WO2008107717A1 - Top drive apparatus - Google Patents
Top drive apparatus Download PDFInfo
- Publication number
- WO2008107717A1 WO2008107717A1 PCT/GB2008/050149 GB2008050149W WO2008107717A1 WO 2008107717 A1 WO2008107717 A1 WO 2008107717A1 GB 2008050149 W GB2008050149 W GB 2008050149W WO 2008107717 A1 WO2008107717 A1 WO 2008107717A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- seal
- top drive
- drive apparatus
- main shaft
- rotor
- Prior art date
Links
- 238000007789 sealing Methods 0.000 claims abstract description 16
- 239000000314 lubricant Substances 0.000 claims abstract description 15
- 230000009969 flowable effect Effects 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 11
- 238000005461 lubrication Methods 0.000 claims description 10
- 230000001050 lubricating effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 239000000356 contaminant Substances 0.000 abstract description 9
- 238000005553 drilling Methods 0.000 description 29
- 238000002955 isolation Methods 0.000 description 13
- 239000012530 fluid Substances 0.000 description 11
- 238000011109 contamination Methods 0.000 description 5
- 244000261422 Lysimachia clethroides Species 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
- E21B3/022—Top drives
Definitions
- the present invention relates to a top drive apparatus for wellbore operations , to a method for sealing an interface between a rotor and a stator of a top drive apparatus and to seal apparatus therefor.
- a drill bit In the drilling of a borehole in the construction of an oil or gas well, a drill bit is arranged on the end of a drill string, which is rotated to bore the borehole through a formation.
- a drilling fluid known as "drilling mud” is pumped through the drill string to the drill bit to lubricate the drill bit.
- the drilling mud is also used to carry the cuttings produced by the drill bit and other solids to the surface through an annulus formed between the drill string and the borehole.
- the density of the drilling mud is closely controlled to inhibit the borehole from collapse and to ensure that drilling is carried out optimally.
- the density of the drilling mud effects the rate of penetration of the drill bit.
- the drilling mud contains expensive synthetic oil-based lubricants and it is normal therefore to recover and re-use the used drilling mud, but this requires the solids to be removed from the drilling mud.
- a top drive apparatus for drilling bore holes is one of two common types of apparatus for drilling bore holes , the other being a rotary table apparatus .
- a top drive apparatus generally comprises a main body which houses a motor for rotating a drive shaft which has a sub connectable to a single, stand or string of tubulars .
- the tubulars may be any of: drill pipe, casing, liner, premium tubular or any other such tubular used in the construction, maintenance and repair of wellbores , such as oil and gas wells .
- a top drive apparatus is generally arranged on a substantially vertical track on a derrick of a rig.
- the top drive apparatus is lifted and lowered on the track with a line over a crown block on a travelling block connected to the top drive apparatus .
- the line is reeled in and let out using a winch commonly known as a drawworks .
- the top drive apparatus can thus be used to trip tubulars in and out of the wellbore; turn the drill string to facilitate drilling the wellbore; and turn a single or stand of tubulars in relation to a string of tubulars hung in the wellbore to threadly connect or disconnect tubulars from a string of tubulars in the drill string to lengthen or shorten the string of tubulars.
- An elevator generally depends on links attached to the top drive to facilitate handling of tubulars and alignment with the sub for connection and disconnection therewith.
- a top drive apparatus may also be used in conjunction with a passive or active spider and/or with rotary tongs to facilitate connection and disconnection of tubulars from the string of tubulars .
- top drive systems for example, and not by way of limitation, the following U.S. Patents present exemplary top drive systems and components thereof: 4,458,768; 4,807,890; 4,984,641; 5,433,279; 6,276,450; 4,813,493; 6,705,405; 4,800,968; 4,878,546; 4,872,577; 4,753,300; 6,007,105; 6,536,520; 6,679,333; 6,923,254 - all these patents incorporated fully herein for all purposes .
