EP0945588A2 - Magasin pour tiges de forage - Google Patents

Magasin pour tiges de forage Download PDF

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Publication number
EP0945588A2
EP0945588A2 EP99105097A EP99105097A EP0945588A2 EP 0945588 A2 EP0945588 A2 EP 0945588A2 EP 99105097 A EP99105097 A EP 99105097A EP 99105097 A EP99105097 A EP 99105097A EP 0945588 A2 EP0945588 A2 EP 0945588A2
Authority
EP
European Patent Office
Prior art keywords
drill pipe
magazine
pipe magazine
magazine according
tools
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.)
Withdrawn
Application number
EP99105097A
Other languages
German (de)
English (en)
Other versions
EP0945588A3 (fr
Inventor
Hans-Joachim Dr. Bayer
Günther Dr.-Ing. Dörfler
Alexander Dipl.-Ing. Steck
Michael Dipl.-Ing. Keller
Norbert Dipl.-Ing. Cottone
Uwe Dipl.-Ing. Bräuning
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.)
FlowTex Technologie GmbH and Co KG
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Original Assignee
FlowTex Technologie GmbH and Co KG
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
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 FlowTex Technologie GmbH and Co KG, Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV filed Critical FlowTex Technologie GmbH and Co KG
Publication of EP0945588A2 publication Critical patent/EP0945588A2/fr
Publication of EP0945588A3 publication Critical patent/EP0945588A3/fr
Withdrawn legal-status Critical Current

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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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1891—Chain or belt

