire  206  is attached so that it is at a maximum tension when the pipe handling apparatus  17  is in the second position. The end  210  of the guy wire  206  is attached to the main rotating structural member  16  near a top thereof. The ends  208  of the guy wire  206  is attached near a top of the first stab frame  120 . The exact location of the ends  208  and  210  of the guy wire  206  can be changed for different configurations of the pipe handling apparatus  17  as long as the guy wire  206  has a maximum tension when the pipe handling apparatus  17  is in the first and second positions. 
     The present invention contemplates that the pipe handling apparatus can have multiple arms  24  so as to increase the structural strength of the pipe handling apparatus of the present invention when using long lengths of pipe. 
     Referring to  FIG. 13 , there is shown a top view of a second alternative embodiment of the apparatus  19  of the present invention. The apparatus  19  has two arms  24  and  25 . Each arm  24  and  25  is connected to the lever assembly  48 . Each arm  24  and  25  is also connected to the stab frame  120  of the gripper means  26 . The apparatus  19  is shown in the second position, as the pipe  132  is in the vertical orientation over the drill floor  64 . Gripper  128  can be seen as gripping the surface of the pipe  132 . The use of two arms  24  and  25  instead of only one arm increases the strength of the pipe handling apparatus  19  so that larger and longer pipe  132  can be delivered to and from the well floor  64 . Guy wire  200  has an end connected to the stab frame  120  of the gripper means  26 . Guy wire  200  has an opposite end connected to the arm  24 . The tension of the guy wire  200  remains at maximum tension during all movements of the apparatus  19 . Guy wire  201  has an end connected to the stab frame  120  of the gripper means  26 . Guy wire  201  has an opposite end connected to the arm  25 . The tension of the guy wire  201  remains at maximum tension during all movements of the apparatus  19 . By having guy wires  200  and  201  at maximum tension, the stiffness of the connection between the arms  24  and  25  and the gripper means  26  is increased. The second alternative embodiment contemplates that only guy wire  200  is extended between one of the arms  24  and  25  and the stab frame  120  of the gripper means  26 . 
     Referring to  FIG. 14 , there is shown a top view of a third alternative embodiment of the apparatus  21  of the present invention. The apparatus  21  has two arms  24  and  25 . Each arm  24  and  25  is connected to the lever assembly  48 . Each arm  24  and  25  is also connected to the stab frame  120  of the gripper means  26 . The apparatus  21  is shown in the second position, as the pipe  132  is in the vertical orientation over the drill floor  64 . Gripper  128  can be seen as gripping the surface of the pipe  132 . The use of two arms  24  and  25  instead of only one arm increases the strength of the pipe handling apparatus  21  so that larger and longer pipe  132  can be delivered to and from the well floor  64 . Guy wire  206  has an end connected to the stab frame  120  of the gripper means  26 . Guy wire  206  has an opposite end connected to the main rotating structural member  16 . The tension of the guy wire  206  is at maximum tension when the apparatus  21  is in the first and second positions. Guy wire  206  is not necessarily at maximum tension when the apparatus  21  is not in the first or second position. Guy wire  207  has an end connected to the stab frame  120  of the gripper means  26 . Guy wire  207  has an opposite end connected to the main rotating structural member  16 . The tension of the guy wire  207  is at maximum tension when the apparatus  21  is in the first and second positions. Guy wire  207  is not necessarily at maximum tension when the apparatus  21  is not in the first or second position. By having guy wires  206  and  207  at maximum tension in the first and second positions, the stiffness of the connection between the arms  24  and  25  and the gripper means  26  is increased. The third alternative embodiment contemplates that only guy wires  206  and  207  are extended between the main rotating structural member  16  and the stab frame  120  of the gripper means  26 . 
     The foregoing disclosure and description of the invention is illustrative and explanatory thereof. Various changes in the details of the illustrated construction can be made within the scope of the appended claims without departing from the true spirit of the invention. The present invention should only be limited by the following claims and their legal equivalents.