CN108533194A - Land rig quadruple board platform automatic tube-arranging system - Google Patents
Land rig quadruple board platform automatic tube-arranging system Download PDFInfo
- Publication number
- CN108533194A CN108533194A CN201810514789.0A CN201810514789A CN108533194A CN 108533194 A CN108533194 A CN 108533194A CN 201810514789 A CN201810514789 A CN 201810514789A CN 108533194 A CN108533194 A CN 108533194A
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- board platform
- quadruple board
- rotating mechanism
- automatic tube
- sliding block
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000005553 drilling Methods 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000004880 explosion Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 241000269793 Cryothenia peninsulae Species 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
Land rig quadruple board platform automatic tube-arranging system, include the two-deck table mechanical arm on quadruple board platform and the rig floor auxiliary manipulator on rig floor, two-deck table mechanical arm includes translation mechanism, translation mechanism includes guide rail and sliding block, sliding block is installed on guide rail, sliding block is connected by bolt with rotating mechanism, rotating mechanism is connected with parallelogram mechanism, the clamping device for holding drill pipe is provided on parallelogram mechanism, drilling rod on thribble discharge frame is sent into elevator by clamping device, parallel mechanism is located above rotating mechanism, parallelogram mechanism is run along guide rail, angle is converted by rotating mechanism；The rig floor auxiliary manipulator for transporting drilling rod is provided with below elevator, main function of the present invention is to complete drilling rod from quadruple board platform fingerboard to the reciprocating movement well head center, it can safely and efficiently be worked according to a pre-set procedure, to make operating personnel be detached from heavy manual labor, improves operating efficiency, realizes rig automation.
Description
Technical field
The present invention relates to petroleum machinery land rig quadruple board platform comb technical field more particularly to land rig quadruple board platforms certainly
Dynamic pipe system.
Background technology
In Process of Oil Well Drilling, thribble needs constantly to be stored in or remove quadruple board platform fingerboard frame.Per one thribble of raising,
It just needs drilling rod being transplanted in drill-pipe stand box from pithead position.Often transfer a thribble, it is necessary to by drilling rod from pipe setback
It is transplanted on pithead position.This process often repeats.Whole process needs rigger to stretch out manipulator on quadruple board platform to arrive
Thribble is connected on tourist bus (or removing) by well head center, it is also necessary to which platform driller carries out shackle operation.Pipe racking
Operation needs multi agent cooperation to complete jointly, and when being made a trip, drilling well staff (driller, rigger and driller) must be close
Suit work, any one man operation error may all cause other staff to come to harm.In addition, quadruple board platform is apart from raised platform around a well about 26.5
Rice, the safety of rigger's working at height cannot be guaranteed.It can be seen that in traditional drilling well work, work circumstances safe is poor, and work is numerous
Trivial labor intensive, drilling efficiency be not high.
Automatic tube-arranging system technology in the application of offshore oil drilling platform is more ripe at present, used in ocean platform
Automatic tube-arranging systems bulky is not suitable for the common K-type derrick of land drilling platforms, and cost is higher in addition, therefore in land
Ground drilling platforms is equipped with less.
Invention content
For overcome the deficiencies in the prior art, the present invention provides land rig quadruple board platform automatic tube-arranging system, system dress
Set main function be complete drilling rod from quadruple board platform fingerboard to the reciprocating movement well head center, can be according to preset journey
Sequence is safely and efficiently worked, and to make operating personnel be detached from heavy manual labor, is improved operating efficiency, is realized drilling machine certainly
Dynamicization.
