CN112593877A - Automatic loading and unloading drilling rod mechanism - Google Patents
Automatic loading and unloading drilling rod mechanism Download PDFInfo
- Publication number
- CN112593877A CN112593877A CN202011571033.3A CN202011571033A CN112593877A CN 112593877 A CN112593877 A CN 112593877A CN 202011571033 A CN202011571033 A CN 202011571033A CN 112593877 A CN112593877 A CN 112593877A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- angle detection
- proximity switch
- oil cylinder
- drill rod
- 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.)
- Pending
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 210000000078 claw Anatomy 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 23
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
Images
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
- E21B19/14—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
-
- 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
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
Landscapes
- 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)
Abstract
The invention discloses an automatic drill rod loading and unloading mechanism which comprises a drill rod supporting plate, wherein a manipulator is arranged at the upper end of the drill rod supporting plate, a gyrator is arranged on one side of the manipulator, and the manipulator comprises a swing oil cylinder, a manipulator telescopic oil cylinder, a manipulator claw, an elevation angle detection proximity switch, a depression angle detection strip, an elevation angle detection strip, a manipulator connecting plate, a proximity switch and a guide rail connecting plate. According to the automatic drill rod loading and unloading mechanism, the method for guiding the movement position of the manipulator through signal combination of the proximity switches can replace the manual drill rod installation mode, manual intervention is not needed in the drilling process, stopping is not needed in the operation and drill rod loading and unloading processes, the proximity switches, the telescopic oil cylinder and the swing oil cylinder are designed to automatically load the manipulator, the labor intensity of operators can be reduced, the drilling efficiency is improved, the labor reduction and the efficiency improvement of drilling operation are realized, and the better use prospect is brought.
Description
Technical Field
The invention relates to a drill carriage which needs to adopt a manipulator to automatically load and unload a drill rod when the drill carriage is used for realizing automatic drilling during gas extraction, excavation and pressure relief hole operation under a coal mine. The structure solves the problem that when the drill carriage drills, one drill rod needs to be manually assembled and disassembled when the drill carriage drills.
Background
When drilling, the drill carriage on the existing market mainly depends on manual installation of the drill rod, and when the drill rod is manually assembled and disassembled, the drill carriage needs to be stopped for waiting, so that the working efficiency is influenced, and the labor intensity of workers is high. The automatic drill rod loading and unloading mechanism can replace manual drill rod loading and unloading, and the drilling of the drill carriage is not influenced during operation.
The existing drill carriage relies on manpower in the process of loading and unloading the drill rod, the drill rod is continuously carried and loaded and unloaded, the labor intensity of operators is high, and the drilling efficiency is influenced. When the operation of drilling the high-position hole and the large-angle hole is carried out, the operation personnel need to ascend the height, and the operation is unsafe. The invention can completely replace the process of manually carrying, loading and unloading the drill rod, effectively reduce the labor intensity of workers and improve the drilling efficiency.
Disclosure of Invention
The invention mainly aims to provide an automatic drill rod assembling and disassembling mechanism which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the automatic drill rod loading and unloading mechanism comprises a drill rod supporting plate, wherein a mechanical arm is arranged at the upper end of the drill rod supporting plate, and a gyrator is arranged on one side of the mechanical arm.
Preferably, the manipulator comprises a swing oil cylinder, a manipulator telescopic oil cylinder, a manipulator claw, an elevation angle detection proximity switch, a depression angle detection strip, an elevation angle detection strip, a manipulator connecting plate, a proximity switch and a guide rail connecting plate, wherein the swing oil cylinder is arranged on one side of the manipulator, the manipulator telescopic oil cylinder is arranged on the outer surface of one side of the swing oil cylinder, the manipulator claw is arranged on the outer surface of the lower end of the manipulator telescopic oil cylinder, the elevation angle detection proximity switch is arranged on one side of the manipulator claw, the depression angle detection proximity switch is arranged on one side of the elevation angle detection proximity switch, the depression angle detection strip is arranged on one side of the depression angle detection proximity switch, the elevation angle detection strip is arranged on one side of the elevation angle detection strip, the manipulator connecting plate is arranged on one side of the elevation angle detection strip, and the front end of the proximity switch is provided with a guide rail connecting plate.
