CN111980661A - Intelligent anti-sliding control method for drilling machine - Google Patents
Intelligent anti-sliding control method for drilling machine Download PDFInfo
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- CN111980661A CN111980661A CN201910431523.4A CN201910431523A CN111980661A CN 111980661 A CN111980661 A CN 111980661A CN 201910431523 A CN201910431523 A CN 201910431523A CN 111980661 A CN111980661 A CN 111980661A
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- 238000005553 drilling Methods 0.000 title claims abstract description 160
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
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Abstract
The invention discloses an intelligent anti-sliding control method for a drilling machine, which comprises an absolute value encoder, a dead rope tension sensor, a PLC (programmable logic controller), a touch screen display, an audible and visual alarm and a winch brake system, wherein the absolute value encoder is used for monitoring a hook, a rope and a winch in real time; the PLC comprises a CPU processor and a switching value output module. The intelligent judgment of the sliding drill and the timely and effective automatic brake of the winch are realized by quantifying key parameters, and the safe production of the drilling well is ensured. From the aspect of intrinsic safety of equipment, the winch braking system is automatically controlled through an intelligent program, the adverse effect of manual operation under complex conditions can be eliminated, and the working safety factor of the winch is improved to a great extent.
Description
Technical Field
The invention relates to a control method of drilling machine equipment in the field of petroleum drilling, in particular to an intelligent anti-sliding control method of a drilling machine.
Background
In the actual engineering production, the drilling machine winch system is in a highly nonlinear working state, the braking system is complex, and the braking forms are various. Under the condition, when the pure manual control winch system works, various safety production problems often occur due to manual misoperation or unreasonable brake control mode because human reaction consciousness has limitation.
The phenomena of brake failure and drill slipping caused by manual misoperation are common in the drilling production process. The cause of the occurrence of the sliding drilling is as follows: (1) the brake failure causes the sliding drill. The main brake part of the hydraulic disc brake consists of safety tongs and working tongs, wherein the safety tongs are normally closed brake tongs, and the working tongs are normally open brake tongs. In normal production working conditions, the driller controls the opening or closing of the working pliers to control the movement or stop of the roller through the hydraulic disc brake system. In emergency, the driller controls the safety tongs and the working tongs to be closed simultaneously through an emergency braking button to realize braking. (2) The sliding of the drill is caused by manual misoperation or untimely judgment. Most of rhinestones are caused by human misoperation, the probability of rhinestones held by a brake lever by a driller in the night shift is higher than that in the white shift, the probability of rhinestones caused by fatigue operation of the driller is higher than that in normal reversing operation, and the peak period of rhinestones occurs in the early morning. The sliding drill is caused by manual misoperation, generally because the pulling brake working clamp is not timely, and due to the hysteresis of human self reaction consciousness and the absolute error probability. Under the condition of pure manual control, the intrinsic safety of equipment cannot be realized.
The current drilling machine brake at home and abroad can not realize the full-working-condition intelligent anti-sliding control of the whole drilling period. The existing automatic brake control items are as follows: (1) preventing the crown block from being collided; (2) preventing smashing; (3) and controlling the drilling of the automatic drilling system under the drilling condition. Aiming at two extreme conditions of crown block jacking and rotary disc smashing, the drilling industry designs two mechanical upper anti-collision control devices of overwinding anti-collision and anti-collision crown block ropes, and specially designs an electronic anti-collision device for controlling upper anti-collision and lower anti-smashing. The anti-collision and anti-smashing design of the device only controls the upper and lower critical points of the hook operation, and the anti-sliding drill control in the hook stroke interval is completely absent. During drilling production, sliding drills in a large hook stroke interval are frequently generated and extremely high in harm. For example, in the process of connecting single, a drilling tool is already seated on an elevator, and once the drilling tool slips down, the hook and the water faucet are inevitably pressed down on the kelly bar, so that the drilling tool and the kelly bar are damaged slightly, and the hook and the water faucet fall off to cause serious life and property accidents.
