• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A handling device for handling drill string components (8, 8',8'') in a rock drilling rig (1), wherein the handling device includes a gripper unit (11) for gripping drill string components (8, 8',8'') to be put into and be brought out from the rock drilling rig, and wherein the gripper unit (11) includes grippers (12,13,14) operational for gripping components positioned in a gripping position, which defines a grip position axis (G). The gripper unit (11) is supported swingable between: a) a first position, wherein the gripper unit is positioned for engagement with an end portion of a first drill string component (8') and an end portion of a second drill string component (8'') in and aligned with said active drill string position (A), and b) a second position, wherein a gripper unit (11) is positioned for engagement with an end portion of a drill string component in a delivering position for drill string components that are to be brought into respectively taken away from said active drill string position (A). The invention also concerns a rock drilling rig and a method.
    公开号:SE1001245A1
    申请号:SE1001245
    申请日:2010-12-30
    公开日:2012-07-01
    发明作者:Anders Gustafsson；Olof Goeransson；Lars Gellerhed
    申请人:Atlas Copco Rocktech Ab；
    IPC主号:
    专利说明:

    Core drilling often takes place at very great depths, such as between one and two kilometers of drilling lengths. Because the drill bit is subject to wear, it needs to be replaced relatively often, which means that the entire drill string must be removed from the borehole, disassembled into drill string components, the worn drill bit removed and replaced with a new one, after which the drill string can be lowered again. the hole. Then drill another section until the drill bit has to be replaced again, and so on. During the actual drilling, a flushing fluid swivel is connected to the upper end of the drilling string to provide flushing fluid for transporting away rock material loosened by the drilling.
    OBJECTS AND MOST IMPORTANT CHARACTERISTICS OF THE INVENTION It is an object of the invention to provide a device of the above kind, in which the problems as above are addressed and at least partially solved. This is achieved in a handling device according to the above by the features of the characterizing part of claim 1.
    The pivotability of the gripper unit allows that in the first position it is arranged to actively align end portions of drill string components to be joined together. This achieves the possibility of correct alignment in its entirety between drill string components, which are to be spliced or separated, which is a great advantage because it allows security for correct handling of the drill string components in the threading operations and avoidance of thread damage, which can result from incorrect attempts to convergence. It is also important that separation takes place in a focused and controlled manner.
    By the pivotability to the second position it is achieved that the gripper unit becomes capable in this second position to engage with an end portion of a drill string component in the delivery position for 76288; 2010-12-29 10 15 20 25 30 to in this position in a corresponding manner provide direction for the inlet and outlet of a lifting plug or a flushing fluid swivel (in the case of the drill string's currently last drill string component) in and from the gripped drill string component, respectively. The gripper unit thus obtains an additional important function which has to do with the attachment of a lifting plug and a water swivel, respectively, to the drill string component in the delivery position.
    The gripper unit is preferably pivotable in a plane, which is most preferably parallel to the axis of the drill string in the rig.
    In a preferred aspect, the gripper unit comprises rotating means for rotating in both said first and said second position at least one of the components of the group: a second drill string component, a lifting plug, a flushing fluid swivel.
    In this way, the tightening function is preferably integrated with the alignment function for the two positions for merging and disassembling the respective component with / from the also gripped (first) drill string component.
    The rotating means most preferably consists of a rotary gripping unit for simultaneous gripping and rotation of any of: said end portion of the second drill string component, said lifting plug, said flushing fluid swivel.
    Suitably, the operation of the rotating means for all threading is torque controlled, so that incorrect threading attempts can be interrupted before any damage has been caused to the threads. This can be done by a torque monitor being arranged to monitor the rotation during some (eg 2 - 4) revolutions, during which during normal fault-free convergence otherwise a known low to moderate torque level prevails. When torque increases above a certain level during the course of drawing a certain angle (eg 2 x 3600 '4 x 3600), the tightening attempt is interrupted and a new attempt is made after resetting. A simple torque monitor can in a manner known per se consist, for example, of a hydraulic 76288; 2010-12-29 10 15 20 25 30 torque monitor associated with the rotating means. However, other solutions may also be available.
    It is preferred that the gripper unit is provided with a first set of grippers for gripping said end portion of the first drill string component and a second set of grippers to together with the rotary gripper unit enable gripping of any of: said end portion of the second drill string component, said lift plug, said washer fluid swivel.