Preferably, one side of the manipulator is provided with a vertical rotary speed reducer of the manipulator and a vertical rotary speed reducer of the guide rail, the vertical rotary speed reducer of the manipulator is located at the front end of the vertical rotary speed reducer of the guide rail, the rear end of the manipulator is provided with a feeding guide rail, and the outer surface of the upper end of the feeding guide rail is provided with a clamp holder.
Preferably, one side surface of the swing oil cylinder is movably connected with one side surface of the manipulator telescopic oil cylinder, the lower end surface of the manipulator telescopic oil cylinder is detachably connected with the upper end surface of the manipulator claw, and the elevation angle detection proximity switch and the depression angle detection proximity switch are detachably connected with one side surface of the manipulator claw.
Preferably, the outer surface of one side of the manipulator connecting plate is detachably connected with the outer surface of one side of the proximity switch, and the outer surface of the front end of the manipulator connecting plate is detachably connected with the outer surface of one end of the guide rail connecting plate.
Preferably, the outer surface of the lower end of the vertical rotary speed reducer of the manipulator is detachably connected with the outer surface of the upper end of the depression angle detection strip, and the outer surface of one side of the depression angle detection strip is detachably connected with the outer surface of one side of the elevation angle detection strip.
Preferably, the outer surfaces of one side of the vertical rotary speed reducer of the manipulator and the vertical rotary speed reducer of the guide rail are detachably connected with the outer surface of one side of the manipulator.
Preferably, the outer surface of the lower end of the holder is detachably connected with the outer surface of the upper end of the feeding guide rail.
Compared with the prior art, the invention has the following beneficial effects: this automatic loading and unloading drilling rod mechanism guides method of manipulator motion position through a plurality of proximity switch signal combination, the mode of manual installation drilling rod in the fungible, the process of creeping into need not manual intervention, the operation, loading and unloading drilling rod process need not the shut down, proximity switch and flexible hydro-cylinder, the swing hydro-cylinder carries out the mechanical hand structural design of automatic upper boom, can reduce operating personnel intensity of labour, improve drilling efficiency simultaneously, realize the subtracting people of drilling operation and increase efficiency, whole automatic loading and unloading drilling rod mechanism simple structure, high durability and convenient operation, the effect of use is better for traditional mode.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic drill rod loading and unloading mechanism according to the present invention;
FIG. 2 is a partial schematic view of an automatic drill rod handling mechanism of the present invention;
FIG. 3 is an enlarged view of the robot 3 of FIG. 1 of an automatic pipe handling mechanism of the present invention;
in the figure: 1. a gyrator; 2. a drill rod supporting plate; 3. a manipulator; 4. a feed guide rail; 5. a holder; 6. a swing oil cylinder; 7. a manipulator telescopic oil cylinder; 8. a mechanical gripper; 9. a manipulator vertical rotary speed reducer; 10. an elevation detection proximity switch; 11. a depression angle detection proximity switch; 12. a guide rail vertical rotary speed reducer; 13. a depression angle detection bar; 14. an elevation angle detection strip; 15. a manipulator connecting plate; 16. a proximity switch; 17. guide rail connecting plate.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-3, the automatic drill rod loading and unloading mechanism comprises a drill rod supporting plate 2, a manipulator 3 is arranged at the upper end of the drill rod supporting plate 2, and a gyrator 1 is arranged on one side of the manipulator 3.
