EP3141690A1 - Drill pipe gripper - Google Patents

Abstract

The invention relates to a drill pipe gripper with at least one collet (20) for gripping a drill pipe element (5), with a forked collet housing (22) with two collet tines (23) for engaging in a boom magazine, two pivoting claws (30), one of which in each case a receiving space (24) is pivotally mounted in the forceps tines (23) of the tong housing, a central thrust pawl (45) which is arranged between the two pivoting claws and linearly displaceably mounted in the caliper housing, a lever mechanism, via which the pivoting claws coupled to the thrust pawl and a tensioning cylinder (26) for linearly displacing the pushing claw, the pushing claw and the two pivoting claws being movable between a retracting position in which the pivoting claws are pivoted into their receiving space and a clamping position in which the pivoting claws are swung out of their receiving spaces and together with the push claw on to s pannendes drill string element are applied. According to the invention, it is provided that at least one drive roller (46) for rotatably driving a drill string element is rotatably mounted on the thrust pawl, that at least one rotary drive (47) is arranged on the thrust pawl and that the rotary drive is designed for rotationally driving the drive roller and with the Drive roller is connected.

Description

• einem gabelförmigen Zangengehäuse mit Zangenzinken zum Eingreifen in ein Gestängemagazin,
• zwei Schwenkklauen, von denen jeweils eine in einem Aufnahmeraum in den Zangenzinken des Zangengehäuses schwenkbar gelagert ist,
• einer mittigen Schubklaue, welche zwischen den zwei Schwenkklauen angeordnet und in dem Zangengehäuse linear verschiebbar gelagert ist,
• einem Hebelmechanismus, über welchen die Schwenkklauen mit der Schubklaue gekoppelt sind, und
• einem Spannzylinder zum linearen Verschieben der Schubklaue, wobei die Schubklaue und die beiden Schwenkklauen zwischen einer Rückzugsposition, in welche die Schenkklauen in ihrem Aufnahmeraum eingeschwenkt sind, und einer Spannposition bewegbar sind, bei welcher die Schwenkklauen aus ihren Aufnahmeräumen ausgeschwenkt und zusammen mit der Schubklaue an ein zu spannendes Bohrgestängeelement angelegt sind,

gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a drill pipe gripper with at least one collet for gripping a drill pipe element, with

• a fork-shaped pliers housing with forceps tines for engagement in a rod magazine,
• two pivoting jaws, one of which is pivotally mounted in a receiving space in the forceps tines of the tong housing,
• a central thrust jaw, which is arranged between the two pivoting jaws and mounted linearly displaceably in the jaw housing,
• a lever mechanism, via which the pivoting claws are coupled to the push claw, and
• a clamping cylinder for linear displacement of the push claw, wherein the push claw and the two pivoting claws between a retracted position in which the Schenkklauen are pivoted in their receiving space, and a clamping position are movable, wherein the pivoting claws swung out of their receiving spaces and together with the push claw on a are created to exciting drill pipe element,

according to the preamble of claim 1.

Such drill string grippers are used in particular in drilling rigs for earth or rock drilling, which approximately in the EP 1 832 710 B1 are described. These have a drilling device with drill carriage, along which a drill drive for drilling drill pipe elements of different diameters is slidably mounted. The drill pipe elements may be partially inserted into one another in a magazine near the drilling device. By means of a drill string gripper, drill pipe elements can be transported from the magazine to the drilling device and back again. The drill pipe gripper can be controlled automatically by means of a drill string manipulator or operated by hand.

From the DE 10 2005 041 489 B4 goes out a motor tongs assembly with a collet, which has a tong-shaped housing. Within the housing a plurality of jaws are radially adjustable by a cam mechanism.

