Patent Publication Number: US-8534386-B2

Title: Articulated apparatus for handling a drilling tool

Description:
RELATED U.S. APPLICATIONS 
     The present application claims priority from prior-filed U.S. Provisional Application No. 61/260,681, filed on Nov. 12, 2009. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable. 
     REFERENCE TO MICROFICHE APPENDIX 
     Not applicable. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to an articulated apparatus for handling drilling equipment, tools and other apparatus. More particularly, the present invention relates to an articulated apparatus having articulated sets of arms which move the drilling tool between a stowed position and a deployed position. More specifically, the present invention relates to an articulated handling apparatus which allows for horizontally and vertically adjustable movement of the drilling tool.
         2. Description of Related Art Including Information Disclosed Under 37 CFR 1.97 and 37 CFR 1.98       

     In the oil and gas industry, various tools are required to be installed in a location adjacent to the well bore. Generally, the drill string is made up of a drill pipe and a bottom hole assembly. During the installation of such a drill string, various components must be threaded together in a quick and efficient manner. In other circumstances, tools must be supplied in a location over well center or over the mouse hole. In most operations, it is imperative that the various components of the drilling operation be supplied in a quick, efficient and safe manner. 
     The handling of a drilling string can be a routine and tedious job performed on almost a daily basis. The apparatus that is normally called a power tong or a roughneck is often utilized to make up or break the threaded tool joint connection of a drilling string. In normal operation, it is necessary to move the power tong or the roughneck between various locations including the well center, the mouse hole and a storage position. It is often difficult to move such apparatus on the drilling rig due to the heavy weight of such a device. Additionally, there is very limited space around the well center and, as such, efficient handling is required in limited space availability. Additionally, and furthermore, the need to move such heavy equipment in such a limited area can often cause accidents that could damage drilling apparatus and injure the rig crew. In the past, one method that is used carry the power tong or roughneck from the well enter backward and forward is mounting the unit on a trolley that rides on a pair of tracks mounted on the drill floor. The problem with this configuration is that the floor-mounted tracks often create tripping hazards for the rig crew. It becomes difficult and unusually complex when multiple locations are required to move the units. Such floor-mounted tracks often occupy too much space on the rig. 
     Another type of device that is used is a telescopic arm driven by a hydraulic cylinder. This type of carrying device requires extra space and is costly to manufacture. These types of carrying devices are also limited with respect to weight-carrying requirements and size. 
     Another type of device is used to accomplish the movement of various drilling apparatus is to swing the tong or roughneck by using a C-shaped mechanism where the unit is pivotally hanging on the top the structure. A problem with this type of device is that is difficult to position the unit because the weight of unit keeps the vertical position. Additionally, it is limited as having a relative short reach-out capability. 
     In the past, various U.S. patents have issued relating to such handling apparatus. For example, U.S. Pat. No. 4,234,150, issued on Nov. 18, 1980 to Mee et al., describes a mechanical arm assembly in which the distal end is movable in a straight line relative to the proximal end thereof. The articulated arm includes a first arm which incorporates a first parallelogram linkage and a second arm which includes a second parallelogram linkage. These adjacent ends of the parallelogram linkages are drivingly connected to one another whereby rotation of the first arm about the first end support alters the geometry of the first parallelogram linkage which, in turn, effects a corresponding alteration in the geometry of the second parallelogram linkage. This causes the movement of the distal end of the second arm in a straight line relative to the proximal end of the first arm. 
     U.S. Pat. No. 4,274,778, issued on Jun. 23, 1981 to Putnam et al., shows a mechanized stand handling apparatus for drilling rigs. This apparatus is suitable for the handling of drill collars and pipe stands. This apparatus is comprised of hydraulically-mechanized derrickman and associated fingerboard lock bars adapted for the remote control in the placement of the stands in a derrick. This allows the device to be in alignment with the rotary table and fully placed within the racking fingers. The stand handling mechanism has articulated arms extensible by an actuator apparatus housed entirely within the confines thereof. 
