CN110217733B - Underground pipe column lifting equipment for coal bed gas and oil gas - Google Patents
Underground pipe column lifting equipment for coal bed gas and oil gas Download PDFInfo
- Publication number
- CN110217733B CN110217733B CN201910379303.1A CN201910379303A CN110217733B CN 110217733 B CN110217733 B CN 110217733B CN 201910379303 A CN201910379303 A CN 201910379303A CN 110217733 B CN110217733 B CN 110217733B
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- horizontal support
- lifting
- oil
- gas
- coal bed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
- B66F13/005—Thrust chain devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
Abstract
The invention discloses a lifting device for a coal bed gas and oil gas underground pipe column, which comprises a supporting frame body, wherein an upper horizontal support, a middle horizontal support and a lower horizontal support are sequentially arranged on the supporting frame body from top to bottom; a lower through hole for penetrating through the sucker rod or the oil pipe is formed in the lower horizontal support, and a lower non-contact distance measuring sensor which is arranged in the lower through hole in a correlation manner is fixed on the lower horizontal support; the clamping and lifting devices are connected between the upper horizontal support and the middle horizontal support and between the middle horizontal support and the lower horizontal support in a left-right sliding mode.
Description
Technical Field
The invention belongs to the technical field of coal bed gas and oil gas development, and particularly relates to underground pipe column lifting equipment for coal bed gas and oil gas.
Background
Coal bed gas is a combustible gas with methane as a main component, and is usually adsorbed on the surface of coal particles, dissociated in coal pores and dissolved in coal bed water, and is a coal companion. The coal bed gas reserves are abundant in China, and the third place in the world is the coal bed gas reserves, so that the coal bed gas has great development potential. Coal bed gas is a clean energy, and under the current great trend of environmental protection and the pressure of coal mining safety, the coal bed gas resource is inevitably and vigorously developed.
At present, the conventional oil and gas field mining matched equipment is generally adopted in the field of coal bed gas ground mining for extraction, overhaul, maintenance and the like, and compared with the fact that the well body of the coal bed gas well of the conventional oil and gas well is shallow, if the conventional oil and gas field mining matched equipment is still adopted, the energy consumption is large, the operation efficiency is low, the equipment is heavy, and the coal bed gas mining cost is high.
The coal bed gas well maintenance equipment is a typical example, a professional maintenance operation vehicle (belonging to special equipment) is needed, more than 10 workers (professional qualification and certified post) need to be equipped for one team, the cost for managing a professional maintenance team is high, and the cost for maintaining a well is also high. The reality is that in order to save cost, small coal bed gas companies do not build own professional maintenance work teams, and when well maintenance work is needed, the maintenance work teams are found again, so that production is possibly delayed; the equipment for professional workover operation is simple and crude, or the equipment has a lot of faults, and the personnel is simple to prepare, or the personnel with professional qualifications is less.
Disclosure of Invention
The invention aims to provide a lifting device and a lifting method for overhauling an inner pipe column of a coal bed gas well in order to solve the problems in the prior art; the technical scheme adopted for achieving the purpose is as follows:
a lifting device for underground pipe columns of coal bed gas and oil gas comprises a supporting frame body, wherein an upper horizontal support, a middle horizontal support and a lower horizontal support are sequentially arranged on the supporting frame body from top to bottom, an upper through hole for penetrating through a sucker rod or an oil pipe is formed in the upper horizontal support, and an upper non-contact distance measuring sensor arranged in the upper through hole in a correlation mode is fixed on the upper horizontal support; a middle through hole for penetrating through the sucker rod or the oil pipe is formed in the middle horizontal support, and a middle non-contact distance measuring sensor which is arranged in the middle through hole in a correlation mode is fixed on the middle horizontal support; a lower through hole for penetrating through the sucker rod or the oil pipe is formed in the lower horizontal support, and a lower non-contact distance measuring sensor which is arranged in the lower through hole in a correlation manner is fixed on the lower horizontal support;
the clamping and lifting device comprises a left lifting mechanism and a right lifting mechanism which move leftwards and rightwards, threaded holes which are arranged along the left and right directions are formed in the bottoms of the left lifting mechanism and the right lifting mechanism, the thread directions of the threaded holes of the left lifting mechanism and the right lifting mechanism are opposite, a power screw rod which penetrates through the threaded holes is connected to the supporting frame in a rotating mode, the thread directions of the left part and the right part of the power screw rod are opposite, a first servo motor which is used for driving the power screw rod to rotate is fixed to the supporting frame, and the left lifting mechanism and the right lifting mechanism are driven to move towards the middle to clamp and lift the sucker rod or the oil pipe through rotating of the power screw rod.