- the main shafts of top drives have main shaft bearings which are critical to operation of the top drive and thus to the operation of the drilling rig. Contamination from moisture or leaking drilling fluid is a common cause of failure of main shaft bearings . Leaking drilling fluid can originate from leaks at a top drive ' s high pressure swivel seal above a top drive main bearing and gear housing. Leaking fluid can then flow down into the top drive bearings and gears .
- a top drive apparatus for wellbore operations , the top drive apparatus comprising a rotor and a stator and seal assembly for sealing therebetween characterised in that the sealing assembly comprises a platform remote from the stator and a seal apparatus arranged thereon, such that lubricant is flowable down from the seal apparatus.
- the lubruicant is contaminated lubricant flowable down from the seal apparatus .
- the platform is preferably raised from the stator to allow lubricant or contaminated lubricant to flow the seal apparatus.
- the rotor is hollow and forms part of the main shaft which passes through the motor of the top drive apparatus . The contaminants flow down from the seals on the platform inhibiting contaminant build-up on the seals .
- the seal assembly further comprises a shroud shrouding the seal apparatus.
- the shroud is spaced apart from the platform by an open space.
- the shroud is connected to and rotatable with the rotor.
- the shroud comprises a frusto-conical portion covering at least the footprint of the seal apparatus and advantageously, extending a little further and a wall portion which extends downwardly, preferably over a top portion of the seal apparatus and advantageously, to below the bottom of the seal apparatus.
- the shroud is spaced apart from the raised platform by an open space.
- the rotor comprises a seal wear ring, the seal apparatus in contact with the wear ring.
- the wear ring rotates with the rotor.
- the seal apparatus comprises a seal and a seal housing, the seal housing fixed to the platform.
- the seal housing may have a substantially vertical outer wall portion and a top portion and pay have no bottom portion, the seal sitting on the platform.
- the seal apparatus comprises a labyrinth non-contact isolator.
- the top drive apparatus further comprises lubrication apparatus in communication with the seal apparatus for lubricating at least part of the seal apparatus, advantageously, the interface between the seal and the rotor or wear ring, if used.
- the lubrication apparatus comprises a channel in the platform.
- the lubrication apparatus comprises a port located between an upper seal and a lower seal.
- the seal assembly is located within a bonnet of a top drive apparatus .
- the top drive apparatus further comprises a bearing arranged between the rotor and the stator wherein the seal assembly is arranged above the bearing.
- the stator comprises a bearing retainer adjacent the rotor for maintaining the rotor bearings in position, a raised platform on the bearing retainer .
- the present invention also provides a method for sealing an interface between a rotor and a stator of a top drive, a seal assembly arranged therebetween, the method comprising the steps of allowing lubricant to flow from the seal and away from the seal assembly.
- the present invention also provides a top drive apparatus for wellbore operations , the top drive apparatus comprising a rotor and a housing and seal assembly for sealing therebetween characterised in that the sealing assembly comprises a shroud fixed to the rotor and rotatable therewith, and a seal fixed to the housing.
- the present invention discloses top drive systems with isolated upper shaft seals. This isolation inhibits contamination of the seals and provides an effective way to protect the top drive ' s main shaft bearings from contamination .
- the upper main shaft seals are located below a high pressure swivel seal and housed on a raised platform above a main bearing/gear housing with a protective shield or shroud surrounding the main shaft seal and the platform.
- the raised platform containing the upper seal is supported by a cylindrical or conical housing which extends downward to the top of the main bearing/gear housing.
- the shroud surrounds the upper shaft seal and its cylindrical support; is circumferentially affixed to the main shaft above the upper shaft seal , Contaminants can flow down and away from the seal which are raised to the extent of the raised platform's height, thus inhibiting contaminant build-up on the seals and facilitating maintenance of seal integrity. Preventing leakage between the main shaft and the shroud from above and rotates with the main shaft.
