WO1999041486A1 - Apparatus and method for handling of tubulars - Google Patents

Apparatus and method for handling of tubulars Download PDF

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Publication number
WO1999041486A1
WO1999041486A1 PCT/GB1999/000432 GB9900432W WO9941486A1 WO 1999041486 A1 WO1999041486 A1 WO 1999041486A1 GB 9900432 W GB9900432 W GB 9900432W WO 9941486 A1 WO9941486 A1 WO 9941486A1
Authority
WO
WIPO (PCT)
Prior art keywords
tubular
clamp
guide
strut
pipe handling
Prior art date
Application number
PCT/GB1999/000432
Other languages
French (fr)
Inventor
Georg Lorenz
Original Assignee
Weatherford/Lamb, Inc.
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 Weatherford/Lamb, Inc. filed Critical Weatherford/Lamb, Inc.
Priority to DE69910543T priority Critical patent/DE69910543T2/en
Priority to CA002325875A priority patent/CA2325875A1/en
Priority to US09/600,764 priority patent/US6550128B1/en
Priority to EP99905020A priority patent/EP1055049B1/en
Priority to AU25328/99A priority patent/AU2532899A/en
Publication of WO1999041486A1 publication Critical patent/WO1999041486A1/en
Priority to US10/408,964 priority patent/US7036202B2/en

Links

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
    • E21B19/20—Combined feeding from rack and connecting, e.g. automatically
    • 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49895—Associating parts by use of aligning means [e.g., use of a drift pin or a "fixture"]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49998—Work holding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53909—Means comprising hand manipulatable tool
    • Y10T29/53913—Aligner or center
    • Y10T29/53917—Tube with tube
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53961—Means to assemble or disassemble with work-holder for assembly

