CN109403889A - A kind of movement discharge method of marine drilling platform drilling rod - Google Patents
A kind of movement discharge method of marine drilling platform drilling rod Download PDFInfo
- Publication number
- CN109403889A CN109403889A CN201811580122.7A CN201811580122A CN109403889A CN 109403889 A CN109403889 A CN 109403889A CN 201811580122 A CN201811580122 A CN 201811580122A CN 109403889 A CN109403889 A CN 109403889A
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- China
- Prior art keywords
- drilling rod
- drilling
- tube drawbench
- cat road
- road machine
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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
- 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
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater 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
- 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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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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)
- Earth Drilling (AREA)
Abstract
The present invention discloses a kind of movement discharge method of marine drilling platform drilling rod, comprising the following steps: grabs three drilling rods by grab pipe machine and three drilling rods are transferred on the drilling rod screening system of cat road machine, three drilling rods are transferred to by dynamic rathole by cat road machine；First drilling rod is sent into the first dynamic rathole by tube drawbench；Second drilling rod is sent into the second dynamic rathole by tube drawbench；Third drilling rod is transferred to the surface of the second dynamic rathole by tube drawbench, and the second drilling rod and third drilling rod are connected to become multiple pipe by the first iron driller；Multiple pipe is transferred to the surface of the first dynamic rathole by tube drawbench, the first drilling rod and multiple pipe is connected to become thribble by the first iron driller, then thribble is sent into fingerboard by tube drawbench；It repeats the above steps, until the quantity of the thribble on fingerboard reaches required quantity；The thribble on fingerboard is sequentially sent in drilling well by tube drawbench.The high-efficient of drilling rod is discharged in the movement discharge method movement of marine drilling platform drilling rod of the present invention.
Description
Technical field
The present invention relates to drilling rod transportation equipment technical field, the movement more particularly to a kind of marine drilling platform drilling rod is arranged
Put method.
Background technique
In marine drilling operation, the drillng operations project amount such as drilling rod movement, drilling rod arrangement, breaking down, lower brill, trip-out is non-
The drilling well of Chang great, especially well depth at 9000 meters or more, manpower consumption are especially huge.Usually comb part is installed in the prior art
On derrick, original derrick in drillng operation by wind load, hook carry and from heavy load on the basis of is designed, by comb equipment
Tens tons add after, in order to meet the requirements, derrick must be reinforced derrick, increase weight, derrick force status is undesirable.
The prior art uses the design of single rat hole, single iron driller, and comb and drilling well can not carry out simultaneously, comb low efficiency.
Summary of the invention
The object of the present invention is to provide a kind of movement discharge methods of marine drilling platform drilling rod, to solve above-mentioned existing skill
Art there are the problem of, improve the movement of marine drilling platform drilling rod discharge efficiency.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of marine drilling platform drilling rod
Movement discharge method, comprising the following steps:
(1) three drilling rods are disposably grabbed by grab pipe machine and screens the drilling rod that three drilling rods are transferred to cat road machine
In system, three drilling rods are transferred to by dynamic rathole by cat road machine, and three drilling rods are respectively the first drilling rod,
Two drilling rods and third drilling rod, the dynamic rathole include two the first dynamic ratholes and the second dynamic rathole arranged side by side；
(2) front end of first drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator
Detect that first drilling rod clamps first drilling rod afterwards in place, first drilling rod is sent into the first power by the tube drawbench
Rat hole, then the hydraulic elevator unclamps first drilling rod and playback, while cat road machine returns to transfer described first and bores
The transfer of first drilling rod is completed in position before bar；
(3) front end of second drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator
Detect that second drilling rod clamps second drilling rod afterwards in place, second drilling rod is sent into the second power by the tube drawbench
Rat hole, then the hydraulic elevator unclamps second drilling rod and playback, while cat road machine returns to transfer described second and bores
The transfer of second drilling rod is completed in position before bar；
(4) front end of the third drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator
Detect that the third drilling rod clamps the third drilling rod afterwards in place, the third drilling rod is transferred to described by the tube drawbench
The surface of two dynamic ratholes, second dynamic rathole rise second drilling rod, make the top of second drilling rod with
The bottom end of the third drilling rod is bonded, and is then connected to become second drilling rod and the third drilling rod by the first iron driller
Multiple pipe；
(5) the multiple pipe is transferred to the surface of first dynamic rathole, the first power mouse by the tube drawbench
First drilling rod is risen in hole, be bonded the top of first drilling rod and the bottom end of the multiple pipe, then passes through described the
First drilling rod and the multiple pipe are connected to become thribble by one iron driller, and then the tube drawbench refers to thribble feeding
Beam；
(6) step (1)-(5) are repeated, until the quantity of the thribble on the fingerboard reaches required quantity；
(7) thribble on the fingerboard is sequentially sent in drilling well by the tube drawbench, and passes through the second anvil
The thribble is connect by work with the drilling rod in the drilling well, is constantly crept into.