- the present invention in certain aspects, provides a top drive system for wellbore operations, the top drive system including: a main body; a motor apparatus (for example one motor, or two spaced-apart motors) ; a main shaft extending from the main body, the main shaft having a top end and a bottom end, the main shaft having a main shaft flow bore therethrough from top to bottom through which drilling fluid is flowable; a quill connected to and around the main shaft; a gear system interconnected with the quill, the gear system driven by the motor apparatus so that driving the gear system drives the quill and thereby drives the main shaft; upper components connected to the main body above the top end of the main shaft; and an upper shaft seal isolation system.
- a motor apparatus for example one motor, or two spaced-apart motors
- main shaft extending from the main body, the main shaft having a top end and a bottom end, the main shaft having a main shaft flow bore therethrough from top to bottom through which drilling fluid is flowable
- a quill connected to and around the main
- the present invention in certain aspects, provides a top drive system for wellbore operations, the top drive system including: a main body; a motor apparatus (for example one motor, or two spaced-apart motors) ; a main shaft extending from the main body, the main shaft having a top end and a bottom end, the main shaft having a main shaft flow bore therethrough from top to bottom through which drilling fluid is flowable; a gear system interconnected with the main shaft, the gear system driven by the motor apparatus so that driving the gear system drives the main shaft; upper components connected to the main body above the top end of the main shaft which support high pressure seal apparatus; and an upper shaft seal isolation system.
- a quill connected to the main shaft.
- Figure 1 is a schematic view of a top drive drilling apparatus
- Figure 2A is a front view of a top drive apparatus in accordance with the present invention.
- Figure 2B is a side view of the top drive apparatus shown in Figure 2A;
- Figure 3A is a front view of a shaft isolation apparatus in accordance with the present invention;
- Figure 3B is a front view of the apparatus shown in Figure 3A with a shroud removed;
- Figure 3C is a cross-section view of the apparatus shown in Figure 3A.
- Figure 4 is a cross-section view of a shaft isolation apparatus in accordance with the present invention .
- FIG. 1 illustrates a drilling rig 10 comprising a top drive apparatus 14 structurally supported by a derrick 11.
- the drilling rig 10 also comprises a swivel
- the top drive 14 comprises a main shaft seal isolation apparatus 30 (shown schematically) in accordance with the present invention.
- the top drive drilling apparatus 14 is suspended from a line (not shown) which passes around a travelling block
- the main shaft 16 extends through the motor housing 17 and connects to the drill stem 18.
- the drill stem 18 is typically threadedly connected to one end of a series of tubular members collectively referred to as the drillstring 19. An opposite end of the drillstring 19 is threadedly connected to a drill bit 20.
- a motor apparatus 15 (shown schematically) encased within the housing 17 rotates the main shaft 16 which, in turn, rotates the drill stem 18/drillstring 19 and the drill bit 20. Rotation of the drill bit 20 forms a wellbore 21.
- a fluid known as drilling mud is pumped down through the drill string 18 to the drill bit 20 and washes drill cuttings from about the drill bit 20 up through an annulus formed between the drill string 19 and a wall of the wellbore 21.
- the drilling mud enters the drill string through the main shaft 16 of the top drive 14
- FIGS 2A and 2B illustrate top drive apparatus 100 in accordance with the present invention (which may be used as the top drive apparatus 14 shown in Figure 1) which has supporting bails 104 suspended from a becket 102.
- the becket 102 may be attached to a travelling block, such as travelling block 13 shown in Figure 1.
- Motors 120 which rotate a main shaft 160 are supported on a main body 130.
- a bonnet 110 supports a gooseneck 106 and a washpipe 108 through which fluid is pumped to and through the apparatus 100 and through a flow channel through the main shaft 160.
- a shaft seal isolation apparatus 200 see Figure 3C in accordance with the present invention .
- a main gear housing 140 encloses a gear apparatus
- a drag chain apparatus 170 encloses a drag chain and associated components. This drag chain apparatus 170 may be used instead of a rotating head and provides sufficient rotation for reorientation of a link adapter 180 and items connected thereto. Optionally, the drag chain apparatus 170 is deleted and a rotating head system is used.
