CN110295856A - A kind of automatic workover rig of hydraulic vertical promotion - Google Patents
A kind of automatic workover rig of hydraulic vertical promotion Download PDFInfo
- Publication number
- CN110295856A CN110295856A CN201910676564.XA CN201910676564A CN110295856A CN 110295856 A CN110295856 A CN 110295856A CN 201910676564 A CN201910676564 A CN 201910676564A CN 110295856 A CN110295856 A CN 110295856A
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- China
- Prior art keywords
- pipe
- articulated
- derrick
- principal arm
- hydraulic cylinder
- Prior art date
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Links
- 238000007599 discharging Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 35
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 239000000725 suspension Substances 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 8
- 210000005069 ears Anatomy 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 239000011148 porous material Substances 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 4
- 239000000446 fuel Substances 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 239000003129 oil well Substances 0.000 abstract description 5
- 238000005452 bending Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 241000269793 Cryothenia peninsulae Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- 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
-
- 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
- E21B19/10—Slips; Spiders ; Catching devices
-
- 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
-
- 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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
- E21B19/163—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe piston-cylinder actuated
-
- 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
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
-
- 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
- E21B47/00—Survey of boreholes or wells
- E21B47/01—Devices for supporting measuring instruments on drill bits, pipes, rods or wirelines; Protecting measuring instruments in boreholes against heat, shock, pressure or the like
- E21B47/017—Protecting measuring instruments
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
Abstract
The present invention provides a kind of hydraulic verticals to promote automatic workover rig, including vehicle-mounted chassis, lifting device, pipe discharging device and transfer device, lifting device is set to the tail portion on the vehicle-mounted chassis, pipe discharging device is located at the underface of the lifting device, transfer device includes the upper down tube mechanism set on the side of pipe discharging device, the shifting pipe transshipment acitivity on vehicle-mounted chassis and the rack between upper down tube mechanism and transfer device.Lifting device, pipe discharging device and transfer device can be placed on vehicle-mounted chassis together and be transported in transport using technical solution of the present invention, it is flexibly convenient.At work, oil pipe is extracted out from well head by lifting device, shackle is carried out to oil pipe by pipe discharging device, is placed in rack by transfer device by oil pipe is neat, to realize the automated job of oil well overhaul work, it is greatly improved compared with prior art.
Description
Technical field
The present invention relates to oil production equipment technical fields more particularly to a kind of hydraulic vertical to promote automatic workover rig.
Background technique
Oil/gas well after a period of operation, is needed periodically to carry out to take out oil pipe and be overhauled, oil tube repair work is logical
It is often completed by workover rig, traditional workover rig integrated level, intelligence degree is lower, needs to transport to scene in batches and is filled
Match, it is inconvenient, multiple workers are also needed to arrange when carrying out well-repairing work and are engaged in comb at the scene, move pipe and shaft mouth operation,
Not only working environment is severe, but also danger coefficient is high, has both been unfavorable for the physical and mental health of worker, also increase it is additional it is artificial at
This.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of novel hydraulic verticals to promote automatic workover rig, have compared with
High integrated level easily can be transported and be arranged, while intelligence degree also with higher, can be realized oil well overhaul work
The automated job of work.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of automatic workover rig of hydraulic vertical promotion, including vehicle-mounted chassis, lifting device, pipe discharging device and transfer device,
The lifting device is set to the tail portion on the vehicle-mounted chassis, and the pipe discharging device is located at the underface of the lifting device, described
Transfer device is set to the side of the pipe discharging device.
The lifting device includes derrick, cluster sheaves, wirerope, tourist bus and elevator, and the derrick is articulated with the vehicle
It carries the tail portion on chassis and can erect or put down from vehicle-mounted chassis, the derrick includes outer derrick and is socketed in the outer derrick
Interior derrick, the interior derrick can stretch out or retract from the outer derrick, and the cluster sheaves are set to the interior derrick
Top, described wirerope one end are connected on vehicle-mounted chassis, and the other end is connect after around cluster sheaves with tourist bus, the elevator
It is suspended on the tourist bus；
The pipe discharging device includes preventer, tubing coupling detector, slips, mobile platform, impact tong and turnbuckle clamp, institute
It states preventer to be socketed on the well head, the tubing coupling detector is installed on the upper end of the preventer, the slips peace
Upper end loaded on the tubing coupling detector, the mobile platform are mounted on the upper end of the slips, and the impact tong is fixed
In on the mobile platform, the turnbuckle clamp is fixed on the upper end of the impact tong, and the elevator is correspondingly arranged at the impact tong
Surface, the elevator be equipped with claw through-hole；
The transfer device includes upper down tube mechanism, transshipment acitivity and rack, and the upper down tube mechanism includes being set to unload
The pedestal of pipe mechanism side is articulated on the pedestal and grabs pipe principal arm, set on the handgrip grabbed on pipe principal arm and can
The 5th hydraulic cylinder that pipe principal arm rises or puts down is grabbed described in driving, the pipe principal arm of grabbing can grab oil pipe and be transferred to institute
It states on pedestal, the transshipment acitivity includes sliding-rail groove, the coaster in the sliding-rail groove and the installation on vehicle-mounted chassis
In supratrochlear shifting pipe principal arm, the placement direction for moving pipe principal arm is parallel with the pipe principal arm of grabbing, and the rack is set to institute
It states and moves below pipe principal arm, the pedestal side, which is equipped with, can be transferred to oil pipe turning over for its crawl immediately below the shifting pipe principal arm
Pipe principal arm, the shifting pipe principal arm, which is equipped with to grab, turns over the manipulator that the oil pipe on pipe principal arm is transferred on rack.