At present, the problems that various numerical quantification anti-sliding control parameters are not available, the delay of sliding manual judgment control brake cannot be avoided, and automatic intelligent control of the brake is not realized exist.
Disclosure of Invention
In order to solve the problem, the invention aims to provide an intelligent anti-sliding control method for a drilling machine. The intelligent control system for controlling the motion state of the winch quantifies the motion state of the winch, realizes intelligent brake control of the working state of the winch in the drilling production process in the modes of parameter quantification, program control and mechanism response, and has the functions of drilling slipping judgment and brake response under all working conditions of drilling.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
an intelligent anti-sliding control method for a drilling machine comprises an absolute value encoder, a dead rope tension sensor, a PLC (programmable logic controller), a touch screen display, an audible and visual alarm and a winch brake system, wherein the absolute value encoder is used for monitoring a hook, a rope and a winch in real time; the PLC programmable logic controller comprises a CPU processor and a switching value output module, wherein:
the hook working mode comprises a drilling mode, a tripping mode, a drilling down mode and a low hanging weight mode, wherein the drilling mode, the tripping mode and the drilling down mode are manually selected, the low hanging weight mode is automatically identified, and the hook working mode and the three manually selected modes can be automatically alternated and jumped.
Setting a critical point on the position of the big hook, a critical point under the position of the big hook, the speed and the acceleration of the big hook, the increase of the hanging weight of the drilling tool and the reduction of the hanging weight of the drilling tool, and sending out an audible and visual alarm and braking the winch controlling the position of the big hook when detecting that the parameters are over limit.
Low hanging weight mode: the low-hanging-weight mode comprises working conditions of an air travelling block, a connecting and disconnecting single, a connecting and disconnecting upright post and a well completion and drilling tool throwing mode; the slide drill judging parameters are the position overrun of the hook, the hook speed and the acceleration, and when any one of the position overrun of the hook, the hook speed of the hook and the acceleration is overrun, an audible and visual alarm is sent out and the winch is braked.
Drilling mode: the two control program modes of the low hanging weight mode and the drilling mode realize automatic conversion between the two control programs by setting a hanging weight threshold value G; in the low hanging weight mode, after the dead line tension sensor detects that the hanging weight of the drilling tool reaches G, the anti-sliding drilling control program jumps into the drilling module from the low hanging weight mode; the drilling tool hanging-down judgment is carried out by three parameters of a critical point at the position of a hook, the hook speed and the acceleration of the hook and the increase of the hanging weight of the drilling tool to an early warning threshold g1 in the process of drilling a single drilling tool; and setting an alarm threshold g1+ f1 for the increase of the hanging weight of the drilling tool, wherein f1 is a buffer amount, once the driller lifts the drilling tool once the warning is not found, the hanging weight reaches the alarm threshold g1+ f1, and an audible and visual alarm is given out and the winch is braked.
A drill-down mode: when the hanging weight of the drilling tool is higher than the switching threshold value G, the anti-sliding control program automatically switches to a drilling mode; in the drilling tool lowering process, the drill slipping is judged according to three parameters, namely a lower critical point of a hook position, the hook speed and acceleration of the hook, and a drilling tool hanging weight reduction early warning threshold ga; setting a hanging weight alarm threshold ga + delta g of the drilling tool, wherein delta g is a buffer amount, and when the hanging weight reduction of the drilling tool reaches the early warning threshold ga + delta g, emitting an audible and visual alarm and braking the winch; ga + Δ g is greater than the value of g1+ f1 in the make-single-out-of-hole routine to ensure proper continuity in the drill-down condition.
A drill tripping mode: when the hanging weight of the tripping drilling tool is higher than the G value, the tripping drilling tool is directly jumped into a tripping module; in the drilling tool lifting process, the sliding drilling judgment is carried out through three parameters of an upper critical point, the hook speed and acceleration of a big hook and an early warning threshold fa of the drilling tool hanging weight increase; setting the hanging weight of the drilling tool to be increased to an alarm threshold fa + delta f, wherein the delta f is a buffer amount; when the hanging weight of the drilling tool reaches an alarm threshold fa + delta f, the alarm gives an alarm and performs brake response; fa + deltaf is greater than the value of g1+ f1 in the single-connect procedure for the drill-in condition to ensure proper continuation of the drill-out condition.