Wherein, the manipulator 3 comprises a swing oil cylinder 6, a manipulator telescopic oil cylinder 7, a manipulator claw 8, an elevation angle detection proximity switch 10, a depression angle detection proximity switch 11, a depression angle detection strip 13, an elevation angle detection strip 14, a manipulator connecting plate 15, a proximity switch 16 and a guide rail connecting plate 17, the swing oil cylinder 6 is arranged at one side of the manipulator 3, the manipulator telescopic oil cylinder 7 is arranged at the outer surface of one side of the swing oil cylinder 6, the manipulator claw 8 is arranged at the outer surface of the lower end of the manipulator telescopic oil cylinder 7, the elevation angle detection proximity switch 10 is arranged at one side of the manipulator claw 8, the depression angle detection proximity switch 11 is arranged at one side of the elevation angle detection proximity switch 10, the depression angle detection strip 13 is arranged at one side of the depression angle detection proximity switch 11, the elevation angle detection strip 14 is arranged at one side of the depression angle detection strip 13, the manipulator connecting plate 15 is arranged at one, the front end of the proximity switch 16 is provided with a guide rail connecting plate 17.
Wherein, one side of manipulator 3 is provided with the vertical rotary reducer 9 of manipulator and the vertical rotary reducer 12 of guide rail, and the vertical rotary reducer 9 of manipulator is located the front end of the vertical rotary reducer 12 of guide rail, and the rear end of manipulator 3 is provided with feed guide rail 4, and the upper end surface of feed guide rail 4 is provided with holder 5.
Wherein, the surface of one side of swing hydro-cylinder 6 and the flexible hydro-cylinder 7 of manipulator's one side surface swing joint, the flexible hydro-cylinder 7 of manipulator's lower extreme surface can be dismantled with the upper end surface of mechanical gripper 8 and be connected, and the surface of one side of elevation angle detection proximity switch 10 and angle of depression detection proximity switch 11 all can be dismantled with the surface of one side of mechanical gripper 8 and be connected.
Wherein, the surface of one side of manipulator connecting plate 15 can dismantle with the surface of one side of proximity switch 16 and be connected, and the front end surface of manipulator connecting plate 15 can dismantle with the one end surface of guide rail connecting plate 17 and be connected.
Wherein, the lower extreme surface of the vertical gyration reduction gear of manipulator 9 can be dismantled with the upper end surface of angle of depression detection strip 13 and be connected, and the surface of one side of angle of depression detection strip 13 can be dismantled with the surface of one side of angle of elevation detection strip 14 and be connected.
Wherein, the outer surfaces of one sides of the vertical rotary speed reducer 9 of the manipulator and the vertical rotary speed reducer 12 of the guide rail are detachably connected with the outer surface of one side of the manipulator 3.
Wherein the outer surface of the lower end of the gripper 5 is detachably connected with the outer surface of the upper end of the feed guide 4.
It should be noted that the invention is a mechanism for automatically loading and unloading drill rods, and the automatic rod loading action of a drill carriage is introduced as follows:
1. the states of the elevation angle detection proximity switch 10 and the depression angle detection proximity switch 11 are determined. When the two devices are not simultaneously in a signal state, the manipulator and the drill rod supporting plate are in a horizontal state, and the condition of grabbing the rod is met to execute the next action. When only one of the two proximity switches has a signal, the manipulator vertical rotation speed reducer 9 acts (the rotation direction is given according to the proximity switch with the signal) and is adjusted to the condition that the two proximity switches have the signal at the same time.
2. The manipulator swinging oil cylinder 6 rotates anticlockwise to a pressure building state, and the manipulator reaches the angle position of the grabbing rod.
3. And the manipulator telescopic oil cylinder 7 extends out to a pressure-building state, and the manipulator reaches the grab rod position.
4. The mechanical gripper 8 is tightened to grasp the drill rod.
5. And the manipulator swinging oil cylinder 6 rotates clockwise to a pressure-building state, and the manipulator reaches the upper rod position.
6. And judging the pitching angle of the manipulator and the guide rail by judging the signal state of the proximity switch 16 according to the position of the guide rail of the manipulator, so as to determine the rotation direction of the manipulator, and judging the signal mutation of the proximity switch 16 by rotating to the position of the guide rail of the manipulator to reach the position of a top rod.
