AUTOMATIC PIPE RACKING APPARATUS

Abstract: Apparatus for moving vertical lengths of pipe between the well bore center line and a racking assembly (20). An arm (72) having a gripping head (78, 80) mounted thereon is extendable and retractable relative to a carriage (82) mounted on the drilling rig working board. When storing pipe, the lower end of each pipe is set on a support assembly (37, 39) which includes a plurality of switches (182, 186) which signal the position of each pipe thereon. The arm and carriage are moved under control of a computer (232) to an appropriate slot for storing the upper end of the pipe stand. When running pipe into the well bore, the arm and carriage move the upper end of the pipe to the center line of the well and when the travelling block of the drilling rig picks up the pipe, a signal generated by the switch beneath the pipe causes the carriage and arm to move to the location for unracking the next stand of pipe.

Description: The present invention relates to automated pipe racking apparatus for use to facilitate coupling and uncoupling substantially vertical lengths of pipe. In the drilling of oil and gas wells, a string of drill pipe having a drill bit mounted on the lower end thereof is suspended from a travelling block in a drilling rig mast by a swivel which enables rotational force to be applied to the drill string, typically by a rotary table at the drilling rig floor, to advance the depth of the drilled bore. As the depth of the bore increases, additional lengths of drill pipe are added to the drill string at the surface. Periodically it is necessary to pull the drill string from the bore in order to change the drill bit or to run testing or other equipment into the bore on the end of the drill string. When pulling drill pipe from the bore, the travelling block is raised until a stand of pipe extends above the drilling rig floor. In the usual case a stand comprises three pieces of pipe totalling approximately 27.5m in length. Next, slips are placed between the pipe and the drilling rig floor in order to suspend the drill string in the well bore from a point beneath the pipe stand which extends above the drilling rig floor. Thereafter, the connection between the pipe stand and the remainder of the drill string is unthreaded and the lower end of the stand is placed on a support pad, sometimes referred to as a setback, on the drilling rig floor. Next, a man at the upper portion of the rig disconnects the upper end of the stand from the travelling block and places the upper end of the stand between a set of racking fingers which support the stand in a substantially vertical position. The travelling block is then lowered to pick up the drill string and the process is repeated until all of the pipe, in three piece stands, is supported at the lower ends thereof on the setback with the upper ends being constrained between pairs of racking fingers. When running a new drill bit or a tool into the well bore the above-described process is reversed. The above described procedure for running a drill string into or out of a well bore poses a danger to the person working on the platform above the drilling rig floor. This job entails reaching from the platform to the center line of the well in order to connect the upper end of a pipe stand to the travelling block (and to disconnect the same therefrom) and moreover requires moving the upper end of each pipe stand between the racking fingers and the center line of the well. This is one of the most dangerous jobs on the drilling rig. There have been a number of prior art efforts to automate one aspect or another of the procedure for running drill pipe into and out of the well bore. Some of these procedures incorporate the use of mechanical arms mounted on the drilling rig mast adjacent the racking fingers for moving the upper ends of the pipe stands between the well center line and the racking fingers. Some include lower arms or dollies for simultaneously gripping the lower end of the stand in order to move the same between the well center line and the setback. Some of the prior art devices move the stands in response to control signals generated by a computer. An example of such an automated pipe handling system is disclosed in WO 84/00789. This includes upper and lower arm assemblies having a number of transducers and controlled by a programmable controller for use in engaging and moving uncoupled pipe stands to a storage position. All of the prior art devices suffer from several disadvantages. First, many of the prior art devices are cumbersome in their design and thus in their operation and are expensive to build. Prior art computer controlled devices typically include a lower gripping arm or dolly for moving