CN116378582A - Automatic control mechanism for preventing tubular column of suspension type calandria manipulator from touching drill floor - Google Patents
Automatic control mechanism for preventing tubular column of suspension type calandria manipulator from touching drill floor Download PDFInfo
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- CN116378582A CN116378582A CN202211682002.4A CN202211682002A CN116378582A CN 116378582 A CN116378582 A CN 116378582A CN 202211682002 A CN202211682002 A CN 202211682002A CN 116378582 A CN116378582 A CN 116378582A
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- 239000000725 suspension Substances 0.000 title claims abstract description 10
- 239000000872 buffer Substances 0.000 claims abstract description 41
- 230000006835 compression Effects 0.000 claims abstract description 26
- 238000007906 compression Methods 0.000 claims abstract description 26
- 239000000428 dust Substances 0.000 claims description 4
- 238000005553 drilling Methods 0.000 abstract description 22
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 239000003345 natural gas Substances 0.000 abstract description 3
- 239000003209 petroleum derivative Substances 0.000 abstract description 3
- 238000003825 pressing Methods 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 208000002697 Tooth Abrasion Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000007853 buffer solution Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to an automatic control mechanism for preventing a tubular column of a suspension type calandria manipulator from touching a drill floor, and belongs to the technical field of calandria of a racking platform manipulator of petroleum and natural gas drilling equipment. The invention is formed by a sensor, a buffer seat, a T-shaped mandrel, a telescopic sleeve, a compression spring and the like, when the pipe arranging manipulator hangs and holds a pipe column to be placed down, the weight of a clamp and the pipe column stand is borne by the compression spring, when the pipe arranging manipulator is placed down to the lower end of the hanging and holding pipe column to be contacted with a drilling table surface, the dead weight of the clamp and the pipe column stand downwards is eliminated, the compression force of the compression spring is relieved and restored under the action of self resilience force, and the sensor and the clamp on the T-shaped mandrel are driven to move upwards together, and the sensor triggers a contact signal to stop the pipe arranging manipulator to continuously place the pipe column. The clamp does not descend when the lower end of the pipe column contacts the drilling platform surface and has no reverse impact force on the pipe column, so that the problems that the pipe column is bent or broken by pressing in the descending process of the oil pipe and the pipe column and the drilling platform surface are impacted to clamp teeth and the pipe column is damaged are thoroughly solved.
Description
Technical Field
The invention relates to an automatic control mechanism for preventing a tubular column of a suspension type calandria manipulator from touching a drill floor, and belongs to the technical field of calandria of a racking platform manipulator of petroleum and natural gas drilling equipment.
Background
In the petroleum and natural gas drilling and workover process, the application of a racking platform automatic calandria technology has become a standard, and more calandria manipulators are used for replacing calandria work of racking platform manual work; the application of the calandria manipulator not only reduces the labor intensity of operators and improves the working environment, but also greatly reduces the working risk of calandria workers. However, with the increase of the number of the manipulators, drillers capable of operating the calandria manipulator are limited, and due to insufficient driller operation experience, some novice workers occasionally can have inaccurate control of the height of the suspended pipe column when the manipulator is operated, so that accidents occur when the bottom of the pipe column is impacted and touches the drilling platform. For example: when the drilling and repairing machine is used for repairing a well, the calandria working object of the racking platform is an oil pipe, and because the pipe wall of the oil pipe is thinner and is a long vertical pipe column with 2-3 oil pipes connected together, the rigidity of the pipe column is poor, when a mechanical arm hangs the pipe column to touch or strike a drilling floor, the dead weight of the mechanical arm can be caused to press the vertical pipe of the oil pipe or even press the vertical pipe of the oil pipe due to inaccurate height control (as shown in figure 8, the mechanical arm presses the vertical pipe of the oil pipe to bend and deform a physical photograph). When the drilling and repairing machine performs the drilling operation process, the calandria working object of the racking platform is a large-diameter drill rod, the rigidity and the strength of the calandria working object are high, and when the mechanical hand suspends the pipe column to touch or strike the drilling floor surface, the phenomenon that the mechanical hand clamp and the pipe column slide up and down can occur, so that the clamp teeth of the mechanical hand clamp are damaged (shown in fig. 9, the clamp teeth are worn in a real object manner), and the outer wall of the pipe column is worn (shown in fig. 10, the outer wall of the pipe column is worn in a real object manner).