- Bolts releasably secure the bonnet 110 to the body 130. Removal of the bolts permits removal of the bonnet 110.
- the apparatus 100 is movable on a mast or part of a derrick (like the derrick 11 and on its rails 22) by optional connection to a movable apparatus like a dolly permitting the top drive and associated components to be moved up and down, and toward and away from a well centerline (toward the derrick when drill pipe is connected/disconnected while tripping; and to the well center during drilling and/or hoisting) .
- a movable apparatus like a dolly permitting the top drive and associated components to be moved up and down, and toward and away from a well centerline (toward the derrick when drill pipe is connected/disconnected while tripping; and to the well center during drilling and/or hoisting) .
- Known apparatuses and structures are used to move the links 133 and to move the dolly.
- Each bail 104 extend over and are supported by arms 103 of the becket 102.
- Each bail 104 has two spaced-apart lower ends 105 pivotably connected by pins 107 to the body 130.
- a single bail is used to support the body 130.
- the main shaft 160 in some embodiments, can be removed from the apparatus 100, to repair the main shaft or to replace the main shaft, without disturbing and without removing the gear case and gearing of the apparatus.
- the bonnet 110, gooseneck 106 , washpipe 108 , and associated packing are removed, preferably together as a unit.
- Bolts 164 that hold the main shaft down are removed.
- a split ring 167 is removed below the link adapter 180.
- the main shaft 160 is then removed from the apparatus. During this removal process, all the apparatus gearing and seals have remained in place and no lubricant has been removed or drained.
- FIGS 3A to 3C illustrate one embodiment of the upper shaft seal isolation apparatus 200 (which may be used as the apparatus 30, Figure 1) .
- a bearing retainer 160a connected to an upper gear case housing 16Or maintains main shaft bearings 160b in vertical position.
- the bearing retainer 160a has a platform portion 160c which is raised above a mounting flange 16Od of the bearing retainer 160a.
- An upper shaft seal assembly 16Oe is mounted on the platform 160c.
- a shroud 16Of secured to the main shaft 160 extends down and around the bearing retainer 160a. The shroud 16Of rotates with the main shaft 160 and protects the seal assembly 16Oe from contamination (for example, contamination from substances in the environment and from leaking drilling fluid.
- Part 16Og of the shroud 16Of extends radially outwardly to direct fluid outwardly and away from the seal assembly 16Oe.
- the shroud 16Of may be in contact with the platform 160c and/or with the bearing retainer 160a; or, as shown, the shroud 16Of may be spaced apart from the platform 160c and/or from the bearing retainer 160a with an open space therebetween.
- the washpipe 108 has packings 115 and 117.
- FIG 4 shows a top drive 240 (shown partially) with a seal isolation apparatus 250 (which may be used as the apparatus 30, Figure 1) .
- the top drive 240 has a main shaft 270; a bearing apparatus 252; and a lubrication apparatus 254.
- An upper shroud 280 secured to the main shaft 270, encloses part of a seal platform 290 and an upper seal housing 292 which is secured to the seal platform 290.
- a seal or seals 294 in the upper seal housing 292 sealingly contact a seal wear ring 297 on the main shaft 270 as it rotates.
- the shroud 280 rotates with the main shaft 270.
- the shroud 280 extends down to the upper seal housing 292 or, as shown, extends down past the upper seal housing 292.
- a bonnet 260 surrounds the seal isolation apparatus 250 and the top of the main shaft 270.
- the seal platform 290 may be secured to or formed of any suitable structure of the top drive. As shown, the seal platform 290 is formed of part of the bonnet 260.
- Bolts 296 (one shown) bolt the bonnet 260 to the top drive.
- the seal housing 292 is bolted to the bonnet 260 with bolts 292a. Lubricant is applied to the seals 294 via channels 295a and 295b. Removable plug 295 closes off the channel 295a.
