CN109403889B - Moving and transporting discharge method for drill pipe of offshore drilling platform - Google Patents
Moving and transporting discharge method for drill pipe of offshore drilling platform Download PDFInfo
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- CN109403889B CN109403889B CN201811580122.7A CN201811580122A CN109403889B CN 109403889 B CN109403889 B CN 109403889B CN 201811580122 A CN201811580122 A CN 201811580122A CN 109403889 B CN109403889 B CN 109403889B
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- 238000005553 drilling Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 39
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 55
- 238000007599 discharging Methods 0.000 claims abstract description 28
- 229910052742 iron Inorganic materials 0.000 claims abstract description 28
- 238000012216 screening Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
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- 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
- 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
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- 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
- 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 invention discloses a moving and transporting discharge method of a drilling rod of an offshore drilling platform, which comprises the following steps: grabbing three drill rods through a pipe grabbing machine and transferring the three drill rods to a drill rod screening system of a catwalk machine, wherein the catwalk machine transfers the three drill rods to the side of a power rat hole; the pipe arranging machine sends the first drill pipe into the first power rat hole; the pipe discharging machine sends the second drill pipe into a second power rat hole; the pipe arranging machine transfers the third drill rod to the position right above the second power rat hole, and the second drill rod and the third drill rod are connected into a compound pipe through a first iron driller; the pipe arranging machine transfers the double pipe to the position right above the first power rat hole, a first drill rod and the double pipe are connected into a stand through a first iron roughneck, and then the pipe arranging machine sends the stand into the finger beam; repeating the steps until the number of the vertical roots on the finger beam reaches the required number; and sequentially sending the vertical roots on the fingerboards into the well through the pipe arranging machine. The method for moving and discharging the drill pipe of the offshore drilling platform has high efficiency in moving and discharging the drill pipe.
Description
Technical Field
The invention relates to the technical field of drill pipe moving equipment, in particular to a moving and discharging method of a drill pipe of an offshore drilling platform.
Background
In the ocean drilling operation, the engineering quantity of drilling operations such as drill rod moving, drill rod arrangement, drill rod throwing, drilling down, drilling pulling and the like is very large, and the labor consumption is very large particularly when the well is drilled with the well depth of more than 9000 meters. In the prior art, a pipe arranging part is usually arranged on a derrick, the derrick is designed on the basis of wind load, hook load and dead load of drilling operation, dozens of tons of pipe arranging equipment are added, the derrick needs to be reinforced to meet the requirements, the weight is increased, and the stress working condition of the derrick is not ideal. The prior art adopts the design of single rat hole, single indisputable driller, and calandria and well drilling can not go on simultaneously, and the calandria is inefficient.
Disclosure of Invention
The invention aims to provide a method for moving, transporting and discharging a drill rod of an offshore drilling platform, which aims to solve the problems in the prior art and improve the efficiency of moving, transporting and discharging the drill rod of the offshore drilling platform.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a moving and transporting and discharging method of a drilling rod of an ocean drilling platform, which comprises the following steps:
(1) grabbing three drill rods at one time through a pipe grabbing machine and transferring the three drill rods to a drill rod screening system of a catwalk machine, wherein the catwalk machine transfers the three drill rods to the sides of a power rat hole, the three drill rods are respectively a first drill rod, a second drill rod and a third drill rod, and the power rat hole comprises a first power rat hole and a second power rat hole which are arranged side by side;
(2) the catwalk machine sends the front end of the first drill rod into a hydraulic elevator of a pipe arranging machine, the hydraulic elevator clamps the first drill rod after detecting that the first drill rod is in place, the pipe arranging machine sends the first drill rod into a first power rat hole, then the hydraulic elevator loosens the first drill rod and returns to the original position, and meanwhile the catwalk machine returns to the position before the first drill rod is transferred to complete the transfer of the first drill rod;
(3) the catwalk machine sends the front end of the second drill rod into a hydraulic elevator of the pipe arranging machine, the hydraulic elevator clamps the second drill rod after detecting that the second drill rod is in place, the pipe arranging machine sends the second drill rod into a second power rat hole, then the hydraulic elevator loosens the second drill rod and returns to the original position, and meanwhile the catwalk machine returns to the position before the second drill rod is transferred to complete the transfer of the second drill rod;
(4) the catwalk machine sends the front end of the third drill rod into a hydraulic elevator of a pipe arranging machine, the hydraulic elevator clamps the third drill rod after detecting that the third drill rod is in place, the pipe arranging machine transfers the third drill rod to a position right above a second power rat hole, the second power rat hole lifts the second drill rod to enable the top end of the second drill rod to be attached to the bottom end of the third drill rod, and then the second drill rod and the third drill rod are connected into a composite pipe through a first iron roughneck;
(5) the pipe arranging machine transfers the double pipes to the position right above the first power rat hole, the first power rat hole lifts the first drill rod to enable the top end of the first drill rod to be attached to the bottom end of the double pipe, then the first drill rod and the double pipe are connected into a stand through the first iron roughneck, and then the pipe arranging machine sends the stand into a finger beam;
(6) repeating steps (1) - (5) until the number of the stands on the fingerboard reaches the required number;
(7) and the pipe arranging machine is used for sequentially sending the vertical roots on the fingerboard into the drilling well, and connecting the vertical roots with a drill rod in the drilling well through a second iron driller to continuously drill.