To achieve the goals above, the invention is realized by the following technical scheme：
Land rig quadruple board platform automatic tube-arranging system includes two-deck table mechanical arm on quadruple board platform with mounted on boring
Rig floor auxiliary manipulator on platform, the two-deck table mechanical arm include translation mechanism 1, and translation mechanism 1 includes guide rail 8 and sliding block
9, sliding block 9 is installed on guide rail 8, sliding block 9 is connected by bolt with rotating mechanism 2, rotating mechanism 2 and parallelogram mechanism 3
It is connected, the clamping device 4 for holding drill pipe 5 is provided on parallelogram mechanism 3, clamping device 4 will be located at thribble and discharge
Drilling rod 5 on frame 6 is sent into elevator 7, and the translation mechanism 1 is located at 2 top of rotating mechanism, drive parallelogram mechanism 3 and
Clamping device 5 is run along guide rail 8, and angle is converted by rotating mechanism 2；
3 meters of distant places of well head are provided with the rig floor for transporting drilling rod 5 on the 7 lower section rig floor of elevator and assist machinery
Hand.
Axle bed 17 is provided on the rotating mechanism 2, the axle bed 17 on rotating mechanism 2 and parallelogram mechanism 3
Fixed upper plate 19 connects, and is provided with four extending arms 23 on parallelogram mechanism 3, the other end of extending arm 23 is provided with connection
Plate 25, connecting plate 25 are connect with clamping device 4.
The rotating mechanism 2 includes retarder 1, and retarder 1 is connect with one 17 upper end of rotary shaft, rotary shaft one
17 are driven by fire-proof motor 1, and reinforcing plate 12 is cased in rotary shaft 1 and is fixed in fixing shell 15, thrust
Bearing 14 is sequentially arranged at friction shim 16 in rotary shaft 1.
The parallelogram mechanism 3 includes two connecting shafts 20, and two connecting shafts 20 are mounted on fixed upper plate 19,
Retarder 2 18 is provided in one of connecting shaft 20, retarder 2 18 is driven by fire-proof motor 2 22, the connection
20 both sides of axis are provided with extending arm 23 and fixed end cap 21.
The clamping device 4 includes the back seat 26 being connect with sliding block 9, and back seat 26 is fixed on shell 35, on back seat 26
It is provided with electric putter 27,27 front end of electric putter is connect with shaft end sliding block 28 to be fixed by positioning pin 29, and slide block guide rail 33 is rolled with limit
Wheel 34 is fixed on shell 35, and sliding block 28 connects mechanical grip finger 31 by push rod 32.
The limit catch 30 of 31 operation of mechanical grip finger is set on the shell 35.
The rig floor auxiliary manipulator include include the pedestal 37 being fixed on rig floor, 37 inside setting of pedestal is dynamic
Motor 40,37 upper surface of pedestal are provided with turntable 38, and power motor 40 is connected with turntable 38, and support is disposed on turntable 38
Arm 44 and No.1 extending arm 46, No.1 extending arm 46 are internally provided with No. two extending arms 48, and No. two 48 end sets of extending arm have
Grabbing device.
The grabbing device includes the mechanical paw support plate 50 being connected with No. two extending arms 48, mechanical paw support plate
The linear motor that promising mechanical gripper refers to 52 offer power is set on 50, is covered by shell 49 on the outside of linear motor, straight-line electric
The motor shaft of machine is connect by connecting rod 51 with gripper finger 52, and gripper finger 52 is fixed in support plate 50.
It is provided on the support arm 44 for controlling its flexible No.1 hydraulic cylinder 43, the No.1 extending arm 46
On be provided with No. two hydraulic cylinders 45 for controlling its lifting, be provided on described No. two extending arms 48 flexible for controlling it
No. three hydraulic cylinders 47.
The pedestal 37 is fixed on by strong magnetic-disc 39 on rig floor.
The power motor 40 is connected with connecting shaft helical gear 41, and connecting shaft helical gear 41 is nibbled with the gear 42 on turntable 38
It closes.
Beneficial effects of the present invention：
The device can be rapidly and accurately completion during making a trip, thribble is transported to pipe setback by elevator automatically
Pipe rack and sequence successively, and thribble is transported to the two processes from elevator from pipe setback.The two courses of work can
Intersect repeatedly and be performed a plurality of times, two-deck table mechanical arm and rig floor auxiliary manipulator close fit are safe and efficient to complete the defeated of drilling rod
Send task.The system stability and high degree of automation can further decrease the labor intensity of staff and to drilling rod thread
And damage caused by the body of rod；In addition, the device can meet the conveying requirement of Multiple Type drilling rod, and various adverse circumstances are adapted to,
The needs for meeting various well sites, greatly improve drilling efficiency.