the lower end of each pipe stand between the well center line and the setback, in order to co-ordinate movement of the upper and lower ends of the stand but this increases the cost and complexity of the equipment. According to the present invention there is provided an apparatus for use to facilitate coupling and uncoupling of substantially vertical lengths of pipe by moving the pipe between the coupled position thereof and a racking assembly, having a plurality of discrete pipe storage positions, the apparatus comprising an arm assembly having a gripping head mounted thereon for grasping an upper part of a pipe; means for moving the arm assembly; a support assembly for supporting the lower end of a pipe; and control means operatively connected to the moving means for moving the arm assembly to or from one of the positions characterised by means for sensing and uniquely identifying the location of each lower end of all of the pipes supported on the support assembly; and in that the control means is operatively connected to the sensing means and, dependent upon the location on the support assembly at which the lower end of a pipe is set or removed, moves the arm assembly to one of the positions. Such an apparatus can overcome most of the problems associated with the prior constructions. In order that the present invention may more readily be understood, the following description is given, merely by way of example, with reference being made to the accompany drawings, in which:- Figure 1 is a side elevational view of a portion of a drilling rig having one embodiment of the automated pipe racking system of the invention incorporated therein; Figure 2 is a partial view taken along line 2-2 in Figure 1; Figure 3 is a view taken along line 3-3 in Figure 2; Figure 4 is a view taken along line 4-4 in Figure 2 showing an arm gripping a stand of pipe; Figure 5 is an enlarged view of a portion of Figure 4 with the arm shown contracted in solid lines and extended in dashed lines; Figure 6 is a view taken along line 6-6 in Figure 2 with the arm shown gripping a pipe in the racking assembly; Figure 7 is an enlarged view taken along line 7-7 in Figure 1; Figure 8 is an enlarged view of a portion of Figure 7; Figure 9 is a view taken along line 9-9 in Figure 8; Figure 10 is an enlarged view of a portion of Figures 3 and 12 with some of the structure being shown in cross section; Figure 11 is a view taken along line 11-11 in Figure 12; Figure 12 is a view taken along line 12-12 in Figure 10; and Figure 13 is a schematic diagram of a portion of the electronic and fluidic controls for the automated pipe racking system. Figure 1 shows, mounted on a drilling rig 10, a portion of an automated pipe racking apparatus 12 of the present invention. Drilling rig 10 includes a mast 14 which has a travelling block (not visible) suspended at the upper end thereof over the center line 15 of a well bore 13 (in Figure 4) and includes a set of elevators 16 (visible in Figures 2 and 4) suspended therefrom for grasping a drill pipe 17. The elevators include a ram 19 (Figure 2) for opening and closing the elevators responsive to ram extension and contraction. Once a drill pipe is grasped by elevators 16, as shown in Figure 4, the travelling block may be raised or lowered as necessary to lower drill pipe into or remove drill pipe from the well bore. In Figures 1 and 2 a plurality of drill pipe stands 18 have their upper ends received in a rack 20 mounted on mast 14. Each of the pipe stands 22, is composed of three substantially identical pipes 24, 26, 28 threaded together at joints 30,32. Each of the pipes on the lower end of each stand includes a male-threaded coupling 34 which may be threadably engaged with a female-threaded coupling 36, at the top of another stand of pipe. In this manner a continuous string of drill pipe may be made up and lowered into well bore 13. The lower ends of the pipe stands are set on one of two support assemblies 37, 39 which are in turn supported by a floor 41 on the drilling rig. The racking assembly shown in Figures 2, 3 and 5, includes a U-shaped frame 38 which is mounted on mast 14 via pinned connections 40, 42 and is further supported by upright mast elements 44, 46 (in Figure 1). The racking assembly includes first and second sets of fingers 48 and 50, each comprising a plurality of rods, like rods 52, 54, 56, each of which has one end thereof mounted on an associated rod support member 58, 60 and which extends substantially orthogonally therefrom and are fixedly mounted on frame 38. Finger 52 and frame 38 define therebetween a pipe storage slot 62 into which are received the upper ends of pipe stands 18. Additional slots, like slots 64, 66, are formed between adjacent fingers, like