Preferably, three described equal one end of drilling rod are provided with internal screw thread, the other end is provided with external screw thread, two to be connected piece
The drilling rod is connected through a screw thread.
Preferably, three drilling rods are transferred to the mobile system of the tube drawbench behind dynamic rathole side by cat road machine
The hydraulic elevator can be moved to setting position to facilitate and receive the drilling rod.
Preferably, it is provided on the drilling rod screening system of cat road machine for whether in place to detect the drilling rod
Close to switch；Detection travel distance is separately provided on the coaster running gear and cart running gear of cat road machine
Encoder；The displacement sensor for detecting lift arm rising height is provided in the lift arm fluid cylinder of cat road machine；It is described
The angular transducer of the swing angle for detection mechanical arm is provided on the mechanical arm of cat road machine.
Preferably, it is provided in first dynamic rathole and second dynamic rathole for being lifted the drilling rod
Lifting system is provided with the displacement sensor for detecting drilling rod protrusion height in the lifting system.
Preferably, first iron driller is rocker-arm iron driller, the clamp of first iron driller and second iron
Be provided in the clamp of driller for detect the drilling rod whether in place close to switch.
Preferably, it is separately provided for described in detection in the bottom walking mechanism and top walking mechanism of the tube drawbench
The encoder of the travel distance of tube drawbench is additionally provided with for detecting the row in the bottom crab slewing mechanism of the tube drawbench
The encoder of pipe machine angle of revolution；Setting is for detecting the hydraulic elevator rotation in the hydraulic elevator swing mechanism of the tube drawbench
The encoder of gyration；Whether to be in place separately provided for detecting the drilling rod in the upper grappling fixture of the tube drawbench and lower grappling fixture
Close to switch；One is respectively arranged in the upper arm fluid cylinder and lower arm fluid cylinder of the tube drawbench for detecting fluid cylinder extension elongation
Displacement sensor.
Preferably, three drilling rods are transferred to by the dynamic rathole by cat road machine simultaneously.
The movement discharge method of marine drilling platform drilling rod of the present invention achieves following technical effect compared with the existing technology:
The high-efficient of drilling rod is discharged in the movement discharge method movement of marine drilling platform drilling rod of the present invention.Offshore drill of the present invention
The movement that the movement discharge method of well platform drilling rod carries out drilling rod using double dynamical rat hole and double iron drillers is discharged, and three are bored
Bar is quickly connected as thribble, improves comb efficiency, while various kinds of sensors is arranged in each transshipment acitivity and is controlled by PLC
Unit processed receives signal detected by each sensor, realizes that drilling rod is mobile, being precisely controlled in discharge process and automatically
Operation improves the security reliability of drilling rod movement discharge.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the partial structure diagram of the movement discharge method of marine drilling platform drilling rod of the present invention；
Fig. 2 is the structural schematic diagram of grab pipe machine in the movement discharge method of marine drilling platform drilling rod of the present invention；
Fig. 3 is another structural schematic diagram of the movement discharge method of marine drilling platform drilling rod of the present invention；
Wherein, 1- grab pipe machine, 2- cat road machine, the first iron driller of 3-, the second iron driller of 4-, 5- tube drawbench, 6- fingerboard, 7- mud
Starch collection box, the first dynamic rathole of 8-, the second dynamic rathole of 9-, 10- control room, 11- derrick.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of movement discharge methods of marine drilling platform drilling rod, are deposited with solving the prior art
The problem of, improve the movement of marine drilling platform drilling rod discharge efficiency.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1-3 is please referred to, wherein Fig. 1 is that the part-structure of the movement discharge method of marine drilling platform drilling rod of the present invention shows
It is intended to；Fig. 2 is the structural schematic diagram of grab pipe machine in the movement discharge method of marine drilling platform drilling rod of the present invention；Fig. 3 is this hair
Another structural schematic diagram of the movement discharge method of bright marine drilling platform drilling rod.