The hanging weight of the drilling tool is obtained through a dead line tension sensor. Determining the position of the hook through the total number of revolutions of the winch drum recorded by the absolute value encoder and the total number of revolutions of each layer of the steel wire rope calculated by the CPU; the hook speed and the acceleration are calculated through the instantaneous rotating speed of the winch drum recorded by the absolute value encoder and two data of the rope layer where the steel wire rope is located calculated by the CPU.
And data acquired by the dead rope tension sensor and an absolute value encoder on the winch are transmitted to an analog quantity signal input module of the PLC, and after data processing and logic judgment of an internal CPU module, a control instruction is sent from a switching value output module, and is simultaneously transmitted to a signal transmission display module and an instruction response module, so that an audible and visual alarm is sent out, and the winch is controlled to brake.
Compared with the prior art, the invention has the beneficial effects that: (1) the intelligent anti-sliding control method of the drilling machine realizes intelligent judgment of sliding and timely and effective automatic brake of the winch by means of quantitative key parameters, and ensures safe production of drilling; (2) from the aspect of intrinsic safety of equipment, the winch braking system is automatically controlled through an intelligent program, the adverse effect of manual operation under complex conditions can be eliminated, and the working safety factor of the winch is improved to a great extent.
Drawings
FIG. 1 is a working flow chart of the intelligent anti-sliding control method of the drilling machine.
Fig. 2 is a schematic structural diagram of the intelligent anti-sliding control system of the drilling machine.
The labels in the figure are: 1. big hook, 2, dead rope tension sensor, 3, PLC (programmable logic controller), 4, big rope, 5, absolute value encoder, 6, winch.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
Referring to the attached figures 1 and 2 of the specification, the intelligent anti-sliding control method for the drilling machine is based on an intelligent anti-sliding system and is realized by controlling a hook 1, a rope 4 and a winch 6. The intelligent anti-sliding drilling system comprises an absolute value encoder 5, a dead rope tension sensor 2, a PLC (programmable logic controller) 3, a touch screen display, an audible and visual alarm and a winch brake.
The PLC is responsible for program storage and programming control, corresponding programming software is adopted for programming, structured and parameterized programming is adopted for programming, the scanning time of the system is controlled to be below 300 milliseconds, and the PLC has the advantage of high applicability. The calculation program of the hook position in the PLC can control the position detection precision to the millimeter level, and simultaneously, the system has the following functions: a hook stall detection function; a hook position overrun detection function; the loss rotation detection function of the absolute value encoder; an absolute value encoder overspeed operation detection function; an absolute value encoder over-range detection function; a DP communication state detection function of the absolute value encoder; the number of layers of the reel steel wire rope and the number of wound turns of the layer are automatically calculated, and the program distortion alarming function is realized; the position calculation has a synchronization function, and the authenticity of position detection is ensured.
The intelligent anti-sliding drill system adopts a communication mode of DP protocol network cable transmission, transmits data collected by the dead rope tension sensor and the absolute value encoder to an analog quantity signal input module of the PLC3, and after data processing and logic judgment of an internal CPU module, a control instruction is sent out from a switching value output module and is transmitted to a signal transmission display module and an instruction response module.
When the operating parameters of the drilling equipment exceed the limit, the PLC judges that the drilling is smooth, and the switching value output module simultaneously sends two paths of instructions to the alarm and the brake response mechanism. One path of alarm gives out sound and light; and on the other path, the switching value output module controls a corresponding gas path response switch through a circuit to realize the gas path response cut-off of the winch 6, and the safety tongs are locked after the gas path is cut off or the safety tongs and the working tongs are simultaneously locked, so that the sliding drill prevention brake is realized.
