EP3214258B1 - Bauarbeitsgerät und verfahren zum aufrichten eines mastes - Google Patents

Bauarbeitsgerät und verfahren zum aufrichten eines mastes Download PDF

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Publication number
EP3214258B1
EP3214258B1 EP17163486.8A EP17163486A EP3214258B1 EP 3214258 B1 EP3214258 B1 EP 3214258B1 EP 17163486 A EP17163486 A EP 17163486A EP 3214258 B1 EP3214258 B1 EP 3214258B1
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EP
European Patent Office
Prior art keywords
mast
erection
cable
carriage
construction work
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17163486.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3214258A1 (de
Inventor
Martin Lanzl
Manfred Angermeier
Josef Haas
Christoph Wittmann
Christian Miehling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Maschinen GmbH
Original Assignee
Bauer Maschinen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to EP17163486.8A priority Critical patent/EP3214258B1/de
Priority to ES17163486.8T priority patent/ES2671698T3/es
Priority to PL17163486T priority patent/PL3214258T3/pl
Publication of EP3214258A1 publication Critical patent/EP3214258A1/de
Application granted granted Critical
Publication of EP3214258B1 publication Critical patent/EP3214258B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable

Definitions

  • the invention relates to a construction work implement according to the preamble of claim 1 and a method for erecting a mast of a construction work implement according to the preamble of claim 13.
  • a generic construction implement which may be in particular a drill, comprises a carrier vehicle, a rotatably mounted on the carrier vehicle about a pivot axis mast which is pivotable between an upright operating position and an inclined transport position, and at least one Aufrichtzylinder for pivoting the mast between the operating position and the transport position.
  • the inventive method relates to the erection of a mast of a construction work implement, which comprises a carrier vehicle and a mast articulated on the carrier vehicle, which is pivotable between an upright operating position and an inclined transport position. For erecting the mast is provided that at least one erection cylinder is actuated.
  • the one or more erector which are also commonly referred to as a neck cylinder, serve on the one hand to support the mast during drilling operation and on the other hand, the erection of the mast.
  • a neck cylinder serve on the one hand to support the mast during drilling operation and on the other hand, the erection of the mast.
  • the erection cylinders are often over-dimensioned for the drilling operation, since the forces for setting up the mast are considerably greater than the forces for supporting the mast during Bohrbe plantes.
  • the maximum allowable hydraulic pressure in the neck or Aufrichtzylindern must be specially dimensioned for the erection of the mast.
  • FIG. 1 Another generic device is from the EP-A1-884 619 out.
  • the mast is pivotally mounted on the carrier device via a yoke bar. From an approximately horizontal transport position, which can also be referred to as a mounting position for transport purposes, the yoke bar is pivoted together with the mast in a vertical operating position.
  • a pivot arm is provided on the carrier device, which is connected via a connecting cable with the yoke bar.
  • the swivel arm is pulled over a cable arrangement with winch on the carrier to support the erection movement of the mast backwards to the rear of the carrier.
  • the yoke beam and the swivel arm affect the space at the top of the carrier and lead to a significant increase in weight of the entire construction equipment.
  • a similar arrangement with a pivot arm is from the JP-A-2,001 to 40,663 known.
  • From the US-A-2010-02 6385 is a construction equipment with a crane boom out, which is erectable by means of cable and arm on the carrier.
  • a support cylinder is arranged on the boom to raise the boom for a limited distance.
  • Another construction tool with a pivoting mast is from the JP-A-2000-248545 known.
  • On the mast a carriage is arranged, which can be moved vertically in the erected state via a pull rope.
  • a support when erecting the mast is neither provided nor possible by the cable system.
  • the invention has for its object to provide a construction equipment and a method for erecting a mast, which allow easy erection of the mast under economic conditions.
  • the construction work implement according to the invention is characterized in that for pivoting the mast in addition to the at least one erection cylinder a Tarrichtseil is provided which is guided over a arranged on the mast Seilumlenkrolle and on the one hand on the carrier vehicle and on the other hand attachable to the mast that by applying a tensile force the Aufrichtseil on the Seilumlenkrolle a Terrarichtkraft is transferable to the mast in the direction of its operating position, and that for applying the tensile force on the Aufrichtseil a winch for winding the Aufrichtseiles is present.
  • the inventive method is characterized in that for erection of the mast in addition to the erecting a Trorichtseil is used, which is attached on the one hand to the carrier vehicle and on the other hand to the mast and guided over a arranged on the mast Seilumlenkrolle, and that by means of a winch on the Aufrichtseil a tensile force is applied, wherein an erecting force is transmitted to the mast for erecting the mast on the Seilumlenkrolle.
  • the invention particularly relates to a drill with a forward foldable mast.
  • Aufrichtseil invention to support the erection of the mast of the neck or erection cylinder can be relieved and thus dimensioned smaller.
  • a basic idea of the invention is to provide a further righting drive in addition to the at least one erection cylinder.