From the EP 2 713 003 B1 shows a rod handling system for drilling rigs, which has a collet with two pivoting swivel claws. By pivoting the pivoting claws inwardly, a drill string member is urged against a central locating roller, thus tensioning the drill string member. In addition, the drive rollers are mounted on the two pivoting claws and rotationally driven via a respective rotary drive. By these drive rollers on the pivoting jaws, the drill string element can be driven in rotation in the cocked position. This is advantageous, for example, for screwing the tensioned drill pipe element to the drill string. For receiving the rotary actuator, the swivel claws must be exposed and sufficiently dimensioned to prevent damage.

The known drill string gripper is only limitedly suitable for gripping a drill string element from a drill pipe magazine. The arranged on the pivoting claws, above rotary actuators can be damaged in an intervention in a boom magazine. In addition, the drill pipe elements must be placed in a drill pipe storage with a relatively large distance from each other, so that the drill string gripper can grip and clamp a single drill string element. A large distance between the drill pipe elements reduces the capacity of a drill pipe magazine or leads to an increased size. Especially in drilling machines, however, it is desired to make drill pipe magazines compact and easy to be able to arrange them directly on the drill.

From the EP 2 851 504 A1 goes out a generic drill pipe gripper. In this drill rod gripper, a central thrust pawl is moved by means of a tensioning cylinder, the movement being transmitted via a lever mechanism to two lateral pivoting pawls. It will be a compact arrangement in total reaches a stable fork-shaped pliers housing, in which the pivoting claws are arranged protected in a further compact design. This generic drill string gripper can thus also be used in drill pipe magazines with drill string elements mounted relatively close to one another.

The invention has for its object to provide a drill string gripper, which is both compact and very versatile.

The object is achieved according to the invention by a drill pipe gripper with the features of claim 1. Preferred embodiments of the drill pipe gripper according to the invention are specified in the dependent claims.

The drill string gripper according to the invention is characterized in that at least one drive roller for rotatably driving a drill string element is rotatably mounted on the thrust pawl, that a rotary drive is arranged on the thrust pawl and that the rotary drive is designed for rotationally driving the drive roller and is connected to the drive roller.

A basic idea of the invention is to provide a drive roller with a rotary drive at the central push claw in the case of a collet chuck with a compact construction and a fork-shaped collet housing. In this case, a slim structure can be maintained at the protected in the forceps tines pivoting claw. This allows the drill pipe gripper to continue to retract into compact drill pipe racks with closely spaced drill pipe elements, with the delicate, pivotally mounted swivel claws protected within the clamp housing. The rotary drive is arranged when engaging in a drill pipe magazine in a rearward and thus also protected position. The risk of damage such as a tilted engagement of the collet in a magazine is thereby significantly reduced. The drill string gripper can also be used separately from a magazine, such as a screwing.

Furthermore, the drill string gripper according to the invention offers the additional advantage, in the case of the compact construction, that a tensioned drill string element can be driven in rotation via the drive roller on the push claw. This is about Screwing drill pipe elements with threaded sections or loosening a threaded connection possible. The rotary drive can preferably be a hydraulic drive or an electric drive.

In principle, the rotary drive can be arranged in the tong housing. A compact construction of the collet is achieved according to an embodiment of the drill string gripper in that at least one recess is formed on the pliers housing laterally on the push claw, wherein at least one side portion of the push claw in the clamping position and the retreat position is exposed, and that the rotary drive at the exposed Side region of the push claw is arranged. Since the rotary drive is attached to the rear push claw, a good protection is already achieved.

Preferably, according to an embodiment variant of the invention, it is provided that the rotary drive projects laterally out of the clamp housing. The rotary drive is directed substantially parallel to the longitudinal axis of the drill string element to be clamped. Furthermore, it is achieved by the recess provided in the invention in the region of the fork clearance, that the rotary drive can be fixedly attached to the side region or the edge of the push claw and is linearly movable with the push claw.

In principle, it may be sufficient that only a single drive roller is provided in the middle of the push claw. A particularly good torque transmission to a drill pipe element to be tensioned results according to a further embodiment of the invention in that two drive rollers are mounted on the push claw. The two drive rollers are preferably arranged symmetrically to a center plane of the collet. As a result, a centric holding of the drill string element to be clamped is supported at the same time.