Workover rig is integrated on vehicle-mounted chassis by the embodiment more than, so that transport assembly becomes more convenient,
When carrying out workover treatment, derrick is risen, and elevator above mentions oil pipe, pipe discharging device by oil pipe shackle, grab pipe principal arm by oil pipe from
It removes and is laid flat to pedestal on elevator, turn over pipe principal arm and oil pipe is transferred to the underface for moving pipe principal arm, move the machinery of pipe principal arm
Hand crawl oil pipe simultaneously be placed on rack, carry out oil pipe decentralization operation when, step then with workover treatment on the contrary, by
This realizes the automation manipulation of oil well overhaul operation.
It further include suspension guiding device in further improvement of the present invention, the suspension guiding device includes being set to day
Two truckles of wheel group two sides be set to winch of the outer crown at the truckle position, on the truckle
It is wrapped with guide steel wire rope, one end of the guide steel wire rope is connected to the two sides of the mobile platform, and the other end is around described
It is collected after truckle in the winch, the elevator two sides are equipped with righting rod, and the end of the righting rod is equipped with cableties, leads
It is penetrated in the cableties to wirerope.Using such structure, elevator can be allowed to be not susceptible to shake in lifting, make oil pipe more
It easily penetrates in the through-hole of elevator and is fixed by claw, improve efficiency indirectly.
In a preferred embodiment of the invention, the lifting device further includes lift oil tank and first hydraulic cylinder, described
Lift oil tank is set in the derrick, and the lift oil tank includes being articulated with the first cylinder barrel of outer derrick bottom and being arranged in described
First piston bar in interior derrick, the apex angle of the First piston bar are connect with the top plate of the interior derrick, knot in this way
Structure realizes the lifting of outer derrick, and one end of the first hydraulic cylinder is articulated on vehicle-mounted chassis, and the other end is articulated with outer derrick
Middle part, realize the lifting of outer derrick through this structure.
In further improvement of the present invention, the tourist bus includes footstock, the pedestal that is articulated with below the footstock, described
Footstock front and rear sides are equipped with coaxially arranged sheave, and the wirerope is wire-wrapped on the sheave, can using such structure
So that the operation of tourist bus is more steady, it is not susceptible to shake, the elevator is suspended on the pedestal by sunpender, the sunpender
Both ends are equipped with hanging ring, the pedestal and elevator and withhold equipped with what the appearance hanging ring was put into.
In a preferred embodiment of the invention, it is equipped with what fuel feed pump passed through in the preventer and tubing coupling detector
Pore, the slips include the slips seat board being installed on tubing coupling detector, the casing being arranged in the slips seat board,
Slips piece in casing and the driving mechanism that the slips piece clamp or release can be driven, described sleeve pipe and the pipe
Hole is connected, the mobile platform include bottom plate above the slips, be set on the bottom plate it is compatible with described sleeve pipe position
Aperture, the sliding rail on the bottom plate and the sliding block that can be slided on the sliding rail, the impact tong include being fixed on
Support on sliding block, the motor on the support are set to corresponding with the position of opening on the support front end face
Vertical groove, the vertical groove two sides are equipped with the first back-up tong arranged up and down and the second back-up tong, and first back-up tong includes pivot
The semicircular gear being connected in the recess on support front end face, the third hydraulic cylinder set on semicircular gear straight flange two sides,
The third hydraulic cylinder has the third piston rod that can be stretched out towards relative direction, and the end of the third piston rod is equipped with back
Tooth is clamped, the motor shaft of the motor protrudes into the recess, and the end of the motor shaft is equipped with nibbles with the semicircular gear
The driving gear of conjunction, second back-up tong include the second hydraulic cylinder in vertical groove side supports, and described second is hydraulic
Cylinder has the second piston bar that can be stretched out towards relative direction, and the end of the second piston bar is equipped with back-up tong tooth, the rotation
Clasp forceps includes the caliper above support, and the pincers tooth portion of the caliper is correspondingly arranged at the surface of the vertical groove, described
Spinner idler wheel is installed in pincers tooth portion, the motor that can drive the spinner idler wheel rotation is installed at the top of told spinner idler wheel.
In further improvement of the present invention, protective cover is socketed on the tubing coupling detector, the protective cover is in
The toroidal gradually spread from bottom to top accepts the greasy dirt of drippage, is not easy to make pipe discharging device when above mentioning thus, it is possible to oil pipe
At pollution.
In a preferred embodiment of the invention, the coaster is equipped with rotary shaft, is fixed with rotation in the rotary shaft
Seat, it is described move pipe principal arm one end be fixed on the rotating seat, the side of the rotating seat be equipped with it is outwardly directed pick up the ears,
On the coaster also there is one end to be articulated on described pick up the ears, the other end is articulated with supratrochlear 9th hydraulic cylinder, thus
It can be realized 90 ° of rotations for moving pipe principal arm, pipe principal arm can will be moved in transport and is retracted in guide rail.It then can be convenient in operation
By the 9th hydraulic cylinder by move pipe principal arm expansion, make operation become more convenient.
