EP3404197B1 - Drilling device and method for the screwing of drill rod elements with a drilling device - Google Patents

Drilling device and method for the screwing of drill rod elements with a drilling device Download PDF

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Publication number
EP3404197B1
EP3404197B1 EP17171659.0A EP17171659A EP3404197B1 EP 3404197 B1 EP3404197 B1 EP 3404197B1 EP 17171659 A EP17171659 A EP 17171659A EP 3404197 B1 EP3404197 B1 EP 3404197B1
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EP
European Patent Office
Prior art keywords
drill
thread
drill drive
control unit
screwing
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Active
Application number
EP17171659.0A
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German (de)
French (fr)
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EP3404197A1 (en
Inventor
Stephan SCHAIPP
Rudolf Wolf
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Prakla Bohrtechnik GmbH
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Prakla Bohrtechnik GmbH
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Publication date
Application filed by Prakla Bohrtechnik GmbH filed Critical Prakla Bohrtechnik GmbH
Priority to DK17171659.0T priority Critical patent/DK3404197T3/en
Priority to ES17171659T priority patent/ES2737876T3/en
Priority to EP17171659.0A priority patent/EP3404197B1/en
Priority to CA3002486A priority patent/CA3002486C/en
Priority to US15/970,501 priority patent/US10619430B2/en
Priority to CN201810477505.5A priority patent/CN108952565B/en
Publication of EP3404197A1 publication Critical patent/EP3404197A1/en
Application granted granted Critical
Publication of EP3404197B1 publication Critical patent/EP3404197B1/en
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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
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • 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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/16—Connecting or disconnecting pipe couplings or joints
    • E21B19/165—Control or monitoring arrangements therefor
    • 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
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • 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
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/08—Automatic control of the tool feed in response to the amplitude of the movement of the percussion tool, e.g. jump or recoil
    • 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
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
    • E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning

Definitions

  • the invention relates to a drilling device with a drive which is designed for the rotational driving of drill pipe elements and along a guide, in particular a mast, linearly adjustable, an adjusting device for linear adjustment of the drill drive, a receptacle for receiving and holding at least a first drill pipe element with a first Threaded portion, a arranged on the drill drive clamping device for holding at least a second drill pipe element with a second threaded portion which is screwed fittingly with the first threaded member, and a control unit through which the drill drive and the adjusting device for screwing the first threaded portion and the second threaded portion are actuated , according to the preamble of claim 1.
  • the invention further relates to a method for screwing drill pipe elements with a drilling device, with a drill drive, which drill elements rotatably drives and along a guide, in particular a mast, is moved linearly, an adjusting device for linear adjustment of the drill drive, a recording, which at least a first Includes and holds drill pipe member having a first threaded portion, a tensioning device disposed on the drill drive holding at least a second drill string member having a second threaded portion, wherein the second drill string member is rotated by the drill drive for screwing, and a control unit through which the drill drive and the actuator controlled, wherein the first threaded portion and the second threaded portion are screwed, according to the preamble of claim 7.
  • a drill string element corresponds approximately to the height of a mast of the drilling device.
  • a drill drive By means of a drill drive, first a first drill string element is tensioned and introduced into the ground in a rotating manner. Subsequently, the drill drive, which can also be referred to as a power rotary head, reset and provided with a new drill pipe element. This has on its underside a threaded portion, which can be screwed suitably in an associated threaded portion at the end of the already drilled drill string element. Subsequently, a further drilling step can be carried out.
  • drill string elements When creating, for example, a water, gas or oil well with relatively large drilling depths, it may be necessary to assemble a plurality of drill string elements. In the reverse manner, the drill string elements can also be pulled out of the ground again after the bore has been carried out, and the screw connections can be loosened.
  • Drilling devices with control units are known, which can be controlled in the drilling operation speed and Auflastkraft on the drill string.
  • the invention has for its object to provide a drilling device and a method for screwing drill pipe elements, with which a screw connection between drill pipe elements can be closed or solved efficiently and very gently.
  • the drilling apparatus is characterized in that a displacement measuring device is provided, by which an adjustment of the drill drive along a guide can be detected as the actual value that detected by the controller, a speed of the drill drive during screwing and taking into account a predetermined thread constants an adjustment as desired Value can be determined is that by the control unit, a comparison of desired value and actual value feasible and a difference value can be determined and that the drill drive and / or the adjusting device is adjustable by the control unit according to the determined difference value.
  • a displacement measuring device is provided, by which an adjustment of the drill drive along a guide can be detected as the actual value that detected by the controller, a speed of the drill drive during screwing and taking into account a predetermined thread constants an adjustment as desired Value can be determined is that by the control unit, a comparison of desired value and actual value feasible and a difference value can be determined and that the drill drive and / or the adjusting device is adjustable by the control unit according to the determined difference value.
  • a basic idea of the invention is to carry out a control of a screwing movement based on a displacement during screwing.
  • a theoretical adjustment path is determined as a function of the rotational speed of the drill drive, that is to say in particular the number of revolutions during screwing, and a predetermined thread constant. It can thus be determined which theoretical adjustment path the drill drive has to perform in order to exactly follow the axial feed during screwing.
  • This calculated displacement is stored as a target value in a control unit.
  • the actual traverse path of the drill drive during screwing is recorded as an actual value via a displacement measuring device.
  • a comparison of desired value and actual value takes place, whereby optionally a difference value results.
  • an adjustment of the drilling drive and / or the adjusting device can then take place until the actual value approaches or corresponds to the desired value.
  • the drilling device may be a stationary drilling rig or a mobile drilling rig on a carrier vehicle.
  • any suitable device can be used as a setting device for moving the drill drive, such as chain or spindle drives.
  • the adjusting device it is particularly preferred for the adjusting device to have at least one setting cylinder and / or one winch.
  • the one or more adjusting cylinders may be in particular hydraulic cylinders, which are arranged on the mast for moving the drill drive.
  • the thread constant comprises a thread pitch or a pitch.
  • a thread value can be determined which axial displacement results in a single revolution.
  • an axial displacement can be calculated without further ado.
  • control unit has an input station for inputting data, in particular the thread constants.
  • the input station can have a conventional human-machine interface, in particular an input terminal or a touch screen.
  • the input station has a display on which possible thread constants can be displayed.
  • the usual thread types and thread sizes for drill rods can be stored in the control unit in a corresponding data memory. These possibilities can be shown on the display so that an operator only has to make a selection of the possible thread constants.
  • a further preferred embodiment of the invention can be seen in that a device for automatically detecting the thread constants is provided.
  • a queryable data memory such as an RFID chip
  • a camera system can be provided which detects a threaded area and determines the corresponding thread constant.
  • the data entry station can also be used to enter other data, such as operating data such as heading and drilling speed, etc.
  • the drilling device it is furthermore possible for the drilling device to also have an overload safety device during screwing, wherein an axial load on the drill drive or the adjusting device is detected. When the limit load is exceeded, the screwing process can be slowed down or preferably terminated.
  • the detection of a load thus represents a safety measure, which is not used to control the Verschraubvorganges.
  • the inventive method is characterized in that a displacement measuring device is provided, with which an adjustment of the drill drive along the guide during screwing is detected as the actual value that is detected by the control unit, a speed of the drill drive during screwing and taking into account a predetermined thread constants Adjustment path is determined as a target value that is compared by the control unit, the target value with the actual value and a difference value is determined and that the drill drive and / or the adjusting device is adjusted by the control unit according to the determined difference value.
  • the inventive method is carried out in particular with the drilling device described above. It can be achieved the advantages described above.
  • a preferred method variant of the invention is that a rotational speed, a rotational direction and / or a rotational speed of the drill drive is adjusted until the actual value corresponds to a desired value.
  • the drilling drive is controlled and changed in its operation in the regulation of the screwing significantly.
  • the adjusting device is moved linearly along the guide until the actual value corresponds to the desired value.
  • the control device ie in particular the hydraulic cylinder or a feed winch for the drill drive is influenced by the regulation.
  • the method can be carried out with different objectives, such as to achieve the fastest possible screwing of the drill string.
  • a particularly efficient drilling operation can be achieved.
  • An advantageous variant of the method according to the invention is that the drill drive and the adjusting device are operated so coordinated that on the threaded areas a small load and / or friction occurs. As a result, a particularly thread-conserving operation can be achieved. This saves energy and overall increases the life of the drill string elements.
  • the screwing comprises closing and / or releasing a threaded connection between the first threaded region and the second threaded region.
  • a drilling device 10 has according to Fig. 1 a carrier vehicle 11, at the rear region of which a vertically erectable mast 14 is provided. At its side facing away from the carrier vehicle 11 free side of the mast 14 has a linear guide 16, along which a carriage 15 is arranged with a drill drive 12. The carriage 15 is linearly displaceable by means of an adjusting device 30 along the guide 16 of the mast 14.
  • the adjusting device 30 has a winch 32 for a cable 34.
  • the cable 34 is guided by the winch 32 on the carrier vehicle 11 via a guide roller 36 at the head of the mast 14 to the carriage 15.
  • a receptacle 20 is provided with a clamping cylinder through which a not shown, partially drilled in the ground first drill string element axially and rotationally held and can be stretched. Furthermore, a tensioning device 13, in particular a chuck, is provided on the drill drive 12 in a known manner, on which a further second drill pipe element rotatably held on the drill drive 12 and is curious. At the respective free end portions of the tubular or rod-shaped drill string elements mating threaded portions are provided, with which the drill string elements can be interconnected.
  • a control unit 50 is preferably arranged at the rear region of the carrier vehicle 11.
  • the control unit 50 is partially enlarged in FIG Fig. 2 shown, which has an input station 52 with a display 54.
  • the drill string element clamped on the drill drive 12 is moved downwards until it comes into contact with the clamped first drill pipe element in the receptacle 20.
  • the two opposite threaded portions are brought to the drill string elements in contact.
  • the control unit 50 the upper second drill string element is set in rotation, wherein the threaded portion of the second drill string element is screwed into the matching threaded portion of the lower first drill pipe element.
  • the speed of the drill drive 12 is measured by the control unit during screwing and thereby an axial displacement of the drill drive 12 is determined by calculation.
  • a difference value is determined. According to a determined difference value can be adjusted by the control unit 50 of the drill drive 12, ie in particular a rotational speed or a rotational speed of the drill drive 12, or the actuator 30, in particular the winch 32, and thus controlled.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (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)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Description

Die Erfindung betrifft eine Bohrvorrichtung mit einem Antrieb, welcher zum drehenden Antreiben von Bohrgestängeelementen ausgebildet und entlang einer Führung, insbesondere eines Mastes, linear verstellbar ist, einer Stelleinrichtung zum linearen Verstellen des Bohrantriebs, einer Aufnahme zum Aufnehmen und Halten mindestens eines ersten Bohrgestängeelementes mit einem ersten Gewindebereich, einer an dem Bohrantrieb angeordneten Spanneinrichtung zum Halten mindestens eines zweiten Bohrgestängeelementes mit einem zweiten Gewindebereich, welches passend mit dem ersten Gewindeelement verschraubbar ist, und einer Steuereinheit, durch welche der Bohrantrieb und die Stelleinrichtung zum Verschrauben des ersten Gewindebereichs und des zweiten Gewindebereichs betätigbar sind, gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a drilling device with a drive which is designed for the rotational driving of drill pipe elements and along a guide, in particular a mast, linearly adjustable, an adjusting device for linear adjustment of the drill drive, a receptacle for receiving and holding at least a first drill pipe element with a first Threaded portion, a arranged on the drill drive clamping device for holding at least a second drill pipe element with a second threaded portion which is screwed fittingly with the first threaded member, and a control unit through which the drill drive and the adjusting device for screwing the first threaded portion and the second threaded portion are actuated , according to the preamble of claim 1.

