ROTARY PIPE GUIDE FOR PIPE HANDLING AND RACKING OPERATIONS

Abstract

A pipe handling apparatus for handling lengthy drill pipe sections (e.g., multiple section pipe stands) includes a rotary pipe guide system to provide guiding, holding and securing capabilities when long and/or heavy drill pipe stands (and other pipes) are being handled for drilling and tripping in/out processes, and for storing/retrieval of pipe stands (such as in in fingerboard storage rack assembly). A rotary pipe guide system—which may be connected to a pipe handling column structure in one example—is disposed adjacent the upper end of the column structure and functions to complement the securing and handling capabilities of one or more handling arms of the column structure. The rotary pipe guide system includes a rotary pipe guide with two fingers spaced laterally from and opposite each other which are configured to selectively rotate about a pipe guide axis and contact and secure a pipe stand when disposed between the first and second fingers. The rotary pipe guide system is also capable of determining pipe diameter sizes and detecting mis-grips (e.g., no object present).

Description

CROSS-REFERENCE TO RELATED AND CLAIM OF PRIORITY

The present application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63/800,262 filed on May 5, 2025, which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

Embodiments herein are generally directed to pipe handlers and guides mainly for use in well drilling operations and, more particularly, to a rotary pipe guide for manipulating and securing piping or other tubular members in well drilling operations.

BACKGROUND

Pipe handling operations were conventionally performed by workers performing manual operations. Well drilling involves tripping of the drill string during which drill pipes are lowered into or pulled out of a well. Tripping may occur to make changes to the bottom hole assembly, such as to change a drill bit. When drill pipe is tripped into or out of a well, pipe stands (multiple sections of series-connected pipe) may be supplied from or stored in a racking board (storage rack) of the drill rig as the pipe stands are connected (to lengthen) or disconnected (to shorten) to the drill string in the well. When manually performed by workers, an elevator or top drive unit may be used to carry the load of a stand of drill pipe during tripping operations while workers maneuver the drill pipe stands on the drill floor between the well center and the storage rack. One worker may be positioned on the drill floor near the well center to maneuver the lower end of the drill pipe stands, while another worker may be positioned on or above the storage rack to maneuver the upper end of drill pipe stands as they are moved between the well and the storage rack.

A typical drill pipe section or tubular is around 30 feet long but may be shorter or longer. It is common to store multiple drill pipe sections connected together in series as a pipe “stand” which typically consist of two or three (or more) pipe sections. Multiple section drill pipe stands are longer and heavier than a single length of drill pipe and more difficult to handle due to their length and weight. Manual handling of the drill pipe stands during tripping can be dangerous. Therefore, there have been various efforts to automate the process and remove the need for workers to be present and perform pipe handling activities. One such effort is described in U.S. Pat. No. 10,294,739 which discloses a drill floor-mounted manipulating arm for stabilizing and guiding the lower end of a drilling stand around the drill floor. Another effort is described in U.S. Patent Application Publication No. 2021/0293099 which discloses multiple embodiments of an end effector for a robotic arm for automated pipe handling.

Accordingly, there is a need for an improved end effector and pipe guide assembly configured and capable of holding and securing drill pipe stands (and other pipes) in an easy and simple manner, to complement (or add additional securement or guiding features to) existing lift arms/assemblies and tail arms/assemblies, and/or for determining pipe diameter sizes and detecting mis-grip (e.g., no object present).

SUMMARY

In an embodiment of the present disclosure, there is provided a pipe handling system for use in a drilling rig system. The pipe handling system may include an elongated column structure having a lower end and an upper end in vertical alignment and configured to rotate about a longitudinal axis and move horizontally, and the column structure including a first lower arm disposed about the lower end and a second upper arm disposed about the upper end and configured to secure a pipe stand for movement. The system further includes a rotary pipe guide system connected to the column structure and disposed adjacent the upper end and above the second upper arm of the column structure. The rotary pipe guide system includes a rotary pipe guide having a first finger spaced laterally from and opposite a second finger and configured to selectively rotate about a pipe guide axis and contact and secure a first pipe stand when disposed between the first and second fingers. The pipe handling system may also include a pipe storage fingerboard assembly disposed above the elongated column structure and configured to store a plurality of pipe stands.

In the above and other various embodiments described herein, the rotary pipe guide may be further configured to selectively rotate the first and second fingers about the pipe guide axis to a first predetermined rotational position and to a second predetermined rotational position, the first predetermined rotational position providing a first horizontal distance between the first finger and the second finger about equal to a width of a first storage row of the pipe storage fingerboard assembly, and the second predetermined rotational position providing a second horizontal distance between the first finger and the second finger equal to a diameter of the first pipe stand.

In the above and other various embodiments described herein, the first predetermined rotational position corresponds to a position of the rotary pipe guide for retrieving or delivering the first pipe stand to the first storage row of the pipe storage fingerboard assembly; and the second predetermined rotational position corresponds to a position of the rotary pipe guide for securing the first pipe stand to the elongated column structure.

In the above and other various embodiments described herein, the rotary pipe guide system may further include a rotatable shaft having a longitudinal axis and coupled to the first finger and the second finger, an actuator having a first end coupled to the shaft and a second end coupled to a first point, the actuator configured to rotate the shaft about its longitudinal axis, and a controller coupled to the actuator and configured to control operation of the actuator, and/or a position transducer having a first end coupled to the shaft and a second end coupled to a second point, the position transducer configured to translate rotational movement of the shaft to linear movement and generate a position signal indicative of the linear movement.

In these or other embodiments described herein, the controller may be configured to receive the position signal from the position transducer and determine a rotational position of the rotary pipe guide, and/or determine a diameter of a pipe stand disposed and secured within the rotary pipe guide based on the determined rotational position of the rotary pipe guide.

In the above and other various embodiments described herein, the rotary pipe guide may be further configured to receive and secure at different times a first pipe stand having a first diameter within a range of about 4 to 12 inches and a second pipe stand having a second diameter within the range of about 4 to 12 inches and different from the first diameter, and/or the first finger and the second finger of the rotary pipe guide be disposed opposite each other and spaced apart by about 6 and 12 inches.