In a preferred embodiment of the invention, it is described turn over pipe principal arm include the lower swing arm for being articulated with the pedestal side,
It is articulated with the upper swing arm of described lower swing arm one end and is set to the gripping arm on the upper swing arm top, further includes that one end is articulated with pedestal
Above, the other end is articulated with the 6th hydraulic cylinder of the lower swing arm bottom, one end is articulated on the lower swing arm, and the other end is articulated with
The 7th hydraulic cylinder and one end on the upper swing arm are articulated on the upper swing arm, and the other end is articulated in the gripping arm
Eight hydraulic cylinders under the driving of the six, the 7th and the 8th hydraulic cylinder, pass through lower swing arm and upper swing arm using such structure
Action drives gripping arm crawl is located at the oil pipe moved on pipe principal arm, and is moved to shifting pipe principal arm lower section and taken for it.
In a preferred embodiment of the invention, the shifting pipe principal arm is equipped with multiple telescopic oil cylinders, the telescopic oil cylinder
Including the piston rod being arranged in the shifting pipe principal arm vertically, the manipulator is installed on the piston rod bottom, the piston
Bar can drive the manipulator raising and lowering.
In a preferred embodiment of the invention, the centralising mechanical for helping oil pipe is additionally provided in the middle part of the outer derrick
It hand and is hung for carrying out the small of lifting operation, centralising manipulator can drive oil pipe play a supporting role when above mentioning in elevator, keep away
Exempt from oil pipe shaking, small hang can be used in auxiliary hanging dress rack, pipe discharging device and upper down tube mechanism, be unfolded convenient for workover rig and receive
It rises.
So in summary, integrated level with higher of the invention and preferable intelligence degree are able to carry out automation
Workover treatment has significant promotion on ease of use and use cost compared with prior art.
Detailed description of the invention
The present invention is further detailed below with reference to picture:
Fig. 1 is overview of the invention；
Fig. 2 is lateral side view of the invention；
Fig. 3 is side view of the invention；
Fig. 4 is the top view of derrick in the present invention
Fig. 5 is the installation view of tourist bus and elevator in the present invention；
Fig. 6 is the side view of pipe discharging device；
Fig. 7 is the top view of pipe discharging device；
Fig. 8 is the three-dimensional view of slips；
Fig. 9 is the three-dimensional view of upper down tube mechanism；
Figure 10 is the three-dimensional view of transshipment acitivity
Wherein: the vehicle-mounted chassis 100-, 200- lifting device, 201- lift oil tank, 202- derrick, 203- first hydraulic cylinder,
204- cluster sheaves, 205- tourist bus, 206- elevator, the outer derrick of 207-, derrick in 208-, the first cylinder barrel of 209-, 210- first are living
Stopper rod, 211- turning rolls, 212- limit guide rail, 213- wirerope, 214- footstock, 215- pedestal, 216- sheave, 217- sunpender,
218- elevator, 219- claw, 220- hanging ring, 221- oblique rope, 300- pipe discharging device, 301- preventer, 302- tubing coupling inspection
Survey device, 303- slips, 304- mobile platform, 305- impact tong, 306- turnbuckle clamp, 307- protective cover, 308- slips seat board, 309-
Support plate, 310- slips piece, 311- casing, 312- otic placode, the tenth hydraulic cylinder of 313-, 314- pushing block, 315- push top, 316- are bent
Arm, the first swing arm of 317-, the second swing arm of 318-, 319- shaft, 320- push rod, the first bending segment of 321-, the second bending segment of 322-,
322- bottom plate, 323- aperture, 324- sliding rail, 325- sliding block, 326- support, 327- vertical groove, 328- notch, 329- motor,
The first back-up tong of 330-, the second back-up tong of 331-, 332- are oriented to square tube, 333- second hydraulic cylinder, 335- back-up tong tooth, 336- semi-circular teeth
Wheel, 337- third hydraulic cylinder, 339- recess, 341- railing, 342- caliper, 343- clamp tooth portion, 344- spinner idler wheel, 345- the 4th
Hydraulic cylinder, 400- suspension guiding device, 401- truckle, 402- winch, 403- guide steel wire rope, 404- righting rod, 405- line
Button, 500- transfer device, 501- rack, 502- pedestal, 503- grab pipe principal arm, 504- handgrip, the 5th hydraulic cylinder of 505-, 506-
Lower swing arm, 507- upper swing arm, 508- gripping arm, the 6th hydraulic cylinder of 509-, the 7th hydraulic cylinder of 510-, the 8th hydraulic cylinder of 511-, 512-
Sliding-rail groove, 513- coaster, 514- move pipe principal arm, 516- rotating seat, and 517- picks up the ears, the 9th hydraulic cylinder of 518-, 519- telescopic oil cylinder,
520- manipulator, 521- vertical beam, 600- is small to be hung, 700- centralising manipulator, 701- longitudinal rail, 702- longitudinally-moving arm, 703-
Cross slide way, the laterally movable arm of 704-, 705- gripping block.
Specific embodiment
The present invention is further illustrated below by way of specific embodiment:
As shown in Figure 1 to Figure 3, a kind of hydraulic vertical promotes automatic workover rig, including vehicle-mounted chassis 100, lifting device
200, pipe discharging device 300, suspension guiding device 400 and transfer device 500.
Wherein, lifting device 200 is articulated with the tail portion on vehicle-mounted chassis 100, and pipe discharging device 300 is in lifting device from vehicle-mounted bottom
Positioned at the underface of lifting device 200 when erecting on disk 100, suspension guiding device 400 is set to pipe discharging device 300 and lifting device
Between 200, transfer device 500 is set to the side on vehicle-mounted chassis 100.
The lifting device 200 includes lift oil tank 201, derrick 202, first hydraulic cylinder 203, cluster sheaves 204, tourist bus
205 with elevator 206.