In order to avoid the situation that the pipe column impacts the drilling platform when the mechanical arm is used for clamping the pipe column, the existing methods in the industry are to additionally install a stroke sensor on the pipe arranging mechanical arm to control the descending stroke height of the pipe arranging mechanical arm, and to increase the accuracy of the monitoring equipment to improve the manual control height of the pipe arranging mechanical arm in driller operation; on the other hand, the pipe arranging manipulator for driller operation is selected as much as possible, so that the situation that the pipe column impacts the drilling platform surface is reduced. The probability of the pipe column striking the drilling platform surface is truly reduced, but the problem that the manipulator continues to descend after touching the drilling platform surface when the pipe column is lowered is not solved. The pipe arranging manipulator is characterized in that under normal conditions, after the pipe arranging manipulator lowers the pipe column and touches the drilling platform, the reaction force of the drilling platform can form impact force on the oil pipe, the impact force can prevent the oil pipe and the pipe arranging manipulator from continuing to descend, and a stroke sensor of the pipe arranging manipulator sends out a signal to close the pipe arranging manipulator and lower the pipe column system; however, because the pipe wall of the oil pipe is thinner, the rigidity of the pipe column is poor, when the pipe column touches and presses the drill floor surface, the pipe arranging manipulator gives the pipe column an anti-impact force, so that the pipe column is bent, the pipe arranging manipulator can continue to move downwards, the pipe arranging manipulator cannot trigger the stroke sensor, a descending stop signal cannot be transmitted, and the operating system can continue to enable the pipe arranging manipulator to move downwards, so that the pipe arranging manipulator can continue to generate pressure on the pipe column, and the oil pipe is bent or even broken.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automatic control mechanism for preventing a suspended calandria manipulator pipe column from touching a drill floor, wherein the impact force formed by the drill floor on the oil pipe is absorbed by a compression spring in the automatic control mechanism when the bottom of the pipe column contacts a drill floor surface in the process of suspending and releasing a pipe column by a two-layer platform suspended automatic calandria manipulator, the oil pipe immediately stops descending and cannot be subjected to reverse impact force of the drill floor to bend the pipe column, clamps of the calandria manipulator are driven to move upwards, a T-shaped mandrel of the automatic control mechanism is driven to move upwards, a sensor is triggered to control an electromagnetic valve to close a hydraulic cylinder to act, and the pipe manipulator stops the pipe column from continuously releasing the pipe column; the pipe arranging manipulator is used for pressing and bending the pipe column, so that the problem that the sensor cannot be triggered, the manipulator continues to downwards bend and even break the oil pipe, and the hard impact force between the pipe column and the drill floor surface is overlarge, so that file movement occurs between the pipe column stand and the clamp, and clamp tooth abrasion and damage to the outer wall of the pipe column are caused.
The invention realizes the aim through the following technical scheme:
an automatic control mechanism for preventing a tubular column of a suspension type calandria manipulator from touching a drill floor comprises a sensor, a buffer seat, a T-shaped mandrel, a telescopic sleeve, an upper nut, a compression spring and a lower nut, and is characterized in that the buffer seat is sleeved on the upper part of the telescopic sleeve, and the lower nut is arranged at the lower end part of the buffer seat; the part of the telescopic sleeve, which is inserted into the buffer seat, is provided with a compression spring, and the compression spring is fixed through an upper nut; the T-shaped mandrel is arranged in the hollow part of the telescopic sleeve, the upper end of the T-shaped mandrel is hung at the top of the buffer seat through a T-shaped head, the sensor is arranged on the end part of the T-shaped head of the T-shaped mandrel, and the lower end of the T-shaped mandrel is connected with the lower part of the telescopic sleeve through a mandrel connecting pin.
The upper part of the telescopic sleeve is fixed with the lower end of the buffer seat through the lower nut, and the telescopic sleeve can slide up and down in the lower nut.
The T-shaped head end of the T-shaped mandrel is connected with the sensor through threads.
The buffer seat is of a hollow cylinder structure, a square flange is manufactured on the upper portion of the buffer seat, and threaded holes are formed in the square flange.
The upper nut and the hollow cylinder top of the buffer seat form a buffer movement space, the upper nut, the telescopic sleeve and the T-shaped mandrel can move up and down together in the buffer movement space, and the compression spring is compressed or restored through the upper nut.
And a dust ring is arranged on the lower nut.
The buffer seat is connected with the automatic racking machine hanging type mechanical arm of the racking platform through the threaded holes and the connecting bolts.
The telescopic sleeve is connected with the clamp through a clamp mounting pin.