7. The gripper 5 (secondary gripper) grips a new drill rod and the gripper 5 (primary gripper) grips a drill rod that has been drilled into the front end. The gyrator 1 is positively rotated to feed and is connected with a newly added drill rod. After positive rotation pressure holding, the clamp 5 (auxiliary clamp) is released, the gyrator 1 is fed in positive rotation, and after positive rotation pressure holding, connection of the drill rod is completed, and rod feeding action is executed. The manipulator returns according to the original path. And after the drill pipe is installed, executing the next cycle.
8. The drill unloading process is opposite to the drilling process.
The method for guiding the movement position of the manipulator by combining a plurality of proximity switch signals can replace a mode of manually installing a drill rod in the drilling process, manual intervention is not needed in the drilling process, stop is not needed in the operation and loading and unloading process of the drill rod, the proximity switch, the telescopic oil cylinder and the swing oil cylinder are designed for automatically feeding the manipulator, the labor intensity of operators can be reduced, the drilling efficiency is improved, and the labor reduction and the efficiency improvement of the drilling operation are realized.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an automatic loading and unloading drilling rod mechanism which characterized in that: the drilling rod supporting plate comprises a drilling rod supporting plate (2), wherein a mechanical arm (3) is arranged at the upper end of the drilling rod supporting plate (2), and a gyrator (1) is arranged on one side of the mechanical arm (3).
2. The auto-handling drill rod mechanism of claim 1, further comprising: the manipulator (3) comprises a swing oil cylinder (6), a manipulator telescopic oil cylinder (7), a manipulator claw (8), an elevation angle detection proximity switch (10), a depression angle detection proximity switch (11), a depression angle detection strip (13), an elevation angle detection strip (14), a manipulator connecting plate (15), a proximity switch (16) and a guide rail connecting plate (17), wherein the swing oil cylinder (6) is arranged on one side of the manipulator (3), the manipulator telescopic oil cylinder (7) is arranged on the outer surface of one side of the swing oil cylinder (6), the manipulator claw (8) is arranged on the outer surface of the lower end of the manipulator telescopic oil cylinder (7), the elevation angle detection proximity switch (10) is arranged on one side of the manipulator claw (8), the depression angle detection proximity switch (11) is arranged on one side of the elevation angle detection proximity switch (10), the depression angle detection proximity switch (13) is arranged on one side of the depression angle detection proximity switch (11, one side of angle of depression detection strip (13) is provided with angle of elevation detection strip (14), one side of angle of elevation detection strip (14) is provided with manipulator connecting plate (15), the front end of manipulator connecting plate (15) is provided with proximity switch (16), the front end of proximity switch (16) is provided with guide rail connecting plate (17).
3. The auto-handling drill rod mechanism of claim 2, further comprising: one side of manipulator (3) is provided with the vertical rotary reducer of manipulator (9) and the vertical rotary reducer of guide rail (12), the vertical rotary reducer of manipulator (9) is located the front end of the vertical rotary reducer of guide rail (12), the rear end of manipulator (3) is provided with feeds guide rail (4), the upper end surface of feeding guide rail (4) is provided with holder (5).
4. The auto-handling drill rod mechanism of claim 2, further comprising: the manipulator is characterized in that the outer surface of one side of the swing oil cylinder (6) is movably connected with the outer surface of one side of the manipulator telescopic oil cylinder (7), the outer surface of the lower end of the manipulator telescopic oil cylinder (7) is detachably connected with the outer surface of the upper end of the manipulator claw (8), and the outer surface of one side of the elevation angle detection proximity switch (10) and the outer surface of one side of the depression angle detection proximity switch (11) are detachably connected with the outer surface of one side of the manipulator claw (8).
5. The auto-handling drill rod mechanism of claim 2, further comprising: the outer surface of one side of the manipulator connecting plate (15) is detachably connected with the outer surface of one side of the proximity switch (16), and the outer surface of the front end of the manipulator connecting plate (15) is detachably connected with the outer surface of one end of the guide rail connecting plate (17).
