WO2016092382A1 - Véhicule de manutention pour le transport, la manutention, le chargement et la récupération de tiges et/ou tuyaux et/ou outils de forage - Google Patents

Véhicule de manutention pour le transport, la manutention, le chargement et la récupération de tiges et/ou tuyaux et/ou outils de forage Download PDF

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Publication number
WO2016092382A1
WO2016092382A1 PCT/IB2015/052874 IB2015052874W WO2016092382A1 WO 2016092382 A1 WO2016092382 A1 WO 2016092382A1 IB 2015052874 W IB2015052874 W IB 2015052874W WO 2016092382 A1 WO2016092382 A1 WO 2016092382A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
storage compartment
handling
pipes
suited
Prior art date
Application number
PCT/IB2015/052874
Other languages
English (en)
Inventor
Pasqualino Comacchio
Renzo Comacchio
Patrizio Comacchio
Original Assignee
Comacchio Srl
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 Comacchio Srl filed Critical Comacchio Srl
Priority to US15/534,520 priority Critical patent/US20170321501A1/en
Priority to PL15724057T priority patent/PL3230549T3/pl
Priority to ES15724057T priority patent/ES2791226T3/es
Priority to EP15724057.3A priority patent/EP3230549B1/fr
Publication of WO2016092382A1 publication Critical patent/WO2016092382A1/fr

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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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • 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
    • 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
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position
    • 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