  • This further drive for erecting the mast comprises a rope and can thus also as a rope or Aufrichtseilantrieb be designated.
  • the erecting rope according to the invention is fastened on the one hand to the carrier vehicle and on the other hand to a carriage displaceably mounted along the mast.
  • the erection force according to the invention is provided in particular by acting on at least one end of the rope a tensile force on the rope, which moves the rope so that a distance between a pivot point of the rope on the carrier vehicle and the Seilumlenkrolle is shortened.
  • the Aufrichtseil is preferably carried out starting from a first articulation point on the carrier vehicle on the Seilumlenkrolle to a second articulation point on the carriage, that by the force applied to the rope tensile force extending obliquely to the longitudinal axis of the mast force can be exerted on the mast, the lifting or Erecting of the mast causes.
  • the opposite ends of the erecting rope can be attached to the carrier vehicle and the carriage, in particular attachable and / or articulated.
  • the construction work implement may in particular be a mobile drilling rig.
  • the carrier vehicle of the construction work implement may in particular comprise an undercarriage, possibly with crawler tracks, and a superstructure which is rotatably mounted on the undercarriage.
  • the mast is preferably pivotally mounted on the superstructure.
  • the righting rope may also be attached or attached to the uppercarriage of the host vehicle.
  • the pulling force can be achieved in particular by a method of the carriage on which the erecting rope is attached.
  • a Fatrichtkraft can be exercised or transmitted to the mast by moving the carriage, which are introduced in particular via the mounted on the mast Seilumlenkrolle in the mast can.
  • the method of the carriage thus causes a force can be exerted on the pulley, which is directed in the direction of the operating position of the mast.
  • a feed or slide drive is preferably provided for applying the tensile force to the erecting rope.
  • the feed drive is in particular in addition to the at least one (2004)richtseil available, that is, the Aufrichtseil does not act as a feed drive.
  • the feed drive preferably comprises a chain or cable drive and / or a hydraulic feed cylinder.
  • the chain or cable drive can in particular have a drive chain and / or a drive cable.
  • a particularly compact carriage drive By a hydraulic feed cylinder, a particularly compact carriage drive can be provided.
  • the feed or actuator cylinder can be hinged on the one hand on the carriage and on the other hand on the mast.
  • the particular hydraulic or pneumatic actuating cylinder may comprise a cylinder housing and a piston displaceably guided therein in basically known manner.
  • the adjusting cylinder can in particular be arranged so that the carriage is moved in the direction of the mast by extending the piston.
  • a particularly reliable and compact device is achieved in that the erecting rope is attached to two articulation points, between which a predetermined or fixed cable length is formed.
  • the cable is preferably fastened at its opposite ends to corresponding cable anchor points on the carriage and on the carrier vehicle.
  • a first part length of Aufrichtseils and between a second articulation point of Aufrichtseils the carriage and the Seilumlenkrolle a second part length of Aufrichtseils is formed between a first articulation point of Aufrichtseils the carrier vehicle and Seilumlenkrolle.
  • the first partial length can be shortened and, in particular at the same time, the second partial length can be correspondingly extended, that is, to the same extent, extendible or vice versa.
  • the shortening and lengthening of the two partial lengths according to the invention can be achieved, in particular, in that the point of articulation of the erecting cable on the carrier vehicle is closer to the cable deflection roller in the operating position of the mast than in the transport position. Since the erecting rope is guided in particular directly from the first point of articulation to the deflection roller, the first partial length is shortened by an erection of the mast, while it is lengthened by a lowering of the mast.
  • the second part length can be extended in particular by a method of the carriage in the direction of the mast base and shortened by a method of the carriage in the direction of the mast head.
  • the composite of two partial lengths total length of Aufrichtseils between the articulation points preferably remains the same.
  • a vehicle-side articulation point of the erecting cable, the cable deflecting roller and a carriage-side articulation point of the erecting cable to form a triangle in the inclined transport position of the pole.
  • the inclined transport position of the mast refers in particular to a horizontal and / or inclined relative to the vertical position of the mast.
  • the triangle can create a righting moment.
  • a winch for winding up the erecting rope.
  • the erection force is generated by winding the Aufrichtseiles on the winds.
  • the distance between the winch and Seilumlenkrolle is shortened with a fixed carriage and so a Aufrichtkraft on the Seilumlenkrolle on the mast in the direction of its operating position applied.
  • the carriage is moved in the direction of the mast base.
  • the attachment of the wind opposite end of Aufrichtseils the carriage allows easy release of the rope when the mast is in the operating position.
  • the carriage can be moved, for example, for improved accessibility in the direction of the mast base.
  • the erecting rope loosened by the carriage can then be available for other purposes.