Definitions

  • the present invention relates to magazine more elongated, at least approximately in cross section circular tools and workpieces over one Drill pipe magazine, especially for Horizontal drilling machines. Furthermore, the present concerns Invention a horizontal drilling machine in combination with such a drill pipe magazine.
  • the drill pipe used here consists of individual Boring bars that have threads at their ends and on these threads are screwed together. When drilling the drill pipe is screwed together individual boring bars. When pulling back that must Rods are broken loose again, d. H. the single ones Boring bars must be successively unscrewed from each other become.
  • Tube magazines for example, are from the prior art known from the manhole or Continuous magazines exist, being in the shafts or Continuous magazines straighten the pipes by gravity falling down or moving due to gravity move meandering downwards.
  • FIG. 13 An example of a known device for handling of boring bars is described in WO 96/26349 (see Fig. 13).
  • the well-known magazine has three vertical ones Shafts 110, 120, 130 in which the boring bars 100 are included.
  • the boring bars 100 are in the magazine fed to a filling position 140 and him in a Removed position 142. Removal and feeding of the Boring bars 100 are made by a gripper arm 144, which is pivotable about a first axis 146 and along a second axis 148 is displaceable.
  • a drill pipe magazine and a horizontal boring machine with one Provide drill pipe magazine where one automatic and reliable handling and access on any of the drill rods to be handled is guaranteed.
  • this object is advantageously achieved by solved a drill string magazine described in claim 1.
  • Drill pipe magazines are in the subclaims described.
  • Horizontal drilling machine in combination with an in Claim 1 and the subclaims defined Drill pipe magazine provided.
  • the invention is based on the idea of a magazine to provide, in which the tools or Workpieces are spaced slightly apart.
  • the drill pipe magazine has a multiplicity of tool places for receiving tools.
  • a tool station is the space that is required for the handling of a tool or workpiece to be stored in the entire extent of its longitudinal direction.
  • the longitudinal extent of the tool places consequently corresponds to the longitudinal extent of the tools to be picked up, one tool place each taking up one tool.
  • adjacent tool positions are spaced apart by movable carriers. The distance generated between the carriers essentially corresponds to the transverse extent of the tools. The spacing creates discrete tool positions, which can be controlled due to the movability of the drivers in such a way that a gradual removal of the boring bars from the magazine and a targeted access to any of the magazine objects is made possible.
  • the pick-up and refill positions of the boring bars can be identical, so that, according to the invention, the set-up time of a drilling machine and the space requirement of the drill string magazine are reduced.
  • Any control criteria for the order of the boring bars to be used can also be applied, e.g. B. First in / first out. Accordingly, various of the boring bars can be used in such a way that uniform wear of the boring bars is ensured. Furthermore, the forced guidance in discrete tool places prevents individual boring bars from getting stuck and blocking the magazine. Furthermore, the noise development to be complained of in the prior art is advantageously eliminated.
  • the compact spacing of the drill rod magazine and a high packing density of the drill rods in the magazine ensure that the individual drill rods are only slightly spaced apart.
  • Drill pipe magazine is included as a chain magazine at least one rotating around at least one magazine axis Chain trained. In this way, a flexible routing of the at least one circulating Chain the packing density and thus also the capacity of the Adjust magazine as needed.
  • the drivers detachably coupled to the at least one chain. It will consequently allows the flexibility of the invention Drill pipe magazine even better on different Adjust tool diameter.
  • the driver can be recoupled at another point the recording room of the discrete tool places change.
  • the at least one chain meanders a multitude of magazine axes.
  • the space required within the invention Drill pipe magazine and when loading the in the Drill pipe magazine into one tool subordinate drill carriage is after another Training of the invention lowered in that the Longitudinal extension of the tool places parallel to the is at least one magazine axis.
  • the chain magazine has two revolving chains, each of which is adjacent to an end portion of the elongate Tool places is arranged.
  • the chains are preferred on the face immediately next to the tool places arranged.
  • the drill string magazine at least one removal point.