Definitions

  • This invention relates to an apparatus for attachment to a pipe handling arm and to a method of handling a tubular .
  • Pipe handling apparatus generally comprises a pipe handling arm and a clamp.
  • the pipe handling arm is fixed at one end to a derrick or to a rig floor of a drilling rig .
  • the other end of the pipe handling arm is free to move in at least one plane, and usually two or three planes .
  • the clamp is attached to the free end of the pipe handling arm. In use, the free end of the pipe handling arm is swung over to a pipe rack .
  • the clamp clamps on to a tubular and then picks the tubular up and manoeuvres it into a position generally over an upper section of a tubular string at the well centre. Typically the tubulars are not in perfect alignment due to tolerance in the pipe handling arm.
  • a stabbing guide is then strapped around the threaded box of the upper section of the tubular string.
  • the threaded pin of the tubular is then lowered into the threaded box of the upper section of the tubular string, and is guided into alignment therewith by the stabbing guide .
  • the present invention provides a clamp for gripping a tubular, characterised in that said apparatus further comprises means for, in use, aligning said tubular with another tubular prior to connection thereof .
  • the tubulars could be casing, liner or other type of pipe and especially large diameter tubulars , for example - 2 -
  • said means comprises a guide.
  • said clamp and said guide are movable in relation to each other, the arrangement being such that, in use, said tubular can be brought closer to said another tubular .
  • said clamp and said guide are arranged on a strut.
  • At least one of said clamp and said guide is movable along said strut by a hydraulic piston and cylinder.
  • At least one of said clamp and said guide is movable along said strut by a pneumatic piston and cylinder .
  • said strut is divided into a first portion and a second portion and said second portion is offset from said first portion.
  • said apparatus further comprises a second clamp which is in a fixed relation to said clamp.
  • said clamp (s) comprise jaws movable between an open and a closed position.
  • said apparatus further comprises a hydraulic piston to move said jaws between their open and closed positions .
  • said jaws comprise cylindrical rollers, to facilitate rotation of said tubular whilst inhibiting axial movement thereo .
  • said apparatus comprises a lug for attachment to a pipe handling arm.
  • said guide comprises a clamp.
  • the present invention also provides a pipe handling arm provided with an apparatus in accordance with the present invention .
  • the present invention also provides a method of handling a tubular to be connected to another tubular, - 3 -
  • Figure 1A shows a top portion of an apparatus according to the present invention in use
  • Figure IB shows a bottom portion of the apparatus according to the present invention in use .
  • the apparatus 1 comprises a substantially vertical box-section upper strut 2 which has longitudinally spaced upper and lower clamping units 3 and 4 slidably mounted thereon .
  • the upper and lower clamping units 3 and 4 are linked by a bar 5.
  • the upper clamping unit 3 is attached to the piston of a hydraulic piston and cylinder 7. Activation of the hydraulic piston and cylinder 7 moves the upper and lower clamping units 3 and 4 along the upper strut 2.
  • a substantially vertical box-section lower strut 8 is attached to the upper strut 2 by a plate 9.
  • the lower strut 8 is set back from the upper strut 2.
  • a guide in the form of a clamping unit 10 is arranged near the lower end of the lower strut 8.
  • the apparatus 1 is connectable to a standard pipe handling arm (not shown) in place of the known clamping device described hereinbefore via lug 11.
  • Each clamping unit 3, 4, 10 comprises two jaws 12, 13; 14, 15; 16, 17; each jaw 12 to 17 being pivotable about a respective pin 18, 19, 20, 21, 22, 23 by a hydraulic piston 24, 25, 26.
  • Each jaw 12 to 17 comprises an upper plate 27 to 32 and a lower plate 33 to 38 which are separated by bolts
  • rollers 51 to 62 is substantially perpendicular to the upper and lower plates 27 to 38.
  • Each jaw 12 to 17 is attached to a lug 63, 64, 65.
  • Lugs 63 and 64 are welded to respective sleeves 66 and 67 which are slidably arranged on the upper strut 2.
  • Lug 65 is welded to an intermediary section 69 which in turn is welded to sleeve 68.
  • the sleeve 68 is fixed to the lower strut 8 by grub screws (not shown) .
  • the sleeve 68 may however be moved along lower strut 8.
  • the jaws 12 to 17 of the clamping units 3, 4, 10 are substantially in vertical alignment with each other, and preferably to within a tolerance of a few millimetres .
  • the apparatus 1 is connected to a pipe handling arm via lug 11.
  • the pipe handling arm is generally movable in three planes .
  • Such pipe handling arms are currently supplied by Varco BJTM such as the PLS-3TM Automatic pick-up/Lay-downs system and Martine HydraulicsTM such as the EagleTM and Eagle LightTM transfer system.
  • a tubular 70 to be connected to the upper end of a tubular string 71 is picked up by the jaws 12, 13, 14, 15 of the clamping units 3, 4 from a rack (not shown) .
  • the jaws 12, 13, 14, 15 of the clamping units 3, 4 move about pins 18, 19, 20, 21 by activation of the hydraulic pistons 24, 25.
  • the rollers 51 to 58 engage with the tubular 70.
  • the upper end of the tubular string 71 is held in a spider (not shown) in the rig floor (not shown) .
  • the tubular 70 is then brought into approximate alignment, for example within a few centimetres of the upper section of the tubular string 71 by manipulation of the pipe handling arm to which apparatus 1 is connected.
  • the jaws 16, 17 of the clamping unit 10 move about pins 22, 23 by activation of the hydraulic pistons 26 and rollers 55 to 58 move circumjacent and engage the upper section of the tubular string 71.
  • the tubular 70 moves into alignment with the tubular string 71, such movement being permitted by the "slack" in the pipe handling arm.
  • the tubular 70 is now in alignment with the upper section of the tubular string 71 to preferably within a few millimetres.
  • the tubular 70 can now be lowered by activating the hydraulic piston 7.
  • a threaded pin 72 of the tubular 70 locates in the threaded box 73 of the upper section of the tubular string 71.
  • the lower strut 8 is set back from the tubular 70 and the upper section of the tubular string 71, to allow a tong and a back-up tong (not shown) to be used to screw the threaded pin 72 into the threaded box 73 to make the connection.
  • a top drive (not shown) on the derrick may be used to screw the threaded pin 72 into the threaded box 73.
  • the rollers 51 to 58 allow rotation of the tubular 70 whilst inhibiting a longitudinal movement thereof .
  • clamp 10 could be replaced by a guide which could be slidable on the upper section of the tubular string 71 when closed thereabout. However, it is recommended that a clamp 10 should be used.