Compared with the prior art, the invention has the beneficial effects that:
in the automatic control mechanism for preventing the tubular column of the suspension type calandria manipulator from touching the drill floor, when the lower end of the tubular column stand contacts the surface of the drill floor, the impact force formed by the drill floor facing the oil pipe is converted into the rebound force recovered by the compression spring in the automatic control mechanism, the impact force acting on the oil pipe is almost zero, and the oil pipe cannot be bent by the reverse impact force of the calandria manipulator, so that the oil pipe immediately stops descending and drives the clamp of the calandria manipulator to move upwards, further drives the T-shaped mandrel and the sensor in the automatic control mechanism to move upwards, and triggers the sensor to control the electromagnetic valve to close the hydraulic cylinder to act, so that the calandria manipulator stops continuing the action of the tubular column. The automatic control mechanism can automatically trigger and stop the descending action of the double-deck bench manipulator suspending pipe column stand, does not need driller active operation, does not bend or break the oil pipe, avoids the possibility of collision between the pipe column stand and the drill floor surface and the possibility of bending of the oil pipe, and thoroughly solves the problem that the action of the control mechanism is not triggered and stopped due to pipe column bending.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a racking platform calandria system;
FIG. 2 is a schematic view of a structure of a robot equipped with an automatic control mechanism on a rack manipulator;
FIG. 3 is a schematic cross-sectional view of the automatic control mechanism;
FIG. 4 is a schematic perspective view of an automatic control mechanism;
FIG. 5 is a schematic view of a structure of a buffer seat;
FIG. 6 is a schematic structural view of a T-shaped mandrel;
FIG. 7 is a schematic view of the structure of the telescopic sleeve;
FIG. 8 is a photograph of a manipulator bent oil pipe subjected to bending deformation;
FIG. 9 is a photograph of a real abrasion of the jaw teeth;
fig. 10 is a photograph of a worn object on the outer wall of the pipe string.
In the figure: 1. the automatic calandria manipulator of two-deck platform suspension type, 2, flexible pneumatic cylinder, 3, pneumatic cylinder mounting pin, 4, connecting bolt, 5, automatic control mechanism, 501, sensor, 502, buffer seat, 503, T mandrel, 504, dabber connecting pin, 505, flexible cover, 506, upper nut, 507, compression spring, 508, lower nut, 509, buffering space of movement, 510, dust ring, 511, screw hole, 6, clamp mounting pin, 7, clamp, 8, tubular column stand, 9, drilling floor, 10, signal cable, 11, control system, 12, solenoid valve, 13, hydraulic pipeline.
Detailed description (see fig. 1-7):
the automatic control mechanism for preventing the suspended pipe arranging manipulator pipe column from touching the drill floor is composed of a sensor 501, a buffer seat 502, a T-shaped mandrel 503, a telescopic sleeve 505, an upper nut 506, a compression spring 507 and a lower nut 508. The buffer seat 502 is of a hollow cylinder structure, a square flange is manufactured on the upper portion of the buffer seat 502, a threaded hole 511 is formed in the square flange, a lower nut 508 is arranged at the lower end portion of the buffer seat 502, and the buffer seat 502 is connected with the double-deck suspended automatic calandria manipulator 1 through the threaded hole 511 and the connecting bolt 4. The buffer seat 502 is sleeved on the upper part of the telescopic sleeve 505, the lower end part of the buffer seat 502 is provided with a lower nut 508, and the lower nut 508 is provided with a dust ring 510; the upper part of the telescopic sleeve 505 is of a circular tube structure, the upper end of the circular tube structure is provided with external threads and is provided with an upper nut 506, the upper part of the telescopic sleeve 505 is fixed with the lower end of the buffer seat 502 through a lower nut 508, and the telescopic sleeve 505 can slide up and down in the lower nut 508 and slide up and down in the buffer seat 502 through the matching of the upper nut 506 and the hollow cylinder inner wall of the buffer seat 502. The part of the telescopic sleeve 505 inserted in the buffer seat 502 is provided with a compression spring 507, and the compression spring 507 is fixed through an upper nut 506; a T-shaped mandrel 503 is arranged in the hollow part of the telescopic sleeve 505, the upper end of the T-shaped mandrel 503 is hung at the top of the buffer seat 502 through a T-shaped head, a sensor 501 is arranged on the T-shaped head end of the T-shaped mandrel 503, the T-shaped head end of the T-shaped mandrel 503 is connected with the sensor 501 through threads, two planes are symmetrically machined at the lower end of the T-shaped mandrel 503, pin holes are machined on the planes, and the lower end of the T-shaped mandrel 503 is connected with the lower part of the telescopic sleeve 505 through a mandrel connecting pin 504 (see fig. 6); the lower extreme welding of flexible cover 505 has the square board, and square board lower part welding has two otic placodes, and the welding has the strengthening rib between otic placode and the square board, has two mounting pin holes (see fig. 7) on the otic placode, and clamp 7 is installed on flexible cover 505 through two mounting pin holes and clamp mounting pin 6, (see fig. 1-2).