The movement discharge method of the present embodiment marine drilling platform drilling rod, comprising the following steps:
(1) three drilling rods are disposably grabbed by grab pipe machine 1 and three drilling rods are transferred to the drilling rod screening system of cat road machine 2
On system, cat road machine 2 by three drilling rods simultaneously be transferred to by dynamic rathole, three drilling rods be respectively the first drilling rod, the second drilling rod and
Third drilling rod, dynamic rathole include two the first dynamic ratholes 8 and the second dynamic rathole 9 arranged side by side, and the first power mouse
Hole 8 and the second dynamic rathole 9 are vertical；
(2) hydraulic elevator is moved to setting position to facilitate reception drilling rod by the mobile system of tube drawbench 5, and cat road machine 2 will
The front end of first drilling rod is sent into the hydraulic elevator of tube drawbench 5, and hydraulic elevator detects that the first drilling rod clamps first afterwards in place and bores
First drilling rod is sent into the first dynamic rathole 8 by bar, tube drawbench 5, and then hydraulic elevator unclamps the first drilling rod and playback, while cat road
Machine 2 returns to the position before the first drilling rod of transfer, completes the transfer of the first drilling rod；
(3) front end of the second drilling rod is sent into the hydraulic elevator of tube drawbench 5 by cat road machine 2, and hydraulic elevator detects second
Drilling rod clamps the second drilling rod afterwards in place, and the second drilling rod is sent into the second dynamic rathole 9 by tube drawbench 5, and then hydraulic elevator unclamps the
Two drilling rods and playback, while cat road machine 2 returns to the position before the second drilling rod of transfer, completes the transfer of the second drilling rod；
(4) front end of third drilling rod is sent into the hydraulic elevator of tube drawbench 5 by cat road machine 2, and hydraulic elevator detects third
Drilling rod clamps third drilling rod afterwards in place, and third drilling rod is transferred to the surface of the second dynamic rathole 9, bores third by tube drawbench 5
The second drilling rod of bar face, the second dynamic rathole 9 rise the second drilling rod, and the bottom end on the top and third drilling rod that make the second drilling rod is pasted
It closes, the second drilling rod and third drilling rod is then connected to become by multiple pipe by the first iron driller 3；
(5) multiple pipe is transferred to the surface of the first dynamic rathole 8 by tube drawbench 5, makes multiple the first drilling rod of pipe face, and first is dynamic
Power rat hole 8 rises the first drilling rod, is bonded the top of the first drilling rod and the bottom end of multiple pipe, then will by the first iron driller 3
First drilling rod and multiple pipe are connected to become thribble, and then by thribble feeding fingerboard 6, (fingerboard 6 is bolted on derrick to tube drawbench 5
On 11, for storing thribble)；
(6) step (1)-(5) are repeated, until the quantity of the thribble on fingerboard 6 reaches required quantity；
(7) thribble on fingerboard 6 is sequentially sent in drilling well by tube drawbench 5, and by the second iron driller 4 by thribble with
Drilling rod connection in drilling well, constantly creeps into.
The inverse process that pipe process is above-mentioned comb process is got rid of in drilling well, and mud is unrestrained when to prevent from getting rid of dismounting drilling rod during pipe
On drilling floor surface, slurry collecting box 7 is additionally provided with by drilling well, slurry collecting box 7 can pass through left and right holding claw and slurry transportation
Mud in drilling rod is discharged pipe.
In the present embodiment, equal one end of three drilling rods is provided with internal screw thread, the other end is provided with external screw thread, the first anvil
Work 3 or the second iron driller 4 will need two drilling rods being connected to be connected through a screw thread.
