JPS5837478B2 - ドリルパイプ取扱い装置 - Google Patents
ドリルパイプ取扱い装置Info
- Publication number
- JPS5837478B2 JPS5837478B2 JP51010447A JP1044776A JPS5837478B2 JP S5837478 B2 JPS5837478 B2 JP S5837478B2 JP 51010447 A JP51010447 A JP 51010447A JP 1044776 A JP1044776 A JP 1044776A JP S5837478 B2 JPS5837478 B2 JP S5837478B2
- Authority
- JP
- Japan
- Prior art keywords
- lacquer
- stand
- drill pipe
- fingerboard
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000004922 lacquer Substances 0.000 claims description 170
- 238000005553 drilling Methods 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 3
- 238000004026 adhesive bonding Methods 0.000 claims 1
- 230000002401 inhibitory effect Effects 0.000 claims 1
- 239000012530 fluid Substances 0.000 description 62
- 230000004044 response Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 15
- 238000003860 storage Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 9
- 230000002441 reversible effect Effects 0.000 description 8
- 238000009412 basement excavation Methods 0.000 description 7
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012552 review Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 235000013175 Crataegus laevigata Nutrition 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 244000144992 flock Species 0.000 description 1
- 230000008571 general function Effects 0.000 description 1
- 229910000078 germane Inorganic materials 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- E21B19/20—Combined feeding from rack and connecting, e.g. automatically
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Meat, Egg Or Seafood Products (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US05/547,375 US4042123A (en) | 1975-02-06 | 1975-02-06 | Automated pipe handling system |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS51103802A JPS51103802A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1976-09-14 |
JPS5837478B2 true JPS5837478B2 (ja) | 1983-08-16 |
Family
ID=24184407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP51010447A Expired JPS5837478B2 (ja) | 1975-02-06 | 1976-02-04 | ドリルパイプ取扱い装置 |
Country Status (11)
Families Citing this family (97)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4139891A (en) * | 1977-03-15 | 1979-02-13 | Bj-Hughes Inc. | Elevator load control arrangement for a computer-controlled oil drilling rig |
US4128888A (en) * | 1977-03-15 | 1978-12-05 | Bj-Hughes Inc. | Velocity control arrangement for a computer-controlled oil drilling rig |
US4269554A (en) * | 1979-08-14 | 1981-05-26 | Jackson Lewis B | Well pipe handling equipment |
US4591006A (en) * | 1981-03-26 | 1986-05-27 | Chevron Research Company | Well servicing rig |
JPS58171990U (ja) * | 1982-05-07 | 1983-11-17 | 三菱重工業株式会社 | 流体圧シリンダの制御装置 |
US4533055A (en) * | 1982-06-02 | 1985-08-06 | Walker-Neer Manufacturing Co., Inc. | Storage rack for drilling tubulars |
JPS5924095A (ja) * | 1982-08-02 | 1984-02-07 | 株式会社小松製作所 | 穿孔機のロツドチエンジヤコントロ−ル装置 |
US4531875A (en) * | 1982-08-17 | 1985-07-30 | Impro Technologies, Inc. | Automated pipe equipment system |
US4621974A (en) * | 1982-08-17 | 1986-11-11 | Inpro Technologies, Inc. | Automated pipe equipment system |