A buffer space 509 is formed between the upper nut 506 and the hollow cylindrical top of the buffer base 502, and the upper nut 506, the telescopic sleeve 505 and the T-shaped mandrel 503 can move up and down together in the buffer space 509, and the compression spring 507 is compressed or restored by the upper nut 506. That is, when the clamp 7 of the racking manipulator hangs the column shoe 8, the self weight of the clamp 7 and the column shoe 8 gives a downward force to the T-mandrel 503 and the telescoping sleeve 505, and compresses the compression spring 507 by the upper nut 506; when the clamp 7 of the pipe arranging manipulator lowers the bottom of the pipe column stand 8 to contact with the drilling surface, the self gravity of the clamp 7 and the pipe column stand 8 is eliminated, the compression spring 507 is restored under the action of self-elasticity, and the T-shaped mandrel 503 and the telescopic sleeve 505 are moved upwards to drive the sensor 501 at the upper end of the T-shaped mandrel 503 to move upwards.
The sensor 501 is connected with one end of a signal cable 10, the other end of the signal cable 10 is gathered in a control system 11, the control system 11 is connected with an electromagnetic valve 12 through the signal cable 10, and the electromagnetic valve 12 is connected with the telescopic hydraulic cylinder 2 through a hydraulic pipeline 13 (see fig. 2).
The working process of the automatic control mechanism for preventing the suspended calandria manipulator pipe column from touching the drill floor is that when the clamp 7 of the double-deck suspended automatic calandria manipulator 1 suspends the pipe column stand 8, the dead weight of the clamp 7 and the pipe column stand 8 enables the telescopic sleeve 505 and the T-shaped mandrel 503 to downwards move by a downward force, the upper nut 506 is driven to downwards compress the compression spring 507, and meanwhile, the sensor 501 at the upper end of the T-shaped mandrel 503 is driven to downwards move, and at the moment, the weight of the clamp 7 and the pipe column stand 8 is borne by the compression spring 507. When the clamp 7 of the racking platform suspension type automatic pipe arranging manipulator 1 starts to put down the pipe column stand 8, and the lower end of the pipe column stand 8 is contacted with the drilling platform 9, the dead weight of the clamp 7 and the pipe column stand 8 downwards is eliminated, the compression force of the compression spring 507 is relieved, the compression spring 507 is restored under the action of self resilience force and drives the T-shaped mandrel 503, the telescopic sleeve 505 and the clamp 7 to move upwards together, at the moment, the clamp 7 does not have any impact force on the pipe column stand 8, the pipe column stand 8 cannot be bent, meanwhile, the sensor 501 at the upper end of the T-shaped mandrel 503 also moves upwards, a triggering contact signal is transmitted to the control system 11 through the signal cable 10, the control system 11 transmits a hydraulic cylinder stopping signal to the electromagnetic valve 12 through the signal cable 10, the electromagnetic valve 12 cuts off an oil way of the telescopic hydraulic cylinder 2, the action of the racking platform suspension type automatic pipe arranging manipulator 1 stops the pipe column stand 8, and meanwhile, the pipe column stand 8 and the aim of protecting the pipe column stand 8 and the outer wall from being damaged is achieved.
The two-deck suspended automatic pipe arranging manipulator 1, the telescopic hydraulic cylinder 2, the hydraulic cylinder mounting pin 3, the clamp 7, the drilling platform 9, the signal cable 10, the control system 11, the electromagnetic valve 12 and the hydraulic pipeline 13 are all existing parts on the suspended pipe arranging manipulator and do not belong to the technical characteristics of the invention.
The above description is merely a preferred embodiment of the present invention, and the above illustration is not to be construed as limiting the spirit of the present invention in any way, and any simple modification or variation of the above embodiments according to the technical spirit of the present invention, and equivalent embodiments that may be changed or modified to equivalent variations using the above disclosed technical spirit of the present invention, will still fall within the scope of the technical solutions of the present invention, without departing from the spirit and scope of the present invention.
