US Patent 11643887 Robotic pipe handler systems

A pipe handling system can include a bridge disposed in an inclined position, having first and second rails with a space therebetween, and an arm coupled to the first and second rails, the arm being configured to manipulate a tubular through the space between the first and second rails. A method that can include gripping a tubular at a well center on a rig floor via an arm coupled to a bridge, the bridge comprising first and second rails with a space therebetween, moving the tubular from the well center and through the space, and moving the tubular along the bridge via the arm, with the bridge being inclined from a horizontal storage area to the rig floor.