The at least one drive roller may be provided on its outer side with friction-increasing means, in particular with a groove structure or a friction-increasing coating.

The two drive rollers can in principle be driven by a single rotary drive with a corresponding gear stage. According to one embodiment variant of the invention, it is particularly preferred for a first drive roller to have at least one drive roller a first rotary drive and a second drive roller with at least one second rotary drive are driven.

In this case, a particularly compact arrangement according to a further embodiment of the invention can be achieved in that the first rotary drive and the second rotary drive protrude from the tong housing on the same side.

A further increase in the torque to be transmitted is achieved in a further development according to the invention in that a drive roller is driven by two rotary drives, which are arranged on opposite side regions of the push claw. There is thus provided a double arrangement of rotary drives for a single drive roller. This makes it possible to arrange particularly compact small rotary drives, while still a high torque can be applied to the drive roller.

A particularly robust embodiment is achieved according to a further embodiment of the invention in that the at least one rotary drive has a substantially cylindrical housing with a center axis, which is directed substantially parallel to the axis of rotation of the drive roller. Preferably, the axis of rotation of the drive roller is coaxial with the drive shaft of the rotary drive. In particular, a direct drive may be provided in which no gear stage is arranged between the exit shaft of the rotary drive and the drive roller. In special cases, a gear ratio or gear reduction between rotary drive and drive roller can be provided.

For a good rotational driving of the drill pipe element, it is advantageous according to a development of the invention that at least one contact roller is mounted on the pivoting jaws, which rests in the clamping position on the drill string element to be clamped. The investment rollers are passive rollers, which are not driven directly rotating. The rollers are arranged so that they protrude only slightly beyond the front surfaces of the pivoting jaws. The rollers considerably reduce the friction when turning the linkage. In manufacturing technology simple way, the investment rollers can be rolling bearings.

For a stable and compact embodiment of an embodiment of the drill pipe gripper according to the invention, it is advantageous that the pliers housing has two mutually spaced side plates, which are interconnected via web elements. The web elements are preferably arranged parallel to the longitudinal direction of the drill string element to be gripped. The two plates can be the same. A connection of the side plates on the web elements is preferably carried out via bolts.

A particularly accurate position gripping is achieved according to a development of the invention in that the lever mechanism is designed so that the extension of the push claw the pivoting jaws and the thrust pawl are moved evenly on a longitudinal axis of the drill string to exciting. The current extension positions of the push claw and the two pivoting claws preferably always lie on a momentary contact circle, which always has the same center point. This center coincides with the application on a drill with the drilling axis. The circle of contact is to be understood as the circle on which the contact points of the clamping claws lie with the outer surface of a cylindrical drill pipe element to be clamped.

With this arrangement, two or more collets of a drill string gripper can simultaneously engage telescoping drill string members of different bore diameters without having to pre-adjust the chuck claws. There is thus the possibility that, with such a drill rod gripper, a single drill string element with a different outside diameter can then be gripped again using both collets. This can preferably be achieved by arranging the axes of the pivot bearings of the pivot claws so that a connecting line between the two pivot axes intersects the longitudinal axis of the drill string element to be clamped. The connecting line represents the shortest connection between the two pivot axes of the pivot bearing of the opposite pivoting jaws.

A secure gripping is further increased according to a preferred embodiment of the invention in that at least two collets are provided, which are arranged along a gripper frame. Preferably, the two Collets arranged at the respective outer end of the bar-shaped carrier. Depending on the size of the drill string element to be gripped, three or more collets may also be arranged along the gripper frame. Preferably, all collets are provided with drive rollers according to the invention. However, it is also possible that only one collet is provided with a rotating drive means, while the other or the other collets are provided only with passive, that is not driven rollers for rotatable, low-friction holding a drill string element.

The laterally projecting rotary drives in two driven collets are preferably directed inwardly towards the carrier. In this case, the carrier may be formed as a profile with a U-shaped receiving space, in which protrude laterally projecting rotary drives and are arranged so protected. Preferably, the direction of rotation of the rotary drive can be adjusted freely.