     U.S. Pat. No. 5,667,026, issued on Sep. 16, 1997 to Lorenz et al., describes a positioning apparatus for a power tong. This positioning apparatus moves a power tong between an operative position and an inoperative position. The positioning apparatus has a first arm and a second arm. One end of the first arm is pivotally connected to one end of the second arm while the other end of both the first arm and the second arm are pivotally mounted on a beam attached to the drilling tower. Both arms can be extended and retracted in unison to move the power tong towards and away from its operative position circumjacent a pipe string. 
     U.S. Pat. No. 6,318,214, issued on Nov. 20, 2001 to A. Buck, teaches a power tong positioning apparatus that is positionable on the surface of drilling rig deck and attachable to at least one power tong. The power tong support is adapted to position at least one power tong so that it may engage a tubular member. The power tong positioning apparatus includes a frame, a base movably positioned on the frame, and a power tong support attached to the base and movably attachable to at least one power tong. 
     U.S. Pat. No. 7,178,612 issued on Feb. 20, 2007, U.S. Pat. No. 7,249,639 issued on Jul. 31, 2007, and U.S. Pat. No. 7,455,128 issued on Nov. 25, 2008, each teach an automated arm for positioning of drilling tools, such as an iron roughneck. The apparatus described in these patents serves to move an iron roughneck into position to allow making-up or breaking-out of threaded joints of a drill string. The apparatus may also be used to move other drilling equipment into position on the centerline of the well or at mouse holes. A self-balanced, dual-synchronized parallelogram arm is utilized to accomplish the movement of the devices. Hydraulic or pneumatic cylinders are used for extension and retraction of the arm rather than to support the tool. The arm may hold the tool in any position without cylinder assistance. The linkage in the synchronized parallelogram may be accomplished by gears, links, slots or rollers. 
     A problem associated with U.S. Pat. Nos. 7,178,612, 7,249,639 and 7,455,128 is that they have an excessive number of linkages and rotational members as main load bearing elements. These linkage and rotational members tend to wear out and fail since they take a major cantilever load during the movement. Since the synchronized linkage is a main load path of the structure of the device, the synchronized link can easily wear and break. In view of the substantial structure of the other components, the synchronized link is relatively small and fragile. These patents describe an apparatus that also requires a column and guide to absorb the entire cantilever load and overturn moment from the drilling apparatus. The structure of the apparatus described in these patents is also costly to fabricate and difficult to service. Generally, each of the components of the prior art have too many moving elements, is difficult to control, and is prone to deterioration and breakage. Additionally, since the vertical column is located on the drilling floor and since the moving components are located in a position where workman is carrying out their tasks, these devices tend to present a safety hazard at the drilling rig. Also, in these patents, the entire extended arms go up and down while carrying the drilling tool. The guide moves up and down along the column directly under the main rig structure in a very tight space. Since this space has many critical electrical and fluid service lines therein, the prior art can often cause serious problems resulting from contacts and collisions. It can also potentially damage the rig structure. 
     It is an object of the present invention to provide an articulated handling apparatus that effectively allows for the movement of the drilling apparatus from a stowed position to a deployed position. 
     It is another object of the present invention to provide an articulated handling apparatus which places vertical movement adjacent to the well center or mouse hole in an open area away from the rig structure and service lines. 
     It is a further object of the present invention to provide an articulated handling apparatus that avoids damage to rig structure and equipment. 
     It is another object of the present invention to provide an articulated handling apparatus that better distributes cantilever load and overturn moment by only moving the drilling tool. 
     It is still a further object of the present invention to provide an articulated handling apparatus that is easy to service and to fabricate. 
     It is still another object of the present invention to provide an articulated handling apparatus which minimizes wear-and-tear and failure rates by using hydraulic or pneumatic actuators as the main load bearing elements. 
     It is a further object of the present invention to provide an articulated handling apparatus that minimizes a risk of damage to drilling rig structure. 
     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 an articulated handling apparatus for handling a drilling tool. This apparatus comprises a base, a first set of arms pivotally connected at one end to the base and extending outwardly therefrom, a joint member pivotally connected to an opposite end of the first set of arms, a second set of arms pivotally connected at one end of to the joint member and extending outwardly therefrom, a carrier assembly pivotally connected to an opposite end of the second set of arms, and at least one actuator connected to at least one of the first and second sets of arms for moving the carrier assembly between a stowed position and a deployed position. The carrier assembly has a means for holding and carrying the drilling tool. A drive means is connected to the carrier assembly for moving the tool along the carrier assembly. 