Description of the drawings
Fig. 1 schematic structural views of the invention.
Fig. 2 is mechanical structure front view of the present invention.
Fig. 3 is left view of the present invention.
Fig. 4 is vertical view of the present invention.
Fig. 5 rig floor auxiliary manipulator front views.
Fig. 6 rig floor auxiliary manipulator vertical views.
Specific implementation mode
The present invention is described in detail with reference to the accompanying drawings.
As shown in Figure 1：Quadruple board platform automatic tube-arranging system includes translation mechanism 1, rotating mechanism 2,3 and of parallelogram mechanism
Clamping device 4, parallel mechanism 1 are located at 2 top of rotating mechanism, are installed on the guide rail 8 inside rotating mechanism 2 and parallel mechanism 1
Sliding block 9 is by being bolted；The axle bed 17 of rotating mechanism 3 is connect with the fixation upper plate 19 of parallelogram mechanism 3；Parallelogram
Lower connecting plate 25 in mechanism 3 is connect with clamping device 4.
The translation mechanism 1 is made of guide rail 8 and sliding block 9.
As shown in Figure 2：The rotating mechanism 2, by fixing shell 15, fire-proof motor 1, retarder 1, rotary shaft
One 17, thrust bearing 14, friction shim 16, reinforcing plate 12 form, and wherein fire-proof motor 1 is mounted in fixing shell 15；Subtract
Fast device 1 is connect with fire-proof motor 1；Retarder 1 is connect with one 17 upper end of rotary shaft；Reinforcing plate 12 is sleeved on rotary shaft
On one 17 and it is fixed in fixing shell 15；Thrust bearing 14 is sequentially arranged at friction shim 16 in rotary shaft.
As shown in Fig. 2 Fig. 3：The parallelogram mechanism 3, by fixed upper plate 19, two connecting shafts 20, fire-proof motors two
22, the fixed end cap 21 of the extending arm 23, four of retarder 2 18, four, lower connecting plate 25 form, wherein fire-proof motor 2 22 with subtract
Fast device 2 18 is connected and fixed on fixed upper plate 19；Two connecting shafts 20 are mounted on fixed upper plate 19；Retarder 2 18 with
Wherein 20 shaft end of a connecting shaft connection；Four 23 one end of extending arm connect one end with fixed cover board 21 and connect with lower connecting plate 25
It connects；Four fixed end caps 21 are separately mounted to the both ends of two connecting shafts 20.
As shown in Figure 4：The clamping device 4 is pressed from both sides by electric putter connection back seat 26, electric putter 27, shaft end sliding block 28, machinery
It holds finger 31,30, two push rods 32 of limit catch, slide block guide rail 33, limited roller 34, shell 35 to form, wherein connecting back seat
26 are fixed on the shell 35 being connect with lower connecting plate 25；27 rear end of electric putter is fixed with the connection of back seat 26 is connect by positioning pin 36；
27 front end of electric putter is connect with shaft end sliding block 28 to be fixed by positioning pin 29；Slide block guide rail 33 is consolidated by screw respectively with limited roller 34
It is scheduled on shell 35；Two 32 one end of push rod, 28 one end of connection shaft end sliding block connection mechanical grip finger 31, junction is all made of
It is hinged；Limit catch 30 is fixed on shell 35 to be fixed by screw, is used for the movement locus of limit mechanical holding finger 31.