The logic control difference between different working conditions in the drilling production process and the simple logic program can not be used for pertinently judging all the working conditions, so that all the working conditions are set in four prototype working modes of low hanging weight, drilling, lifting and lowering. Wherein the drilling mode comprises: drilling, low hanging weight drilling; the drill-down mode includes: casing running, casing running early stage, drilling and drilling early stage; the drill-out mode comprises: in the later drilling and tripping period; the low hanging weight mode includes: the system comprises an air traveling vehicle, a single connecting and disconnecting column, a well completion throwing drilling tool and the like. In addition, the low suspended load mode and other modes set a switching threshold and are automatically switched by program judgment.
Setting a critical point on the position of the big hook, a critical point under the position of the big hook, the speed and the acceleration of the big hook, the increase of the hanging weight of the drilling tool and the reduction of the hanging weight of the drilling tool, and sending out an audible and visual alarm and braking the winch controlling the position of the big hook when detecting that the parameters are over limit.
Low hanging weight mode: the low-hanging-weight mode comprises working conditions of an air travelling block, a connecting and disconnecting single, a connecting and disconnecting upright post and a well completion and drilling tool throwing mode; the slide drill judging parameters are the position overrun of the hook, the hook speed and the acceleration, and when any one of the position overrun of the hook, the hook speed of the hook and the acceleration is overrun, an audible and visual alarm is sent out and the winch is braked.
Drilling mode: the two control program modes of the low hanging weight mode and the drilling mode realize automatic conversion between the two control programs by setting a hanging weight threshold value G; in the low hanging weight mode, after the dead line tension sensor detects that the hanging weight of the drilling tool reaches G, the anti-sliding drilling control program jumps into the drilling module from the low hanging weight mode; the drilling tool hanging-down judgment is carried out by three parameters of a critical point at the position of a hook, the hook speed and the acceleration of the hook and the increase of the hanging weight of the drilling tool to an early warning threshold g1 in the process of drilling a single drilling tool; and setting an alarm threshold g1+ f1 for the increase of the hanging weight of the drilling tool, wherein f1 is a buffer amount, once the driller lifts the drilling tool once the warning is not found, the hanging weight reaches the alarm threshold g1+ f1, and an audible and visual alarm is given out and the winch is braked. The significance of setting the hanging weight increase of the drilling tool to the early warning threshold g1 is that the drill sticking is prevented from being pulled out when the drill sticking is lifted, once the drill sticking presses the drilling tool downwards, the hanging weight change is too large, and the system is easy to misjudge that the drilling tool slips and is braked by air supply interruption; and setting the increase of the hanging weight of the drilling tool to the alarm threshold g1+ f1, wherein f1 is the buffer amount, once the driller lifts the drilling tool once the warning is not found, the hanging weight reaches the alarm threshold, and the drilling tool gives out an audible and visual alarm and automatically brakes the winch.
A drill-down mode: when the hanging weight of the drilling tool is higher than the switching threshold value G, the anti-sliding control program automatically switches to a drilling mode; in the drilling tool lowering process, the drill slipping is judged according to three parameters, namely a lower critical point of a hook position, the hook speed and acceleration of the hook, and a drilling tool hanging weight reduction early warning threshold ga; when the hanging weight reduction of the drilling tool reaches the early warning threshold ga, the drilling is possibly blocked and slips when the hanging weight reduction of the drilling tool occurs, and once the slipping is directly judged and the braking response is carried out, the drilling process is influenced. On the basis, a drilling tool suspended weight alarm threshold ga + delta g is further set, and delta g is a buffer amount. If the driller encounters a resistance during the drilling, the driller can move the drilling tool within a proper downward pressing range according to the early warning, so that the construction continuity is ensured. If the drill is sliding, the hanging weight quickly reaches an alarm threshold ga + delta g, an audible and visual alarm is sent out, and the winch is braked. ga + Δ g is greater than the value of g1+ f1 in the make-single-out-of-hole routine to ensure proper continuity in the drill-down condition.
