CN113530479A - Well head centering device suitable for sucker rod operating system - Google Patents
Well head centering device suitable for sucker rod operating system Download PDFInfo
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- CN113530479A CN113530479A CN202110806370.4A CN202110806370A CN113530479A CN 113530479 A CN113530479 A CN 113530479A CN 202110806370 A CN202110806370 A CN 202110806370A CN 113530479 A CN113530479 A CN 113530479A
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- 230000007246 mechanism Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims 3
- 230000037431 insertion Effects 0.000 claims 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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- 239000003208 petroleum Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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- Mining & Mineral Resources (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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- Earth Drilling (AREA)
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Abstract
The invention relates to a wellhead centering device suitable for a sucker rod operating system, which integrates a measuring unit for measuring the diameter specification of a sucker rod and a centering unit for aligning the sucker rod to a wellhead reference. By adopting the wellhead centering device, on one hand, the rod diameter specification of the sucker rod can be detected, on the other hand, the sucker rod can be efficiently aligned to the wellhead reference, and the whole device relates to a simple structure and can be effectively integrated into an automatic sucker rod operating system so as to realize the operation automation of the sucker rod.
Description
Technical Field
The invention relates to petroleum workover operation equipment, in particular to a sucker rod operation system, and particularly relates to a wellhead centering device which can be suitable for the sucker rod operation system and is used for detecting the rod diameter specification of a sucker rod and aligning the sucker rod to a wellhead reference.
Background
Well head equipment of a well repairing operation system used in the market is basically semi-automatic, the operation flow is often required to be manually intervened, the existing well head equipment can only adapt to one operation object of an oil pipe, and the existing well head module can not complete the operation of the sucker rod, so that the sucker rod is basically manually operated, the automation degree of the well repairing operation is low, and the operation efficiency is low. In order for wellhead equipment to be able to accomplish the automated operation of sucker rods, special sucker rod operating systems are required. The existing sucker rod usually has multiple specifications, the specifications of the sucker rod are identified by manpower, the manual operation intensity is high, and meanwhile, the field operation environment has certain risks, which influence the safety of oilfield operation.
When the automation equipment works, the device corresponding to the specification is required to process the specification of each sucker rod, so that the rod body specification is required to be detected and fed back to the operation control system before the automatic operation of the sucker rod operation system, and the importance of detecting the rod body specification is very high. In addition, there is a need to accurately align the sucker rod with the wellhead reference (or wellhead center position) while the sucker rod operating system is operating, and thus there is also a need to efficiently align the sucker rod with the wellhead reference.
Some centralizing devices for sucker rods are known in the prior art. For example, chinese patent CN202417331U discloses an axial translation type automatic centering rotary joint for a sucker rod, which can realize convenient butt joint with the sucker rod, reliably transmit torque, and automatically center; chinese patent CN210685883U discloses a centering protection anti-eccentric wear polish rod centralizer for a sucker rod wellhead, which can always ensure that the polish rod runs centrally, and reduce the loss of the polish rod and packing.
However, the centering devices suitable for the sucker rod in the prior art have many related structural components, are complex to operate, still have high manual operation strength, and meanwhile, the devices cannot be integrated with any measuring device for detecting the rod diameter specification of the sucker rod, so that the centering devices cannot be suitable for an automatic sucker rod operating system, and the whole operating equipment has low operating efficiency and low safety.
Disclosure of Invention
The present invention is therefore based on the background of the above mentioned problems, and it is an object of the present invention to provide a wellhead centering device for a sucker rod operation system, which can detect the rod diameter specification of a sucker rod to determine the rod body specification of the sucker rod, and can align the sucker rod to a wellhead reference efficiently, and at the same time, can omit the complicated structural components for centering in the prior art, and has higher reliability.
The invention provides a wellhead centering device suitable for a sucker rod operating system, which integrates a measuring unit for measuring the diameter specification of a sucker rod and a centering unit for aligning the sucker rod to a wellhead reference.
Advantageously, the wellhead centering device comprises a base, a guide rail arranged on the base, and a first slider and a second slider relatively movable along the guide rail under the action of an actuating mechanism, the first slider and the second slider together defining an open space for the passage of a sucker rod, wherein the measuring unit comprises a sensor responsive to the relative movement of the first slider and the second slider for determining the diameter of the sucker rod.
Advantageously, the actuating mechanism is a hydraulic ram, a piston rod of the hydraulic ram being connected to a linkage mechanism such that reciprocating linear motion of the piston rod is converted via the linkage mechanism into translational motion of the first and second slides in opposite directions, respectively.