fingers 52, 54, and fingers 54, 56, respectively. Similar slots, like slots 68, 70, are formed by first finger set 48 opposite the slots formed by second finger set 50. Indicated generally at 72 is an arm assembly, including a first arm 74 and a second arm 76, which include pipe gripping heads 78, 80, respectively. Pipe received in gripping head 80 is shown in dashed lines in several positions in Figure 2 to indicate the travel path thereof when moving pipe between center line 15 of the well and a pipe storage slot. Each of arms 74, 76 is fixed at 90° relative to the other arm and the entire arm assembly is supsended from a carriage 82. The carriage in turn is rollingly mounted on frame 38 and which extends between finger sets 48, 50. Welded to the underside of board 84 and to frame 38 are flanges 86, 88 (Figure 5) to fix the working board to the frame. Rollers 90, 92, 94, 96 are mounted on carriage 82 and carry the same in a pair of opposed tracks 98,100, shown in Figures 3, 5 and 6. Carriage 82 is slidable between a first position shown in dashed lines in Figures 2 and 5 and a second position shown in dot-dash lines. A first and second alleys 102 and 104 are formed between finger sets 48 and 50 and working board 84 respectively. The arm assembly 72 shown in Figures 4-6 is suspended from carriage 82 by a vertical pivot shaft (not visible in Figure 5) having an axis of rotation designated by dot-dash line 106. An arm support member, or rotating means 108, is mounted on the lower end of the pivot shaft. Arm 76 includes a first pair of parallel links 110, 112 each of which is pivotally mounted on arm support member 108 via pivotal connections 114, 116, respectively. The other end of links 110, 112 are pivotally connected to an elbow member 118. Only the front of each pair 110, 112 is visible the rear links being spaced behind are identical to the front links. A hydraulic ram 120 includes therein a rod 122 which is pivotally connected via connector 124 to a bar (not visible) which extends between front and rear links 112. The other end of ram 120 is pivotally connected to member 118. It can thus be seen that extension and retraction of ram 120 shifts links 110, 112 between the solid-line configuration shown in Figure 5 and that shown in Figure 6. Pairs of links 126, 128 each have one end pivotally connected to member 118 with link 128 being connected about the same axis of rotation as link 110 and link 126 being connected about the same axis of rotation as links 112. The other ends of links 126, 128 are pivotally connected as shown to a gripping head support element 130. A second hydraulic ram 132 has one end pivotally connected to element 130 and the other end pivotally connected to a bar (not visible) that extends between links 128. Thus, extension and retraction of ram 132 shifts links 126, 128 between an extended position (shown in dashed lines in Figure 5) and a retracted position (shown in solid lines in Figure 5) in which the links are aligned behind links 110, 112. Pipe gripping head 80 includes a hydraulic ram 134 (Figure 2), which enables pipe gripping head 80 to shift between an open position, shown in solid lines and a closed position shown in dashed lines. Pipe gripping head 78 is substantially indentical to head 80 and is shown in Figure 2 in the closed position. Pipe gripping head 78 includes therein a ram 138 (in Figure 5) for opening and closing the gripping head 80. Turning now to Figures 7-9, it will be seen that support assembly 37, comprises a substantially square frame 140 having a plurality of elongate supports, like supports 142, 144, 146, extending from one side of the frame to the opposing side. A plurality of cross members, like members 148, 150 are mounted on the supports and extend between opposing sides of frame 140 at right angles to the supports. A plurality of hinge pins, like hinge pins 152, 154, 156, extend across frame 140 parallel to the supports, pass through bores 162 in the cross members and are secured to the frame e.g. by nuts 158, 160 at each bore. Pivotally mounted on each hinge pin are a plurality of pipe support elements, like elements 164, 166, 168, which include a pair of depending ears 170, 172, having bores through which the hinge pins pass. Posts 174, 176 mounted on supports 142, 144, etc, are each provided with springs 178, there being two posts and associated springs, for each support element 170, 172, which tend to urge the pipe support element upwardly while the posts define a lower position below which the pipe support element cannot move. Bolts 180 pass through each pipe support element and are threaded into the support therebeneath, to limit the upper range of motion of the pipe support element and maintain the springs 178 in a