A development of the invention is that a Bohrgestängemanipulator is provided with a drill string gripper, which is arranged adjustable on a manipulator. The drill string gripper is configured according to the previous embodiments. The drill string gripper is in particular attached to a multi-axis manipulator arm with which the drill string gripper with several degrees of freedom in space is adjustable. With the manipulator arm small feed movements or complex handling operations can be performed, such as transporting a linkage element from and to a rod magazine.

Furthermore, the invention comprises a drill with a drill pipe magazine for magazineing drill pipe elements and a drilling device with drill drive for drilling the drill pipe elements, wherein the above-described drill string gripper is provided. It can be provided in particular a drill, as in the aforementioned EP 1 832 710 B1 which is attributable to the Applicant. However, it may also be deviating drilling rigs provided with these features, these drills preferably for earth and Rock drilling are formed. In particular, the drill string gripper is arranged on the aforementioned manipulator arm.

Fig. 1

eine schematische perspektivische Ansicht eines erfindungsgemäßen Bohrgestängegreifers;

Fig. 2

eine schematische perspektivische Ansicht einer Spannzange des Bohrgestängegreifers von Fig. 1;

Fig. 3

eine perspektivische Ansicht von vorne einer alternativen Spannzange für einen erfindungsgemäßen Bohrgestängegreifer;

Fig. 4

eine Draufsicht auf eine Spannzange gemäß Fig. 3 oder Fig. 4 bei abgenommener Seitenplatte;

Fig. 5

eine Draufsicht auf die Spannzange von Fig. 4 mit Seitenplatte;

Fig. 6

eine Draufsicht auf die Spannzange von Fig. 4 oder Fig. 5 mit schematischer Verdeutlichung des Spannmechanismus;

Fig. 7

eine perspektivische Teilansicht eines Bohrgerätes mit einem erfindungsgemäßen Bohrgestängegreifer;

Fig. 8

eine Teilansicht von vorne des Bohrgerätes von Fig. 7 mit Bohrgestängegreifer in einer Rückzugsposition; und

Fig. 9

eine Teilansicht des Bohrgerätes von Fig. 8 mit Bohrgestängegreifer in einer Betriebsposition.

The invention will be further described by means of preferred embodiments, which are shown schematically in the drawings. In the drawings show:

Fig. 1

a schematic perspective view of a drill pipe gripper according to the invention;

Fig. 2

a schematic perspective view of a collet of the drill string gripper of Fig. 1 ;

Fig. 3

a perspective front view of an alternative collet for a drill string gripper according to the invention;

Fig. 4

a plan view of a collet according to Fig. 3 or Fig. 4 with removed side plate;

Fig. 5

a plan view of the collet of Fig. 4 with side plate;

Fig. 6

a plan view of the collet of Fig. 4 or Fig. 5 with schematic illustration of the clamping mechanism;

Fig. 7

a partial perspective view of a drill with a drill string gripper according to the invention;

Fig. 8

a partial view from the front of the drill of Fig. 7 with drill pipe gripper in a retracted position; and

Fig. 9

a partial view of the drill of Fig. 8 with drill pipe gripper in an operating position.

A drill pipe gripper 10 according to the invention Fig. 1 has a gripper frame 12, with which the drill string gripper 10 is attached to a only partially shown and schematically indicated manipulator arm 52 of a Bohrgestängemanipulators 50. By means of the manipulator arm 52 partially shown, the drill string gripper 10 can be moved, in particular to transport drill string elements from a drill pipe magazine to a drilling device and back again.

