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US20090321141A1 - Methods and Apparatus for Wireline Drilling On Coiled Tubing - Google Patents

Methods and Apparatus for Wireline Drilling On Coiled Tubing Download PDF

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Publication number
US20090321141A1
US20090321141A1 US12/304,946 US30494607A US2009321141A1 US 20090321141 A1 US20090321141 A1 US 20090321141A1 US 30494607 A US30494607 A US 30494607A US 2009321141 A1 US2009321141 A1 US 2009321141A1
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US
United States
Prior art keywords
drilling
fluid
flow
annulus
tubular conveyance
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.)
Abandoned
Application number
US12/304,946
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English (en)
Inventor
Spyro Kotsonis
Warren Zemlak
Iain Cooper
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.)
Schlumberger Technology Corp
Original Assignee
Individual
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 Individual filed Critical Individual
Assigned to SCHLUMBERGER TECHNOLOGY CORPORATION reassignment SCHLUMBERGER TECHNOLOGY CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ZEMLAK, WARREN, COOPER, IAIN, KOTSONIS, SPYRO
Publication of US20090321141A1 publication Critical patent/US20090321141A1/en
Abandoned 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
    • E21B4/00—Drives for drilling, used in the borehole
    • E21B4/04—Electric drives
    • 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
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/20—Flexible or articulated drilling pipes, e.g. flexible or articulated rods, pipes or cables
    • 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
    • E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
    • E21B21/10—Valve arrangements in drilling-fluid circulation systems
    • E21B21/103—Down-hole by-pass valve arrangements, i.e. between the inside of the drill string and the annulus
    • 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
    • E21B4/00—Drives for drilling, used in the borehole
    • E21B4/18—Anchoring or feeding in the borehole