Preferably, the uniform ends of the three drill rods are provided with internal threads, the other ends of the three drill rods are provided with external threads, and the two connected drill rods are connected through threads.
Preferably, after the catwalk machine moves the three drill rods to the side of the power mousehole, the moving system of the pipe discharging machine moves the hydraulic elevator to a set position so as to conveniently receive the drill rods.
Preferably, a proximity switch for detecting whether the drill rod is in place is arranged on the drill rod screening system of the catwalk machine; the trolley traveling device and the trolley traveling device of the catwalk machine are respectively provided with an encoder for detecting a traveling distance; a displacement sensor for detecting the lifting height of the lifting arm is arranged in a lifting arm hydraulic cylinder of the catwalk machine; and an angle sensor for detecting the swing angle of the mechanical arm is arranged on the mechanical arm of the catwalk machine.
Preferably, a lifting system for lifting the drill rod is arranged in each of the first power rat hole and the second power rat hole, and a displacement sensor for detecting the extending height of the drill rod is arranged in each lifting system.
Preferably, the first iron roughneck is a rocker arm type iron roughneck, and proximity switches for detecting whether the drill rod is in place are arranged in the clamp of the first iron roughneck and the clamp of the second iron roughneck.
Preferably, encoders for detecting the travelling distance of the pipe arranging machine are respectively arranged in the bottom travelling mechanism and the top travelling mechanism of the pipe arranging machine, and an encoder for detecting the rotation angle of the pipe arranging machine is also arranged in the bottom trolley slewing mechanism of the pipe arranging machine; an encoder for detecting the rotation angle of the hydraulic elevator is arranged in a hydraulic elevator swing mechanism of the pipe arranging machine; proximity switches for detecting whether the drill rod is in place are respectively arranged in the upper grabbing head and the lower grabbing head of the pipe arranging machine; and displacement sensors for detecting the extending lengths of the hydraulic cylinders are respectively arranged in the upper arm hydraulic cylinder and the lower arm hydraulic cylinder of the pipe arranging machine.
Preferably, the catwalk machine transfers the three drill rods to the side of the power rat hole at the same time.
Compared with the prior art, the moving and discharging method of the marine drilling platform drill rod has the following technical effects:
the method for moving, transporting and discharging the drill rods of the ocean drilling platform has high efficiency, utilizes double-power rat holes and double-iron drillers to move, transport and discharge the drill rods, quickly connects the three drill rods into a stand, improves the pipe arrangement efficiency, simultaneously arranges various sensors in each transfer mechanism and receives signals detected by each sensor through a P L C control unit, realizes the accurate control and automatic operation in the moving and discharging processes of the drill rods, and improves the safety and reliability of the moving, transporting and discharging of the drill rods.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a partial schematic structural view of a method for moving and discharging a drill pipe of an offshore drilling platform according to the invention;
FIG. 2 is a schematic structural diagram of a pipe grabbing machine in the method for moving, transporting and discharging the drill pipe of the offshore drilling platform;
FIG. 3 is another schematic structural diagram of the method for moving and discharging the drill pipe of the offshore drilling platform;
the device comprises a pipe grabbing machine 1, a catwalk machine 2, a first iron driller 3, a second iron driller 4, a pipe arranging machine 5, a finger beam 6, a slurry collecting box 7, a first power rat hole 8, a second power rat hole 9, a control room 10 and a derrick 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method for moving, transporting and discharging a drill rod of an offshore drilling platform, which aims to solve the problems in the prior art and improve the efficiency of moving, transporting and discharging the drill rod of the offshore drilling platform.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-3, fig. 1 is a partial schematic structural diagram of a method for moving and discharging a drill pipe of an offshore drilling platform according to the present invention; FIG. 2 is a schematic structural diagram of a pipe grabbing machine in the method for moving, transporting and discharging the drill pipe of the offshore drilling platform; fig. 3 is another structure diagram of the method for transporting and discharging the drill pipe of the offshore drilling platform.