In another embodiment of the present disclosure, there is provided a rotary pipe guide system for use in a pipe handling system of a drilling rig system. The rotary pipe guide system includes a rotary pipe guide having a first finger and a second finger disposed opposite each other and coupled to a rotatable shaft having a longitudinal axis. An actuator having a first end coupled to the shaft and a second end coupled to a first point is configured to rotate the shaft about its longitudinal axis. The system also includes a position transducer having a first end coupled to the shaft and a second end coupled to a second point, wherein the position transducer is configured to translate rotational movement of the shaft to linear movement and generate a position signal indicative of the linear movement. A controller coupled to the actuator is configured to control operation of the actuator.

In yet another embodiment of the present disclosure, there is provided a pipe handling method for use in a drilling rig system having a rotary pipe guide having a first finger and a second finger. The method includes storing at least a first pipe stand in a first row of a pipe fingerboard assembly; positioning an elongated column structure to enable retrieval of the first pipe stand from the pipe fingerboard assembly; rotating the rotary pipe guide to a first rotational alignment position wherein a first horizontal distance between the first finger and the second finger is about equal to a width of the first row; extending one or more arms from the elongated column structure and securing the first pipe stand to the one or more arms; retracting the one or more arms; after retracting the one or more arms, rotating the rotary pipe guide to a first rotational securing position causing the first finger and the second finger to contact and secure the first pipe stand within the rotary pipe guide; positioning the elongated column structure and the first pipe stand to enable delivery of the first pipe stand for use in a wellbore area; rotating the rotary pipe guide to a first rotational releasing position to release the first pipe stand from the rotary pipe; and extending the one or more arms from the elongated column structure to deliver the first pipe stand.

In the above and other various embodiments described herein, the pipe handling method may further include positioning the elongated column structure to enable retrieval of a second pipe stand from the wellbore area; extending the one or more arms from the elongated column structure and securing the second pipe stand to the one or more arms; rotating the rotary pipe guide to a second rotational receiving position operable for receiving the second pipe stand; retracting the one or more arms; after retracting the one or more arms, rotating the rotary pipe guide to a second rotational securing position causing the first finger and the second finger to contact and secure the second pipe stand; positioning the elongated column structure and the second pipe stand to enable delivery of the second pipe stand to the pipe fingerboard assembly; rotating the rotary pipe guide to a second rotational alignment position wherein a second horizontal distance between the first finger and the second finger is about equal to a width of one of a plurality of rows of the pipe fingerboard assembly; and extending the one or more arms from the elongated column structure to deliver the second pipe stand to the pipe fingerboard assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only exemplary embodiments of the present disclosure and are therefore not to be considered limiting of its scope, and the present disclosure may admit to other equally effective embodiments.

FIG. 1 illustrates an overall drilling rig system in accordance with the present disclosure;

FIGS. 2A, 2B and 2C illustrate front, top and perspective views of a rotary pipe guide according to certain embodiments;

FIGS. 2D and 2E illustrate two rear views showing two different positions of a rotary pipe guide including an actuator and position transducer;

FIG. 3 illustrates a perspective view of an alternative embodiment of a rotary pipe guide according to certain embodiments;

FIGS. 4A, 4B and 4C are front, left side, and perspective views of portions of the drilling rig in different positions, respectively, according to certain embodiments;

FIG. 5A is a perspective partial view illustrating the pipe guide attached to the column of the pipe handling assembly shown relative to the pipe stand fingerboard assembly, according to certain embodiments;

FIG. 5B is a close-up perspective view illustrating the pipe guide attached to the column of the pipe handling assembly, according to certain embodiments;

FIGS. 6A and 6B are top views illustrating the pipe handling assembly in a first position while in a process of transferring a pipe stand from (or to) the pipe storage fingerboard assembly and in a second position while in a process of transferring the pipe stand from an intermediate position for delivery to a top drive (and for use in a work area), respectively, according to certain embodiments;

FIGS. 7A and 7B are partial perspective views illustrating the pipe guide in a first position without the presence of a tubular pipe and in the same first position with a tubular pipe present, respectively, according to certain embodiments;

FIGS. 8A, 8B and 8C are top, front and perspective views, respectively, of the pipe guide in a racking board guide position, in certain embodiments;

FIGS. 9A, 9B and 9C are top, front and perspective views, respectively, of the pipe guide in a gripping and securing position, in certain embodiments; and

FIGS. 10A, 10B and 10C are top, front and perspective views, respectively, of the pipe guide in a tubular pipe mis-grip/absent position, in certain embodiments.

To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the figures. It is contemplated that elements and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

DETAILED DESCRIPTION

FIGS. 1 through 10, described below, and the various embodiments used to describe the principles of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of this disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any type of suitably arranged device or system.

The present disclosure describes a drilling rig system including a drilling rig and a pipe handling system. Embodiments herein are generally directed to pipe handling equipment and systems utilized and operations performed in conjunction with well drilling operations and, more particularly, to systems and methods for automated pipe handling operations. In particular, the present disclosure relates to pipe handling and guiding or securing means/effectors configured for use with pipe handling manipulation mechanisms, and may be for use with pipe handling robots. Such pipe handling operations may include drill pipe handling operations, such as trip in and trip out operations and/or stand building operations.

In general terms, the present disclosure is directed to a rotary pipe guide and system for guiding and securing piping during automated pipe handling operations. The rotary pipe guide and system may be attached or coupled to a pipe handling system/mechanism, such as a pipe handling robot disclosed in U.S. Patent Application Publication No. 2021/0293099, which is incorporated herein by reference, or such as the RZR pipe handling system from Nabors Industries, Ltd and known as the iRacker® racking tubular handling system, which is incorporated herein by reference, or other suitable devices or assemblies.

In an example embodiment, as depicted in FIG. 1, a drilling rig system 10 may include a drilling rig 100 which may be used to drill or otherwise conduct operations on a wellbore. In some embodiments, the drilling rig system 10 may include one or more pump skids/systems 350, a generator skid/system 400, a mud pumping and processing skid/system 500, a mud gas separator skid/system 600, a hydraulic pressure unit (HPU) skid/system 700, and one or more tank skids/systems 800. The one or more pump skids/systems 350 provide drilling fluids, such as drilling mud, to the drilling rig 100 for use during wellbore operations. The generator skid/system 400 may be used to provide electrical power to drilling rig 100 and other components of the drilling rig system 10. The mud pumping and processing skid/system 500 pumps drilling fluids for use in the wellbore, and processes drilling fluids returning from the wellbore by, for example and without limitation, separating out solids and gases from the returning drilling fluid. The mud gas separator skid/system 600 separates gases from the liquid part of drilling fluids returning from the wellbore. The HPU skid/system 700 provides hydraulic power, through the use of high pressure hydraulic fluid, for one or more components of the drilling rig 100 or other components of the drilling rig system 10. The one or more tank skids/systems 800 typically include one or more tanks to hold fluids for use with the drilling rig 100 or other components of the drilling rig system 10.