US4604724A (en) * | 1983-02-22 | 1986-08-05 | Gomelskoe Spetsialnoe Konstruktorsko-Tekhnologicheskoe Bjuro Seismicheskoi Tekhniki S Opytnym Proizvodstvom | Automated apparatus for handling elongated well elements such as pipes |
US4613849A (en) * | 1984-04-23 | 1986-09-23 | Hughes Tool Company | Interference warning device |
JPS60230495A (ja) * | 1984-04-27 | 1985-11-15 | 石川島播磨重工業株式会社 | 石油掘削等のパイプハンドリング装置 |
US4709766A (en) * | 1985-04-26 | 1987-12-01 | Varco International, Inc. | Well pipe handling machine |
US4696207A (en) * | 1985-04-26 | 1987-09-29 | Varco International, Inc. | Well pipe handling machine |
US4725179A (en) * | 1986-11-03 | 1988-02-16 | Lee C. Moore Corporation | Automated pipe racking apparatus |
US6085852A (en) | 1995-02-22 | 2000-07-11 | The Charles Machine Works, Inc. | Pipe handling device |
SE508941C2 (sv) * | 1995-03-31 | 1998-11-16 | Atlas Copco Rocktech Ab | Borrningsanordning |
US5794723A (en) * | 1995-12-12 | 1998-08-18 | Boart Longyear Company | Drilling rig |
US5720354A (en) | 1996-01-11 | 1998-02-24 | Vermeer Manufacturing Company | Trenchless underground boring system with boring tool location |
US6179065B1 (en) | 1998-09-02 | 2001-01-30 | The Charles Machine Works, Inc. | System and method for automatically controlling a pipe handling system for a horizontal boring machine |
US7011166B2 (en) * | 1998-09-02 | 2006-03-14 | The Charles Machine Works, Inc. | System and method for assisting with automatically connecting pipe joints with a horizontal boring machine |
US6158516A (en) | 1998-12-02 | 2000-12-12 | Cudd Pressure Control, Inc. | Combined drilling apparatus and method |
DE60041175D1 (de) * | 1999-10-01 | 2009-02-05 | Frank S Int Inc | Rohrhebevorrichtung und verfahren zu dessen benutzung |
GB2377233B (en) * | 2000-11-04 | 2005-05-11 | Weatherford Lamb | Safety mechanism for tubular gripping apparatus |
US20030196791A1 (en) * | 2002-02-25 | 2003-10-23 | N-I Energy Development, Inc. | Tubular handling apparatus and method |
US6821071B2 (en) * | 2002-09-25 | 2004-11-23 | Woolslayer Companies, Inc. | Automated pipe racking process and apparatus |
DK176459B1 (da) * | 2003-06-20 | 2008-03-25 | Dantaet Electronics As | Fremgangsmåde til afvikling af et læksikringssystem samt et læksikringssystem til udövelse af fremgangsmåden |
NO318259B1 (no) * | 2003-08-15 | 2005-02-21 | Aker Mh As | Antikollisjonssystem |
US7278614B2 (en) * | 2003-08-29 | 2007-10-09 | Panduit Corp. | Cable mount and fixture having electrical switch assembly |
AU2003286789A1 (en) * | 2003-10-29 | 2005-07-14 | Varco I/P, Inc. | Fingerboard with pneumatically actuated finger latches |
WO2006118597A2 (en) * | 2004-09-22 | 2006-11-09 | National-Oilwell, Lp | Pipe racking system |
NO322288B1 (no) * | 2005-01-12 | 2006-09-11 | Morten Eriksen | Anordning for handtering av ror ved et boredekk |
US7303021B2 (en) * | 2005-09-20 | 2007-12-04 | Varco I/P, Inc. | Wellbore rig elevator systems |
US8186926B2 (en) * | 2006-04-11 | 2012-05-29 | Longyear Tm, Inc. | Drill rod handler |
WO2007115375A1 (en) * | 2006-04-11 | 2007-10-18 | Boart Longyear International Holdings, Inc. | Drill rod handler |