Rotating mechanism 2 is to drive all mechanisms in two-deck table mechanical arm in addition to translation mechanism while rotating, and rotation is always
Vertical with 1 guide rail of translation mechanism, drilling rod 5 is not parallel with rotary shaft always in the process of moving, in quadruple board platform machinery
During hand mobile drilling rod 5, drilling rod 5 can tilt, behind by rig floor auxiliary manipulator righting.Parallelogram mechanism 3 by
The angle of motor internal driving transformation and translation mechanism guide level.The operation principle of the present invention：
After control system sends out the instruction for taking drilling rod to device, two-deck table mechanical arm translation mechanism 1, which is started to work, to be driven
2 parallelogram mechanism of rotating mechanism, 3 clamping device 4 is moved to 8 designated position of guide rail simultaneously, is moved to bit parallel quadrangle machine
Structure 3 works, and four extending arms 23, which stretch out, is located at 6 lower section of thribble discharge frame, and extending arms 23 is waited to reach designated position, clamping device 4
Drilling rod 5 is surrounded, mechanical grip finger 31 is stretched out and clamped, and then extending arm 23 is retracted, and translation mechanism 1 works, and is moved to well head
It works, is rotated by 90 ° towards elevator 7, rotation finishes close to the specified limit position of elevator 7, rotating mechanism 2 on the guide rail 8 in direction
Parallelogram mechanism 3 works, and extending arm 23 stretches out, and drilling rod 5 is sent into elevator 7, and elevator 7 closes, and mechanical grip finger 31 contracts
Play back the bar 5 that spuds in；5 lower end of drilling rod, mechanical claw hand are clamped in the support arm 44 of rig floor auxiliary manipulator and one, No. two extending arm stretching
Refer to 52 to be closed, as elevator 7 promotes drilling rod 5, support arm 44 and one, No. two extending arm adjustable range, coordinates elevator 7 by drilling rod 5
Designated position is sent into righting, and gripper finger 52 unclamps, and the waiting that restPoses of support arm 44 and one, No. two extending arm is next
A order；The extending arm 23 of two-deck table mechanical arm is retracted simultaneously, and rotating mechanism 2, translation mechanism 1 return to initial position waiting successively
Next instruction, completion once take drilling rod；
When control system, which sends out gang drill bar 5, to be instructed, the support arm 44 of rig floor auxiliary manipulator is stretched with one, No. two extending arm
Go out to clamp 5 lower end of drilling rod, gripper finger 52 is closed, as elevator 7 promotes drilling rod 5, support arm 44 and one, No. two extending arm tune
Pitch is from by 5 righting of drilling rod feeding designated position, gripper finger 52 unclamps, and support arm 44 and one, No. two extending arm restore just
Beginning state waits for Next Command；While rig floor auxiliary manipulator returns original state, two-deck table mechanical arm setting in motion is put down
Telephone-moving structure 1 is started to work the specified limit position being moved on guide rail 8 close to elevator 7, the rotation of rotating mechanism 2 90 towards elevator 7,
The extending arm 23 of parallelogram mechanism 3 stretches out, and when clamping device 4 surrounds drilling rod 5, mechanical grip finger 31, which stretches out, clamps drilling rod
5, elevator 7 unclamps drilling rod 5, and extending arm 23 is retracted, and rotating mechanism 2 is rotated by 90 ° towards pipe racking frame 6, and translation mechanism 1 translates
It is stretched out to telescopic arm behind designated position 23, drilling rod 5 is put into pipe racking frame 6, mechanical grip finger 31, which is retracted, decontrols drilling rod
5, extending arm 23 is retracted, and translation mechanism 1 returns initial position, and Next Command is waited for complete the discharge of a drilling rod.
Such as Fig. 2,4, translation mechanism 1 is moved by motor driving leading screw band movable slider 9 on guide rail 8.
Such as Fig. 2, rotating mechanism 2 is driven by fire-proof motor 11, by retarder 10, drives rotary shaft 17 to move, thrust shaft
14 are held for reducing the frictional force in rotary course.
Such as Fig. 3, parallelogram mechanism 3 is driven by fire-proof motor 22, by retarder 18, drives a connecting shaft 20,
Four extending arms 23 are fixed lower connecting plate 25 by fixed upper plate 19 and are connected, and complete stretching jointly.