  • This Tapping point is designed such that a removal the tools from any tool location angled, preferred right-angled, to the longitudinal extent of this tool place is possible. Consequently, a joining direction of the Tools with the downstream tool holder one Drill provided that the joining time as short as considers possible because of this configuration distance to be covered is small.
  • the Design in a slot-like opening Entry of foreign bodies is prevented, which is caused by a preferred arrangement of the opening at the bottom of the Drill pipe magazine is reinforced.
  • Drill pipe magazine also at least one feeder for inserting the tools in the tool places and for Has removal of the tools from the tool locations.
  • Any feed is advantageous rotatably mounted about an axis of rotation, the Rotation axis parallel to the longitudinal extent of the tool positions is arranged.
  • the rotating or swiveling movement in Connection with the arrangement of the axis of rotation enables the advantageous short distance due to less moving Masses quickly covered, the strength of the Feed is high.
  • the drill pipe magazine is Invention by a receiving element for positive Tool holder formed.
  • the invention furthermore at least one gripper for removing and inserting the Tools from or into the at least one Feeding means provided.
  • This training enables an optimal connection of the drill pipe magazine to the downstream one in the conveying direction of the tools Drilling machine.
  • grippers are advantageously rotatable about one Pivot axis mounted, this pivot axis parallel is arranged for the longitudinal extent of the tool positions.
  • the Direction of conveyance of the tools to be handled corresponds to this way with the grippers of the conveying direction immediate removal of the tools from or at Insert the tools in the drill pipe magazine.
  • a Changing the type of movement is advantageously avoided and the time from the removal of a tool from the Drill pipe magazine for loading the drill with this tool is kept low.
  • the swivel axis will according to a preferred development by all Grippers formed common shaft or axis.
  • each gripper comprises a gripping element with which the tools are positively and / or non-positively graspable. It is provided according to the invention, the tools exclusively positive, only non-positive or in a combination of positive and non-positive seize.
  • the transfer accuracy at the interface between Feeding means and gripper according to the invention increases the number of grippers the number of Feeder corresponds. Ideally they are The gripper is close to the feeder arranged.
  • Drill pipe magazine to realize what the Transfer accuracy is further increased, according to one Development of the invention provided two grippers, each one in an end portion of the elongated Tool places.
  • the at least one chain is for ease of use Operation of the drill pipe magazine according to the invention, especially when removing the boring bars, driven.
  • the drive advantageously comprises one Motor in combination with a freewheel and one Slip hub, these components on the at least one Chain act
  • Drill pipe magazine happens in the conveying direction of the Tools through the magazine with the drivers. In the planes lying parallel to the conveying direction Path of the tools in the drill pipe magazine Guide walls limited. This embodiment of the invention ensures safe guidance with simple construction and thus low manufacturing costs.
  • FIG. 1 shows a typical application of a Drill pipe magazine 10 of the present invention in Connection with a horizontal drilling machine 5.
  • Das Drill rod magazine 10 is such on a drill carriage 7 attached that it is in the longitudinal direction of the drill carriage viewed laterally from her, and in the transverse direction of the Drill mount viewed above it is arranged.
  • the Removal of the individual boring bars 8 takes place, as in the Fig. 1 shown on the side of the drill string magazine 10 instead, which is the drill carriage 7 immediately adjacent.
  • the drill pipe magazine 10 is, see Fig. 2, with a Feeding means 50 and a gripper 60 are provided.
  • the Feeding means 50 serves the drill string magazine 10 to remove the boring bars at the removal point 30, and the boring bars at this removal point 30 in again insert the drill pipe magazine 10.
  • the gripper 60 is arranged on the same side of the drill pipe magazine 10, like the feed means 50.
  • the drill string magazine 10 itself is in that described and illustrated Embodiment designed as a chain magazine.
  • the Chain guide or the chain drive is in a housing 28 arranged and comprises four fixed in the embodiment Magazine axes 18 and a movable magazine axis 20. Around the Different magazine axes 18, 20 are not shown in FIG. 2 Sprockets shown arranged.
  • the movable magazine axis 20 serves as an embodiment at the same time as a drive shaft for the drill pipe magazine.
  • the mobility of the drive shaft shown in the and described embodiment ensures that the chains 16 (see also Fig. 3) of the chain drive tensioned can be.