compressed condition. Below each pipe support element is a sensing switch 182, 184, 186, 187, each mounted on a cross member 148, 150 etc. Switches 182, 186 are shown in an unactuated condition. When a sufficient downward force is exerted on the pipe support element over a switch, the pipe support element moves downwardly until it is supported by the posts beneath the pipe support element thereby actuating the switch. For example switch 184 is shown actuated by the weight of a pipe 188 resting pipe support element 168. As shown in Figures 10, 11 and 12, carriage 82 includes a frame 190 having mounted thereon a speed reducer 192 driven by a hydraulic motor 194. A drive shaft 196 extends from the speed reducer and is received through a pair of pillow blocks 198, 200 which are mounted on the frame. Drive shaft 196 has mounted on the outer ends thereof a pair of drive pinions 202, 204, which engage with an associated gear rack 206,208 (also viewable in dashed lines in Figure 2) which is mounted on the underside of working board 84. When drive shaft 196 is rotated by hydraulic motor 194, rotation of pinions 202, 204 relative to gear racks 206, 208 causes carriage 82 to move along tracks 80, 100. Reversing the direction of rotation of the hydraulic motor reverses the direction of carriage movement. A tachometer 209 is mounted on shaft 196 for generating a signal carrying information relating to the direction and number of rotations of shaft 196. An arm support pivot shaft 210 is mounted on frame 190 via bearings 212 and bearing supports 214, 215. The lower end of shaft 210 is bolted, via bolts 216, 218, 220 to arm support member 108. A pivot lever 222 (also viewable in dashed lines in Figure 2) is keyed to shaft 210, the upper end of which includes a threaded outer portion 223 over which a nut 225 is threadably engaged. The nut is tightened against a thrust washer 227 to enable bearing-constrained rotational movement of shaft 210. Connected via pivot 226 to pivot lever 222 is one end of a hydraulic ram 224, the other end of which is pinned to frame 190 via connection 228. When ram 224 is fully contracted the arrangement is as shown in Figure 12. As it is extended, force is exerted against pivot lever 222 thereby rotating shaft 210, so that when the ram is fully extended, shaft 210 rotates substantially 90° clockwise from the position shown in Figure 12. Figure 13 shows a hydraulic circuit 230 and an associated electronic circuit 232 which is incorporated into the apparatus. Included in circuit 230 are a plurality of electrically controlled hydraulic valves 234-248. For the sake of clarity the electric lines to each valve have been omitted from the drawing. Valve 234 is connected to hydraulic lines 250, 252, 254, 256. Line 254 is connected to a hydraulic pump 258 which provides pressurised hydraulic fluid to line 254. When valve 234 is in the position shown in Figure 13 hydraulic fluid does not pass through the valve and thus there is no flow in lines 250, 252. When the valve is moved to a first position, designated by parallel opposing arrows, fluid flows from line 254 to line 250, through motor 194, to drive carriage 82, into line 252 and through the valve into line 256. When the valve is in its second position, designated schematically by the crossed arrows, fluid flows from line 254 to line 252, through motor 194 in the opposite direction, into line 250 and through the valve into line 256. It is thus seen that valve 234 provides a means for selectively driving hydraulic motor 194 (and thus carriage 82) either forward to backward. In a similar fashion each of valves 236-246 are connected to various hydraulic rams as shown in the schematic and provide a means for either extending or retracting the ram to which the valve is connected. Valve 248 is connected to lines 260, 262, 264. When the valve 248 is in the position shown in Figure 13, fluid under pressure from pump 258 flows into line 262 whereas no fluid flows in line 264. When valve 248 is in the other position thereof, designated by the diagonal line, fluid flows from line 260 into line 264 while no fluid flows in line 262. Rams 266, 268 (not shown in the other drawings) are mounted on arm 74 and serve to extend and retract the arm in the same manner as rams 120, 132 extend and retract arm 76. As will be recalled, ram 132 (Figure 2) operates pipe gripping head 80; ram 138 (Figure 5) operates pipe gripping head 78; ram 224 (Figure 2) rotates shaft 210 and therefore arm assembly 72 when the ram moves between its extended and retracted positions; ram 19 (Figure 2) opens and closes elevators 16; and motor 194 (Figure 12) moves carriage 82 along working board 84. A system relief valve 270 is provided to vent hydraulic fluid to the atmosphere