Definitions

  • This invention relates to methods and apparatus for drilling boreholes that is particularly applicable to drilling with wireline drilling apparatus carried on coiled tubing.
  • CT Current conventional coiled tubing drilling
  • PDM drilling positive displacement motor
  • U.S. Pat. No. 2,548,616 describes a method of drilling a well with a conduit to surface through which a fluid is pumped (today's CTD).
  • a fluid is pumped (today's CTD).
  • the option of a cable in the CT with an electric motor at the bottom-hole assembly driving the bit is also described but the conduit still provides the axial thrust for drilling.
  • EP 0 110 182 describes an apparatus with a hydraulic tractor/crawler (with anchors and a stroker), an umbilical from surface for communications and powering of an electric pump that powers the hydraulic tractor, and methods of steering.
  • the means of rotating the bit are described as purely hydraulic (either from the hydraulic distribution system, or from a hydraulic line from the surface.) CT is also described.
  • U.S. Pat. No. 6,629,570 describes a high-power electric motor capable of drilling on CT. In use drilling fluid flows through the motor to return to the surface through the bit and annulus (conventional circulation).
  • WO 2004 011766 describes a wireline powered drilling system in which produced fluid from the borehole is circulated as drilling fluid.
  • a downhole pump is used to perform conventional or reverse circulation through the downhole drilling tool. Flow to the surface is through production tubing around the cable.
  • One object of the invention is to provide a drilling apparatus that does not need large capacity CT due to reduced hydraulic power requirements yet which still provides effective hole cleaning in the drilling region to avoid sticking.
  • the invention achieves this object by providing electric power to the drilling system via a cable and by providing a flow diverter to allow downward drilling fluid flow around the outside of the drilling assembly while using normal annulus flow above the drilling system for good cuttings transport.
  • One aspect of the invention comprises apparatus for drilling an underground borehole, comprising:
  • the use of the flow diverter makes it possible to provide reverse circulation (circulation of fluid from the annulus into the BHA) where drilling is taking place, so improving hole cleaning in small diameter boreholes and reducing the risk of sticking.
  • the drilling system has separate axial and rotary drive mechanisms. It is particularly preferred that the axial drive mechanism comprises a crawler system.
  • the drilling motor can comprise an electric motor powered through the electric cable.
  • the drilling system typically comprises an electric pump but can comprise a jet pump instead of the electrically powered pump.
  • the tubular conveyance system comprises coiled tubing. This can be a single coiled tube or can comprise several sections joined end to end. Because the drilling action is handled by the drilling system, it is not necessary that the tubular conveyance system provide the torque for a rotary drilling action nor high axial stiffness to transfer the weight on the bit necessary for drilling.
  • the flow diverter forms part of the connector.
  • the flow diverter is positioned in the tubular conveyance above the connector.
  • the flow diverter can direct part of the drilling fluid down around the outside of the drilling system and the remainder of the fluid back to the surface around the outside of the tubular conveyance.
  • the reverse circulation around the drilling system changes to conventional circulation around the tubular conveyance which allows improved cuttings transport in the main part of the borehole.
  • the flow diverter can be arranged to divert flow from the inside of the drilling system to the annulus above the point at which it diverts flow from the tubular conveyance system into the annulus.
  • One embodiment of the apparatus further comprises a jetting system including one or more flow nozzles arranged to direct jets of fluid inside the borehole to remove accumulated deposits.
  • the flow nozzles are adjustable so as to change the direction of flow of fluid therefrom.
  • the flow diverter can direct fluid into the flow nozzles for jetting and further comprises a valve adjustable to vary the amount of fluid directed through the flow nozzles and the amount of fluid directed into the annulus.
  • the apparatus can further comprise a rotatable crown driven by the motor for use in back reaming.
  • a turbine driven by fluid flow from the tubular conveyance system can be connected to drive the crown via a gear train.
  • An electric generator can be connected to the turbine and an electric motor connected to the crown via the gear train, the output of the generator being used to power the electric motor and drive the crown.
