Device and method for handling rod-shaped elements

Abstract

The invention relates to a device and a method for handling rod-shaped elements on drilling gear. The safety is inter alia increased by a device and a method wherein rod-shaped elements are placed on a placement device in defined positions and under defined conditions, the rod-shaped elements are separated on the placement device while being monitored, their safe support on a gripper is checked and once the elements are handed over to an elevator this action is confirmed.

Description

[0001] The present invention relates to a device and a method for handling rod-like components, in particular for a deep drilling device used either onshore or offshore. Such deep drilling devices can be used, for example, for vertical drilling with a view to developing deposits. The term "deposit" includes, in particular, the occurrence of a substance in liquid, gaseous, or solid form or the presence of energetically usable conditions in geological structures, in particular with regard to crude oil, natural gas, or geothermal energy. The term "rod-like component" is used below to refer, in particular but not exclusively, to components whose longitudinal dimension is greater than their transverse dimension. Such components are preferably tubular in design and are used, for example, for drilling boreholes.

[0002] Vertical drilling is primarily used for the exploitation of oil and gas fields and for the extraction of geothermal energy.

[0003] The principle of the present invention is not limited to use in deep drilling, but can also be used for other drilling devices, for example horizontal drilling devices or inclined drilling devices. State of the art

[0004] A vertical drilling device is known from the prior art, for example, according to patent EP1387924 B1, in which a plurality of pipes forming a pipe string in the ground are arranged substantially vertically on a drilling platform prior to installation. This patent describes a device and a method that ensure that, during installation or removal of pipes, one of each two pipes is securely held by a fastening device. A typical method for vertically arranging the pipes involves a conveyor system having a gripper that brings the pipes into the desired vertical position.

[0005] An improvement with respect to the method described in EP1387924 B1 consists in the use of drill rod gripping systems as described in DE 102004004315 A1 and in, Figure 1are shown. A drilling mast 1 is attached to a substructure 2 made of individual segments. A carriage 4, on which a top drive is provided, is movable in the vertical direction on the drilling mast 1. If a drill rod 6 is located below the top drive on the carriage 4, this can be inserted into the borehole and a corresponding drilling process can be carried out by the top drive. Adjacent to the substructure 2 and at ground level there is a drill rod magazine 8 in which the drill rods to be inserted are stored and on which drill rods removed from the borehole are placed. In this application DE 102004004315 A1, a drill rod gripper 10 is provided on a guide frame 12 to facilitate the provision of the drill rod.This drill rod gripper grips a drill rod 6a located on the drill rod magazine 8 perpendicular to the line connecting the drilling mast and the borehole, pivots it perpendicularly thereto over a drill rod position shown at 6b, performs a translational movement along the guide frame 12 into the position shown in Figure 6C, pivots into a position above the borehole, and then enables the drill rod to be inserted into the borehole via the top drive located on the carriage 4. To remove a drill rod from the borehole, the reverse procedure is selected.

[0006] While such a pipe handling system, as described in the closest prior art D 102004004315 A1, eliminates the uncertainty of suspended loads from a crane, it still requires the manual assistance of an operator to ensure safe initial placement of the drill rods onto the drill rod magazine, secure gripping by the drill rod gripper 10, safe pivoting into the prescribed position below the top drive, and safe insertion of the drill rod into the borehole.

[0007] It should be noted that in conventional onshore drilling rigs, the insertion of drill rods into magazine 8 is often done manually or by forklift, which further complicates the safe individual gripping of drill rods. Summary of the invention

[0008] The object of the invention is to provide a device and a method for handling rod-like components, in particular for deep drilling devices, which ensure automated and / or safe handling of the rod-like components, in particular drill rods, up to and including their insertion into a borehole and from their removal from the borehole. It is further preferred if the device and method according to the invention for handling rod-like components allow implementation in both onshore and offshore drilling rigs.

[0009] This object is achieved by methods and devices for handling rod-like components according to the independent claims. Further developments according to the invention are the subject of the dependent claims.

[0010] According to the invention, a device for handling rod-like components is provided, which device has a storage device for rod-like components in which rod-like components can be stored, a lifting device which has a lifting carriage, a guide device for guiding the lifting carriage and a drive for moving the lifting carriage, and a receiving device attached to the lifting carriage for receiving a rod-like component from the storage device, wherein the receiving device is pivotable with respect to the lifting carriage in a plane perpendicular to the direction of travel of the lifting carriage in such a way that a rod-like component can be arranged above a borehole. In this way, the transport of rod-like components from the storage device to above the borehole can be carried out by one device and a height difference can be overcome.It is preferred that the rod-like components be deposited in the storage device essentially parallel to a connecting line between the center of the borehole and the center of the drilling mast. Such an arrangement not only allows for a compact design of the drilling rig with the storage device, but also for space-efficient removal from the storage device. The aforementioned device for handling rod-like components is hereinafter referred to as the basic structure.

[0011] According to the invention, a device for handling rod-like components on a drilling rig, preferably with the above basic structure, can also be provided, said device comprising a transport device and a control device. The transport device is intended for transporting the rod-like components from an intermediate storage device to a storage device for rod-like components, wherein one or more rod-like components can be removed from the storage device by a receiving device. The control device is intended for controlling the transport device, and by means of this, the transport device can be controlled in such a way that a release of a rod-like component at the storage device can take place depending on a relative position of the transport device with respect to the storage device.The aforementioned design of the device prevents damage or destruction to the drilling rig or nearby equipment during transport to the storage facility, and ensures greater safety when depositing the rod-like components in the storage facility. This allows for increased safety even during the insertion of the rod-like components into the storage facility.

[0012] It is preferred if the aforementioned device has a detection device for detecting the application to the depositing device. In this case, it is preferred that the unloading be detected at the transport device. By detecting the unloading at the transport device, for example, at a crane, it can be ensured that the rod-like component is resting, thus preventing an uncontrolled downward movement of the rod-like component upon release by the transport device with greater certainty.

[0013] Alternatively or additionally, the aforementioned device may provide a detection device on the depositing device that detects the placement of one or more rod-like components onto the depositing device. Such detection can ensure that the rod-like component rests on the depositing device and not, for example, due to an uncontrolled inclination of the rod-like component onto a section in the vicinity of the depositing device.

[0014] It is further preferred if, in the aforementioned device, the control device allows the release of the rod-like component(s) depending on a predetermined relative position to the storage device. This dependence of the release on the relative position makes it possible to define a close area above the storage device in which only one release can occur. This also makes it possible to ensure to a greater extent that the rod-like component is located in a desired position on the storage device.

[0015] The aforementioned device can be further developed in such a way that it has a detection device for the relative position of the rod-like component(s) on the transport device with respect to the storage device. Furthermore, a control device can permit movement of the rod-like component(s) on the transport device only within a specific space depending on an output signal of the detection device for the relative position. In this way, it is possible to define three-dimensionally in which area the rod-like component can be located above the storage device and in an adjacent area. Thus, incorrect operation of the transport device and damage to the drilling rig can be ruled out with greater certainty, and the automation of the drilling rig and pipe handling can be implemented to a greater extent.

[0016] It is preferred that, in the aforementioned device, the detection device for the relative position comprises one or more position sensors on the transport device. Such position sensors are, for example, rotary encoders or length measuring systems. By detecting the holding element for a rod-like component on the transport device in this way, the position of the rod-like component in space can be efficiently determined without the need to determine the actual position of the rod-like component, for example, by contactless scanning. Alternatively, the position of the rod-like component in space can of course also be detected by mechanical elements, for example, a transport device, or in a contactless manner.

[0017] The transport device is preferably a crane, which allows for the confined space conditions of an offshore drilling rig, but also of an onshore drilling rig, and eliminates the risk of operating errors, for example when transporting the rod-like components using a forklift.

[0018] According to the invention, a device for handling rod-like components in a drilling rig is further provided, preferably corresponding to the basic structure, which has a storage device for rod-like components, which has at least one transfer device for the individual removal of the rod-like component by a receiving device. Into such a transfer device, which can be a transfer chute, for example, a rod-like component can be introduced either by a transport device for transporting the rod-like components to the storage device or by a separating device provided in the storage device depending on a detection signal for the position of the rod-like component on the storage device. Such a separating device can, for example, have a lifting cylinder.When the rod-like component is introduced into the transfer device by the transport device, it can be introduced in such a way that the receiving device can safely remove each rod-like component individually. When using separation devices on the storage device, a large number of rod-like components can be initially provided in the storage device, and separation can be carried out depending on the position of an individual rod-like component on the storage device. This reduces the accuracy requirements when transporting rod-like components into the storage device, while still ensuring that the receiving device can pick up each rod-like component individually.

[0019] In the aforementioned device, it is preferred if the storage device comprises at least one conveyor device having at least one carrier arranged on a conveyor chain or a plurality of carriers arranged on a conveyor chain, by means of which a rod-like component can be transported to the receiving position by the receiving device. This allows a parallel arrangement of the rod-like components on the storage device to be realized.

[0020] It is further preferred if the storage device has at least one conveyor device by which at least two rod-like components can be transported to the transfer device. In this way, a rod-like component can be removed by the receiving device, and a further rod-like component can be positioned in the storage device either simultaneously or with a slight time delay by a transport device.

[0021] Furthermore, it is preferred if the storage device has a plurality of conveyors, so that the rod-like components can be moved by the conveyor in at least two positions each. In this way, tilting of the rod-like components in the storage device can be avoided.

[0022] It is particularly preferred if the storage device has three conveyor devices and the storage device is arranged with respect to the receiving device in such a way that the rod-like component can be removed by the receiving device between two conveyor devices and the storage device. The storage of a rod-like component on three conveyor devices enables the rod-like component to be securely held, particularly with drill rod lengths that are common in deep drilling rigs. The removal of the rod-like component between two of the three conveyor devices enables removal outside the center of mass and thus simplified transport of the rod-like component and a low overall height of a lifting device for the rod-like components on the receiving device.

[0023] According to the invention, a device for handling rod-like components on a drilling rig, preferably corresponding to the basic structure, is further provided with a storage device that has a device for measuring the length of the rod-like component. The length-measuring device either has at least two mechanical detection devices, each of which can detect the inserted rod-like component, or has a detection device for contactless detection of the rod-like component at a predetermined position. Mechanical detection devices can determine the position of a rod-like component in the storage device with acceptable accuracy, thus facilitating precise removal by the receiving device.

[0024] When detecting rod-like components at a predetermined position without contact, a reliable detection of a rod-like component at the predetermined position can be carried out while excluding mechanical errors in a mechanical detection device.

[0025] The present device is preferably further developed in such a way that the mechanical detection device has a lever preloaded in a recess for a rod-like component, the movement of which triggers a detection signal when the rod-like component is attached. This simple mechanical design allows for the implementation of a cost-effective detection system with a low failure rate.

[0026] It is further preferred if at least two detection devices for contactless detection are provided, by which sections of the rod-like component located opposite one another in the longitudinal direction of the rod-like component can be detected. In this way, a single measuring process can determine the direction in which a rod-like component deviates from the desired position of the rod-like component on the storage device.

[0027] In the aforementioned device, it is preferred if the detection device for contactless detection comprises a light barrier. This allows for the cost-effective implementation of a contactless detection system.

[0028] In the device according to the invention, it is further preferred if the length measuring device, in addition to the detection device for contactless detection, has a movement device for moving the component inserted in the storage device in its longitudinal direction or for moving the length measuring device in the longitudinal direction of the inserted rod-like component. In this way, either the rod-like component can be moved to a desired position, which can be determined by the length measuring device, or the exact position of the rod-like component can be determined, so that a receiving device for gripping the rod-like component from the storage device can grip it at the desired relative position with respect to its longitudinal direction.

[0029] Furthermore, it is preferred if the length measuring device has a control device by which the movement device can be controlled, so that the rod-like component is arranged in the storage device to be gripped by a receiving device at a defined location. Thus, the length measuring device, movement device, and control device can interact to bring about a defined state for receiving by the receiving device.

[0030] According to the invention, a device for handling rod-like components on a drilling rig, preferably corresponding to the aforementioned basic structure, is further provided, which device has a receiving device by which the rod-like component can be received by several, preferably two, pairs of gripper arms. Such a receiving device can have a detection lever for the rod-like component in the receiving device, the pivot point of which is fixed with respect to a gripper arm. In this way, reliable detection of rod-like components with different diameters can be implemented in the receiving device.

[0031] It is preferred if, in the above-mentioned device, the lever is pre-tensioned into the space defined between the gripper arms, so that the rod-like component present in this space can be detected by pressing the lever out of the space between the gripper arms.

[0032] Furthermore, according to the invention, a control device can be provided that allows operation of the receiving device only when a rod-like component is detected in the receiving device. This reduces the frequency of errors and prevents accidents.

[0033] Furthermore, in the aforementioned device, a pressure detection device for the hydraulic control pressure or closing pressure for closing the gripper arms can be provided on the receiving device, wherein the control device permits movement of the receiving device only when the rod-like component is detected in the receiving device and at the predetermined detected control pressure. In this way, it can be ensured that movement of the rod-like component can take place not only when the rod-like component is detected in the receiving device, but also only when a desired holding pressure for the rod-like component is applied by the receiving device, thus reducing the susceptibility to errors of the overall system.

[0034] It is further preferred if one or more gripper arms are provided with a detection lever, wherein the gripper arm(s) are preferably arranged opposite the receiving opening for the rod-like component. This prevents the presence of the rod-like component in the receiving device from being incorrectly detected if the front pair of gripper arms only loosely grips the rod-like component, thus making safe transport of the rod-like component impossible.

[0035] It is further preferred in the aforementioned device if the gripper arms of each gripper arm pair are mechanically connected in such a way that they can only be moved by the same angle. In this way, a defined holding of the rod-like component by the receiving device with a predetermined force can be achieved, thus making transport even safer.

[0036] The invention further provides a device for handling rod-like components on a drilling rig, preferably with the basic structure, which comprises a detection device for the rod-like component on a lifting device arranged above the borehole. This allows for greater automation of the handling of the rod-like component on a drilling rig and reduces the error rate, for example, due to an uncontrolled downward movement of a rod-like component provided on the lifting device.

[0037] The aforementioned device is preferably further developed in such a way that the detection device comprises a mechanical lever mounted on the lifting device and pivotable in a plane perpendicular to the lifting device, which triggers a detection device for the presence of the rod-like component in the lifting device. In this way, detection can be carried out using simple mechanical means.

[0038] The aforementioned device is preferably further developed in such a way that the detection device has a hydraulic pressure sensor for ensuring the closed state of the lifting device. Thus, based on the state of the lifting device, an assessment of the insertion of the rod-like component can be made. It is particularly preferred if this is provided in addition to the mechanical lever, because in this way, the presence of the rod-like component in the lifting device can be determined based on two detection signals.

[0039] It is further preferred that, in the aforementioned device, the detection device comprises a switch for detecting the closed holding device for the rod-like component on the lifting device. This further increases safety, since the closed state of the lifting device can be detected as an alternative or in addition to the aforementioned detection device for the hydraulic pressure.

[0040] Furthermore, the aforementioned device can be further developed in such a way that it has a receiving device for the rod-like component, through which the rod-like component can be transferred to the lifting device and which can be moved upwards by the lifting device. In this device, a control device is additionally provided which only permits movement of the lifting device with the rod-like component independent of the receiving device after the receiving device has been lifted above the rod-like component by the lifting device. In this way, it can be determined through a mechanical coupling between the lifting device via the rod-like component and the receiving device that the rod-like component is being securely held above the borehole by the lifting device.As a result, it is possible to release the receiving device from the rod-like component with a high degree of safety, without the risk of the rod-like component moving downwards in an uncontrolled manner.

[0041] The present invention further relates to a device for handling rod-like components on a drilling rig, preferably with the basic structure described above, wherein a detection device for the position of the receiving device and a control device are provided which allows opening of the receiving device with inserted rod-like components only above the storage device, preferably directly above or on this and adjacent to a lifting device above the borehole. In this way, release of the rod-like component on the receiving device outside the desired area can be prevented, thus increasing the safety of the drilling rig.

[0042] In a device designed in this way, it is preferred that the control device, preferably in a region outside the position above the storage device and preferably in a region adjacent to a lifting device above the borehole, allows a hydraulic pressure to be maintained for holding the rod-like component to the receiving device. In this way, losses can be compensated for without causing an undesired release of the rod-like component.

[0043] According to the invention, a device for handling rod-like components on a drilling rig is further provided, preferably corresponding to the basic structure with two guide elements, preferably designed as a double cone, for the rod-like component, by means of which the rod-like component located above the borehole in a guide or centering device can be centered with respect to a rod-like component located in the borehole. Such centering prevents the uncontrolled placement of a rod-like component on a work platform or on a rod located in the borehole. Furthermore, it also allows for the automatic screwing of several rod-like components above the borehole.

[0044] In such a device, it is preferred if the guide elements can be moved synchronously toward each other. This control allows for precise predetermination of the position of the rod-like component and requires minimal equipment complexity.

[0045] According to the invention, a device for handling rod-like components on a drilling rig is further provided, preferably corresponding to the basic structure, which device has a lifting device located above the borehole and a control device that can be controlled by the lifting device, so that after an upward movement of the lifting device with rod-like components located in the borehole, securing wedges can be removed, the removal of the wedges can be confirmed, and a further lowering or lifting of the rod-like component into or out of the borehole can take place. In this way, a controlled introduction of rod-like components into the borehole or removal of the rod-like components from the borehole can be implemented with a high degree of safety. Short description of the drawings

[0046] Fig. 1 shows a front view of a state-of-the-art drilling rig. Fig. 2shows a perspective view of a drilling rig with the handling device according to the invention, The Fig. 3 and 4 show excerpts from Fig. 2 , ie the storage device with drill rod grab or the drill rod grab with elevator, Fig. 5 shows a top view of a modification of the storage device with light barrier and movement device for the drill rod. Fig. 6 shows a device for mechanically gripping the drill rod in the storage device. Fig. 7 shows a variety of devices for mechanically gripping the drill rod in the storage device. Fig. 8 shows a top view of the drilling rig and the storage device with the drill rod in the gripper. Figs. 9A, 9B and 9C show a gripper in side view, a lever arrangement for gripping the drill rod in front view and in top view. Fig. 10shows a perspective view of an elevator with associated detection device. Fig. 11A and 11B show a centering rod and a detailed view of it for centering the drill rod above the borehole. Description of the preferred embodiments

[0047] The invention is described below using the attached designations.

[0048] Fig. 2 shows a perspective view of a drilling insert 20 in which the device for handling rod-like components and the inventive method for handling rod-like components can be implemented. It should be noted that in the representation of the drilling rig in Fig. 2A representation was chosen that depicts elements of the drilling rig and its surroundings relevant to the handling of rod-like components. However, a drilling rig, for example for deep drilling, also has additional units, such as a generator, electrical control units, electrical power distribution modules, pressure accumulators, and the like.

[0049] The Fig. 2 The drilling rig 20 shown has a substructure 22 with a drilling mast 24, a pipe handler 26, which is also referred to below as a drill rod handling device, and a drill rod magazine 28, which is also referred to below as a storage device.

[0050] The present drilling rig 20 can be either an offshore drilling rig or an onshore drilling rig. In the case of the offshore drilling rig, it is preferred that the substructure 22 is movable on rails with respect to a subsurface both in a longitudinal direction X and in a transverse direction Y. In the following, it is assumed that the longitudinal direction X is understood to be a direction in which a connecting line between the center of the borehole 30 adjacent to the drilling mast 24 and a center line of the drilling mast 24 extends. The transverse direction Y extends at right angles to the longitudinal direction X. The substructure 22 has, in the Fig. 2The embodiment shown has three levels, which are preferably connected to each other via stairs. However, the present invention is not limited to providing the substructure with three levels; rather, any number of levels can be provided depending on the drilling requirements. The substructure is preferably modular, allowing for staged construction of the substructure.

[0051] In the substructure, a Fig. 2 not shown blowout preventer and a Fig. 2 A trip tank (not shown) may be provided. The substructure is located on the borehole to be drilled, which continues into the work platform 32 provided above the substructure in the borehole 30. Also arranged on the work platform are a control cabin 34 and a crane 36 for handling objects on the work platform 32.

[0052] Adjacent to the borehole 30 in the longitudinal direction X, as described above, is the preferably modularly constructed drilling mast 24, which in the illustrated embodiment has two interconnected drilling mast segments. Attached to the drilling mast 24 in its longitudinal direction Z, which runs perpendicular to the longitudinal direction X and the transverse direction Y, are toothed racks 38 and guide rails, along which a feed carriage 40 can be moved. At least one gear on the feed carriage 40 is driven by at least one feed motor. Furthermore, holding brakes are formed on the feed carriage, via which the feed carriage 40 can be fixedly arranged on the drilling mast 24.

[0053] The feed carriage further includes a top drive 42 with a receiving device for attaching a drill rod, as well as a rod shaft 44 with an attached elevator 46 for lifting drill rods. The elevator is used for rapid installation and removal of the drill rod relative to the borehole. During the drilling process, in which the torque is applied by the top drive 42 to the drill head located in the borehole, the elevator is pivoted away from a connecting line between the top drive and the borehole 30. Fig. 2Not shown is a screwing device, which can be used to screw drill rods together at the borehole. During screwing, a drill rod already in the borehole is held to the work platform by wedges (not shown). To attach the additional drill rod, the additional drill rod is positioned vertically above the borehole on the drill rod inserted into the borehole via the pipe handler 26 or the drill rod handling device 26 and screwed to the drill rod in the borehole using the screwing device.

[0054] The installation of the drill rods is monitored via the control cabin 34. In addition to this monitoring in the control cabin, a multitude of monitoring and correction processes were previously necessary, from the insertion of the drill rod into the drill rod magazine 28 to the screwing of the drill rod to another drill rod located in the borehole 30. The present invention proposes a multitude of measures to reduce these monitoring and correction processes to a minimum or to eliminate them entirely, so that the operating personnel in the control cabin 34 can concentrate on the tasks associated with creating the borehole or removing drill rods from it, without the focus of their activity being on monitoring the drill rod transport.

[0055] The following description describes different automation steps for drill rod transport. These steps can be implemented in any combination.

[0056] The following description will also refer to the Figures 3 and 4 related, whereby Fig. 3 an enlarged view Fig. 2 in which the drill rod handling device 26 and the drill rod magazine 28 are shown. In Fig. 4 the drill rod handling device together with the elevator 46 on the drilling mast 24 is shown enlarged. First section of the drill rod transport

[0057] With reference to Fig. 3The insertion of the drill rods into the drill rod magazine 28 will now be explained in more detail. Preferably, in offshore installations, a rotary crane is used to form stacks of drill rods. From this drill rod stack, the drill rods are then transported via another rotary crane, which is an exemplary embodiment of the transport device described below, from the stack to the drill rod magazine 28, in which the drill rods are deposited for collection by the drill rod handling device 26. Various safety aspects must be taken into account when transporting with the additional crane. First of all, it must be ensured that the drill rods may only be released from the additional crane above the drill rod magazine 28 when the drill rod has been deposited. Furthermore, it must be ensured that when transporting the drill rod with the additional crane, damage to the drilling rig or its surroundings from the moving drill rod is avoided.These possibilities for increasing safety are implemented according to the invention by releasing the drill rods from their relative position in space, particularly with respect to the storage device. One possibility is that, when the second crane detects a load release, it is assumed that the drill rod is located on the drill rod magazine 28. The second crane can then be opened so that the drill rod comes to rest on the drill rod magazine.

[0058] A further possibility is to provide a detection device on the drill rod magazine 28, the output signal of which causes the drill rod to be released on the second crane. This additional detection device can be provided as an alternative or in addition to the device for detecting the unloading on the transport device. In addition or as an alternative, the drill rod can only be released from the second crane above the storage device if the holding device for the drill rod on the second crane is located in a predetermined spatial area above the storage device.

[0059] Alternatively or in addition, only a predetermined area above the storage device and towards the stack from which the drill rods are removed by the second crane can be provided for the movement of the drill rod by the second crane. Movement of the drill rod out of this area is prevented by blocking the corresponding translational or rotational movement of the second crane. This latter measure allows the speed of drill rod transport from the stack to the drill rod magazine to be increased while simultaneously ensuring a high level of safety.

[0060] Thus, increased safety can be achieved with the first section of the drill rod transport compared to drilling rod transport using a forklift. Compared to drilling rod transport using only manual operation of the second crane, the error rate can be significantly reduced according to the present invention.

[0061] The present invention is not limited to the second crane transporting only one drill rod at a time to the storage device, but two or more rods can be transported by the second crane as required. Second section of the drill rod transport

[0062] With reference to Fig. 3The second subsection of the drill rod transport will now be described. In this second subsection, the drill rods loaded onto the drill rod magazine 28 are separated in such a way that they can be individually grasped by a gripper 48 provided on the drill rod handling device 26 and arranged above the borehole 30. For this purpose, it is preferred that the longitudinal extension X' of the drill rod magazine 28 runs parallel to the longitudinal direction of the arrangement of the borehole center 30 and the center of the drilling mast 24. In this way, the separated drill rod can be grasped from the drill rod magazine 28 by the gripper in the immediate vicinity of the substructure 22, from which the drill rod magazine 28 is a short distance away, and transported to the intended position with minimal space requirements.

[0063] The boring bar magazine 28 has, according to the design, Fig. 3three conveyor devices 50a, 50b and 50c, each extending in the transverse direction Y and each having a transfer device which is arranged in Fig. 3is designed as a transfer trough 51a, 51b, 51c and has a respective conveyor chain 54a, 54b, 54c. The conveyor devices 50a, 50b, 50c run parallel to one another and their transfer troughs 51a, 51b and 51c are aligned with one another. As a result, drill rods mounted on the conveyor chains 54a, 54b, 54c can be conveyed by the conveyor chains in the transverse direction Y. When the drill rod is grasped on the conveyor chain 54a, 54b, 54c at a predetermined position adjacent to the transfer 51a, 51b, 51c, a separating device is triggered, which can be a cylinder, for example, so that the movement of an individual drill rod into the transfer trough 51a, 51b, 51c is enabled. The arrangement of the gripper 48 of the drill rod handling device is preferably carried out in such a way that the gripper 48 can engage in a section between two of the three conveyor devices 50a, 50b, 50c and can grip the drill rod. In the embodiment of Fig. 3These are the conveyor devices 50a and 50b. The gripper 48 with the drill rod then rotates in such a way that the drill rod reaches a vertical position with the shorter end of the drill rod pointing downward. This ensures that a minimum stroke for the gripper 48 is sufficient to position the drill rod above the borehole 30, thus preventing contact with other components of the drilling rig. Carriers are preferably arranged on the conveyor chain, which can transport one or a specific number of drill rods on the conveyor chain to the transfer chute 51a, 51b, 51c.

[0064] As an alternative to using a separating device on the conveyors, it is possible for a drill rod to be inserted directly into the transfer chute by the second crane, or for predetermined compartments, such as predetermined chambers, to be provided on the conveyor chain, each of which can accommodate only one drill rod. This allows for the drill rod to be safely inserted into the transfer chute 51a, 51b, 51c during further transport by the size of one chamber.

[0065] The present invention is not limited to a transfer chute 51a, 51b, 51c, but can also be used when using any transfer device. Fig. 5 discloses the top view of a conveyor device 50d, which instead of the conveyor device 50a in Fig. 3can be used. The conveyor devices 50b and 50c are then designed in a correspondingly comparable manner. In addition to the conveyor chain 54d, the conveyor device has a transfer device 51d which is roller-shaped. The roller is preferably formed by a double cone whose sections with a smaller diameter are connected to one another. Such a transfer device 51d in roller form makes it possible for a drill rod to be placed thereon for reception by the gripper 48. At the same time, there is the possibility that, when the roller 51d is driven by a motor 56 provided adjacent to it, the drill rod can be transported in the longitudinal direction X' and thus the drill rod can be aligned so that gripping by the gripper 48 in a defined position is facilitated.

[0066] As an alternative to the lifting cylinder, the separation of the drill rods can also be triggered by a corresponding forward movement of the conveyor chain. Here, too, it is preferable that the position of the drill rod is recorded beforehand. Third section of the drill rod transport

[0067] The following is described with reference to Figures 3, 6 and 7 with respect to a first variant of the third subsection and with reference to Figures 5 and 8 with respect to a second variant of the third subsection.

[0068] It is advantageous to have the drill rod in the transfer chute 51a, 51b and 51c in Figure 3 by a Figure 6 The detection device 58 shown in the perspective view has an angle lever 60, which is actuated by the insertion of a drill rod into a recess 62 in the holder for the angle lever 60 in Figure 6is pressed downward. A switch flag 66 is attached to this angle lever 60 and is movable with it. When this switch flag 66 comes close to a sensor 68 attached to the holder 66, this sensor 68 is triggered and emits a signal indicating the presence of the drill rod in the recess 62.

[0069] The angle lever 60 is preloaded by a spring 70 in such a way that it projects into the recess 62. However, the aforementioned detection device 58 is not limited to indicating the presence of a drill rod in the transfer chute. In the top view of Figure 7 is a variant of the design of the boring bar magazine 28 of Figure 3 , in which a plurality of detection devices 58a-g are arranged both between the conveyor devices 50a, 50b, 50c and outside of them. The distance between the detection devices 58a-g is determined by a stop 72, which is Figure 7 on the right-hand side. The two detection devices 58g and 58f, which are provided outside the area between the conveyor devices 50a, 50b and 50c, are intended for the case that, for example, the drill rod is positioned too far out of alignment. Depending on the length of the inserted drill rod, the corresponding detection devices 58a-g are triggered depending on the drill rod length. Due to the arrangement of the drill rod in the transfer chute 51a, 51b, 51c, either the drilling gripper 48 can grip the drill rod in one position or the stroke of the gripper 48 can be adjusted accordingly so that a suitable transfer to the elevator on the drilling mast can take place.

[0070] According to a modification, it is possible to compare the values ​​for the length of the drill rod determined based on the signals at the detection devices 58a-g with a target value for the drill rod. If there is a predetermined deviation in the values, an error message can be generated. An error message can also be generated if signals from proximity switches or detection devices are detected, which is not possible if they are triggered together when inserting a continuous drill rod.

[0071] Due to such a design, the susceptibility to errors of the device according to the invention for handling rod-like components can be reduced.

[0072] However, the present invention is not limited to the use of detection devices 58 according to Figure 6Any other mechanical triggering devices can be used, or contactless operation can be carried out. Thus, instead of one or more detection devices 58, light barriers, for example, can be used. Figure 5 A light barrier 74 is shown, which triggers a detection signal when the boring bar is applied to the transfer device 51d. The use of a light barrier 74 is particularly advantageous in connection with the translational movement of a boring bar in the transfer device. When the boring bar is moved in the longitudinal direction X' by actuating, for example, the motor 56 in Figure 5The boring bar can be set to the exact position in which, for example, after the boring bar has been detected by the light barrier, it is no longer in the light barrier. In this way, a predefined position of the boring bar can be provided in the boring bar magazine 28, thus enabling it to be picked up by the gripper 48 in a defined position.

[0073] As an alternative to the fixed arrangement of one or more light barriers 74, it is also possible to move the drill rod via, for example, a motor 56 in Figure 5 to move the light barrier. In this way, the drill rod remains in the same relative position in the drill rod magazine, but its position in the drill rod magazine 28 can be predicted with accuracy, thus enabling appropriate actuation of the receiving device and precise positioning of the drill rod above the borehole 30.

[0074] In Figure 8 1 shows a plan view of a drilling rig with the drill rod magazine 28, in which a drill rod 76 is held by the gripper 48 in the longitudinal direction X above the drill rod magazine 28 and in which the light barrier 74 is shown. From this plan view, it can be seen that due to the parallel arrangement of the longitudinal direction X of the drilling rig and the longitudinal direction X' of the drill rod magazine, a space-saving arrangement of the drill rod magazine 28 next to the substructure is possible and the gripper 48 and the drill rod 76 can grip without movement in the transverse direction Y and can pivot towards the borehole 30 with little space requirement. Fourth section of the drill rod transport

[0075] With reference to Figure 3The structure of the drill rod handling device 26 with the gripper 48 will now be described in more detail. The drill rod handling device 26, which is also referred to below as the receiving device, has a guide frame 80, a lifting carriage 82, a pivot arm 84, a gripper rotating device 86, and the gripper 48. The guide frame 80 is mounted in a lateral recess 88 of the base 22 and is preferably of modular construction, so that the guide frame 80 can be assembled from several parts.

[0076] In its lower section, in which the guide frame is located in the substructure, it can be attached directly to the substructure. In the area above the work platform 32, the guide frame 80 is attached to a lattice mast 90. Along the guide frame, both guide surfaces and, for example, racks are provided for moving the lifting carriage on the guide frame in the Z direction. The guide surfaces and the racks can also be arranged in a modular manner. The pivot arm 84 can be pivoted on the lifting carriage 82, preferably by 180° or less. The gripper 48 can be rotated via the gripper rotation device 86. In this way, when the pivot arm 84 is pivoted in the Figure 3shown left direction, i.e., toward the drill rod magazine 28, in a position in which the longitudinal axis of the gripper runs in the direction of the longitudinal axis X' of the drill rod magazine. On the other hand, a movement of the pivot arm 84 away from the drill rod magazine 28 toward the drilling mast 24 enables the arrangement of a drill rod gripper axially parallel to the borehole 30 and in such a way that the longitudinal axis of the gripper runs in alignment with the center axis of the top drive. In this way, it is possible to arrange a drill rod from the drill rod magazine 28 above the borehole 30 merely by a pivoting movement and a rotating movement of the gripper.

[0077] It is preferred that the drill rod magazine 28 be adjacent to the base in such a way that a change in the length of the pivot arm 84 is not necessary to perform the described movement.

[0078] When operating the gripper described above, the present invention increases the safety and / or the degree of automation.

[0079] For this purpose, the presence of the drill rod in the gripper is determined with greater certainty before a transport movement. Figure 9a shows a side view of the drilling gripper 48 according to the invention in a plane perpendicular to the longitudinal axis of the gripper. Figure 9b shows a lever mechanism for gripping the existing drill rod in the gripper in the front view and Figure 9c shows the top view of the lever arrangement for the gripper according to the invention.

[0080] The gripper 48 essentially comprises a gripper body 100 and a plurality of Figure 3 four gripper arm assemblies 102 attached thereto. These gripper arm assemblies 102 are Figure 9Aoperated by hydraulic cylinders 102a, 104b. Each gripper arm assembly has two pairs of gripper arms, which can be moved by the same angular amount under the control of the hydraulic cylinders 104, 104b. Figure 9A A pair of gripper arms 106a, 106b and a pair of gripper arms 108a, 108b are shown. In this Figure 9A In the open position of the gripper 48 shown, the gripper arm 108b belonging to the gripper arm 108a is not visible. When the gripper arm pairs 106, 106b and 108a, 108b are actuated, they move toward a drill rod center point that is independent of the diameter of the drill rod.

[0081] In order to detect that the drill rod is located in the gripper 48, the lever assembly 110 is provided on the gripper arm 108a. The lever assembly 110 has an element 112 that can be rigidly attached to the gripper arm 108a and a lever 114 that is rotatably attached thereto. The lever 114 is preloaded at its pivot point via a rubber spring element 116 toward the space 118 between the gripper arms for inserting the drill rod. When the lever 114 moves with respect to the element 112 against the spring preload force of the rubber spring element 116, a signal is triggered in a sensor 120 provided on the lever 114 and element 112, which indicates the presence of the drill rod in the gripper 48. The present invention is not limited to a rubber spring element 116; any desired preloading device for the lever in the space 118 between the gripper arms can be provided. The sensor 120 is preferably an inductive proximity switch.

[0082] It is preferred that the lever is provided on a gripper arm pair 108a, 108b arranged adjacent to the boom 100 in order to avoid misdetection which would occur if it were provided on the outer gripper arm pair 106a, 106b.

[0083] It is further preferred if the pressures in the hydraulic cylinders 104a, 104b are detected, and movement of the gripper 48 relative to the guide frame 80 only occurs when both the presence of the drill rod in the gripper 48 and the pressure for pressing the gripper arms are detected at a predetermined value by the lever arrangement 110. In this way, it can be ensured that the drill rod is transported with sufficient holding force. Fifth section of the drill rod transport

[0084] In the fifth part of the drill rod transport, the object is a safe transfer between the Figure 4illustrated drill rod handling device 26 and the elevator 46, which represents a lifting device for drill rods above the borehole. Figure 10 shows the elevator 46 with inserted drill rod 76 in more detail. The elevator 46 has two half-shells 130a, 130b, which are hydraulically closed to grip the drill rod 76. In Figure 10 Above the half-shells 130a, 130b, a lever 132 is provided, which is preloaded toward the drill rod 76. The preload can be generated, for example, by a square that is preloaded in one direction by rubber elements.

[0085] Since the drill rod 76 is pivoted between the half-shells 130a, 130b by the gripper 48, the lever must be arranged in such a way that it is pushed back during the pivoting-in process. When the half-shells 130a, 130b are closed, a predetermined pressure builds up in the locking cylinders for the half-shells. This pressure can be measured and used, in addition to an actuation signal generated by the lever 132, for example via proximity sensors, to determine the drill rod 76 located in the elevator. Furthermore, it is possible to provide a locking pawl for the half-shells on the elevator 46, which, when closed, can also generate a closing signal for the elevator.

[0086] In addition or as an alternative to the above-mentioned method for gripping the drill rod in the elevator, it is possible to lock the lifting carriage 82 in the guide frame 80 with a Figure 4upwards, i.e., in the Z direction of the drilling mast. With such a design, the drill rod gripped by the gripper 48 can also be gripped by the elevator 46, and the drill rod 76 can be raised a predetermined distance by the elevator. In the case where an upward movement of the lifting carriage is detected via a motion sensor for detecting the movement of the lifting carriage 82 with respect to the guide arm 80, it is assumed that the drill rod 76 is gripped by the elevator.

[0087] The aforementioned mechanical coupling between the elevator and the gripper ensures a firm grip of the drill rod by the elevator with greater reliability. This prevents the risk of downward movement of the drill rod if it is not firmly gripped by the elevator.

[0088] However, for reasons of increased safety, it is preferred that the safety brackets 134, 136 provided on the drilling mast are also brought into the locked position when the drill rod is in the elevator, so that regardless of the type of error, the drill rod can be prevented from falling from the drilling mast.

[0089] As an alternative to the freewheeling of the lifting carriage on the guide frame, it is possible to allow the upward movement of the gripper in any other way, for example by spring elasticity during the movement.

[0090] To ensure accident-free operation of the drilling rig, it is further preferred that the position of the drill rod handling device 26 and / or the gripper 48 be detected before the drill rod is loaded onto the drill rod magazine 26 or released at the elevator 46. This circumstance further increases safety. The circuit arrangement for the hydraulic supply of the drill rod handling device can be designed in such a way that in the area outside the defined spaces for release, only a supply of pressure in the closing direction is possible, for example, to compensate for leaks, but not the opening of the gripper. Sixth section of the drill rod transport

[0091] In this section, the drill rod is centered relative to a screwing device above the borehole 30. Furthermore, a secure removal of the wedges should be possible.

[0092] For this purpose, a rod centering device, shown schematically in plan view, is provided above the borehole 30 and a screwing device (not shown). Figure 11 a, whose individual element in Figure 11b is shown.

[0093] Such a rod centering device is intended to position a drill rod arranged off-center from the borehole 30 centrally above the borehole. The rod centering device 140 has two centering elements 142a, 142b, of which the centering element 142a is shown in the perspective view in Figure 11bThe centering element 142a has a guide element 144a that is rotatably mounted in a fork 146a and is preferably designed as a double cone with a groove between the small diameters of the cone. The fork 146a is actuated by a hydraulic cylinder 148a and held in constant alignment by two guide rods 150a. Two of these centering elements 142a, 142b are arranged opposite one another and are subjected to hydraulic pressure in a path-synchronized manner. In this way, the drill rod is positively guided over the borehole 30. The rod centering device 140 is used after the drill rod has been detected in the elevator 46 and before it is screwed to another drill rod located in the borehole 30.

[0094] With the inventive design of the rod centering, the previously usual manual centering of the drill rod over the borehole is no longer necessary.

[0095] After centering the drill rod over the drill rod located in the borehole 30, it is necessary to safely lower the drill rod inserted last by the drill rod handling device 26.

[0096] The inserted drill rod is then screwed to the drill rod located in the borehole 30. The top drive is then moved upwards with the drill rod. The wedges used to wedge the drill string located in the borehole 30 are then removed, and a detection device detects that the wedges have been removed. Only after this detection signal is the drill rod, last inserted by the drill rod handling device 26, lowered into the borehole. During this lowering, force detection can be performed to detect any wedges still located in the borehole. If such an obstacle is detected, the top drive can be shut down in an emergency.

[0097] The present invention, with the aforementioned sections, is not limited to the insertion of a drill rod into a borehole, but can also be carried out in the opposite direction, with the recording procedure being reversed. To better compare the installation and removal processes, the installation and removal methods are described below.

[0098] First, the installation process is described. After the length of the drill rod is recorded in the drill rod magazine, the drill rod is picked up by the drill rod handling device. If the existing drill rod is detected in the drill rod handling device and, optionally, the corresponding hydraulic pressure is applied, the drill rod handling device moves to the waiting position. Upon a corresponding installation signal, the drill rod handling device pivots to the transfer position, while the top drive moves to the takeover position. The elevator is pivoted in and closed. The "Elevator closed" signal is generated depending on the sensor signals mentioned, and the drill rod is detected in the elevator. If a drill rod is detected in the elevator, the top drive moves upwards.If the drill rod handling device moves, this is detected and the top drive is decelerated. The gripper of the drill rod handling device opens. The gripper of the drill rod handling device then pivots toward the drill rod magazine to receive a new rod.

[0099] To insert the drill rod, the top drive is first pulled upwards, and the wedges above the borehole are opened. When the wedge opening signal is given, the top drive is moved downwards, and the rods are re-attached to the wedges. The elevator is then opened and its open position is confirmed. This is followed by the elevator swinging out, and with the elevator still in the swing, the top drive is moved upwards to the waiting position. Further rod installation is then possible.

[0100] With the drill rod in the elevator, the elevator moves upwards to relieve the wedges, the wedges are opened, and the top drive moves upwards by one rod length. The drill string is suspended in the wedges. The drill string is then unscrewed. The grab then pivots in.

[0101] The grippers of the drill rod handling device are closed, and when a drill rod is detected in the drill rod handling device, the elevator is opened and pivoted away. With the elevator pivoted out, the top drive is pulled upward, the gripper pivots out, and the rod is deposited in the drill rod magazine. If a signal is generated that no drill rod is present in the gripper and the rod is present in the drill rod magazine, the drill rod gripper is moved to the waiting position and the top drive is moved down to the receiving position to prepare for the removal of additional rod.

[0102] According to the invention, a further device and a further method for handling rod-like components can be provided. This device and this method relate to the removal of the drill rods and the provision of the drill rods with caps, respectively.

[0103] To prevent drilling fluid from leaking out of the drill rod, the drill rod handling device can be provided, for example, adjacent to the gripper, with a drilling fluid receiving device, for example, a trough-shaped element. This trough-shaped element allows pipe fluid to escape from the drill rod when the drill rod is removed and prevents the work platform 32 and the surrounding area from becoming contaminated with drilling fluid.

[0104] According to a further development of the invention, a device is provided on the drill rod magazine that provides protective caps to either one or both sides of the drill rods loaded into the drill rod magazine. This makes it possible to avoid manual work by the operating personnel.

[0105] The present invention thus relates to a device and a method for handling rod-like components on a drilling rig. Modifications to the device and process increase the degree of automation and safety, among other things, by depositing rod-like components on a depositing device in defined positions and under defined conditions, monitoring the separation of the rod-like components on the depositing device, checking that they are securely held by a gripper, and confirming the completed transfer to an elevator. List of reference symbols

[0106] 1 Drilling mast 2 Substructure 4 Slide 6, 6a, 6b Drill rod 8 Drill rod magazine 10 Drill rod grab 12 Guide frame 20 Drilling rig 22 Substructure 24 Drilling mast 26 Drill rod handling device 28 Drill rod magazine 30 Borehole 32 Working platform 34 Control cabin 36 Crane 38 Rack 40 Feed carriage 42 Top drive 44 Rod shaft 46 Elevator 48 Grab 50a, b, c, d Conveyor device 51a, b, c, d Transfer chute 54a, b, c, d Conveyor chain 56 Motor 58 Proximity switch 60 Angle lever 62 Recess 64 Bracket 66 Switch flag 68 Sensor 70 Spring 72 Stop 74 Light barrier 76Drill rod 80Guide frame 82Lifting carriage 84Swivel arm 86Grapple rotating device 88Side recess 90Lattice mast 100Grapple body 102Grapple arm arrangement 104a,bHydraulic cylinder 106a,bGrapple arm 108a,bGrapple arm 110Lever arrangement 112Element 114Lever 116Rubber spring element 118Space 120Sensor 130a,bHalf shell 132Lever 134Folding support or safety bar 136Folding support orSafety bar 140Rod centering 142a,bCentering element 144aRoller 146aFork 148aHydraulic cylinder 150aGuide rod . XLongitudinal direction of drilling rig YTransverse direction of drilling rig ZLongitudinal direction of drilling mast X'Longitudinal direction of drill rod magazine

Claims

1. An apparatus for handling rod-shaped components at a rig (20), comprising: a depositing means (28) for rod-shaped components in which rod-shaped components (76) can be deposited, a lifting means including a lift carriage (82), a guide means (80) for guiding the lift carriage (82) and a drive for displacing the lift carriage (82), a pick-up means (48) attached to the lift carriage (82) for picking up a rod-shaped component (76) from the depositing means (28), characterized by a detecting means (132) for the rod-shaped component at a lifting means (46) arranged above the drill hole (30), characterized in that the pick-up means (48) is pivoting with respect to the lift carriage (82) at a plane perpendicular to the displacing direction (Z) of the lift carriage (82) such that a rod-shaped component (76) can be arranged above a drill hole (30).

2. The apparatus for handling rod-shaped components at a rig (20) according to claim 1, comprising a depositing means (28) for rod-shaped components including at least a transfer means (51a, 51b, 51c; 51d) for a separate removal of the rod-shaped component (76) by a pick-up means (48) into which a rod-shaped component a) either can be introduced by a transport means for the transport of the rod-shaped components (76) to the depositing means (28), b) or can be introduced by a separating means provided at the depositing means (28) in response to a detecting signal for the position of the rod-shaped component (76) at the depositing means (28).

3. The apparatus for handling rod-shaped components at a rig according to claim 1 and / or 2, comprising a depositing means (28) having a means (58) for measuring the length of the rod-shaped component (76), wherein the length measuring means (58) a) either includes at least two mechanical detecting means (58a, 58b) by which the respectively introduced rod-shaped component (76) and the position thereof relative to the depositing means (28) are detectable, b) or includes a detecting means (74) for contact-free detection of the rod-shaped component (76) at a predetermined position.

4. The apparatus for handling rod-shaped components at a rig according to one or more of the claims 1, 2, and 3, comprising a pick-up means (48) by which the rod-shaped component can be picked up by plural pairs of gripper arms (106a, 106b; 108a) and which includes a detecting lever (114) for the rod-shaped component in the pick-up means whose pivot is stationary with respect to a gripper arm (108a).

5. The apparatus for handling rod-shaped components at a rig according to one or more of the claims 1 to 4, comprising a detecting means for the position of the pick-up means (48) and a control means that permits opening of the pick-up means (48) when a rod-shaped component (76) is introduced only above the depositing means (28) and adjacent to a lifting means (46) above the drill hole.

6. The apparatus for handling rod-shaped components at a rig according to one or more of the claims 1 to 5 comprising a lifting means provided above the drill hole, and a control means by which the lifting means is controllable so that after an upward movement of the lifting means with rod-shaped components provided in the drill hole securing wedges are removable, the removal of the wedges is confirmed and the rod-shaped components are further lowered into the drill hole or the rod-shaped components are further lifted out of the drill hole.

7. A method of handling rod-shaped components at a rig, comprising the steps of depositing at least one rod-shaped component in a depositing means, and picking up a rod-shaped component from the depositing means by a pick-up means mounted at a lift carriage, wherein the lift carriage forms a lifting means with a guide means for guiding the lift carriage and a drive for displacing the lift carriage, characterized by the step of pivoting the pick-up means with respect to the lift carriage in a plane perpendicular to the displacing direction of the lift carriage such that a rod-shaped component can be arranged above a drill hole, and detecting the rod-shaped component by a detecting means at a lifting means arranged above the drill hole.

8. The method of handling rod-shaped components at a rig according to claim 7, comprising the step of a) introducing a rod-shaped component into a transfer means for the individual removal of the rod-shaped component by a pick-up means by a transport means for the transport of the rod-shaped components to a depositing means for rod-shaped components, or b) introducing a rod-shaped component into a transfer means for the individual removal of the rod-shaped component by a pick-up means by a separating means provided at the depositing means in response to a detecting signal for the position of the rod-shaped component at the depositing means.

9. The method of handling rod-shaped components at a rig according to one or more of the claims 7 and 8, comprising the step of length measurement at the rod-shaped component in a depositing means in which a) either the respectively introduced rod-shaped component is detected by at least two mechanical detecting means, b) or the rod-shaped component is detected contact-free at a predetermined position by a detecting means.

10. The method of handling rod-shaped components at a rig according to one or more of the claims 7 to 9, comprising the step of picking up the rod-shaped component by plural pairs of gripper arms of a pick-up means, and detecting the rod-shaped component in the pick-up means via a detecting lever the pivot of which is stationary with respect to a gripper arm.

11. The method of handling rod-shaped components at a rig according to one or more of the claims 7 to 10 comprising the steps of detecting the position of the pick-up means by a detecting means and allowing to open the pick-up means with an introduced rod-shaped component only above the depositing means and adjacent to a lifting means above the drill hole by a control means.

12. The method of handling rod-shaped components at a rig according to one or more of the claims 7 to 11, comprising the step of centering the rod-shaped component provided at a lifting means above the drill hole with respect to a rod-shaped component provided in the drill hole via two guide rollers for the rod-shaped component.

13. The method of handling rod-shaped components at a rig according to one or more of the claims 7 to 12, comprising the step of controlling a lifting means provided above the drill hole via a control means so that after an upward movement of the lifting means with rod-shaped components provided in the drill hole securing wedges can be removed, the removal of the wedges is confirmed and the rod-shaped components are further lowered into the drill hole.

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