     In the present invention, the base is rotatably connected to the drill floor. The base can be manually manipulated or driven with a hydraulic or electric motor. The first set of arms includes a first arm having one end pivotally connected to the base and an opposite end pivotally connected to the joint member, and a second arm having one end pivotally connected to the base and an opposite end pivotally connected to the joint member. The first arm extends in parallel relationship to the second arm. The actuator means has one end pivotally connected to the base and an opposite end pivotally connected to one of the first and second arms in a location between the ends thereof or connected to the joint member directly. The first set of arms can also include a third arm having one end pivotally connected to the base and an opposite end pivotally connected to the joint member, and a fourth arm having one end pivotally connected to the base and an opposite end pivotally connected to the joint member. The first arm and the second arm extend in a common vertical plane. The third arm and the fourth arm extend in a common vertical plane in preferably spaced parallel relationship respectively to the first arm and to the second arm. 
     In the present invention, the second set of arms includes a first arm having one end pivotally connected to the joint member and an opposite end pivotally connected to the carrier assembly, and a second arm having one end pivotally connected to the joint member and an opposite end pivotally connected to the carrier assembly. The first arm extends in preferably parallel relationship to the second arm. The actuator has one end pivotally connected to the joint member and an opposite end pivotally connected to one of the first and second arms in a location between the ends thereof or connected to the carrier assembly directly. The second set of arms can also include a third arm having one end pivotally connected to the joint member and an opposite end pivotally connected to the carrier assembly, and a fourth arm having one end pivotally connected to the joint member and an opposite end pivotally connected to the railing assembly. The first arm and the second arm extend in a common vertical plane. The third arm and the fourth arm extend in a common vertical plane in preferably spaced parallel relationship respectively to the first arm and to the second arm. 
     In the present invention, the actuator includes a first actuator having one end connected to the base and an opposite end connected to at least one of the first set of arms, (or connected to the joint member directly) and a second actuator having one end connected to the joint member and an opposite end connected to at least one of the second set of arms (or connected to the carrier assembly directly). As used herein, multiple actuators can be used as the first actuator and the second actuator. A fluid delivery means is connected to the first and second actuators for passing fluid to the actuators such that the actuators respectively move the first set of arms and the second set of arms at a substantially equal angular velocity in opposite directions. 
     In an alternative embodiment of the present invention, the first set of arms has an upper arm and a lower arm and the second set of arms has an upper arm and a lower arm. The movement of the two sets of arms can be coordinated by a pair of meshed gears or a linkage having one end pivotally connected to the lower arm of the first set of arms and an opposite end pivotally connected to the lower arm of the second set of arms. A pair of meshed gears or a linkage can also be connected to the upper arm of the first set of arms and an opposite end connected to the upper arm of the second set of arms. At least one pair of gears or at least one linkage can be used. 
     The carrier assembly preferably has at least one vertical rail and has a bracket extending outwardly therefrom. The opposite end of the second set of arms is pivotally connected to the bracket. The carrier has means thereon for receiving a drilling tool thereon. The drive means serves to move the drilling tool vertically along the rail. The drive means can be a hydraulic or pneumatic cylinder, a rotary actuator, a rack-and-pinion, a pulley-and-spool, and similar mechanisms. In the preferred embodiment, the drive means is attached to the carrier assembly and to the drilling tool. Alternatively, the drive means can be only attached to the drilling tool and push directly against the drill floor so as to raise and lower the drilling tool. Even though the use of rail having a channel-type recess for receiving the rollers as a guide means is preferred in this invention to provide stability of vertical movement of the drilling tool, the same stability can also be alternatively achieved by attaching the drive means to the drilling tool such that the attaching point or points corresponds to or aligns with the center of gravity of the drilling tool without using the rail. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         FIG. 1  is a perspective view of the articulated handling apparatus of the present invention. 
         FIG. 2  is a side elevational view of the articulated handling apparatus of the present invention showing, in particular, the apparatus in a stowed position. 