  • the erecting rope may be the so-called main rope and the winch may be the so-called main winch of the construction implement.
  • the main or erecting rope may be used during the drilling operation of the construction work implement, for example for manipulating drill string components. According to the invention, however, the erecting rope may in principle be mounted on the mast instead of the carriage.
  • a structurally favorable embodiment is achieved when the erecting rope is attached to the carrier vehicle above the pivot axis of the mast. The farther the erecting rope is mounted from the pivot axis on the carrier vehicle, the cheaper a generated force triangle.
  • the erecting rope runs approximately parallel to the at least one erection cylinder between the carrier vehicle and the cable deflection roller. As a result, a particularly favorable support of the erecting cylinder caused by the erection force is achieved.
  • the rope deflection roller is arranged at a position spaced from the mast head position in a central region of the mast.
  • a middle region of the mast is to be understood in particular to be an area between the mast head and the mast base.
  • the erecting rope is releasably secured to the carriage.
  • the erecting rope detached from the carriage.
  • the erection cylinder or neck cylinder also serve to secure the mast in the operating position. Due to the erectile rope attached to the mast, this can serve as additional securing of the mast in case of failure of the neck cylinder during the drilling operation.
  • the carriage is designed as a Bohrgetriebschlitten on which a drill drive for driving a drill string is fastened.
  • the carriage is thus used as it were for the drilling operation, ie for the method of drilling drive, and for setting up the mast.
  • several, in particular two, erecting ropes are provided, which extend laterally of the mast.
  • a plurality, in particular two, upright or neck cylinder are provided.
  • the erecting ropes can then extend at least in sections between the erecting cylinders.
  • the erecting rope or the erecting ropes are articulated or fastened on the carrier vehicle in the lateral direction between the erecting cylinders.
  • the carriage for applying the tensile force in particular for erecting the mast, is moved in the direction of a mast foot of the mast.
  • the at least one erection cylinder and the feed drive of the carriage are actuated simultaneously. This allows an addition of the erecting forces caused by the erecting cylinder and the erecting rope.
  • the carriage is moved to lower the mast in the direction of a mast head. This can be relieved even when lowering the mast, the at least one erection cylinder.
  • the tensile force is applied to the Aufrichtseil by means of a winch and the carriage is fixed to the mast.
  • the erecting rope is wound on a winch, which is preferably located on the carrier vehicle.
  • FIGS. 1 and 2 a first embodiment of a construction implement 10 according to the invention is shown.
  • the construction work implement 10 is a drilling rig with a carrier vehicle 12 which has an undercarriage 14 and an upper carriage 16 rotatably mounted thereon.
  • the superstructure 16 is rotatable about a substantially vertically extending axis of rotation relative to the undercarriage 14.
  • the undercarriage 14 has a crawler track 18.
  • a mast 26 is mounted, which is pivotable about a substantially horizontally extending pivot axis 28.
  • the mast 26 comprises a mast head 30 and a mast foot 32, between which a central region 31 of the mast is formed.
  • the mast head 30 are pulleys 68, for example, for guiding a support cable for a drill pipe arranged.
  • the pivotal mounting of the mast 26 makes it possible to move the mast 26, which is usually perpendicular in the normal operating position, forward into a substantially horizontal transport position. In the transport position, the drill 10 therefore has a reduced height.
  • two erection cylinders 40 are provided, which are articulated on the one hand to the carrier vehicle 12, in particular the superstructure 16, and on the other hand to the mast 26.
  • the erection cylinder 40 which may also be referred to as a neck cylinder, each have a foot point 41 and an upper pivot point 42. They are arranged on a rear side 36 of the mast 26, which forms an upper side of the mast 26 in the transport position. In the operating position of the mast 26, that is to say in particular during a drilling operation, the cylinders 40 serve to support the mast 26.
  • the erecting cylinders 40 are hydraulic cylinders which each comprise a cylinder housing and a piston rod displaceably mounted therein.
  • a carriage 44 is mounted longitudinally displaceable.
  • the mast 26 comprises guide rails 38 which extend in the longitudinal direction along the mast 26.
  • the carriage 44 includes guide shoes 48, which are mounted longitudinally displaceable on the guide rails 38 of the mast 26.
  • the carriage 44 is a drill carriage on which a drill drive is mounted in drilling operation.
  • the carriage 44 can be moved along the mast 26 by means of a feed drive 52, which can also be referred to as a carriage drive.
  • the feed drive 52 comprises one or more hydraulic feed cylinders 54, which each have a cylinder housing 56 and a piston rod 58 mounted displaceably therein.
  • the feed cylinder 54 is arranged so that a movement of the carriage 44 in the direction of Mastfuß 32 is effected by an extension of the piston rod 58.
  • a Clothing 74 is provided with two Aufrichtseilen 76 in addition to the Aufrichtzylindern 40.
  • the erecting ropes 76 each comprise a first end of the rope 78, which is articulated on the carrier vehicle 12, and a second end of the rope 80, which is articulated on the carriage 44 which can be moved along the mast 26.
