Alignment apparatus and method for a boom of a pipe handling system
A pipe handling apparatus has a frame, a boom pivotally connected to the frame so as to be movable between a first position and a second position, an arm extending outwardly of the boom when the boom is in the second position, and a gripper affixed to the end of the arm opposite the boom. A pair of arm-tensioning mechanisms is connected to the arm and provide for tensioning of the arm. A pair of boom-lateral-adjustment mechanisms is connected to the upper portion of the boom and provide for lateral adjustment of the boom. A pair of rocker-arm-adjustment mechanisms is connected to the link and provide for adjustment of the link.
1. A tensioning apparatus comprising:
a frame;
a boom pivotally movable between a first position and a second position;
a lever having a first and second portion, the lever pivotally connected to the boom;
an arm pivotally connected at one end to the first portion of the lever, the arm movable between a stowed position and a deployed position;
a gripper assembly affixed to an opposite end of the arm, the gripper assembly for gripping a diameter of a pipe;
a link having a first end pivotally connected at one end to the second portion of the lever, the link having a second end pivotally connected to the frame; and,
a tensioning assembly having one end connected to the arm and an opposite end connected to the frame, the tensioning assembly configured to apply a tension to the arm.
2. The apparatus of claim 1 , wherein the tensioning assembly further comprises:
an upper line having one end connected to the arm and an opposite end connected to a tensioning device; and,
the tensioning device being connected to the frame.
3. The apparatus of claim 2 , where the tensioning device is connected to a jack screw and the jack screw is connected to the frame.
4. The apparatus of claim 2 further comprising a stiffening brace having one end connected to the frame and the other end connected to the tensioning device.
5. A boom-lateral-adjustment apparatus comprising:
a frame;
a boom pivotally movable between a first position and a second position;
a lever having a first and second portion, the lever pivotally connected to the boom;
an arm pivotally connected at one end to the first portion of the lever, the arm movable between a stowed position and a deployed position;
a gripper assembly affixed to an opposite end of the arm, the gripper assembly for gripping a diameter of a pipe;
a link having a first end pivotally connected at one end to the second portion of the lever, the link having a second end pivotally connected to the frame; and,
a pair of boom-lateral-adjustment mechanisms each having one end connected to the upper portion of the boom and an opposite end connected to the frame, the boom-lateral-adjustment mechanism configured to selectively adjust the alignment of the boom.
6. The apparatus of claim 5 , wherein each boom-lateral-adjustment mechanism comprises:
a jack screw connected to the frame; and,
a boom-lateral-adjustment line having one end connected to the upper portion of the boom and an opposite end connected to the jack screw.
7. A rocker-arm-adjustment apparatus comprising:
a frame;
a boom pivotally movable between a first position and a second position;
a lever having a first and second portion, the lever pivotally connected to the boom;
an arm pivotally connected at one end to the first portion of the lever, the arm movable between a stowed position and a deployed position;
a gripper assembly affixed to an opposite end of the arm, the gripper assembly for gripping a diameter of a pipe;
a link having a first end pivotally connected at one end to the second portion of the lever, the link having a second end; and,
a rocker-arm-adjustment mechanism having one end connected to the second end of the link and an opposite end connected to the frame, the rocker-arm-adjustment mechanism configured to adjust the alignment of the link.
8. The apparatus of claim 7 , wherein each rocker-arm-adjustment mechanism comprises:
a jack screw connected to the frame; and,
a rocker arm having one end connected to the second end of the link and an opposite end connected to the jack screw.