As shown in figure 4, derrick 202 includes being articulated with the outer derrick 207 of vehicle-mounted 100 tail portion of chassis and being sheathed on outer derrick
Interior derrick 208 in 207, outer derrick 207 and interior derrick 208 are truss structure, to reduce weight under conditions of proof strength
Amount.Lift oil tank 201 is set in derrick 202, which includes the first cylinder barrel 209 for being articulated with outer 207 bottom of derrick
With the First piston bar 210 being arranged in interior derrick 208, the top of First piston bar 210 and the top plate of interior derrick 208 are hinged,
Thus, it is possible to drive interior derrick 208 to stretch out or retract from outer derrick 207 by lift oil tank 201.The inner wall two of outer derrick 207
Turning rolls 211 is arranged in side, and arranged for interval has idler wheel on turning rolls 211, and the outer wall of interior derrick 208 is equipped with the limit being put into for idler wheel
Position guide rail 212, is gone up and down in outer derrick 207 thus it enables that interior derrick 208 is smooth.
One end of first hydraulic cylinder 203 is articulated with the middle part on vehicle-mounted chassis 100, and the other end is articulated in outer derrick 207
Portion, so as to drive derrick 202 to erect or decentralization.
Cluster sheaves 204 are set to the top of interior derrick 208.Tourist bus 205 passes through the wirerope 213 around cluster sheaves 204
It is suspended on derrick 202, one end of wirerope 213 is connect with tourist bus 205, and the other end is after around cluster sheaves 204 in hinged
In on vehicle-mounted chassis 100.Using such structure, tourist bus 205 can be made with twice interior derrick when interior derrick 208 is gone up and down
208 ramp rate is gone up and down.
As shown in figure 5, tourist bus 205 includes footstock 214, the pedestal 215 for being articulated with the lower section of footstock 214 and coaxially arranged
Semicircle sheave 216 in 214 front and rear sides of footstock, wirerope 213 share two strands and are wire-wrapped on the sheave 216 respectively.Base
The both ends of seat 215 are connected with sunpender 217, and elevator 218 is connected by the sunpender 217 with tourist bus 205, and elevator 218 is equipped with and has
The through-hole of claw 219 can catch oil pipe by it from pull-out middle in oil well by claw 219.
The both ends of sunpender 217 are equipped with hanging ring 220, and the both ends of pedestal 215 and elevator 218 for what hanging ring 220 was put into equipped with hanging
Button using hanging ring and by the way of withholding mating connection, compared to being rigidly connected, both to install more convenient, is also able to bear more
Big shaking moment and be hardly damaged.
In addition, further including that one end is connected in outer 207 top of derrick, one end is connected to the oblique rope 221 on vehicle-mounted chassis 100,
To play a supporting role when derrick 202 is holded up.
As shown in Figure 6 to 8, pipe discharging device 300 successively includes preventer 301, tubing coupling detector from the bottom to top
302, slips 303, mobile platform 304, impact tong 305 and turnbuckle clamp 306.
Wherein, preventer 301 is mounted on well head, and tubing coupling detector 302 is mounted on 301 upper end of preventer, blowout prevention
It is equipped with the logical pore that is connected with each other in device 301 and tubing coupling detector 302, is penetrated with fuel feed pump.In addition, the tubing coupling is examined
It surveys on device 302 and is also socketed protective cover 307, which is in the toroidal gradually spread from bottom to top, for accepting drippage
Greasy dirt.
The slips 303 includes the slips seat board 308 for being installed on 302 upper end of tubing coupling detector, is arranged in slips seat board
It casing 311 in 308, the support plate 309 on slips seat board 308, the slips piece 310 in casing 311 and is used for
The driving mechanism of 310 clamp or release of driving card tile.The casing 311 is connected with pore, the support plate 309 altogether there are four and
It is set to 311 two sides of casing two-by-two positioned oppositely.The driving mechanism include otic placode 312, the tenth hydraulic cylinder 313, transmission mould group with
Pushing block 314.Otic placode 312 is set on slips seat board 308, and the tenth hydraulic cylinder 313 is set on slips seat board 308 and its cylinder barrel end and ear
Plate 312 is hinged.Being driven mould group includes push top 315, the 316, first swing arm 317 of cranking arm, the second swing arm 318, shaft 319 and push rod
320.Push top 315 is connected on the tailpiece of the piston rod of the tenth hydraulic cylinder 313；It is set up in there are two shaft 319 is total and respectively and is located at set
In the support plate 309 of pipe two sides, push rod 320 altogether there are two and one end be connected to the middle part of shaft 319, the other end and pushing block
314 connections；First swing arm 317 and the second swing arm 318 are connected to one end of shaft；315 hinge of 316 one end and push top of cranking arm
Connect, the other end and the second swing arm 318 are hinged, the first swing arm 317 be articulated with this crank arm 316 middle part.This crank arm 316 include first
Bending segment 321 and the second bending segment 322, the first swing arm 317 are articulated with the node of the first bending segment 321 and the second bending segment 322
Place, the slips piece 310 are stretched out from 311 top of casing, which puts against the part that the slips piece 310 stretches out outside casing 311
It sets, using such structure, pushing block 314 is moved under the driving of the tenth hydraulic cylinder 313 along relative direction, so as to
Enough make clamp or release oil pipe under the action of pushing block 314 of slips piece 310.