         FIG. 3  is a side elevational view of a preferred embodiment of the articulated handling apparatus of the present invention. 
         FIG. 4  shows a side elevational view of a first alternative embodiment of the articulated handling apparatus of the present invention showing, in particular, how the actuators are connected between the base, the joint member and the carrier assembly. 
         FIG. 5  is a side elevational view of another alternative embodiment of the articulated handling apparatus of the present invention showing, in particular, how the second set of arms are driven by a pair of gears. 
         FIG. 6  is a side elevation view of another alternative embodiment of the articulated handling apparatus of the present invention in which the second set of arms are driven by a linkage. 
         FIG. 7  is a side elevational view of the alternative embodiment of the articulated handling apparatus of the present invention in which a combination of a mechanical drive means and an actuator means are used. 
         FIG. 8  is a side elevational view of still a further alternative embodiment of the articulated handling apparatus of the present invention in which the drilling tool moves upwardly and downwardly by an actuator pushing directly against the drill floor. 
         FIG. 9  is fluid diagram showing the hydraulic system suitable for driving the actuators in a desired speed by controlling a flow outlets in a desired ratio from the flow inlet. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring to  FIG. 1 , there is shown the articulated handling apparatus  10  in accordance with the preferred embodiment of the present invention. The articulated handling apparatus  10  includes a base  12 , a first set of arms  14 , a joint member  16 , a second set of arms  18 , a carrier assembly  20 , and a pair of actuators  22  and  24 . In  FIG. 1 , it can be seen that the articulated handling apparatus  10  is in its deployed position. A drilling tool  26  is received by the carrier assembly  20  so as to be positioned in a desired location over well center or over a mouse hole. The drilling tool  26  can be one of the wide variety of components, such as a power tong, a roughneck, a drill string, a top drive, a casing tong, mud bucket, stabbing tool and any other applicable apparatus. The articulated handling apparatus  10  of the present invention is intended to move the drilling tool  26  from a stowed position to a deployed position. 
     In  FIG. 1 , it can be seen that the base  12  is suitable for placement onto the floor  28  of a drilling rig. In particular, the base  12  can be affixed by various bolts  30  in a desired position onto the drill floor  28 . The base  12  is rotatably mounted to the drilling floor so as to rotate only in a horizontal plane. The base can have a hydraulic or electric motor  80  connected thereto so as to allow the base to he suitably rotated relative to the drilling floor. Alternatively, the base  12  can be suitably mounted by turntable bearing connections so as to allow one to manually manipulate and adjust the angular orientation of the apparatus  10  in relation to the well center. Suitable flanged connections, such as illustrated in  FIG. 1 , can be used as to effectively secure the base  12  in a desired position. The base  12  includes a flanged portion  32  that extends upwardly in a generally L-shaped framework  34 . The connection between the base  12  and the drill floor should be suitably strong enough to support the cantilever effects caused by he movement of the drilling tool  26  from its stowed position to its deployed position. 
     The first set of arms  14  includes an upper arm  36  and a lower arm  38  extending in generally parallel relationship to each other. The upper arm  36  has one end pivotally connected to an upper portion of the L-shaped framework  34  of base  12 . The opposite end  41  of the upper arm  36  is pivotally connected to the joint member  16 . One end of the lower arm  38  is pivotally connected to the base  12 . An opposite end of the lower arm  38  is pivotally connected to the joint member  16 . The actuator  22  is also pivotally connected to a lower portion of the L-shaped framework  34  of base  12  and extends outwardly therefrom so as to connect to a gusset  46  on the lower arm  38  in a location between the ends  42  and  44  thereof. As such, when the actuator  22  is operated, the introduction of fluid pressure into the actuator  22  will tend to move the arms  36  and  38  upwardly. 
     The second set of arms  18  includes an upper arm  50  and a lower arm  52 . The upper arm  50  has one end  54  pivotally connected to joint member  16  and opposite end  56  pivotally connected to the carrier assembly  20 . The lower arm  52  has one end  58  pivotally connected to the joint member  16  and an opposite end  60  pivotally connected to the carrier assembly  20 . The actuator  24  has an end pivotally connected to the joint member  16  and an opposite end pivotally connected to a gusset  66  extending from the lower arm  52 . As can be seen, since actuators  22  and  24  are used in the preferred embodiment of the present invention, there is no linkage required by the upper arms  36  and  50  and the lower arms  38  and  52 . As such, the wear associated with such linkages is effectively avoided. 