Definitions

  • the present patent concerns drilling machines and in particular it concerns a new type of handling vehicle for transporting, handling, loading and collecting drilling rods and/or pipes and/or tools and/or reinforcing pipes in general, in particular suited to serve one or more drilling machines.
  • Devices for handling, loading and collecting drilling rods are known, which are suited to serve one or more drilling machines during the operating steps.
  • Said devices comprise at least one articulated arm whose free end is provided with a means for holding the drilling tools.
  • Said devices are positioned in proximity to the drilling site and thus to the drilling machine and serve said machine: they grasp one rod/pipe at a time from an external container and load it on the machine; at the end of the drilling work, they collect the rods/pipes from the machine one at a time and put them back in the external container.
  • JP2713642 concerns a vehicle for feeding/collecting drilling rods for drilling machines, comprising a self-propelled frame, a manoeuvring cab, an articulated front arm with a handling unit for grasping a rod at its end, and a rod storage compartment, wherein said storage compartment is positioned at the front of the frame and accommodates the rods arranged horizontally.
  • Said vehicle is thus suited to transport the rod storage compartment to the drilling site and to serve the drilling machine.
  • Vehicles of this type require ample manoeuvring spaces, mainly due to the presence of the horizontal rod storage compartment, whose size depends on the length of the rods, and therefore they have extremely limited mobility and furthermore involve rather complex rod handling operations when it is necessary to easily and precisely load or collect said rods on/from the drilling machine.
  • the subject of the present patent is a new type of handling vehicle for transporting and handling drilling rods/pipes and/or tools and/or reinforcement pipes in general, especially for loading/collecting said rods/pipes/tools on/from one or more drilling machines.
  • the main object of the present patent is to provide a handling vehicle with reduced overall dimensions and manoeuvring spaces.
  • the new handling vehicle for transporting and handling, in general, drilling rods/pipes and/or tools and/or reinforcement pipes, especially for loading/collecting said rods/pipes/tools on/from one or more drilling machines and for additionally handling reinforcement pipes.
  • the new vehicle comprises, in its main parts:
  • a self-propelled frame for example provided with tracks and/or wheels
  • said handling device in turn comprises at least one holding means or clamp for at least one drilling rod/pipe/tool and/or reinforcement pipe,
  • Said coupling arm is directly or indirectly hinged to said vehicle, for example to said frame or to the undercarriage, for example in the position opposite said articulated arm, and allows the selective and removable coupling of said at least one storage compartment.
  • Said storage compartment in turn comprises at least one container intended to carry drilling rods or pipes or tools in general, suited to contain a plurality of said rods or pipes coupled with corresponding jacket pipes or drilling screws or drilling tools in general, and at least one connection element for connection to said coupling arm.
  • the new vehicle comprises at least one storage compartment with a rod holding container for rods positioned vertically, inside which said rods are positioned so that they are orthogonal to the bottom of the container.
  • Said coupling arm of the vehicle can be connected to said storage compartment, lift it from the ground or lower it and position it on the ground. Once it has been positioned on the ground, the storage compartment can be released and the vehicle can handle said rods and pipes according to the need.
  • said storage compartment may comprise said rod holding container with variable inclination, inside which the rods are positioned vertically and are therefore orthogonal with respect to the bottom, and means suited to incline said container, for example hydraulic or pneumatic cylinders or mechanical/electromechanical means in general.
  • Said coupling arm mounted on the vehicle can thus be connected to said storage compartment of the type with variable inclination and lift it for the transport operations, wherein the steps of collecting or positioning a rod/pipe/tool are carried out with said storage compartment coupled to the vehicle.
  • said container is inclined in order to facilitate the movements of the articulated arm and the handling device.
  • Said vehicle may comprise at least one storage compartment with fixed inclination, in which the rods are positioned horizontally, wherein said rods are positioned in said container parallel to the bottom of the container itself.
  • said container be it of the type where the rods are positioned vertically or of the type where the rods are positioned horizontally, said rods and said pipes can be located in separate compartments or can be positioned in combination, with the rods inserted in the corresponding jacket pipes.
  • Said handling device preferably comprises at least one rocker arm and preferably a plurality of articulated joints, wherein at least one articulated joint allows the handling device to rotate of an angle included at least between +90° and -90°, clockwise or counterclockwise with respect to said articulated arm of the vehicle.
  • the vehicle can be positioned at the side of the drilling machine to be fed and can provide for feeding the rods laterally by simply shifting the arm and rotating the handling device towards the drilling machine.
  • Said handling device preferably comprises also at least one further articulated joint that allows the handling device to be rotated of an angle included at least between +180° and -180° on a plane orthogonal to said arm, in order to allow the rods to be held by the handling device and properly handled.
  • Said handling device preferably comprises also at least one further articulated joint suited to incline the rocker arm on which said one or more clamps are mounted forward and backward with respect to the arm, for example of an angle included between at least +15° and -15°, useful during the lateral feeding of the drilling machine in order to compensate for any misalignment and inclination of the worktable, but also during the operations of collecting/repositioning them from/into the storage compartment, with the container inclined correspondingly.
  • Said handling device also comprises at least one or preferably two or more holding means or clamps.
  • Said handling device is preferably modular, wherein the number of said clamps or holding means depends on the length and weight of the drilling rods/pipes/tools and/or reinforcement pipes to be handled.
  • Figure 1 shows a side view of the new handling vehicle (1), a storage compartment (2) of the type where the rods are positioned vertically and with variable inclination, a storage compartment (3) of the type where the rods are positioned vertically and with fixed inclination, a storage compartment (4) of the type where the rods are positioned horizontally and a storage compartment (5) of the type where the rods are positioned horizontally provided with means (51) for separating the subcompartments (52, 53).