in the event that excessive fluid pressure builds up in the hydraulic circuit. Circuit 232 includes a computer 272 which receives signals from tachometer 209 on carriage 82. The tachometer produces a constant number of pulses for each revolution of shaft 196 on the carriage with the polarity of the pulses being dependent upon the direction of shaft rotation, thereby enabling the computer to monitor the position of the carriage relative to running board 84. Each of rams 120, 132, 266, 268 which control the position of arms 74, 76 includes therein a ram position sensor 276, so that the computer is provided with signals indicating the extending the extent to which each arm is extended from its retracted position. Since the computer is also provided with a signal which indicates the position of carriage 82, it can determine the position of gripping heads 78, 80 relative to pipe rack 20 and to elevators 16. A line from each of the pipe support element switches 182, 184, 186 in support assemblies 37, 39 in Figure 7 is also provided to computer 272. Thus the computer is signalled each time the lower end of a pipe is set on or removed from a particular pipe support element, like pipe 188 on support element 168 in Figure 9. The computer further includes a plurality of output lines indicated generally at 274 which are connected in one-to-one relationship with valves 234-248 and with pump 258. Thus, each of the valves is operated by an output signal produced by computer 272 as is hydraulic pump 258. For the sake of clarity of Figure 13, the full extent of the output lines to the various valves and the pump has been omitted. In operation the elevators 16 are raised by the travelling block (not shown) until the upper female coupling, like coupling 36, of pipe 17 is raised above the level of working board 84. Slips are set between the drill string and the rig floor, as shown in Figure 4, and the lower end of the exposed pipe stand is unthreaded in the usual manner. Next, the lower end of the pipe stand, as shown in Figure 9, is set onto one of the pipe support elements, like pipe support element 168 in support assembly 39, thereby signalling the computer of the particular location on support assembly 39 upon which the lower end of the pipe stand is set. The lower end of the pipe is traditionally handled by rig hands working on drilling rig floor 41 but may also be manipulated by conventional arms which are manufactured for such use. The computer is programmed to place valve 248 in the position shown in Figure 13 and to actuate valve 242 to the position extending arm 76 responsive to the lower end of the pipe stand being set on the support assembly. Rams 120, 132 provide position information and when the arm is extended to the position of Figure 4, i.e. to well center line 15, valve 242 is returned to the position of Figure 13 thereby stopping further extension of arm 76. Next, valve 238 is opened thereby providing fluid to ram 134 and closing gripping head 80, and simultaneously valve 246 is actuated to open elevators 16. Thereafter valve 242 is actuated to the position for retracting arm 76. When the arm is fully retracted, the computer generates an output signal which is applied to valve 236 (thereby extending ram 134) for rotating the arm 90° into alley 104 as shown in Figure 2. After arm 76 is rotated 90°, the computer actuates valve 234 thereby providing fluid to motor 194 and driving carriage 82 from the dashed line position (in Figure 2) toward the dot-dash position. The computer memory includes stored therein a data table that includes each of the switch locations in support assemblies 37, 39 and has associated therewith a carriage position. Thus, for each switch actuated by the lower end of a pipe stand being set thereon, the carriage drives to a preselected position. For the switch upon which pipe stand 17 is placed, the carriage drives until the upper end of the pipe stand is opposite slot 66. The computer memory further includes a second data table in which each switch is associated with an extended position of arm 76. When the carriage is opposite the slot mandated by the first data table in the computer, arm 76 extends the appropriate distance mandated by the second data table. When the arm is so posiitoned, valve 238 moves to a position in which gripping head 80 opens and thereafter the arm returns to its fully retracted position, the carriage returns to its dashed line position in Figure 2, and arm 76 rotates 90° back to the solid-line position of arm 76 in Figure 2. While the apparatus is storing the upper end of the pipe stand in slot 66 as described, the rig travelling block lowers elevators 16 to the floor where they are closed manually about the next pipe stand, which is suspended