6. The auto-handling drill rod mechanism of claim 1, further comprising: the lower end surface of the vertical rotary speed reducer (9) of the manipulator is detachably connected with the upper end surface of the depression angle detection strip (13), and the outer surface of one side of the depression angle detection strip (13) is detachably connected with the outer surface of one side of the elevation angle detection strip (14).
7. The auto-handling drill rod mechanism of claim 1, further comprising: the outer surfaces of one side of the vertical rotary speed reducer (9) of the manipulator and one side of the vertical rotary speed reducer (12) of the guide rail are detachably connected with the outer surface of one side of the manipulator (3).
8. The auto-handling drill rod mechanism of claim 1, further comprising: the outer surface of the lower end of the clamp holder (5) is detachably connected with the outer surface of the upper end of the feeding guide rail (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011571033.3A CN112593877A (en) | 2020-12-27 | 2020-12-27 | Automatic loading and unloading drilling rod mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011571033.3A CN112593877A (en) | 2020-12-27 | 2020-12-27 | Automatic loading and unloading drilling rod mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112593877A true CN112593877A (en) | 2021-04-02 |
Family
ID=75203595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011571033.3A Pending CN112593877A (en) | 2020-12-27 | 2020-12-27 | Automatic loading and unloading drilling rod mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112593877A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113202429A (en) * | 2021-05-17 | 2021-08-03 | 徐州徐工基础工程机械有限公司 | Drill rod handling device |
-
2020
- 2020-12-27 CN CN202011571033.3A patent/CN112593877A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113202429A (en) * | 2021-05-17 | 2021-08-03 | 徐州徐工基础工程机械有限公司 | Drill rod handling device |
| CN113202429B (en) * | 2021-05-17 | 2022-07-08 | 徐州徐工基础工程机械有限公司 | Drill rod assembling and disassembling device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201363107Y (en) | Cantilever type drill pipe racking device | |
| CN201419983Y (en) | Folding arm type crane of drilling platform | |
| CN113153201B (en) | Fishing tool for downhole operation | |
| CN112593877A (en) | Automatic loading and unloading drilling rod mechanism | |
| CN109505540A (en) | A kind of offshore platform automation workover rig upper tube manipulator | |
| CN105484683A (en) | Automatic discharge device for drill strings | |
| CN201883964U (en) | Automatic drill stem conveying device | |
| CN205349253U (en) | Automatic discharging equipment of drilling string | |
| CN108252664B (en) | Remote control is with gallery rig of auto-control handling drilling rod | |
| CN201363109Y (en) | Travelling drill pipe racking device | |
| CN211692311U (en) | Intelligent directional drilling machine for gas drainage | |
| CN206928916U (en) | Stacking tubing string manipulator | |
| CN214365943U (en) | Automatic loading and unloading drilling rod mechanism | |
| CN201363108Y (en) | Open type drill pipe racking device | |
| CN113911891B (en) | Large spherical tank integral hoisting and shifting auxiliary device | |
| CN211174000U (en) | Pipe grabbing manipulator | |
| CN215907762U (en) | Automatic drill boom for anchor rod drill carriage | |
| CN204827278U (en) | Oil -well rig quadruple board platform tubular column discharges manipulator | |
| CN113404448A (en) | Automatic rod loading and unloading device and horizontal directional drilling machine | |
| CN201363106Y (en) | Single-arm contraction-type drill pipe racking device | |
| CN114753763A (en) | Automatic drilling drill carriage for coal mine | |
| CN112922542A (en) | Automatic loading and unloading device and method for large spiral plug-in type drill rod | |
| CN201363104Y (en) | Mechanical arm assembly for holding drill pipe | |
| CN220551079U (en) | Recoverable coal mine drilling machine host | |
| CN206928917U (en) | Well head helps pipe device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |