CN101812977A - Drilling platform pipe racking system and method - Google Patents

Drilling platform pipe racking system and method Download PDF

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Publication number
CN101812977A
CN101812977A CN200910009451A CN200910009451A CN101812977A CN 101812977 A CN101812977 A CN 101812977A CN 200910009451 A CN200910009451 A CN 200910009451A CN 200910009451 A CN200910009451 A CN 200910009451A CN 101812977 A CN101812977 A CN 101812977A
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China
Prior art keywords
drilling rod
rat hole
pipe
fixed
hole body
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CN200910009451A
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Chinese (zh)
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CN101812977B (en
Inventor
刘世滨
许爱兵
解彦刚
张卫萍
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北京Tsc海洋石油装备有限公司
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Publication of CN101812977A publication Critical patent/CN101812977A/en
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Publication of CN101812977B publication Critical patent/CN101812977B/en

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Abstract

The method disclose a drilling platform pipe racking system, which comprises a multi-station mouse hole, a derrick, a pipe grabbing mechanical hand and an iron roughneck, wherein the multi-station mouse hole at least provides two mouse hole-body drill stem insertion stations; a drill stem aligning device, a lifting cylinder, a drill steam buffer and a lifting pulley block are correspondingly arranged in the mouse hole body one to one; the pipe grabbing mechanical hand grabs drill stems in turn, puts the drill stems into the mouse hole body and joints the stems after the drill stems are pulled outside the mouse holes. The invention also discloses a method for racking pipes by the system. In the invention, a multi-station mouse hole structure providing at least two pipe racking stations is adopted, so two single pipes can be arranged in the mouse holes simultaneously; when the third single pipe is jointed, the third pipe can be directly connected with the rest single pipes; and thus, the production efficiency is greatly improved. Besides, the drill stem can be changed from a horizontal state into a vertical state by only one piece of equipment, namely the pipe holding mechanical hand, so the equipment use ratio is greatly improved, the space is saved and the equipment operation is simplified.

Description

Offshore boring island pipe system and comb method

Technical field

The present invention relates to a kind of wellbore construction equipment and method, particularly relate to a kind of offshore boring island pipe system and comb method.

Background technology

In the wellbore construction operation process, drilling rod butt joint is important comb operation wherein, and each comb quantity is three, needs twice of butt joint.Present offshore boring island pipe system, the general butt joint of adopting single station rat hole to finish drilling rod, after finishing butt joint for the first time, the drilling rod that butt joint need be finished takes out, temporarily place on other equipment, and then in single station hydraulic pressure rat hole, put into the 3rd drilling rod, and the drilling rod that has connected is fetched, finish butt joint.Said system because a comb station only is provided, so must after butt joint finishes for the first time drilling rod be taken out, is vacated station and is carried out next operation, needs to set interim storing unit, and increases handling process, inefficiency.

Summary of the invention

Technical problem to be solved by this invention is to solve the ineffective problem of offshore boring island pipe system.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention provides a kind of offshore boring island pipe system, comprises the multistation rat hole, derrick, grab pipe machine tool hand and iron driller, described multistation rat hole is used for fixing below offshore boring island, and provides at least two drilling rods to insert station; Described derrick is used for fixing on offshore boring island; Described grab pipe machine tool hand is fixed on the derrick, is used for the drilling rod that cat road machine is carried picked up putting into the rat hole body and proposing drilling rod from the rat hole body; Described iron driller is arranged on the offshore boring island, is used for the butt joint with two drilling rods.Wherein, described multistation rat hole device comprises top supporting frame, at least two rat hole bodies and with rat hole body drilling rod centralizer, lifting hydraulic cylinder, drilling rod buffer and the lifting pulley group of corresponding one by one configuration respectively, described top supporting frame is used for fixing on offshore boring island; Described rat hole body is arranged side by side respectively below top supporting frame and with it fixedlys connected, and has the through hole that leads to the rat hole intracoelomic cavity on the described top supporting frame, and this through hole is used for interspersed drilling rod; Described drilling rod centralizer is separately fixed on the top supporting frame and central axis overlaps with the central axis of rat hole body; Its underpart of described lifting hydraulic cylinder is fixed on respectively on the outer wall of rat hole body bottom; Described drilling rod buffer is slidingly arranged in respectively in the inner chamber of rat hole body; Fixed pulley group in the described lifting pulley group is fixed on respectively on the outer wall on rat hole body top, running block is connected with the top of lifting hydraulic cylinder respectively, wire rope one end in the lifting pulley group is fixed, the other end is walked around fixed pulley group and movable pulley and drilling rod buffer respectively and is fixed, and the flexible drive drilling rod buffer of lifting hydraulic cylinder is done elevating movement in the opposite direction.