Die Erfindung betrifft weiterhin ein Verfahren zum Verschrauben von Bohrgestängeelementen mit einer Bohrvorrichtung, mit einem Bohrantrieb, welcher Bohrgestängeelemente drehend antreibt und entlang einer Führung, insbesondere einem Mast, linear verfahren wird, einer Stelleinrichtung zum linearen Verstellen des Bohrantriebes, einer Aufnahme, welche mindestens ein erstes Bohrgestängeelement mit einem ersten Gewindebereich aufnimmt und hält, einer an dem Bohrantrieb angeordneten Spanneinrichtung, welche mindestens ein zweites Bohrgestängeelement mit einem zweiten Gewindebereich hält, wobei das zweite Bohrgestängeelement durch den Bohrantrieb zum Verschrauben gedreht wird, und einer Steuereinheit, durch welche der Bohrantrieb und die Stelleinrichtung gesteuert betätigt werden, wobei der erste Gewindebereich und der zweite Gewindebereich verschraubt werden, gemäß dem Oberbegriff des Anspruchs 7.The invention further relates to a method for screwing drill pipe elements with a drilling device, with a drill drive, which drill elements rotatably drives and along a guide, in particular a mast, is moved linearly, an adjusting device for linear adjustment of the drill drive, a recording, which at least a first Includes and holds drill pipe member having a first threaded portion, a tensioning device disposed on the drill drive holding at least a second drill string member having a second threaded portion, wherein the second drill string member is rotated by the drill drive for screwing, and a control unit through which the drill drive and the actuator controlled, wherein the first threaded portion and the second threaded portion are screwed, according to the preamble of claim 7.

Zum Erstellen von Bohrungen mit einer größeren Bohrtiefe ist es erforderlich, das Bohrgestänge aus mehreren Bohrgestängeelementen zusammenzusetzen. Dabei entspricht die Länge eines Bohrgestängeelementes etwa der Höhe eines Mastes der Bohrvorrichtung. Mittels eines Bohrantriebes wird zunächst ein erstes Bohrgestängeelement gespannt und drehend in den Boden eingebracht. Anschließend wird der Bohrantrieb, welcher auch als Kraftdrehkopf bezeichnet werden kann, rückgestellt und mit einem neuen Bohrgestängeelement versehen. Dieses weist an seiner Unterseite einen Gewindebereich auf, welcher passend in einen zugehörigen Gewindebereich am Ende des bereits abgebohrten Bohrgestängeelementes geschraubt werden kann. Anschließend kann ein weiterer Bohrschritt durchgeführt werden. Beim Erstellen etwa einer Wasser-, Gas- oder Ölbohrung mit relativ großen Bohrtiefen kann es erforderlich sein, eine Vielzahl von Bohrgestängeelementen so zusammenzusetzen. In umgekehrter Weise können die Bohrgestängeelemente nach Durchführen der Bohrung auch wieder aus dem Boden gezogen und die Schraubverbindungen gelöst werden.To create holes with a larger drilling depth, it is necessary to assemble the drill string from several drill string elements. The length of a drill string element corresponds approximately to the height of a mast of the drilling device. By means of a drill drive, first a first drill string element is tensioned and introduced into the ground in a rotating manner. Subsequently, the drill drive, which can also be referred to as a power rotary head, reset and provided with a new drill pipe element. This has on its underside a threaded portion, which can be screwed suitably in an associated threaded portion at the end of the already drilled drill string element. Subsequently, a further drilling step can be carried out. When creating, for example, a water, gas or oil well with relatively large drilling depths, it may be necessary to assemble a plurality of drill string elements. In the reverse manner, the drill string elements can also be pulled out of the ground again after the bore has been carried out, and the screw connections can be loosened.

Bei einem Zusammenfügen von zwei Bohrgestängeelementen durch Verschrauben erzeugt der Bohrantrieb die Drehbewegung zum Verschrauben. Gleichzeitig ist der Bohrantrieb entsprechend axial nachzuführen. Aus der US 2008/0093088 A1 ist es bekannt, eine Vorschubbewegung des Bohrantriebes beim Verschrauben abhängig von der Drehgeschwindigkeit und einer Gewindesteigung zu bestimmen. Allerdings ist es bei einem Verschrauben von Bohrgestängeelementen nicht immer eindeutig, wann das Schraubgewinde greift. So können beispielsweise zu Beginn einer Verschraubungsbewegung Leerdrehungen auftreten, bei welchen die beiden gegenüberliegenden Gewindebereiche noch nicht greifen und somit auch keine Axialbewegung auftritt. Wird der Bohrantrieb bereits bei den Leerdrehungen axial verfahren, kann es zu Überbelastungen an den Gewindegängen und zu einem erhöhten Reibungsverschleiß sowie zu einem erhöhten Kraftaufwand beim Verschrauben kommen. Entsprechende Belastungen treten auch dann auf, wenn Gewinde vorzeitig greifen, so dass der Bohrantrieb der tatsächlichen Verschraubungsbewegung nacheilt.When joining two drill pipe elements by screwing the drill drive generates the rotational movement for screwing. At the same time, the drill drive must be axially adjusted accordingly. From the US 2008/0093088 A1 It is known to determine a feed movement of the drill drive when screwing depending on the rotational speed and a thread pitch. However, when screwing together drill pipe elements, it is not always clear when the screw thread engages. Thus, for example, at the beginning of a screwing movement idle rotations occur in which the two opposite threaded portions not yet engage and thus no axial movement occurs. If the drill drive is already moved axially during the idle rotations, overloading of the threads and increased frictional wear as well as increased force during screwing can occur. Corresponding loads also occur when threads engage prematurely, so that the drill drive lags the actual screwing movement.

Zur Vermeidung von Überbelastungen lehrt die US 2008/0093088 A1 , eine Seilaufhängung des Bohrgestänges mit dem Bohrantrieb vorzusehen und die Aufhängelast zu messen. Bei Überschreiten vorgegebener Grenzlasten wird dann die Drehgeschwindigkeit des Bohrantriebes entsprechend geändert, bis die Grenzlast wieder unterschritten wird. Für einen praktischen Betrieb, bei welchen Bohrgestängeelemente mit verschmutzten Gewindebereichen oder bei gebrauchten Bohrgestängeelementen verformte Gewindebereiche vorhanden sind, sind die Grenzlasten relativ hoch anzusetzen. Damit sind auch bei diesen bekannten automatischen Verschraubungsverfahren die Belastungen und Beanspruchungen der Gewinde relativ hoch. Dies hat einen erhöhten Verschleiß und eine reduzierte Lebensdauer der Bohrgestängeelemente zur Folge.To avoid overloading teaches the US 2008/0093088 A1 to provide a rope suspension of the drill string with the drill drive and to measure the suspension load. When predetermined limit loads are exceeded, the rotational speed then becomes of the drill drive changed accordingly until the limit load is exceeded again. For practical operation, in which drill pipe elements with contaminated threaded areas or in the case of used drill pipe elements deformed threaded areas are present, the limit loads are to be set relatively high. Thus, the loads and stresses of the thread are relatively high even with these known automatic Verschraubungsverfahren. This results in increased wear and reduced life of the drill string elements.