     The carrier assembly  20  includes a bracket  70  at a lower end thereof. The carrier assembly  20  includes vertical rail  72  extending upwardly therefrom. Rollers  74  and  76  are received by the vertical rail  72  and can ride along the vertical rail  72  upwardly and/or downwardly. A suitable bracket  78  is connected the drilling tool  26  so as to allow the drilling tool to be moved upwardly and downwardly by the relationship between the rollers  74  and  76  and the vertical rail  72 . An arm  80  is affixed to the vertical rail  72  and extends outwardly therefrom. A drive means  82  is connected to the arm  80  and to the drilling tool  26  so as to cause this upward and/or downward movement. In this manner, the present invention is able to achieve vertical movement of the drilling tool  26  relative to the carrier assembly  20 . The operation of the present invention allows the drilling apparatus  26  to move not only inwardly and outwardly but also upwardly or downwardly. The rotational mounting of the base  12  on the floor  28  allows the present invention to pivot so as to angularly position the drilling tool  26  in a horizontal plane. As such, the present invention is adaptable for accurate positioning of the drilling tool in a desired location. As used herein, the “drive means”  82  particularly illustrates a hydraulic or pneumatic actuator. However, this term“drive means” refer to a wide variety of other mechanisms, such as a rack-and-pinion assembly, a sprocket-and-gear arrangement, a motor drive, or a rotary actuator. The drive means can be alternatively attached to the top, the bottom or the sides of the drilling tool. As seen here, the advantage of using the carrier assembly in the present invention provides a common supporting means to easily and quickly remove the existing drilling tool and replace it with another tool for a different operation. 
     In  FIG. 1 , it can be seen that there is motor  8  that is mounted on the base  12  and connected to the L-framework  34  so as to allow for the rotational movement, if desired, of the articulated handling apparatus  10 . Various other motor configurations can be employed in order to achieve this effect. A valve assembly  9  is provided on the base  12  so as to allow hydraulic or pneumatic fluid to be introduced into the actuators  22  and  24 . 
     The first set of arms  14  includes arms  84  and  86 . Arms  36  and  38  extend in parallel relationship to each other. Arms  84  and  86  extend parallel relationship to each other. Arms  36  and  38  extend in a generally common vertical plane. Similarly, arms  84  and  86  also extend in a common vertical plane in parallel spaced relationship to the vertical plane in which arms  36  and  38  extend. The joint member  16  has a first joint member  89  pivotally connected to the arms  36  and  38 . Another joint member  90  is pivotally connected to the ends of arms  84  and  86 . The first joint member  89  and the second joint member  90  are positioned in parallel spaced relationship to each other. The second set of arms  18  also includes arms  92  and  94  (not shown in  FIG. 1 ). Arms  92  and  94  extend in generally parallel relationship to each other. The arms  50  and  52  are in a common vertical plane. Arms  92  and  94  are also are in this common vertical plane. These common vertical planes are in parallel spaced relationship to each other. Arms  92  and  94  are pivotally connected to the second joint member  90 . Arms  50  and  52  are pivotally connected to the first joint member  89 . 
     The carrier assembly  20  is illustrated as having vertical rail  72 . The carrier assembly  20  also has another vertical rail  100  The carrier assembly  20  includes rollers that are received within the channels of the vertical rails  72  and  100 . The second vertical rail  100  also has an actuator  102  that is connected to arm  104  extending outwardly from an upper end thereof. Actuators  82  and  102  form the “driving means” for the movement of the drilling tool  26  upwardly and downwardly. When a hydraulic fluid is introduced into the actuators  82  and  102 , the piston assembly associated with the actuators  82  and  102  will correspondingly move the drilling tool  26  downwardly. As hydraulic fluid is released from the actuators  82  and  102 , the piston associated with the cylinder of the actuator will move upwardly so as to correspondingly move the drilling tool  26 . The vertical rail  100  also includes a bracket  106  that is pivotally connected to the opposite ends of arms  92  and  94 . Although the preferred embodiment uses rails, a variety of other mechanisms can be used to support the drilling tool  26 . 