Described grab pipe machine tool hand comprises support, lift cart, lift cart drive unit and robot device, and described support is provided with vertical guide rail; Described lift cart is slidingly arranged on the described guide rail; Described lift cart drive unit drives lift cart and moves up and down along guide rail; Described robot device comprises at least one mechanical arm, grab pipe arm, telescoping cylinder, telescopic arm and rotating cylinder, and described mechanical arm is used for the clamping drilling rod, be separately fixed at grab on the pipe arm and grasp opening downward; The tailpiece of the piston rod of described telescoping cylinder is fixed with the upper surface of grabbing the pipe arm, be fixed with on the upper left-hand face of described telescopic arm one with the Connection Block of this lateral vertical, the left end of this junction plate and the lower hinge of lift cart, the cylinder body of telescoping cylinder is fixed on the telescopic arm, and the flexible drive of telescopic arm piston rod is grabbed the pipe arm and moved up and down; The cylinder body of described rotating cylinder is fixed on the lift cart, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm, and the flexible drive telescopic arm of rotating cylinder piston rod becomes level around the pin joint rotation of its lift cart and by vertical state.

The present invention also provides and has used said system to carry out the method for comb, may further comprise the steps:

A, hang with the joint first drilling rod hung on the cat road machine, cat road machine with this drilling rod to drill centre side with carrying, arrive the precalculated position;

B, grab pipe machine tool hand become vertical state with drilling rod after this drilling rod is promoted certain altitude;

C, drilling rod is inserted drilling rod buffer in the first rat hole body in the multistation rat hole, and drive the lifting pulley group by lifting hydraulic cylinder and make this drilling rod drop to proper height;

Second drilling rod that cat road machine is carried picked up in the action of D, the heavy-handed multiple front of grab pipe machine tool;

E, will second drilling rod it is become vertical state after promoting certain altitude;

F, identical with step C will drop to proper height in the second rat hole body in second drilling rod insertion multistation rat hole;

The 3rd drilling rod that cat road machine is carried picked up in the action of G, the heavy-handed multiple front of grab pipe machine tool;

H, the 3rd drilling rod promoted and move to first drilling rod top in the first rat hole body, pass the drilling rod centralizer and two drilling rods are tightened, finish the butt joint of drilling rod by iron driller;

Two drilling rods that I, grab pipe machine tool hand will connect are mentioned, and move to the top of second drilling rod in the second rat hole body, and iron driller is tightened three drilling rods, finishes the butt joint of drilling rod;

Three drilling rods that J, grab pipe machine tool hand will connect withdraw, and deposit or use for rig.

Offshore boring island pipe system provided by the invention has adopted multistation rat hole structure, and at least two comb stations are provided, can simultaneously two single tubes be arranged in the rat hole, and after the 3rd single tube connects, can directly be connected, enhance productivity greatly with the single tube that is left.Simultaneously, by equipment of grab pipe machine tool hand just can finish drilling rod from level to vertical state, and finish the connection back work of drilling rod, therefore, utilization rate of equipment and installations improves greatly, saves the space, simplifying operation of equipment.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of multistation rat hole among the present invention;

Fig. 3 is the structural representation of grab pipe machine tool hand among the present invention;

Fig. 4~Figure 13 is a comb method flow diagram of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is made detailed explanation.

