CN112127842A - Subsea drilling rig escape method and escape device - Google Patents
Subsea drilling rig escape method and escape device Download PDFInfo
- Publication number
- CN112127842A CN112127842A CN202010846590.5A CN202010846590A CN112127842A CN 112127842 A CN112127842 A CN 112127842A CN 202010846590 A CN202010846590 A CN 202010846590A CN 112127842 A CN112127842 A CN 112127842A
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- escape
- oil cylinder
- transmission shaft
- hydraulic system
- drilling rig
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- 238000005553 drilling Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000003921 oil Substances 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 38
- 230000003287 optical effect Effects 0.000 claims description 26
- 239000002131 composite material Substances 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000346 nonvolatile oil Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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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
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
- E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
-
- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/02—Couplings; joints
- E21B17/03—Couplings; joints between drilling rod or pipe and drill motor or surface drive, e.g. between drilling rod and hammer
-
- 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
- E21B7/12—Underwater drilling
Abstract
A submarine drilling rig escape method and an escape device are disclosed, wherein when the submarine drilling rig cannot work normally and the escape device needs to be started, a controller outputs an escape signal outwards; if the electric control and hydraulic system can still work normally, the three-position four-way electromagnetic valve 1DT of the hydraulic system communicated with the escape oil cylinder is electrified to drive the escape device to act, so that escape is realized; if the whole electric control and hydraulic system cannot work, the underwater robot is released, the hydraulic system is pushed to be communicated with a two-position four-way flashlight integrated valve of the energy accumulator, the energy accumulator is communicated with a rodless cavity of the escape oil cylinder, and the escape device is driven to act to realize escape. The method can implement escape aiming at different states; the escape device can not only transmit torque in a normal state, but also quickly disconnect the connection between the submarine drilling machine and the drilling tool in the escape process, and has the characteristics of reliable work, easy implementation and the like. The invention solves the difficult problem of recovery of the marine drilling rig.
Description
Technical Field
The invention relates to a drilling technology, in particular to an escape method and an escape device of a submarine drilling rig
Background
The submarine drilling rig is drilling equipment which acts on the seabed independently and completely, and the working seawater depth of the submarine drilling rig is greatly different from hundreds of meters to thousands of meters or even thousands of meters according to different requirements. Usually, the drilling machine is carried on a mother ship, such as a scientific research ship, and when the mother ship reaches a designated position, the drilling machine is lowered to the seabed through a retraction system on the deck of the mother ship, including a winch, an A-frame and the like. A control room for controlling the operation of the submarine drilling machine is installed on a deck of the mother ship, the only channel for connecting the control room and the submarine drilling machine is an umbilical cable, and the umbilical cable is used for the lowering and the recovery of the drilling machine and also used for the transmission of power, control signals and related data. The key parts of the submarine drilling machine are provided with professional cameras, video data can be directly transmitted to a display screen of a control room, and an operator can remotely control the drilling machine to work in the control room of a mother ship deck. When a submarine drilling machine is used for drilling, various emergency situations, such as failure of a hydraulic system, collapse in a hole, buried drilling and the like, can be met, and the drilling tool cannot work normally. In the case of the condition, the drilling machine can be recovered only through the umbilical cable, but the drilling machine is required to be disconnected from the drilling tool for recovery, and once the drilling tool cannot be disconnected from the drilling machine, the drilling machine cannot be recovered and can only be discarded.
Disclosure of Invention
The invention aims to provide a submarine drilling rig escape method and an escape device, which can quickly realize the separation of a drilling rig and a drilling tool under necessary conditions so as to smoothly recover the drilling rig.
The problems of the invention are solved by the following technical scheme:
a subsea drilling rig escape method, comprising: the method comprises the following steps:
a. when the submarine drilling rig cannot work normally and needs to start the escape device, a computer arranged on a deck of a mother ship sends out a digital signal, the digital signal is converted into an optical signal through an optical transmitter and receiver, the optical signal is transmitted through a photoelectric slip ring and a photoelectric composite cable, the optical signal is converted into the digital signal through the optical transmitter and receiver and transmitted to a controller, and the controller outputs an escape signal outwards;
b. after the step a, if the electric control and hydraulic system can still work normally, the three-position four-way electromagnetic valve 1DT of the hydraulic system communicated with the escape oil cylinder is electrified to drive the escape device to act, so that escape is realized; and c, after the step a, if the whole electric control and hydraulic system cannot work, releasing the underwater robot, pushing the hydraulic system to communicate with a two-position four-way flashlight integrated valve of the energy accumulator, communicating the energy accumulator with a rodless cavity of the escape oil cylinder, releasing energy by the energy accumulator, pushing a piston rod of the oil cylinder to extend out, driving the escape device to act, and achieving escape.
According to the submarine drilling rig escape method, the hydraulic system for driving the escape device comprises a hydraulic pump, an oil tank, a three-position four-way electromagnetic valve, a two-position four-way flashlight integrated valve, an energy accumulator and two escape oil cylinders, the two escape oil cylinders are communicated with the hydraulic pump through oil ways by the three-position four-way electromagnetic valve, and the energy accumulator is connected with a rodless cavity of the escape oil cylinder through the two-position four-way flashlight integrated valve and the oil ways.
The utility model provides a submarine drilling rig escape device, including the transmission shaft, the main shaft, the seat that slides and escape hydro-cylinder, the transmission shaft is connected with the unit head, the transmission shaft is hollow structure, the main shaft is located the transmission shaft, the main shaft is connected with the transmission shaft parallel key, escape hydro-cylinder fixed oil cylinder mount pad is fixed, the hydro-cylinder mount pad is fixed with the unit head support, escape hydro-cylinder piston rod connection seat that slides, the seat suit that slides is in the transmission shaft outside, be equipped with radial hole on the transmission shaft, be equipped with the annular groove on the main shaft, the locking slide wedge is located radial hole and annular groove department, to main shaft axial spacing, slide seat upper portion and be equipped with the roof, the lower part is equipped with the spacing platform to the radial spacing of locking slide.
The submarine drilling rig escape device further comprises a return spring, an annular boss is arranged on the outer wall of the transmission shaft, a retaining ring is sleeved on the annular boss, the return spring is sleeved outside the transmission shaft, and two ends of the return spring respectively touch and press the retaining ring and the sliding seat top plate.
In the submarine drilling rig escape device, 2-6 stop wedges are arranged, and each stop wedge is uniformly distributed relative to the main shaft.
According to the submarine drilling rig escape device, the wedge-shaped working part at the front end of the stopping wedge is inserted into the annular groove in a matching manner, and the depth of the release groove ensures that the front end of the braking wedge is completely separated from the transmission shaft after the braking wedge enters the release groove.
According to the submarine drilling rig escape device, the number of the escape oil cylinders is two, and the two escape oil cylinders are symmetrically arranged along the radial direction.
The submarine drilling rig escape device is characterized in that the sliding seat is connected with the top plate through a bolt.
The invention is designed aiming at solving the problem that the submarine drilling machine is recovered when the offshore drilling machine is in an emergency, when the submarine drilling machine fails to work normally and the escape device needs to be started, the escape signal is output outwards through the control systems arranged on the mother ship deck and the submarine drilling machine, the hydraulic system is communicated with the electromagnetic valve of the escape oil cylinder to act, the escape device is started, the submarine drilling machine and the drilling machine are quickly separated, the escape is realized, and the submarine drilling machine can be recovered by starting the winch on the drilling ship. The escape device can not only transmit torque in a normal state, but also quickly disconnect the connection between the submarine drilling machine and the drilling tool in the escape process, and has the characteristics of reliable work, easy implementation and the like. The invention solves the difficult problem of recovery of the marine drilling rig.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a schematic view of a control system located on the deck of a mother vessel;
FIG. 2 is a schematic diagram of a control system located at a subsea rig;
FIG. 3 is a schematic diagram of a hydraulic system for driving the escapement device;
FIG. 4 is a schematic structural view of an operating state of the escape apparatus;
FIG. 5 is a schematic structural view of an escape state of the escape apparatus;
FIG. 6 is a top view of FIG. 5;
fig. 7 is a partial enlarged view at a in fig. 5.
The reference numbers in the figures are: 1. a transmission shaft, 1-1, an annular boss, 1-2, a radial hole, 2, a main shaft, 2-1, an annular groove, 3, an escape cylinder, 4, a cylinder mounting seat, 5, a power head bracket, 6, a bolt, 7, a top plate, 8, a reset spring, 9, a baffle ring, 10, a sliding seat, 10-1, a limiting table, 11, a stop wedge, 12, a flat key, 13, a power head, 14, a deck, 15, a winch, 16, an umbilical cable, 17, an optoelectronic slip ring, 18, an optical cable, 19, a first optical terminal, 20, a power distribution cabinet, 21, a computer, 23, a cable, 24, other electrical interfaces, 25, a bearing head, 26, a pressure compensator, 27, an optoelectronic separator, 28, a high-voltage motor, 29, a second optical terminal, 30, a transformer, 31, a battery pressure-resistant cabin, 32, a controller, a hydraulic valve 33, a four-way cabin, 34, a four-way flashlight integrated valve, 35. three-position four-way solenoid valve, 36, accumulator, 37, hydraulic pump, 38 and oil tank.
Detailed Description
The subsea drilling rig provided by the invention is controlled by a control system to work. The control system is installed at the deck 14 of the mother vessel and at the subsea drilling rig, respectively. Referring to fig. 1, a computer 21 is used to issue commands and receive information, while also having the function of monitoring the subsea drilling rig; the first optical transceiver 19 is a terminal device for optical signal transmission, can realize conversion between an optical signal and a digital signal, and is an indispensable bridge for information transmission in the whole control system; the power distribution cabinet 20 and the cable provide power and transmission for the whole system; the photoelectric slip ring 17 can transmit electric power and optical signals between the winch 15 and the optical cable 18 and the cable 23 which move relatively, and normal transmission of the electric power and the optical signals in the rotary connection is ensured. The winch 15 transfers and recovers the submarine drilling rig equipment through the umbilical cable 16, the umbilical cable can bear certain gravity after being armored, the submarine drilling rig can be retracted and released through the winch, and power and signals can be transmitted. Referring to fig. 2, the bearing head 25 is a connection part of the umbilical and the subsea drilling rig, and has dual functions of bearing and transmission; the pressure compensator 26 is used for balancing the pressure of the seawater and preventing the pressure-resistant cabin from being squashed; the umbilical cable is divided into three lines after passing through the photoelectric separator 27, wherein the high-voltage circuit directly supplies power to the high-voltage motor 28 to provide power, the optical cable is connected with the second optical transceiver 29, and the high-voltage circuit is connected with the transformer 30; the high-pressure motor drives the hydraulic pump, and the escape oil cylinder is controlled by controlling the opening and closing of the valve; the battery in the battery voltage-withstanding cabin 31 provides a 24V power supply for a controller 32 installed in an electric control voltage-withstanding cabin 33; the electromagnetic directional valve is positioned in the hydraulic valve pressure-resistant cabin 33. The invention discloses a submarine drilling rig escape method, which comprises the following steps: a submarine drilling machine which is thrown into the submarine for operation carries out drilling operation under the control of a control system, when the submarine drilling machine fails to work normally and an escape device needs to be started, a computer arranged on a deck of a mother ship sends out a digital signal, the digital signal is converted into an optical signal through a first optical transceiver, the optical signal is transmitted through a photoelectric slip ring and a photoelectric composite cable, the optical signal is converted into the digital signal through the optical transceiver and transmitted to a controller, and the controller outputs the escape signal outwards.