by slips from the drilling rig floor in the well bore as shown in Figure 4. Thereafter the elevators are raised and when arm 76 returns to the position of Figure 2, the next stand of pipe to be racked is in the position of pipe 17. Slips are again used to suspend the drill string, the next pipe stand is unthreaded and the lower end of the pipe stand is set down adjacent the previous pipe stand on the support assembly. Actuation of the switch on the support assembly causes the carriage to move the upper end of the next pipe stand to slot 66 and the arm to extend until the upper end of the stand is adjacent the previously racked pipe stand. Since a preselected number of pipe stands fill slot 66, with the lower end of each pipe stand filling a row of pipe support locations on support assembly 39, the program causes the carriage to drive to the next empty slot when the previous slot is full. In a similar fashion, as each slot is filled with pipe stands in order, when all of the slots in finger set 50 are full, the program causes arm 74 to be used in a substantially identical symmetrical fashion to fill the slots defined by finger set 48 on the opposite side of the working board. Thus, a pipe is gripped by head 78, arm 74 is retracted and ram 224 is retracted thereby moving the pipe in head 78 into alley 102 in position for racking the pipe in slot 68. Pipes are positioned one at a time in slot 68 until it is full and thereafter each of the other slots is filled in order. While slots defined by finger set 48 are being filled, the computer program causes valve 248 to move to the other position thereof and actuates valves 240, 244 (as well as valves 234, 236, 246) in a manner similar to when slots defined by finger set 50 are being filled. After all of the pipe in the well bore is removed and racked, the drill bit may be changed or a selected tool may be readied for running into the well bore, whichever is the case. The tool or bit is mounted on the first pipe or drill collar which is suspended by slips in the well bore. When unracking pipe, the computer must be signalled by an operator to generate signals which drive the carriage and the appropriate arm to the position of the last-stored pipe stand in the rack. When so gripped, the arm is retracted until the pipe stand is received in the alley, the carriage is driven back to the dashed line position of Figure 2 and the arm is rotated 90° and extended to present the pipe stand elevators 16, which are open. The computer operates valve 246 thereby closing the elevators via ram 19 while simultaneously opening the gripping head. When the travelling block picks up on the elevators thereby removing the lower end of the pipe stand from the support assembly and permitting it to swing into alignment with the well center, the switch on which the lower end of the stand was resting is deactuated. Next, the pipe stand held by the elevators is threadably engaged with the upper pipe in the slips which are then removed. Thereafter the travelling block is lowered until the newly-added pipe stand is received in the well bore and slips are inserted to suspend the same therein. The elevators are manually opened and returned to the position of Figure 2 to receive the next stand of pipe. The computer has a third and fourth data table stored in the memory thereof which are used only in the unracking process. The third data table associates a selected switch with a selected carriage position, namely the carriage position for accessing the next stand of pipe when the preceeding pipe is removed from its support assembly switch. In a similar fashion, the fourth table associates each support assembly switch with a selected arm position which is necessary for reaching the next pipe stand after the preceeding pipe stand has been lifted from its associated support assembly switch. Thus, when the preceeding pipe stand is lifted by the rig tackle and elevators 16 from the support assembly, the computer is programmed to drive carriage 82 to the appropriate slot for retrieving the upper end of the next pipe stand and the arm extends a sufficient amount to grasp the stand with its associated gripping head. As soon as the arm is so extended and the pipe gripped, the computer program generates signals which retract the arm and return the carriage to the dashed line position in Figure 2. The arm is rotated 90° and extended thereby presenting the upper end of the stand to elevators 16 which lifts the same from the support assembly thereby signalling a repeat of the process for retrieving the next pipe stand. The pipes are removed in exactly reverse order as they were racked with the computer operating arm 74 for unracking finger set 48 and arm 76 for unracking finger set 50.

