WO2007038940A1 - Tete de forage, procede et appareil de realisation d’une operation de forage au voisinage d’une bande transporteuse - Google Patents

Tete de forage, procede et appareil de realisation d’une operation de forage au voisinage d’une bande transporteuse Download PDF

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Publication number
WO2007038940A1
WO2007038940A1 PCT/EP2005/010137 EP2005010137W WO2007038940A1 WO 2007038940 A1 WO2007038940 A1 WO 2007038940A1 EP 2005010137 W EP2005010137 W EP 2005010137W WO 2007038940 A1 WO2007038940 A1 WO 2007038940A1
Authority
WO
WIPO (PCT)
Prior art keywords
boring head
pilot
boring
conveyance line
sensor
Prior art date
Application number
PCT/EP2005/010137
Other languages
English (en)
Inventor
Susanna Apone
Federico Ballesio
Flavio Cucchietti
Giuseppe Galliano
Marco Infantino
Francesco Muoio
Original Assignee
Telecom Italia S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Telecom Italia S.P.A. filed Critical Telecom Italia S.P.A.
Priority to PCT/EP2005/010137 priority Critical patent/WO2007038940A1/fr
Publication of WO2007038940A1 publication Critical patent/WO2007038940A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/01—Devices for supporting measuring instruments on drill bits, pipes, rods or wirelines; Protecting measuring instruments in boreholes against heat, shock, pressure or the like
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling

Definitions

  • the invention relates to a boring head, to a method and to an apparatus for accomplishing a conveyance line boring operation.
  • the invention relates to a boring head, to a method and to an apparatus for accomplishing a conveyance line boring operation in order to lay a conveyance line substantially parallel to an existing underground utility conveyance line.
  • the "trench” technique consists in realising open-cut excavations. This technique has a very negative social impact as it causes great inconvenience to the population and to the traffic. Besides that, the costs connected with the urban regulations and the limitations imposed by this technique, e.g. the long times needed for obtaining the authorisations and the prohibition of digging in protected areas, further discourage its use.
  • An alternative conveyance line burying technique is the so called “trenchless” technique. This technique consists in digging two pits only, a launch pit and a reception pit. An apparatus able to boring horizontally is placed in the launch pit and, opportunely driven by an operator, is made to advance into the ground until it reaches the reception pit.
  • the "trenchless” technique exhibits high advantages as far as the environmental and social impact is concerned, and its use, in particular in urban environments, is therefore preferable.
  • "Directional Drilling” and “Microtunnelling” are the techniques allowing a control of the boring head which are mainly used by service operators (e,g, telecom operators). These techniques allow to perform a controlled boring operation, directly starting from the surface ground or from a launch pit, by pushing hollow rods in the ground, wherein the first of said hollow rods is associated to an orientable boring head.
  • the rods advance in the ground thanks to the independent actions of a ram and of an hydraulic machine. These actions can occur either under dry conditions or by using a jet of water.
  • the most common system for driving and locating a boring head is the system known as "walk over”. This system is based on a probe housed in the boring head and emitting an electromagnetic signal. The electromagnetic signal is detected by a receiver located on the ground surface so as to determine the relative position of the boring head and to allow an operator to direct its path accordingly.
  • the "trenchless" techniques require either the availability of an accurate map showing the position and the path of all the existing underground conveyance lines, or a previous survey made along the whole estimated boring path by means of echographic/georadar techniques. It should be noted that the above mentioned map is in practice never available, and that the echografic/georadar techniques are quite expensive and the information they provide is not reliable enough to allow a boring operation without risks. Other techniques for controlling the boring head during a boring operation so as to avoid the collision with an existing underground conveyance line have been described in patents and patent applications.
  • United States patents no. US 6,297,638 and no. US 5,994,904 describe methods for generating an alert when the boring head is near an existing underground conveyance.
  • United States patent application no. US 2004/0008030 discloses a sensor group constituted by inductive coils on the planes x, y and z, for providing the operator with an indication of the position of the boring head in order to avoid a collision with existing buried lines.
  • a second object of the present invention is to provide a boring head, an apparatus and a method for driving a boring head in a boring path at a reduced distance from an existing underground utility conveyance line.
  • a third object of the present invention is to provide a boring head, an apparatus and a method for driving a boring head in a boring path in order to favour the extension of an existing conveyance line infrastructure.
  • a fourth object of the present invention is to provide a boring head, an apparatus and a method for driving a boring head in a boring path without resorting to expensive surveys and therefore at low cost.
  • a fifth object of the' present invention is to provide a boring head, an apparatus and a method for driving a boring head in a boring path with a simple and accurate control, while minimising at the same time the risk of damaging other underground conveyance lines and the relative services they transport.
  • said control is obtained by exploiting as a guide means an existing conveyance line, hereinafter referred to as "pilot conveyance line", and a probe associated to the boring head and able to precisely evaluate its position with respect to the pilot conveyance line.
  • pilot conveyance line an existing conveyance line
  • the boring operation is performed in parallel to an existing conveyance line at a distance of few centimetres, typically 15 to 20 cm, in order to minimise the risk of colliding with other conveyance lines and with the pilot conveyance line.
  • the invention allows maintaining the boring path at the same depth of the pilot conveyance line, thereby minimising the risk of interrupting the path of other transversal conveyance lines as said transversal conveyance lines are positioned parallel to the floor surface and the boring head would be covered by the safe area of the pilot conveyance line.
  • the invention it is proposed a method which is based on the injection of an electromagnetic signal on the armor or metallic sheath/part of the pilot conveyance line in order to generate a magnetic field around it.
  • the metallic part of the pilot conveyance line is normally accessible in correspondence with pits or small chambers already existing or pits made locally on purpose, and can be directly connected with an already existing ground terminal by opening a cable connection or by direct connection with the pilot conveyance line.
  • the signal irradiated by the pilot conveyance line is received and analysed by a receiving unit located on the boring head.
  • the boring head comprises, besides a sensor unit, a processing signal unit, fed for instance with local batteries.
  • the sensor unit comprises two sensors extending longitudinally on a support and lying on respective axes arranged at a predetermined angle ( ⁇ ) with respect to a horizontal plane.
  • the sensor unit comprises two magnetic field sensors of the inductive coil type.
  • the invention exploits the different coupling of the magnetic field obtained in the various angular positions between the sensor unit and the pilot conveyance line.
  • the boring head does not maintain a fixed inclination; on the contrary, the boring head is normally subjected to a rotation in order to better control the boring path. This rotation is stopped when it is necessary to modify the path direction.
  • One of the fundamental aspects of the present invention is the information about the inclination of the sensor unit with respect to the roadway. This information is obtained by maintaining a fixed position, independently from the head rotation, said fixed position being obtainable by using ball bearings and by unbalancing the centre of gravity of the internal components of the receiving unit.