Referring to fig. 3, the hydraulic system of the escape device comprises a hydraulic pump 37, an oil tank 38, a three-position four-way electromagnetic valve 35, a two-position four-way flashlight integrated valve 34, an energy accumulator 36 and two escape oil cylinders 3. The three-position four-way electromagnetic valve is used for communicating the two escape oil cylinders with the hydraulic pump through an oil way, and the energy accumulator is connected with a rodless cavity of the escape oil cylinder through the two-position four-way flashlight integrated valve and the oil way. After the controller outputs the escape signal outwards again, if the control system and the hydraulic system can still work normally at the moment, the three-position four-way electromagnetic valve 35 electromagnet 1DT of the hydraulic system communicated with the escape oil cylinder is electrified to drive the escape device to act. If the whole control system and the hydraulic system cannot work after the controller outputs an escape signal outwards, the underwater robot equipped by the mother ship is released, the hydraulic system is pushed to be communicated with the two-position four-way flashlight integrated valve 34 of the energy accumulator, the energy accumulator 36 is communicated with the rodless cavity of the escape oil cylinder, the energy accumulator releases energy, the piston rod of the oil cylinder is pushed to extend out, and the escape device is driven to act, so that escape is realized.
Referring to fig. 4-7, the escape apparatus of the present invention is installed at a driving shaft of a subsea drilling rig, and the apparatus includes a driving shaft 1, a main shaft 2, a sliding seat 10, and an escape cylinder 3. The transmission shaft is of a hollow structure and is connected with the power head 13 through threads to transmit power of the power head. The main shaft is positioned in the cavity of the transmission shaft, the main shaft is connected with the transmission shaft through a flat key 12, the lower part of the main shaft is connected with a drilling tool, and the main shaft drives the drilling machine to work through the transmission shaft. The escape oil cylinder is a power mechanism of the device, the escape oil cylinder is fixed on an oil cylinder mounting seat 4, and the oil cylinder mounting seat is fixed with a power head support 5. The escape oil cylinder piston rod is connected with the sliding seat and drives the sliding seat to move up and down. In order to ensure uniform force application, two escape oil cylinders are arranged, and the two escape oil cylinders are symmetrically arranged along the radial direction. The sliding seat is of a hollow structure and is sleeved outside the transmission shaft. Radial holes 1-2 are uniformly distributed on the transmission shaft, an annular groove 2-1 is arranged on the main shaft, and the section size of the stop wedge 11 is matched with that of the radial holes. The rear end of the stop wedge 11 is located in the radial hole 1-2, the front end wedge part of the stop wedge is matched and located at the annular groove, in the working state shown in fig. 5, the spindle is axially limited by a plurality of stop wedges, the number of the stop wedges can be 2-6, and in the illustrated embodiment, 4 stop wedges are used. The upper part of the sliding seat is provided with a top plate 7 which is connected with the sliding seat through a bolt, the lower part of the sliding seat is provided with a limiting platform 10-1 for limiting the radial direction of the locking wedge, the upper part of the limiting platform is provided with a release groove 10-2 for releasing the locking wedge, and the depth of the release groove ensures that the front end of the locking wedge is completely separated from the transmission shaft after the locking wedge enters the release groove. The device also comprises a return spring 8, wherein the outer wall of the transmission shaft is provided with an annular boss 1-1, the annular boss is sleeved with a baffle ring 9, the return spring is sleeved outside the transmission shaft, and two ends of the return spring respectively contact and press the baffle ring and the top plate.