CA2655002C (en) * | 2006-06-14 | 2015-11-24 | Canrig Drilling Technology International Ltd. | Systems and methods for autonomous tripping of oil well pipes |
US7628226B2 (en) * | 2006-07-26 | 2009-12-08 | The Charles Machine Works, Inc. | Automatic control system for connecting a dual-member pipe |
US8714501B2 (en) * | 2006-12-14 | 2014-05-06 | Xylem Ip Holdings Llc | Mounting bracket for a pump |
US20080157455A1 (en) * | 2006-12-29 | 2008-07-03 | Applied Materials, Inc. | Compliant substrate holding assembly |
US7802636B2 (en) | 2007-02-23 | 2010-09-28 | Atwood Oceanics, Inc. | Simultaneous tubular handling system and method |
US7568533B2 (en) * | 2007-11-16 | 2009-08-04 | Rodger Lawrence Felt | Pipehandler |
RU2493348C2 (ru) * | 2008-04-14 | 2013-09-20 | Перри Слингсби Системз, Инк. | Система и способ колонкового бурения со съемным керноприемником |
US8181697B2 (en) * | 2008-08-15 | 2012-05-22 | National Oilwell Varco L.P. | Multi-function multi-hole drilling rig |
DE102009020222A1 (de) * | 2009-05-07 | 2010-11-11 | Max Streicher Gmbh & Co. Kg Aa | Vorrichtung und Verfahren zur Handhabung von stangenartigen Bauteilen |
US8317448B2 (en) * | 2009-06-01 | 2012-11-27 | National Oilwell Varco, L.P. | Pipe stand transfer systems and methods |
US8215888B2 (en) | 2009-10-16 | 2012-07-10 | Friede Goldman United, Ltd. | Cartridge tubular handling system |
US8112946B2 (en) * | 2009-11-23 | 2012-02-14 | Woolslayer Companies, Inc. | Articulating mast |
US9010433B2 (en) | 2010-07-16 | 2015-04-21 | Weatherford Technology Holdings, Llc | Positive retraction latch locking dog for a rotating control device |
WO2012012326A1 (en) * | 2010-07-19 | 2012-01-26 | Pondhop Automation & Controls Inc. | Fingerboard latch detection system |
EP2596202B1 (en) * | 2010-07-20 | 2015-11-11 | National Oilwell Varco, L.P. | Inflatable restraint system |
US8961093B2 (en) | 2010-07-23 | 2015-02-24 | National Oilwell Varco, L.P. | Drilling rig pipe transfer systems and methods |
IT1402176B1 (it) * | 2010-09-06 | 2013-08-28 | Drillmec Spa | Metodo di manipolazione automatica di aste di perforazione e programma per elaboratore associato. |
US8523721B2 (en) | 2011-04-06 | 2013-09-03 | National Oilwell Varco, L.P. | Belt tensioner |
US9016382B2 (en) * | 2011-08-05 | 2015-04-28 | Invensys Systems, Inc. | Offshore drilling rig fingerboard latch position indication |
EP2578797B1 (de) | 2011-10-07 | 2017-05-03 | KEURO Besitz GmbH & Co. EDV-Dienstleistungs KG | Verfahren zum Verwalten von Bohrgestängen, Bohrwerkzeugen, Bohrloch-Verrohrungen und dergleichen für Erdbohrungen |
CN102606091A (zh) * | 2012-01-09 | 2012-07-25 | 天津胜利石油装备有限公司 | 顶驱管子自动处理总成 |
US8936424B1 (en) * | 2012-01-17 | 2015-01-20 | Canyon Oak Energy LLC | Vertical pipe handler with pivoting arms and smart grip |
US9523269B2 (en) * | 2012-09-21 | 2016-12-20 | Caterpillar Global Mining Equipment Llc | Automatic control system and method for a drilling tool changer apparatus |
CA2883713C (en) | 2012-10-22 | 2019-07-23 | Quicksilver Drilling Technologies, Llc | Automated pipe tripping apparatus and methods |
CN105189909B (zh) | 2013-05-06 | 2017-08-04 | 伊特里克公司 | 井孔钻挖系统 |
US9416652B2 (en) | 2013-08-08 | 2016-08-16 | Vetco Gray Inc. | Sensing magnetized portions of a wellhead system to monitor fatigue loading |