Claims: An apparatus for use to facilitate coupling and uncoupling of substantially vertical lengths of pipe (18) by moving the pipe between the coupled position thereof and a racking assembly (20) having a plurality of discrete pipe storage positions (62-70), said apparatus comprising an arm assembly (72) having a gripping head (78,80) mounted thereon for grasping an upper part of a pipe; means (82) for moving said arm assembly (72); a support assembly (37,39) for supporting the lower end of a pipe; and control means (230,232) operatively connected to said moving means (82) for moving said arm assembly (72) to or from one of said positions (62-70) characterised by means (182-187) for sensing and uniquely identifying the location of each lower end of all of the pipes supported on said support assembly; and in that said control means (230,232) is operatively connected to said sensing means (182,187) and, dependent upon the location on said support assembly at which the lower end of a pipe is set or removed, moves said arm assembly (72) to one of said positions (62-70). Apparatus according to claim 1, wherein said moving means comprises a carriage (82) slidingly mounted on a track (98,100) adjacent said racking assembly and said control means includes means (194-208) for driving said carriage to a position on said track dependent upon the location on said support assembly (32,39) at which the lower end of a pipe is set or removed. Apparatus according to claim 2, wherein said racking assembly includes a plurality of fingers (52-56) extending transversely from each side of said track and wherein said control means includes means for driving said arm assembly to a position relative to said carriage dependent upon the location on said support assembly (37,39) at which the lower end of a pipe is set or removed and wherein said apparatus further includes rotating means (222,224) disposed between said arm assembly and said carriage assembly for enabling orientation of said arm assembly toward said fingers on either side of said track. An apparatus according to claim 2 or 3 wherein the coupled position corresponds to the centre line (15) of a well; said racking assembly comprises a first set (48) of racking fingers located adjacent the upper end of the pipe lengths, said racking fingers being substantially parallel to one another and spread apart by an amount greater than the diameter of the pipes and further being substantially normal to the well centre line, and a second set (50) of racking fingers (52-56) located adjacent the upper end of the pipe lengths, said racking fingers being substantially parallel to one another and spaced apart by an amount greater than the diameter of the pipes and further being substantially opposed from and substantially parallel to the fingers of said first set of racking fingers; said track (98,100) being suspended between said sets (48,50) of racking fingers; said carriage (82) being mounted on said tracks for movement toward and away from the well centre line; said arm assembly having an arm support member (72) mounted on said carriage and being rotatable about an axis substantially parallel to the well center line, a first gripping arm (78) fixedly mounted on said arm support member and being movable along a first arm axis substantially normal to the axis of rotation of said arm support member, a second gripping arm (80) fixedly mounted on said arm support member and being movable along a second arm axis substantially normal to the axis of rotation of said arm support member and to said first arm axis, and means for rotating said arm support member between a first position in which said first arm axis substantially intersects the well centre line and a second position in which said second arm axis substantially intersects the well centre line. An apparatus according to any preceding claim wherein said apparatus further includes means (120,132) for extending and retracting said arm assembly relative to said moving means. An apparatus according to any preceding claim wherein said control means comprises a computer (232) programmed to drive said moving means and said arm assembly to a position in which a pipe length in said racking assembly is received in said gripping head responsive to a pipe length being removed from said support assembly and vice versa. An apparatus according to claim 6, wherein said computer (232) is further programmed to grip the pipe length received in said gripping head and thereafter drive said moving means and said arm assembly to a position in which the upper end of said pipe is substantially in position for coupling, or in which the upper end of said pipe is received in said racking assembly. Apparatus according to any preceding claim wherein said means for sensing comprises a plurality of switches (182-186) mounted on said support assembly, each of said switches being actuated by the presence of the lower end of a pipe being set thereon. Apparatus according to any preceding claim, wherein said support assembly comprises a plurality of discrete support positions (164,168) beneath said rack for supporting the lower end of such pipes when the upper end thereof is received in one of said storage positions, each of said pipe support positions being associated with a different pipe storage location whereby a pipe received in a selected pipe storage location is always supported by an associated pipe support position.

Inventors: BRITTAIN, JOHN C., JENKINS, CECIL, WOOLSLAYER, JOSEPH R.
Applicants: WOOLSLAYER COMPANIES, INC.
Application year: 1987
Main classification: E21B19
IPC codes: E21B19