KR20130082019A - Drilling platform for exactly compensating a shaking error and controlling method - Google Patents

Drilling platform for exactly compensating a shaking error and controlling method Download PDF

Info

Publication number
KR20130082019A
KR20130082019A KR1020120003190A KR20120003190A KR20130082019A KR 20130082019 A KR20130082019 A KR 20130082019A KR 1020120003190 A KR1020120003190 A KR 1020120003190A KR 20120003190 A KR20120003190 A KR 20120003190A KR 20130082019 A KR20130082019 A KR 20130082019A
Authority
KR
South Korea
Prior art keywords
drilling
riser
drilling platform
flow
linear motor
Prior art date
Application number
KR1020120003190A
Other languages
Korean (ko)
Inventor
김정길
Original Assignee
현대중공업 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020120003190A priority Critical patent/KR20130082019A/en
Publication of KR20130082019A publication Critical patent/KR20130082019A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B35/4413—Floating drilling platforms, e.g. carrying water-oil separating devices
    • 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
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/01—Risers
    • 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
    • E21B19/002—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling
    • E21B19/004—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform
    • E21B19/006—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling supporting a riser from a drilling or production platform including heave compensators
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Earth Drilling (AREA)

Abstract

The present invention is provided with a derrick member disposed in the door pool of the drilling vessel for holding a drilling pipe used for drilling; A riser configured to insert the drilling pipe gripped by the derrick member to be inserted into the borehole to surround the drilling pipe; A riser holder formed on the riser to block a material remaining in the riser from flowing out of the riser; Oscillation error is installed on both sides of the door pool and coupled to the body of the riser holder to perform a straight line up and down, so as to include a plurality of linear motor means for compensating the flow error of the drilling platform through the up and down flow of the riser It provides a drilling platform and a control method for precisely correcting the.
The present invention as described above forms the stator of the linear motor on both sides of the door pool of the ship in the form of a rail and forms a moving space to move the rotor of the linear motor along the stator rail, the riser holder on one side of the body of the linear motor By connecting and installing, the up and down swinging error of the drilling platform, which is changed up and down frequently, the rotor of the linear motor moves rapidly along the stator rail of the linear motor, so that the position of the riser holder can be changed by the changed error width. Therefore, it is possible to secure the stability of drilling accordingly.

Description

Drilling platform for exactly compensating a shaking error and controlling method

The present invention relates to a drilling platform for precisely correcting a rocking error and a method of controlling the same. In particular, the stator of the linear motor is formed in the form of a rail on both sides of the door pool of the ship, and the rotor of the linear motor moves along the stator rail. The present invention relates to a drilling platform and a control method for precisely compensating a rocking error that can continuously secure drilling by forming a moving space and connecting a riser holder to one side of the linear motor.

In general, drilling platforms or drilling vessels (hereinafter collectively referred to as "drilling platforms") use drilling pipes for drilling. While the drilling pipe is drilling the sea floor, a mud or oily fluid (drilling fluid) is generated, which surrounds the drilling pipe to prevent it from being exposed to the sea and causing contamination. A riser, which is a shaped structure, is disposed. The riser includes a riser holder to control the position of the riser.

Here, as a prior art related to such a conventional drilling platform is known Korean Patent Application No. 2008-0100420 filed by Samsung Heavy Industries.

Then, referring to the conventional drilling platform as described above with reference to FIG. 1, a derrick member (derrick) 72 disposed in a moon pool 70 of a drilling line (not shown) and holding a drilling pipe 71 used for drilling is provided. Wow;

A riser 73 for inserting and enclosing the drilling pipe 71 when the drilling pipe 71 gripped by the derrick member 72 is inserted into a borehole (not shown);

A riser holder 74 formed on the riser 73 to block a material remaining in the riser 73 from flowing out of the riser 73;

Upper side pulleys 78A-B installed in the body of the riser holder 74 and the floor 76 of the drilling platform 75 to correct the upper flow of the platform 75 by wires 77;

It is configured to include a winch 80 is installed between the body of the riser holder 74 and the support member 79 fixed to the door pool 70 to correct the lower flow of the platform 75 by the wire 77. .

