Abstract: A positioning and compensation system for a tubular element to be connected to a drill string includes a gripping arm assembly with a gripping device which holds the tubular element in a position for connection to the drill string, and a load supporting and compensating arrangement which supports at least a portion of a load of the tubular element. The load supporting and compensating arrangement includes a cylinder unit having a piston, a winch, a sheave which is connected to the gripping arm assembly, and a wire. The wire is arranged to run around the sheave with a first end being connected to the piston and a second end being connected to the winch. The winch and the cylinder unit are each arranged in a respective elevated position compared to a position of the sheave. The cylinder unit maintains a minimum tension in the wire.

Abstract: A positioning and compensation system for a tubular element to be connected to a drill string includes a gripping arm assembly with a gripping device which holds the tubular element in a position for connection to the drill string, and a load supporting and compensating arrangement which supports at least a portion of a load of the tubular element. The load supporting and compensating arrangement includes a cylinder unit having a piston, a winch, a sheave which is connected to the gripping arm assembly, and a wire. The wire is arranged to run around the sheave with a first end being connected to the piston and a second end being connected to the winch. The winch and the cylinder unit are each arranged in a respective elevated position compared to a position of the sheave. The cylinder unit maintains a minimum tension in the wire.

Abstract: A lifting arm arrangement includes a gripper head arm, a lifting arm, and a lifting cylinder. A gripper head is fastened to a first gripper head arm end. A first lifting arm end is pivotally connected to the gripper head arm. A second lifting arm end is pivotally connected to a stationary lifting cylinder part. A second gripper head arm end is pivotally connected to a movable lifting cylinder part. The stationary lifting cylinder part comprises a cylinder with a cylinder cavity having first and second cylinder openings. A piston rod with a piston is arranged in the cylinder cavity. A first piston rod portion projects from a first piston end of the piston. A second piston rod portion projects from an opposite second piston end of the piston. Working areas of the first and second piston ends are substantially equal to each other.

Abstract: A lifting arm arrangement includes a gripper head arm, a lifting arm, and a lifting cylinder. A gripper head is fastened to a first gripper head arm end. A first lifting arm end is pivotally connected to the gripper head arm. A second lifting arm end is pivotally connected to a stationary lifting cylinder part. A second gripper head arm end is pivotally connected to a movable lifting cylinder part. The stationary lifting cylinder part comprises a cylinder with a cylinder cavity having first and second cylinder openings. A piston rod with a piston is arranged in the cylinder cavity. A first piston rod portion projects from a first piston end of the piston. A second piston rod portion projects from an opposite second piston end of the piston. Working areas of the first and second piston ends are substantially equal to each other.