Abstract

An apparatus for attachment to a pipe handling arm, which apparatus comprises a clamp (3, 4) for gripping a tubular (70), characterised in that said apparatus further comprises means (10) for, in use, aligning said tubular (70) with another tubular (71) prior to connection thereof.

Description

APPARATUS AND METHOD FOR HANDLING OF TUBULARS
This invention relates to an apparatus for attachment to a pipe handling arm and to a method of handling a tubular .
Pipe handling apparatus generally comprises a pipe handling arm and a clamp. The pipe handling arm is fixed at one end to a derrick or to a rig floor of a drilling rig . The other end of the pipe handling arm is free to move in at least one plane, and usually two or three planes . The clamp is attached to the free end of the pipe handling arm. In use, the free end of the pipe handling arm is swung over to a pipe rack . The clamp clamps on to a tubular and then picks the tubular up and manoeuvres it into a position generally over an upper section of a tubular string at the well centre. Typically the tubulars are not in perfect alignment due to tolerance in the pipe handling arm. In order to ensure correct alignment a stabbing guide is then strapped around the threaded box of the upper section of the tubular string. The threaded pin of the tubular is then lowered into the threaded box of the upper section of the tubular string, and is guided into alignment therewith by the stabbing guide . Although it only takes a relatively short time to mount and remove a stabbing guide it would be desirable to reduce this time because of the high costs associated with the running of a drilling rig .
In order to reduce this problem the present invention provides a clamp for gripping a tubular, characterised in that said apparatus further comprises means for, in use, aligning said tubular with another tubular prior to connection thereof .
The tubulars could be casing, liner or other type of pipe and especially large diameter tubulars , for example - 2 -
36" casing .
Preferably, said means comprises a guide.
Advantageously, said clamp and said guide are movable in relation to each other, the arrangement being such that, in use, said tubular can be brought closer to said another tubular .
Preferably, said clamp and said guide are arranged on a strut.
Advantageously, at least one of said clamp and said guide is movable along said strut by a hydraulic piston and cylinder.
Alternatively, at least one of said clamp and said guide is movable along said strut by a pneumatic piston and cylinder . Preferably, said strut is divided into a first portion and a second portion and said second portion is offset from said first portion.
Advantageously, said apparatus further comprises a second clamp which is in a fixed relation to said clamp. Preferably, said clamp (s) comprise jaws movable between an open and a closed position.
Advantageously, said apparatus further comprises a hydraulic piston to move said jaws between their open and closed positions . Preferably, said jaws comprise cylindrical rollers, to facilitate rotation of said tubular whilst inhibiting axial movement thereo .
Advantageously, said apparatus comprises a lug for attachment to a pipe handling arm. Preferably, said guide comprises a clamp.
The present invention also provides a pipe handling arm provided with an apparatus in accordance with the present invention .
The present invention also provides a method of handling a tubular to be connected to another tubular, - 3 -
which method comprises the steps of : - gripping said tubular with an apparatus in accordance with the present invention, and using said apparatus to align said tubular with said another tubular .
- 4 -
For a better understanding of the present invention, reference will now be made , by way of example , to the accompanying drawings in which :
Figure 1A shows a top portion of an apparatus according to the present invention in use; and
Figure IB shows a bottom portion of the apparatus according to the present invention in use .
Referring to the drawings there is shown an apparatus which is generally identified by reference numeral 1.