As shown in Figure 1, the present invention includes and comprise multistation rat hole 1, derrick 4, grab pipe machine tool hand 2 and iron driller 3, described multistation rat hole 1 is fixed on offshore boring island 5 belows, and provides at least two drilling rods to insert station; Described derrick 4 is fixed on the offshore boring island 5; Described grab pipe machine tool hand 2 is fixed on the derrick 4, is used for the drilling rod 40 that cat road machine 30 is carried picked up putting into the rat hole body and proposing drilling rod from the rat hole body; Described iron driller 3 is arranged on the offshore boring island, is used for the butt joint with two drilling rods.

As shown in Figure 2, described multistation rat hole comprises top supporting frame 11, two rat hole bodies 14,15 and with rat hole body 14,15 drilling rod centralizer 12, lifting hydraulic cylinder 16, drilling rod buffer 17 and the lifting pulley group 13 of corresponding one by one configuration respectively, described top supporting frame 11 is used for fixing on offshore boring island; Described rat hole body 14,15 be arranged side by side respectively below top supporting frame 11 and with its bolt, have two through holes that lead to rat hole body 14,15 inner chambers on the top supporting frame 11, this through hole is used for interting drilling rod; Described drilling rod centralizer 12 lays respectively at the below of top supporting frame 11, and central axis fixing with top supporting frame 11 overlaps with the central axis of rat hole body 14,15 respectively; The cylinder body of described lifting hydraulic cylinder 16 is separately fixed on the outer wall of rat hole body 14,15 bottoms, and piston rod upwards is slidingly arranged in respectively on the outer wall of rat hole body 14,15; Described drilling rod buffer 17 is slidingly arranged in respectively in the inner chamber of rat hole body 14,15; Be provided with two fixed pulleys and two movable pulley in the described lifting pulley group 13, wherein fixed pulley is separately fixed on the outer wall on rat hole body 14,15 tops, movable pulley is connected with the piston rod of lifting hydraulic cylinder respectively, wire rope one end in the lifting pulley group 12 is fixed, and it is fixing that the other end is walked around two fixed pulleys and two movable pulley and drilling rod buffer 17 respectively.

As shown in Figure 3, described robot device comprises lift cart 21, two mechanical arms 26, grabs pipe arm 25, telescoping cylinder 24, telescopic arm 23 and rotating cylinder 22, it is downward that described mechanical arm 26 is separately fixed at the two ends, the left and right sides and the grasp opening of grabbing pipe arm 25, is used for clamping drilling rod 40; The tailpiece of the piston rod of described telescoping cylinder 24 is fixed with the upper surface of grabbing pipe arm 25, be fixed with on the upper left-hand face of described telescopic arm 23 one with the Connection Block of this lateral vertical, the lower hinge of the left end of this Connection Block and lift cart 21, the cylinder body of telescoping cylinder 24 is fixed on the telescopic arm 23, and the flexible drive of telescopic arm 23 piston rods is grabbed pipe arm 25 and moved up and down; The cylinder body of described rotating cylinder 22 is fixed on the lift cart 21, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm 25, the flexible drive telescopic arm 23 of rotating cylinder 22 piston rods becomes level around the pin joint rotation of its lift cart 21 and by vertical state.

Fig. 4~Figure 13 uses said system to carry out the flow chart of comb operation.As Fig. 4~shown in Figure 9, described comb work flow is as follows:

A, hang with the joint first drilling rod hung on the cat road machine, cat road machine is carried this drilling rod to the drill centre direction, arrive the precalculated position;

B, grab pipe machine tool hand become vertical state with drilling rod after this drilling rod is promoted certain altitude;

C, drilling rod is inserted on the drilling rod buffer in the first rat hole body in the multistation rat hole, and drive the lifting pulley group by lifting hydraulic cylinder and make this drilling rod drop to proper height;

Second drilling rod that cat road machine is carried picked up in the action of D, the heavy-handed multiple front of grab pipe machine tool;

E, will second drilling rod it is become vertical state after promoting certain altitude;

F, identical with step C will drop to proper height in the second rat hole body in second drilling rod insertion multistation rat hole;

The 3rd drilling rod that cat road machine is carried picked up in the action of G, the heavy-handed multiple front of grab pipe machine tool;

H, the 3rd drilling rod promoted and move to first drilling rod top in the first rat hole body, pass the drilling rod centralizer and two drilling rods are tightened, finish the butt joint of drilling rod by iron driller;

Two drilling rods that I, grab pipe machine tool hand will connect are mentioned, and move to the top of second drilling rod in the second rat hole body, and iron driller is tightened three drilling rods, finishes the butt joint of drilling rod;

Three drilling rods that J, grab pipe machine tool hand will connect withdraw, and deposit or use for rig.