    These grippers are suitably operated sequentially or separately, which provides flexibility for the device. In this case, the gripper unit is preferably arranged to grip and align with the second set of grippers, in the second position, at least one of said lifting plugs, said flushing fluid swivel with said end portion of a drill string component.
    In a preferred embodiment the gripper unit is provided with means for moving said rotating means and preferably also the second set of grippers parallel to said gripping position axis in relation to the first set of grippers it is achieved that thread pitch compensation can be provided in the thread operation. This can be arranged in that said rotating means and the second set of grippers are placed on a common, controlled displaceable carrier.
    It is preferred that said rotating means, the first set of grippers and the second set of grippers are pivotally operable and in particular to positions for exposing the gripping position over 180 ° seen transversely to the gripping position axis. In this way, the grippers and said rotating means can be moved to the side so far that they are not in the way when the gripper unit is pivoted.
    According to a preferred aspect, the gripper unit is arranged on a pivot unit, which is designed to be pivotally attached to a 76288; 2010-12-29 10 15 20 25 30 carriers, such as one of: the rock drilling rig, a drill string conveyor, a drill string magazine, a separate stand. It is preferred here that the gripper unit is arranged pivotally attached to the rock drilling rig and in particular to the feed beam above and in connection with a lower position of the rotator device.
    Corresponding advantages are achieved with a rock drilling rig comprising a handling device as above and with a method according to the invention.
    The invention will now be described in more detail with reference to exemplary embodiments and with reference to the accompanying drawings.
    BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows in a perspective view a rock drilling rig for core drilling provided with a handling device according to the invention and in connection with a magazine for drill string components, Fig. 2 shows a perspective view of the gripper unit isolated and on a larger scale, Fig. 3 - 5 shows in perspective view details of the handling device in connection with a rock drilling rig, and Fig. 6 schematically shows a flow chart for a method according to the invention.
    DESCRIPTION OF EMBODIMENT FIGURE 1 is shown a rock drilling rig 1 for core drilling including a vertically placed feed beam 2 on which a rotator device 4 is movably supported back and forth. Below (in the picture) the rotator device 4 is arranged a pipe holder 5 for temporarily holding the drill string so is needed.
    Adjacent to the feed beam 2 of the rock drilling rig 1 is a power and drive unit 3 for supplying pressure fluid 76288; 2010-12-29 10 15 20 25 30 m to the rock drilling rig 1, a lifting winch (not shown) and a magazine 6 for receiving drill string components 8, which are to be inserted into or picked up from the rock drilling rig 1 in a manner which will be described below.
    The magazine 6 can be designed in different ways but is exemplified in Fig. 1 in the form of a substantially horizontal table, which is tiltable so that drill string components 8 can be made to roll against a stand of a conveyor 7. A lifting device (not shown) is arranged closest to the frame, which lifting device is arranged to lift a drill string component 8 located closest to the conveyor 7 on the magazine 6 up to an upper part of a conveyor belt belonging to the conveyor 7 for guiding the drill string component thus raised in the direction of the rock drilling rig.
    In Fig. 1, a dotted line component in a position during a lifting phase, which is an inclined position in relation to the feed beam 2, is further indicated by a dash-dotted line at 8 ".
    This line at 8 "in Fig. 1 is intended to illustrate an intermediate position during the lifting phase, which ends with the drill string component assuming a position which is coaxial with an active drill string position for the rock drilling rig 1. Lifting takes place by means of an inlet on the top of the drill string component 8" During this process, the lifting plug is in turn connected to a (not shown) lifting wire, which in turn goes over a wire pulley (not shown) at the top of the feed beam and with its other part runs substantially parallel to the feed beam. 2 to the lifting winch (not shown) arranged in the area of the power and drive unit 3.
    Furthermore, Fig. 1 shows a lifting plug 25 gripped by a gripper unit 11 and threaded to an end portion of a first drill string component 8 '76288; 2010-12-29 10 15 20 25 30 It can further be seen in Fig. 1 that said end portion protrudes from the rotator device 4 so that this first drill string component 8 'is in an active drill string position A. The drill string component 8' has a female thread for engagement with a corresponding hang on the plug 25.
    Splicing of a further, second, drill string component 8 'on the first drill string component 8' for the purpose of extending the drill string for subsequent immersion in the borehole takes place substantially corresponding to the procedure for threading a lifting plug. See below.
    The gripper unit 11 is shown in a first position in Fig. 1, in which a gripping position defined by the gripper unit 11, which has a gripping position axis G (see dashed line in Fig. 1), is coaxial with said active drill string position A.
    Furthermore, a fastening structure 19 is shown in more detail in this figure, which is arranged to position the conveyor 7 in relation to the rock drilling rig.
    The gripper unit 11, shown in more detail in Fig. 2, has a first set of grippers 12 for engaging said first drill string component 8 '(in Fig. 1) and rotating means 14 in the form of a rotary gripper unit 14, which has drive rollers 20 for engaging a component such as a drill string component to be rotated along with drive motors 21 for these drive rollers. In addition, the gripper unit 11 has a second set of grippers 13 for co-operation with a rotary gripper unit 14 for engagement with a component.
    The first set of grippers 12 is operated by hydraulic cylinders, one of which is indicated by 15 and the second set of grippers is operated by hydraulic cylinders 17.
    The rotating means 14 with the drive rollers are supported on pivotable rotary clamping means, which are brought into engagement with a 76288; 2010-12-29 10 15 20 25 30 component to be rotated by means of hydraulic cylinders, one of which is shown and indicated by 16.
    A part of the gripper unit 11 comprising the rotating means 14 and normally also the second set of grippers 13 is furthermore displaceable in a direction parallel to said gripping position axis 3. See double arrow. The purpose of this displaceability is to appropriate a part of the gripper unit 11, and in particular the rotating means 14, an axial movement and a rotation of the drive rollers so that it is compensated for the thread pitch during the rotational drive of the component being rotated.
    Fig. 2 further shows a pivoting unit 18, which is attached to the rig and supports the gripper unit 11 for pivoting between the position shown in Figs. 1 and 2 and a unfolded position, which is described below.
    Fig. 2 shows the sets of grippers 12 and 13 with one gripper clone open respectively. In general, open second set of grippers and rotating means 14 recessed into engagement with the plug or drill string component allow rotation of the plug or drill string component 8 "without obstruction of engagement of the second set of grippers 13.
    After fitting an additional drill string component to a position on top of one located in position A (instead of the lifting plug 25 in Fig. 1), the drill string components are thus contracted by the rotating means, after which the joint is terminated in the usual manner by the rotator device 4. Then the drill string can be lowered. lifting wires slack.
    Thereafter, the drill string is lowered down to the position shown in Fig. 1, the next drill string component reaching the position indicated by 8 'with an end portion protruding from the rotator device 4 and with the lifting plug 25 sitting on top of this drill string component. This lifting plug must now be pulled loose from the drill string. 76288; 2010-12-29 10 15 20 25 30 The lifting plug 25 consists of a swivel device and therefore has two mutually rotatable parts, as shown in Fig. 2, namely an engaging part 26, which is at the bottom provided with a male thread 26 'on its free, the end of the drill string component and a lifting part 27, which is ultimately provided with a lifting loop for co-operation with a lifting wire as described above.
    The rotary gripping unit constituting the rotating means of the gripping unit 11 comprises the drive rollers 20, which have a surface with engaging means for ensuring good gripping engagement against a component to be rotated. The drive motors 21 are in the example shown arranged laterally of the drive rollers 20 and together with them supported on a pivot arm construction carrying a rotating member 14.
    When the gripper unit 11 is activated so that the rotating means 14 and the second set of grippers 13 are displaced axially in the direction from the drill string component 8, the drive rollers 20 are set in rotation for rotational driving of the engaging part 26.
    The lift plug 25 is moved axially in the direction from the drill string component from which it is to be pulled free. The lifting part 27 is simultaneously held by said second set of grippers 13 in order to prevent rotation thereof and to prevent undesired rotation from propagating to the lifting wire.
    Thus, the first set of grippers 12 has gripped the end portion of the drill string component 8 'while the rotating means 14 has engaged with the engaging part of the lifting plug 25 and the second set of grippers 13 has engaged with the lifting part 27 of the lifting plug 25, after which the lifting plug 25 is released by rotational action of the rotating means 14.
    When the lifting plug 25 is pulled loose from the drill string component 8 '(Fig. 1), it is pivoted by the pivot unit 18, which carries the gripper unit 11, from the first position in the direction of said second position. To 76288; 2010-12-29 10 15 20 25 30 10 allow this oscillation, the first set of grippers 12 has opened while still the rotating means 14 as well as the second set of grippers 13 are in engagement with the lifting plug 25.
    In Fig. 3 it can be seen that said pivoting unit pivots the gripper unit 11 with the holding lifting plug 25 to a position where the gripping position is substantially horizontal for co-operation with drill string components lying on the conveyor 7 connected to said magazine.