  • FIG. 1 shows a typical underground infrastructure comprising a pilot conveyance line and a boring path for a further conveyance line to be buried;
  • FIG. 2 shows a side view of a boring head according to the invention;
  • FIG. 3 shows a perspective view of the boring head of Figure 2;
  • FIG. 4 shows a cross section view of a sensor unit of the boring head of Figures 2 and 3;
  • FIG. 5a and 5b respectively show two block diagrams of an electronic unit housed in the boring head of Figures 2 and 3 and of a central control unit for driving the boring head;
  • - Figures 6a, 6b and 6c shows three possible spatial relationships between the boring head and the pilot conveyance line of Figure 1;
  • FIG. 7 shows a diagram illustrating the working area in which an operator should maintain the boring head
  • FIG. 8 shows a graphical representation of the central control unit displayed on a monitor of a boring head with respect to a pilot conveyance line.
  • FIG. 1 it is represented a typical underground infrastructure wherein there are illustrated: a roadway 41, a transversal conveyance line 43, a pilot conveyance line 45, a boring path 47, a further conveyance line 49, a safe area 51 generated by the pilot conveyance line 45 and the normative distances 53 between two underground conveyance lines.
  • a boring head 1 comprises a boring drill 3 fixed to an housing 21, inside which a receiving unit 8, comprising a sensor unit 5, an electronic processing unit 7 able to receive signals detected by said sensor unit 5, and a battery compartment 16 are housed.
  • the housing 21 comprises an external hollow cylindrical tube made of a non-ferromagnetic material and provided with openings 4 filled with material transparent to radio frequency signals (e.g. Teflon), in order to allow a radio-frequency signal, generated by the electronic processing unit 7, to be emitted outside the housing 21.
  • radio frequency signals e.g. Teflon
  • the sensor unit 5 and the electronic processing unit 7 are coaxially mounted around an internal metallic hollow tube 11, made of a non-ferromagnetic material as well.
  • the electronic processing unit 7 and the sensor unit 5 are mounted on the internal hollow metallic tube 11 through ball bearings 9 having a low friction coefficient.
  • the internal metallic hollow tube 11 is mechanically connected with the housing 21 and with at least one boring rod 15 used for pushing from backwards the boring head 1 into the ground.
  • the boring head 1 exhibits a rear portion 13a opportunely shaped in order to be mechanically coupled with a corresponding front portion 13b of the boring rod 15.
  • the housing 21 rotates at the same speed of the boring rod 15 during the boring operation.
  • the receiving unit 8 is mechanically realised so that its centre of gravity is translated downwards with respect to a central axis 18 of the housing 21. This can be obtained by housing the electronic processing unit 7, mechanically integral with the sensor unit 5, the battery compartment 16, and possible (not shown) ballasts in the lower part of the housing 21.
  • the centre of gravity of the receiving unit 8 translated downwards with respect to the central axis 18 allows the sensor unit 5 to always remain in the same position, in particular without rotating, with respect to a horizontal plane, even if the boring head 1 rotates continuously.
  • Possible deviations with respect to the central axis 18 due for instance to damaged bearings, oscillations or other inconvenience, may be controlled through a (not shown) tilt sensor, in particular an inclinometer, integral with the sensor unit 5, which is able to generate an alert in case the inclination of the sensor unit 5 deviates with respect to the zenith over a predetermined limit.
  • a tilt sensor in particular an inclinometer, integral with the sensor unit 5, which is able to generate an alert in case the inclination of the sensor unit 5 deviates with respect to the zenith over a predetermined limit.
  • Figure 4 shows a cross section of the sensor unit 5.
  • the sensor unit 5 comprises a first magnetic field sensor 17 and a second magnetic field sensor 19, in particular two inductive coils 17,19 extending longitudinally on a support 20 and in the same direction of central axis 18.
  • Said support 20 is preferably made of a non-ferromagnetic material.
  • the inductive coils 17,19 lie on respective axes 12,14 having a mutual inclination of +/- 45 degrees with respect to the horizontal plane represented by the roadway 41. The inclination of 45 degrees allows to maximize the voltage induced in both sensors 17,19 when the sensor unit 5 and the pilot conveyance line 45 lay in a plane parallel to the roadway 41.
  • any other mutual inclination between the two sensors 17,19 can be chosen, since this would only determine a variation of the mathematical relationships describing the magnetic coupling between the two sensors 17,19, as it will be explained in the following.
  • the sensors 17,19 can be for instance realised by winding a certain number of turns of enamelled wire.
  • a lightening area 22 is provided for making an upper part of the sensor unit 5 lighter.
  • An electronic switch 26 receives analog signals from the two sensors 17,19, said analog signals being then amplified by an amplifier 23.
  • An analog/digital converter 25 converts the analog signals received by the amplifier 23 into digital signals which are opportunely filtered by a digital signal processor 27 and transmitted through a transmitter 29.
  • the transmitted signals carry the effective value of the voltage induced in the sensors 17,19 by a pilot signal injected on a conductor of the pilot conveyance line 45, e.g., its armor or sheath.
  • the pilot signal can be injected on its armor or metallic sheath by means of a current clamp or by a direct electric coupling with the output of a signal amplifier controlled by a current generator.
  • the pilot signal generation system is referred to a first earth point which can be present in a small chamber located upstream of the small chamber from which the boring operation will be started.
  • the injection current loop is closed to a second earth point.
  • the pilot signal generation system may further comprise a current sensor which is positioned on the branch of the pilot conveyance line in the same boring direction.
  • the current sensor allows to obtain an indication of the effective current injected in the armor/sheath.
  • the frequency of the pilot signal is relatively low and can be modified by the operator. From an operative point of view, said frequency should be comprised between the upper limit of the frequencies occupied by the POTS (Plane Old Telephone Service) and the lower limit of the frequencies occupied by the xDSL services, both for avoiding an excessive attenuation by the ground crossed by the boring head 1, and for avoiding to generate noise in the radio receivers and undesired couplings with the telecom cables transporting active services.