Introduce the action relationships of double rat hole and grab pipe machine tool hand below in detail:

One, double rat hole:

When carrying out drilling rod butt joint operation, the piston rod of lifting hydraulic cylinder 16 is moved downward, the motion of drive assembly pulley, so the drilling rod buffer 17 in the rat hole body 14 moves upward, reach 2 times of lifting hydraulic cylinder 16 strokes, first drilling rod is placed on the drilling rod buffer 17, the piston rod of lifting hydraulic cylinder 16 moves upward, driving drilling rod buffer 17 moves downward, so drilling rod moves downward, when the length of exposing when drilling rod is fit to take over, lifting hydraulic cylinder 16 stop motions, equally, in rat hole body 15, put into second drilling rod, the 3rd drilling rod docked with first, finish, from rat hole body 14, propose, again with rat hole body 15 in second dock.After finishing a circulation, circulation successively.

The present invention also can be separately fixed at the piston rod of lifting hydraulic cylinder 16 on the outer wall of rat hole body 14,15 bottoms, cylinder body is slidingly arranged in respectively on the outer wall of rat hole body 14,15, can realize that equally the flexible drive drilling rod buffer 17 of lifting hydraulic cylinder 16 piston rods oppositely moves up and down.

Two, grab pipe machine tool hand:

A. the mechanical arm 26 of grab pipe machine tool hand is picked up the level drilling rod of being carried by cat road machine 30 40;

B. lift cart 21 rises, rise to certain altitude after, rotating cylinder 22 stretches out, and drilling rod 40 is become vertically by level;

C. lift cart 21 descends, and drilling rod 40 is put into first rat hole;

D. grab pipe machine tool hand returns to pick up second drilling rod, becomes vertical back and descends, and puts into second rat hole;

E. grab pipe machine tool hand is grabbed the 3rd drilling rod, becomes vertical back and descends, and docks with second drilling rod, picks up after connecting;

F. telescoping cylinder 22 stretches out, and drilling rod is put into first rat hole, and three drilling rods are linked to be one.

The present invention is not limited to above-mentioned preferred forms; anyone should learn the structural change of making under enlightenment of the present invention; for example when connecing four or more the time; can be designed to a plurality of stations such as three station rat holes or four station rat holes; every have identical or close technical scheme with the present invention, all falls within protection scope of the present invention.

Claims (3)