The drilling rig 100 includes a rig floor 101 and a substructure 103 for supporting the rig floor 101 above the ground. In some embodiments, the drilling rig 100 may include a mast 119 having a plurality of upright structures that define a frame for the mast 119. The mast 119 may be positioned above a well (or other areas above the rig floor 101) being drilled by the drilling rig 100 and configured to support tubular members, such as a drilling string, being used during a drilling operation. As will be appreciated, the mast 119 may additionally be used to support other components and other tubular members during operations other than drilling operations.

In some embodiments, the drilling rig 100 includes a pipe handling apparatus 123 having a vertically oriented and elongated pipe handling assembly 125, a pipe handler 127, and other components (not shown in FIG. 1). The pipe handler 127 of the pipe handling apparatus 123 may, for example and without limitation, be used to transfer pipes and tubular members to/from the catwalk system 200 from/to a pipe storage rack/fingerboard assembly (not shown in FIG. 1) or to another operable location within the mast 119 or about the rig floor 101. Pipe and tubular members may be any tubular member for use with the drilling rig 100 including, for example and without limitation, drill pipe, casing, collars, pipe stands, casing stands, or other tubular members. As used herein, “tubular” refers to an elongated cylindrical tube and can include any of the tubulars manipulated around a rig, such as tubular segments, tubular stands, tubulars, and tubular string, but not limited to the tubulars shown in the FIGURES. Therefore, in this disclosure, “tubular” is synonymous with “tubular segment,” “tubular stand,” and “tubular string,” as well as “pipe,” “pipe segment,” “pipe stand,” “pipe string,” “casing string,” “coiled tubing”, or “wireline.”

The pipe handler 127 is configured to engage and move a tubular member between locations on the drilling rig 100 during operations, such as from the catwalk system 200 to a position above the well or rig floor such that the tubular member may be placed into the well by other components of the drilling rig 100 (or build or disassemble pipe stands). Though not shown in FIG. 1, the pipe handling assembly 125 and/or the pipe handler 127 may include one or more grippers adapted to grip onto and/or rotate a tubular member, and may include other component(s) to further manipulate a tubular member. The pipe handler 127 can be operatively coupled to the pipe handling assembly 125 by a pipe handler carriage configured to move vertically relative to assembly 125 and allow the pipe handler 127 to move a tubular segment or member vertically. As will be appreciated, other suitable configurations and positioning of the pipe handling apparatus, assembly and pipe handler may be utilized.

In some embodiments, as depicted in FIG. 1, the drilling rig 100 may include a top drive 135 mechanically coupled to the mast 119 such that the top drive 135 may move vertically relative to the mast 119. The top drive 135 can be configured and operate to raise, lower, and/or rotate tubular members during operation of the drilling rig 100. In some embodiments, the top drive 135 may be raised and lowered by a cable and a drawworks assembly, a rack and pinion assembly, or other suitable system.

Though not specifically shown, the drilling rig 100 may include a pipe elevator having one or more components (e.g., jaw, clamp) that engage a tubular member such that the pipe elevator may support and raise/lower the tubular members used by the drilling rig 100. The pipe elevator may be coupled to the top drive 135 such that pipe elevator moves with the top drive.

The drilling rig system 10 and the drilling rig 100 shown and described in FIG. 1 is one example of a drilling system which may incorporate the teachings and features described in the present disclosure. Further, other component(s) and system(s) may be included, while others may be omitted from, the drilling rig system 10 and/or drilling rig 100. For additional descriptions and examples of drilling rig systems, drilling rigs and components thereof, reference is made to U.S. Pat. No. 10,975,635 which is incorporated herein by reference. Other configurations (and components/devices) may be used for the drilling rig system 10 and drilling rig 100, including those known in the art.

Now turning to FIGS. 2A, 2B and 2C, there are shown front, top, and perspective views of a pipe or tubular member guide 200 according to embodiments of the present disclosure. The pipe guide 200 may be configured for coupling to the pipe handling assembly 125, or to a robotic arm or other robotic device, for guiding, securing or otherwise manipulating tubular members. In some embodiments, the pipe guide 200 may include a mounting plate member 210 coupled to a shaft 220 rotatable about a central axis 211 via a bearing (not shown) with the shaft 220 extending therethrough. One end of the shaft 220 is coupled to a central portion 232 of an end effector 230 having two members 234a, 234b extending radially outward from the central portion 232 and having two pipe engaging fingers 236a, 236b extending perpendicularly from the two members 234a, 234b, respectively, as shown, and configured for engaging with a pipe section. The fingers 236a, 236b are disposed opposite each other, as shown. The other end of the shaft 220 is coupled to a backing plate member 212. Both the end effector 230 and the backing plate member 212 are coupled to the shaft 220 and rotate about the central axis 211 as the shaft 220 rotates. The backing plate member 212 is coupled to an actuator 240 configured to selectively move the backing plate member 212 and rotate the shaft 220.

The actuator 240 may be any suitable actuator configured to cause the shaft 220 to selectively rotate (and thus, rotate the effector 230 and the fingers 236 about the central axis 211) and provide the functionality as disclosed or described herein. Examples of suitable actuators may include hydraulic, pneumatic, and/or electric actuators. In one example, the actuator 240 is a hydraulic cylinder actuator.

Now turning to FIGS. 2D and 2E, there are shown back views illustrating the pipe guide 200 and the actuator 240. In some embodiments, the pipe guide 200 may include a linear position transducer 241 coupled to one arm 212a of the backing plate member 212 and operable to convert or translate rotational position or movement of the pipe guide 200 to linear position or movement for measurement capabilities. From this, positional information about the horizontal (x direction) spacing between the two fingers 236 of the pipe guide 200 (and/or the degree of rotation from zero degrees of rotation) may be determined as the pipe guide 200 rotates and moves. In some embodiments, the transducer 241 may be a linear variable differential transducer (LVDT).

As shown, one end 240a of the actuator 240 may be coupled to the arm 212b of the backing plate member 212 and the other end 240b may be coupled to a fixed mounting bracket 290 at a fixed location or point relative to the rotary pipe guide 200. Similarly, one end 241a of the linear position transducer 241 may be coupled to arm 212a of the backing plate member 212 and the other end 241b may be coupled to the fixed mounting bracket 290. The mounting bracket 290 may be coupled to a pipe (or tubular) handling assembly 125 or an elongated and rotatable column structure 400 (described below with respect to FIGS. 4A, 4B, 4C).