Preferably, the left lifting mechanism comprises a support frame, a driving wheel and an inducer are arranged on the upper edge and the lower edge of the support frame, a bearing crawler belt is connected around the driving wheel and the inducer, a plurality of bearing wheels are arranged on the right sides of the driving wheel and the inducer side by side from top to bottom, and the bearing crawler belt positioned at the positions of the plurality of bearing wheels is in a vertical state in the rotation process of the bearing crawler belt; the bearing crawler belt is formed by sequentially and hingedly connecting a plurality of crawler plates, two adjacent crawler plates are hinged through a hinge shaft, anti-skidding lines used for increasing friction force are arranged on the crawler plates, and a second servo motor used for driving a driving wheel to rotate is arranged on the supporting frame.
Preferably, the lower horizontal support is provided with a falling prevention mechanism, the falling prevention mechanism comprises a left hoop and a right hoop, the left hoop and the right hoop are symmetrically distributed on the left side and the right side of the lower through hole, and two-way power hydraulic cylinders are arranged between the front corresponding end parts and the rear corresponding end parts of the left hoop and the right hoop; and the lower horizontal support is provided with an auxiliary non-contact distance measuring sensor which is arranged opposite to the sucker rod or the oil pipe, and the signal output ends of the lower non-contact distance measuring sensor and the auxiliary non-contact distance measuring sensor are connected with the signal input end of the bidirectional power hydraulic cylinder controller.
Preferably, the top of the supporting frame body is provided with a working platform and a foot ladder used for climbing to the working platform, a fence is arranged around the working platform, the middle of the working platform is provided with a pipeline perforation used for extending out of a sucker rod or an oil pipe, the working platform is provided with a driving type hydraulic wrench corresponding to the pipeline perforation position, and the through hole driving type hydraulic wrench is used for disassembling a sucker rod or an oil pipe coupling.
Preferably, a transverse supporting arm is arranged on the working platform, and a fixed pulley is arranged on the transverse supporting arm.
Preferably, a lifting arm and a winch are arranged on the supporting frame, and a lifting rope is arranged on the winch and is suspended at the tail end of the lifting arm through a pulley block at the tail end of the lifting arm along the arrangement of the lifting arm.
Preferably, the lifting arm is a multi-stage telescopic arm.
The invention has the following beneficial effects: (1) the underground pipe column is circularly clamped by two groups of crawler-type lifting mechanisms which are matched with each other, so that large lifting equipment with a complex structure, which is commonly used in the conventional oil and gas well, is avoided;
(2) the distance between left side hoist mechanism and the right hoist mechanism can be according to pipe diameter size adaptability adjustment in the pit to application range is more extensive, and the application is stronger.
(3) Through the control of the screw rods with the threads of the two half parts being opposite, the effect that the left lifting mechanism and the right lifting mechanism accurately move through centering is achieved.
(4) The upper and lower groups of clamping and lifting devices perform simultaneous or alternate clamping actions on the underground pipe column, so that the underground pipe column continuously moves upwards or downwards without interruption.