  • FIG. 3 is a side view corresponding to FIG. 2, 3, however, the grippers 60 in one different position are shown than in Fig. 2. From 3 is particularly the arrangement of the various components of the chain magazine relative to the Feeding means 50 and the grippers 60 out.
  • the Feeding means 50 are on the lower side of the Drill pipe magazine 10 arranged in its end regions.
  • the spacing of the two shown Feeding means 50 corresponds approximately to the length the boring bars 8.
  • two grippers 60 are arranged.
  • the two grippers 60 are to the loading means 50 slightly inwards arranged offset so that a collision of the grippers 60th with the respectively adjacent feed means 50 is avoided.
  • the drive of the grippers 60 and Feeding means 50 is decoupled, the drive of the Feeding means 50 better over the figures 9 to 11 removable hydraulic cylinder 36, and the drive of the Gripper 60 via a common pivot axis 62 takes place, which is designed here as a driven shaft is.
  • the two chains 16 of the drill string magazine 10 run in vertical planes immediately adjacent to the End faces of the boring bars to be stored 8.
  • the Chains 16 run over fixed magazine axes 18 and one movable magazine axis 20, in this case the Drive shaft.
  • Sheet metal guides 24 used in the end areas of the drill pipe magazine 10 and are spaced inwardly from the chains 16 Sheet metal guides 24 used. These sheet metal guides 24 are fixed to the housing 28 of the drill pipe magazine 10 connected and run parallel to the plane of the chains 16.
  • the housing 28 can be in an open frame structure or be closed.
  • Fig. 4 shows details of the inclusion of the boring bars 8 in the chain magazine.
  • Two chains 16 are several via fastening pins 17
  • Driver 14 attached at regular intervals.
  • the clear width between adjacent drivers 14 corresponds the outer diameter of the boring bar 8 to be accommodated maximum diameter, plus a game to easier removal and reinsertion of the boring bars 8 in the driver 14.
  • the driver 14 form with respect to Boring bars 8 pocket-shaped receptacles in which the Boring bars 8 largely independent of their diameter rest safely.
  • the chain links are in the joint areas for the reception the pins 17 are hollow.
  • the spacing of the chains 16 relative to each other essentially corresponds to the length the boring bars 8 to be picked up, plus a game for easier removal of the boring bars 8 from the Carriers 14 or for easier reinsertion.
  • FIG. 5 gives an impression of the Conveying path of the drill rods 8 in the drill pipe magazine 10.
  • the boring bars 8 rest on the drivers 14 which Carriers 14 are in turn in the manner described above the chains 16 coupled, of which only one in FIG. 5 is shown.
  • the chain 16 runs over sprockets 22 the magazine axes 18, 20.
  • the boring bars 8 are conveyed by lateral Guides 24, 26 guided, laterally through the outer Guide wall 24 and the inner guide wall 26 and in or against the conveying direction by the driver 14 on the one Side or the other side of a boring bar 8 a Positive guidance of the boring bars is guaranteed.
  • the Boring bars 8 pass on their path Tapping point 30.
  • the tapping point 30 is, as already mentioned, preferably on a lower side of the Drill pipe magazine 10 arranged so that it is prevented that objects undesirable in the chain drive of the Drill pipe magazine 10 fall. Furthermore, it is advantageous, as can also be seen in FIG. 5, which Removal opening 30 in the area of a sprocket 22 to arrange. This arrangement in the area of Reversal of movement of the chain 16 ensures that the Carrier 14 a lighter on their tilting movement Allow access to boring bars 8 (see also Fig. 8).
  • the chain 16 runs in the illustrated Embodiment meandering from a fixed Magazine axis 18 about the movable magazine axis 20 and again back to a fixed magazine axis 18.
  • This Route of the chain 16 enables a high Packing density of the drill rods 8 in the drill pipe magazine 10, so that a good use of space Drill pipe magazine is realized.
  • Figures 6 and 7 provide the constructive solution step by step and optional actuation of the drive of the Chain magazine.
  • the side view of FIG. 6 is removable, like the drive shaft 20 through the housing 28th of the drill pipe magazine 10 is passed. Outside of the drill pipe magazine 10 engages on the Drive shaft 20 a shift freewheel 34.
  • By pressing of the freewheel over the illustrated Hydraulic cylinder 36 is by pivoting the Shift freewheel 34 driven by the shaft 20 or Sliding hub 38 fixed in its rest position.
  • the drive of the Wave 20 causes a further conveying of the boring bars 8 in the Bohrgestfitemagazin 10, fixing the shaft 20 through the Slip hub 38 is caused by the positive connection over the sprockets 22 and chain 16 that the drivers 14, and thus also the boring bars 8, relative to Removal opening 30 are immovable. That way the removal or reinsertion process is carried out safely become.