The method for moving and discharging the drill pipe of the offshore drilling platform comprises the following steps:
(1) the method comprises the following steps that three drill rods are grabbed at one time through a pipe grabbing machine 1 and transferred to a drill rod screening system of a catwalk machine 2, the catwalk machine 2 transfers the three drill rods to the sides of a power rat hole, the three drill rods are respectively a first drill rod, a second drill rod and a third drill rod, the power rat hole comprises a first power rat hole 8 and a second power rat hole 9 which are arranged side by side, and the first power rat hole 8 and the second power rat hole 9 are vertical;
(2) the moving system of the pipe arranging machine 5 moves the hydraulic elevator to a set position to conveniently receive the drill rods, the catwalk machine 2 sends the front ends of the first drill rods into the hydraulic elevator of the pipe arranging machine 5, the hydraulic elevator clamps the first drill rods after detecting that the first drill rods are in place, the pipe arranging machine 5 sends the first drill rods into the first power rat hole 8, then the hydraulic elevator loosens the first drill rods and returns to the original positions, and meanwhile, the catwalk machine 2 returns to the position before the first drill rods are transferred to finish the transfer of the first drill rods;
(3) the catwalk machine 2 sends the front end of the second drill rod into a hydraulic elevator of the pipe arranging machine 5, the hydraulic elevator clamps the second drill rod after detecting that the second drill rod is in place, the pipe arranging machine 5 sends the second drill rod into a second power rat hole 9, then the hydraulic elevator loosens the second drill rod and returns to the original position, and meanwhile the catwalk machine 2 returns to the position before the second drill rod is transferred to complete the transfer of the second drill rod;
(4) the catwalk machine 2 sends the front end of the third drill rod into a hydraulic elevator of the pipe arranging machine 5, the hydraulic elevator clamps the third drill rod after detecting that the third drill rod is in place, the pipe arranging machine 5 transfers the third drill rod to a position right above a second power rat hole 9, the third drill rod is enabled to be right opposite to the second drill rod, the second power rat hole 9 lifts the second drill rod, the top end of the second drill rod is enabled to be attached to the bottom end of the third drill rod, and then the second drill rod and the third drill rod are connected into a composite pipe through the first iron roughneck 3;
(5) the pipe arranging machine 5 transfers the compound pipe to the position right above the first power rat hole 8, the compound pipe is opposite to the first drill rod, the first power rat hole 8 lifts the first drill rod, the top end of the first drill rod is attached to the bottom end of the compound pipe, then the first drill rod and the compound pipe are connected into a stand through the first iron roughneck 3, and then the pipe arranging machine 5 sends the stand into a finger beam 6 (the finger beam 6 is fixed on a derrick 11 through bolts and used for storing the stand);
(6) repeating the steps (1) - (5) until the number of the stands on the fingerboard 6 reaches the required number;
(7) the vertical roots on the fingerboards 6 are sequentially sent into the drilling well through the pipe arranging machine 5, and the vertical roots are connected with the drilling rod in the drilling well through the second iron driller 4 to continuously drill.
The drilling gets rid of the pipe process and is the reverse process of above-mentioned calandria process, and for preventing to get rid of the pipe in-process when dismantling the drilling rod mud spill on the drilling platform face, still be provided with mud collection box 7 by the drilling, mud collection box 7 can be through controlling embracing claw and mud conveyer pipe and discharging the mud in the drilling rod.
In this embodiment, the uniform end of three drilling rods is provided with the internal thread, and the other end is provided with the external thread, and first iron roughneck 3 or second iron roughneck 4 passes through threaded connection with two drilling rods that need to be connected.