(5) Through the setting of dual design anti-falling mechanism, no matter be the in-process of tubular column in the pit promoting or transferring all avoid the emergence of the dangerous condition of falling to the operation security of equipment has been improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a clamping and lifting device;
fig. 3 is a schematic structural diagram of the fall-prevention mechanism.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a lifting device for a coal bed gas and oil gas downhole tubular column comprises a supporting frame body, wherein an upper horizontal support 14, a middle horizontal support 15 and a lower horizontal support 16 are sequentially arranged on the supporting frame body from top to bottom, an upper through hole 7 for passing through a sucker rod or an oil pipe is arranged on the upper horizontal support 14, and an upper non-contact distance measuring sensor 10 which is arranged in the upper through hole 7 in a correlation manner is fixed on the upper horizontal support 14; a middle through hole 5 for penetrating through a sucker rod or an oil pipe is formed in the middle horizontal support 15, and a middle non-contact distance measuring sensor 6 which is arranged in the middle through hole 5 in a correlation mode is fixed on the middle horizontal support 15; a lower through hole 1 for penetrating through a sucker rod or an oil pipe is arranged on the lower horizontal support 16, and a lower non-contact distance measuring sensor 4 arranged in the lower through hole 1 in a correlation manner is fixed on the lower horizontal support 16; the upper through hole 7, the middle through hole 5 and the lower through hole 1 are coaxially arranged.
A clamping and lifting device 3 is connected between the upper horizontal support 14 and the middle horizontal support 15 and between the middle horizontal support 15 and the lower horizontal support 16 in a left-right sliding manner, as shown in fig. 2, the clamping and lifting device 3 comprises a left lifting mechanism and a right lifting mechanism which are in a left-right sliding manner and are symmetrically arranged, threaded holes which are arranged along the left-right direction are arranged at the bottoms of the left lifting mechanism and the right lifting mechanism, the threaded directions of the threaded holes of the left lifting mechanism and the right lifting mechanism are opposite, a power screw rod 302 which penetrates through the threaded holes is connected on the supporting frame in a rotating manner, the threaded directions of the left part and the right part on the power screw rod 302 are opposite, a first servo motor (the servo motor and electrical accessories in the equipment are designed in an explosion-proof manner) 301 for driving the power screw rod 302 to rotate is fixed on the supporting frame, and the rotation of the power screw rod 302 drives the left lifting mechanism and the right lifting, and (3) clamping and lifting the underground pipe string when moving towards the middle.
The left lifting mechanism comprises a support frame 306, a driving wheel 305 and an inducer 303 are arranged on the support frame 306 along the upper and lower directions, a bearing crawler 304 is connected around the driving wheel 305 and the inducer 303, a plurality of bearing wheels 307 are arranged on the right sides of the driving wheel 305 and the inducer 303 side by side up and down, and the bearing crawler 304 positioned at the positions of the bearing wheels 307 is in a vertical state in the rotating process of the bearing crawler 307; the bearing crawler 304 is formed by sequentially and hingedly connecting a plurality of crawler plates, two adjacent crawler plates are hinged through a hinge shaft, anti-slip threads for increasing friction force are arranged on the crawler plates, and a second servo motor for driving the driving wheel 305 to rotate is arranged on the supporting frame 306.
In order to prevent the sucker rod or the oil pipe from falling under abnormal conditions, the lower horizontal support 16 is provided with a falling prevention mechanism 2, as shown in fig. 3, the falling prevention mechanism comprises a left hoop 202 and a right hoop 203, the left hoop 202 and the right hoop 203 are symmetrically distributed on the left side and the right side of the lower through hole 1, and two-way power hydraulic cylinders 201 are arranged between the front corresponding end parts and the rear corresponding end parts of the left hoop 202 and the right hoop 203; an auxiliary non-contact distance measuring sensor 17 which is arranged opposite to the sucker rod or the oil pipe is arranged on the lower horizontal support 16, and the signal output ends of the lower non-contact distance measuring sensor 4 and the auxiliary non-contact distance measuring sensor 17 are connected with the signal input end of the controller of the bidirectional power hydraulic cylinder 201.
In order to lift out or carry out corresponding operation on the next step of the sucker rod or the oil pipe which is installed and lowered underground, the top of the supporting frame body is provided with a working platform 13 and a foot ladder used for climbing to the working platform 13, a fence is arranged around the working platform 13, a pipeline perforation hole 9 used for extending out of the sucker rod or the oil pipe is arranged in the middle of the working platform, a driving type hydraulic wrench corresponding to the position of the pipeline perforation hole 9 is arranged on the working platform 13, and the through hole driving type hydraulic wrench is used for disassembling a sucker rod or an oil pipe coupling.