  • the hydraulic cylinder 36 rests on a foot 40, the foot being flanged to the housing 28.
  • FIGS. 8 to 11 The removal or reinsertion of the boring bars 8 in the drill pipe magazine 10 is best seen in FIGS. 8 to 11, to which reference is made below.
  • the feeder 50 includes a bearing block 51 and a rocker 52. Die Swing arm 52 is in the bearing block 51 via a swivel axis 53 stored.
  • pivot axes of the invention can also be designed as axes of rotation without the cloak to leave the invention.
  • the Swing 52 At its end facing the removal opening 30, the Swing 52 an insertion edge 55.
  • This insert edge 55 is shaped such that it is in the locked state of the Feeder 50 to guide the outside Guide wall 24 continues essentially without a gap. Emotional the chain 16 with the pins 17 on it attached carriers 14 and between the carriers bored rods 8 in Fig. 8 to the right below, in the vertical part of the conveyor path Boring bar 8 laterally through the outer guide wall 24 guided. When the chain 16 is deflected around the chain wheel 22 tilt the driver 14 relative to the environment. The Gravity would cause the boring bars 8 from one certain angle of inclination of the base of the driver 14 fall out of the tool places.
  • the insert edge 55 sets however in the locked state of the feed means 50 the leadership of the outer guide wall 24 so that the Only then boring bars 8 fall out of the tool places would, if the insertion edge 55 the removal point 30th release.
  • FIGS. 9, 10 and 11 The removal process is easiest from FIGS. 9, 10 and 11 as follows. Once the boring bars 8 die Pass exit point 30, they are on the insertion edge 55 of the rocker 52. In the area of the insertion edge 55 a hook 56 rotatable about a pivot axis 57 stored. The hook 56 is also in with a pin a sliding guide 58 of the rocker 52 out. On the pen attacks a hydraulic cylinder that hiss at the same time the pin and the bearing block 51 is arranged. Of the Hydraulic cylinder is shown schematically in the figures by a dash-dotted line shown. The rocker 52 is on the side that the relative to the pivot axis 53 Hydraulic cylinder is opposite, via a spring 54 with the bearing block 51 connected (Fig. 9).
  • a first press of the hydraulic cylinder causes first the hook 56 rotates about its axis 57 and the pin of the Hook 56 in the sliding guide 58 of the rocker from one on the other end moves.
  • the hook-shaped receiving part occurs out and grips the on the insertion edge 55 of the Swinging boring bar 8 with a positive fit.
  • the swingarm 52 is held in position by the spring 54.
  • Upon further actuation of the hydraulic cylinder acts in the sliding guide 58 at the lower end striking pin on the rocker 52 and causes the Swing 52 around its pivot or rotation axis tilts and pulls the boring bar 8 out of the magazine 10.
  • Fig. 12 represents the gripping of the boring bars by the Gripper 60 represents.
  • the figure is the rotational mobility of the Gripper 60 removable.
  • it is Gripper 60 coupled to the pivot axis 62 such that when the pivot axis 62 is actuated by rotation, the gripper 60 moved along.
  • the gripper 60 is provided with gripping elements 64.
  • the Gripping elements 64 are in turn in the end region of the gripper 60 pivoted and with an actuating slide 66th coupled. Moving the operating slide 66 along of the gripper 60 causes opening and closing of the Gripping elements 64.
  • the actuation of the actuating slide 66 can advantageously be hydraulic or done pneumatically.
  • the gripping elements 64 are of this type trained that they shape the boring bars 8 and can record non-positively.
  • the form fit is through a trough-like formation of the inside of the Gripping elements 64 realized, the adhesion by continuous actuation of the actuating slide 66 in Closing direction while the boring bar 8 is held.
  • the gripper 60 (see FIG. 12) does not move vertically position shown below, so that no collision with the Movement of the feed means 50 occurs.
  • the gripper 60 pivots about the pivot axis 62 in the vertically downward position, the Gripping elements 64 of the gripper 60 are pivoted upwards.
  • the actuating slides 66 (FIG. 12) are then actuated and the gripping elements 64 around the boring bar 8 to be removed closed.
  • the gripper 60 around the Swivel axis 62 pivoted and to the desired position move in which the boring bar 8 on the drill carriage 7 can be screwed to the drill pipe (not shown). Reinstalling the boring bars 8 in the Magazine 10 takes place in reverse order accordingly instead of.
  • control of the described and others Activation steps are advantageously carried out via a control device, not shown, instead.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Drilling And Boring (AREA)
EP99105097A 1998-03-27 1999-03-25 Magasin pour tiges de forage Withdrawn EP0945588A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19813698A DE19813698A1 (de) 1998-03-27 1998-03-27 Bohrgestängemagazin
DE19813698 1998-03-27