  • a typical value range for the pilot signal frequency is in the range between 4 kHz and 20 kHz, while a typical value range for the injected current is between 10 mA and 10 A depending mainly on the interference environment.
  • the signal transmitted by the transmitter 29 is then received by a receiver 31 of a central control unit 30 which further comprises a digital processing system 33 and a monitor 35 where the position of the boring head 1 and that of the pilot conveyance line 45 are displayed to the operator which is responsible for driving the boring head 1 into the boring path 47.
  • a central control unit 30 which further comprises a digital processing system 33 and a monitor 35 where the position of the boring head 1 and that of the pilot conveyance line 45 are displayed to the operator which is responsible for driving the boring head 1 into the boring path 47.
  • the use of at least two magnetic field sensors 17,19 allows, by reciprocally comparing the amplitudes of the signals detected by the sensors 17,19, to know precisely the exact position of the boring head 1 with respect to the pilot conveyance line 45.
  • the boring head 1 when the boring operation begins, the boring head 1 is positioned at a reference distance, e.g. 15 cm, with respect to the pilot conveyance line 45 and at the same depth of the pilot conveyance line 45 in order to exploit the safe area 51 generated by the pilot conveyance line 45, thereby minimising the risk of colliding with other transversally arranged conveyance lines 43. All information obtained by the sensors 17,19 during the boring operation and the number of boring rods 15 employed is recorded. Since the length of the rods 15 is fixed, the operator has an indication of the longitudinal advancement of the boring head 1 into the ground as well.
  • a reference distance e.g. 15 cm
  • the receiving unit 8 of the boring head 1 is realised in such a way that when an increase of the voltage induced in the sensors 17,19 indicates that the boring head 1 is approaching the pilot conveyance line 45 in a same horizontal plane 55, while a decrease of the voltage induced in the sensors 17,19 indicates that the boring head 1 is moving away from the same horizontal plane 55.
  • the voltage induced in the first sensor 17 is different than the voltage induced in the second sensor 19.
  • the first sensor 17 and the second sensor 19 have the same effective area with respect to the pilot conveyance line 45.
  • the effective area is defined as the area of a turn multiplied by the cosine of the angle formed by the magnetic induction vector and the vector normal to the turn. Therefore, the voltage induced in the first sensor 17 is the same as the voltage induced in the second sensor 19. This information indicates to the operator that the boring head 1 and the pilot conveyance line 45 are parallel to the roadway 41.
  • FIG. 6c it is depicted a third possible spatial relationship, in which the boring head 1 is lowerly misaligned with respect to the pilot conveyance line 45.
  • the second sensor 19 exhibits an effective area greater than the effective area of the first sensor 17 and therefore the voltage induced in the second sensor 19 is greater than the voltage induced in the first sensor 17. This information indicates to the operator that the boring head 1 is farther to the roadway 41 than the pilot conveyance line 45.
  • V n dt wherein n is the number of turns of an inductive coil.
  • V 0 is the effective value of the induced voltage
  • B is the strength of the magnetic induction acting on the coils 17,19
  • S is the area of a single turn and ⁇ -2 ⁇
  • f is the frequency of the pilot signal injected on the armor / sheath of the pilot conveyance line 45.
  • the axis of the sensor unit 5 and the axis of the pilot conveyance line 45 define the horizontal plane 55 which is parallel to the roadway 41.
  • the voltages Vi 5 V 2 induced on the coils 17 and 19 should be reduced by a factor proportional to cos ( ⁇ ), wherein ⁇ is by construction equal to 45 degrees, since this is the inclination of the coils 17,19 with respect to the horizontal plane 55.
  • the plane defined by the axis of the pilot conveyance line 45 and by the sensor unit 5 is characterised by an inclination of a degrees (figures 6b and 6c) with respect to the horizontal plane represented by the roadway 41.
  • the ratio between Bi and B 2 is equal to 1 only when the sensor unit 5 and the pilot conveyance line 45 move on the same horizontal plane 55, while said ratio increases or decreases according to whether, in the example of fig. 6, the sensor unit 5 or the pilot conveyance line 45 deviate with respect to the horizontal plane 55.
  • the induced voltages V 1 , V 2 which are therefore proportional to the only field magnetic components Bi and B 2 , are amplified by the amplifier 23 and then filtered by the digital signal processor 27 in order to obtain the only signal component isofrequential with the pilot signal injected on the pilot conveyance line 45.
  • the pilot conveyance line 45 has been laid in an open-cut way, it will be advantageously possible to benefit from the characteristics of the backfill, typically sand or ground without stones, located within a few tens of centimetres, said backfill having originally been inserted in the reinstatement operations after having laid the pilot conveyance line 45. The presence of backfill will make the boring operation easier.
  • the magnetic permeability of backfill can be considered negligible and uniform and therefore it does not have any influence on the above mentioned formulae.
  • FIG. 8 A possible graphical representation of the spatial relationship between the pilot conveyance line 45 and the boring head 1 is shown in Figure 8. The graphical representation is displayed on the monitor 35 of the operator's central control unit 30.
  • a third sensor (not represented), in particular a third inductive coil, arranged in a plane which is transversal with respect to the planes of the other two sensors 17,19 thus transversal to the axis of the boring head and so of the boring direction in order to improve the boring precision of the boring head 1 during the boring operation.
  • a third sensor may allow to further reduce, up to a few centimetres, the distance between the boring head 1 and the pilot conveyance line 45. The third sensor avoids that the boring head might approach the pilot conveyance line 45 obliquely.
  • a further variant consists in avoiding the use of the transmitter 29 and of the receiver 31 by employing a dedicated cable preventively inserted into the boring rods 15 in order to feed the whole unit 5,7 remotely.
  • This solution allows to reduce at a minimum the electronic components present in the boring head 1 which are subjected to not negligible mechanical stresses.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geophysics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