The mobile platform 304 includes the bottom plate 322 for being set to 303 top of slips, the aperture 323 on bottom plate 322, is set to
The sliding rail 324 of 322 two sides of bottom plate and the sliding block 325 on sliding rail 324, sliding block 325 are fixed on the bottom of impact tong 305,
Thus, it is possible to impact tong 305 is slid on a mobile platform.The bottom plate 322 and the top of support plate 309 are fixed, the aperture
323 position is corresponding with the position of casing.
Impact tong 305 includes the support 326 for being connected to 325 top of sliding block, and the front end face of the support 326 is equipped with and aperture
The corresponding vertical groove 327 in 323 positions, the bottom rear of the support 326 are equipped with notch 328, are equipped with motor in notch 328
329.327 two sides of vertical groove are equipped with the first back-up tong 330 arranged up and down and the second back-up tong 331.Second back-up tong 331 includes
Two guiding square tubes 332 positioned opposite, the guiding square tube 332 are embedded in the support 326 of 327 two sides of vertical groove,
One end that the guiding square tube 332 faces vertical groove 327 has the opening being connected with vertical groove 327, guiding square tube 332
It is stretched out outside support 326 away from one end of vertical groove 327.Second hydraulic cylinder 333 is fixed on guiding square tube 332 and stretches out support 326
On outer one end, which has the second piston bar protruded into guiding square tube 332, and second piston bar is in face of perpendicular
It is equipped with back-up tong tooth 335 to one end of groove 327, back-up tong tooth 335 can protrude into vertical groove under the driving of second piston bar
To clamp oil pipe in 327.
First back-up tong 330 includes semicircular gear 336, the guiding square tube set on the 336 straight flange two sides of semicircular gear
332, third hydraulic cylinder 337 is installed on two one end for being located remotely from each other of guiding square tubes 332, which, which has, stretches
Enter to be oriented to the third piston rod in square tube 332, the end of third piston rod is equipped with back-up tong tooth 335, and back-up tong tooth 335 can be the
It stretches under the driving of three piston rods.
The front end face of support 326 is equipped with the recess 339 for transversely extending back and passing through the vertical groove 327, should be partly
Circular gear 336 is set in recess 339 and makes the corresponding two sides for being arranged in groove 327 of third hydraulic cylinder 337.Motor 329 is vertical
It is mounted in the notch 328 of rest base 326, the shaft of motor 329 is penetrated upwards in the recess 339, and shaft protrudes into recess 339
Driving gear is fixed on interior one end, which is meshed with the round edge of semicircular gear 336.So as to pass through electricity
Machine 329 drives the first back-up tong 330 to be rotated, and the front end two sides of recess 339 are additionally provided with for limiting to the first back-up tong 330
Railing 341.
The turnbuckle clamp 306 includes the caliper 342 set on 326 top of support, and the pincers tooth portion 343 of caliper 342 is correspondingly arranged at perpendicular
To the surface of groove 327, it is equipped in the pincers tooth portion 343 and spinner idler wheel 344 is installed, the top installation of the spinner idler wheel 344
There is the motor that the spinner idler wheel 344 can be driven to rotate.The pincers tooth portion 343 can open and close under the driving of the 4th hydraulic cylinder 345,
Driving pincers tooth portion 343, which clamps oil pipe, when use makes spinner idler wheel 344 offset with oil pipe, then passes through motor driven spinner idler wheel 344
Rotation, can be realized oil pipe shackle.
Suspension guiding device 400 includes set on two truckles 401 of 204 two sides of cluster sheaves and set on outer derrick 207
Winch 402 of the top at 401 position of truckle is wrapped with guide steel wire rope 403 on truckle 401, the guiding steel wire
One end of rope 403 is connected to the two sides of mobile platform 304, and the other end collects in the winch 402 after bypassing the truckle 401,
It further include the righting rod 404 set on 206 two sides of elevator, the end of the righting rod 404 is equipped with cableties 405, guide steel wire rope 403
It penetrates in the cableties 405.It drives winch 402 to tighten guide steel wire rope 403 when use, the effect of guiding can be played, avoid hanging
Card 206 shakes at runtime.
As shown in Figure 9 and Figure 10, transfer device 500 includes being set to the upper down tube mechanism of 300 side of pipe discharging device and being set to
Transshipment acitivity on vehicle-mounted chassis further includes set on the rack 501 between transshipment acitivity and upper down tube mechanism.
Down tube mechanism includes the pedestal 502 of strip, is articulated with pedestal 502 and grabs pipe master close to pipe discharging device one end on this
Arm 503, set on the handgrip 504 grabbed on pipe principal arm 503 and set on the 5th hydraulic cylinder grabbed between pipe principal arm 503 and pedestal 502
505,505 one end of the 5th hydraulic cylinder and pedestal 502 are hinged, the other end and to grab pipe principal arm 503 hinged, grab pipe master so as to drive
Arm 503 is holded up, so that handgrip 504 grabs the oil pipe after shackle.
Upper down tube mechanism further includes being vertical at the multiple of 502 side of pedestal to turn over pipe principal arm, and it includes hinged that this, which turns over pipe principal arm,
In the lower swing arm 506 on pedestal 502, it is articulated with the upper swing arm 507 of 506 one end of lower swing arm and grabbing set on 507 top of upper swing arm
Arm 508 further includes that one end is articulated on pedestal 502, and the other end is articulated with the 6th hydraulic cylinder 509 of 506 bottom of lower swing arm, one end
It is articulated on lower swing arm 506, the 7th hydraulic cylinder 510 and one end that the other end is articulated on upper swing arm 507 are articulated with upper swing arm
On 507, the other end is articulated with the 8th hydraulic cylinder 511 in gripping arm 508, using such structure, can by lower swing arm 506 with
The action drives gripping arm 508 of upper swing arm 507 grabs oil pipe.