The apparatus 1 comprises a substantially vertical box-section upper strut 2 which has longitudinally spaced upper and lower clamping units 3 and 4 slidably mounted thereon . The upper and lower clamping units 3 and 4 are linked by a bar 5. The upper clamping unit 3 is attached to the piston of a hydraulic piston and cylinder 7. Activation of the hydraulic piston and cylinder 7 moves the upper and lower clamping units 3 and 4 along the upper strut 2. A substantially vertical box-section lower strut 8 is attached to the upper strut 2 by a plate 9. The lower strut 8 is set back from the upper strut 2. A guide in the form of a clamping unit 10 is arranged near the lower end of the lower strut 8. The apparatus 1 is connectable to a standard pipe handling arm (not shown) in place of the known clamping device described hereinbefore via lug 11.
Each clamping unit 3, 4, 10 comprises two jaws 12, 13; 14, 15; 16, 17; each jaw 12 to 17 being pivotable about a respective pin 18, 19, 20, 21, 22, 23 by a hydraulic piston 24, 25, 26.
Each jaw 12 to 17 comprises an upper plate 27 to 32 and a lower plate 33 to 38 which are separated by bolts
39 to 50 onto which cylindrical rollers 51 to 62 are mounted so that the longitudinal axis of the cylindrical - 5 -
rollers 51 to 62 is substantially perpendicular to the upper and lower plates 27 to 38.
Each jaw 12 to 17 is attached to a lug 63, 64, 65. Lugs 63 and 64 are welded to respective sleeves 66 and 67 which are slidably arranged on the upper strut 2. Lug 65 is welded to an intermediary section 69 which in turn is welded to sleeve 68. The sleeve 68 is fixed to the lower strut 8 by grub screws (not shown) . The sleeve 68 may however be moved along lower strut 8. The jaws 12 to 17 of the clamping units 3, 4, 10 are substantially in vertical alignment with each other, and preferably to within a tolerance of a few millimetres .
In use, the apparatus 1 is connected to a pipe handling arm via lug 11. The pipe handling arm is generally movable in three planes . Such pipe handling arms are currently supplied by Varco BJTM such as the PLS-3TM Automatic pick-up/Lay-downs system and Martine HydraulicsTM such as the EagleTM and Eagle LightTM transfer system. A tubular 70 to be connected to the upper end of a tubular string 71 is picked up by the jaws 12, 13, 14, 15 of the clamping units 3, 4 from a rack (not shown) . The jaws 12, 13, 14, 15 of the clamping units 3, 4 move about pins 18, 19, 20, 21 by activation of the hydraulic pistons 24, 25. The rollers 51 to 58 engage with the tubular 70. The upper end of the tubular string 71 is held in a spider (not shown) in the rig floor (not shown) . The tubular 70 is then brought into approximate alignment, for example within a few centimetres of the upper section of the tubular string 71 by manipulation of the pipe handling arm to which apparatus 1 is connected.
The jaws 16, 17 of the clamping unit 10 move about pins 22, 23 by activation of the hydraulic pistons 26 and rollers 55 to 58 move circumjacent and engage the upper section of the tubular string 71. As the rollers 55 to - 6 -
58 move into engagement with the tubular string 71 the tubular 70 moves into alignment with the tubular string 71, such movement being permitted by the "slack" in the pipe handling arm. The tubular 70 is now in alignment with the upper section of the tubular string 71 to preferably within a few millimetres. The tubular 70 can now be lowered by activating the hydraulic piston 7. A threaded pin 72 of the tubular 70 locates in the threaded box 73 of the upper section of the tubular string 71. The lower strut 8 is set back from the tubular 70 and the upper section of the tubular string 71, to allow a tong and a back-up tong (not shown) to be used to screw the threaded pin 72 into the threaded box 73 to make the connection. Alternatively, a top drive (not shown) on the derrick may be used to screw the threaded pin 72 into the threaded box 73. The rollers 51 to 58 allow rotation of the tubular 70 whilst inhibiting a longitudinal movement thereof .
It is envisaged that various modifications may be made to the preferred embodiment including replacing hydraulic piston 7 with a pneumatic piston, which, with the appropriate control apparatus , will be able to compensate for the weight of the tubular 70 and minimise potential damage to the threads as the tubular 70 is lowered into the threaded box 73.
It should be noted that the clamp 10 could be replaced by a guide which could be slidable on the upper section of the tubular string 71 when closed thereabout. However, it is recommended that a clamp 10 should be used.

