CN107489382A - Well drilling top drive and the application method of safety platform protection device - Google Patents
Well drilling top drive and the application method of safety platform protection device Download PDFInfo
- Publication number
- CN107489382A CN107489382A CN201710779164.2A CN201710779164A CN107489382A CN 107489382 A CN107489382 A CN 107489382A CN 201710779164 A CN201710779164 A CN 201710779164A CN 107489382 A CN107489382 A CN 107489382A
- Authority
- CN
- China
- Prior art keywords
- suspension ring
- driven
- drive
- suspension
- winch
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- 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
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- 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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
Abstract
The present invention relates to a kind of well drilling top drive and the application method of safety platform protection device.Top is driven and is separately installed with suspension ring position detecting switch at the forward tilted positions and reclined position of suspension ring, and suspension ring suspension detection switch is provided with middle levitation position, to judge that the location status of suspension ring is driven on top；Encoder is installed on described winch, when the roller on winch rotates a circle, the exportable multiple pulse recordings of encoder；Central controller indicates that the height in derrick is driven on top by encoder recording impulse number；Processing comparison is carried out by the way that the height driven in the position of suspension ring and top is driven on top in central controller, realizes the anticollision of quadruple board platform position.Beneficial effect is：Top is driven and two independent device systems of winch organically combine, it compensate for the deficiency each in design, the security of equipment operation can be greatly improved, effectively prevent because other serious related accidents that human error causes top to drive suspension ring collision safety platform and thus bring.
Description
Technical field
The present invention relates to a kind of oil-well drilling equipment, more particularly to a kind of well drilling top drive and safety platform protection device
Application method.
Background technology
Top drive is the cutting edge technology and equipment of current oil drilling, can complete drill string rotating drilling, circulating fluid, connect
A variety of drill-well operations such as single, upper shackle and back reaming, present various types of rigs are more and more equipped with top and driven, various tops
It is consistent that agent structure, which is driven, with operation principle, although the function of pushing up drive is very powerful, is existed in wellbore construction one very big
Potential safety hazard be：Top drive needed when making a trip ceaselessly repeat suspension ring lean forward, hypsokinesis, suspension（Middle position）Process, while
Mentioned on repeating on quadruple board platform and lower section is to the up and down motion process of well head, this is a kind of necessary operational procedure；Normally
Operation be not pipe pendant lean forward or hypsokinesis must click again suspension or middle position button, suspension ring keep plumbness when
Top can be made to drive uplink and downlink, it is therefore an objective to avoid suspension ring from pushing up the upper and lower motion of drive in heeling condition and cause hanging, touch quadruple board platform.Drive certainly on top
The various operations of body and top are completely self-contained two control systems between driving up and down motion, without any interlock protection, but
Both are closely connected mutually in suspension ring state aspect in normal wellbore construction, and the front and rear space at quadruple board platform is small and top is driven
There was only tens centimeters of spacing between body, suspension ring angle of inclination is slightly larger may to encounter quadruple board platform, normally connect column or trip-out
When angle necessarily exceed maximum allowable angle, such case is frequently encountered in normal construction technology, made each
The drilling team driven with top has been multiple both collision accidents of generation, and the frequency totally occurred is that comparison is high.This problem is once sent out
Life can cause very serious consequence, and top is driven and quadruple board platform is directly damaged, the operating personnel on quadruple board platform come to harm；Quadruple board platform
Position be about 26 meters high left and right, not only problem is difficult to processing and there may also be high-altitude junk to threaten in well head staff, also
Wellbore construction various aspects can be influenceed indirectly.This severe compromise probability of happening is higher, depends operating personnel alone and artificially protects
Reliability is too poor, causes personnel's pressure big, nervous.
The content of the invention
The purpose of the present invention is aiming at drawbacks described above existing for prior art, there is provided two layers of a kind of well drilling top drive and derrick
The application method of platform protection device, the security of equipment is improved, reduce or prevent the generation of this problem, it is strong to mitigate worker's work
Degree.