The transshipment acitivity include the sliding-rail groove 512 on the vehicle-mounted chassis 100, the coaster 513 in sliding-rail groove 512 with
The shifting pipe principal arm 514 being mounted on coaster 513.
The sliding-rail groove 512 is set to the side on vehicle-mounted chassis 100 and between pedestal 502 at being disposed vertically, and sets on the coaster 513
There is rotary shaft, rotating seat 516 is fixed at the top of the rotary shaft, the one end for moving pipe principal arm 514 is mounted on the rotating seat 516, should
The side of rotating seat 516 be equipped with it is outwardly directed pick up the ears 517, one end be additionally provided on the coaster 513 be articulated with and pick up the ears on 517,
The other end is articulated with the 9th hydraulic cylinder 518 on coaster 513.Thus, it is possible to realize the rotation for moving pipe principal arm 514.
Multiple telescopic oil cylinders 519 are installed on the shifting pipe principal arm 514, which includes being arranged in shifting pipe vertically
Piston rod in principal arm 514, the piston rod bottom are equipped with manipulator 520, the piston rod can driving manipulator 520 rise or
Decline is to grab oil pipe and be put on rack 501.
The rack 501 is the truss that section is in equilateral triangle, and the both ends of the rack 501 are fixed useful to oil pipe progress
The vertical beam 521 of limit, rack 501 share two groups and place each parallel to the sliding-rail groove 512.
In addition, the middle part of the outer derrick 207, which is also equipped with centralising manipulator 700, hangs 600 with small, the centralising manipulator 700
Longitudinal rail 701 including being set to outer 207 two sides of derrick and the longitudinally-moving arm 702 on the longitudinal rail 701, the longitudinal direction
Lever arm 702 can move forward or back under the driving of hydraulic cylinder, further include leading set on the transverse direction of 702 front end of longitudinally-moving arm
Rail 703 and the laterally movable arm on the cross slide way 703, the cross slide way 703 between longitudinal rail 701 at vertical cloth
It sets, the front end of the laterally movable arm 704 is equipped with gripping block 705, which can be in the driving lower edge phase of hydraulic cylinder
Direction is moved, for clamping righting oil pipe.This is small to hang 600 and can be used in auxiliary hanging handling pipe device 300, upper down tube mechanism
With rack 501, in order to be unfolded and packed up operation.
It is overall structure of the invention above, working method is as follows: in transport, derrick 202 is lain in vehicle-mounted
On chassis 100, pipe discharging device 300, suspension guiding device 400 and transfer device 500 hang 600 and are placed into vehicle-mounted chassis by small
100 side can be easily transported through by vehicle-mounted chassis 100.
In the preproduction phase, vehicle-mounted chassis 100 is driven at the suitable position before well head, and the supporting leg on vehicle-mounted chassis 100 stretches out
Vehicle-mounted chassis 100 is adjusted steadily, then drive derrick 202 rise, operate it is small hang 600 by pipe discharging device 300 auxiliary be installed to
It is docked on well head and with suspension guiding device 400；Upper down tube mechanism and rack 501 are hung to designated position.9th is hydraulic
The driving of cylinder 518, which moves pipe principal arm 514 and is rotated by 90 °, keeps it parallel with upper down tube mechanism.Preparatory function before completing well workover.
In working stage, impact tong 305 and turnbuckle clamp 306 on mobile platform 304 under Driven by Hydraulic Cylinder backward
It being moved to far from pithead position, elevator 218 drives oil pipe above to mention, and after oil pipe reaches designated position, slips 303 clamps oil pipe,
Driving impact tong 305 and turnbuckle clamp 306 return to pithead position, complete punching button and spinner operation in order, oil pipe is unloaded, complete
After unloading pipe operation, elevator 218 drives oil pipe to continue above to mention until deviating from from pipe discharging device 300, centering guide machine during upper mention
Tool hand 700, which is stretched out, prevents its shaking with righting oil pipe, and then the driving of the 5th hydraulic cylinder 505 grabs pipe principal arm 503 and is raised up to oil pipe one
Side simultaneously grabs oil pipe by handgrip, and subsequent 5th hydraulic cylinder 505 driving is grabbed pipe principal arm 503 and is reset on pedestal 502, and pipe is turned in driving
It is resetted after principal arm crawl oil pipe, shifting pipe principal arm 514 is so moved to the surface for turning over pipe principal arm, driving telescopic oil cylinder 519 grabs
The oil pipe on pipe principal arm is turned over, pipe principal arm 514 is most moved back along sliding-rail groove 512 and is moved to 501 top of rack, oil pipe is placed into
On rack 501.That completes oil pipe above proposes operation.
The decentralization operation of oil pipe then with oil pipe above to propose operation opposite.
It after the completion of work, moves pipe principal arm 514 and is resetted under the driving of the 9th hydraulic cylinder 518, pipe dress will be unloaded by operating small hang
It sets 300, upper down tube mechanism and rack 501 is hung to vehicle-mounted chassis 100, derrick is fallen, supporting leg is retracted, can be returned to
Travel position.
So description in summary it can be seen that the present invention has integrated level high, be readily transported with it is site-assembled excellent
Point；The advantages of also having intelligence degree high, can be realized oil well overhaul working automation operation.