The working process of the escape device is as follows: when the submarine drilling machine works normally, the state of the submarine drilling machine is shown in figure 4, a transmission shaft is connected with a power head of the submarine drilling machine through threads and transmits torque, a main shaft is connected with the transmission shaft through a flat key to transmit the torque, the lower end of the main shaft is connected with a drilling tool to drive drilling, and the main shaft provides axial support by virtue of a stop wedge; when the submarine drilling machine needs to be disconnected from the drilling tool in a sudden situation, the escape oil cylinder acts, a piston rod of the escape oil cylinder moves downwards to push the sliding seat to move downwards to compress the return spring, when the sliding seat moves downwards to the position, corresponding to the stop wedge, of the release groove, the stop wedge is pushed out of the annular groove under the action of the gravity of the main shaft and the drill string, the main shaft loses axial support, and the transmission shaft is disconnected from the main shaft, as shown in fig. 5. The submarine drilling rig can be recovered by starting a winch on the drilling ship, and the escape function is realized.
Claims (8)
1. A subsea drilling rig escape method, comprising: the method comprises the following steps:
a. when the submarine drilling rig cannot work normally and needs to start the escape device, a computer arranged on a deck of a mother ship sends out a digital signal, the digital signal is converted into an optical signal through an optical transmitter and receiver, the optical signal is transmitted through a photoelectric slip ring and a photoelectric composite cable, the optical signal is converted into the digital signal through the optical transmitter and receiver and transmitted to a controller, and the controller outputs an escape signal outwards;
b. after the step a, if the electric control and hydraulic system can still work normally, the three-position four-way electromagnetic valve 1DT of the hydraulic system communicated with the escape oil cylinder is electrified to drive the escape device to act, so that escape is realized; and c, after the step a, if the whole electric control and hydraulic system cannot work, releasing the underwater robot, pushing the hydraulic system to communicate with a two-position four-way flashlight integrated valve of the energy accumulator, communicating the energy accumulator with a rodless cavity of the escape oil cylinder, releasing energy by the energy accumulator, pushing a piston rod of the oil cylinder to extend out, driving the escape device to act, and achieving escape.
2. The subsea rig escape method of claim 1, wherein: the hydraulic system for driving the escape device comprises a hydraulic pump, an oil tank, a three-position four-way electromagnetic valve, a two-position four-way flashlight integrated valve, an energy accumulator and two escape oil cylinders, wherein the two escape oil cylinders are communicated with the hydraulic pump through an oil way by the three-position four-way electromagnetic valve, and the energy accumulator is connected with a rodless cavity of the escape oil cylinder through the two-position four-way flashlight integrated valve and the oil way.
3. A subsea drilling rig escape device, characterized in that: comprises a transmission shaft (1) and a main shaft (2), the hydraulic oil cylinder escape device comprises a sliding seat (10) and an escape oil cylinder (3), wherein a transmission shaft is connected with a power head, the transmission shaft is of a hollow structure, a main shaft is located in the transmission shaft, the main shaft is connected with a flat key of the transmission shaft, the escape oil cylinder is fixed on an oil cylinder mounting seat (4), the oil cylinder mounting seat is fixed with a power head support (5), a piston rod of the escape oil cylinder is connected with the sliding seat, the sliding seat is sleeved on the outer side of the transmission shaft, a radial hole is formed in the transmission shaft, an annular groove (2-1) is formed in the main shaft, a stop wedge is located at the radial hole (1-2) and the annular groove and limits the axial direction of the main shaft, a top plate (7) is arranged on the upper portion of the sliding seat, a limiting table (10-1.
4. The subsea rig escape apparatus of claim 3, wherein: the sliding seat is characterized by further comprising a return spring (8), wherein an annular boss (1-1) is arranged on the outer wall of the transmission shaft, a retaining ring (9) is sleeved on the annular boss, the return spring is sleeved outside the transmission shaft, and two ends of the return spring respectively contact and press the retaining ring and the sliding seat top plate.
5. Subsea rig escape apparatus according to claim 4, wherein: the number of the stop wedges is 2-6, and the stop wedges are uniformly distributed relative to the main shaft.