The horizontal supporting arm 12 is directly arranged on the working platform 13, the supporting body from the working platform 13 to the working platform 12 is designed to be freely stretchable, so that the adaptability of transportation and underground pipe columns is facilitated, the fixed pulley 11 is arranged on the horizontal supporting arm 12, the pull rope 8 is bound on the underground pipe columns through one end of the fixed pulley 11, and the other end of the pull rope is manually pulled or a winch is used.
When the device is used, the lifting equipment is located on a coal bed gas well or an oil gas well mouth, a down-hole sleeve is used for positioning and fixing, an upper through hole 7, a middle through hole 5 and a lower through hole 1 are coaxially aligned with the well mouth, then a first servo motor 301 acts to drive a power screw 302 to rotate, so that a left lifting mechanism and a right lifting mechanism are driven to synchronously center and draw close to the middle, the proper distance between a left lifting mechanism and a right lifting mechanism bearing crawler 304 is controlled according to the size of a down-hole pipe column, after adjustment is finished, manual or mechanical power is used for placing a first section of the down-hole pipe column between the left lifting mechanism and the right lifting mechanism of a lower clamping lifting device 3, a left second servo motor and a right second servo motor respectively drive wheels 305 on two sides to synchronously rotate, the bearing crawlers 304 on two sides clamp and lift the down-hole pipe column upwards until the down-hole pipe column is lifted to a working platform 13, a driving hydraulic wrench automatically detaches, and then lifted to a specified position by the pulling rope 8. In the lifting process, when a coupling at the joint of two sections of underground pipe columns reaches the lower non-contact distance measuring sensor 4 for the first time, the two lower non-contact distance measuring sensors 4 are mutually matched to detect that the size of the underground pipe column is increased, namely, the pipe column coupling is judged to pass through, at the moment, the signal is transmitted to the first servo motor 301 controller below, the first servo motor 301 rotates reversely to allow the left lifting mechanism and the right lifting mechanism below to retreat the coupling towards two sides, when the coupling reaches the middle non-contact distance measuring sensor 6, the middle non-contact distance measuring sensor 6 transmits the signal to the two first servo motor 301 controllers above and below, the first servo motor 301 below acts before the first servo motor 301 above, so that the left lifting mechanism and the right lifting mechanism below move towards the middle to clamp the underground pipe column, the left lifting mechanism and the right lifting mechanism above retreat the coupling towards two sides, by analogy of the two clamping and lifting devices 3, the underground pipe column can be clamped simultaneously or alternatively, and continuous and uninterrupted upward movement of the underground pipe column is realized. When the underground pipe column needs to be installed below, the process can be operated in the opposite direction, the detection control sequence of the coupling at the link of the underground pipe column is correspondingly controlled in the opposite direction, and the description is omitted.
No matter be at the in-process of promotion or transferring, all need avoid appearing the emergence that the tubular column phenomenon of falling in the pit under the non-positive circumstances, consequently set up anti-falling mechanism 2 on horizontal bracket 16 down, its working process is: in the process of promoting or transferring, lower non-contact ranging sensor 4 and supplementary non-contact ranging sensor 17 mutually support the effect and can judge the precedence and the time interval that same tubular column links the department coupling and pass through in the pit, in view of the above in order to judge whether the tubular column circumstances of falling appears in the pit, thereby two-way power pneumatic cylinder 201 moves and drives left staple bolt 202 and right staple bolt 203 and hold the tubular column in the pit to the intermediate motion fast in step and avoid falling when detecting to fall.
In addition, the judgment of whether the underground pipe column falls can be carried out by adopting two modes:
(1) the support frame is fixed with non-contact speed sensors which are arranged in pairs and used for detecting the movement speed and the movement direction of the underground pipe column, and the like for detection by the prior art means; after the signal is sent to the controller of the bidirectional power hydraulic cylinder 201, the bidirectional power hydraulic cylinder 201 acts to drive the left hoop 202 and the right hoop 203 to synchronously and rapidly move towards the middle to tightly hold the underground pipe column so as to avoid falling.
