CN108397140B - Oil pipe righting mechanism and closed oil pipe external cutting device applying same - Google Patents

Oil pipe righting mechanism and closed oil pipe external cutting device applying same Download PDF

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Publication number
CN108397140B
CN108397140B CN201810249624.5A CN201810249624A CN108397140B CN 108397140 B CN108397140 B CN 108397140B CN 201810249624 A CN201810249624 A CN 201810249624A CN 108397140 B CN108397140 B CN 108397140B
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China
Prior art keywords
righting
cutter
revolving body
roller
cylinder
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CN201810249624.5A
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CN108397140A (en
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杨颖辉
李书杰
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Xin'an Mudanjiang Petroleum Drilling Tools Fittings Factory
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Xin'an Mudanjiang Petroleum Drilling Tools Fittings Factory
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Priority to CN201810249624.5A priority Critical patent/CN108397140B/en
Publication of CN108397140A publication Critical patent/CN108397140A/en
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/10Wear protectors; Centralising devices, e.g. stabilisers
    • E21B17/1078Stabilisers or centralisers for casing, tubing or drill pipes
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B29/00Cutting or destroying pipes, packers, plugs or wire lines, located in boreholes or wells, e.g. cutting of damaged pipes, of windows; Deforming of pipes in boreholes or wells; Reconditioning of well casings while in the ground
    • E21B29/002Cutting, e.g. milling, a pipe with a cutter rotating along the circumference of the pipe
    • E21B29/007Cutting, e.g. milling, a pipe with a cutter rotating along the circumference of the pipe with a radially-retracting cutter rotating outside the pipe
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Crushing And Pulverization Processes (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

Oil pipe righting mechanism and use its closed oil pipe external cutting device relates to petroleum machinery technical field, including casing (1) and establish the solid of revolution subassembly in casing (1), be equipped with drive arrangement (2) on casing (1) and pass through gear (3) and be connected with the solid of revolution subassembly, the solid of revolution subassembly is equipped with resistance component and righting subassembly in a section of thick bamboo intracavity, and resistance component includes resistance section of thick bamboo (4), friction disc (5), pressing spring (6) and friction hub (7), right the subassembly and include gyro wheel thrust section of thick bamboo (8), gyro wheel righting arm (9) and right gyro wheel (10). The hydraulic well repairing device has the advantages of reasonable design, good cutting effect, high working efficiency, safety and reliability, and can be used for well repairing operation of a well repairing machine under pressure, and when in use, the hydraulic well repairing device is arranged in a high-pressure section of the well repairing operation device under pressure and between two groups of blowout preventers. The oil pipe righting mechanism can actively align the oil pipe with the center of the cutter, so that the cutting is not eccentric, and the cutter striking phenomenon is avoided.