On the other hand, when looking at the operation of the conventional drilling platform as described above, first, during the drilling, the ship or platform on which the derrick member 72 is installed may be rocked by blue or wind, and the riser 73 should be maintained at a constant position for such rocking. It is possible to smoothly prevent leakage of the drilling and the drilling fluid by the drilling pipe 71. Therefore, the wire 77 supported by the pulleys 78A-B is fixed to the riser holder 74 located above the riser 73 to correct the upper flow of the platform 75 as described above. At this time, since any of the pulleys 78A and 78B is fixed to the platform by the hydraulic cylinder 81, when the platform 75 swings, the hydraulic cylinder 81 is contracted in the opposite direction to the swinging. Or expand and compensate. On the other hand, when the drilling line or platform is rocked by blue or wind and needs to correct the riser 73 downward, the support member 79 fixed to the body of the riser holder 74 and the door pool 70 is provided. The winch 80 provided therebetween corrects the lower flow of the platform 75 by releasing or further winding the wound wire 77. Therefore, the riser 73 can maintain the position controlled by the wire 77 by the above correction.

However, the conventional drilling platform as described above is a structure that compensates for the fluctuation error of the upper or lower portion of the platform by adjusting the tension of the wire by the nonlinear drive motor, the conventional nonlinear drive motor as described above is very slow operation speed and drive control Because it is difficult to correct the fluctuation error of the drilling platform that changes frequently, it is not possible to secure the stability of drilling continuously. Therefore, the nonlinear drive of complex structure is used to compensate for the fluctuation error of the upper or lower part of the platform. Since the motor and the wire means to interlock with it should be installed, there was a problem that the spatial design of the drilling platform is also significantly reduced.

The present invention has been invented to solve the above-mentioned problems of the prior art, the oscillation error in the up and down direction of the drilling platform that is changed in the up and down direction from time to time, the rotor of the linear motor to the stator rail of the linear motor It is an object of the present invention to provide a drilling platform and a control method for precisely correcting a rocking error, which is quickly moved to correct the position of the riser holder by changing the error width thereof.

Another object of the present invention is provided in the vicinity of the riser holder is provided with a flow detection sensor for detecting and outputting the flow amount of the up and down of the drilling platform to the digital amount and accurately calculate the fluctuation amount through the control module to the calculated result Accordingly, to provide a drilling platform and a control method for precisely correcting a rocking error that can precisely control the flow of the drilling platform by precisely transferring the position of the riser holder by driving the linear motor.

The present invention for achieving the above object is disposed in the door pool of the drilling ship and the derrick member for holding a drilling pipe used for drilling;

A riser configured to insert the drilling pipe gripped by the derrick member to be inserted into the borehole to surround the drilling pipe;

A riser holder formed on the riser to block a material remaining in the riser from flowing out of the riser;

Oscillation error is installed on both sides of the door pool and coupled to the body of the riser holder to perform a straight line up and down, so as to include a plurality of linear motor means for compensating the flow error of the drilling platform through the up and down flow of the riser Provides a drilling platform to precisely calibrate

Another feature of the present invention is provided with a derrick member disposed on the door pool of the drilling vessel for holding a drilling pipe used for drilling;

A riser configured to insert the drilling pipe gripped by the derrick member to be inserted into the borehole to surround the drilling pipe;

A riser holder formed on the riser to block a material remaining in the riser from flowing out of the riser;

A plurality of linear motor means installed on both sides of the door pool and coupled to the body of the riser holder to linearly move up and down, thereby correcting the flow error of the drilling platform through the up and down flow of the riser;

Drilling platform for precisely correcting a rocking error is provided in the body of the riser holder and the floor of the drilling platform and comprises a plurality of upper side pulley (16A-N) for correcting the upper flow of the drilling platform by a wire To provide.

Furthermore, another feature of the present invention is a platform flow detection process for outputting a flow detection sensor installed on one side of the drilling platform to detect the up and down flow of the drilling platform as a digital value when the drilling operation is executed;

A correction amount calculation process of calculating, by the control module, the fluctuation amount of the drilling platform detected by the flow detection sensor after the platform flow detection process, and calculating the up / down movement amount of the riser holder;

After the correction amount calculation process, the control module drives the linear motor means according to the calculated result to precisely transfer the position of the riser holder in the up and down direction, and thus includes a flow precision correction process for precisely correcting the flow of the drilling platform. Provides a control method for drilling platforms that accurately compensates for errors.

According to the present invention as described above, the stator of the linear motor is formed on both sides of the door pool of the ship in the form of a rail and the moving space is formed to move the rotor of the linear motor along the stator rail, the riser on one side of the body of the linear motor By connecting and installing the holder, the oscillation error in the up and down direction of the drilling platform, which is changed in the up and down direction from time to time, the rotor of the linear motor moves along the stator rail of the linear motor so that the position of the riser holder is changed. As the flow is corrected as much, it is effective to secure the stability of drilling accordingly.