    In the position shown in Fig. 4, a drill string component 8 has been advanced on the conveyor 7 towards a reciprocating stop 23, which is operated by a hydraulic cylinder 24. The conveyor 7 is provided with a conveyor belt 22, which is driven by conveyor wheels for driving drill string components 8. to and from a delivery position B for drill string components, which is the position defined by said stop 23 and which constitutes a definite position for the drill string component.
    This specific position can be ensured in other ways, e.g. by carriers on the conveyor, which are arranged to stay in certain positions.
    Fig. 4 shows the first set of grippers 12 in a position for gripping engagement with the drill string component 8, which has reached said position and after said stop 23 has been moved aside exposing the end of the drill string component 8 so that a female thread is located at the end of the now determined position. placed drill string component 8 becomes available.
    The lifting plug 25 is held by the rotating means constituting the rotary gripping unit 14 and the second set of grippers 13 and is now ready for joining with the drill string component 8.
    After completion of the joining, the drill string component 8 can be pulled up from the conveyor to the 76288 through the lifting winch; 2010 ~ 12-29 10 15 20 25 30 11 rock drilling rig so that it can be placed in the active drill string position A in Fig. 1.
    In order to compensate for the thread pitch at the entrance, a unit comprising the rotating means constituting the rotary gripping unit 14 and the second set of grippers 13 will also in this case be displaced axially in the direction of the drill string component 8 and the drive rollers rotated.
    After completion of threading of the male thread 26 'on the engaging part 26 of the female thread in the drill string component 8, the first set of grippers 12 as well as the rotating means 14 and the second set of grippers 13 are released again.
    As a result, the drill string component 8 is free to be lifted by means of the lifting wire so that it, among other things, passes the position shown in broken line in Fig. 1 and later ends up in the position of the second drill string component along the "grip position axis" indicated by G in Fig. 1.
    Then it can be pulled together with the drill string as described above in the light of this figure.
    So far, the operational function of the handling device according to the invention in immersing a drill string after, for example, replacing a drill bit has been described. When picking up the drill string, the opposite procedure takes place in principle, namely attaching the lifting plug to a drill string component located in the active drill string position, pulling up the lifting plug with attached drill string to a position where the rotator device is known per se to pull the upper string. from the subsequent drill string component.
    Thereafter, the drill string is further lifted so that the next drill string component with its end portion ends up in the position shown in Figs. 1 and 4, after which the gripper unit 11 enters and with the rotating means 14 grips the uppermost drill string component and with the first set 76288; 2010-12-29 10 15 20 25 30 12 gripper 12 grips the next drill string component ("the first") for the purpose of alignment in connection with the rotating means 14 being driven for controlled loosening of this drill string component.
    Thereafter, the thus detached drill string component is moved out of position parallel to the active drill string position with its lower end so that it ends up on the conveyor belt on the conveyor 7, after which it is driven at the same time as the lifting wire is slackened so that the drill string component ends up on said conveyor belt.
    To assist in performing the lower end of the drill string component to a position on said conveyor belt or the like, a pivotable and power-driven support arm 40 with fork-like engaging part 41 is provided for guiding engagement with drill string components (see Fig. 5), which support arm has the dual function of functioning as a driving ejector for discharging the pipe end to a conveyor, a trolley or the like, and partly the function as a guiding inserter, for guiding the drill string component before actuation to the drill string at the end of the lifting movement, as described above.
    Fig. 6 schematically illustrates a method sequence comprising a method according to the invention for receiving a drill string in a rock drilling rig, for example for replacing a drill bit, wherein: Position 31 indicates the start sequence.
    Position 32 indicates retraction of the drill string to an uppermost position and ensuring that the rotator assembly is in its lowest position after it has detached the uppermost drill string component from the next drill string component.
    Position 33 indicates swinging of the gripper unit to the first position. 76288; 2010 34-29 10 15 20 25 30 13 Position 34 indicates activation of the first set of grippers for gripping an end portion of the lowest drill string component (8 'in Fig. 1) and of the rotary gripping unit for gripping an end portion of the uppermost drill string component ( 8 ”indicated in Fig. 1).
    Position 35 indicates release of the top drill string component through the rotary gripper unit and then opening of all grippers of the gripper unit.
    Position 36 indicates removal of the loosened drill string component and placement thereof in a delivery position.