As will be understood, FIG. 2D illustrates the rotary pipe guide 200 in a fully open position or zero point (in which the distance between the fingers 236a and 236b in the x direction is greatest) which may be defined herein as the position having zero degrees of rotation. FIG. 2E illustrates the rotary pipe guide 200 in an intermediate guiding or gripping position (in which the distance between the fingers 236a and 236b in the x direction is smaller, and generally will be about equal to the diameter of a pipe section to be held and gripped therein by the fingers 236). In this position, the end effector 230 (and its fingers 236) has been rotated a desired number of degrees from zero.

As the actuator 240 begins to retract from the position shown in FIG. 2D, the pipe guide fingers 236 and the backing plate member 212 begin rotating about the central axis 211 in the counterclockwise direction. At the same time, the transducer 241 begins extending in response to the counterclockwise rotation of the backing plate member 212. The transducer 241 is configured and operable to measure the linear displacement (or distance) between the ends of the transducer 241 and output a transducer signal corresponding to the linear displacement.

The transducer 241 includes an electrical connector 242 for receiving electric power and outputting the transducer signal through an electrical cable 243. The electrical cable 243 is coupled to a power supply 295 providing electric power and to a controller or processing unit 260. The controller 260 is configured to receive and process the transducer signal from the transducer 241 and determine/calculate a rotational position of the pipe guide 200. The controller 260 is also configured to control actuation of the actuator 240 based on or in response to the transducer signal and to control or cause rotation to a desired position (for release, alignment or securing purposes). In the embodiment shown, the actuator 240 is a conventional hydraulic cylinder coupled to a hydraulic pump 290 activated or controlled by the controller 260 (as shown in FIG. 2D). The controller 260 is configured to calculate the rotational position of the end effector 230 (and fingers 236) based, at least in part, on the transducer signal received from the position transducer 241. When it is desired to change the rotational position, the controller 260 utilizes the transducer signal in a feedback loop and controls the hydraulic pump 290 to activate the actuator 241 which causes rotation to the desired position.

It will be understood by those of ordinary skill in the art that the controller 260 may be configured to calculate various positional information or data based upon the specific geometry and dimensions of the pipe guide 200 utilized (which may include, e.g., distance between the fingers 236a and 236b, radial distance(s) of the fingers from the central axis 211, distance between the end 241a of the transducer 241 to the central axis 211, etc.). Based on these geometries and dimensions and the received transducer signal, the controller 260 may calculate the rotational position of the end effector 230. Additionally, from some or all of this information or data, the controller 260 may be configured to determine a diameter of a pipe held or secured in the rotary guide 200 or determine whether there has been a misgrip (i.e., no object is disposed between the fingers 236. It will also be appreciated that an initial calibration process may be performed to provide a zero position/point transducer signal which can then be used to determine a differential linear distance from the zero position/point to a given rotated point.

Any suitable linear position transducer may be utilized for the linear position transducer 241. One example of a suitable LVDT that may be utilized is available from ROTA Engineering Ltd, United Kingdom, part number NC51556.

In some embodiments, the end effector 230 may have pivotable or rotational movement about the axis of the shaft 220 (the central axis 211) within a range up to 180 degrees or within a range suitable for the fingers 236 to contact the surface of a pipe member disposed between the fingers 236 when the end effector 230 is rotated, or within a range of close to or about 90 degrees. The end effector 230 may be configured to have a gap or distance between the two fingers 236 sized to receive a pipe section therebetween with a sufficient gap (e.g., 1 to 4 or more inches wider than the diameter of the pipe) to allow easy insertion therein and provide for at least some rotation of the end effector 230 before contact with a pipe section therein. For example, a distance therebetween sufficient to receive a particular pipe diameter or range of pipe diameters typically used in the drilling industry may be utilized. Similarly, the two fingers 236 may each have a length configured to operably receive and hold such pipe section(s).

In some embodiments, the length(s) of the members 234 may be selectively adjustable and/or the length(s) of the fingers 236 may be selectively adjustable. In examples, at a given set of lengths for the members 234 and the fingers 236, the end effector 230 may operably receive and secure pipe having diameters in a first range, e.g., 4-12 inches, a second range, e.g., 2-10 inches, a third range, e.g., 6-12 inches, or a fourth range, e.g., 10-20 inches, or any suitable range. Further, when in an open position (e.g., fingers 236 disposed apart from each other in the horizontal x direction, the fingers may be spaced far enough apart to allow sufficient clearance for pipe handling when extra stability and guidance may not be needed.

In other embodiments, the spacing between the opposed fingers 236 is relatively large enough to enable the receipt and securement of pipes with different diameters, and may in different embodiments, the spacing may be a distance in a range of about 6 to 12 inches, about 8 to 15 inches. For example, with a horizontal or x-direction spacing (e.g., zero degrees rotation) of 10 inches between fingers, pipes having various diameters (e.g. 2 ⅞, 4 ½, 6 ½, 9 inches) can be handled by adjusting the rotational position of the fingers 236 to the known diameter of the pipe. In other words, each pipe with a given diameter may have associated therewith at least two different rotational positions—a first rotational position for guiding the pipe into/from the rotary pipe guide (e.g., loading/unloading at the fingerboard assembly), and a second rotational position for securing/holding the pipe between the fingers 236. Generally, for a given diameter of pipe, the first rotational position corresponds to a horizontal or x-direction spacing between the fingers 235 that is approximately equal to the width of the storage row in the fingerboard that will store (or provide) the pipe stand having that given diameter. In such embodiments, the rotational position of the pipe guide for loading/unloading pipe will be different for different diameter pipes. Similarly, the rotational position of the pipe guide for securing/holding pipe will be different for different diameter pipes. As will be appreciated, each of these two rotational positions may be programmable and set for each given diameter of pipe that may be handled.

Each of the fingers 236a, 236b may include an inner facing portion 238a, 238b configured to contact (or nearly contact) external surfaces of a pipe. The portions 238a, 238b may be constructed of any suitable material(s) and may have a U-shape (as shown) to facilitate pipe securement and stability. In some embodiments, the portions 238a, 238b may be constructed of rubber or other rigid, yet soft, material(s).