L’invention concerne une tête de forage (1) servant à réaliser une opération de forage. La tête de forage (1) comprend un outil de forage (3) et un module de détection (5). Le module de détection (5) comprend deux détecteurs (17, 19) se prolongeant longitudinalement sur un support (20) et situés sur des axes respectifs (12, 14) ; il est monté relativement à l’outil de forage (3) de telle sorte que les axes respectifs des détecteurs (17, 19) forment, en pratique, des angles prédéterminés (θ) différents par rapport à un plan horizontal (41). L’invention concerne en outre un appareil et un procédé de suivi précis de la position d’une tête de forage (1) par rapport à une bande transporteuse pilote enterrée (45) au cours d’une opération de forage au voisinage de celle-ci.
PCT/EP2005/010137 2005-09-20 2005-09-20 Tete de forage, procede et appareil de realisation d’une operation de forage au voisinage d’une bande transporteuse WO2007038940A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2005/010137 WO2007038940A1 (fr) 2005-09-20 2005-09-20 Tete de forage, procede et appareil de realisation d’une operation de forage au voisinage d’une bande transporteuse

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2005/010137 WO2007038940A1 (fr) 2005-09-20 2005-09-20 Tete de forage, procede et appareil de realisation d’une operation de forage au voisinage d’une bande transporteuse

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WO2007038940A1 true WO2007038940A1 (fr) 2007-04-12

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101787880A (zh) * 2010-02-26 2010-07-28 煤炭科学研究总院重庆研究院 煤矿井下近水平定向长钻孔随钻测斜装置
JP2013209827A (ja) * 2012-03-30 2013-10-10 Osaka Bosui Constr Co Ltd 削孔方向検出装置
CN104912543A (zh) * 2015-06-24 2015-09-16 淮南矿业(集团)有限责任公司 随钻测斜装置
WO2016128618A1 (fr) * 2015-02-11 2016-08-18 Oy Robit Rocktools Ltd Outil de forage pour forage par percussion, adaptateur, ensemble trépan, et procédé de fabrication de l'ensemble adaptateur et de l'ensemble trépan

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0861966A2 (fr) * 1997-02-28 1998-09-02 Advanced Engineering Solutions Ltd. Dispositif et procédé pour l'installation de conduites et passages souterrains
EP0913552A2 (fr) * 1997-10-29 1999-05-06 AT&T Corp. Procédé et appareil pour l'établissement d'un forage parallèle à un câble souterrain existant
EP0927892A2 (fr) * 1997-12-30 1999-07-07 The Charles Machine Works Inc Systeme de détection
WO2001029371A1 (fr) * 1999-10-16 2001-04-26 Dmt Welldone Drilling Services Gmbh Dispositif de fonçage controle de trous de forage
GB2393197A (en) * 2002-09-19 2004-03-24 Lattice Intellectual Property Pitch sensor for a steerable drill

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0861966A2 (fr) * 1997-02-28 1998-09-02 Advanced Engineering Solutions Ltd. Dispositif et procédé pour l'installation de conduites et passages souterrains
EP0913552A2 (fr) * 1997-10-29 1999-05-06 AT&T Corp. Procédé et appareil pour l'établissement d'un forage parallèle à un câble souterrain existant
EP0927892A2 (fr) * 1997-12-30 1999-07-07 The Charles Machine Works Inc Systeme de détection
WO2001029371A1 (fr) * 1999-10-16 2001-04-26 Dmt Welldone Drilling Services Gmbh Dispositif de fonçage controle de trous de forage
GB2393197A (en) * 2002-09-19 2004-03-24 Lattice Intellectual Property Pitch sensor for a steerable drill

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101787880A (zh) * 2010-02-26 2010-07-28 煤炭科学研究总院重庆研究院 煤矿井下近水平定向长钻孔随钻测斜装置
JP2013209827A (ja) * 2012-03-30 2013-10-10 Osaka Bosui Constr Co Ltd 削孔方向検出装置
WO2016128618A1 (fr) * 2015-02-11 2016-08-18 Oy Robit Rocktools Ltd Outil de forage pour forage par percussion, adaptateur, ensemble trépan, et procédé de fabrication de l'ensemble adaptateur et de l'ensemble trépan
CN104912543A (zh) * 2015-06-24 2015-09-16 淮南矿业(集团)有限责任公司 随钻测斜装置

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