  • Figure 2 shows a side view of the new handling vehicle (1), with a storage compartment (2) of the type where the rods are positioned vertically and with variable inclination, coupled to the vehicle (2) at the back of the latter, while Figure 2a shows said storage compartment (2) in an inclined position, during the step of collection/repositioning of the rods (A) or pipes (B) through said articulated arm (6) and said handling device (7).
  • Figure 3 shows a side view of the new handling vehicle (1), with a storage compartment (3) of the type where the rods are positioned vertically and with fixed inclination, positioned on the ground for the operations of collection/repositioning of the rods (A) or pipes (B).
  • Figure 3a shows said new handling vehicle (1), with a storage compartment (3) of the type where the rods are positioned vertically and with fixed inclination, coupled and lifted during transport.
  • Figure 4 shows a side view of the new handling vehicle (1), with a storage compartment (4) of the type where the rods are positioned horizontally coupled to it.
  • Figure 5 shows a side view of the new handling vehicle (1), with a storage compartment (5) of the type where the rods are positioned horizontally, with subcompartments (52, 53), wherein said storage compartment (5) rests on the ground for the operations of collection/repositioning of the rods (A) or the pipes (B).
  • Figures 4 and 5 also show a schematic view of the possible movement of the handling device (7) with respect to the articulated arm (6).
  • Figure 6 schematically shows the loading/collection procedure from a position at the side of the drilling machine (M), where it is possible to see the rotation of the handling device (7) of an angle (a) included between +90° and -90° on the horizontal plane.
  • Figure 7 shows only the handling device (7) with an indication of the possible movements.
  • Figure 7a shows how the handling device (7) can also comprise three clamps (71, 72, 73), according to the size, weight and type of the rods and pipes (A, B).
  • the invention is a handling vehicle (1) for transporting and handling drilling rods (A) and/or pipes (B) and/or tools in general and/or additional reinforcement pipes, especially for loading/collecting said rods/pipes (A, B) on/from one or more drilling machines (M), wherein the latter do not belong to the present invention.
  • the new handling vehicle (1) comprises a self-propelled frame (11), for example provided with tracks (12) and/or wheels, and preferably a manoeuvring cab or station (13) for the operator.
  • said vehicle (1) is preferably of the type commonly used as a small excavator, also comprising at least one articulated arm (6), mounted for example on the front (14) of said cab (13) or said frame (11) in general, and wherein said frame (11) makes it possible to rotate said cab (13) and therefore also said articulated arm (6) around a vertical axis (Zo), meaning an axis that is orthogonal to the ground (S).
  • a vertical axis Zo
  • Said articulated arm (6) comprises, for example, a first portion (61) directly or indirectly constrained to said cab (13) and/or said frame (11) in general, and suited to perform a rotary movement on the vertical plane in order to vary its inclination with respect to the ground (S), and to perform a rotary movement around a vertical axis (Z), in order to rotate clockwise or counterclockwise on the horizontal plane.
  • Said articulated arm (6) preferably comprises also a second portion (62) constrained to said first portion (61) through at least one hinge (63) with horizontal axis (Y) and orthogonal to said first portion (61), in such a way that said second portion (62) can rotate with respect to said first portion (61) on the vertical plane.
  • the new vehicle (1) comprises at least one handling device (7) hinged to the free end (64) of said arm (6), wherein said handling device (7) in turn comprises at least one holding means or clamp (71, 72, 73) for at least one drilling rod (A) and/or pipe (B) or member in general, at least one rocker arm (74) to which said at least one clamp (71, 72, 73) is constrained, constraining means (75, 76, 77, 78) suited to constrain said rocker arm (74) to said arm (6) and in particular to said free end (64) of said articulated arm (6).
  • said handling device (7) in turn comprises at least one holding means or clamp (71, 72, 73) for at least one drilling rod (A) and/or pipe (B) or member in general, at least one rocker arm (74) to which said at least one clamp (71, 72, 73) is constrained, constraining means (75, 76, 77, 78) suited to constrain said rocker arm (74) to said arm (6) and in particular to said
  • Said constraining means (75, 76, 77, 78) preferably comprise a first constraining means (78) positioned on said end (64) of the articulated arm (6), which makes it possible to rotate said handling device (7) on the plane where the arm (6) lies, through a series of lever mechanisms (65, 66) present on the articulated arm (6).
  • Said constraining means (75, 76, 77, 78) also comprise at least one first articulated joint (77) or hinge having a first rotation axis (Zl) lying on the plane of said articulated arm (6), suited to allow said rocker arm (74) to be rotated of an angle (a) included at least between +90° and -90°, clockwise or counterclockwise with respect to said arm (6), as schematically shown in Figure 6.
  • the vehicle (1) can be positioned at the side of the drilling machine (M) to be fed and can provide for loading/collecting the rods/pipes (A, B) and/or the reinforcement pipes laterally by rotating the arm (6) laterally and rotating the handling device (7) with respect to said articulated arm (6) towards the drilling machine (M).
  • Said constraining means (75, 76, 77, 78) also comprise at least one second articulated joint (76) or hinge having a second rotation axis (XI) lying on the plane of said articulated arm (6) and orthogonal to said first axis (Zl), suited to allow the rotation of said rocker arm (74) of an angle included at least between +180° and - 180° on a plane orthogonal to said articulated arm (6) in order to provide for properly handling the rods/pipes (A, B) grasped by said clamps (71, 72, 73) of the handling device (7).
  • Said constraining means preferably comprise also at least one third articulated joint or hinge (75) having a third rotation axis (Yl) orthogonal to said first and second axis (Zl, XI), suited to oscillate the rocker arm (74) forward and backward with respect to the arm (6), for example of an angle included between at least +15° and - 15°, useful during the lateral feeding of the drilling machine in order to compensate for any misalignments and inclination of the worktable, or even during the steps of collecting/repositioning the rods/pipes (A, B) with the container with variable inclination correspondingly inclined ( Figure 2a).
  • said handling device (7) preferably comprises at least two of said clamps (71, 72), for example to handle a rod (A) inserted in the corresponding jacket pipe (B).