Description

Oil pipe righting mechanism and closed oil pipe external cutting device applying same
Technical Field
The invention relates to the technical field of petroleum machinery, in particular to an oil pipe righting mechanism and a closed type oil pipe external cutting device using the same.
Background
The existing annular sealing technology of the pressurized operation device is basically mature and reliable, but the internal blocking technology of a plurality of downhole tools at the bottom of the well is always difficult. The domestic unit develops an operation flow that the retractable spear blanking plug is matched with the totally-enclosed flashboard to pour out the underground tool without internal blockage, and the operation under pressure is completed below the blanking plug at the lowest end; this procedure requires the provision of a tubing port in the high pressure lumen of the apparatus that can be fished and closed on the upper end using a retractable spear blanking plug, which requires the pressurized working device to be able to trip a designated joint in the high pressure lumen of the device or to cut the tubing string directly at the desired location.
Because the upper end of the oil pipe is necessarily in a closed state (otherwise, blowout happens) during the operation under pressure, the traditional oil pipe internal cutter cannot be adopted for cutting operation, and the cutting device can only be arranged in a high-pressure inner cavity of the operation device under pressure to complete the cutting operation.
The scheme of circular cutting by using cutters for circular cutting is difficult in ensuring concentricity at present, and the cutters are eccentric during cutting, so that part of the pipe wall is cut through when the cutting is carried out in the later period, and part of the pipe wall is connected together, and the cutters rotating around the pipe column can generate the phenomenon of cutter striking.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems, the oil pipe righting mechanism and the closed type oil pipe external cutting device using the same are provided.
The technical scheme of the invention is as follows: the oil pipe righting mechanism comprises a shell and a revolving body component arranged in the shell, wherein a driving device is arranged on the shell and is connected with the revolving body component through a gear to drive the revolving body component to rotate in the shell, the revolving body component is a cylindrical body, a resistance component and a righting component are arranged in a cylindrical cavity of the revolving body component, the resistance component comprises a resistance cylinder, a friction plate, a pressing spring and a friction hub, the resistance cylinder is connected with the shell and is connected with the friction hub through the friction plate, the pressing spring is propped against the friction plate to press the resistance cylinder, the righting component comprises a roller thrust cylinder, a roller righting arm and a righting roller, the roller thrust cylinder is provided with a righting window for the righting roller to pass through, the roller thrust cylinder is connected with the friction hub and rotates along with the roller thrust cylinder, the righting roller is rotatably fixed at the free end of the roller righting arm, the middle section of the roller righting arm is provided with a righting driving roller, and the cylindrical cavity wall of the revolving body component is provided with an arc-shaped right roller which is gradually approaching from outside to inside and is matched with the righting driving roller to drive the roller righting arm to make the righting roller approach to the central position.
The invention has the technical effects that: the hydraulic well repairing device has the advantages of reasonable design, good cutting effect, high working efficiency, safety and reliability, and can be used for well repairing operation of a well repairing machine under pressure, and when in use, the hydraulic well repairing device is arranged in a high-pressure section of the well repairing operation device under pressure and between two groups of blowout preventers. The oil pipe righting mechanism can actively align the oil pipe with the center of the cutter, so that the cutting is not eccentric, and the cutter striking phenomenon is avoided.
Drawings
FIG. 1 is a schematic cross-sectional view of the present invention;
FIG. 2 is a schematic view of the structure of the rotor, cutter and driving ramp thereof according to the present invention;
FIG. 3 is a schematic view of the cutter return slot of the present invention;
FIG. 4 is a schematic view of the structure of the righting assembly and its arcuate righting surface in accordance with the present invention;
fig. 5 is a schematic structural view of the righting return channel of the present invention.
Description of the embodiments