Now turning to FIG. 3, there is shown a perspective view of a pipe or tubular member guide 300 according to embodiments of the present disclosure. The pipe guide 300 is similar to the pipe guide 200 and may also be configured for coupling to the pipe handling assembly 125, or to a robotic arm or other robotic device, for guiding, securing or otherwise manipulating tubular members. In some embodiments, the pipe guide 300 may include a mounting plate member 210, the backing plate member 212 (not shown in FIG. 3), and a rotatable shaft 220 and bearing (not shown) extending therethrough. One end of the shaft 220 is coupled to a central portion 232 of an end effector 330 having two members 234a, 234b extending radially outward from the central portion 232 and having two pipe engaging fingers 336a, 336b extending perpendicularly from the two members 234a, 234b, respectively, as shown, and configured for engaging with a pipe section. The fingers 336a, 336b are disposed opposite each other, as shown. The other end of the shaft 220 is coupled to the backing plate member 212 (as described above with respect to the rotary guide 200). Both the end effector 330 and the backing plate member 212 are coupled to the shaft 220 and rotate about the central axis 211 as the shaft 220 rotates. The backing plate member 212 is coupled to the actuator 240 (as shown in FIGS. 2D and 2E and described above) configured to selectively move the backing plate member 212 and rotate the shaft 220. As will be appreciated, the end effector 330 is the same or similar to the end effector 230 but includes differently configured fingers 336.

As shown, each of the pipe engaging fingers 336a, 336b has a cylindrical shape with an inward facing protrusion 340, 340b at the distal end of the finger 336 which extends inward a first distance. Each finger 336 includes a central neck portion 342a, 342b that extends inward a second distance that is less than the first distance. This configuration provides an improved securing or gripping function over fingers having a flat inward facing surface when the pipe guide 300 is rotated about a pipe disposed therein. Additionally, the protrusions 340a, 340b of the fingers 336 provide a guiding structure and alignment mechanism to align the pipe within the edges of a storage row of a fingerboard (explained further below) to guide a pipe into or from the fingerboard.

The rotary pipe guide 300 includes a stop mechanism 360 configured to operate as a stop or return stop. When contacting the stop mechanism 360, the end effector 330 is at zero degrees of rotation. Although not shown, the rotary pipe guide 200 of FIGS. 2A, 2B and 2C may include a stop mechanism the same or similar to the stop mechanism 360. A second stop mechanism may be included and configured and disposed to prevent over-rotation of the end effector 330, 230 beyond a certain degree of rotation (e.g., 90 degrees)

In other embodiments, the rotary pipe guide 300 (and the rotary pipe guide 200) may include one or more mounting plates or brackets 350 configured to provide an attachment means or bracket for securing the pipe guide 300 to the pipe handling assembly 125 or other base component(s).

Now turning to FIGS. 4A, 4B and 4C, there are illustrated front, left side, and perspective views of portions of the drilling rig 100 in different positions, respectively.

As shown, the pipe (or tubular) handling assembly 125 may include an elongated and rotatable column structure 400 that extends vertically upwards from the drilling floor 101 to a pipe storage fingerboard assembly 410 that is affixed to the mast 119 and positioned near the upper end of the column 400. The column structure 400 is configured to rotate about a vertically oriented longitudinal axis and may include a lower tailing arm 430 and an upper lifting (or hoisting) arm 440 coupled to the structure 400. Each of the arms 430, 440 has a proximal end pivotably connected to the column structure 400 and a distal end having one or more tools 450 (e.g., hydraulic gripper) configured to grip and/or secure a tubular pipe at that location. As the proximal ends of the arms 430, 440 rotate about the respective pivot points, their distal ends move laterally away or toward the column structure 400 enabling lateral movement (and some vertical movement) of a secured tubular pipe with respect to the column structure. In some embodiments, either or both of the arms 430, 440 may be slidably coupled to the column structure 400 and operate to move a secured pipe in a vertical direction.

In embodiments, the upper lifting arm 440 is configured, and includes a gripping tool 450a, to provide gripping and lifting functions and support the weight of the secured pipe for manipulation. In embodiments, the lower tailing arm 430 may include a similar gripping tool for gripping, lifting and supporting the secured pipe, or may include a tool that functions to secure (hold laterally steady) the lower end of the pipe from movement but may not grip or support the weight of the pipe.

In some embodiments, the pipe handling assembly 125 is configured such that the column structure 400 (with trailing arms) may move and travel in a lateral or horizontal direction along a predetermined path defined by a track (or slot/groove) 460 disposed on or in the rig floor 101 (see, FIG. 4C).

As will be appreciated, the various positioning and mobility features of the pipe handling assembly 125 and its components, e.g., the rotation of the column 400, the pivoting/swinging (and/or vertically slidable) arms 430, 440, and the lateral movement of the entire column 400, provides for almost unlimited handling and movement of tubular pipes in the relevant areas of the drilling rig 100. The pipe handling assembly 125 is configured to perform pipe handling functions for transferring pipe to/from the catwalk system 200 (horizontal pipe storage), transferring pipe stands to/from the pipe storage rack/fingerboard assembly 410 for tripping in/out, transferring pipe and assisting in pipe stand building, transferring pipe stands to/from the well bore area (and to the top drive unit 135), etc. Although the drilling rig 100 shown in FIG. 1 illustrates a pipe handler 127 separate from, or in addition to, the pipe handling assembly 125, it will be understood that some embodiments of the pipe handling assembly 125 as described herein may omit the pipe handler 127 and in other embodiments, the pipe handler 127 may complement or otherwise be incorporated into the pipe handling assembly 125 and provide additional handling capabilities, if desired.

Referring now to FIG. 4A, there is shown the pipe handling assembly 125 transferring a first pipe stand 470b from/to the pipe storage fingerboard assembly 410. A second pipe stand 470a is shown in a stored position within the fingerboard assembly 410. As will be appreciated, the lower and upper arms 430, 440 are configured to extend/retract (pivot) from/to the column 400 and retrieve a pipe stand from storage, or deliver a pipe stand for storage, at the fingerboard assembly 410.

It will be understood that pipe stands are normally stored in rows and adjacent one another in the fingerboard assembly 410, and FIG. 4A illustrates the pipe stand 470b secured and held by the gripping tool 450a of the upper lifting arm 440 and secured by the tool 45b of the lower tailing arm 430. At this position, to replace or store the pipe stand 470b in the fingerboard assembly 410, the arms 430, 440 are extended outward further until the pipe stand 470b is positioned next to the stored pipe stand 470a. And once properly positioned, the gripping tool 450a and the tool 450b release the pipe stand 470b for storage by the fingerboard assembly 410.