CN106232471B (zh) * | 2014-03-03 | 2018-12-14 | 伊特里克公司 | 海上钻探船及方法 |
SG10201809862VA (en) | 2014-09-17 | 2018-12-28 | Salunda Ltd | Sensor For A Fingerboard Latch Assembly |
NO20141277A1 (no) * | 2014-10-27 | 2016-04-28 | Rc Tools As | Container |
MX384830B (es) * | 2015-04-15 | 2025-03-14 | Forum Us Inc | Sistema de manipulacion de elementos tubulares. |
WO2017087349A1 (en) * | 2015-11-16 | 2017-05-26 | Schlumberger Technology Corporation | Automated tubular racking system |
US10697255B2 (en) | 2015-11-16 | 2020-06-30 | Schlumberger Technology Corporation | Tubular delivery arm for a drilling rig |
US10519727B2 (en) | 2015-11-17 | 2019-12-31 | Schlumberger Technology Corporation | High trip rate drilling rig |
WO2017087216A1 (en) | 2015-11-19 | 2017-05-26 | Schlumberger Technology Corporation | Casing racking module |
US10519728B2 (en) | 2016-03-07 | 2019-12-31 | Goliath Snubbing Ltd. | Standing pipe rack back system |
WO2017190118A2 (en) | 2016-04-29 | 2017-11-02 | Schlumberger Technology Corporation | Tubular delivery arm for a drilling rig |
WO2017190120A1 (en) | 2016-04-29 | 2017-11-02 | Schlumberger Technology Corporation | High trip rate drilling rig |
US10844674B2 (en) | 2016-04-29 | 2020-11-24 | Schlumberger Technology Corporation | High trip rate drilling rig |
US11352843B2 (en) | 2016-05-12 | 2022-06-07 | Nov Canada Ulc | System and method for offline standbuilding |
MX2019000131A (es) | 2016-07-05 | 2019-09-04 | Salunda Ltd | Sensor para ensamble de cerrojo de porta-dedos. |
CN106368626B (zh) * | 2016-08-31 | 2018-10-02 | 宝鸡石油机械有限责任公司 | 一种井架二层台自动排管装置 |
CN110192001B (zh) | 2016-11-09 | 2021-06-11 | 萨兰达有限公司 | 用于可旋转元件的传感器 |
US10316597B2 (en) | 2017-03-08 | 2019-06-11 | Forum Us, Inc. | Tubular clamp system |
US10329854B2 (en) * | 2017-03-08 | 2019-06-25 | Forum Us, Inc. | Tubular transfer system and method |
WO2018175952A1 (en) | 2017-03-23 | 2018-09-27 | Ensco International Incorporated | Vertical lift rotary table |
US10995601B2 (en) * | 2017-06-19 | 2021-05-04 | The Toro Company | Horizontal directional drill with assisted mode and related methods |
US10597954B2 (en) | 2017-10-10 | 2020-03-24 | Schlumberger Technology Corporation | Sequencing for pipe handling |
US11236556B2 (en) * | 2017-10-25 | 2022-02-01 | Schlumberger Technology Corporaiton | Vertical pipe handling |
US10995564B2 (en) * | 2018-04-05 | 2021-05-04 | National Oilwell Varco, L.P. | System for handling tubulars on a rig |
US11002086B2 (en) | 2018-04-26 | 2021-05-11 | Nabors Drilling Technologies Usa, Inc. | Pipe handler |
US11613940B2 (en) | 2018-08-03 | 2023-03-28 | National Oilwell Varco, L.P. | Devices, systems, and methods for robotic pipe handling |
US11891864B2 (en) | 2019-01-25 | 2024-02-06 | National Oilwell Varco, L.P. | Pipe handling arm |
US11988059B2 (en) | 2019-02-22 | 2024-05-21 | National Oilwell Varco, L.P. | Dual activity top drive |
US11834914B2 (en) | 2020-02-10 | 2023-12-05 | National Oilwell Varco, L.P. | Quick coupling drill pipe connector |
US11274508B2 (en) * | 2020-03-31 | 2022-03-15 | National Oilwell Varco, L.P. | Robotic pipe handling from outside a setback area |