- a labyrinth non-contact isolator is used instead of the seals 294 - and air is applied to the isolator via the channels 295a and 295b. Air constantly flows up and out to assist in excluding contaminants from entering the isolator.
- the present invention therefore, provides in some, but not in necessarily all, embodiments a top drive apparatus for wellbore operations, the top drive apparatus including: a main body; a motor apparatus; a main shaft extending from the main body, the main shaft having a top end and a bottom end, the main shaft having a main shaft flow bore therethrough from top to bottom through which drilling fluid is flowable; a gear apparatus interconnected with the motor apparatus ; and an upper shaft seal isolation apparatus .
- the present invention therefore, provides in some, but not in necessarily all, embodiments such systems in which the upper shaft seal isolation system includes the upper main shaft seals located below a high pressure swivel seal and housed on a raised platform above a main bearing/gear housing with a protective shield or shroud surrounding the main shaft seal and the platform.
- the raised platform containing the upper seal is supported by a cylindrical or conical housing which extends downward to the top of the main bearing/gear housing.
- the shroud surrounds the upper shaft seal and its cylindrical support; is circumferentially affixed to the main shaft above the upper shaft seal , preventing leakage between the main shaft and the shroud from above; and rotates with the main shaft.
- the present invention therefore, provides in some, but not necessarily all, embodiments a top drive system for wellbore operations, the top drive system including: a top drive main shaft; a housing enclosing a portion of the top drive main shaft, the portion of the main shaft having an exterior surface; the housing including a raised platform; a seal system for sealing an interface between the housing and the portion of the top drive main shaft, the seal system having seal apparatus on and supported by the raised platform and the seal apparatus including at least one seal on the raised platform and adjacent the exterior surface of the portion of the main shaft enclosed within the housing; and the at least one seal located so that contaminants are flowable down from the at least one seal.
- Such a top drive system may have one or some, in any possible combination, of the following: a shroud connected to and rotatable with the top drive main shaft, and the shroud extending downwardly adjacent the seal system and covering the seal system; the shroud extending downwardly beyond a level of the seal system; the shroud spaced apart from the raised platform by an open space; a wear ring on the top drive main shaft, the at least one seal adjacent and in contact with the wear ring; and/or lubrication apparatus in communication with the at least one seal for lubricating the at least one seal.
- the present invention therefore, provides in some, but not necessarily all, embodiments a top drive system for wellbore operations, the top drive system including: a top drive main shaft; main shaft bearings in contact with the main shaft; a housing enclosing a portion of the top drive main shaft, the portion of the main shaft having an exterior surface; a bearing retainer adjacent the main shaft for maintaining the main shaft bearings in position; a raised platform on the bearing retainer; a seal system for sealing an interface between the housing and the portion of the top drive main shaft, the seal system having seal apparatus on and supported by the raised platform, the seal apparatus including at least one seal between the raised platform and the exterior surface of the portion of the main shaft enclosed within the housing, and the at least one seal located so that contaminants are flowable down from the at least one seal.
- Such a top drive system may have one or some, in any possible combination, of the following: a shroud connected to and rotatable with the top drive main shaft, and the shroud extending downwardly adjacent the seal system and covering the seal system; the shroud extending downwardly beyond a level of the seal system; the shroud spaced apart from the raised platform by an open space; a wear ring on the top drive main shaft, the at least one seal adjacent and in contact with the wear ring; and/or lubrication apparatus in communication with the at least one seal for lubricating the at least one seal.
- the present invention therefore, provides in some, but not necessarily all, embodiments a method for sealing an interface between a top drive system's main shaft and a housing of the top drive system, the top drive for wellbore operations, the method including: positioning at least one seal adjacent a main shaft of a top drive system; the at least one seal on a raised platform of the top drive system and located so that contaminants are flowable down from the at least one seal; the method further including sealingly contacting the main shaft of the top drive system with the at least one seal while the main shaft is rotating.