Ein ähnliches Verfahren und eine Vorrichtung zum automatischen Verschrauben von Bohrgestängeelementen geht aus der WO 2013/081467 A1 hervor. Auch bei diesem bekannten Verfahren wird eine axiale Gewichtskraft und damit eine axiale Belastung erfasst und zum Steuern der Verschraubbewegung herangezogen.A similar method and apparatus for automatically screwing drill pipe elements is known from US 5,156,062 WO 2013/081467 A1 out. Also in this known method, an axial weight and thus an axial load is detected and used to control the Verschraubbewegung.

Aus der US 5,321,506 ist weiterhin ein Verfahren zum Vormontieren von Bohrgestängeelementen bekannt, bei welchen eine Gewindemuffe auf einen Gewindebereich eines Bohrgestängeelementes aufgeschraubt wird. Die Verschraubbewegung wird jedoch nicht an einer Bohrvorrichtung durchgeführt, sondern in einer Montagevorrichtung in einer horizontalen Position. Hierbei kann eine Positionsmessung unter Verwendung einer Kamera und eines Videoprozessors erfolgen.From the US 5,321,506 Furthermore, a method for pre-assembly of drill pipe elements is known, in which a threaded sleeve is screwed onto a threaded portion of a drill string element. However, the screwing is not performed on a drilling device, but in a mounting device in a horizontal position. In this case, a position measurement can be carried out using a camera and a video processor.

Aus der US 6,186,248 B1 und der DE 201 2013 001 608 U1 sind Bohrvorrichtungen mit Steuereinheiten bekannt, mit welchen im Bohrbetrieb Drehzahl und Auflastkraft auf dem Bohrstrang gesteuert werden können.From the US 6,186,248 B1 and the DE 201 2013 001 608 U1 Drilling devices with control units are known, which can be controlled in the drilling operation speed and Auflastkraft on the drill string.

Der Erfindung liegt die Aufgabe zugrunde, eine Bohrvorrichtung und ein Verfahren zum Verschrauben von Bohrgestängeelementen anzugeben, mit welchen eine Schraubverbindung zwischen Bohrgestängeelementen effizient und besonders schonend geschlossen oder gelöst werden können.The invention has for its object to provide a drilling device and a method for screwing drill pipe elements, with which a screw connection between drill pipe elements can be closed or solved efficiently and very gently.

Die Aufgabe wird zum einen durch eine Bohrvorrichtung mit den Merkmalen des Anspruchs 1 und zum anderen durch ein Verfahren mit den Merkmalen des Anspruchs 7 gelöst. Bevorzugte Ausführungsformen der Erfindung sind in den jeweils abhängigen Ansprüchen angegeben.The object is achieved on the one hand by a drilling apparatus having the features of claim 1 and on the other hand by a method having the features of claim 7. Preferred embodiments of the invention are specified in the respective dependent claims.

Die erfindungsgemäße Bohrvorrichtung ist dadurch gekennzeichnet, dass eine Wegmesseinrichtung vorgesehen ist, durch welche ein Verstellweg des Bohrantriebs entlang einer Führung als Ist-Wert erfassbar ist, dass durch die Steuereinrichtung eine Drehzahl des Bohrantriebs beim Verschrauben erfassbar und unter Berücksichtigung einer vorgegebenen Gewindekonstanten ein Verstellweg als Soll-Wert ermittelbar ist, dass durch die Steuereinheit ein Vergleich von Soll-Wert und Ist-Wert durchführbar und ein Differenzwert ermittelbar ist und dass der Bohrantrieb und/oder die Stelleinrichtung durch die Steuereinheit entsprechend dem ermittelten Differenzwert verstellbar ist.The drilling apparatus according to the invention is characterized in that a displacement measuring device is provided, by which an adjustment of the drill drive along a guide can be detected as the actual value that detected by the controller, a speed of the drill drive during screwing and taking into account a predetermined thread constants an adjustment as desired Value can be determined is that by the control unit, a comparison of desired value and actual value feasible and a difference value can be determined and that the drill drive and / or the adjusting device is adjustable by the control unit according to the determined difference value.

Eine Grundidee der Erfindung liegt darin, eine Steuerung einer Verschraubbewegung basierend auf einem Verstellweg beim Verschrauben durchzuführen. Dabei wird einerseits ein theoretischer Verstellweg abhängig von der Drehzahl des Bohrantriebes, also insbesondere der Anzahl von Umdrehungen beim Verschrauben, und einer vorgegebenen Gewindekonstanten ermittelt. Es kann so ermittelt werden, welchen theoretischen Verstellweg der Bohrantrieb durchzuführen hat, um exakt dem axialen Vorschub beim Verschrauben zu folgen. Dieser errechnete Verstellweg wird als ein Soll-Wert in einer Steuereinheit hinterlegt. Gleichzeitig wird über eine Wegmesseinrichtung der tatsächliche Verfahrweg des Bohrantriebs beim Verschrauben als Ist-Wert erfasst. In der Steuereinheit erfolgt ein Vergleich von Soll-Wert und Ist-Wert, wobei sich gegebenenfalls ein Differenzwert ergibt. Abhängig von diesem Differenzwert kann dann eine Nachstellung des Bohrantriebes und/oder der Stelleinrichtung erfolgen, bis der Ist-Wert dem Soll-Wert angenähert ist oder diesem entspricht.A basic idea of the invention is to carry out a control of a screwing movement based on a displacement during screwing. On the one hand, a theoretical adjustment path is determined as a function of the rotational speed of the drill drive, that is to say in particular the number of revolutions during screwing, and a predetermined thread constant. It can thus be determined which theoretical adjustment path the drill drive has to perform in order to exactly follow the axial feed during screwing. This calculated displacement is stored as a target value in a control unit. At the same time, the actual traverse path of the drill drive during screwing is recorded as an actual value via a displacement measuring device. In the control unit, a comparison of desired value and actual value takes place, whereby optionally a difference value results. Depending on this difference value, an adjustment of the drilling drive and / or the adjusting device can then take place until the actual value approaches or corresponds to the desired value.