(2) Two anti-falling sensing mechanisms are symmetrically arranged on the supporting frame bodies on the left side and the right side of the underground pipe column, each anti-falling sensing mechanism comprises a sliding chute arranged along the radial direction of the underground pipe column, a roller wheel supporting seat is connected in the sliding chute in a sliding way, a spring is arranged between the bottom of the roller wheel supporting seat and the bottom of the sliding chute, the roller wheel supporting seat is rotatably connected with a groove roller wheel, the groove roller wheel is tightly pressed on the underground pipe column under the action of a spring, so that the movement speed and the movement direction of the underground pipe column are transmitted to the groove roller wheel, then the moving speed and the moving direction of the underground pipe column can be judged by detecting the rotating speed and the rotating direction of the groove roller, therefore, the signal is sent to the controller of the bidirectional power hydraulic cylinder 201, and the bidirectional power hydraulic cylinder 201 acts to drive the left hoop 202 and the right hoop 203 to synchronously and rapidly move towards the middle to tightly hold the underground pipe column so as to avoid falling; the anti-falling sensing mechanism can realize automatic avoidance when encountering a coupling of the underground pipe column, thereby being capable of transmitting the movement speed and direction of the underground pipe column in the whole process.
(3) Can also replace the fixed pulley 11 at top into one-way ratchet formula pulley, just like this just expose the well head at tubular column in the pit and get into the centre gripping hoisting device 3 of below and just with stay cord 8 ligatures on tubular column in the pit, perhaps set up connection modes such as clamp at 8 ends of stay cord and fix in advance to tubular column in the pit, at the in-process that promotes, stay cord 8 carries out the tractive to tubular column in the pit always, further prevents falling to play the dual fail-safe effect to tubular column in the pit under the effect of one-way ratchet formula pulley.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A lifting device for underground pipe columns of coal bed gas and oil gas is characterized by comprising a supporting frame body, wherein an upper horizontal support, a middle horizontal support and a lower horizontal support are sequentially arranged on the supporting frame body from top to bottom; a middle through hole for penetrating through the sucker rod or the oil pipe is formed in the middle horizontal support, and a middle non-contact distance measuring sensor which is arranged in the middle through hole in a correlation mode is fixed on the middle horizontal support; a lower through hole for penetrating through the sucker rod or the oil pipe is formed in the lower horizontal support, and a lower non-contact distance measuring sensor which is arranged in the lower through hole in a correlation manner is fixed on the lower horizontal support;
the clamping and lifting device comprises a left lifting mechanism and a right lifting mechanism which move leftwards and rightwards, threaded holes which are arranged along the left and right directions are formed in the bottoms of the left lifting mechanism and the right lifting mechanism, the thread directions of the threaded holes of the left lifting mechanism and the right lifting mechanism are opposite, a power screw rod which penetrates through the threaded holes is connected to the supporting frame in a rotating mode, the thread directions of the left part and the right part of the power screw rod are opposite, a first servo motor which is used for driving the power screw rod to rotate is fixed to the supporting frame, and the left lifting mechanism and the right lifting mechanism are driven by the power screw rod to move towards the middle to clamp and lift the sucker rod or the oil pipe.
2. The coal bed gas and oil and gas downhole tubular column lifting device according to claim 1, wherein the left lifting mechanism comprises a support frame, a driving wheel and an inducer are arranged on the support frame along the upper and lower sides, a bearing crawler is connected around the driving wheel and the inducer, a plurality of bearing wheels are arranged on the right sides of the driving wheel and the inducer side by side up and down, and the bearing crawler at the positions of the plurality of bearing wheels is in a vertical state in the rotation process of the bearing crawler; the bearing crawler belt is formed by sequentially and hingedly connecting a plurality of crawler plates, two adjacent crawler plates are hinged through a hinge shaft, anti-skidding lines used for increasing friction force are arranged on the crawler plates, and a second servo motor used for driving a driving wheel to rotate is arranged on the supporting frame.