       FIG. 2  illustrates the articulated handling apparatus  10  of the present invention in its stowed position. Virtually all of the components are in a location above the base  12 . The first set of arms  14  extend upwardly vertically from the base  12 . The joint member  16  is positioned directly above the base  12 . The second set of arms  18  also extend vertically above the base  12 . The actuator  22  is illustrated in a generally vertical orientation and is positioned between the first set of arms  14  and the second set of arms  18 . The carrier assembly  20  is illustrated as having the vertical rail  72  extending slightly outwardly of the base  12 . The carrier assembly  20  remains in a generally vertical orientation and is folded so as to be in proximity to the second set of arms  18 . As can be seen, the articulated handling apparatus  10  of the present invention is movable to a stowed position in which each of the components is neatly positioned against each other in a compact configuration above the drill floor. As can be seen, the articulated handling apparatus  10  of the present invention has a relatively small profile and footprint on the generally tight space of the drill floor. 
       FIG. 3  shows the articulated handling apparatus  10  of the present invention as in its deployed position. As can be seen, the base  12  has the first set of arm  14  extending outwardly therefrom. The actuator  22  receives fluid pressure therein so as to urge the piston  112  outwardly therefrom. This correspondingly exerts a force onto the gusset  46  so as to urge the arms outwardly from the stowed position (as illustrated in  FIG. 2 ). It can be seen that each of the first set of arms  14  is pivotally connected at different location to the L-shaped framework  34  of the base  12 . The opposite end of the arms  36  and  38  are pivotally connected to the first joint member  89 . Similarly, the arms  50  and  52  are pivotally connected to an opposite side of the first joint member  89 . The actuator  24  is suitably actuated so as to urge the piston  114  outwardly therefrom so as to act on the gusset  66 . Once again, this urges the second set of arms  18  outwardly from the stowed position. The opposite ends of the arms  50  and  52  are each pivotally connected to the bracket  70 . At least one actuator  22  or more is used. At least one actuator  24  or more is used. 
     The rail  72  is affixed to the bracket  70  and extends upwardly therefrom. Rollers  74  and  76  are received within the channel of the rail  72  and are suitably connected to the drilling tool  26 . The actuator  82  is pivotally connected to the arm  80  and actuated so as to urge the piston  116  downwardly and/or upwardly so as to cause the drilling tool  26  to move vertically downwardly and/or upwardly. 
     The articulated handling apparatus  10 , as illustrated in  FIGS. 1-3  herein, achieves significant advantages over the prior art. As can be seen, the articulated handling apparatus  10  of the present invention has a minimal number of linkages and rotational members. As such, the present invention tends to minimize the wear and tear of such linkages and rotational members. The present invention, as shown in  FIGS. 1-3 , does not use a synchronized link between the rotational members. As such, the present invention avoids a main load path of such synchronized linkage and, as a result, avoids any possible wear and breakage of such linkage. In the prior art, the synchronized link is relatively small and fragile. In the present invention, the movement of the drilling tool, and the cantilever effects associated with such movements, are absorbed by the entire structure of the apparatus. The present invention allows the drilling tool to be easily moved from a stowed position to a deployed position. The stowed position affords a relatively small footprint and profile within the drilling rig structure. The present invention places the vertical movement of the drilling tool adjacent to the well center or mouse hole. Additionally, this vertical movement is located an area away from the rig structure and the service lines associated with such rig structure. The cantilever load and overturn moment are better distributed throughout the articulated handling apparatus  10 . The articulated handling apparatus  10  is easy to service and to fabricate. The hydraulic or pneumatic actuators as used in the present invention serve to be the main load bearing elements. As such, wear-and-tear and failure rates are minimized. Although only two sets of arms and one set of joint members are configured in the preferred embodiment, a third or fourth set of arms, if necessary, can also be added to the end of the second set of arms with additional joint members between the second and third sets of arms to provide an extra longer reach to the well center location. The joint member and the set of arms can be inverted upside down. 