Claims (9)
1. An automatic control mechanism for preventing a tubular column of a suspension type calandria manipulator from touching a drill floor, wherein the automatic control mechanism (5) consists of a sensor (501), a buffer seat (502), a T-shaped mandrel (503), a telescopic sleeve (505), an upper nut (506), a compression spring (507) and a lower nut (508), and is characterized in that the buffer seat (502) is sleeved on the upper part of the telescopic sleeve (505), and the lower nut (508) is arranged at the lower end part of the buffer seat (502); the part of the telescopic sleeve (505) inserted into the buffer seat (502) is provided with a compression spring (507), and the compression spring (507) is fixed through an upper nut (506); a T-shaped mandrel (503) is arranged in the hollow part of the telescopic sleeve (505), the upper end of the T-shaped mandrel (503) is hung at the top of the buffer seat (502) through a T-shaped head, a sensor (501) is arranged at the end part of the T-shaped head of the T-shaped mandrel (503), and the lower end of the T-shaped mandrel (503) is connected with the lower part of the telescopic sleeve (505) through a mandrel connecting pin (504).
2. The automatic control mechanism for preventing a suspended pipe arranging manipulator pipe column from touching a drill floor according to claim 1, wherein the upper part of the telescopic sleeve (505) is fixed with the lower end of the buffer seat (502) through a lower nut (508), and the telescopic sleeve (505) can slide up and down in the lower nut (508).
3. The automatic control mechanism for preventing a suspended pipe racking manipulator string from touching a drill floor according to claim 1, wherein the T-shaped head end of the T-shaped mandrel (503) is connected with a sensor (501) through threads.
4. The automatic control mechanism for preventing a suspended pipe arranging manipulator pipe column from touching a drill floor according to claim 1, wherein the sensor (501) moves upwards to trigger a contact signal and transmits the contact signal to the control system (11) through the signal cable (10), the control system (11) transmits a hydraulic cylinder stop signal to the electromagnetic valve (12) through the signal cable (10), the electromagnetic valve (12) cuts off an oil way of the telescopic hydraulic cylinder (2) through the hydraulic pipeline (13) to stop the action of the double-deck suspended automatic pipe arranging manipulator (1) for lowering the pipe column stand (8), and the active operation stop action of a driller is not needed.
5. The automatic control mechanism for preventing a suspended pipe arranging manipulator pipe column from touching a drill floor according to claim 1, wherein the buffer seat (502) is of a hollow cylinder structure, a square flange is manufactured on the upper part of the buffer seat (502), and a threaded hole (511) is formed in the square flange.
6. The automatic control mechanism for preventing a suspended pipe arranging manipulator pipe column from touching a drill floor according to claim 1, wherein a buffer motion space (509) is formed by the upper nut (506) and the hollow cylinder top of the buffer seat (502), the upper nut (506), the telescopic sleeve (505) and the T-shaped mandrel (503) can move up and down together in the buffer motion space (509), and the compression spring (507) is compressed or restored through the upper nut (506).
7. The automatic control mechanism for preventing a suspended pipe racking manipulator string from touching a drill floor according to claim 1, wherein a dust ring (510) is mounted on the lower nut (508).
8. The automatic control mechanism for preventing a suspended pipe arranging manipulator pipe column from touching a drill floor according to claim 1, wherein the buffer seat (502) is connected with the double-deck suspended automatic pipe arranging manipulator (1) through a threaded hole (511) and a connecting bolt (4).
9. The automatic control mechanism for preventing a suspended pipe racking manipulator string from touching a drill floor according to claim 1, wherein the telescopic sleeve (505) is connected with a clamp (7) through a clamp mounting pin (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211682002.4A CN116378582A (en) | 2022-12-27 | 2022-12-27 | Automatic control mechanism for preventing tubular column of suspension type calandria manipulator from touching drill floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211682002.4A CN116378582A (en) | 2022-12-27 | 2022-12-27 | Automatic control mechanism for preventing tubular column of suspension type calandria manipulator from touching drill floor |
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| Publication Number | Publication Date |
|---|---|
| CN116378582A true CN116378582A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211682002.4A Pending CN116378582A (en) | 2022-12-27 | 2022-12-27 | Automatic control mechanism for preventing tubular column of suspension type calandria manipulator from touching drill floor |
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| CN (1) | CN116378582A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116892372A (en) * | 2023-09-11 | 2023-10-17 | 深蓝(天津)智能制造有限责任公司 | Intelligent mechanical arm for automatically righting casing |
-
2022
- 2022-12-27 CN CN202211682002.4A patent/CN116378582A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116892372A (en) * | 2023-09-11 | 2023-10-17 | 深蓝(天津)智能制造有限责任公司 | Intelligent mechanical arm for automatically righting casing |
| CN116892372B (en) * | 2023-09-11 | 2024-01-23 | 合力（天津）能源科技股份有限公司 | Intelligent mechanical arm for automatically righting casing |
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