A proximity switch for detecting whether the drill rod is in place is arranged on the drill rod screening system of the catwalk machine 2; the trolley traveling device and the trolley traveling device of the catwalk machine 2 are respectively provided with an encoder for detecting a traveling distance; a displacement sensor for detecting the lifting height of the lifting arm is arranged in a lifting arm hydraulic cylinder of the catwalk machine 2; an angle sensor for detecting the swing angle of the mechanical arm is arranged on the mechanical arm of the catwalk machine 2. And lifting systems for lifting the drill rods are arranged in the first power rat hole 8 and the second power rat hole 9, and displacement sensors for detecting the extending heights of the drill rods are arranged in the lifting systems. The first iron roughneck 3 is a rocker arm type iron roughneck, and proximity switches used for detecting whether the drill rod is in place are arranged in the clamp of the first iron roughneck 3 and the clamp of the second iron roughneck 4. Encoders for detecting the travelling distance of the pipe arranging machine 5 are respectively arranged in the bottom travelling mechanism and the top travelling mechanism of the pipe arranging machine 5, and an encoder for detecting the rotation angle of the pipe arranging machine 5 is also arranged in the bottom trolley rotation mechanism of the pipe arranging machine 5; an encoder for detecting the rotation angle of the hydraulic elevator is arranged in the hydraulic elevator swing mechanism of the pipe arranging machine 5; proximity switches for detecting whether the drill rod is in place are respectively arranged in the upper grabbing head and the lower grabbing head of the pipe arranging machine 5; and a displacement sensor for detecting the extension length of the hydraulic cylinder is respectively arranged in the upper arm hydraulic cylinder and the lower arm hydraulic cylinder of the pipe arranging machine 5.
The moving and discharging method of the offshore drilling platform drill pipe further comprises a P L C control unit, wherein each sensor is electrically connected with the P L C control unit, a staff member compiles a programmable controller in the P L C control unit according to an actual rhizosphere operation scheme, the P L C control unit can control and adjust the pipe grabbing machine 1, the catwalk machine 2, the pipe arranging machine 5, the first power rat hole 8, the second power rat hole 9 and the like according to signals fed back by the sensors to achieve automatic moving and discharging of the drill pipe, on the other hand, the accuracy of discharging of the drill pipe is improved due to the arrangement of the automatic sensors, the safety and reliability of moving and discharging of the drill pipe are improved, and a base of the control room 10 is welded and fixed on the upper plane of the drill floor and used for centralized control of all devices and centralized control of drilling.
In the description of the present invention, it should be noted that the terms "top", "bottom", "upper", "lower", "vertical", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. The method for moving and discharging the drill pipe of the offshore drilling platform is characterized by comprising the following steps of:
(1) the method comprises the following steps that three drill rods are grabbed at one time through a pipe grabbing machine and transferred to a drill rod screening system of a catwalk machine, the catwalk machine transfers the three drill rods to the sides of a power rat hole, the three drill rods are respectively a first drill rod, a second drill rod and a third drill rod, and the power rat hole comprises a first power rat hole and a second power rat hole which are arranged side by side;
(2) the catwalk machine sends the front end of the first drill rod into a hydraulic elevator of a pipe arranging machine, the hydraulic elevator clamps the first drill rod after detecting that the first drill rod is in place, the pipe arranging machine sends the first drill rod into a first power rat hole, then the hydraulic elevator loosens the first drill rod and returns to the original position, and meanwhile the catwalk machine returns to the position before the first drill rod is transferred to complete the transfer of the first drill rod;
(3) the catwalk machine sends the front end of the second drill rod into a hydraulic elevator of the pipe arranging machine, the hydraulic elevator clamps the second drill rod after detecting that the second drill rod is in place, the pipe arranging machine sends the second drill rod into a second power rat hole, then the hydraulic elevator loosens the second drill rod and returns to the original position, and meanwhile the catwalk machine returns to the position before the second drill rod is transferred to complete the transfer of the second drill rod;
(4) the catwalk machine sends the front end of the third drill rod into a hydraulic elevator of a pipe arranging machine, the hydraulic elevator clamps the third drill rod after detecting that the third drill rod is in place, the pipe arranging machine transfers the third drill rod to a position right above a second power rat hole, the second power rat hole lifts the second drill rod to enable the top end of the second drill rod to be attached to the bottom end of the third drill rod, and then the second drill rod and the third drill rod are connected into a composite pipe through a first iron roughneck;
(5) the pipe arranging machine transfers the double pipes to the position right above the first power rat hole, the first power rat hole lifts the first drill rod to enable the top end of the first drill rod to be attached to the bottom end of the double pipe, then the first drill rod and the double pipe are connected into a stand through the first iron roughneck, and then the pipe arranging machine sends the stand into a finger beam;
(6) repeating steps (1) - (5) until the number of the stands on the fingerboard reaches the required number;
(7) and the pipe arranging machine is used for sequentially sending the vertical roots on the fingerboard into the drilling well, and connecting the vertical roots with a drill rod in the drilling well through a second iron driller to continuously drill.