    Position 37 indicates pivoting of the gripper unit to the second position and gripping of the lifting plug and the end portion of the loosened drill string component for loosening the lifting plug through the rotary gripping unit.
    Position 38 indicates pivoting of the gripper unit to the first position for tightening the lifting plug on the end portion of the now uppermost drill string component.
    Position 39 indicates the end of the sequence.
    This sequence is intended to be repeated as many times as necessary. Since it is instead a matter of immersing a drill string, for example after a replacement of the drill bit, the steps take place mainly in reverse order, which has been described in detail in the light of the figures.
    The invention has been described in the light of a rock drilling rig for core drilling, but it is also applicable to other types of rigs such as those for oil drilling and the like.
    The invention can be modified within the definitions of the claims. It is preferred that the gripper unit integrates the functions described above, but it is within the scope of the invention that the grippers may be designed differently and that the second set of grippers be replaced by the rotation unit. 76288; 2010-12-29 10 15 14 It is also not excluded that the rotation unit is performed by a gripper unit side-by-side device, which engages with the components to be rotated. The pivoting movement of the gripper unit can take place in a different way and it can be attached to some other component than the feed beam of the rig itself.
    It is preferred that the gripper unit is provided with said first set of grippers for gripping said end portion of the first drill string component. However, it is not excluded that the first set of grippers is replaced by a controlling alignment device without gripper function, such as e.g. a fork-shaped element. This element can then, during its performance, provide the desired precise alignment of the gripper unit towards the drill string component in question by allowing the control means of such an element as fork legs to come into control engagement with an end portion of the drill string component in question. 76288; 2010-12-29
    权利要求:
    Claims (15)
    [1]
    Handling device for handling drill string components (8, 8 ', 8 ") at a rock drilling rig (1), which comprises a rotary device (4) movably reciprocally supported for rotation and drive of a drill string (2) , the handling device comprising a gripper unit (11) for gripping drill string components (8, 8 ', 8 "), which are to be inserted into and removed from an active drill string position (A) for the rock drilling rig, and wherein the gripper unit (11) has grippers (12, 13, 14) operative for gripping components positioned in a gripping position, which defines a gripping position axis (G), characterized in that - the gripping unit (11) is supported pivotable between: a) a first position, in which the gripping unit is positioned to engage with an end portion of a first drill string component (8 ') and an end portion of a second drill string component (8 ") in and aligned with said active drill string position (A), and b) a second position in which the gripper unit (11) is positioned for to engage an end portion of a drill string component in a delivery position for drill string components, which are to be inserted into or removed from said active drill string position (A).
    [2]
    Handling device according to claim 1, characterized in - that the gripper unit (11) comprises rotating means (14) for rotating in both said first and said second position at least one of the components of the group: a second drill string component (8 "), a lifting plug (25). ), a flushing fluid swivel - for threading and disassembling this component with or from a gripped (first) drill string component, respectively 76288; 2010-12-29 10 15 20 25 30 16
    [3]
    Handling device according to claim 2, characterized in - that the rotating means consist of a rotary gripping unit (14) for simultaneous gripping and rotation of any of: said end portion of the second drill string component, said lifting plug, said flushing fluid swivel.
    [4]
    Handling device according to claim 3, characterized in - that the gripper unit (11) is provided with a first set of grippers (12) for gripping said end portion of the first drill string component and a second set of grippers (13) for together with the rotary gripper unit (14) enabling gripping of any of: said end portion of the second drill string component, said lifting plug, said flushing fluid swivel.
    [5]
    Handling device according to claim 4, characterized in - that the gripper unit (11) is provided with means for moving said rotation means (14) parallel to said gripper position axis relative to the first set of grippers (12).
    [6]
    Handling device according to claim 4 or 5, characterized in that - said rotating means (14), the first set of grippers (12) and the second set of grippers (13) are pivotally operable.
    [7]
    Handling device according to claim 6, characterized in that - said rotating means (14), the first set of grippers (12) and the second set of grippers (13) are pivotally operable to positions for exposing the gripping position H A0 over 18u seen transversely to the gripping position axis ( G). 76288; 2010-12-29 10 15 20 25 30 17
    [8]
    Handling device according to one of the preceding claims, characterized in that - the gripper unit (11) is arranged on a pivot unit, which is designed to be pivotally attached to a carrier, such as one of: the rock drilling rig (1), a drill string conveyor, a drill string magazine (6) , a separate stand.