Claims

- 7 -CLAIMS
1. An apparatus for attachment to a pipe handling arm, which apparatus comprises a clamp (3, 4) for gripping a tubular (70) , characterised in that said apparatus further comprises means (10) for, in use, aligning said tubular (70) with another tubular (71) prior to connection thereof .
2. An apparatus as claimed in Claim 1 , wherein said means comprises a guide (10) .
3. An apparatus as claimed in Claim 2, wherein said clamp (3) and said guide (10) are movable in relation to each other, the arrangement being such that, in use, said tubular (70) can be brought closer to said another tubular (71) .
4. An apparatus as claimed in Claim 2 or 3 , wherein said clamp (3) and said guide (10) are arranged on a strut (2, 8) .
5. An apparatus as claimed in Claim 4, wherein at least one of said clamp (3) and said guide (10) is movable along said strut (2, 8) by a hydraulic piston and cylinder .
6. An apparatus as claimed in Claim 4 , wherein at least one of said clamp (3) and said guide (10) is movable along said strut (2, 8) by a pneumatic piston and cylinder (7) .
7. An apparatus as claimed in Claim 4 , 5 or 6 , wherein said strut is divided into a first portion (2) and a second portion (8) and said second portion (8) is offset from said first portion (2) .
8. An apparatus as claimed in any of Claims 2 to 6 , further comprising a second clamp (4) which is in a fixed relation to said clamp (3) .
9. An apparatus as claimed in any preceding claim, wherein said clamp (s) (3, 4) comprise jaws (12 to 17) movable between an open and a closed position. - 8 -
10. An apparatus as claimed in Claim 9, further comprising a hydraulic piston (24 to 26) to move said jaws (12 to 17) between their open and closed positions.
11. An apparatus as claimed in Claim 9 or 10, wherein said jaws (12 to 17) comprise cylindrical rollers (51 to
62) , to facilitate rotation of said tubular (70) whilst inhibiting axial movement thereof .
12. An apparatus as claimed in any preceding claim, further comprising a lug (11) for attachment to a pipe handling arm.
13. An apparatus as claimed in any preceding claim, wherein said guide (10) comprises a clamp.
14. A pipe handling arm provided with an apparatus as claimed in any preceding claim.
15. A method of handling a tubular to be connected to another tubular which method comprises the steps of :- gripping said tubular with an apparatus as claimed in any preceding claim; and using said apparatus to align said tubular with said another tubular.
PCT/GB1999/000432 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars WO1999041486A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE69910543T DE69910543T2 (en) 1998-02-14 1999-02-11 METHOD AND DEVICE FOR HANDLING HOLE PIPES
CA002325875A CA2325875A1 (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars
US09/600,764 US6550128B1 (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars
EP99905020A EP1055049B1 (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars
AU25328/99A AU2532899A (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars
US10/408,964 US7036202B2 (en) 1998-02-14 2003-04-08 Apparatus and method for handling of tubulars

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9803115.6 1998-02-14
GB9803115A GB2334270A (en) 1998-02-14 1998-02-14 Apparatus for attachment to pipe handling arm

Related Child Applications (3)

Application Number Title Priority Date Filing Date
US09/600,764 A-371-Of-International US6550128B1 (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars
US09600764 A-371-Of-International 1999-02-11
US10/408,964 Continuation US7036202B2 (en) 1998-02-14 2003-04-08 Apparatus and method for handling of tubulars

Publications (1)

Publication Number Publication Date
WO1999041486A1 true WO1999041486A1 (en) 1999-08-19

Family

ID=10826966

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1999/000432 WO1999041486A1 (en) 1998-02-14 1999-02-11 Apparatus and method for handling of tubulars

Country Status (7)

Country Link
US (2) US6550128B1 (en)
EP (1) EP1055049B1 (en)
AU (1) AU2532899A (en)
CA (1) CA2325875A1 (en)
DE (1) DE69910543T2 (en)
GB (1) GB2334270A (en)
WO (1) WO1999041486A1 (en)

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CN104481430A (en) * 2014-09-23 2015-04-01 英联鑫博(天津)机械制造有限公司 Excavating drilling machine drill pipe penetrating method

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GB2334270A (en) 1999-08-18
EP1055049B1 (en) 2003-08-20
GB9803115D0 (en) 1998-04-08
US20030167623A1 (en) 2003-09-11
AU2532899A (en) 1999-08-30
US7036202B2 (en) 2006-05-02
DE69910543T2 (en) 2004-06-24
US6550128B1 (en) 2003-04-22
CA2325875A1 (en) 1999-08-19
EP1055049A1 (en) 2000-11-29
DE69910543D1 (en) 2003-09-25

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