3. The underground coal bed gas and oil and gas pipe column lifting equipment as claimed in claim 1 or 2, wherein a falling prevention mechanism is arranged on the lower horizontal support, the falling prevention mechanism comprises a left hoop and a right hoop, the left hoop and the right hoop are symmetrically distributed on the left side and the right side of the lower through hole, and a bidirectional power hydraulic cylinder is arranged between the front corresponding end part and the rear corresponding end part of the left hoop and the right hoop; and the lower horizontal support is provided with an auxiliary non-contact distance measuring sensor which is arranged opposite to the sucker rod or the oil pipe, and the signal output ends of the lower non-contact distance measuring sensor and the auxiliary non-contact distance measuring sensor are connected with the signal input end of the bidirectional power hydraulic cylinder controller.
4. The lifting device for the coal bed gas and oil and gas underground pipe column according to claim 3, wherein a working platform and a foot ladder for climbing to the working platform are arranged at the top of the supporting frame body, a fence is arranged around the working platform, a pipeline perforation for extending the sucker rod or the oil pipe is arranged in the middle of the working platform, and a driving type hydraulic wrench corresponding to the pipeline perforation position is arranged on the working platform and used for detaching the sucker rod or the oil pipe coupling.
5. The lifting device for a coal bed gas and oil and gas downhole tubular column according to claim 3, wherein a transverse supporting arm is arranged on the working platform, and a fixed pulley is arranged on the transverse supporting arm.
6. A coal bed gas and oil and gas downhole tubular string lifting apparatus according to claim 3, wherein a lifting arm and a hoist are provided on the support frame, and a lifting rope is provided on the hoist, the lifting rope being arranged along the lifting arm to be suspended at the tail end of the lifting arm by a pulley block at the tail end of the lifting arm.
7. The coal bed methane and oil and gas downhole tubular string lifting device of claim 6, wherein the lifting arm is a multi-stage telescopic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910379303.1A CN110217733B (en) | 2019-05-08 | 2019-05-08 | Underground pipe column lifting equipment for coal bed gas and oil gas |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910379303.1A CN110217733B (en) | 2019-05-08 | 2019-05-08 | Underground pipe column lifting equipment for coal bed gas and oil gas |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110217733A CN110217733A (en) | 2019-09-10 |
| CN110217733B true CN110217733B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910379303.1A Expired - Fee Related CN110217733B (en) | 2019-05-08 | 2019-05-08 | Underground pipe column lifting equipment for coal bed gas and oil gas |
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| Country | Link |
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| CN (1) | CN110217733B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545366A (en) * | 2009-05-04 | 2009-09-30 | 长沙矿冶研究院 | Underwater mining method and device |
| CN101942976A (en) * | 2010-09-01 | 2011-01-12 | 中国石油天然气集团公司 | Drill rod joint positioning and controlling method of continuous cycle drilling system |
| WO2016038621A1 (en) * | 2014-09-12 | 2016-03-17 | Chawla Suresh | Traveling roads, conveyer belt roads and future railways improved |
| CN108896262A (en) * | 2018-06-26 | 2018-11-27 | 中国矿业大学 | A kind of deep shaft flexible cage guide vibration mechine |
| CN109696320A (en) * | 2019-02-28 | 2019-04-30 | 辽宁工程技术大学 | A kind of mining machinery cutting mechanism is comprehensive performance test bed |
-
2019
- 2019-05-08 CN CN201910379303.1A patent/CN110217733B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545366A (en) * | 2009-05-04 | 2009-09-30 | 长沙矿冶研究院 | Underwater mining method and device |
| CN101942976A (en) * | 2010-09-01 | 2011-01-12 | 中国石油天然气集团公司 | Drill rod joint positioning and controlling method of continuous cycle drilling system |
| WO2016038621A1 (en) * | 2014-09-12 | 2016-03-17 | Chawla Suresh | Traveling roads, conveyer belt roads and future railways improved |
| CN108896262A (en) * | 2018-06-26 | 2018-11-27 | 中国矿业大学 | A kind of deep shaft flexible cage guide vibration mechine |
| CN109696320A (en) * | 2019-02-28 | 2019-04-30 | 辽宁工程技术大学 | A kind of mining machinery cutting mechanism is comprehensive performance test bed |
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| CN110217733A (en) | 2019-09-10 |
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Granted publication date: 20200616 |