A kind of well drilling top drive that the present invention mentions and safety platform protection device, including top are driven（1）, guide rail（2）, two layers
Platform（3）, rig floor（4）, top drive suspension ring（5）, derrick（6）, overhead traveling crane（7）, winch（8）, roller instrument axis（9）, described rig floor（4）
On be fixed with derrick（6）, derrick（6）Top overhead traveling crane is installed（7）, and derrick（6）Guide rail is inside installed（2）, rig floor（4）'s
Top is provided with quadruple board platform（3）, the quadruple board platform（3）It is fixed on derrick（6）Middle part, steel wire rope one end connection top drive（1）, separately
One end bypasses overhead traveling crane（7）It is connected to winch（8）, described top is driven（1）Bottom be provided with top drive suspension ring（5）, suspension ring are driven on top（5）
Can realize lean forward, hypsokinesis, suspension action, it is characterized in that：Drive suspension ring in described top（5）Forward tilted positions and reclined position punishment
Suspension ring position detecting switch is not installed, suspension ring suspension detection switch is provided with middle levitation position, to judge that suspension ring are driven on top
Location status；In described winch（8）Upper installation encoder, when the roller on winch rotates a circle, encoder is exportable more
Individual pulse recording；Central controller indicates that top is driven by encoder recording impulse number（1）Height in derrick；By in center
The position of suspension ring is driven on top in controller and top is driven（1）Height carry out processing comparison, realize quadruple board platform（3）The anti-collision of position
Hit.
Above-mentioned position signalling and the top drive of top being driven in central controller suspension ring（1）Altitude signal, the two progress
Processing is compared, if detecting that top drives suspension ring and is in heeling condition, once height of racking platform of the height in the derrick of setting is driven on top
In the range of, central controller just gives one brake control signal of winch, allows Winch automatic braking, is simultaneously emitted by sound and light alarm letter
Number, prevent human error suspension ring from colliding safety platform；Suspension ring, which are driven, on other height tops of derrick may be at free position, this
Sample does not influence the normal construction of equipment normal operating and drilling well；In addition, top drive pull out of hole when top drive close to quadruple board platform when speed compared with
When fast, setting shifts to an earlier date a segment distance and carries out early warning, reminds driller to slow down.
Above-mentioned central controller uses the high speed processor of SIEMENS PLC -200, and suspension ring are driven on described top（5）Position of leaning forward
The place of putting is provided with the suspension ring position detecting switch that leans forward（5.1）, hypsokinesis suspension ring position detecting switch is installed at reclined position
（5.2）, suspension ring suspension detection switch is provided with middle levitation position（5.3）；The input of central controller is connected with keyboard, and
Suspension ring position detecting switch and suspension ring suspension detection switch and encoder, output end connection display are connected, and controls brake defeated
Go out and warning output.
Drive suspension ring in above-mentioned top（5）Forward tilted positions be no more than 30 degree, reclined position is no more than 50 degree；Drive and hang in described top
Ring（5）When by quadruple board platform, its forward tilted positions is no more than 15 degree.
The well drilling top drive that the present invention mentions and the application method of safety platform protection device, comprise the following steps：
（1）Drive the detection of height in top：Encoder is installed on winch, when roller rotates a circle, the exportable multiple pulses of encoder
Record, in addition by winch drum diameter, drilling well rope diameter, the roller starting number of turn, crown sheave number and rope are that initial data is defeated
Enter into controller；
（2）Drive forward tilted positions and the reclined position detection of suspension ring in top：Drive suspension ring in top（5）Forward tilted positions and reclined position at distinguish
Suspension ring position detecting switch is installed, suspension ring suspension detection switch is provided with middle levitation position, the signal of detection is input to
Kept in central controller；In addition, the height number of setting is changed by keyboard and inputs the various parameters needed for computed altitude；
（3）If receiving signal caused by suspension ring suspension detection switch, central controller is failure to actuate, and top drive can be in derrick
Freely moved up and down in the range of full-height；If this suspension is not received when reaching the scope above and below the height of racking platform of setting
Or middle position detection signal, control system will export, the output, can according to the different winch brake of different rig Type Controls
It is finally in order to control winch brake, simultaneously to be that 24VDC signals can also be by the gas circuit of solenoid valve control brake system
Send sound and light alarm signal；
（4）In addition, the speed when altitude range on quadruple board platform is transferred is driven on top does not have to pre-decelerating more slowly, top is driven from approaching during trip-out
, it is necessary to which a segment distance carries out early warning in advance during speed during quadruple board platform, prompting driller is slowed down, and therefore, is set more than quadruple board platform 2
When rice drives suspension ring to top in 5 meters below the quadruple board platform altitude ranges between this and tilted, top drive can not move up and down in itself, braking machine
Structure action is braked and alarmed.
The beneficial effects of the invention are as follows：The present invention, which has, to have wide range of applications, is convenient for installation and maintenance, be simple to operate, reacting
The advantages of sensitive, by on-the-spot test, design requirement is fully achieved；The present invention drives top and two independent device systems of winch
Organically combine, compensate for the deficiency each in design, the security of equipment operation can be greatly improved, effectively prevent because
Cause top to drive other serious related accidents that suspension ring collide safety platform and thus brought for human error, realize equipment sheet
Matter safe, effectively reduce the labor intensity of operator and nervous degree；Effectively reduce equipment safety hidden danger and operation
Risk, maintenance of equipment expense is reduced, meet company QHSE requirements.