2. The method of claim 1, wherein the method comprises the steps of: three equal one end of drilling rod is provided with the internal thread, and the other end is provided with the external screw thread, and two that are connected the drilling rod passes through threaded connection.
3. The method of claim 1, wherein the method comprises the steps of: and after the catwalk machine transfers the three drill rods to the side of the power rat hole, the moving system of the pipe discharging machine can move the hydraulic elevator to a set position so as to conveniently receive the drill rods.
4. The method of claim 1, wherein the method comprises the steps of: a proximity switch for detecting whether the drill rod is in place is arranged on the drill rod screening system of the catwalk machine; the trolley traveling device and the trolley traveling device of the catwalk machine are respectively provided with an encoder for detecting a traveling distance; a displacement sensor for detecting the lifting height of the lifting arm is arranged in a lifting arm hydraulic cylinder of the catwalk machine; and an angle sensor for detecting the swing angle of the mechanical arm is arranged on the mechanical arm of the catwalk machine.
5. The method of claim 1, wherein the method comprises the steps of: and lifting systems for lifting the drill rod are arranged in the first power rat hole and the second power rat hole, and displacement sensors for detecting the extending height of the drill rod are arranged in the lifting systems.
6. The method of claim 1, wherein the method comprises the steps of: the first iron roughneck is a rocker arm type iron roughneck, and proximity switches used for detecting whether the drill rod is in place are arranged in the clamp of the first iron roughneck and the clamp of the second iron roughneck.
7. The method of claim 1, wherein the method comprises the steps of: encoders for detecting the travelling distance of the pipe arranging machine are respectively arranged in the bottom travelling mechanism and the top travelling mechanism of the pipe arranging machine, and an encoder for detecting the rotation angle of the pipe arranging machine is also arranged in the bottom trolley rotation mechanism of the pipe arranging machine; an encoder for detecting the rotation angle of the hydraulic elevator is arranged in a hydraulic elevator swing mechanism of the pipe arranging machine; proximity switches for detecting whether the drill rod is in place are respectively arranged in the upper grabbing head and the lower grabbing head of the pipe arranging machine; and displacement sensors for detecting the extending lengths of the hydraulic cylinders are respectively arranged in the upper arm hydraulic cylinder and the lower arm hydraulic cylinder of the pipe arranging machine.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN109403889B true CN109403889B (en) | 2020-07-28 |
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| CN110080698B (en) * | 2019-03-29 | 2021-02-19 | 宝鸡石油机械有限责任公司 | Control system of electric fingerboard |
| CN111075370B (en) * | 2020-02-10 | 2021-04-13 | 扬州恒精机械有限公司 | Oil gas well operation pipe pole conveyor |
| CN111335830B (en) * | 2020-03-18 | 2022-02-22 | 山东诚纳石油机械有限公司 | Automatic catwalk and 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| BR112015017703A2 (en) * | 2013-01-25 | 2017-07-11 | Layne Christensen Company | automated rod manipulator |
| US20140338973A1 (en) * | 2013-05-20 | 2014-11-20 | Caterpillar Global Mining Llc | Automatic drill pipe add and remove system |
| CN104060951A (en) * | 2014-05-28 | 2014-09-24 | 中国石油集团渤海石油装备制造有限公司 | Intelligent drilling tool moving and discharging system for marine drilling platform and application method of intelligent drilling tool moving and discharging system |
| CN106761487B (en) * | 2017-03-15 | 2018-10-02 | 兰州兰石集团有限公司 | The method that marine drilling platform has processing system with pipe and connects movement thribble |
| CN206816206U (en) * | 2017-03-24 | 2017-12-29 | 济南芯乐智能设备有限公司 | A kind of big arm assembly of petroleum well workover Work robot |
| CN207829873U (en) * | 2018-01-12 | 2018-09-07 | 中石化四机石油机械有限公司 | A kind of tubing string well head connection device adapting to automated drilling rig |
| CN108316870A (en) * | 2018-04-26 | 2018-07-24 | 兰州兰石集团有限公司 | Drilling floor surface automatic control system above and below cat road machine drill tool |
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