       FIG. 4  shows an alternative embodiment  200  of the articulated handling apparatus of the present invention. In  FIG. 4 , it can be seen that the base  202  has a first set of arms  204  extending outwardly therefrom. An actuator  206  has one end pivotally connected to the L-shaped framework  208  of the base  12  and an opposite end pivotally connected to the joint member  210 . The actuator  206  is positioned so as to extend between the upper arm  212  and the lower arm  214 . At least one actuator  206  or more is used. At least one actuator  222  or more is used. 
     The second set of arms  216  are also pivotally connected to an opposite side of the joint member  210 . The second set of arms  216  includes an upper arm  218  and lower arm  220 . The actuator  222  has one end pivotally connected to the joint member  210  and an opposite end pivotally connected to the bracket  224 . The opposite ends of the upper arm  218  and lower arm  220  are also pivotally connected to the bracket  224 . The bracket  224  supports the rail  226  thereon. An arm  228  extends outwardly from an upper end of the vertical rail  226 . An actuator  230  is connected to the arm  228  and also to the drilling tool  232  so as to allow the drilling tool  232  to move upwardly and downwardly along the rail  226  and with respect to the drill floor. As used herein, the actuators  206  and  222  can each include multiple actuators. 
       FIG. 5  shows another alternative embodiment of the articulated handling apparatus  300  of the present invention. The articulated handling apparatus  300  includes the base  302 , the first set of arms  304 , the second set of arms  306 , the joint member  308  and the carrier assembly  310 . Actuator  312  acts on the first set of arms  304 . The first set of arms  304  includes an upper arm  314  and lower arm  316 . The upper arm  314  and the lower arm  316  are pivotally connected to the base  302 . Similarly, the actuator  312  is also pivotally connected to the base  302 . The opposite end of the actuator  312  is pivotally connected to a gusset  318  extending downwardly from the lower arm  316 . The upper arm  314  is pivotally connected to one side of the joint member  318 . The opposite end of the lower arm  316  is also pivotally connected to the side of the joint member  308 . Importantly, there is a gear  320  that is connected to the end of the lower arm  316  and positioned within the plates of the joint member  318 . The gear  320  meshes with another gear  322  that is connected to the end of the lower arm  324  of the second set of arms  306 . The upper arm  326  of the second set of arms  306  has one end pivotally connected to the joint member  308  and an opposite end pivotally connected to the bracket  328 . The opposite end of the lower arm  324  is also pivotally connected to the bracket  328 . The carrier assembly  310  has a configuration similar to that described hereinbefore. 
     In  FIG. 5 , it can be seen that as the actuator  312  serves to move the first set of arms  304  between the stowed toward the deployed position, the meshing gears  320  and  322  will serve to cause the second set of arms  306  to also move to the outwardly deployed position. As such, the present invention utilizes gears  320  and  322  as a suitable linkage for causing the movement of the articulated handling apparatus  300  between the stowed position and the deployed position. A pair of gears can also be connected to any one arm of the first set of arms and an opposite end connected to any other arm of the second set of arms. At least one pair of gears is used. 
       FIG. 6  shows another alternative embodiment of the articulated handling apparatus  400  of the present invention. The articulated handling apparatus  400 , as illustrated in  FIG. 6 , includes the base  402 , the first set of arms  404 , the second set of arms  406 , the joint member  408 , and the carrier assembly  410  in a similar configuration to that illustrated in  FIGS. 1-3 . The actuator  412  acts on the first set of arms  404 . The first set of arms  404  includes an upper arm  414  and a lower arm  416 . The second set of arms  406  includes an upper arm  418  and a lower arm  420 . The actuator  412  is pivotally connected to the base  402  and acts on a gusset  422  extending downwardly from the lower arm  416 . 
     In  FIG. 6 , it can be seen that there is a linkage  424  that serves to connect the elbow-shaped lower arm  416  to the elbow-shaped lower arm  420 . The linkage is generally straight and has a hole in each end. The lower arms  416  and  420  have, respectively, generally elbow-shaped end  436  and  430  pivotally connecting to the joint member  408 . The linkage  424  is pivotally connected to the lower arm  416  at the one end of pivot point  434 , and pivotally connected to the lower arm  420  at the other end of pivot point  428 . Alternatively the linkage  424  can be pivotally connected to any one arm of the first set of arms and connected to one arm of the second set of arms. At least one linkage is used. 