As shown in fig. 1 to 5, the oil pipe righting mechanism comprises a shell 1 and a revolving body component arranged in the shell 1, wherein a driving device 2 is arranged on the shell 1 and connected with the revolving body component through a gear 3, the revolving body component is a cylindrical body, a resistance component and a righting component acting as a righting pipe column are arranged in a cylinder cavity of the revolving body component, the resistance component comprises a resistance cylinder 4, a friction plate 5, a pressing spring 6 and a friction hub 7, the resistance cylinder 4 is connected with the shell 1 through a spline, the resistance cylinder 4 is connected with the friction hub 7 through the friction plate 5, the pressing spring 6 is propped against the friction plate 5 to press the friction plate, the righting component comprises a roller thrust cylinder 8, a roller righting arm 9 and a righting roller 10, the roller thrust cylinder 8 is provided with a righting window 11 used for righting the roller 10, the roller thrust cylinder 8 is connected with the friction hub 7 and rotates along with the roller thrust cylinder, one end of the roller righting arm 9 is hinged outside the roller thrust cylinder 8 and rotates along with the roller thrust cylinder, the righting roller 10 is rotatably fixed at the free end of the roller righting arm 9, the middle section of the roller righting arm 9 is provided with a righting cylinder 12, and the roller thrust cylinder 12 is arranged in the middle section of the roller righting arm 9 is gradually close to the driving position of the roller component to the roller 13, which is driven by the right roller 13, and is close to the driving the righting roller 10, and is used for driving the righting roller 13, and is close to the righting component, and is used for driving the righting roller 13. The number of the righting rollers 10 is at least three.
The cylinder cavity wall of the revolving body assembly is provided with a centralizing return groove 14, the roller centralizing arm 9 is provided with a centralizing return part 15 extending into the centralizing return groove 14, and the roller centralizing arm 9 is matched with the centralizing return part 15 through the centralizing return groove 14 in the process of relative rotation of the revolving body assembly and the roller thrust cylinder 8 so as to enable the roller centralizing arm 9 to return. The return mode can also adopt conventional structures such as a return spring and the like.
The revolving body assembly is provided with a centralizing lower cover 16 below the roller centralizing arm 9, and the centralizing return groove 14 is arranged on the centralizing lower cover 16.
The driving device 2 is a hydraulic motor.
The sealed oil pipe external cutting device is characterized in that a cutting assembly is arranged in a cylinder cavity of the rotary body assembly, the cutting assembly comprises a cutter cylinder 17, a cutter rod 18 and a cutter 19, the cutter cylinder 17 is provided with a cutter window 20 for the cutter 19 to pass through, the cutter cylinder 17 is connected with the friction hub 7 and rotates along with the friction hub, one end of the cutter rod 18 is hinged outside the cutter cylinder 17 and rotates along with the cutter cylinder 17, the cutter 19 is arranged at the free end of the cutter rod 18, a cutter driving roller 21 is arranged at the middle section of the cutter rod 18, and a cylinder cavity wall of the rotary body assembly is provided with a driving slope 22 matched with the cutter driving roller 21 and used for driving the cutter rod 18 to enable the cutter 19 to approach to the center position. The roller thrust cylinder 8 is connected with the friction hub 7 through a cutter cylinder 17.
The cylinder cavity wall of the revolving body assembly is provided with a cutter return groove 23, the cutter bar 18 is provided with a cutter return part 24 extending into the cutter return groove 23, and the cutter bar 18 is matched with the cutter return part 24 through the cutter return groove 23 in the process of relative rotation of the revolving body assembly and the cutter cylinder 17 so as to return the cutter bar 18.
The revolving body assembly comprises a revolving body upper cover 25, a revolving body 26 and a revolving body lower cover 27, wherein the revolving body upper cover 25, the revolving body 26 and the revolving body lower cover 27 are arranged from top to bottom and are detachably connected together, the resistance component is arranged on the revolving body upper cover 25, the cutting component is arranged on the revolving body 26, the righting component is arranged on the revolving body lower cover 27, the driving slope 22 is arranged on the inner wall of the revolving body 26, and the cutter return groove 23 is arranged on the end face of the revolving body upper cover 25 and/or the revolving body lower cover 27.
The enclosed oil pipe cutter belongs to special equipment in petroleum and natural gas industry, the drilling equipment is of the type with high pressure working cavity in the cavity, and the casing needs to bear the pressure of medium in the well during operation. And cutting off the appointed section of the pipe string in the inner cavity of the high-voltage equipment. The cutting operation is performed by a safety slip of the lower blowout preventer stack, and an upper traveling or fixing slip is required to fix the cut pipe string.
The shell consists of an upper shell, a lower shell and a connecting flange which is arranged on the upper shell and serves as an end cover, a closed inner cavity which can bear pressure is formed, and the connecting flange is fixedly connected with the upper shell through a locking piece. The upper shell and the lower shell are fixed by bolts. The resistance cylinder is connected with the connecting flange through a spline. The outer diameter of the revolving body is provided with teeth, and is connected with a motor through a gear.