On the gripper frame 12, a carrier 14 is arranged, at the two outer ends of each of which a collet 20 are mounted for gripping the drill string element. The two collets 20 are preferably identical and according to the illustrated embodiment. The collet 20 in this case has a fork-shaped pliers housing 22, which comprises two side plates 21, which are firmly connected to one another via web elements 25. Within the clamp housing 22, a clamping cylinder 26 is arranged in a rear region, which is usually designed as a hydraulic cylinder. With the clamping cylinder 26, a push claw 45 is driven linearly displaceable within the pliers housing 22. Mechanically coupled to the push claw 45 are two pivotally mounted pivoting jaws 30, which are arranged within a receiving space 24 in the two forceps tines 23 of the fork-shaped forceps housing 22.

Symmetrical to a center plane of the collet chuck 45 45 two drive rollers 46 are rotatably mounted on the push claw. The drive rollers 46 are each rotationally driven by means of a rotary drive 47, which are fixed to a side portion 48 of the push claw 45 and a recess 29 project through the side plate 21 of the tong housing 22 in the direction of the transverse support 14. The carrier 14 is designed as a U-profile, in the U-shaped receiving area, the rotary actuators 47 are arranged protected. With the drive rollers 46, a received and tensioned drill string element in the drill string gripper 10 can be driven to rotate.

On the pivoting claws 30, two abutment rollers 32 are each rotatably mounted, which in a clamping position on an outer side of the tensioned drill pipe element issue. This makes it possible that a drill string element is reliably tensioned and simultaneously rotatable.

In Fig. 2 is the collet 20 of Fig. 1 shown enlarged. On the side region 48 of the push claw 45, a first rotary drive 47a and a second rotary drive 47b are releasably attached. The first rotary drive 47a drives a first drive roller 46a, while the second drive roller 46b is directly rotatable by the second rotary drive 47b. A clearance between the forceps tines 23 is at least on the side plate 21 of the tong housing 22, on which the rotary drives 47 are arranged, extended by a recess 29 to the rear. Through the recess 29 of the side portion 48 is exposed to the rotary actuators 47 both in the shown rear retraction position and in the extended, front clamping position of the push claw 45.

An alternative embodiment of a collet 20 is shown in FIG Fig. 3 shown. In this collet 20, the first drive roller 46a is driven via two rotary drives 47a, 47c, which are respectively fastened to opposite side regions 48 of the push claw 45. In a corresponding manner, the second drive roller 46b is driven via two oppositely disposed rotary drives 47b, 47d. With such a twin arrangement of rotary drives 47, a total of smaller rotary drives 47 can be used, wherein nevertheless a relatively large torque can be applied to the drive roller 46. Both side plates 21 of the tong housing 22 are provided with recesses 29 for the rotary drives 47.

The operation of the collet 20 of a drill string gripper 10 according to the invention will be described below in connection with FIGS. 4 to 6 explained. The show FIGS. 4 to 6 a clamping position of the collet 20, in which the push claw 45 and the two pivoting claws 30 are extended from their respective retreat position in the tong housing 22. In this clamping position, the pivoting jaws 30 are each extended out of their receiving space 24, which are formed in the forceps tines 23 of the tong housing 22. In the retreat position, not shown, the pivoting claws 30 are retracted into the receiving space 24 and are not or not significantly beyond an outer contour of the fork-shaped tong housing 22 addition. Overall, such a narrow structure of Collet 20 given, whereby a gripping even closely spaced drill pipe elements 5 is made possible.

In the in the FIGS. 4 and 5 shown position, a drill pipe element 5 is stretched by extending a piston rod 27 of the clamping cylinder 26. By extending the piston rod 27, the attached push claw 45 is extended to the outer periphery of the drill pipe element 5. In this position, the drive rollers 46 of the pawl 45 symmetrically contact the drill string member 5 symmetrically to a center plane of the collet 20. In order to improve frictional contact, the outer sides of the drive rollers 46 are provided with a groove structure.

At the outer regions of the plate-shaped push claw 45, an intermediate lever 28 is articulated in each case. At the opposite end of the intermediate lever 28 of this is connected in each case via a pivot point 34 hingedly connected to a mounting portion 38 of the hebeiförmigen pivoting claw 30. The two pivoting claws 30 are each pivotally mounted about a pivot bearing 40 about an axis 42 on the tong housing 22. The pivot bearing 40 is arranged approximately centrally between the actuating portion 38 and a claw portion 36 of the pivoting jaw 30.