A drill tripping mode: when the hanging weight of the tripping drilling tool is higher than the G value, the tripping drilling tool is directly jumped into a tripping module; in the drilling tool lifting process, the sliding drilling judgment is carried out through three parameters of an upper critical point, the hook speed and acceleration of a big hook and an early warning threshold fa of the drilling tool hanging weight increase; setting the hanging weight of the drilling tool to be increased to an alarm threshold fa + delta f, wherein the delta f is a buffer amount; when the hanging weight of the drilling tool reaches an alarm threshold fa + delta f, the alarm gives an alarm and performs brake response; fa + deltaf is greater than the value of g1+ f1 in the single-connect procedure for the drill-in condition to ensure proper continuation of the drill-out condition. The significance of setting the early warning threshold fa of the drilling tool hanging weight increase amount is that the drill sticking is prevented from being pulled out when the drill is pulled out, once the drill sticking presses the drilling tool, the hanging weight change is too large, and the system is easy to misjudge that the drilling tool slips and is braked by air supply; and setting the hanging weight of the drilling tool to be increased to an alarm threshold fa + delta f, wherein the delta f is a buffer amount, once the driller lifts the drilling tool without early warning, the hanging weight reaches the alarm threshold, an audible and visual alarm is given out, and the winch automatically brakes.
The hanging weight of the drilling tool is obtained through a dead line tension sensor. Determining the position of the hook through the total number of revolutions of a winch drum recorded by a winch absolute value encoder and the total number of revolutions of each layer of the steel wire rope calculated by a CPU module in the PLC; the hook speed and the acceleration are calculated through the instantaneous rotating speed of the winch drum recorded by the absolute value encoder and two data of the rope layer where the steel wire rope is located calculated by the CPU.
Data collected by absolute value encoders on the dead rope tension sensor and the winch are transmitted to an analog quantity signal input module of the PLC, after data processing and logic judgment of a CPU module in the PLC, a control instruction is sent out from a switching value output module and is simultaneously transmitted to the touch screen display and the instruction response module, and an audible and visual alarm of the instruction response module sends out audible and visual alarm and controls the winch to brake.
Claims (6)
1. An intelligent anti-sliding control method for a drilling machine comprises an absolute value encoder, a dead rope tension sensor, a PLC (programmable logic controller), a touch screen display, an audible and visual alarm and a winch brake system, wherein the absolute value encoder is used for monitoring a hook, a rope and a winch in real time; the PLC comprises a CPU processor and a switching value output module, and is characterized in that:
The hook working mode comprises a drilling mode, a tripping mode, a drilling mode and a low hanging weight mode, wherein the drilling mode, the tripping mode and the drilling mode are manually selected;
setting a critical point at the position of a big hook, a critical point at the position of the big hook, the speed and the acceleration of the big hook, the increase of the hanging weight of a drilling tool and the reduction of the hanging weight of the drilling tool, and sending out an audible and visual alarm and braking a winch controlling the position of the big hook when detecting that the parameters are over limit;
drilling mode: the two control program modes of the low hanging weight mode and the drilling mode realize automatic conversion between the two control programs by setting a hanging weight threshold value G; in the low hanging weight mode, after the dead line tension sensor detects that the hanging weight of the drilling tool reaches G, the anti-sliding drilling control program jumps into the drilling module from the low hanging weight mode; the drilling tool hanging-down judgment is carried out by three parameters of a critical point at the position of a hook, the hook speed and the acceleration of the hook and the increase of the hanging weight of the drilling tool to an early warning threshold g1 in the process of drilling a single drilling tool; setting an alarm threshold g1+ f1 for the increase of the hanging weight of the drilling tool, wherein f1 is a buffer amount, once the driller lifts the drilling tool without early warning, the hanging weight reaches the alarm threshold g1+ f1, and an audible and visual alarm is given out and the winch is braked;
a drill-down mode: when the hanging weight of the drilling tool is higher than the switching threshold value G, the anti-sliding control program automatically switches to a drilling mode; in the drilling tool lowering process, the drill slipping is judged according to three parameters, namely a lower critical point of a hook position, the hook speed and acceleration of the hook, and a drilling tool hanging weight reduction early warning threshold ga; setting a hanging weight alarm threshold ga + delta g of the drilling tool, wherein delta g is a buffer amount, and when the hanging weight reduction of the drilling tool reaches the early warning threshold ga + delta g, emitting an audible and visual alarm and braking the winch; the ga + delta g is larger than the g1+ f1 value in a single joint connecting program under the drilling working condition so as to ensure the normal continuity of the drilling working condition;
A drill tripping mode: when the hanging weight of the tripping drilling tool is higher than the G value, the tripping drilling tool is directly jumped into a tripping module; in the drilling tool lifting process, the sliding drilling judgment is carried out through three parameters of an upper critical point, the hook speed and acceleration of a big hook and an early warning threshold fa of the drilling tool hanging weight increase; setting the hanging weight of the drilling tool to be increased to an alarm threshold fa + delta f, wherein the delta f is a buffer amount; when the hanging weight of the drilling tool reaches an alarm threshold fa + delta f, the alarm gives an alarm and performs brake response; fa + deltaf is greater than the value of g1+ f1 in the single-connect procedure for the drill-in condition to ensure proper continuation of the drill-out condition.