The resistance part consists of a friction hub with internal teeth, a resistance cylinder with external teeth, a friction plate lower cover fixed below the resistance cylinder, an external tooth friction plate, an internal tooth friction plate, an external thrust tooth friction plate with a spring assembly groove, a compression spring, a friction plate upper cover pressed on the spring and an elastic retainer ring for holes, and the working property of the resistance part is a set of multi-plate clutch with fixed resistance (see figure 1). The upper teeth of the resistance cylinder are meshed with the connecting flange of the upper shell so as to keep the resistance cylinder not rotating, the lower teeth of the resistance cylinder are meshed with the internal tooth friction plate, and the bottom of the resistance cylinder is fixed with the lower cover of the friction plate through bolts. These parts do not rotate during operation, constituting the stationary components of the clutch.
The upper part of the friction hub is internally provided with threads and a cutting groove, the upper cover of the friction plate is provided with external threads, the spiral compression spring can be compressed after the friction hub is screwed in, and then the hole elastic retainer ring is arranged in the groove of the friction hub so as to limit the highest position of the upper cover of the friction plate and avoid loosening. These portions may be rotated in operation by the cutter assembly, constituting the rotating assembly of the clutch.
The friction area can be changed by adjusting the quantity or the material of the external tooth friction plates and the internal tooth friction plates; by adjusting the size and number of compression springs, the contact pressure between the friction plates can be varied. Two adjustment methods determine the amount of resistive torque provided by the resistive portion.
The inside of the revolving body is provided with a slope cavity structure, a plurality of groups of cutter pushing curves are arranged in the slope cavity, each curve is composed of a slope arc section, a steep slope straight line section (driving slope) and a transitional arc between the slope arc section and the steep slope straight line section, and the back of the steep slope straight line section is a cutter withdrawal pushing section. The steep straight line section forms an acute angle with a straight line passing through the theoretical circle center of the part, and the cutting and feeding actions are completed in the steep straight line section.
During cutting operation, the rotary driving assembly pushes the cutting driving assembly to rotate, at the moment, the whole cutting working assembly does not rotate under the influence of friction resistance of a resistance part in the cutting working assembly, the slope cavity of the revolving body pushes the roller to move towards the circle center, and the cutter bar mounting seat and the cutter arranged at the front end of the cutter bar mounting seat move towards the circle center at a higher speed.
When the cutter point of the cutter is in contact with the surface of the cut pipe column, the contact surface of the slope cavity and the roller is a steep straight line section, and the thrust of the steep straight line section to the roller can be decomposed into two component forces: the thrust to the center of the part and the thrust to the circumferential direction of the contact point are smaller than the thrust to the circumferential direction of the contact point because the steep slope straight line section forms an acute angle with the straight line passing through the theoretical center of the part; because the knife tip of the cutter is blocked by the pipe column and does not advance any more, the driving force of the rotary driving assembly starts to rise until the friction resistance of the resistance part in the cutting working assembly is overcome, and at the moment, the cutter assembly drives the resistance part clutch rotary assembly to start to rotate. The cutter point of the cutter after starting to rotate applies two forces to the cut tubular column at the same time, namely two cutting forces for cutting operation: the thrust to the center of a circle is cutting radial feeding force, the thrust to the circumferential direction of the contact point is main cutting force, the component force of the resistance torque provided by the resistance part in the direction of the center of a circle is minimum cutting radial feeding force of the system, and the residual force of the driving force provided by the rotary driving assembly after overcoming the torque of the resistance assembly is main cutting force.
When the revolving body rotates in the cutting operation, the centralizing roller rolls and climbs on the centralizing slope surface in the lower section of the lower cover of the revolving body, and is pushed by the centralizing slope surface to enable the front end of the roller centralizing arm to move towards the center of the whole machine until the centralizing roller on the front roller shaft contacts a tubular column to be cut, and the surface of the tubular column is pressed to roll, so that centralizing effect is realized.
After passing through the roller centering arm, the rear roller shaft in the roller centering assembly extends downwards to the return groove of the centering lower cover. When the rotary driving assembly pushes the cutting driving assembly to reversely rotate after cutting is completed, the inner edge line of the return groove of the centralizing lower cover pushes the rear roller shaft to move outwards, so that the roller centralizing arm returns to the maximum unfolding state.