But those of ordinary skill in the art it should be appreciated that more than embodiment be only with illustrating this hair
It is bright, and be not used as limitation of the invention, as long as in spirit of the invention, to embodiment described above
Variation, modification will all be fallen within the scope of claims of the present invention.
Claims (10)
1. a kind of hydraulic vertical promotes automatic workover rig, it is characterised in that: including vehicle-mounted chassis (100), lifting device (200),
Pipe discharging device (300) and transfer device (500), the lifting device (200) are set to the tail portion of the vehicle-mounted chassis (100), institute
The underface that pipe discharging device (300) are located at the lifting device (200) is stated, the transfer device (500) is set to the pipe that unloads and fills
Set the side of (300)；
The lifting device (200) includes derrick (202), cluster sheaves (204), wirerope (213), tourist bus (205) and elevator
(218), the derrick (202) is articulated with the tail portion of the vehicle-mounted chassis (100) and can erect from the vehicle-mounted chassis (100)
Or put down, the derrick (202) includes outer derrick (207) and the interior derrick (208) that is socketed in the outer derrick (207), institute
Stating interior derrick (208) can stretch out or retract from the outer derrick (207), and the cluster sheaves (204) are set to the interior well
The top of frame (208), described wirerope (213) one end are connected on vehicle-mounted chassis (100), and the other end is bypassing cluster sheaves
(204) it is connect afterwards with tourist bus (205), the elevator (206) is suspended on the tourist bus (205)；
The pipe discharging device (300) includes preventer (301), tubing coupling detector (302), slips (303), mobile platform
(304), impact tong (305) and turnbuckle clamp (306), the preventer (301) are socketed on well head, the tubing coupling detector
(302) it is installed on the upper end of the preventer (301), the slips (303) is installed on the tubing coupling detector (302)
Upper end, the mobile platform (304) are mounted on the upper end of the slips (303), and the impact tong (305) is fixed on the movement
On platform (304), the turnbuckle clamp (306) is fixed on the upper end of the impact tong (305), and the elevator (206) is correspondingly arranged at
The surface of the impact tong (305), the elevator (206) are equipped with the through-hole with claw (219)；
The transfer device (500) includes upper down tube mechanism, transshipment acitivity and rack (501), and the upper down tube mechanism includes
Set on Xie Guan mechanism side pedestal (502), be articulated with grabbing pipe principal arm (503), grab pipe set on described on the pedestal (502)
Handgrip (504) on principal arm (503) and the 5th hydraulic cylinder for grabbing pipe principal arm (503) and rising or putting down can be driven
(505), the pipe principal arm (503) of grabbing can grab the oil pipe on elevator (218) and be transferred on the pedestal (502),
The transshipment acitivity includes the sliding-rail groove (512) on vehicle-mounted chassis (100), the coaster in the sliding-rail groove (512)
(513) with the shifting pipe principal arm (514) that is mounted on coaster (513), the placement direction for moving pipe principal arm (514) and described pipe is grabbed
In parallel, the rack (501) is set to below the shifting pipe principal arm (514) principal arm (503), and pedestal (502) side is equipped with
Oil pipe can be transferred to immediately below shifting pipe principal arm (514) and turn over pipe principal arm for its crawl, on the shifting pipe principal arm (514)
Equipped with the manipulator (520) for turning over the oil pipe on pipe principal arm and being transferred on rack (501) can be grabbed.
2. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: further include suspension guiding device
(400), the suspension guiding device (400) includes set on two truckles (401) of cluster sheaves (204) two sides and set on outer
Winch (402) at the top of derrick (207) at the truckle (401) position is wrapped with guiding on the truckle (401)
One end of wirerope (403), the guide steel wire rope (403) is connected to the two sides of the mobile platform (304), and the other end bypasses
It is collected in the winch (402) after the truckle (401), elevator (218) two sides are equipped with righting rod (404), described
The end of righting rod (404) is equipped with cableties (405), and guide steel wire rope (403) penetrates in the cableties (405).
3. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the lifting device (200)
Including the lift oil tank (201) being set in the derrick (202), the lift oil tank (201) includes being articulated with outer derrick (207)
The first cylinder barrel (209) of bottom and the First piston bar (210) being arranged in the interior derrick (208), the First piston bar
(210) top is connect with the top plate of the interior derrick (208), further includes first hydraulic cylinder (203), the first hydraulic cylinder
(203) one end is articulated on vehicle-mounted chassis (100), and the other end is articulated with the middle part of outer derrick (207).
4. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the tourist bus (205) includes
Footstock (214), the pedestal (215) being articulated with below the footstock (214), footstock (214) front and rear sides are equipped with coaxial cloth
The sheave (216) set, the wirerope (213) are wire-wrapped on the sheave (216), and the elevator (206) passes through sunpender (217)
It is suspended on the pedestal (215), sunpender (217) both ends are equipped with hanging ring (220), the pedestal (215) and elevator (218)
It is withheld equipped with what the appearance hanging ring (220) was put into.
5. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the preventer (301) and
The pore that fuel feed pump passes through is equipped in tubing coupling detector (302), the slips (303) includes being installed on tubing coupling detection
Slips seat board (308) on device (302), is set in casing (311) casing (311) being arranged in the slips seat board (308)
Slips piece (310) and the driving mechanism of slips piece (310) clamp or release can be driven, described sleeve pipe (311) with
The pore is connected, and the mobile platform (304) includes the bottom plate (322) being set to above slips (303), is set to bottom plate
(322) aperture (323) compatible with described sleeve pipe (311) position on, the sliding rail (324) being set on the bottom plate (322) with
And the sliding block (325) that can be slided on the sliding rail (324), the impact tong (305) include being fixed on sliding block (325)
Support (326), be set to the support (326) on motor (329) and be set to the support (326) front end face on opened with described
The corresponding vertical groove (327) in hole (323) position, vertical groove (327) two sides are equipped with the first back-up tong arranged up and down
(330) with the second back-up tong (331), first back-up tong (330) includes the recess (329) being articulated on support (326) front end face
In semicircular gear (336), be set to the semicircular gear (336) straight flange two sides third hydraulic cylinder (337), the third
Hydraulic cylinder (337) has the third piston rod that can be stretched out towards relative direction, and the end of the third piston rod is equipped with back-up tong
Tooth (335), the motor shaft of the motor (329) protrude into the recess (339), the end of the motor shaft be equipped with it is described
The driving gear of semicircular gear (336) engagement, second back-up tong (331) include being set to vertical groove (327) side supports
(326) second hydraulic cylinder (333) in, the second hydraulic cylinder (333) have the second piston that can be stretched out towards relative direction
The end of bar, the second piston bar is equipped with back-up tong tooth (335), and the turnbuckle clamp (306) includes being set to above support (326)
Caliper (342), the pincers tooth portion (343) of the caliper (342) is correspondingly arranged at the surface of the vertical groove (327), described
It is equipped with spinner idler wheel (344) in pincers tooth portion (343), the spinner can be driven by being equipped at the top of the spinner idler wheel (344)
The motor of idler wheel (344) rotation.
6. hydraulic vertical promotes automatic workover rig according to claim 5, it is characterised in that: the tubing coupling detector
(302) it is socketed on protective cover (307), the protective cover (307) is in the toroidal gradually spread from bottom to top.
7. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: set on the coaster (513)
There is rotary shaft, be fixed in the rotary shaft rotating seat (516), the rotation is fixed in described one end for moving pipe principal arm (514)
Seat (516) on, the side of the rotating seat (516) be equipped with it is outwardly directed pick up the ears (517), also have on the coaster (513)
Have one end be articulated with it is described pick up the ears on (517), the other end is articulated with the 9th hydraulic cylinder (518) on the coaster (513).
8. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the pipe principal arm that turns over includes hinge
It is connected to the lower swing arm (506) of the pedestal (502) side, the upper swing arm (507) of the lower swing arm (506) one end is articulated with and sets
Gripping arm (508) in the upper swing arm (507) top, further include one end be articulated on pedestal (502), the other end be articulated with it is described
6th hydraulic cylinder (509) of lower swing arm (506) bottom, one end are articulated on the lower swing arm (506), and the other end is articulated with described
The 7th hydraulic cylinder (510) and one end on upper swing arm (507) are articulated on the upper swing arm (507), and the other end is articulated with institute
State the 8th hydraulic cylinder (511) on gripping arm (508).
9. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the shifting pipe principal arm (514)
It is equipped with multiple telescopic oil cylinders (519), the telescopic oil cylinder (519) includes being arranged in the shifting pipe principal arm (514) vertically
Piston rod, the manipulator (520) are installed on the piston rod bottom, and the piston rod can drive the manipulator (520)
Raising and lowering.
10. hydraulic vertical described in accordance with the claim 1 promotes automatic workover rig, it is characterised in that: the outer derrick (207)
Middle part is additionally provided with the centralising manipulator (700) for helping oil pipe and hangs (600) for carrying out the small of lifting operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910676564.XA CN110295856B (en) | 2019-07-25 | 2019-07-25 | Hydraulic vertical lifting automatic workover rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910676564.XA CN110295856B (en) | 2019-07-25 | 2019-07-25 | Hydraulic vertical lifting automatic workover rig |
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| Publication Number | Publication Date |
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| CN110295856A true CN110295856A (en) | 2019-10-01 |
| CN110295856B CN110295856B (en) | 2023-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910676564.XA Active CN110295856B (en) | 2019-07-25 | 2019-07-25 | Hydraulic vertical lifting automatic workover rig |
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| CN110685617A (en) * | 2019-11-05 | 2020-01-14 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation device |
| CN111648727A (en) * | 2020-06-15 | 2020-09-11 | 德州学院 | Automatic well repairing equipment and automatic well repairing method thereof |
| CN112627745A (en) * | 2021-03-10 | 2021-04-09 | 东营市海天自动化工程有限责任公司 | Hydraulic workover rig with high lifting speed |
| CN117418780A (en) * | 2023-12-19 | 2024-01-19 | 河北永明地质工程机械有限公司 | Vehicle-mounted electric drive drilling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110685617A (en) * | 2019-11-05 | 2020-01-14 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation device |
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| CN112627745A (en) * | 2021-03-10 | 2021-04-09 | 东营市海天自动化工程有限责任公司 | Hydraulic workover rig with high lifting speed |
| CN112627745B (en) * | 2021-03-10 | 2021-07-23 | 东营市海天自动化工程有限责任公司 | Hydraulic workover rig with high lifting speed |
| CN117418780A (en) * | 2023-12-19 | 2024-01-19 | 河北永明地质工程机械有限公司 | Vehicle-mounted electric drive drilling machine |
| CN117418780B (en) * | 2023-12-19 | 2024-03-15 | 河北永明地质工程机械有限公司 | Vehicle-mounted electric drive drilling machine |
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|---|---|
| CN110295856B (en) | 2023-12-08 |
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