2. The intelligent anti-sliding control method for the drilling machine according to claim 1, characterized in that: the hook working mode further comprises a low hanging weight mode, the low hanging weight mode is automatic identification, and the drilling mode, the drill-out mode and the drill-down mode are automatically alternated and jumped.
3. The intelligent anti-sliding control method for the drilling machine according to claim 2, characterized in that: the low-hanging-weight mode comprises working conditions of an air travelling crane, a single connecting and disconnecting unit, a stand column connecting and disconnecting, and a well completion and drilling tool throwing mode; the slide drill judging parameters are the position overrun of the hook, the hook speed and the acceleration, and when any one of the position overrun of the hook, the hook speed of the hook and the acceleration is overrun, an audible and visual alarm is sent out and the winch is braked.
4. The intelligent anti-sliding control method for the drilling machine according to claim 3, characterized in that: the hanging weight of the drilling tool is obtained through a dead line tension sensor; determining the position of the hook according to the total number of revolutions of the winch drum recorded by the absolute value encoder and the total number of revolutions of each layer of the steel wire rope calculated by a CPU in the PLC; the hook speed and the acceleration are calculated through the instantaneous rotating speed of the winch drum recorded by the absolute value encoder and two data of the rope layer where the steel wire rope is located calculated by the CPU.
5. The intelligent anti-sliding control method for the drilling machine according to claim 4, characterized in that: and data acquired by the dead rope tension sensor and an absolute value encoder on the winch are transmitted to an analog quantity signal input module of the PLC, and after data processing and logic judgment of an internal CPU module, a control instruction is sent from a switching value output module, and is simultaneously transmitted to a signal transmission display module and an instruction response module, so that an audible and visual alarm is sent out, and the winch is controlled to brake.
6. The intelligent anti-sliding control method for the drilling machine according to any one of claims 1-2, characterized in that: the hanging weight of the drilling tool is obtained through a dead line tension sensor; determining the position of the hook according to the total number of revolutions of the winch drum recorded by the absolute value encoder and the total number of revolutions of each layer of the steel wire rope calculated by a CPU in the PLC; the hook speed and the acceleration are calculated through the instantaneous rotating speed of the winch drum recorded by the absolute value encoder and two data of the rope layer where the steel wire rope is located calculated by the CPU.
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| CN114961619A (en) * | 2022-05-31 | 2022-08-30 | 中石化石油工程技术服务有限公司 | Method, system, equipment and medium for automatic drilling and casing milling of workover rig |
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| CN104879114A (en) * | 2015-06-04 | 2015-09-02 | 濮阳市百福瑞德石油科技有限公司 | Safe monitoring and protection device for drilling and intelligent protection system of safe monitoring and protection device |
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| CN114961619B (en) * | 2022-05-31 | 2024-03-22 | 中石化石油工程技术服务有限公司 | Method, system, equipment and medium for automatically setting drill, sleeving and milling of workover rig |
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