Claims (7)

1. The oil pipe righting mechanism comprises a shell (1) and a revolving body component arranged in the shell (1), wherein a driving device (2) is arranged on the shell (1) and connected with the revolving body component through a gear (3), the revolving body component is driven to rotate in the shell (1), the revolving body component is a cylindrical body, a resistance component and a righting component are arranged in a cylinder cavity of the revolving body component, the resistance component comprises a resistance cylinder (4), a friction plate (5), a pressing spring (6) and a friction hub (7), the resistance cylinder (4) is connected with the shell (1), the resistance cylinder (4) is connected with the friction hub (7) through the friction plate (5), the pressing spring (6) abuts against the friction plate (5) to press the friction cylinder, the righting component comprises a roller thrust cylinder (8), a roller righting arm (9) and a righting roller (10), the roller thrust cylinder (8) is provided with a righting window (11) for righting the roller (10) to pass through, one end of the roller thrust cylinder (8) is connected with the friction hub (7) and rotates along with the friction hub, the roller righting arm (9) is hinged to the outside the roller thrust cylinder (8) and rotates along with the friction hub (7), the roller is provided with a righting arm (9) to be rotatably fixed at the middle section of the roller (9), the cylinder cavity wall of the revolving body component is provided with an arc-shaped righting surface (13) which gradually approaches from outside to inside and is matched with a righting driving roller (12) to drive a roller righting arm (9) to enable the righting roller (10) to approach to the center position.
2. The oil pipe righting mechanism according to claim 1, characterized in that a righting return groove (14) is formed in the cylinder cavity wall of the revolving body assembly, a righting return portion (15) extending into the righting return groove (14) is formed in the roller righting arm (9), and in the process that the revolving body assembly and the roller thrust cylinder (8) rotate relatively, the roller righting arm (9) is matched with the righting return portion (15) through the righting return groove (14) to enable the roller righting arm (9) to return.
3. The oil pipe righting mechanism according to claim 2, characterized in that the revolving body assembly is provided with a righting lower cover (16) below the roller righting arm (9), and the righting return groove (14) is arranged on the righting lower cover (16).
4. Tubing centralizing mechanism according to claim 1, characterized in that the driving means (2) is a hydraulic motor.
5. The closed type oil pipe external cutting device using the oil pipe righting mechanism according to any one of claims 1 to 4, characterized in that the rotary body component is provided with a cutting component in a cylinder cavity, the cutting component comprises a cutter cylinder (17), a cutter rod (18) and a cutter (19), the cutter cylinder (17) is provided with a cutter window (20) for the cutter (19) to pass through, the cutter cylinder (17) is connected with the friction hub (7) and rotates along with the friction hub, one end of the cutter rod (18) is hinged outside the cutter cylinder (17) and rotates along with the cutter cylinder (17), the cutter (19) is arranged at the free end of the cutter rod (18), the middle section of the cutter rod (18) is provided with a cutter driving roller (21), and the cylinder cavity wall of the rotary body component is provided with a driving slope (22) matched with the cutter driving roller (21) for driving the cutter rod (18) to enable the cutter (19) to approach to the center position.
6. The sealed oil pipe external cutting device according to claim 5, wherein a cutter return groove (23) is formed in a cylinder cavity wall of the revolving body assembly, a cutter return part (24) extending into the cutter return groove (23) is formed in the cutter rod (18), and the cutter rod (18) is matched with the cutter return part (24) through the cutter return groove (23) to enable the cutter rod (18) to return in the process that the revolving body assembly and the cutter cylinder (17) rotate relatively.
7. The closed type oil pipe external cutting device according to claim 6, wherein the revolving body assembly comprises a revolving body upper cover (25), a revolving body (26) and a revolving body lower cover (27), the revolving body upper cover (25), the revolving body (26) and the revolving body lower cover (27) are arranged from top to bottom and are detachably connected together, the resistance component is arranged on the revolving body upper cover (25), the cutting assembly is arranged on the revolving body (26), the righting assembly is arranged on the revolving body lower cover (27), the driving slope (22) is arranged on the inner wall of the revolving body (26), and the cutter return groove (23) is arranged on the end face of the revolving body upper cover (25) and/or the revolving body lower cover (27).
CN201810249624.5A 2018-03-26 2018-03-26 Oil pipe righting mechanism and closed oil pipe external cutting device applying same Active CN108397140B (en)