Similarly, at the position as shown in FIG. 4A, to transfer the pipe stand 470b for use in the drilling wellbore area, the arms 430, 440 may be retracted inward until the pipe stand 470b is positioned closer to and adjacent the column 400, and then the column 400 may rotate (e.g., 90 degrees clockwise as viewed from a point above) to face the work/drilling area, the column 400 may move laterally closer to the work/drilling area, and then the arms 430, 440 may be extended to place the pipe stand 470b at a desired position, such as to enable transfer to the top drive 135 and for further connection to the wellbore drill string 475 (e.g., for drilling or tripping in). FIGS. 4B and 4C illustrate the pipe handling assembly 125 and the pipe string 470b in this desired position. Upon reaching this position, the tools 450a, 450b may release and the arms 430, 440 may retract, or the pipe handling assembly 125 may otherwise assist with the roughneck connection procedure, if desired (e.g., securing the pipe from lateral movement but allowing rotation and/or longitudinal movement of the pipe stand 470b). In addition, the column 400 may also move laterally/horizontally along the path of the track 460 (see FIG. 4C) to provide additional positioning capabilities.

Referring now to both FIGS. 4A and 4B, the pipe handling assembly 125 may include the pipe guide 200, 300 coupled to the upper end of the column 300, as shown. In some embodiments, the pipe guide 200, 300 is rigidly connected to the column 400 at or near its upper end (and below the fingerboard assembly 410). Inclusion of the pipe guide 200, 300 functions to guide and secure the upper end of the pipe during pipe stand building, pipe stand retrieval and storage, and pipe handling operations of the pipe handling assembly 125. In general terms, the pipe guide 200, 300 is configured for multiple functions and to operate in multiple positions. In an open position—when the fingers are both in a horizontal plane (e.g., as shown in FIG. 3)—the fingers are spaced far enough apart to allow clearance for pipe handling when extra stability and guidance is not needed. In a racking board guide position—when the fingers are rotated to a first predetermined position resulting in a given horizontal spacing between the fingers 336 (or 236) to align with the outer edges of a storage row (leaving only a small amount of space between the fingers and the pipe)—the fingers operate as a guide for alignment with a storage row for retrieving/delivering pipe stands from/to the pipe storage fingerboard assembly. In a grip and stabilizing position—when the fingers are rotated to a second predetermined position resulting in a different horizontal spacing between the fingers 336 (or 236) (rotated beyond the first predetermined position) and contact the pipe—the fingers operate as a gripper and prevent or reduce any lateral movement (x-y direction) of the upper end of the pipe. Notably, in this position, the fingers may be opened slightly to allow the pipe to be raised or lowered. In a size and mis-grip detection position or mode, the position transducer may additionally provide information related to the spacing of the fingers—enabling verification of pipe tube size (e.g., diameter) and whether a pipe stand may be absent from the gripping area. These functions and positions are described in more detail below and in FIGS. 6A-6B, 7A-7B, 8A-8C, 9A-9C and 10A-10C.

In embodiments, the pipe storage fingerboard assembly 410 may be configured with a plurality of storage rows, and all rows may be configured to store pipe having a same diameter, or one or more rows may be configured to store pipe of differing diameter(s). For example, as illustrated in FIG. 6A, the two rows 600b may be configured to store pipe having a diameter larger than pipes stored in the other rows, including row 600b. Various combinations of different sized rows for storing pipe having different diameters may be utilized to facilitate operations necessitating different size pipes.

Now turning to FIGS. 5A and 5B, FIG. 5A is a perspective partial view illustrating the pipe guide 200, 300 coupled to the column 400 of the pipe handling assembly 125 shown relative to the pipe stand fingerboard assembly 410, and FIG. 5B is a close-up perspective view showing the pipe guide 200, 300 attached to the column 400 of the pipe handling assembly 125. Although FIG. 5B shows the pipe guide 200, it will be understood that the pipe guide 300 may be utilized.

Now turning to FIGS. 6A and 6B, FIG. 6A is a top view illustrating the pipe handling assembly 125 in a first position and in the process of transferring the pipe stand 470b from (or to) the pipe storage fingerboard assembly 410 (consistent with FIG. 4A). FIG. 6B is a top view illustrating the pipe handling assembly 125 in a second position and in the process of transferring the pipe stand 470b from an intermediate position for delivery to the top drive 135 (and for use in the work area).

For convenience and brevity, the following describes a process/operation of the pipe handling assembly 125 as it retrieves the pipe stand 470b from the pipe storage fingerboard 410 and delivers it to the wellbore/work area (e.g., to the top drive 135 for eventual positioning and connection to the drill string). As will be appreciated, a number of pipe stands 470 are typically stored at the pipe stand storage fingerboard 410 in a number of storage slots or rows 600. For ease of reference and explanation, FIGS. 6A, 6B only illustrate the pipe stand 470b that is to be retrieved and handled as described herein. To retrieve the pipe stand 470b, the column 400 is positioned laterally facing and aligned with the row 600a containing the stored pipe stand 470b, and the lower and upper arms 430, 440 are extended from their retracted position to an extended position at which the tools 450 operate to grab/secure the pipe stand 470b disposed within the row 600a (at the extended position). The pipe stand 470b is secured by the tool 450b of the lower tailing arm 430 (not visible in FIG. 6A or 6B) and is grabbed/secured by the tool 450a of the upper lifting arm 440 at different points along the pipe stand 470b as the arms 430, 440 approach the pipe stand 470b. Once secured thereto, the arms 430, 440 are retracted inward and carry the pipe stand 470 b inward closer to the column 400.

At a point before the arms 430, 440 are fully retracted inward, the pipe guide 200, 300 is activated and placed into the racking board guide position (or alternatively, in the open position) and configured to receive therein an upper end of the pipe stand 470b. When the arms 430, 440 are fully retracted, the pipe guide 200, 300 is again activated and placed into the grip and stabilizing position. This secures the upper end of the pipe stand 470b (at the location of the pipe guide 200, 300) and assists in preventing any x-y movement of the upper end of the pipe stand 470b horizontal to the drill floor 101.