In addition, according to the present invention as described above, provided with a flow sensing sensor installed around the drilling platform to detect the output amount of the up and down flow of the drilling platform to the digital amount, and accurately calculate the amount of variation through the control module and the calculation According to the result, it is possible to precisely control the flow of the drilling platform because the position of the riser holder can be precisely transferred by driving the linear motor, thereby maximizing the flow compensation of the drilling platform.

1 is an explanatory diagram illustrating an example of a conventional drilling platform.
2 is an explanatory diagram illustrating a drilling platform for precisely correcting a rocking error according to the present invention.
3 is a flowchart of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The present invention is provided with a derrick (derrick) 3 disposed on the door pool 1 of a drilling line (not shown) to hold a drilling pipe 2 used for drilling as shown in FIG. 2;

A riser (4) inserted into and enclosed by the drilling pipe (2) when the drilling pipe (2) gripped by the derrick member (3) is inserted into a borehole (not shown);

A riser holder (5) formed at an upper portion of the riser (4) to block a material remaining in the riser (4) from flowing out of the riser (4);

Installed on both sides of the door pool (1) and coupled to the body of the riser holder (5) via a support member (6), respectively, so that the linear movement of the up and down, the flow error of the drilling platform (7) of the riser (4) It comprises a plurality of linear motor means (8A-B) for correcting through the up, down flow.

In addition, the linear motor means 8A-B has a stator 9 of the linear motor installed on both sides of the door pool 1 in the form of a rail, and the rotor 10 of the linear motor follows the rail 9. A moving space 11 is formed to move and includes a support member 6 to which riser holders 5 are respectively connected to both sides of the body of the linear motor.

Here, one side of the drilling platform 7 is provided with a flow sensor 12 for detecting and outputting the flow amount of the up and down of the drilling platform 7 to a digital value, a portion of the drilling platform 7 is the flow After calculating the variation of the drilling platform 7 detected by the sensor 12, the linear motor means 8A-B is driven according to the calculated result to precisely position the riser holder 5 in the vertical direction. The control module 14, which is provided in the control panel 13 for precisely correcting the flow of the drilling platform 7, is installed.

Furthermore, the support member 6 is a flexible bar (bar) is used, or after each of the pulley member 19 is installed on the body of the riser holder 5 and the linear motor means (8A-B) these pulleys The wire can be installed on the member 19, and the flexible hydraulic cylinder 18 driven by the control module 14 may be used.

In addition, a plurality of the linear motor means (8A-B) is provided, for example, two or more, each of which may be individually controlled to drive by the control module (14).

Meanwhile, in another embodiment of the present invention as described above, a plurality of upper side pulleys 16A-N for correcting the upper flow of the drilling platform 7 by the wire 15 are drilled with the body of the riser holder 5. It is installed in the floor 17 of the platform 7, respectively. Wherein one of the pulley (16A-N) (16B) is installed so that the position is adjusted by the hydraulic cylinder member 18, the hydraulic cylinder member 18 is controlled by the control module (14).

Next, the control method of the present invention having the above-described configuration will be described.

In the method of the present invention, when the drilling operation is performed in the initial state (S1) as shown in Figure 3, the flow sensor installed on one side of the drilling platform detects the flow amount of the up and down of the drilling platform and outputs the digital value to the control module. A platform flow detection process (S2);

A correction amount calculation step (S3) of calculating, by the control module, the fluctuation amount of the drilling platform detected by the flow detection sensor after the platform flow detection step (S2), and calculating the up and down movement amount of the riser holder;

After the correction amount calculation process (S3), the control module drives the linear motor means according to the calculated result to precisely transfer the position of the riser holder in the vertical direction, thereby precisely correcting the flow of the drilling platform (S4). It is configured to include.

In the flow precision correction process (S4), if the wire auxiliary mode is set, the control module adjusts the hydraulic cylinder member supporting the pulley to further correct the upper flow of the drilling platform by the wire. Include.

In other words, when the drilling operation is performed by the drilling vessel (not shown), the drilling vessel or the drilling platform 7 on which the derrick member 3 is installed may oscillate by blue or wind during the drilling. At this time, the control module 14 of the drilling platform 7 detects the flow rate of up and down currently applied to the drilling platform 7 through the flow sensor 12 installed on one side of the drilling platform 7 to a digital value. Will be input. The control module 14 calculates the variation of the drilling platform 7 detected by the flow sensor 12 according to the set reference value, and then the image of the riser holder 5 for the flow correction of the drilling platform 7. Calculate the amount of movement.