Auf diese Weise kann ein schonendes Verschrauben, also ein Schließen oder Lösen einer Schraubverbindung, erreicht werden, ohne dass übermäßige axiale Kräfte auf die empfindlichen Gewindegänge der Gewindebereiche der Bohrgestängeelemente ausgeübt werden. Hierdurch werden der Reibungsverschleiß vermindert, Beschädigungen vermieden und die Lebenszeit der Bohrgestängeelemente erhöht. Insgesamt wird auch ein schonender und energiesparender Betrieb der Bohrvorrichtung beim Verschrauben erreicht.In this way, a gentle screwing, so closing or loosening a screw connection can be achieved without excessive axial forces are exerted on the sensitive threads of the threaded portions of the drill string elements. As a result, the friction wear is reduced, avoiding damage and increases the lifetime of the drill string elements. Overall, a gentle and energy-saving operation of the drilling device is achieved when screwing.

Die Bohrvorrichtung kann eine stationäre Bohranlage oder ein mobiles Bohrgerät auf einem Trägerfahrzeug sein.The drilling device may be a stationary drilling rig or a mobile drilling rig on a carrier vehicle.

Grundsätzlich kann als Stelleinrichtung zum Verfahren des Bohrantriebes jede geeignete Einrichtung eingesetzt werden, etwa Ketten- oder Spindelantriebe. Besonders bevorzugt ist es nach einer Ausführungsform der Erfindung, dass die Stelleinrichtung mindestens einen Stellzylinder und/oder eine Seilwinde aufweist. Der eine oder mehrere Stellzylinder können insbesondere Hydraulikzylinder sein, welche am Mast zum Verfahren des Bohrantriebes angeordnet sind.Basically, any suitable device can be used as a setting device for moving the drill drive, such as chain or spindle drives. According to one embodiment of the invention, it is particularly preferred for the adjusting device to have at least one setting cylinder and / or one winch. The one or more adjusting cylinders may be in particular hydraulic cylinders, which are arranged on the mast for moving the drill drive.

Eine vorteilhafte Weiterbildung der Erfindung besteht darin, dass die Gewindekonstante eine Gewindesteigung oder eine Ganghöhe umfasst. Mit einem derartigen Gewindewert kann ermittelt werden, welche Axialverschiebung sich bei einer einzelnen Umdrehung ergibt. Abhängig von der Drehzahl oder der Drehgeschwindigkeit in einer vorgegebenen Zeitspanne kann so ohne weiteres ein axialer Verstellweg berechnet werden.An advantageous development of the invention consists in that the thread constant comprises a thread pitch or a pitch. With such a thread value can be determined which axial displacement results in a single revolution. Depending on the speed or the rotational speed in a predetermined period of time, an axial displacement can be calculated without further ado.

Eine vorteilhafte Variante der erfindungsgemäßen Bohrvorrichtung besteht darin, dass die Steuereinheit eine Eingabestation zum Eingeben von Daten, insbesondere der Gewindekonstanten, aufweist. Die Eingabestation kann eine übliche Mensch-Maschine-Schnittstelle aufweisen, insbesondere ein Eingabeterminal oder einen Touchscreen.An advantageous variant of the drilling device according to the invention consists in that the control unit has an input station for inputting data, in particular the thread constants. The input station can have a conventional human-machine interface, in particular an input terminal or a touch screen.

Dabei ist es besonders vorteilhaft, dass die Eingabestation ein Display aufweist, an welchem mögliche Gewindekonstanten anzeigbar sind. Dabei können die für Bohrgestänge üblichen Gewindearten und Gewindegrößen in der Steuereinheit in einem entsprechenden Datenspeicher hinterlegt sein. Diese Möglichkeiten können an dem Display angezeigt werden, so dass ein Bediener lediglich eine Auswahl zu den möglichen Gewindekonstanten treffen muss.It is particularly advantageous that the input station has a display on which possible thread constants can be displayed. The usual thread types and thread sizes for drill rods can be stored in the control unit in a corresponding data memory. These possibilities can be shown on the display so that an operator only has to make a selection of the possible thread constants.

Eine weitere bevorzugte Ausgestaltung der Erfindung kann darin gesehen werden, dass eine Einrichtung zum automatischen Erfassen der Gewindekonstanten vorgesehen ist. Hierzu kann beispielsweise an dem Bohrgestängeelement ein abfragbarer Datenspeicher, etwa ein RFID-Chip, vorgesehen sein, welcher über eine entsprechende Abfrageeinrichtung an der Bohrvorrichtung ausgelesen wird. Alternativ oder ergänzend kann auch ein Kamerasystem vorgesehen sein, welches einen Gewindebereich erfasst und die entsprechende Gewindekonstante ermittelt.A further preferred embodiment of the invention can be seen in that a device for automatically detecting the thread constants is provided. For this purpose, for example, a queryable data memory, such as an RFID chip, may be provided on the drill string element, which is read out via a corresponding interrogation device on the drilling device. Alternatively or additionally, a camera system can be provided which detects a threaded area and determines the corresponding thread constant.

Über die Eingabestation können auch beliebigerweise andere Daten, etwa Betriebsdaten wie Vortrieb und Bohrgeschwindigkeit etc., eingegeben werden.The data entry station can also be used to enter other data, such as operating data such as heading and drilling speed, etc.