Publications (2)

Publication Number Publication Date
EP0945588A2 true EP0945588A2 (fr) 1999-09-29
EP0945588A3 EP0945588A3 (fr) 2001-08-22

Family

ID=7862647

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99105097A Withdrawn EP0945588A3 (fr) 1998-03-27 1999-03-25 Magasin pour tiges de forage

Country Status (3)

Country Link
US (1) US6419029B2 (fr)
EP (1) EP0945588A3 (fr)
DE (1) DE19813698A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3722552A3 (fr) * 2019-04-08 2020-12-23 TRACTO-TECHNIK GmbH & Co. KG Dispositif de forage du sol, dispositif de transfert d'un dispositif de forage du sol, commande d'un dispositif de transfert d'un dispositif de forage du sol et procédé de commande d'un dispositif de forage du sol

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19926055B4 (de) * 1999-06-08 2004-03-04 Tracto-Technik Paul Schmidt Spezialmaschinen Vorrichtung zur Gestängeübergabe und Verfahren zum Einbringen von Gestängeschüssen
DE19953458C1 (de) * 1999-11-05 2001-07-19 Tracto Technik Vorratsbehälter und Vorrichtung zur Gestängeübergabe für horizontale Vortriebsgeräte
DE10023100C1 (de) * 2000-05-11 2001-09-27 Bauer Spezialtiefbau Bohrgestängemagazin
US7149600B2 (en) * 2003-10-08 2006-12-12 Waterfall Inc. Pipe storage and inventory control chest
US7600584B2 (en) * 2004-09-21 2009-10-13 The Charles Machine Works, Inc. Pipe handling system with a movable magazine
US7240742B2 (en) * 2004-09-21 2007-07-10 The Charles Machine Works, Inc. Pipe handling system with a movable magazine
US7458750B2 (en) * 2006-02-09 2008-12-02 Ejtj Tech L.L.C. Pipe conveyor system
US9121236B2 (en) * 2012-12-28 2015-09-01 Longyear Tm, Inc. Storage, handling and positioning device for drill rods and methods thereof
NO20180545A1 (en) * 2018-04-20 2019-07-08 Mhwirth As Crane yoke, crane and method for handling tubulars
CN117699268B (zh) * 2023-12-28 2026-02-27 陕西多伦科技发展有限公司 一种钻杆储存集装箱
CN117927162B (zh) * 2024-03-21 2024-07-09 湖南创远矿山机械有限责任公司 自动钻杆库及钻机
CN119321286B (zh) * 2024-09-24 2025-08-29 东海实验室 一种用于海底钻机的管具库装置

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WO1996026349A2 (fr) 1995-02-22 1996-08-29 The Charles Machine Works, Inc. Procede et dispositif de manipulation de tubes de forage

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Publication number Priority date Publication date Assignee Title
WO1996026349A2 (fr) 1995-02-22 1996-08-29 The Charles Machine Works, Inc. Procede et dispositif de manipulation de tubes de forage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3722552A3 (fr) * 2019-04-08 2020-12-23 TRACTO-TECHNIK GmbH & Co. KG Dispositif de forage du sol, dispositif de transfert d'un dispositif de forage du sol, commande d'un dispositif de transfert d'un dispositif de forage du sol et procédé de commande d'un dispositif de forage du sol
AU2020202427B2 (en) * 2019-04-08 2022-01-27 Tracto-Technik Gmbh & Co. Kg Ground drilling device, transfer device of a ground drilling device, control of a transfer device of a ground drilling device and method for control of a ground drilling device
US11401755B2 (en) 2019-04-08 2022-08-02 Tracto-Technik Gmbh & Co. Kg Ground drilling device, transfer device of a ground drilling device, control of a transfer device of a ground drilling device and method for control of a ground drilling device

Also Published As

Publication number Publication date
DE19813698A1 (de) 1999-09-30
US20010045301A1 (en) 2001-11-29
EP0945588A3 (fr) 2001-08-22
US6419029B2 (en) 2002-07-16

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