In addition, the control module 14 drives the linear motor means 8A-B according to the calculated result to precisely transfer the position of the riser holder 5 in the vertical direction, thereby precisely correcting the flow of the drilling platform 7. Let's do it.

That is, the linear motor means 8A-B is driven according to the drive control signal of the control module 14, wherein the rotor 10 of the linear motor means 8A-B moves the moving space 11. Via the stator 9 of the linear motor installed in the form of a rail on both sides of the door pool (1) via the amount of the control module 14 to move up or down. Therefore, when the rotor 10 of the linear motor means 8A-B is moved as described above, the riser holders 5 are respectively connected to both sides of the body of the linear motor means 8A-B via the support members 6. ) Also move in the up or down direction by the amount of movement of the rotor 10 of the linear motor means (8A-B) and accordingly the riser (4) coupled with the riser holder (5) is moved in the same way Precision calibrate the flow of the drilling platform (7). Wherein the support member 6, for example, a flexible bar (bar) is used or after the pulley member 19 is installed on the body of the riser holder 5 and the linear motor means (8A-B), respectively, these pulleys A wire may be used to hang the member 19, or a flexible hydraulic cylinder 20 driven by a drive control signal of the control module 14 may be used. At this time, the flexible hydraulic cylinder 20 is to adjust the flow size according to the drive control signal of the control module 14 to correct the movement amount.

In addition, if the drilling platform 7 of the present invention wants to further correct the upper fluctuation by using the wire during the precision calibration process as described above, the wire assist mode is set, wherein the control module 14 By adjusting the hydraulic cylinder member 18 supporting the outermost pulley 16B to adjust the length of the connecting rod of the hydraulic cylinder member 18 by the set amount in the up or down direction. Then, the tension of the wire 15 hung on the pulley 16A-N interlocking with the hydraulic cylinder member 18 is also changed by the adjusted amount of the hydraulic cylinder member 18 so that the drilling platform 7 The additional top flow will be compensated for.

1: door pool 2: drilling pipe
3: derrick member 4: riser
5: riser holder 6: support member
7: drilling platform 8A-B: linear motor means
9: stator 10: rotor
11: moving space 12: flow sensor
13: control panel 14: control module
15: wire 16A-N: upper side pulley
17: Follower 18: hydraulic cylinder member
19: poly member

Claims (10)

A derrick member disposed in the door pool of the drilling vessel and gripping a drilling pipe used for drilling;
A riser configured to insert the drilling pipe gripped by the derrick member to be inserted into the borehole to surround the drilling pipe;
A riser holder formed on the riser to block a material remaining in the riser from flowing out of the riser;
Oscillation error is installed on both sides of the door pool and coupled to the body of the riser holder to perform a straight line up and down, so as to include a plurality of linear motor means for compensating the flow error of the drilling platform through the up and down flow of the riser Drilling platform to precisely calibrate
The method of claim 1,
The linear motor means has a stator of the linear motor installed on both sides of the door pool in the form of a rail, and forms a moving space for the rotor of the linear motor to move along the rail, and riser holders on both sides of the body of the linear motor. Drilling platform for precisely compensating for rocking errors, characterized in that the supporting member is connected to each other.
The method of claim 2,
The support member is a drilling platform for precisely correcting a rocking error, characterized in that the supporting member is installed, characterized in that the bar (bar) having elasticity.
The method of claim 2,
The support member is a drilling platform for precisely compensating for rocking errors, characterized in that the pulley member is installed on the body of the riser holder and the linear motor means and then hooked on these fleeing members.
The method of claim 1,
One side of the drilling platform is provided with a flow sensor for detecting and outputting the flow rate of the drilling platform, the digital platform, the other side of the drilling platform to calculate the variation of the drilling platform detected by the flow sensor Then, the linear motor means is driven according to the calculated result, and the control module for precisely correcting the flow of the drilling platform is installed by precisely transferring the position of the riser holder in the vertical direction. Drilling platform.
The method of claim 1,
The linear motor means is provided with a plurality, the drilling platform for precisely correcting a rocking error, characterized in that each of them are driven by a control module individually.
A derrick member disposed in the door pool of the drilling vessel and gripping a drilling pipe used for drilling;
A riser configured to insert the drilling pipe gripped by the derrick member to be inserted into the borehole to surround the drilling pipe;
A riser holder formed on the riser to block a material remaining in the riser from flowing out of the riser;
A plurality of linear motor means installed on both sides of the door pool and coupled to the body of the riser holder to linearly move up and down, thereby correcting the flow error of the drilling platform through the up and down flow of the riser;
Drilling platform for precisely correcting a rocking error is provided in the body of the riser holder and the floor of the drilling platform and comprises a plurality of upper side pulley (16A-N) for correcting the upper flow of the drilling platform by a wire .
The method of claim 7, wherein
Any one of the pulleys is installed so that its position is adjusted by the hydraulic cylinder member 18, and the hydraulic cylinder member 18 is precisely compensated for the rocking error, characterized in that the operation is controlled by the control module 14 Drilling platform.
A platform flow detection process of detecting a flow rate of the up and down flow of the drilling platform by the flow detection sensor installed at one side of the drilling platform when the drilling operation is executed and outputting the digital value to the control module;
A correction amount calculation process of calculating, by the control module, the fluctuation amount of the drilling platform detected by the flow detection sensor after the platform flow detection process, and calculating the up / down movement amount of the riser holder;
After the correction amount calculation process, the control module drives the linear motor means according to the calculated result to precisely transfer the position of the riser holder in the up and down direction, and thus includes a flow precision correction process for precisely correcting the flow of the drilling platform. Control method of the drilling platform to precisely correct errors.
10. The method of claim 9,
The flow precision correction process further includes a step of executing a wire assist mode to further correct the upper flow of the drilling platform by the wire by adjusting the hydraulic cylinder member that the control module supports the pulley when the wire assist mode is set. Control method of drilling platform that precisely compensates rocking error characterized by.
KR1020120003190A 2012-01-10 2012-01-10 Drilling platform for exactly compensating a shaking error and controlling method KR20130082019A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020120003190A KR20130082019A (en) 2012-01-10 2012-01-10 Drilling platform for exactly compensating a shaking error and controlling method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020120003190A KR20130082019A (en) 2012-01-10 2012-01-10 Drilling platform for exactly compensating a shaking error and controlling method

Publications (1)

Publication Number Publication Date
KR20130082019A true KR20130082019A (en) 2013-07-18

Family

ID=48993495

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020120003190A KR20130082019A (en) 2012-01-10 2012-01-10 Drilling platform for exactly compensating a shaking error and controlling method

Country Status (1)

Country Link
KR (1) KR20130082019A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101524666B1 (en) * 2014-03-14 2015-06-01 삼성중공업 주식회사 Riser Holding Apparatus for Offshore Structure
CN109025852A (en) * 2018-08-13 2018-12-18 西南石油大学 Mechanical marine riser hangs compensation device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101524666B1 (en) * 2014-03-14 2015-06-01 삼성중공업 주식회사 Riser Holding Apparatus for Offshore Structure
CN109025852A (en) * 2018-08-13 2018-12-18 西南石油大学 Mechanical marine riser hangs compensation device

Similar Documents

Publication Publication Date Title
US8360686B2 (en) Pipelaying vessel
US9266700B2 (en) Crane controller with drive constraint
CN104350231A (en) Offshore vessel and method for operating said offshore vessel
RU2010137269A (en) GUIDING DEVICE FOR SUPPORTING THE UNDERWATER PIPELINE, LAYING RAMP CONTAINING SUCH GUIDELINES, LAYING VEHICLE EQUIPPED WITH SUCH LAYING RAMPS, AND SPECIFIC CUTTING
KR20130082019A (en) Drilling platform for exactly compensating a shaking error and controlling method
JP4836872B2 (en) Control device, control method, program, and robot
DK2184224T3 (en) Device and method for automatic control of the sail surface facing the wind
JP2008037595A (en) Stacker crane
WO2015145376A1 (en) Laying device and method for laying a pipeline on the bed of a body of water
WO2014184926A1 (en) Elevator device
KR101391222B1 (en) Moving body and controlling method thereof
JP2018040127A (en) Elevator type parking device
DE602007004304D1 (en) Vibratory vibrator for lowering a pile or a forming tube
KR20160113757A (en) Semi-submersible marine structure
JP5330973B2 (en) Machine tool balance device and balance control method
KR101732363B1 (en) Apparatus for drilling
JP2006206101A (en) Liquid transporter
JP2019043720A (en) Ceiling carrier system and teaching method for ceiling carrier
KR20160112502A (en) Semi-submersible marine structure
KR100746575B1 (en) Apparatus and method for transfering substrates
JP7344161B2 (en) rail positioning system
KR20190005555A (en) A cable robot for carrying cylindrical object
KR101411418B1 (en) Riser handling device and method
US10663086B2 (en) System and method for moving an elongate element
JP2009220960A (en) Lifting device

Legal Events

Date Code Title Description
WITN Withdrawal due to no request for examination