  • the erecting ropes 76 are attached on the one hand to articulation points 20 on the carrier vehicle 12 and on the other hand to articulation points 46 on the carriage 44.
  • a first cable end 78 on the carrier vehicle 12 and a second cable end 80 on the carriage 44 are fastened.
  • Each Aufrichtseil 76 is initially guided in the direction of the mast head 30, starting from the pivot point 20 or rope anchor point on the carrier vehicle 12 and is deflected by a rope deflection roller 86 attached to the mast 26. At its opposite end, it is connected to the articulation point 46 on the carriage 44.
  • the articulation points 46 are located laterally on the carriage 44. Between the articulation points 20, 46, the erecting cable 76 has a predetermined, fixed length.
  • the Seilumlenkrollen 86 are located in the central region 31 of the mast 26 between the Mastfuß 32 and the mast head 30. They are arranged laterally on the mast 26, so that the Aufrichtseile 76 are guided laterally of the mast 26.
  • a starting position in the horizontal position of the mast 26 of the carriage 44 is below the Seilumlenkrollen 86, that is arranged between the Seilumlenkrollen 86 and the Mastfuß 32. More precisely, the second articulation points 46 and the second cable ends 80 of the carriage 44 are in the starting position of the carriage 44 below, in particular just below, the Seilumlenkrollen 86 arranged laterally on the mast 26.
  • a first partial length 82 of the erecting cable 76 which is formed between the first articulation point 20 and the cable deflecting roller 86, is reduced.
  • a second partial length 84 of the erecting cable 76 which is formed between the second articulation point 46 and the cable deflecting roller 86, is increased.
  • the erecting ropes 76 are struck between the foot points 41 of the erection cylinder 40 on the carrier vehicle 12.
  • the fixed or pivot points 20 for the righting ropes 76 are thus located between the foot points 41 of the erection cylinder.
  • a mounting block 24 is provided, on which both the erection cylinder 40 and the erecting ropes 76 are articulated.
  • the mounting block 24 extends substantially transverse to the axis of the mast 26.
  • the foot points 41 of the erector cylinders 40 and the erecting ropes 76 are at substantially the same height.
  • the attachment block 24 may in particular be a pivot arm mounted on the carrier vehicle 12.
  • the cable deflection rollers 86 are arranged directly adjacent to the articulation points 42 of the erection cylinder 40 on the mast 26. As a result, the erecting rope 76 extends in sections parallel to the erecting cylinders 40.
  • the feed drive 52 which moves the Bohrgetriebschlitten 44 in drilling operation along the mast 26, used to support the Aufrichtzylindern 40.
  • the carriage 44 thus serves on the one hand the erection and / or lowering of the mast 26 and on the other hand, the method of the drill drive in drilling operation.
  • the feed drive 52 is actuated so that the carriage 44, starting from its initial position below the Seilumlenkrollen 86 moves toward Mastfuß 32.
  • the mast 26 is erected until the rope length is unwound or the carriage 44 has reached a lowermost position on the mast 26 and the erection cylinder 40 can take over the further erection process, since from this point in the Aufrichtzylindern 40th necessary forces are now significantly lower due to the lower power triangle.
  • the now loose Aufrichtseil 76 can be solved by the Bohrgetriebschlitten 44.
  • the erecting rope 76 can be struck laterally on the mast 26 and serve during drilling operation as an additional backup of the mast 26 in case of failure of the neck cylinder.
  • FIG Fig. 3 A second embodiment of a construction implement 10 according to the invention is shown in FIG Fig. 3 shown.
  • This embodiment differs from that in the FIGS. 1 and 2 illustrated construction implement 10 essentially in that the erection force is applied to the Aufrichtseil 76 by winding the Aufrichtseils 76 mounted on a carrier vehicle 12 winch 64.
  • the winch 64 may in particular be a so-called main winch of the construction implement 10.
  • the erecting rope 76 can accordingly be referred to as a main or supporting cable, which is used in the operation of the construction implement 10 in particular for handling drill pipe elements.
  • the winch 64 or main winch of the carrier vehicle 12 is preferably located in a rear region of the carrier vehicle 12, in particular on its uppercar 16, while the mast 26 is articulated in a front region on the carrier vehicle 12.
  • the opposite end of the erecting rope 76 is preferably as in the embodiment according to FIGS. 1 and 2 , fixed to the carriage 44.
  • the carriage 44 is preferably fixed in a defined position on the mast 26. When the mast 26 has reached its operating position, the erecting rope 76 can be easily detached from the carriage 44 by moving the carriage 44 along the mast 26.
  • the erecting rope 76 As in Fig. 3 represented, be guided over one or more guide rollers 68 on the mast head 30.
  • the erecting cable 76 may also be guided over the cable deflection roller 86 arranged in the central region 31 of the mast 26.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Lining And Supports For Tunnels (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP17163486.8A 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes Active EP3214258B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP17163486.8A EP3214258B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes
ES17163486.8T ES2671698T3 (es) 2011-06-09 2011-06-09 Aparato para obra de construcción y procedimiento para erguir un mástil
PL17163486T PL3214258T3 (pl) 2011-06-09 2011-06-09 Robocze urządzenie budowlane i sposób ustawiania masztu urządzenia budowlanego