1. offshore boring island pipe system comprises:
The multistation rat hole is used for fixing below offshore boring island, and provides at least two drilling rods to insert station;
Derrick is used for fixing on offshore boring island;
Grab pipe machine tool hand is fixed on the derrick, is used for the drilling rod that cat road machine is carried picked up putting into the rat hole body and proposing drilling rod from the rat hole body;
Iron driller is arranged on the offshore boring island, is used for the butt joint with two drilling rods;
It is characterized in that,
Described multistation rat hole comprises:
Top supporting frame is used for fixing on offshore boring island;
At least two rat hole bodies are arranged side by side respectively below top supporting frame and with it and fixedly connected, and have the through hole that leads to the rat hole intracoelomic cavity on the described top supporting frame, and this through hole is used for interspersed drilling rod;
With the drilling rod centralizer of the corresponding one by one configuration of rat hole body, be separately fixed on the top supporting frame and central axis overlaps with the central axis of rat hole body;
With the lifting hydraulic cylinder of the corresponding one by one configuration of rat hole body, its underpart is fixed on respectively on the outer wall of rat hole body bottom;
With the drilling rod buffer of the corresponding one by one configuration of rat hole body, be slidingly arranged in respectively in the inner chamber of rat hole body;
Lifting pulley group with the corresponding one by one configuration of rat hole body, fixed pulley group wherein is fixed on respectively on the outer wall on rat hole body top, running block is connected with the top of lifting hydraulic cylinder respectively, wire rope one end in the lifting pulley group is fixed, the other end is walked around fixed pulley group and movable pulley and drilling rod buffer respectively and is fixed, and the flexible drive drilling rod buffer of lifting hydraulic cylinder is done elevating movement in the opposite direction.
2. offshore boring island pipe system as claimed in claim 1 is characterized in that described grab pipe machine tool hand, comprising:
Vertical guide rail is fixed on the described derrick;
Lift cart is slidingly arranged on the described guide rail;
The lift cart drive unit drives lift cart and moves up and down along guide rail;
At least one mechanical arm is used for the clamping drilling rod;
Grab the pipe arm, described mechanical arm be separately fixed at grab the pipe arm on and grasp opening downward;
Telescoping cylinder, its tailpiece of the piston rod is fixed with the upper surface of grabbing the pipe arm;
Telescopic arm, be fixed with on its upper left-hand face one with the Connection Block of this lateral vertical, the left end of this Connection Block and the lower hinge of lift cart, the cylinder body of described telescoping cylinder is fixed on the telescopic arm, and the flexible drive of telescopic arm piston rod is grabbed the flexible drive that the pipe arm moves up and down the telescopic arm piston rod and grabbed the telescopic moving of pipe arm;
Rotating cylinder, its cylinder body is fixed on the lift cart, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm, the flexible drive telescopic arm of rotating cylinder piston rod becomes level around the pin joint rotation of its lift cart and by vertical state.
3. use the method that offshore boring island pipe system as claimed in claim 1 carries out comb, it is characterized in that may further comprise the steps:
A, hang with the joint first drilling rod hung on the cat road machine, cat road machine is carried this drilling rod to the drill centre direction, arrive the precalculated position;
B, grab pipe machine tool hand become vertical state with drilling rod after this drilling rod is promoted certain altitude;
C, drilling rod is inserted drilling rod buffer in the first rat hole body in the multistation rat hole, and drive the lifting pulley group by lifting hydraulic cylinder and make this drilling rod drop to proper height;
Second drilling rod that cat road machine is carried picked up in the action of D, the heavy-handed multiple front of grab pipe machine tool;
E, will second drilling rod it is become vertical state after promoting certain altitude;
F, identical with step C will drop to proper height in the second rat hole body in second drilling rod insertion multistation rat hole;
The 3rd drilling rod that cat road machine is carried picked up in the action of G, the heavy-handed multiple front of grab pipe machine tool;
H, the 3rd drilling rod promoted and move to first drilling rod top in the first rat hole body, pass the drilling rod centralizer and two drilling rods are tightened, finish the butt joint of drilling rod by iron driller;
Two drilling rods that I, grab pipe machine tool hand will connect are mentioned, and move to the top of second drilling rod in the second rat hole body, and iron driller is tightened three drilling rods, finishes the butt joint of drilling rod;
Three drilling rods that J, grab pipe machine tool hand will connect withdraw, and deposit or use for rig.
CN200910009451A 2009-02-25 2009-02-25 Drilling platform pipe racking system and method CN101812977B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN200910009451A CN101812977B (en) 2009-02-25 2009-02-25 Drilling platform pipe racking system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN200910009451A CN101812977B (en) 2009-02-25 2009-02-25 Drilling platform pipe racking system and method

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CN101812977B CN101812977B (en) 2012-10-10