CA3180958A1 (en) | 2020-05-03 | 2021-11-11 | National Oilwell Varco, L.P. | Passive rotation disconnect |
US12345105B2 (en) | 2020-07-15 | 2025-07-01 | National Oilwell Varco, L.P. | Horizontal racking and stand building system |
CN114251062A (zh) * | 2020-09-22 | 2022-03-29 | 北京贝特海利装备技术有限公司 | 一种新型钻机自动化排管系统 |
US11365592B1 (en) | 2021-02-02 | 2022-06-21 | National Oilwell Varco, L.P. | Robot end-effector orientation constraint for pipe tailing path |
US11814911B2 (en) | 2021-07-02 | 2023-11-14 | National Oilwell Varco, L.P. | Passive tubular connection guide |
US11982139B2 (en) | 2021-11-03 | 2024-05-14 | National Oilwell Varco, L.P. | Passive spacer system |
CN115596730B (zh) * | 2022-11-07 | 2023-06-27 | 中国矿业大学 | 一种防冲钻孔机器人钻具全自主装卸液压控制系统及方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3501017A (en) * | 1967-12-04 | 1970-03-17 | Byron Jackson Inc | Finger board and packer apparatus and method |
US3561811A (en) * | 1968-05-23 | 1971-02-09 | Byron Jackson Inc | Well pipe racker |
US3800962A (en) * | 1968-11-26 | 1974-04-02 | Byron Jackson Inc | Electrohydraulic control system |
FR2111996B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) * | 1970-01-09 | 1974-03-01 | Petroles Cie Francaise | |
US3851769A (en) * | 1971-04-09 | 1974-12-03 | Seiko Instr & Electronics | Industrial robot |
DE2162214B2 (de) * | 1971-12-15 | 1974-09-12 | Maschinenfabrik Rudolf Hausherr & Soehne Kg, 4322 Sprockhoevel | Automatisierte Gesteinsbohrvorrichtung |
US3768663A (en) * | 1971-10-13 | 1973-10-30 | Byron Jackson Inc | Control for well pipe racks and the like |
US3870165A (en) * | 1973-02-01 | 1975-03-11 | Jan Hendrik Besijn | Racking board |
US3951271A (en) * | 1974-05-03 | 1976-04-20 | Mette Klaus Hermann | Robot control device |
-
1975
- 1975-02-06 US US05/547,375 patent/US4042123A/en not_active Expired - Lifetime
-
1976
- 1976-01-13 NO NO76760099A patent/NO152305C/no unknown
- 1976-01-15 CA CA243,613A patent/CA1069493A/en not_active Expired
- 1976-02-03 GB GB764253A patent/GB1542341A/en not_active Expired
- 1976-02-03 FR FR7603534A patent/FR2300210A1/fr active Granted
- 1976-02-04 NL NL7601136A patent/NL7601136A/xx not_active Application Discontinuation
- 1976-02-04 JP JP51010447A patent/JPS5837478B2/ja not_active Expired
- 1976-02-04 DE DE2604162A patent/DE2604162A1/de not_active Withdrawn
- 1976-02-05 SU SU762320502A patent/SU1061700A3/ru active
- 1976-02-05 IT IT47959/76A patent/IT1053927B/it active
- 1976-02-06 DK DK50176*#A patent/DK50176A/da unknown
Also Published As
Publication number | Publication date |
---|---|
NL7601136A (nl) | 1976-08-10 |
FR2300210B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1982-07-30 |
NO152305B (no) | 1985-05-28 |
NO152305C (no) | 1985-09-04 |
US4042123A (en) | 1977-08-16 |
IT1053927B (it) | 1981-10-10 |
NO760099L (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1976-08-09 |
DK50176A (da) | 1976-08-07 |
DE2604162A1 (de) | 1976-09-02 |
CA1069493A (en) | 1980-01-08 |
GB1542341A (en) | 1979-03-14 |
JPS51103802A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) | 1976-09-14 |
FR2300210A1 (fr) | 1976-09-03 |
SU1061700A3 (ru) | 1983-12-15 |
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