    [9]
    Rock drilling rig (1) comprising a rotator device (4) movably reciprocally supported for rotation and drive of a drill string (2), characterized in that it comprises a handling device according to any one of the preceding claims.
    [10]
    Method for handling drill string components (8, 8 ', 8 ") at a rock drilling rig (1), which comprises a rotary device (4) movably reciprocally supported for rotation and drive of a drill string (2) , wherein drill string components (8, 8 ', 8 "), which are to be inserted into and removed from an active drill string position (A) for the rock drilling rig, are gripped by a gripper unit (11) with grippers (12, 13, 14) operative for gripping components positioned in a gripping position, which defines a gripping position axis (G), characterized by - that the gripping unit (11) is pivoted between: a) a first position, in which the gripping unit is able to engage with an end portion of a first drill string component (8 ') and a end portion of a second drill string component (8 ") in and aligned with said active drill string position (A), and b) a second position, in which the gripper unit is capable of engaging an end portion of a drill string component (8) in a drill string component delivery position, which shall 7 6288; 2010-12-29 10 15 20 25 30 18 is inserted into and removed from the said active drill string position.
    [11]
    11. ll. Method according to claim 10, characterized in that - in both said first and said second position at least one of the components of the group: a second drill string component, a lifting plug, a flushing fluid swivel - is rotated by rotating means (14) on the gripper unit (11) for threading and disassembly. of this component with respectively from the also gripped (first) drill string component.
    [12]
    Method according to claim or 11, characterized in - said end portion of the first drill string component is gripped by a first set of grippers (12) on the gripper unit and said end portion of the second drill string component is gripped by said rotating means (14) and optionally a second set of grippers ( 13) on the gripper unit (11) in said first position.
    [13]
    Method according to claim 12, characterized in that - the gripper unit (11) is arranged to with said rotating means (14) together with the second set of grippers (13), in the second position, grip and align at least one of said lifting plug, said flushing fluid swivel - with said end portion of a drill string component (8).
    [14]
    Method according to claim 12 or 13, characterized in that - said rotating means (14) are moved parallel to said gripping position axis (G) relative to the first set (12) grippers by means of means arranged on the gripping unit (11). 76288; 2010-12-29 19
    [15]
    Method according to any one of claims 12 - 14, characterized in that said rotating means (14), the first set of grippers (12) and the second set of grippers (13) are pivoted to positions for exposing the gripping position if about 1800 seen transversely to the gripping position axis (G). 76288; 2010-12-29
    类似技术:
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    EP2659086B1|2019-08-21|
    CL2013001880A1|2014-02-14|
    WO2012091657A1|2012-07-05|
    JP2014504687A|2014-02-24|
    AU2011353159A1|2013-07-18|
    CA2822743C|2019-02-19|
    CN103299023B|2015-08-12|
    ZA201304123B|2014-08-27|
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    KR20140000284A|2014-01-02|
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    US9428970B2|2016-08-30|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1001245A|SE535586C2|2010-12-30|2010-12-30|Device and method for handling drill string components and drill rig|SE1001245A| SE535586C2|2010-12-30|2010-12-30|Device and method for handling drill string components and drill rig|
    KR1020137015993A| KR101907226B1|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    JP2013547400A| JP2014504687A|2010-12-30|2011-11-30|Drill string component handling apparatus and method, and rock drill rig equipped with the apparatus|
    CN201180063763.5A| CN103299023B|2010-12-30|2011-11-30|For handling the equipment of upsilonstring components and method and rock borer|
    EP11853353.8A| EP2659086B1|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    US13/261,680| US9428970B2|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    CA2822743A| CA2822743C|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    PE2013001503A| PE20140598A1|2010-12-30|2011-11-30|DEVICE AND METHOD FOR HANDLING THE COMPONENTS OF THE DRILLING ROD, AS WELL AS THE ROCK DRILLING EQUIPMENT|
    PCT/SE2011/051452| WO2012091657A1|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    AU2011353159A| AU2011353159B2|2010-12-30|2011-11-30|Device and method for handling drill string components, as well as rock drilling rig|
    ZA2013/04123A| ZA201304123B|2010-12-30|2013-06-05|Device and method for handling drill string components,as well as rock drilling rig|
    CL2013001880A| CL2013001880A1|2010-12-30|2013-06-25|Handling device for components of the drill rod in a rock drilling equipment including a rotating device, comprises a clamping unit that is oscillatingly supported between a first position and a second position; method for handling the components of the drill rod in a rock drill rig.|
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