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CN201810249624.5A CN108397140B (en) 2018-03-26 2018-03-26 Oil pipe righting mechanism and closed oil pipe external cutting device applying same

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Application Number Priority Date Filing Date Title
CN201810249624.5A CN108397140B (en) 2018-03-26 2018-03-26 Oil pipe righting mechanism and closed oil pipe external cutting device applying same

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CN108397140B true CN108397140B (en) 2023-06-16

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6453999B1 (en) * 1998-02-23 2002-09-24 Weatherford/Lamb, Inc. Centralizer
CN2779040Y (en) * 2005-01-18 2006-05-10 田海滨 Partial abrasion proof centralizer of pumping rod
CN201221326Y (en) * 2008-07-08 2009-04-15 阜新驰宇石油机械有限公司 Oil tubing tong
CN201428397Y (en) * 2009-06-23 2010-03-24 邵峰 Polish rod centralizer of oil extractor
CN203189603U (en) * 2013-04-09 2013-09-11 甘肃蓝科石化高新装备股份有限公司 Novel elastic damping righting frame
CN204609823U (en) * 2015-05-19 2015-09-02 克拉玛依市轩辕石油科技有限公司 Adjustable auto-strengthening piston rod sealer for pumping oil
CN106351594A (en) * 2016-10-10 2017-01-25 杨颖辉 Closed hydraulic tongs
CN206458348U (en) * 2017-02-10 2017-09-01 西南石油大学 A kind of erection device for horizontal wellbore logging instrument
CN107654204A (en) * 2017-09-14 2018-02-02 吴晰 Screw pump cam-type righting turnover panel anchor

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Publication number Priority date Publication date Assignee Title
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Publication number Priority date Publication date Assignee Title
US6453999B1 (en) * 1998-02-23 2002-09-24 Weatherford/Lamb, Inc. Centralizer
CN2779040Y (en) * 2005-01-18 2006-05-10 田海滨 Partial abrasion proof centralizer of pumping rod
CN201221326Y (en) * 2008-07-08 2009-04-15 阜新驰宇石油机械有限公司 Oil tubing tong
CN201428397Y (en) * 2009-06-23 2010-03-24 邵峰 Polish rod centralizer of oil extractor
CN203189603U (en) * 2013-04-09 2013-09-11 甘肃蓝科石化高新装备股份有限公司 Novel elastic damping righting frame
CN204609823U (en) * 2015-05-19 2015-09-02 克拉玛依市轩辕石油科技有限公司 Adjustable auto-strengthening piston rod sealer for pumping oil
CN106351594A (en) * 2016-10-10 2017-01-25 杨颖辉 Closed hydraulic tongs
CN206458348U (en) * 2017-02-10 2017-09-01 西南石油大学 A kind of erection device for horizontal wellbore logging instrument
CN107654204A (en) * 2017-09-14 2018-02-02 吴晰 Screw pump cam-type righting turnover panel anchor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
程冲 ; 倪骁骅 ; 李呈祥 ; 刘青.带压作业油管扶正装置的设计与研究.机械工程与自动化.2016,无(第01期),116-117. *

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