Be provided on the drilling rod screening system of cat road machine 2 for detect drilling rod whether in place close to switch；Cat road machine 2
The encoder of detection travel distance is separately provided on coaster running gear and cart running gear；The lifting of cat road machine 2
The displacement sensor for detecting lift arm rising height is provided in arm fluid cylinder；It is provided with and is used on the mechanical arm of cat road machine 2
The angular transducer of the swing angle of detection mechanical arm.It is provided in first dynamic rathole 8 and the second dynamic rathole 9 for lifting
The lifting system of drilling rod is risen, the displacement sensor for detecting drilling rod protrusion height is provided in lifting system.First iron driller 3
For rocker-arm iron driller, it is provided in the clamp of the clamp of the first iron driller 3 and the second iron driller 4 for whether detecting drilling rod
In place close to switch.Detection tube drawbench 5 is separately provided in the bottom walking mechanism and top walking mechanism of tube drawbench 5
Travel distance encoder, be additionally provided with for detecting 5 angle of revolution of tube drawbench in the bottom crab slewing mechanism of tube drawbench 5
Encoder；Encoder for detecting hydraulic elevator rotation angle is set in the hydraulic elevator swing mechanism of tube drawbench 5；Comb
Be separately provided in the upper grappling fixture of machine 5 and lower grappling fixture detection drilling rod whether in place close to switch；The upper arm liquid of tube drawbench 5
One is respectively arranged in cylinder and lower arm fluid cylinder for detecting the displacement sensor of fluid cylinder extension elongation.
It further include PLC control unit in the movement discharge method of the present embodiment marine drilling platform drilling rod, above-mentioned each biography
Sensor is electrically connected with PLC control unit, and staff's rhizosphere actual motion scheme is to the PLC technology in PLC control unit
Device is compiled, and PLC control unit can be according to the signal that each sensor is fed back to above-mentioned grab pipe machine 1, cat road machine 2, row
Pipe machine 5, the first dynamic rathole 8 and second dynamic rathole 9 etc. are controlled, are adjusted, and transfer discharge automatically in drilling rod to realize, separately
On the one hand, the setting of each automated sensor improves the accuracy of pipe racking, and the safety for improving drilling rod movement discharge can
By property；The tube chamber welds with base of control room 10 is fixed on rig floor in plane, for the centralized control of each device and the concentration of drilling well
Control.
In the description of the present invention, it should be noted that the instructions such as term "top", "bottom", "upper", "lower", "vertical"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " mat woven of fine bamboo strips two " are used for description purposes only, and cannot understand
For indication or suggestion relative importance.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of movement discharge method of marine drilling platform drilling rod, which comprises the following steps:
(1) three drilling rods are disposably grabbed and three drilling rods are transferred to the drilling rod screening system of cat road machine by grab pipe machine
On, three drilling rods are transferred to by dynamic rathole by cat road machine, and three drilling rods are respectively the first drilling rod, the second brill
Bar and third drilling rod, the dynamic rathole include two the first dynamic ratholes and the second dynamic rathole arranged side by side；
(2) front end of first drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator detection
First drilling rod is clamped afterwards in place to first drilling rod, and first drilling rod is sent into the first power mouse by the tube drawbench
Hole, then the hydraulic elevator unclamps first drilling rod and playback, while cat road machine returns to transfer first drilling rod
The transfer of first drilling rod is completed in position before；
(3) front end of second drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator detection
Second drilling rod is clamped afterwards in place to second drilling rod, and second drilling rod is sent into the second power mouse by the tube drawbench
Hole, then the hydraulic elevator unclamps second drilling rod and playback, while cat road machine returns to transfer second drilling rod
The transfer of second drilling rod is completed in position before；
(4) front end of the third drilling rod is sent into the hydraulic elevator of tube drawbench by cat road machine, the hydraulic elevator detection
The third drilling rod is clamped afterwards in place to the third drilling rod, and the third drilling rod is transferred to described second and moved by the tube drawbench
The surface of power rat hole, second dynamic rathole rise second drilling rod, make the top of second drilling rod with it is described
The bottom end of third drilling rod is bonded, and is then connected to become second drilling rod and the third drilling rod by the first iron driller multiple
Pipe；
(5) the multiple pipe is transferred to the surface of first dynamic rathole by the tube drawbench, and first dynamic rathole will
First drilling rod rises, and is bonded the top of first drilling rod and the bottom end of the multiple pipe, then passes through first iron
First drilling rod and the multiple pipe are connected to become thribble by driller, and then the thribble is sent into fingerboard by the tube drawbench；
(6) step (1)-(5) are repeated, until the quantity of the thribble on the fingerboard reaches required quantity；
(7) thribble on the fingerboard is sequentially sent in drilling well by the tube drawbench, and passing through the second iron driller will
The thribble is connect with the drilling rod in the drilling well, is constantly crept into.
2. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: three brills
The equal one end of bar is provided with internal screw thread, the other end is provided with external screw thread, and two to be connected piece drilling rod is connected through a screw thread.
3. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: cat road machine
The hydraulic elevator can be moved to by the mobile system that three drilling rods are transferred to the tube drawbench behind dynamic rathole side and set
Positioning is set to facilitate and receive the drilling rod.
4. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: cat road machine
The drilling rod screening system on be provided with for detect the drilling rod whether in place close to switch；The coaster of cat road machine
The encoder of detection travel distance is separately provided on running gear and cart running gear；The lift arm of cat road machine
The displacement sensor for detecting lift arm rising height is provided in fluid cylinder；It is provided with and is used on the mechanical arm of cat road machine
The angular transducer of the swing angle of detection mechanical arm.
5. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: described first is dynamic
It is provided with the lifting system for being lifted the drilling rod in power rat hole and second dynamic rathole, is set in the lifting system
It is equipped with the displacement sensor for detecting drilling rod protrusion height.
6. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: first iron
Driller is rocker-arm iron driller, is provided in the clamp of the clamp of first iron driller and second iron driller for examining
Survey the drilling rod whether in place close to switch.
7. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: the tube drawbench
Bottom walking mechanism and top walking mechanism in be separately provided for detecting the encoder of the travel distance of the tube drawbench,
The encoder for detecting the tube drawbench angle of revolution is additionally provided in the bottom crab slewing mechanism of the tube drawbench；It is described
Encoder for detecting the hydraulic elevator rotation angle is set in the hydraulic elevator swing mechanism of tube drawbench；The tube drawbench
Upper grappling fixture and lower grappling fixture in be separately provided for detecting the drilling rod whether in place close to switch；The tube drawbench it is upper
One is respectively arranged in arm fluid cylinder and lower arm fluid cylinder for detecting the displacement sensor of fluid cylinder extension elongation.
8. the movement discharge method of marine drilling platform drilling rod according to claim 1, it is characterised in that: cat road machine
Three drilling rods are transferred to by the dynamic rathole simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580122.7A CN109403889B (en) | 2018-12-24 | 2018-12-24 | Moving and transporting discharge method for drill pipe of offshore drilling platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580122.7A CN109403889B (en) | 2018-12-24 | 2018-12-24 | Moving and transporting discharge method for drill pipe of offshore drilling platform |
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| Publication Number | Publication Date |
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| CN109403889A true CN109403889A (en) | 2019-03-01 |
| CN109403889B CN109403889B (en) | 2020-07-28 |
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| CN201811580122.7A Active CN109403889B (en) | 2018-12-24 | 2018-12-24 | Moving and transporting discharge method for drill pipe of offshore drilling platform |
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| 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 |
| CN111075370A (en) * | 2020-02-10 | 2020-04-28 | 扬州恒精机械有限公司 | Oil gas well operation pipe pole conveyor |
| CN111335830A (en) * | 2020-03-18 | 2020-06-26 | 山东诚纳石油机械有限公司 | Automatic catwalk and method |
| CN111335830B (en) * | 2020-03-18 | 2022-02-22 | 山东诚纳石油机械有限公司 | Automatic catwalk and method |
| CN112431562A (en) * | 2020-10-13 | 2021-03-02 | 四川宏华电气有限责任公司 | Full-automatic drilling tool combination method |
| CN112431562B (en) * | 2020-10-13 | 2022-10-25 | 四川宏华电气有限责任公司 | Full-automatic drilling tool combination method |
| CN112253011A (en) * | 2020-10-20 | 2021-01-22 | 中国地质科学院勘探技术研究所 | Method for offline pipe string descending of marine single-derrick platform |
| CN112832698A (en) * | 2021-03-02 | 2021-05-25 | 淄博顺安电气有限公司 | Intelligent explosion-proof control system of drilling platform operation robot |
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| CN109403889B (en) | 2020-07-28 |
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