Such as Fig. 4, mechanical grip mechanism 4 provides power by electric putter 27, pushes shaft end sliding block 28, limited roller 34 and sliding block
33 common guarantee shaft end sliding block of guide rail, 28 direction of motion, sliding block 28 release push rod 32, the mechanical grip finger being connect with push rod 32
31 are pushed out, and mechanical grip mechanism 4 clamps, and limit catch 30 ensures that mechanical grip 31 movement locus of finger are accurate；Mechanical grip
Component 4 opens then opposite with pinching action.
It such as Fig. 5,6 rig floor auxiliary manipulators, is worked by motor 40, drives helical gear 41 and 42, realize the rotation of turntable 38
Action；No. 1 hydraulic cylinder 43 stretches adjustable support arm 44 highly, the flexible liter that No. 1 extending arm 46 is adjusted of No. 2 hydraulic cylinders 45
Drop, flexible adjustable No. 2 extending arms 48 of No. 3 hydraulic cylinders 47 stretch；Linear motor in support plate 50 drives connecting rod 51
Control machinery cleft hand refers to 52 folding.
Claims (10)
1. land rig quadruple board platform automatic tube-arranging system, which is characterized in that include the two-deck table mechanical arm on quadruple board platform
With the rig floor auxiliary manipulator on rig floor, the two-deck table mechanical arm includes translation mechanism (1), translation mechanism (1)
Including guide rail (8) and sliding block (9), sliding block (9) being installed on guide rail (8), sliding block (9) is connected by bolt with rotating mechanism (2),
Rotating mechanism (2) is connected with parallelogram mechanism (3), is provided on parallelogram mechanism (3) for holding drill pipe (5)
Clamping device (4), clamping device (4) will be located at the drilling rod (5) on thribble discharge frame (6) and be sent into elevator (7), the translation machine
Structure (1) is located above rotating mechanism (2), drives parallelogram mechanism (3) to be run along guide rail (8) with clamping device (4), passes through
Rotating mechanism (2) converts angle；
The rig floor auxiliary manipulator for transporting drilling rod (5) is provided with below the elevator (7).
2. land rig quadruple board platform automatic tube-arranging system according to claim 1, which is characterized in that the rotating mechanism
(2) axle bed (17) is provided on, the fixation upper plate (19) of the axle bed (17) on rotating mechanism (2) and parallelogram mechanism (3)
It connects, is provided with four extending arms (23) on parallelogram mechanism (3), the other end of extending arm (23) is provided with connecting plate
(25), connecting plate (25) is connect with clamping device (4).
3. land rig quadruple board platform automatic tube-arranging system according to claim 1, which is characterized in that the rotating mechanism
(2) include retarder one (10), retarder one (10) is connect with rotary shaft one (17) upper end, and rotary shaft one (17) passes through anti-explosion electric
Machine one (11) is driven, and reinforcing plate (12) is cased in rotary shaft one (17) and is fixed in fixing shell (15), thrust bearing
(14) it is sequentially arranged in rotary shaft one (17) with friction shim (16).
4. land rig quadruple board platform automatic tube-arranging system according to claim 1, which is characterized in that parallel four side
Shape mechanism (3) includes two connecting shafts (20), and two connecting shafts (20) are mounted on fixed upper plate (19), one of connecting shaft
(20) retarder two (18) is provided on, retarder two (18) is driven by fire-proof motor two (22), the connecting shaft (20)
Both sides are provided with extending arm (23) and fixed end cap (21).
5. land rig quadruple board platform automatic tube-arranging system according to claim 1, which is characterized in that the clamping device
(4) include the back seat (26) being connect with sliding block (9), back seat (26) is fixed on shell (35), and being provided with electricity on back seat (26) pushes away
Bar (27), electric putter (27) front end connect, slide block guide rail (33) and limit rolling fixed by positioning pin (29) with shaft end sliding block (28)
Wheel (34) is fixed on shell (35), and sliding block (28) connects mechanical grip finger (31) by push rod (32).