     The use of the linkage  424 , in this form of the invention, provides an alternative mechanical drive means to coordinate the angular movement of the first set and second set of arms. The linkage  424  allows for the movement of the articulated handling apparatus  400  between the stowed position and the deployed position. 
       FIG. 7  shows an alternative embodiment of the combination of using the mechanical drive means with the actuator means to deploy the apparatus from the stowed position to the deployed position. The configuration in this embodiment is similar to that described in  FIG. 5  hereinbefore with the addition of an actuator means  24  having one end  332  pivotally connected to the joint member  308 , and the other end  330  pivotally connected to the gusset  66  attached to the lower arm. 
     The actuator means  24  is used as a main load-bearing element while the pair of meshed gears  320  and  322  coordinates the angular movement of the first set of arms  304  and the second set of arms  306 . The combination of using the mechanical drive means, such as the pair of gears  320  and  322 , and the actuator means  24  provides layers of redundancy as a failure-proof system for proper operation of the articulated handling apparatus which is particularly useful in drilling operations. The mechanical drive means can compensate for any possible disparities in the operation of the actuator  24  so as to allow the movement of the articulated handling apparatus  300  between the stowed position and the deployed position more precisely. The mechanical drive means can be a linkage of the form described in  FIG. 6 . 
       FIG. 8  shows another alternative embodiment of the articulated handling apparatus  600  of the present invention. As with the previous embodiment, the articulated handling apparatus  600  includes a base  602 , a first set of arms  604 , a first actuator  606 , a joint member  608 , a second set of arms  610  and a second actuator  612 . These components are arranged in a manner similar to that described hereinbefore in association with  FIGS. 1-3 . Importantly, the carrier assembly  614  is different than that of the previous embodiment. 
     In  FIG. 8 , it can be seen that the carrier assembly  614  includes a bracket  616  having a vertical rail  618  extending vertically upwardly therefrom. Importantly, the drilling tool  620  is connected to rollers  622  and  624  received within the channel of the vertical rail  618 . There is an actuator  626  connected to the drilling tool  620 . The actuator  626  has a piston  628  that can be extended outwardly through the use of hydraulic or pneumatic pressure so as to urge against the drill floor  630 . As such, the drilling tool  620  can move upwardly and downwardly along the rail  618  relative to the forces urged upon the drilling tool  620  by the actuator  626 . In this embodiment, the actuator  626  is carried by the drilling tool  620  and not by the carrier assembly  614 . As seen here, the entire cantilever weight of the drilling tool is relieved from the articulated apparatus itself, and instead the weight is supported by the actuator  626  thus leading to improving overall stability of the apparatus during operation. This is another advantage of using the carrier assembly because the carrier assembly allows the drilling tool to move upwardly and/or downwardly along the carrier. 
       FIG. 9  illustrates a hydraulic schematic  700  as used for moving the first and second actuators in an equal pattern. Importantly, this system  700  is connected to the first actuator and the second actuator so as to pass fluid to these actuators such that the actuators move the first set of arms and the second set of arms at a substantially equal velocity in opposite directions. Initially, it can be seen that the valve  9  is connected to a pressure line  702 . The valve  9  will cause the fluid flow to pass outwardly along line  704  and  706  to the respective first actuator  708  and the second actuator  710 . As such, the respective pistons  712  and  714  of these actuators  708  and  710  can move outwardly therefrom at generally equal or any desired rates. Flow on the other side of the piston within the actuators  708  and  710  can flow outwardly therefrom through lines  716  and  718  along line  720 . As such, the valve  9  acts as a flow divider to distribute the inlet flow into a pair of outlets in a desired ratio such that the actuators  708  and  710  move at a desired speed. The schematic of  FIG. 9  can also be used for multiple actuators. As such, actuator  708  can be multiple actuators and actuator  710  can be multiple actuators. 
     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.