US Patent 10190374 Vertical pipe handling system and method

A system includes a cage having a pipe rack configured to store a tubular in a vertical orientation, such that a longitudinal axis of the tubular is substantially perpendicular to a horizontal plane. The system also includes a first robotic pipe handler configured to transition the tubular from a horizontal orientation, in which the longitudinal axis of the tubular is substantially parallel to the horizontal plane, to the vertical orientation. The first robotic pipe handler transitions between a raised position and a lowered position about a first handler axis.