6. The subsea rig escape apparatus of claim 5, wherein: the front end wedge-shaped working position of the stop wedge is inserted into the annular groove in a matching manner, and the depth of the release groove ensures that the front end of the brake wedge is completely separated from the transmission shaft after the brake wedge enters the release groove.
7. The subsea rig escape apparatus of claim 6, wherein: the escape oil cylinders are arranged in two numbers, and the two escape oil cylinders are symmetrically arranged along the radial direction.
8. The subsea rig escape apparatus of claim 7, wherein: the sliding seat is connected with the top plate through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846590.5A CN112127842A (en) | 2020-08-21 | 2020-08-21 | Subsea drilling rig escape method and escape device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846590.5A CN112127842A (en) | 2020-08-21 | 2020-08-21 | Subsea drilling rig escape method and escape device |
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| Publication Number | Publication Date |
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| CN112127842A true CN112127842A (en) | 2020-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010846590.5A Pending CN112127842A (en) | 2020-08-21 | 2020-08-21 | Subsea drilling rig escape method and escape device |
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| CN (1) | CN112127842A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2704679Y (en) * | 2004-06-25 | 2005-06-15 | 长沙矿山研究院 | Shallow hole core extractor of deep sea manned submersible |
| CN101250977A (en) * | 2008-04-09 | 2008-08-27 | 长沙矿山研究院 | Drilling power head of deep sea core sampling drilling machine |
| CN101852696A (en) * | 2010-05-21 | 2010-10-06 | 中国地质大学（武汉） | Bidirectional pressure inlet hydraulic device |
| US20110226482A1 (en) * | 2010-03-17 | 2011-09-22 | Halliburton Energy Services, Inc. | Apparatus and Method for Separating a Tubular String from a Subsea Well Installation |
| CN103732849A (en) * | 2011-08-31 | 2014-04-16 | 韦尔泰克有限公司 | Disconnecting tool |
| US20170130546A1 (en) * | 2015-11-06 | 2017-05-11 | Vetco Gray Inc. | Remotely Operated External Tieback Connector |
| CN111058771A (en) * | 2019-12-26 | 2020-04-24 | 湖南科技大学 | Submarine multi-point percussion drilling core taking micro drilling machine carried by submersible |
| CN111058770A (en) * | 2020-02-18 | 2020-04-24 | 湖南科技大学 | Seabed core sampling micro-drilling machine |
-
2020
- 2020-08-21 CN CN202010846590.5A patent/CN112127842A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2704679Y (en) * | 2004-06-25 | 2005-06-15 | 长沙矿山研究院 | Shallow hole core extractor of deep sea manned submersible |
| CN101250977A (en) * | 2008-04-09 | 2008-08-27 | 长沙矿山研究院 | Drilling power head of deep sea core sampling drilling machine |
| US20110226482A1 (en) * | 2010-03-17 | 2011-09-22 | Halliburton Energy Services, Inc. | Apparatus and Method for Separating a Tubular String from a Subsea Well Installation |
| CN101852696A (en) * | 2010-05-21 | 2010-10-06 | 中国地质大学（武汉） | Bidirectional pressure inlet hydraulic device |
| CN103732849A (en) * | 2011-08-31 | 2014-04-16 | 韦尔泰克有限公司 | Disconnecting tool |
| US20170130546A1 (en) * | 2015-11-06 | 2017-05-11 | Vetco Gray Inc. | Remotely Operated External Tieback Connector |
| CN111058771A (en) * | 2019-12-26 | 2020-04-24 | 湖南科技大学 | Submarine multi-point percussion drilling core taking micro drilling machine carried by submersible |
| CN111058770A (en) * | 2020-02-18 | 2020-04-24 | 湖南科技大学 | Seabed core sampling micro-drilling machine |
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Application publication date: 20201225 |
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