By the linear extension of the thrust claw 45 by means of the clamping cylinder 26, a pressure is exerted on the pivoting claws 30 respectively via the lever mechanism formed with the articulated intermediate lever 28, through which the claw portion 36 about the pivot bearing 40 in the direction of the longitudinal axis 3 of the drill string element to be 5 is pivoted.

As a result of this extension of the push claw 45 and the swiveling claws 30 out of the retraction position in the tong housing 22, the clamping jaws respectively reach the illustrated clamping position, against which the three clamping jaws are distributed over the circumference of the drill pipe element 5. In this case, in the claw portion 36 of the pivoting claws 30 each formed by rolling bearing bearing rollers 32 are rotatably mounted. The abutment rollers 32 form the abutment or contact area of the pivoting claws 30 to the drill pipe element 5.

In the illustration according to Fig. 5 the lines of action of the drive rollers 46 and the abutment rollers 32 are shown in the clamping position. These are essentially to the Longitudinal axis 3 of the tensioned drill pipe element 5 directed. In this arrangement, the drill string element 5 can be clamped positionally accurate and at the same time rotatable.

This simultaneous and multiple contacting of the thrust pawl 45 and the pivoting claws 30 on the drill pipe element 5 is largely independent of the diameter of the drill pipe element 5, as in particular from the illustration according to FIG Fig. 6 can be clearly seen. In this case, the articulation of the pivoting claws 30 via the lever mechanism with the push claw 45 is designed so that a concentric gripping of the drill pipe element 5 is made possible largely independent of the outer diameter of the drill pipe element 5. This is achieved in the illustrated embodiment in that the longitudinal axis 3 of the drill string element 5 to be clamped intersects the direct connection line which extends between the axes 42 of the opposite pivot bearings 40 of the two pivoting claws 30.

The in the FIGS. 4 to 6 Toggle mechanism shown with an intermediate lever 28 allows a tensioning of a drill string element 5 with a relatively large contact pressure of the clamping jaws, so that a safe and even with changing outer diameters of the drill string element 5 positionally accurate gripping is achieved.

A drill 1 with a drill gripper 10 according to the invention is exemplary in the FIGS. 7 to 9 shown. The drill 1 has in a known manner a bar-like drill carriage 2, along which a drill drive 4 is shown only partially movable. An upper drill pipe element 5b of an already drilled drill pipe element 5b is held against rotation at the lower end of the drill carriage 2 by means of a holding unit 6 and tensioned. For screwing on a further drill pipe element 5a this is supplied in the embodiment shown via a feed device 8 in the drilling axis. In order to screw the two drill pipe elements 5a and 5b together, a drill pipe gripper 10 according to the invention with a single collet 20 from a retraction position, which is shown in FIG Fig. 8 is shown, moved by means of a traversing device 16 in the direction of the drill pipe element 5a to be screwed. The traversing device 16 represents a simplified manipulator arm, which is linearly movable only in one axial direction.

In the operating or bolting position, which in Fig. 9 is shown, the thrust pawl 45 and the two pivoting claws 30 are extended to the clamping position. The extension takes place until the drive rollers 46 of the push claw 45 and the abutment rollers 32 of the pivoting claws 30 bear against the outer circumference of the drill pipe element 5b. Then, the drive rollers 46 can be set in rotary motion, wherein the drill pipe element 5a is bolted to the tensioned drill pipe element 5b. After this screwing by means of the drill string gripper 10, a firm connection of the two drill string elements 5a, 5b by the in Fig. 7 shown connecting and breaking unit. By this connecting and breaking unit 8 is a final rotation, wherein the threaded connection between the two drill pipe elements 5a, 5b is firmly closed.

In a correspondingly reverse manner, the two drill pipe elements 5a, 5b can also be released from each other again. In this case, the threaded connection is first broken by an initial rotation through the connecting and breaking unit 8 and then carried out the further unscrewing of the threaded connection with the drill string gripper 10 according to the invention.