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17163486.8A EP3214258B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes
EP11004737.0A EP2532826B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP11004737.0A Division EP2532826B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes

Publications (2)

Publication Number Publication Date
EP3214258A1 EP3214258A1 (de) 2017-09-06
EP3214258B1 true EP3214258B1 (de) 2018-03-21

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP17163486.8A Active EP3214258B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes
EP11004737.0A Active EP2532826B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP11004737.0A Active EP2532826B1 (de) 2011-06-09 2011-06-09 Bauarbeitsgerät und verfahren zum aufrichten eines mastes

Country Status (7)

Country Link
US (1) US9140066B2 (es)
EP (2) EP3214258B1 (es)
CN (1) CN102817557B (es)
BR (1) BR102012013656A2 (es)
ES (1) ES2671698T3 (es)
PL (1) PL3214258T3 (es)
RU (1) RU2516401C2 (es)

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CN103132923B (zh) * 2013-03-06 2015-09-02 张家口维克特机械有限公司 一种高风压一体式潜孔钻机
CN103924921A (zh) * 2014-03-18 2014-07-16 龙工(上海)机械制造有限公司 一种全液压桅杆高度与配重无级调节后背式旋挖钻机
US10961780B2 (en) 2016-05-09 2021-03-30 National Oilwell Varco, L.P. Systems and methods for raising drilling rig assemblies
US11035143B2 (en) * 2019-08-22 2021-06-15 Saudi Arabian Oil Company Systems and method for adjusting a drilling rig
CN111485822A (zh) * 2020-05-07 2020-08-04 张强 一种安全性高的水井钻机
US11746927B2 (en) 2020-10-30 2023-09-05 Caterpillar Inc. Pivoting tower for a hose management system

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Also Published As

Publication number Publication date
PL3214258T3 (pl) 2018-07-31
RU2516401C2 (ru) 2014-05-20
EP2532826A1 (de) 2012-12-12
RU2012120300A (ru) 2013-11-27
EP3214258A1 (de) 2017-09-06
BR102012013656A2 (pt) 2015-09-08
ES2671698T3 (es) 2018-06-08
US9140066B2 (en) 2015-09-22
CN102817557A (zh) 2012-12-12
EP2532826B1 (de) 2017-04-05
US20130140091A1 (en) 2013-06-06
CN102817557B (zh) 2015-07-29

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