  • said handling device (7) can be modular, meaning that it may comprise even three or more of said clamps (71, 72, 73).
  • the new handling vehicle (1) also comprises at least one storage compartment (2, 3, 4, 5) for one or more of said drilling rods (A) and/or pipes (B) and/or drilling tools in general and at least one arm for removably and selectively coupling said at least one storage compartment (2, 3, 4, 5), wherein said coupling arm (8) makes it possible to couple and uncouple said storage compartment (2, 3, 4, 5), to lift and lower it for the transport operations and for positioning it on the ground, and for handling it in general in order to vary its orientation in space.
  • Said coupling arm (8) is directly or indirectly hinged with one end (81) to said frame (11) and/or to the undercarriage of the vehicle, for example preferably to the back (15) of said frame (11), and is suited to vary its inclination at least on the vertical plane, moving downwards and/or upwards.
  • Said coupling arm (8) comprises at its opposite free end (82) means (83) suited to be removably connected to said at least one storage compartment (2, 3, 4, 5).
  • Said storage compartment (2, 3, 4, 5) can be of the type where the rods/pipes (A, B) are positioned vertically or of the type where they are positioned horizontally, and can have fixed or variable inclination.
  • Said storage compartment (2, 3, 4, 5) comprises at least one container (91) suited to carry drilling rods or pipes (A, B) or tools in general, suited to contain a plurality of said rods (A) and/or of said pipes (B) and/or of rods (A) coupled with corresponding pipes (B) and/or of drilling screws or drilling tools in general.
  • Said storage compartment (2, 3, 4, 5) also comprises at least one connection element (92) for connection to said coupling arm (8) mounted on said vehicle (1).
  • Said container (91) in turn comprises supporting means (93, 94) for said rods/pipes (A, B), like for example a bottom (93) and containment sides (94).
  • said storage compartment (2) is of the type where the rods/pipes (A, B) are positioned vertically, wherein said rods/pipes (A, B) are positioned inside said container (91) so that they are orthogonal to the bottom (93).
  • Said storage compartment (2) is of the type with variable inclination, meaning that it comprises also means (21) suited to incline said container (91) with respect to said connection element (92) and consequently with respect to said vehicle (1) to which it is coupled.
  • Said inclination means (21) comprise, for example, hydraulic or pneumatic cylinders or mechanical/electrical/electromechanical means in general.
  • Said coupling arm (8) of the vehicle (1) can thus be connected to said storage compartment (2) of the type with variable inclination and lift it for the transport operations, as shown in Figure 2, wherein the steps of collecting or repositioning a rod/pipe (A, B) are performed with said storage compartment (2) still coupled to the vehicle (1), rotating the cab (13) and said articulated arm (6) by 180° towards the back (15) of the frame and manoeuvring said articulated arm (6) and said handling device (7) as shown in Figure 2a.
  • said storage compartment (3) is of the type where the rods/pipes (A, B) are positioned vertically, wherein said rods/pipes (A, B) are positioned inside said container (91) so that they are orthogonal to the bottom (93).
  • Said storage compartment (3) is of the type with fixed inclination, meaning that said container (91) maintains its position with respect to said connection element (92).
  • Said coupling arm (8) of the vehicle (1) can thus take hold of said storage compartment (3) of the type with fixed inclination and lift it for the transport operations, as shown in Figure 3a, wherein the steps of collection or repositioning of a rod/pipe (A, B) are performed with said storage compartment (3) released and positioned on the ground, as shown in Figure 3.
  • the handling device (7) and the articulated arm (6) of the vehicle (1) are manoeuvred to collect and/or reposition and/or handle said rods and pipes (A, B) in general.
  • said storage compartment (4, 5) is of the type where the rods/pipes (A, B) are positioned horizontally, wherein said rods/pipes (A, B) are positioned inside said container (91) in such a way that they are parallel to the bottom (93).
  • Said storage compartment (4, 5) is of the type with fixed inclination, meaning that said container (91) maintains its position with respect to said connection element (92), while it can be variously positioned in space by handling it through said coupling arm (8).
  • Said coupling arm (8) of the vehicle (1) can thus take hold of said storage compartment (4, 5) of the type with fixed inclination, lift it for the transport operations, as shown in Figure 4, and lift/lower it and thus variously incline it in space in order to perform the steps of collection or repositioning of a rod/pipe (A, B) that are carried out with said storage compartment (4) preferably coupled to the vehicle (1), as shown in Figure 5.
  • Said storage compartment (4, 5) where the rods/pipes (A, B) are positioned horizontally may comprise one or more partitions (51) suited to divide the inside of said container (91) into several subcompartments (52, 53), for example in order to alternatively contain the rods (A) and/or the pipes (B).
  • the handling device In the case where the handling device is used to handle reinforcement pipes, these are generally stacked on the ground in horizontal position.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un véhicule de manutention (1) pour le transport et la manutention, d'une façon générale, de tiges/tuyaux de forage (A, B) et/ou d'outils et/ou de tuyaux d'armature, particulièrement adapté pour desservir une ou plusieurs machines de forage (M), comprenant au moins un compartiment de stockage (2, 3, 4, 5) pour un ou plusieurs desdits tiges/tuyaux/outils de forage et au moins un bras (8) pour l'accouplement dudit ou desdits compartiments de stockage (2, 3, 4, 5) audit véhicule (1), ledit bras d'accouplement (8) permettant l'accouplement et le désaccouplement sélectifs dudit compartiment de stockage (2, 3, 4, 5).
PCT/IB2015/052874 2014-12-11 2015-04-20 Véhicule de manutention pour le transport, la manutention, le chargement et la récupération de tiges et/ou tuyaux et/ou outils de forage WO2016092382A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/534,520 US20170321501A1 (en) 2014-12-11 2015-04-20 Handling vehicle for transporting, handling, loading and collecting drill rods and/or pipes and/or tools
PL15724057T PL3230549T3 (pl) 2014-12-11 2015-04-20 Pojazd przeładunkowy do transportowania, przeładunku, załadunku oraz zbierania wiertniczych prętów i/albo rur i/albo narzędzi
ES15724057T ES2791226T3 (es) 2014-12-11 2015-04-20 Vehículo de manipulación para transportar, manipular, cargar y recoger barras y/o tuberías y/o herramientas de perforación
EP15724057.3A EP3230549B1 (fr) 2014-12-11 2015-04-20 Véhicule de manutention pour le transport, la manutention, le chargement et la récupération de tiges et/ou tuyaux et/ou outils de forage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITPD2014A000337 2014-12-11
ITPD20140337 2014-12-11

Publications (1)

Publication Number Publication Date
WO2016092382A1 true WO2016092382A1 (fr) 2016-06-16

Family

ID=52464470

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/052874 WO2016092382A1 (fr) 2014-12-11 2015-04-20 Véhicule de manutention pour le transport, la manutention, le chargement et la récupération de tiges et/ou tuyaux et/ou outils de forage

Country Status (6)

Country Link
US (1) US20170321501A1 (fr)
EP (1) EP3230549B1 (fr)
ES (1) ES2791226T3 (fr)
PL (1) PL3230549T3 (fr)
PT (1) PT3230549T (fr)
WO (1) WO2016092382A1 (fr)

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CN114183083A (zh) * 2021-12-14 2022-03-15 安徽理工大学 一种模块式钻杆自动运移装置
EP3927929A4 (fr) * 2019-02-19 2022-11-16 Titeline Services Pty Ltd Système et procédé permettant de manipuler des tiges de forage

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US11753930B2 (en) * 2017-06-27 2023-09-12 Refex Instruments Asia Pacific Method and system for acquiring geological data from a bore hole
JP7110054B2 (ja) * 2018-09-28 2022-08-01 ソイルメックジャパン株式会社 二重管ローディング機
JP7116957B2 (ja) * 2018-09-28 2022-08-12 ソイルメックジャパン株式会社 二重管ローディング機と削孔機の併用使用方法
IT201900012456A1 (it) * 2019-07-22 2021-01-22 Dai Pra S R L Benna pinzante per macchina escavatrice
JP6877056B1 (ja) * 2019-11-27 2021-05-26 株式会社エムズ 二重管ロッド取扱装置
CN111577168B (zh) * 2020-05-11 2021-06-15 山东科技大学 液动式煤矿钻车钻杆自动转移、装卸系统及工作方法
GB2602125A (en) * 2020-12-18 2022-06-22 Bamford Excavators Ltd A carriage assembly
WO2023159232A1 (fr) * 2022-02-21 2023-08-24 Tei Rock Drills, Inc. Manipulateur de tige et de carter

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EP3927929A4 (fr) * 2019-02-19 2022-11-16 Titeline Services Pty Ltd Système et procédé permettant de manipuler des tiges de forage
CN114183083A (zh) * 2021-12-14 2022-03-15 安徽理工大学 一种模块式钻杆自动运移装置
CN114183083B (zh) * 2021-12-14 2023-11-28 安徽理工大学 一种模块式钻杆自动运移装置

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EP3230549A1 (fr) 2017-10-18
PT3230549T (pt) 2020-06-05
PL3230549T3 (pl) 2020-09-21
EP3230549B1 (fr) 2020-03-11
ES2791226T3 (es) 2020-11-03

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