Grundsätzlich ist es weiterhin-möglich, dass die Bohrvorrichtung beim Verschrauben auch eine Überlastsicherung aufweist, wobei eine Axiallast an dem Bohrantrieb oder der Stelleinrichtung erfasst wird. Bei Überschreiten der Grenzlast kann der Verschraubvorgang verlangsamt oder vorzugsweise abgebrochen werden. Die Erfassung einer Last stellt somit eine Sicherheitsmaßnahme dar, welche jedoch nicht zur Regelung des Verschraubvorganges herangezogen wird.In principle, it is furthermore possible for the drilling device to also have an overload safety device during screwing, wherein an axial load on the drill drive or the adjusting device is detected. When the limit load is exceeded, the screwing process can be slowed down or preferably terminated. The detection of a load thus represents a safety measure, which is not used to control the Verschraubvorganges.

Das erfindungsgemäße Verfahren ist dadurch gekennzeichnet, dass eine Wegmesseinrichtung vorgesehen ist, mit welcher ein Verstellweg des Bohrantriebs entlang der Führung beim Verschrauben als Ist-Wert erfasst wird, dass durch die Steuereinheit eine Drehzahl des Bohrantriebs beim Verschrauben erfasst wird und unter Berücksichtigung einer vorgegebenen Gewindekonstanten ein Verstellweg als Soll-Wert ermittelt wird, dass durch die Steuereinheit der Soll-Wert mit dem Ist-Wert verglichen wird und ein Differenzwert ermittelt wird und dass der Bohrantrieb und/oder die Stelleinrichtung durch die Steuereinheit entsprechend dem ermittelten Differenzwert verstellt wird.The inventive method is characterized in that a displacement measuring device is provided, with which an adjustment of the drill drive along the guide during screwing is detected as the actual value that is detected by the control unit, a speed of the drill drive during screwing and taking into account a predetermined thread constants Adjustment path is determined as a target value that is compared by the control unit, the target value with the actual value and a difference value is determined and that the drill drive and / or the adjusting device is adjusted by the control unit according to the determined difference value.

Das erfindungsgemäße Verfahren wird insbesondere mit der zuvor beschriebenen Bohrvorrichtung ausgeführt. Es können dabei die zuvor beschriebenen Vorteile erzielt werden.The inventive method is carried out in particular with the drilling device described above. It can be achieved the advantages described above.

Eine bevorzugte Verfahrensvariante der Erfindung besteht darin, dass eine Drehgeschwindigkeit, eine Drehrichtung und/oder eine Drehzahl des Bohrantriebes verstellt wird, bis der Ist-Wert einem Soll-Wert entspricht. Damit wird bei der Regelung des Verschraubvorganges maßgeblich der Bohrantrieb gesteuert und in seinem Betrieb verändert.A preferred method variant of the invention is that a rotational speed, a rotational direction and / or a rotational speed of the drill drive is adjusted until the actual value corresponds to a desired value. Thus, the drilling drive is controlled and changed in its operation in the regulation of the screwing significantly.

Alternativ oder ergänzend ist es nach einer Weiterbildung der Erfindung vorgesehen, dass die Stelleinrichtung entlang der Führung linear verfahren wird, bis der Ist-Wert dem Soll-Wert entspricht. Damit wird durch die Regelung die Stelleinrichtung, also insbesondere der oder die Hydraulikzylinder oder eine Vorschubwinde für den Bohrantrieb beeinflusst.Alternatively or additionally, it is provided according to a development of the invention that the adjusting device is moved linearly along the guide until the actual value corresponds to the desired value. Thus, the control device, ie in particular the hydraulic cylinder or a feed winch for the drill drive is influenced by the regulation.

Grundsätzlich kann das Verfahren mit unterschiedlichen Zielsetzungen durchgeführt werden, so etwa um ein möglichst schnelles Verschrauben der Bohrgestänge zu erzielen. Hierdurch kann ein besonders effizienter Bohrbetrieb erreicht werden. Eine vorteilhafte Verfahrensvariante besteht nach der Erfindung darin, dass der Bohrantrieb und die Stelleinrichtung so aufeinander abgestimmt betätigt werden, dass an den Gewindebereichen eine geringe Belastung und/oder Reibung auftritt. Hierdurch kann ein besonders gewindeschonender Betrieb erreicht werden. Dies ist energiesparend und erhöht insgesamt die Lebensdauer der Bohrgestängeelemente.In principle, the method can be carried out with different objectives, such as to achieve the fastest possible screwing of the drill string. As a result, a particularly efficient drilling operation can be achieved. An advantageous variant of the method according to the invention is that the drill drive and the adjusting device are operated so coordinated that on the threaded areas a small load and / or friction occurs. As a result, a particularly thread-conserving operation can be achieved. This saves energy and overall increases the life of the drill string elements.

Nach einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens ist es vorgesehen, dass das Verschrauben ein Schließen und/oder Lösen einer Gewindeverbindung zwischen dem ersten Gewindebereich und dem zweiten Gewindebereich umfasst. Damit kann das erfindungsgemäße Verfahren sowohl bei einem Einschrauben sowie bei einem Aufschrauben zwischen den Bohrgestängeelementen zum Einsatz kommen.According to a further embodiment of the method according to the invention, it is provided that the screwing comprises closing and / or releasing a threaded connection between the first threaded region and the second threaded region. Thus, the inventive method can be used both when screwing in as well as when screwing between the drill string elements.

Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels weiter beschrieben, welches nachfolgend im Zusammenhang mit den Zeichnungsfiguren weiter beschrieben ist. In den Zeichnungen zeigen:

Fig. 1
eine schematische Seitenansicht einer erfindungsgemäßen Bohrvorrichtung und
Fig. 2
eine vergrößerte Detailansicht einer Eingabestation der Bohrvorrichtung von Fig. 1.
The invention will be further described below with reference to a preferred embodiment which is further described below in connection with the drawing figures. In the drawings show:
Fig. 1
a schematic side view of a drilling device according to the invention and
Fig. 2
an enlarged detail view of an input station of the drilling device of Fig. 1 ,

