14-11-2013 дата публикации
Номер: US20130302114A1
A tubular handling device includes a first arm movable along, and pivotable about, a first axis, and a first gripper to engage a first tubular member, the first gripper being coupled to the first arm and rotatable, relative to the first arm, about a second axis that is perpendicular to the first axis. According to another aspect, a method includes providing a first gripper; coupling a first arm to the first gripper, moving the first arm, pivoting the first arm, and rotating the first gripper, relative to the first arm. According to another aspect, an apparatus includes a drilling tower, and a tubular handling device to position one or more tubular members proximate the drilling tower, the tubular handling device including a first gripper to engage a first tubular member, and a first arm coupled to the first gripper. 1. A tubular handling device , comprising: a first axis, the first arm being movable along, and pivotable about, the first axis; and', 'a second axis that is perpendicular to the first axis, the second axis being movable from the first axis in the first direction and movable to the first axis in a second direction opposite the first direction; and, 'a first arm defininga first gripper to engage a first tubular member, the first gripper being coupled to the first arm and rotatable, relative to the first arm, about the second axis.2. The tubular handling device of further comprising a first support member to which the first arm is pivotally coupled claim 1 , the first arm defining the first axis at the pivot coupling of the first arm to the first support member claim 1 , the first arm being movable along claim 1 , and pivotable about claim 1 , the first support member.3. The tubular handling device of wherein the first gripper is pivotally coupled to the first arm claim 2 , and the first arm defines the second axis at the pivot coupling of the first arm to the first gripper.4. The tubular handling device of wherein the first arm comprises:a first segment ...
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