Claims (14)

Drill pipe gripper with at least one collet (20) for gripping a drill pipe element (5), with - a fork-shaped tong housing (22) with two forceps prongs (23) for engagement in a rod magazine, - Two pivoting claws (30), one of which in each case in a receiving space (24) in the forceps tines (23) of the tong housing (22) is pivotally mounted, - A central thrust pawl (45) which is arranged between the two pivoting claws (30) and in the pliers housing (22) is mounted linearly displaceable, - A lever mechanism, via which the pivoting claws (30) are coupled to the push claw (45), and - A clamping cylinder (26) for linear displacement of the push claw (45), wherein the push claw (45) and the two pivoting claws (30) between a retracted position, in which the pivoting claws (30) are pivoted into their receiving space (24), and a Can be moved clamping position in which the pivoting claws (30) from their receiving spaces (24) and pivoted together with the push claw (45) are applied to an exciting drill string element (5), characterized, - that at least one drive roller (46) for rotatably driving a drill string element (5) is rotatably mounted on the push claw (45), - That at the push claw (45) at least one rotary drive (47) is arranged and - That the rotary drive (47) for rotating driving the drive roller (46) is formed and connected to the drive roller (46). A drill pipe gripper according to claim 1,
characterized, - that at least one recess (29) is formed on the forceps housing (22) laterally on the push claw (45), at least one side region (48) of the push claw (45) being exposed in the clamping position and the retraction position, and - That the rotary drive (47) on the exposed side region (48) of the push claw (45) is arranged. A drill pipe gripper according to claim 1 or 2,
characterized,
that the rotary drive (47) laterally out of the pliers housing (22) projects. A drill pipe gripper according to any one of claims 1 to 3,
characterized,
in that two drive rollers (46) are mounted on the push claw (45). A drill pipe gripper according to claim 4,
characterized,
that a first drive roller (46a) having at least a first rotary drive (47a, 47c) and a second drive roller (46b) with at least one second rotary actuator (47b, 47d) are driven. A drill pipe gripper according to claim 5,
characterized,
in that the first rotary drive (47a) and the second rotary drive (47b) protrude from the tong housing (22) on the same side. A drill pipe gripper according to any one of claims 1 to 6,
characterized,
in that a drive roller (46a) is driven by two rotary drives (47a, 47c) which are arranged on opposite side regions (48) of the push claw (45). A drill pipe gripper according to any one of claims 1 to 7,
characterized,
in that the at least one rotary drive (47) has a substantially cylindrical housing with a center axis which is directed essentially parallel to the axis of rotation of the drive roller (46). A drill pipe gripper according to any one of claims 1 to 8,
characterized,
that in each case at least one contact roller (32) is mounted on the swivel claws (30), which rests in the clamping position on the drill pipe element (5) to be clamped. A drill pipe gripper according to any one of claims 1 to 9,
characterized,
in that the pliers housing (22) has two mutually spaced side plates (21), which are connected to one another via web elements (25). A drill pipe gripper according to any one of claims 1 to 10,
characterized,
in that the lever mechanism is designed in such a way that, upon extension of the push claw (45), the pivoting jaws (30) and the push claw (45) can be moved uniformly on a longitudinal axis (3) of the drill string element (5) to be clamped. A drill pipe gripper according to any one of claims 1 to 11,
characterized,
in that at least two collets (20) are provided, which are spaced apart from one another and connected to one another via a carrier (14). Bohrgestängemanipulator with a drill string gripper (10), which is arranged on a manipulator arm (52) adjustable,
characterized,
in that a drill rod gripper (10) according to one of claims 1 to 12 is provided. Drill with a drill rig magazine for storing drill pipe elements (5) and a drilling device with drill drive (4) for drilling out the drill pipe elements (5),
characterized,
that a Bohrgestängegreifer (10) is provided according to claims 1 to 12th

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