6. land rig quadruple board platform automatic tube-arranging system according to claim 5, which is characterized in that the shell (35)
The limit catch (30) that upper setting mechanical grip finger (31) runs.
7. land rig quadruple board platform automatic tube-arranging system according to claim 1, which is characterized in that the rig floor auxiliary
Manipulator include include the pedestal (37) being fixed on rig floor, be provided with power motor (40), pedestal (37) on the inside of pedestal (37)
Upper surface is provided with turntable (38), and power motor (40) is connected with turntable (38), and turntable is disposed with support arm on (38)
(44) and No.1 extending arm (46), No.1 extending arm (46) are internally provided with No. two extending arms (48), No. two extending arm (48) ends
Portion is provided with grabbing device.
8. land rig quadruple board platform automatic tube-arranging system according to claim 7, which is characterized in that the grabbing device
Include the mechanical paw support plate (50) being connected with No. two extending arms (48), promising machinery is arranged on (50) in mechanical paw support plate
Handgrip refers to the linear motor that (52) provide power, is covered by shell (49) on the outside of linear motor, and the motor shaft of linear motor is logical
It crosses connecting rod (51) to connect with gripper finger (52), gripper finger (52) is fixed in support plate (50).
9. land rig quadruple board platform automatic tube-arranging system according to claim 7, which is characterized in that the support arm
(44) it is provided on for controlling its flexible No.1 hydraulic cylinder (43), is provided on the No.1 extending arm (46) for controlling
No. two hydraulic cylinders (45) of its lifting are made, are provided on described No. two extending arms (48) for controlling its No. three flexible hydraulic pressure
Cylinder (47).
10. land rig quadruple board platform automatic tube-arranging system according to claim 7, which is characterized in that the pedestal
(37) it is fixed on rig floor by strong magnetic-disc (39), the power motor (40) is connected with connecting shaft helical gear (41), connecting shaft
Helical gear (41) is engaged with the gear (42) on turntable (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810514789.0A CN108533194A (en) | 2018-05-25 | 2018-05-25 | Land rig quadruple board platform automatic tube-arranging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810514789.0A CN108533194A (en) | 2018-05-25 | 2018-05-25 | Land rig quadruple board platform automatic tube-arranging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108533194A true CN108533194A (en) | 2018-09-14 |
Family
ID=63472772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810514789.0A Pending CN108533194A (en) | 2018-05-25 | 2018-05-25 | Land rig quadruple board platform automatic tube-arranging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108533194A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109083037A (en) * | 2018-09-30 | 2018-12-25 | 重庆交通大学 | Device of preventing secondary accident and combinations thereof control method on a kind of road |
| CN109931017A (en) * | 2019-03-29 | 2019-06-25 | 宝鸡石油机械有限责任公司 | A kind of limit-type quadruple board platform fingerboard of electric drive |
| CN110080698A (en) * | 2019-03-29 | 2019-08-02 | 宝鸡石油机械有限责任公司 | A kind of control system of electronic fingerboard |
| CN110306943A (en) * | 2019-08-02 | 2019-10-08 | 西安石油大学 | A kind of rig floor plane packaged type automatic tube-arranging machinery device |
| CN115306326A (en) * | 2022-10-11 | 2022-11-08 | 山东石油化工学院 | Automatic discharging device for workover operation pipe rod and using method |
| CN115992657A (en) * | 2023-01-09 | 2023-04-21 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115306326A (en) * | 2022-10-11 | 2022-11-08 | 山东石油化工学院 | Automatic discharging device for workover operation pipe rod and using method |
| CN115306326B (en) * | 2022-10-11 | 2022-12-20 | 山东石油化工学院 | Automatic discharging device for workover operation pipe rod and using method |
| CN115992657A (en) * | 2023-01-09 | 2023-04-21 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
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