  • Another aspect of the invention comprises a method of drilling an underground borehole using an apparatus comprising a tubular conveyance system including an electric cable and a supply of drilling fluid; a drilling system comprising an electrically powered pump and a drilling motor; a connector connecting the drilling system to the tubular conveyance system, through which the pump and motor are connected to the electric cable; and a flow diverter; the method comprising:
  • the method comprises diverting part of the drilling fluid down around the outside of the drilling system and the remainder of the fluid back to the surface around the outside of the tubular conveyance.
  • the method further comprises the steps of directing jets of fluid from one or more nozzles of a jetting system inside the borehole to remove accumulated deposits.
  • the flow nozzles can be adjusted so as to change the direction of flow of fluid therefrom.
  • Fluid can be diverted into the flow nozzles for jetting using the flow diverter and adjusting a valve to vary the amounts of fluid directed through the flow nozzles and the amount of fluid directed into the annulus.
  • the method can further comprise back reaming the borehole using the drilling system.
  • the back reaming can be performed using a rotating crown driven by the drilling motor and/or a hydraulic system.
  • FIG. 1 shows a drilling operation using apparatus according to a first embodiment of the invention
  • FIG. 2 shows details of the connection and flow diverter of FIG. 1 ;
  • FIG. 3 shows a drilling operation using apparatus according to a second embodiment of the invention.
  • FIG. 4 shows detail of jetting nozzles and the ensuing swirling flow pattern in a third embodiment of the invention.
  • the drilling operation shown in FIG. 1 is conducted using a conventional CT unit 10 and injector/pressure control setup 12 at the surface of the well 14 and is being used to drill a lateral well 16 extending away from the main well 14 .
  • the lateral well 16 has been started in the usual manner by milling a window in the casing and drilling laterally using a whipstock to provide deviation in drilling direction.
  • the drilling apparatus comprises a CT conveyance system 18 carrying a drilling assembly 20 at its lower end.
  • the conveyance system 18 comprises a CT having an electric cable running inside from the surface.
  • the weight of the tool is carried by the CT 18 , so the electric cable only needs to be able to support its weight.
  • a drilling fluid supply forms part of the CT unit 10 at the surface and pumps drilling fluid down the inside of the CT.
  • the drilling assembly 20 comprises a motor section 22 including an electric motor providing rotary drive to a drill bit 24 .
  • a crawler unit 26 comprising an open hole tractor for providing axial drive to the drill bit 24 . Acting together, the electric motor and the crawler unit 26 provide the drive to the drill bit 24 to allow drilling to proceed.
  • the crawler unit 26 can also be operated in reverse to pull the motor section and bit from the borehole.
  • a pump section 28 is mounted above the crawler unit 26 and has an electric pump mounted therein.
  • a channel extends from the drill bit up through the motor section 22 and crawler section 26 to the pump so that in normal use, the pump can draw fluid and drilled cuttings up through the drill bit 24 and inside the drilling assembly 20 .
  • the drilling assembly 20 is connected to the end of the CT by means of a connection unit 30 .
  • the connection unit 30 provides a mechanical connection between the CT and the drilling assembly 20 and an electrical connection between the electric cable and the electrical components of the drilling assembly 20 .
  • connection unit 30 may also comprise a flow diverter as is shown in more detail in FIG. 2 .
  • the flow diverter is formed by flow channels 32 , 34 in the connection unit 30 .
  • Flow channel 32 is connected to the interior of the CT so that fluid flowing down the CT is vented into the annulus surrounding the CT and drilling assembly 20 via lower ports 36 in the lower part of the connector 30 . Fluid exiting these lower ports 36 flows mainly back to the surface in the annulus but a portion of this fluid also flows down the annulus around the drilling assembly 20 to be drawn up through the bit 24 by the action of the pump.
  • Flow channel 34 connects to the channel running through the inside of the drilling assembly 20 and is vented into the annulus via upper ports 38 in the upper part of the connector 30 above the lower ports 36 .
  • any fluid and cuttings vented through the upper ports 38 are carried back to the surface in the annulus by the greater flow of fluids leaving the lower ports 36 .
  • cuttings are kept out of the region of the annulus around the drilling assembly 20 , so reducing the likelihood of build-up and sticking in the smaller annular space. Venting to the annulus above the drilling assembly 20 allows normal well control to be exercised and avoids the possibility of hydrocarbons returning to the surface in the CT.
  • the connector shown in FIG. 2 also has a back reaming device comprising a rotatable crown 40 mounted at the top of the connector 30 .
  • the crown 40 is driven by a turbine and gear train (not shown), the turbine being driven by the flow of fluid along the tool.
  • the turbine can drive an electrical generator (alternator) for powering an electric motor for driving the crown 40 .
  • a still further version can take electric power from the cable.
  • the crown 40 can be operated when the drilling assembly 20 is pulled out of hole and allows any lips or ledges that have formed to be smoothed and allow easy passage of the drilling assembly 20 from the well with less likelihood of sticking.
  • FIG. 3 shows a further embodiment of the invention in which the flow diverter is positioned in the main well 14 in order to reduce the issues relating to transport of cuttings in the lateral borehole 16 and possible contamination of the reservoir with cuttings infiltration through the borehole wall.
  • the CT is split during deployment, as described in European patent application no. 05291698.8 and the flow diverter 42 is inserted at this point.
  • the combination with a CT connector 44 between the CT and the drilling assembly 20 allows the drilled cuttings to be returned to the main well 14 (preferably a cased section) by ejecting the cuttings from the flow diverter 42 into the annulus.
  • the conventional drilling fluid circulation at this point is used to transport the cuttings to the surface. This approach eliminates cuttings transport in the open-hole annulus section of the lateral well 16 , and therefore decreases the possibility of accumulation of cuttings beds. This in turn reduces the sticking risks when pulling the drilling assembly 20 out of hole.
  • the drilling assembly 20 can include sensors to assess the condition of the borehole for the risk of solids build-up that can potentially impede the movement of the BHA and/or CT in the well.
  • the sensors included in the tool to detect such conditions include calliper, azimuthal density neutron, and internal and annular pressure sensors.
  • the fluid jetting can be provided by nozzles, preferably in or near the connector 30 but potentially in other parts of the drilling assembly 20 or elsewhere in the CT.
  • nozzles 46 are configured to provide a jetting flow with a helical swirl as it exits a nozzle. Such nozzles are known in other well cleaning applications and can be applied mutatis mutandis to this application.
  • the jetting arrangement can include a mechanism using hydraulic or electric signals such that allows the direction of the flow from the nozzle to be adjusted in the vicinity of the cuttings, to further mobilize the cuttings, or to give some directional jetting focus as necessary. Dictation of the outward and rear jetting flow ratio will give further control on the cleaning efficiency for the specific conditions.
  • measurements incorporated in the tool e.g. internal and annular pressures
  • ECD equivalent circulating density
  • Hydraulic signalling can include methods such as flow rate changes and modulation from the surface unit pump, and ball drops.
  • Electric signals can include solenoid activation, or use of bi-stable valves (to decrease the need for high power consumption during extended periods of time as is the case with traditional solenoids). Such bi-stable valves are described by EP113578.
  • Swelling formations such as shales, coal sloughing, or other such formations can cause large steps to form.
  • mechanical means of smoothing out the ledge or drilling some of the swelled formation might be required.
  • CT flow To power a turbine whose axis turns the reamer crown via a gear train.
  • CT flow Another involves using the CT flow to power a turbine connected to an alternator to create electrical power that can then run an electric motor that turns the reamer crown through a gear train.
  • a downhole valve can also be included to dictate the proportion of flow split between exit ports 36 and jetting nozzles 46 . Apart from being able to change between jetting and simply circulating, this valve can also produce pressure pulses to remove harder ledges in a similar manner to that described in U.S. Pat. No. 5,944,123 and U.S. Pat. No. 6,062,311.
  • the valve can either be electrically activated using surface commands, or hydraulically commanded using flow variation schemes (e.g. switches to jetting above a specific flow rate and pressure drop.)
  • An additional advantage of power available in the fluid in the CT is the ability to power a jet pump in the pump section 28 .
  • This jet pump can replace the electric motor driving the pump.
  • the use of a jet pump will create a small increase in surface power needs but has the advantage that the tool length can be substantially reduced (pump, transmission, gear box, motor, oil compensation, motor control and drive electronics), while increasing the reliability.
  • a dual pump system can be employed to circulate around the drilling assembly 20 and in the lateral borehole 16 , and to act as a booster in the well 14 to circulate cuttings to the surface.

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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)
US12/304,946 2006-06-15 2007-06-12 Methods and Apparatus for Wireline Drilling On Coiled Tubing Abandoned US20090321141A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP06291008.8A EP1867831B1 (de) 2006-06-15 2006-06-15 Verfahren und Vorrichtung zum Drahtseilbohren mittels eines gewickelten Rohrstranges
EP06291008.8 2006-06-15
PCT/EP2007/005206 WO2007144157A1 (en) 2006-06-15 2007-06-12 Methods and apparatus for wireline drilling on coiled tubing

Publications (1)

Publication Number Publication Date
US20090321141A1 true US20090321141A1 (en) 2009-12-31

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US12/304,946 Abandoned US20090321141A1 (en) 2006-06-15 2007-06-12 Methods and Apparatus for Wireline Drilling On Coiled Tubing

Country Status (7)

Country Link
US (1) US20090321141A1 (de)
EP (1) EP1867831B1 (de)
CA (1) CA2655245A1 (de)
GB (1) GB2454373A (de)
MX (1) MX2008016052A (de)
RU (1) RU2436929C2 (de)
WO (1) WO2007144157A1 (de)

Cited By (16)

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US7748476B2 (en) 2006-11-14 2010-07-06 Wwt International, Inc. Variable linkage assisted gripper
US20100314174A1 (en) * 2007-11-22 2010-12-16 Henri Denoix Flow diverter for drilling
US7954563B2 (en) 2004-03-17 2011-06-07 Wwt International, Inc. Roller link toggle gripper and downhole tractor
US7954562B2 (en) 2006-03-13 2011-06-07 Wwt International, Inc. Expandable ramp gripper
US8069917B2 (en) 2000-05-18 2011-12-06 Wwt International, Inc. Gripper assembly for downhole tools
GB2486777A (en) * 2010-12-23 2012-06-27 Schlumberger Holdings A drilling system incorporating a flow diverter
US8245796B2 (en) 2000-12-01 2012-08-21 Wwt International, Inc. Tractor with improved valve system
US8485278B2 (en) 2009-09-29 2013-07-16 Wwt International, Inc. Methods and apparatuses for inhibiting rotational misalignment of assemblies in expandable well tools
US20130199846A1 (en) * 2012-02-06 2013-08-08 Wwt International, Inc. Motor saver sub for down hole drilling assemblies
WO2014031098A1 (en) * 2012-08-20 2014-02-27 Halliburton Energy Services, Inc. Slow drilling assembly and method
US9157278B2 (en) 2012-03-01 2015-10-13 Baker Hughes Incorporated Apparatus including load driven by a motor coupled to an alternator
US9175515B2 (en) 2010-12-23 2015-11-03 Schlumberger Technology Corporation Wired mud motor components, methods of fabricating the same, and downhole motors incorporating the same
US9447648B2 (en) 2011-10-28 2016-09-20 Wwt North America Holdings, Inc High expansion or dual link gripper
US20160281468A1 (en) * 2012-06-04 2016-09-29 Schlumberger Technology Corporation Wellbore isolation while placing valves on production
US9488020B2 (en) 2014-01-27 2016-11-08 Wwt North America Holdings, Inc. Eccentric linkage gripper
US20180109110A1 (en) * 2016-10-19 2018-04-19 Caterpillar Inc. Systems and Methods for Controlling Power Output to a Load by Multiple Gensets Based On Load Operation Modes

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GB2454702A (en) * 2007-11-15 2009-05-20 Schlumberger Holdings Cutting removal with a wireline lateral drilling tool
WO2013070609A1 (en) * 2011-11-08 2013-05-16 Chevron U.S.A. Inc. Apparatus and process for drilling a borehole in a subterranean formation
US10697245B2 (en) 2015-03-24 2020-06-30 Cameron International Corporation Seabed drilling system
CN104948134B (zh) * 2015-06-30 2018-04-06 安东柏林石油科技（北京）有限公司 存储式精密定量油气井井下工作剂注入系统及注入方法
CN106703684B (zh) * 2017-02-22 2018-08-10 武汉科技大学 一种地下钻进机器人
CN109899061B (zh) * 2019-03-29 2020-09-25 浙江大学 一种用于原位海底地层实时测量的钻推式机器人
US12234700B2 (en) 2022-03-25 2025-02-25 Schlumberger Technology Corporation Method and system for simultaneous wireline milling and debris collection
WO2025125240A1 (en) 2023-12-15 2025-06-19 Hsrd Ag Tubular drilling robot

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US8555963B2 (en) 2000-05-18 2013-10-15 Wwt International, Inc. Gripper assembly for downhole tools
US8944161B2 (en) 2000-05-18 2015-02-03 Wwt North America Holdings, Inc. Gripper assembly for downhole tools
US9228403B1 (en) 2000-05-18 2016-01-05 Wwt North America Holdings, Inc. Gripper assembly for downhole tools
US8069917B2 (en) 2000-05-18 2011-12-06 Wwt International, Inc. Gripper assembly for downhole tools
US9988868B2 (en) 2000-05-18 2018-06-05 Wwt North America Holdings, Inc. Gripper assembly for downhole tools
US8245796B2 (en) 2000-12-01 2012-08-21 Wwt International, Inc. Tractor with improved valve system
US7954563B2 (en) 2004-03-17 2011-06-07 Wwt International, Inc. Roller link toggle gripper and downhole tractor
US7954562B2 (en) 2006-03-13 2011-06-07 Wwt International, Inc. Expandable ramp gripper
US8302679B2 (en) 2006-03-13 2012-11-06 Wwt International, Inc. Expandable ramp gripper
US8061447B2 (en) 2006-11-14 2011-11-22 Wwt International, Inc. Variable linkage assisted gripper
US7748476B2 (en) 2006-11-14 2010-07-06 Wwt International, Inc. Variable linkage assisted gripper
US20100314174A1 (en) * 2007-11-22 2010-12-16 Henri Denoix Flow diverter for drilling
US8485278B2 (en) 2009-09-29 2013-07-16 Wwt International, Inc. Methods and apparatuses for inhibiting rotational misalignment of assemblies in expandable well tools
GB2486777A (en) * 2010-12-23 2012-06-27 Schlumberger Holdings A drilling system incorporating a flow diverter
US9175515B2 (en) 2010-12-23 2015-11-03 Schlumberger Technology Corporation Wired mud motor components, methods of fabricating the same, and downhole motors incorporating the same
US20160053553A1 (en) * 2010-12-23 2016-02-25 Schlumberger Technology Corporation Wired Mud Motor Components, Methods of Fabricating the Same, and Downhole Motors Incorporating the Same
US10502002B2 (en) * 2010-12-23 2019-12-10 Schlumberger Technology Corporation Wired mud motor components, methods of fabricating the same, and downhole motors incorporating the same
GB2486777B (en) * 2010-12-23 2017-04-05 Schlumberger Holdings Wired mud motor components, methods of fabricating the same, and downhole motors incorporating the same
US9447648B2 (en) 2011-10-28 2016-09-20 Wwt North America Holdings, Inc High expansion or dual link gripper
US9157277B2 (en) * 2012-02-06 2015-10-13 Wwt North America Holdings, Inc. Motor saver sub for down hole drilling assemblies
US20130199846A1 (en) * 2012-02-06 2013-08-08 Wwt International, Inc. Motor saver sub for down hole drilling assemblies
US9157278B2 (en) 2012-03-01 2015-10-13 Baker Hughes Incorporated Apparatus including load driven by a motor coupled to an alternator
US10920531B2 (en) * 2012-06-04 2021-02-16 Schlumberger Technology Corporation Wellbore isolation while placing valves on production
US20160281468A1 (en) * 2012-06-04 2016-09-29 Schlumberger Technology Corporation Wellbore isolation while placing valves on production
US20150300092A1 (en) * 2012-08-20 2015-10-22 Halliburton Energy Services, Inc. Slow Drilling Assembly and Method
WO2014031098A1 (en) * 2012-08-20 2014-02-27 Halliburton Energy Services, Inc. Slow drilling assembly and method
US10156107B2 (en) 2014-01-27 2018-12-18 Wwt North America Holdings, Inc. Eccentric linkage gripper
US9488020B2 (en) 2014-01-27 2016-11-08 Wwt North America Holdings, Inc. Eccentric linkage gripper
US10934793B2 (en) 2014-01-27 2021-03-02 Wwt North America Holdings, Inc. Eccentric linkage gripper
US11608699B2 (en) 2014-01-27 2023-03-21 Wwt North America Holdings, Inc. Eccentric linkage gripper
US12024964B2 (en) 2014-01-27 2024-07-02 Wwt North America Holdings, Inc. Eccentric linkage gripper
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EP1867831B1 (de) 2013-07-24
WO2007144157A1 (en) 2007-12-21
CA2655245A1 (en) 2007-12-21
GB0823035D0 (en) 2009-01-28
MX2008016052A (es) 2009-02-06
EP1867831A1 (de) 2007-12-19
RU2009101029A (ru) 2010-07-20
GB2454373A (en) 2009-05-06
RU2436929C2 (ru) 2011-12-20

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