Eine erfindungsgemäße Bohrvorrichtung 10 weist gemäß Fig. 1 ein Trägerfahrzeug 11 auf, an dessen Heckbereich ein vertikal aufstellbarer Mast 14 vorgesehen ist. An seiner vom Trägerfahrzeug 11 abgewandten freien Seite weist der Mast 14 eine lineare Führung 16 auf, entlang welcher ein Schlitten 15 mit einem Bohrantrieb 12 angeordnet ist. Der Schlitten 15 ist mittels einer Stelleinrichtung 30 entlang der Führung 16 des Mastes 14 linear verfahrbar. Hierzu weist die Stelleinrichtung 30 eine Seilwinde 32 für ein Seil 34 auf. Das Seil 34 ist von der Seilwinde 32 am Trägerfahrzeug 11 über eine Umlenkrolle 36 am Kopf des Mastes 14 bis zu dem Schlitten 15 geführt.A drilling device 10 according to the invention has according to Fig. 1 a carrier vehicle 11, at the rear region of which a vertically erectable mast 14 is provided. At its side facing away from the carrier vehicle 11 free side of the mast 14 has a linear guide 16, along which a carriage 15 is arranged with a drill drive 12. The carriage 15 is linearly displaceable by means of an adjusting device 30 along the guide 16 of the mast 14. For this purpose, the adjusting device 30 has a winch 32 for a cable 34. The cable 34 is guided by the winch 32 on the carrier vehicle 11 via a guide roller 36 at the head of the mast 14 to the carriage 15.

An einem unteren Endbereich des Mastes 14 ist eine Aufnahme 20 mit einem Spannzylinder vorgesehen, durch welchen ein nicht dargestelltes, teilweise in den Boden abgebohrtes erstes Bohrgestängeelement axial und drehfest gehalten und gespannt werden kann. Weiterhin ist an dem Bohrantrieb 12 in bekannter Weise eine Spanneinrichtung 13, insbesondere ein Spannfutter, vorgesehen, an welchem ein weiteres zweites Bohrgestängeelement drehfest am Bohrantrieb 12 gehalten und gespannt ist. An den jeweiligen freien Endbereichen der rohr- oder stangenförmigen Bohrgestängeelemente sind zueinander passende Gewindebereiche vorgesehen, mit welchen die Bohrgestängeelemente miteinander verbunden werden können.At a lower end portion of the mast 14, a receptacle 20 is provided with a clamping cylinder through which a not shown, partially drilled in the ground first drill string element axially and rotationally held and can be stretched. Furthermore, a tensioning device 13, in particular a chuck, is provided on the drill drive 12 in a known manner, on which a further second drill pipe element rotatably held on the drill drive 12 and is curious. At the respective free end portions of the tubular or rod-shaped drill string elements mating threaded portions are provided, with which the drill string elements can be interconnected.

Zum Verschrauben der ersten und zweiten Bohrgestängeelemente ist eine Steuereinheit 50 vorzugsweise am Heckbereich des Trägerfahrzeuges 11 angeordnet. Die Steuereinheit 50 ist teilweise vergrößert in Fig. 2 dargestellt, wobei diese eine Eingabestation 52 mit einem Display 54 aufweist.For screwing the first and second drill string elements, a control unit 50 is preferably arranged at the rear region of the carrier vehicle 11. The control unit 50 is partially enlarged in FIG Fig. 2 shown, which has an input station 52 with a display 54.

Zunächst wird mit der Steuereinheit 50 das am Bohrantrieb12 eingespannte Bohrgestängeelement nach unten bis zum Kontakt mit dem eingespannten ersten Bohrgestängeelement in der Aufnahme 20 verfahren. Hierbei werden die beiden gegenüberliegenden Gewindebereiche an den Bohrgestängeelementen miteinander in Kontakt gebracht. Durch die Steuereinheit 50 wird das obere zweite Bohrgestängeelement in Drehung versetzt, wobei der Gewindebereich des zweiten Bohrgestängeelementes in den passenden Gewindebereich des unteren ersten Bohrgestängeelementes eingeschraubt wird. Abhängig von einer bekannten Gewindekonstanten, welche über den Bediener mittels der Eingabestation 52 oder automatisch in die Steuereinheit 50 eingegeben worden ist, wird von der Steuereinheit die Drehzahl des Bohrantriebes 12 beim Verschrauben gemessen und hierdurch ein axialer Verstellweg des Bohrantriebs 12 rechnerisch ermittelt.First, with the control unit 50, the drill string element clamped on the drill drive 12 is moved downwards until it comes into contact with the clamped first drill pipe element in the receptacle 20. Here, the two opposite threaded portions are brought to the drill string elements in contact. By the control unit 50, the upper second drill string element is set in rotation, wherein the threaded portion of the second drill string element is screwed into the matching threaded portion of the lower first drill pipe element. Depending on a known thread constants, which has been entered via the operator by means of the input station 52 or automatically into the control unit 50, the speed of the drill drive 12 is measured by the control unit during screwing and thereby an axial displacement of the drill drive 12 is determined by calculation.

Gleichzeitig wird bei der erfindungsgemäßen Bohrvorrichtung über eine nicht näher dargestellte Wegmesseinrichtung, welche am Mast 14 angebracht ist, beim Verschrauben der tatsächliche Verstellweg des Bohrantriebs 12 entlang der Führung 16 als Ist-Wert gemessen. In der Steuereinheit 50 erfolgt ein Vergleich des gemessenen Ist-Wertes mit dem Soll-Wert, wobei gegebenenfalls ein Differenzwert ermittelt wird. Entsprechend einem ermittelten Differenzwert kann durch die Steuereinheit 50 der Bohrantrieb 12, also insbesondere eine Drehgeschwindigkeit oder eine Drehzahl des Bohrantriebes 12, oder die Stelleinrichtung 30, insbesondere die Seilwinde 32, verstellt und damit gesteuert werden. Es versteht sich, dass das Errechnen des SollWertes, das Erfassen des Ist-Wertes sowie das Ermitteln des Differenzwertes innerhalb von differenziell kleinen Zeiteinheiten erfolgen kann, so dass vorzugsweise eine ständige und damit sehr exakte und auch verschleißschonende Verschraubbewereicht werden kann. In entsprechender Weise erfolgt die Steuerung auch bei einem Lösen der Schraubverbindung zwischen den zwei Gestängeelementen.At the same time in the drilling apparatus according to the invention via a not-shown displacement measuring device, which is mounted on the mast 14, when screwing the actual displacement of the drill drive 12 along the guide 16 is measured as an actual value. In the control unit 50, a comparison of the measured actual value with the desired value, where appropriate, a difference value is determined. According to a determined difference value can be adjusted by the control unit 50 of the drill drive 12, ie in particular a rotational speed or a rotational speed of the drill drive 12, or the actuator 30, in particular the winch 32, and thus controlled. It is understood that the calculation of the nominal value, the detection of the actual value as well as the determination of the difference value can take place within differentially small units of time, so that preferably a permanent and thus very precise and also wear-resistant screwing is possible can be. In a corresponding manner, the control takes place even when a loosening of the screw connection between the two linkage elements.

Claims (11)

  1. Drilling device having
    - a drill drive (12) which is designed for driving drill rod elements in a rotating manner and is linearly adjustable along a guide (16), in particular a mast (14),
    - a positioning means (30) for linear adjustment of the drill drive (12),
    - a receiving part (20) for receiving and holding at least a first drill rod element with a first thread region,
    - a clamping means (13) which is arranged on the drill drive (12) for holding at least a second drill rod element with a second thread region which can be screwed so as to fit to the first thread region,
    characterized in that
    - a control unit (50) is provided, by which the drill drive (12) and the positioning means (30) can be actuated in order to screw together the first thread region and the second thread region and in which a thread constant can be predetermined.
    - a distance measuring means is provided, by which an adjustment distance of the drill drive (12) along the guide (16) can be detected as an actual value during screwing,
    - in that by the control unit (50) a revolution speed of the drill drive (12) during screwing can be detected and, on taking account of the predetermined thread constants, an adjustment distance can be determined as a nominal value,
    - in that by the control unit (50) a comparison of nominal value and actual value can be carried out and a difference value can be determined and
    - in that the drill drive (12) and/or the positioning means (30) can be adjusted by the control unit (50) according to the difference value determined.
  2. Drilling device according to claim 1,
    characterized in that
    the positioning means (30) has at least one positioning cylinder and/or a rope winch (32).
  3. Drilling device according to claim 1 or 2,
    characterized in that
    the thread constant comprises a thread pitch or a lead.
  4. Drilling device according to any one of claims 1 to 3,
    characterized in that
    the control unit (50) has an input station (52) for the input of data, in particular the thread constants.
  5. Drilling device according to claim 4,
    characterized in that
    the input station (50) has a display (54), on which possible thread constants can be shown.
  6. Drilling device according to any one of claims 1 to 5,
    characterized in that
    a means for automatic detection of the thread constants is provided.
  7. Method for screwing drill rod elements by means of a drilling device (10), in particular according to any one of claims 1 to 6, having
    - a drill drive (12) which drives drill rod elements in a rotating manner and is displaced linearly along a guide (16), in particular a mast (14),
    - a positioning means (30) for linear adjustment of the drill drive (12),
    - a receiving part (20) which receives and holds at least a first drill rod element with a first thread region, and
    - a clamping means (13) which is arranged on the drill drive (12) and holds at least a second drill rod element with a second thread region, wherein, for screwing, the second drill rod element is rotated by the drill drive (12),
    characterized in that
    - a control unit (50) is provided, by which the drill drive (12) and the positioning means (30) are actuated in a controlled manner, wherein the first thread region and the second thread region are screwed together,
    - a distance measuring means is provided, by means of which an adjustment distance of the drill drive (12) along the guide during screwing is detected as an actual value,
    - in that by the control unit (50) a revolution speed of the drill drive (12) during screwing is detected and, on taking account of a predetermined thread constant, an adjustment distance is determined as a nominal value,
    - in that by the control unit (50) the nominal value is compared with the actual value and a difference value is determined and
    - in that the drill drive (12) and/or the positioning means (30) is adjusted by the control unit (50) according to the difference value determined.
  8. Method according to claim 7,
    characterized in that
    a rotational speed, a direction of rotation and/or a revolution speed of the drill drive (12) is adjusted until the actual value corresponds to a nominal value.
  9. Method according to claim 7 or 8,
    characterized in that
    the positioning means (30) is displaced linearly along the guide (16) until the actual value corresponds to the nominal value.
  10. Method according to any one of claims 7 to 9,
    characterized in that
    the drill drive (12) and the positioning means (30) are actuated in a coordinated manner such that on the thread regions little load and/or friction occurs.
  11. Method according to any one of claims 7 to 10,
    characterized in that
    the screwing comprises an establishment and/or release of a threaded connection between the first thread region and the second thread region.
EP17171659.0A 2017-05-18 2017-05-18 Drilling device and method for the screwing of drill rod elements with a drilling device Active EP3404197B1 (en)

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DK17171659.0T DK3404197T3 (en) 2017-05-18 2017-05-18 Drilling device and method for screwing together drill rod elements with a drilling device
ES17171659T ES2737876T3 (en) 2017-05-18 2017-05-18 Drilling device and procedure for screwing drilling rod elements with a drilling device
EP17171659.0A EP3404197B1 (en) 2017-05-18 2017-05-18 Drilling device and method for the screwing of drill rod elements with a drilling device
CA3002486A CA3002486C (en) 2017-05-18 2018-04-25 Drilling device and method for screwing drill rod elements to a drilling device
US15/970,501 US10619430B2 (en) 2017-05-18 2018-05-03 Drilling device and method for screwing drill rod elements to a drilling device
CN201810477505.5A CN108952565B (en) 2017-05-18 2018-05-18 Drilling device and method for screwing a drill rod element to a drilling device

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CN111677443A (en) * 2020-06-05 2020-09-18 中煤华晋集团韩咀煤业有限公司 Quick positioning method for drilling machine

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ES2737876T3 (en) 2020-01-16
DK3404197T3 (en) 2019-07-29
US10619430B2 (en) 2020-04-14
CA3002486A1 (en) 2018-11-18
US20180334864A1 (en) 2018-11-22
CN108952565B (en) 2021-08-06
CA3002486C (en) 2020-04-28
CN108952565A (en) 2018-12-07
EP3404197A1 (en) 2018-11-21

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