Brief description of the drawings
Accompanying drawing 1 is the integral installation schematic diagram of the present invention；
Accompanying drawing 2 is the control principle drawing of the present invention；
Accompanying drawing 3 is that leaning forward and hypsokinesis schematic diagram for suspension ring is driven on the top of the present invention；
In upper figure：1, guide rail 2, quadruple board platform 3, rig floor 4, top drive suspension ring 5, derrick 6, overhead traveling crane 7, winch 8, roller instrument axis 9 are driven in top,
Lean forward suspension ring position detecting switch 5.1, hypsokinesis suspension ring position detecting switch 5.2, suspension ring suspension detection switch 5.3.
Embodiment
With reference to accompanying drawing 1-3, the invention will be further described：
1, guide rail 2, quadruple board platform 3, rig floor are driven in a kind of well drilling top drive that the present invention mentions and safety platform protection device, including top
4th, suspension ring 5, derrick 6, overhead traveling crane 7, winch 8, roller instrument axis 9 are driven in top, and derrick 6, the top of derrick 6 are fixed with described rig floor 4
Portion is provided with overhead traveling crane 7, and guide rail 2 is provided with derrick 6, and the top of rig floor 4 is provided with quadruple board platform 3, and the quadruple board platform 3 is fixed on well
The middle part of frame 6, one end connection top of steel wire rope drive 1, and the other end is connected to winch 8 around overhead traveling crane 7, and 1 bottom is driven on described top
Be provided with top drive suspension ring 5, top drive suspension ring 5 can realize lean forward, hypsokinesis, suspension action, it is characterized in that：Drive suspension ring 5 in described top
Forward tilted positions and reclined position at be separately installed with suspension ring position detecting switch, at middle levitation position be provided with suspension ring suspend
Detection switch, to judge that the location status of suspension ring is driven on top；Encoder is installed on described winch 8, when the roller rotation on winch
Circle, the exportable multiple pulse recordings of encoder；Central controller indicates that top drives 1 in derrick by encoder recording impulse number
In height；By the way that the height that the position of suspension ring is driven on top and pushes up drive 1 is carried out processing comparison in central controller, two layers are realized
The anticollision of the position of platform 3.
It is above-mentioned in central controller top drive the position signalling of suspension ring and top drive 1 altitude signal, at the two
Reason compares, if detecting that top drives suspension ring and is in heeling condition, once height of racking platform model of the height in the derrick of setting is driven on top
In enclosing, central controller just gives one brake control signal of winch, allows Winch automatic braking, is simultaneously emitted by sound and light alarm signal,
Prevent human error suspension ring from colliding safety platform；Suspension ring are driven on other height tops of derrick and may be at free position, so
The normal construction of equipment normal operating and drilling well is not influenceed；In addition, speed when top is driven close to quadruple board platform when pulling out of hole is driven on top
When, setting shifts to an earlier date a segment distance and carries out early warning, reminds driller to slow down.
Above-mentioned central controller uses the high speed processor of SIEMENS PLC -200, and the forward tilted positions of suspension ring 5 are driven on described top
Place is provided with the suspension ring position detecting switch 5.1 that leans forward, and hypsokinesis suspension ring position detecting switch 5.2 is provided with reclined position, middle
Suspension ring suspension detection switch 5.3 is provided with levitation position；The input of central controller is connected with keyboard, and connects suspension ring position
Detection switch and suspension ring suspension detection switch and encoder, output end connection display, and control brake output and warning output.
The forward tilted positions that suspension ring 5 are driven on above-mentioned top are no more than 30 degree, and reclined position is no more than 50 degree；Drive suspension ring in described top
5 when by quadruple board platform, and its forward tilted positions is no more than 15 degree.Wherein, suspension ring 5 are driven on top）Angle of inclination be that normal production is driven on top
Prerequisite function；In addition to convenient operation reduces when rigger's labor intensity stretches out all as close to rigger.
The well drilling top drive that the present invention mentions and the application method of safety platform protection device, comprise the following steps：
（1）Drive the detection of height in top：Encoder is installed on winch, when roller rotates a circle, the exportable multiple pulses of encoder
Record, in addition by winch drum diameter, drilling well rope diameter, the roller starting number of turn, crown sheave number and rope are that initial data is defeated
Enter into controller；
（2）Drive forward tilted positions and the reclined position detection of suspension ring in top：Top is driven pacifies respectively at the forward tilted positions and reclined position of suspension ring 5
Equipped with suspension ring position detecting switch, suspension ring suspension detection switch is provided with middle levitation position, during the signal of detection is input to
Kept in the controller of centre；In addition, the height number of setting is changed by keyboard and inputs the various parameters needed for computed altitude；
（3）If receiving signal caused by suspension ring suspension detection switch, central controller is failure to actuate, and top drive can be in derrick
Freely moved up and down in the range of full-height；If this suspension is not received when reaching the scope above and below the height of racking platform of setting
Or middle position detection signal, control system will export, the output, can according to the different winch brake of different rig Type Controls
It is finally in order to control winch brake, simultaneously to be that 24VDC signals can also be by the gas circuit of solenoid valve control brake system
Send sound and light alarm signal；
（4）In addition, the speed when altitude range on quadruple board platform is transferred is driven on top does not have to pre-decelerating more slowly, top is driven from approaching during trip-out
, it is necessary to which a segment distance carries out early warning in advance during speed during quadruple board platform, prompting driller is slowed down, and therefore, is set more than quadruple board platform 2
When rice drives suspension ring to top in 5 meters below the quadruple board platform altitude ranges between this and tilted, top drive can not move up and down in itself, braking machine
Structure action is braked and alarmed.
The mode that the present invention realizes is exactly to drive increase by one between suspension ring working condition and the up and down motion for pushing up drive on top to have
Effect ground interlock, ensureing that top is driven when suspension ring tilt can not could freely be led to by quadruple board platform, only suspension ring in plumbness
Cross quadruple board platform.To reach the purpose needs, accurately the height that the position of suspension ring and top are driven is driven on detection top, and passes through central controller
The relation of both "AND" is realized in internal program setting.Top is driven for the invention and two separate systems of winch are organically contacted and existed
Together, the Essential Safety of whole device is realized.
It is described above, only it is the part preferred embodiment of the present invention, any those skilled in the art may profit
Equivalent technical scheme is changed or is revised as with the technical scheme of above-mentioned elaboration.Therefore, the technology according to the present invention
Any simple modification or substitute equivalents that scheme is carried out, belong to the greatest extent the scope of protection of present invention.
Claims (1)
1. a kind of well drilling top drive and the application method of safety platform protection device, comprise the following steps：
（1）Drive the detection of height in top：Encoder is installed on winch, when roller rotates a circle, the exportable multiple pulses of encoder
Record, in addition by winch drum diameter, drilling well rope diameter, the roller starting number of turn, crown sheave number and rope are that initial data is defeated
Enter into controller；
（2）Drive forward tilted positions and the reclined position detection of suspension ring in top：Drive suspension ring in top（5）Forward tilted positions and reclined position at distinguish
Suspension ring position detecting switch is installed, suspension ring suspension detection switch is provided with middle levitation position, the signal of detection is input to
Kept in central controller；In addition, the height number of setting is changed by keyboard and inputs the various parameters needed for computed altitude；
（3）If receiving signal caused by suspension ring suspension detection switch, central controller is failure to actuate, and top drive can be in derrick
Freely moved up and down in the range of full-height；If this suspension is not received when reaching the scope above and below the height of racking platform of setting
Or middle position detection signal, control system will export, the output is adopted according to the different winch brake of different rig Type Controls
With 24VDC signals either by the gas circuit of solenoid valve control brake system, it is finally to control winch brake, is simultaneously emitted by
Sound and light alarm signal；
（4）In addition, the speed when altitude range on quadruple board platform is transferred is driven on top does not have to pre-decelerating more slowly, top is driven from approaching during trip-out
, it is necessary to which a segment distance carries out early warning in advance during speed during quadruple board platform, prompting driller is slowed down, and therefore, is set more than quadruple board platform 2
When rice drives suspension ring to top in 5 meters below the quadruple board platform altitude ranges between this and tilted, top drive can not move up and down in itself, braking machine
Structure action is braked and alarmed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710779164.2A CN107489382B (en) | 2016-03-16 | 2016-03-16 | The application method of well drilling top drive and safety platform collision-proof protector |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710779164.2A CN107489382B (en) | 2016-03-16 | 2016-03-16 | The application method of well drilling top drive and safety platform collision-proof protector |
| CN201610151102.2A CN105672870B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform collision-proof protector |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610151102.2A Division CN105672870B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform collision-proof protector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107489382A true CN107489382A (en) | 2017-12-19 |
| CN107489382B CN107489382B (en) | 2019-06-21 |
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ID=56310811
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710783716.7A Active CN107620589B (en) | 2016-03-16 | 2016-03-16 | Petroleum drilling equipment |
| CN201710778981.6A Expired - Fee Related CN107654199B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform protective device |
| CN201610151102.2A Withdrawn - After Issue CN105672870B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform collision-proof protector |
| CN201710779164.2A Active CN107489382B (en) | 2016-03-16 | 2016-03-16 | The application method of well drilling top drive and safety platform collision-proof protector |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710783716.7A Active CN107620589B (en) | 2016-03-16 | 2016-03-16 | Petroleum drilling equipment |
| CN201710778981.6A Expired - Fee Related CN107654199B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform protective device |
| CN201610151102.2A Withdrawn - After Issue CN105672870B (en) | 2016-03-16 | 2016-03-16 | Well drilling top drive and safety platform collision-proof protector |
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| CN107620589B (en) * | 2016-03-16 | 2020-08-04 | 濮阳市胜安德石油机械设备有限公司 | Petroleum drilling equipment |
| CN107939780B (en) * | 2017-10-16 | 2019-10-25 | 中国石油天然气集团公司 | It a kind of top drives special remote control and declines type hydraulic control method, device and system |
| CN109372490B (en) * | 2018-08-31 | 2022-07-05 | 四川宏华电气有限责任公司 | Drilling ZMS area management system and method |
| CN111852318B (en) * | 2019-04-29 | 2022-05-06 | 中国石油天然气集团有限公司 | Anti-collision protection system for top drive and derrick two-layer platform |
| CN112196518B (en) | 2019-11-26 | 2021-05-04 | 中国科学院地质与地球物理研究所 | Drilling method, device, equipment and medium based on image recognition |
| CN111146855B (en) * | 2020-01-14 | 2020-12-25 | 成都华阳石油钻采配件有限责任公司 | Digital safety LED four-protection instrument |
| CN112901136A (en) * | 2021-01-29 | 2021-06-04 | 中石化石油工程技术服务有限公司 | Drilling machine brake and comprehensive protection moving system |
| CN113374463A (en) * | 2021-08-12 | 2021-09-10 | 中石化西南石油工程有限公司 | Integrated automatic early warning and collision prevention device for drilling machine suspension system |
| CN114604794A (en) * | 2022-01-25 | 2022-06-10 | 四川宏华电气有限责任公司 | System and method for controlling position of winch of oil rig |
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2016
- 2016-03-16 CN CN201710783716.7A patent/CN107620589B/en active Active
- 2016-03-16 CN CN201710778981.6A patent/CN107654199B/en not_active Expired - Fee Related
- 2016-03-16 CN CN201610151102.2A patent/CN105672870B/en not_active Withdrawn - After Issue
- 2016-03-16 CN CN201710779164.2A patent/CN107489382B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7810584B2 (en) * | 2006-09-20 | 2010-10-12 | Smith International, Inc. | Method of directional drilling with steerable drilling motor |
| CN103256010A (en) * | 2008-02-29 | 2013-08-21 | 国民油井华高有限合伙公司 | Method of assembling drilling rigs |
| CN201221322Y (en) * | 2008-07-22 | 2009-04-15 | 宝鸡石油机械有限责任公司 | Novel petroleum well drilling hoisting system and headframe |
| CN102765669A (en) * | 2012-07-20 | 2012-11-07 | 胜利油田高原石油装备有限责任公司 | Pulley drive balance type lifting system for drilling machine |
| CN102828697A (en) * | 2012-09-18 | 2012-12-19 | 国民油井华高石油设备（上海）有限公司 | Telescopic overall hoisting derrick device and hoisting method thereof |
| CN203420643U (en) * | 2013-08-09 | 2014-02-05 | 中国石油天然气集团公司 | Double-racking-platform constructed A-type drilling derrick |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105672870A (en) | 2016-06-15 |
| CN107489382B (en) | 2019-06-21 |
| CN107620589B (en) | 2020-08-04 |
| CN105672870B (en) | 2018-03-16 |
| CN107654199A (en) | 2018-02-02 |
| CN107620589A (en) | 2018-01-23 |
| CN107654199B (en) | 2019-05-24 |
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Address after: 257081 No. 36, Qilianshan Road, Dongying District, Dongying City, Shandong Province Patentee after: Shandong hande automation control equipment Co.,Ltd. Address before: 257081 No. 8 Liupanshan Road, Dongying District, Dongying City, Shandong Province Patentee before: DONGGUAN HANDE AUTOMATION INTEGRATION CO.,LTD. |