At this point, the column 400 (which includes the arms 430, 440 and pipe guide 200, 300) is rotated clockwise ninety degrees (as viewed from a point above) which positions the pipe stand 470b facing the wellbore and work area. The column 400 moves laterally along the track/path 460 (see FIG. 4C) closer to a position closer to the wellbore/work area and the mast 119. Once the column 400 moves to this intermediate position, the pipe guide 200, 300 is activated and rotates to release control of the pipe stand 270b. The lower and upper arms 430, 440 are extended (from the retracted position) which moves the pipe stand 470b into the work area and below the top drive 135 to facilitate transfer to the top drive 135. This is further illustrated in FIGS. 4B and 4C. After the top drive 135 secures the pipe stand 470b, the arms 430, 440 are retracted inward to the retracted position. Further rig operations involving the transferred pipe stand 470b may then be performed (e.g., connecting the pipe stand 470b to the drill string 475 during tripping in process).

As will be appreciated, the reverse of the above-described process may occur when a pipe stand 470b is disconnected from the drill string 475 and returned to the pipe storage fingerboard 410 (e.g., during a tripping out process).

Now turning to FIGS. 7A and 7B, the pipe guide 200, 300 is illustrated in the open position—when the fingers are both in a horizontal plane (e.g., also shown in FIG. 3)—the fingers are spaced far enough apart to allow clearance for pipe handling when extra stability and guidance is not needed. FIG. 7A shows the pipe guide 200, 300 without a tubular pipe disposed therein, while FIG. 7B shows a tubular pipe 270 disposed between the finger 236a, 336a and the finger 236b, 336b.

Now turning to FIG. 8A (top view), 8B (front view) and 8C (perspective view), the pipe guide 200, 300 is illustrated in a racking board guide position—when the fingers are rotated to a first predetermined position for a given horizontal spacing to align with the outer edges of a storage row (yet leaving only a small amount of space between the fingers and the pipe)—the fingers operate as a guide for retrieving/delivering pipe stands from/to the pipe storage fingerboard assembly 410. In this position, the spacing and rotation of the finger 236a, 336a and the finger 236b, 336b function to stabilize and guide the tubular pipe 270 through a desired path into and out of the end of a desired slot or row 600 of the pipe storage fingerboard assembly 410 (see FIGS. 6A, 6B) as the arms 430, 440 gripping, lifting and holding the pipe 270 are extended and retracted, respectively.

Turning now to FIG. 9A (top view), 9B (front view) and 9C (perspective view), the pipe guide 200, 300 is illustrated in a grip and stabilizing position—when the fingers are rotated to a second predetermined position (beyond the first predetermined position) to contact the pipe 270—the fingers operate to hold and prevent any lateral movement (x-y direction) of the upper end of the pipe 270, but the fingers can be opened slightly and allow the pipe to be raised or lowered, if needed. The pipe guide 200, 300 is typically activated and placed into this position to stabilize and secure the pipe 270 during rotation and/or lateral (x-y) movement of the column 400.

Also, in this position, the rotational position of the pipe guide 200, 300 may be detected or determined by the controller 260 based at least partly on the received transducer signal from the positional transducer 240, such as by the electro-mechanical linear variable differential transducer (LVDT) described above,. From this information, the controller 260 may calculate the diameter of the pipe 270 secured therein. As will be appreciated, a person of ordinary skill in the art may readily program a processor or microcontroller within the controller 260 to calculate the diameter of the pipe 270 based upon the rotational position of the pipe guide (e.g., information provided by the LVDT) and the fixed distance/spacing between the finger 236a, 336a and the finger 236b, 336b (and with knowledge of the dimensions/width and orientation of the fingers and LVDT) and the geometry of the system.

Turning to FIG. 10A (top view), 10B (front view) and 10C (perspective view), the pipe guide 200, 300 is illustrated in a mis-grip detection position or mode. In this position, the position transducer 240 provides information or data related to the rotational position of the fingers 236-enabling determination or detection of the absence of a tubular pipe within the gripping area. This position information or data from the transducer 240 may be input to the controller 260 for determining there has been a mis-grip, and an alarm system (not shown) may be activated or other user notification (e.g., on a display, sound, lights, etc.) may be performed.

When introducing elements of the present disclosure or exemplary aspects or embodiments thereof, the articles “a,” “an,” “the” and “said” are intended to mean that there are one or more of the elements.

The terms “comprising,” “including” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.

The term “coupled” is used herein to refer to the direct or indirect coupling between two objects. For example, if object A physically touches object B and object B touches object C, the objects A and C may still be considered coupled to one another—even if objects A and C do not directly physically touch each other. For instance, a first object may be coupled to a second object even though the first object is never directly in physical contact with the second object.

While the foregoing is directed to embodiments of the present disclosure, other and further embodiments of the disclosure may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

It may be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The terms “application” and “program” refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in a suitable computer code (including source code, object code, or executable code). The term “communicate,” as well as derivatives thereof, encompasses both direct and indirect communication. The terms “include” and “comprise,” as well as derivatives thereof, mean inclusion without limitation. The term “or” is inclusive, meaning and/or. The phrase “associated with,” as well as derivatives thereof, may mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, have a property of, have a relationship to or with, or the like. The phrase “at least one of,” when used with a list of items, means that different combinations of one or more of the listed items may be used, and only one item in the list may be needed. For example, “at least one of: A, B, and C” includes any of the following combinations: A, B, C, A and B, A and C, B and C, and A and B and C.

The description in the present disclosure should not be read as implying that any particular element, step, or function is an essential or critical element that must be included in the claim scope. The scope of patented subject matter is defined only by the allowed claims. Moreover, none of the claims invokes 35 U.S.C. § 112(f) with respect to any of the appended claims or claim elements unless the exact words “means for” or “step for” are explicitly used in the particular claim, followed by a participle phrase identifying a function. Use of terms such as (but not limited to) “mechanism,” “module,” “device,” “unit,” “component,” “element,” “member,” “apparatus,” “machine,” “system,” “processor,” or “controller” within a claim is understood and intended to refer to structures known to those skilled in the relevant art, as further modified or enhanced by the features of the claims themselves, and is not intended to invoke 35 U.S.C. § 112(f).

While this disclosure has described certain embodiments and generally associated methods, alterations and permutations of these embodiments and methods will be apparent to those skilled in the art. Accordingly, the above description of example embodiments does not define or constrain this disclosure. Other changes, substitutions, and alterations are also possible without departing from the spirit and scope of this disclosure, as defined by the following claims.