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102536193A (en) * 2010-12-31 2012-07-04 中国石油天然气集团公司 Heavy-load pipe arranging robot
CN102606092A (en) * 2012-03-29 2012-07-25 吉林大学 Hanging type adaptive automatic drill pipe string discharge device
CN103032034A (en) * 2011-10-07 2013-04-10 科伊罗财产有限及两合公司电子数据处理-服务两合公司 Method for managing drilling rods, drilling tools, borehole piping and the like for boreholes
CN103615204A (en) * 2013-12-13 2014-03-05 北京Tsc海洋石油装备有限公司 Pipe discharging system for semi-automatically feeding and discharging drill rods
CN104060951A (en) * 2014-05-28 2014-09-24 中国石油集团渤海石油装备制造有限公司 Intelligent drilling tool moving and discharging system for marine drilling platform and application method of intelligent drilling tool moving and discharging system
CN104278957A (en) * 2014-09-30 2015-01-14 中国石油集团川庆钻探工程有限公司长庆钻井总公司 Device for automatically moving drill pipes onto and off drill floor
CN104727759A (en) * 2015-01-21 2015-06-24 武汉理工大学 Well workover oil tube centering system
CN105003210A (en) * 2015-07-07 2015-10-28 刘伟 Drill pipe lifting device
CN105275415A (en) * 2015-11-16 2016-01-27 宝鸡石油机械有限责任公司 Full-automatic continuous drilling rig
CN106285517A (en) * 2016-11-04 2017-01-04 宝鸡石油机械有限责任公司 Oil-well rig sets up root system and method with double rat hole off-lines
CN106837211A (en) * 2017-03-04 2017-06-13 烟台杰瑞石油装备技术有限公司 A kind of horizontal sliding formula dynamic rathole device
WO2017133561A1 (en) * 2016-02-05 2017-08-10 四川宏华石油设备有限公司 Automated drilling rig
CN110615359A (en) * 2019-09-09 2019-12-27 中国葛洲坝集团机械船舶有限公司 Continuous hoisting operation device and method for vertical section of S-shaped tunnel

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102536193B (en) * 2010-12-31 2015-09-09 中国石油天然气集团公司 A kind of heavy-load pipe arranging robot
CN102536193A (en) * 2010-12-31 2012-07-04 中国石油天然气集团公司 Heavy-load pipe arranging robot
EP2578797B1 (en) 2011-10-07 2017-05-03 KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG Method for managing drilling rods, drilling tools, borehole piping and the like for boreholes
CN103032034A (en) * 2011-10-07 2013-04-10 科伊罗财产有限及两合公司电子数据处理-服务两合公司 Method for managing drilling rods, drilling tools, borehole piping and the like for boreholes
CN103032034B (en) * 2011-10-07 2015-12-16 科伊罗财产有限及两合公司电子数据处理-服务两合公司 For managing the method for the probing parts such as drilling rod, boring bar tool, borehole casing
CN102606092A (en) * 2012-03-29 2012-07-25 吉林大学 Hanging type adaptive automatic drill pipe string discharge device
CN103615204A (en) * 2013-12-13 2014-03-05 北京Tsc海洋石油装备有限公司 Pipe discharging system for semi-automatically feeding and discharging drill rods
CN103615204B (en) * 2013-12-13 2015-12-16 天时海洋工程及石油装备研究院(青岛)有限公司 The pipe system of gang drill bar is sent in semi-automation
CN104060951A (en) * 2014-05-28 2014-09-24 中国石油集团渤海石油装备制造有限公司 Intelligent drilling tool moving and discharging system for marine drilling platform and application method of intelligent drilling tool moving and discharging system
CN104278957A (en) * 2014-09-30 2015-01-14 中国石油集团川庆钻探工程有限公司长庆钻井总公司 Device for automatically moving drill pipes onto and off drill floor
CN104727759A (en) * 2015-01-21 2015-06-24 武汉理工大学 Well workover oil tube centering system
CN104727759B (en) * 2015-01-21 2017-01-11 武汉理工大学 Well workover oil tube centering system
CN105003210B (en) * 2015-07-07 2017-07-25 刘伟 Drill stem hoisting device
CN105003210A (en) * 2015-07-07 2015-10-28 刘伟 Drill pipe lifting device
CN105275415A (en) * 2015-11-16 2016-01-27 宝鸡石油机械有限责任公司 Full-automatic continuous drilling rig
WO2017133561A1 (en) * 2016-02-05 2017-08-10 四川宏华石油设备有限公司 Automated drilling rig
CN106285517A (en) * 2016-11-04 2017-01-04 宝鸡石油机械有限责任公司 Oil-well rig sets up root system and method with double rat hole off-lines
CN106837211A (en) * 2017-03-04 2017-06-13 烟台杰瑞石油装备技术有限公司 A kind of horizontal sliding formula dynamic rathole device
CN110615359A (en) * 2019-09-09 2019-12-27 中国葛洲坝集团机械船舶有限公司 Continuous hoisting operation device and method for vertical section of S-shaped tunnel

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