- Such a method may have one or some, in any possible combination, of the following: shrouding the seal apparatus with a shroud, the shroud connected to and rotatable with the top drive main shaft, and the shroud extending downwardly adjacent and the seal system and covering the seal system; the shroud extending downwardly beyond a level of the seal system; the shroud spaced apart from the raised platform by an open space; the top drive system having a wear ring on the top drive main shaft, the at least one seal adjacent and in contact with the wear ring; and/or wherein the top drive system including lubrication apparatus in communication with the at least one seal for lubricating the at least one seal, the method further including lubricating the at least one seal .
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2008800109365A CN101652530B (en) | 2007-03-02 | 2008-03-03 | Top drive apparatus |
CA2679575A CA2679575C (en) | 2007-03-02 | 2008-03-03 | Top drive apparatus |
NO08709668A NO2118428T3 (en) | 2007-03-02 | 2008-03-03 | |
EP08709668.1A EP2118428B1 (en) | 2007-03-02 | 2008-03-03 | Top drive apparatus |
EP17189949.5A EP3276121B1 (en) | 2007-03-02 | 2008-03-03 | Top drive apparatus |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US90475007P | 2007-03-02 | 2007-03-02 | |
US60/904,750 | 2007-03-02 | ||
US12/001,484 | 2007-12-11 | ||
US12/001,484 US7748445B2 (en) | 2007-03-02 | 2007-12-11 | Top drive with shaft seal isolation |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008107717A1 true WO2008107717A1 (en) | 2008-09-12 |
Family
ID=39434262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/GB2008/050149 WO2008107717A1 (en) | 2007-03-02 | 2008-03-03 | Top drive apparatus |
Country Status (6)
Country | Link |
---|---|
US (1) | US7748445B2 (en) |
EP (2) | EP3276121B1 (en) |
CN (1) | CN101652530B (en) |
CA (1) | CA2679575C (en) |
NO (1) | NO2118428T3 (en) |
WO (1) | WO2008107717A1 (en) |
Families Citing this family (6)
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DE102011052182B4 (en) | 2011-07-27 | 2013-02-14 | Aker Wirth Gmbh | Device for producing a hole in the earth |
US9500045B2 (en) | 2012-10-31 | 2016-11-22 | Canrig Drilling Technology Ltd. | Reciprocating and rotating section and methods in a drilling system |
CA2967606C (en) | 2017-05-18 | 2023-05-09 | Peter Neufeld | Seal housing and related apparatuses and methods of use |
US10995550B2 (en) * | 2017-12-31 | 2021-05-04 | Nabors Drilling Technologies Usa, Inc. | Wellbore rig top drive |
CA3060549A1 (en) * | 2018-10-31 | 2020-04-30 | Nabors Drilling Technologies Usa, Inc. | Top drive |
US10851832B2 (en) * | 2019-04-30 | 2020-12-01 | Caterpillar Inc. | Rotary gearbox |
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-
2008
- 2008-03-03 EP EP17189949.5A patent/EP3276121B1/en active Active
- 2008-03-03 CA CA2679575A patent/CA2679575C/en active Active
- 2008-03-03 CN CN2008800109365A patent/CN101652530B/en active Active
- 2008-03-03 NO NO08709668A patent/NO2118428T3/no unknown
- 2008-03-03 EP EP08709668.1A patent/EP2118428B1/en active Active
- 2008-03-03 WO PCT/GB2008/050149 patent/WO2008107717A1/en active Application Filing
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Also Published As
Publication number | Publication date |
---|---|
NO2118428T3 (en) | 2018-03-31 |
CA2679575C (en) | 2012-05-08 |
EP2118428B1 (en) | 2017-11-01 |
CA2679575A1 (en) | 2008-09-12 |
EP2118428A1 (en) | 2009-11-18 |
US7748445B2 (en) | 2010-07-06 |
CN101652530A (en) | 2010-02-17 |
EP3276121B1 (en) | 2019-04-24 |
EP3276121A1 (en) | 2018-01-31 |
CN101652530B (en) | 2013-11-06 |
US20080210437A1 (en) | 2008-09-04 |
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