Claims

1. A pipe handling system for use in a drilling rig system, the pipe handling system comprising:

an elongated column structure having a lower end and an upper end in vertical alignment and configured to rotate about a longitudinal axis and move horizontally, the column structure including a first lower arm disposed about the lower end and a second upper arm disposed about the upper end and configured to secure a pipe stand for movement;

a rotary pipe guide system connected to the column structure and disposed adjacent the upper end and above the second upper arm of the column structure, the rotary pipe guide system comprising a rotary pipe guide having a first finger spaced laterally from and opposite a second finger and configured to selectively rotate about a pipe guide axis and contact and secure a first pipe stand when disposed between the first and second fingers; and

a pipe storage fingerboard assembly disposed above the elongated column structure and configured to store a plurality of pipe stands.

2. The pipe handling system in accordance with claim 1 wherein the rotary pipe guide is further configured to selectively rotate the first and second fingers about the pipe guide axis to a first predetermined rotational position and to a second predetermined rotational position, the first predetermined rotational position providing a first horizontal distance between the first finger and the second finger about equal to a width of a first storage row of the pipe storage fingerboard assembly, and the second predetermined rotational position providing a second horizontal distance between the first finger and the second finger equal to a diameter of the first pipe stand.

3. The pipe handling system in accordance with claim 2 wherein:

the first predetermined rotational position corresponds to a position of the rotary pipe guide for retrieving or delivering the first pipe stand to the first storage row of the pipe storage fingerboard assembly; and

the second predetermined rotational position corresponds to a position of the rotary pipe guide for securing the first pipe stand to the elongated column structure.

4. The pipe handling system in accordance with claim 3 wherein the rotary pipe guide system further comprises:

a rotatable shaft having a longitudinal axis and coupled to the first finger and the second finger;

an actuator having a first end coupled to the shaft and a second end coupled to a first point, the actuator configured to rotate the shaft about its longitudinal axis; and

a controller coupled to the actuator and configured to control operation of the actuator.

5. The pipe handling system in accordance with claim 4 wherein the rotary pipe guide system further comprises:

a position transducer having a first end coupled to the shaft and a second end coupled to a second point, the position transducer configured to translate rotational movement of the shaft to linear movement and generate a position signal indicative of the linear movement.

6. The pipe handling system in accordance with claim 5 wherein the controller is configured to:

receive the position signal from the position transducer; and

determine a rotational position of the rotary pipe guide.

7. The pipe handling system in accordance with claim 6 wherein the controller is further configured to determine a diameter of a pipe stand disposed and secured within the rotary pipe guide based on the determined rotational position of the rotary pipe guide.

8. The pipe handling system in accordance with claim 6 wherein the rotary pipe guide is configured to:

receive and secure at different times a first pipe stand having a first diameter within a range of about 4 to 12 inches and a second pipe stand having a second diameter within the range of about 4 to 12 inches and different from the first diameter.

9. The pipe handling system in accordance with claim 6 wherein the first finger and the second finger of the rotary pipe guide are disposed opposite each other and spaced apart by L, wherein L is in a range of between about 6 and 12 inches.

10. A rotary pipe guide system for use in a pipe handling system of a drilling rig system, the rotary pipe guide system comprising:

a rotary pipe guide having a first finger and a second finger disposed opposite each other and coupled to a rotatable shaft having a longitudinal axis;

an actuator having a first end coupled to the shaft and a second end coupled to a first point, the actuator configured to rotate the shaft about its longitudinal axis;

a position transducer having a first end coupled to the shaft and a second end coupled to a second point, the position transducer configured to translate rotational movement of the shaft to linear movement and generate a position signal indicative of the linear movement; and

a controller coupled to the actuator and configured to control operation of the actuator.

11. The rotary pipe guide system in accordance with claim 10 wherein the controller is configured to:

receive the position signal from the position transducer; and

determine a rotational position of the rotary pipe guide.

12. The rotary pipe guide system in accordance with claim 11 wherein the controller is further configured to determine a diameter of a pipe stand disposed and secured within the rotary pipe guide based on the determined rotational position of the rotary pipe guide.

13. The rotary pipe guide system in accordance with claim 10 wherein the rotary pipe guide is configured to:

receive and secure at different times a first pipe stand having a first diameter within a range of about 4 to 12 inches and a second pipe stand having a second diameter within the range of about 4 to 12 inches and different from the first diameter.

14. The rotary pipe guide system in accordance with claim 11 wherein the first finger and the second finger of the rotary pipe guide are disposed opposite each other and spaced apart by L, wherein L is in a range of between about 6 and 12 inches.

15. A pipe handling method for use in a drilling rig system having a rotary pipe guide comprising a first finger and a second finger, the method comprising:

storing at least a first pipe stand in a first row of a pipe fingerboard assembly;

positioning an elongated column structure to enable retrieval of the first pipe stand from the pipe fingerboard assembly;

rotating the rotary pipe guide to a first rotational alignment position wherein a first horizontal distance between the first finger and the second finger is about equal to a width of the first row;

extending one or more arms from the elongated column structure and securing the first pipe stand to the one or more arms;

retracting the one or more arms;

after retracting the one or more arms, rotating the rotary pipe guide to a first rotational securing position causing the first finger and the second finger to contact and secure the first pipe stand within the rotary pipe guide;

positioning the elongated column structure and the first pipe stand to enable delivery of the first pipe stand for use in a wellbore area;

rotating the rotary pipe guide to a first rotational releasing position to release the first pipe stand from the rotary pipe; and

extending the one or more arms from the elongated column structure to deliver the first pipe stand.

16. The pipe handling method in accordance with claim 15, further comprising:

positioning the elongated column structure to enable retrieval of a second pipe stand from the wellbore area;

extending the one or more arms from the elongated column structure and securing the second pipe stand to the one or more arms;

rotating the rotary pipe guide to a second rotational receiving position operable for receiving the second pipe stand;

retracting the one or more arms;

after retracting the one or more arms, rotating the rotary pipe guide to a second rotational securing position causing the first finger and the second finger to contact and secure the second pipe stand;

positioning the elongated column structure and the second pipe stand to enable delivery of the second pipe stand to the pipe fingerboard assembly;

rotating the rotary pipe guide to a second rotational alignment position wherein a second horizontal distance between the first finger and the second finger is about equal to a width of one of a plurality of rows of the pipe fingerboard assembly; and

extending the one or more arms from the elongated column structure to deliver the second pipe stand to the pipe fingerboard assembly.