Advantageously, the linkage comprises a first spindle provided with a first pivot arm and a second pivot arm, a second spindle provided with a third pivot arm, and a connecting rod, wherein the piston rod is pivotally connected to the first spindle via the first pivot arm; the first end of the connecting rod is pivotally connected to the second pivot arm, the second end of the connecting rod is pivotally connected to the third pivot arm, a first swing arm is arranged on the first rotating shaft, a second swing arm is arranged on the second rotating shaft, the free end of the first swing arm is rotatably connected to the first sliding block, and the free end of the second swing arm is rotatably connected to the second sliding block; the reciprocating linear motion of the piston rod is converted into the rotation of the first rotating shaft and the second rotating shaft in opposite directions, so that the first sliding block and the second sliding block are driven by the first swing arm and the second swing arm to respectively move in opposite directions in a translation mode.
Advantageously, the sensor is a string sensor which determines the diameter of the rod from the relative travel of the first and second slides.
Advantageously, the measuring unit further comprises a first measuring shaft and a second measuring shaft, which are fixedly connected to the first slide and the second slide, respectively, so as to be able to perform a translational movement with the first slide and the second slide; wherein the wire drawn from the sensor is wound around a first wire pulley provided at an end of the first measuring shaft and a tip of the wire is fixedly connected to an end of the second measuring shaft.
Advantageously, a second wire pulley is also provided on the base adjacent the wire exit of the sensor to provide a motion guide for the wire.
Advantageously, each of the first slider and the second slider is provided with a pair of attachment lugs for receiving therein the first swing arm and the second swing arm, respectively, and each of the first swing arm and the second swing arm is provided with an oblong hole aligned with the shaft hole of the attachment lug for the passage of the corresponding measuring shaft.
Advantageously, the first and second measuring shafts are each provided with a roller capable of sliding in the oblong hole.
Advantageously, the centering unit comprises a first plug part and a second plug part respectively arranged on the first slider and the second slider, the first plug part and the second plug part respectively defining a first arc-shaped section and a second arc-shaped section, the first arc-shaped section and the second arc-shaped section together defining the open space.
Advantageously, the centering unit further comprises a first rolling element and a second rolling element respectively disposed on the first slider and the second slider, and when the first slider and the second slider move towards each other, the first inserting portion and the second inserting portion are inserted into engagement with each other to reduce the open space and drive the sucker rod to move towards a wellhead reference until the first rolling element and the second rolling element clamp the sucker rod.
Advantageously, the first and second rolling elements rotate to provide motion guidance as the sucker rod is moved up and down.
According to the wellhead centering device, the detection device for detecting the diameter of the sucker rod and the centering device for aligning the sucker rod with the wellhead reference are integrated, the whole device relates to a simple structure and can be effectively integrated into an automatic sucker rod operation system so as to realize the operation automation of the sucker rod.
Drawings
The above and other features and advantages of the present invention will become more readily understood from the following description with reference to the accompanying drawings, in which:
FIG. 1 illustrates a schematic perspective view of a wellhead centering device suitable for use in a sucker rod operating system, in accordance with an embodiment of the present invention;
FIG. 2 illustrates the motion transfer chain of the wellhead centering device of FIG. 1, with the base not shown to more clearly show the kinematic structures included in the wellhead centering device;
FIG. 3 shows a partial schematic view of the installation of the measuring shaft;
FIG. 4 illustrates, in partial schematic view, the guide rails mounted on the base of the wellhead centering device of FIG. 1, with portions of the structure not shown to more clearly illustrate the connection between the guide rails and the blocks disposed on the base;
fig. 5 shows, in a partially schematic view, plug-in parts which are arranged on opposite sliders, respectively, in a plug-in engagement with one another, the plug-in parts being shown in a plug-in state; and
fig. 6a and 6b show schematic views of the wellhead centering device in a state in which the spigots are far from each other (i.e. open standby state) and in a state in which the spigots are engaged with each other (i.e. closed working state), respectively.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples. Descriptions of orientations such as "upper", "lower", "inner", "outer", and the like that may be used in the following description are for convenience of description only and are not intended to limit the technical aspects of the invention unless explicitly stated. In addition, terms such as "first," "second," and the like, which are used hereinafter to describe elements of the present application, are used merely to distinguish the elements, and are not intended to limit the nature, sequence, order, or number of the elements.
It should be appreciated that the wellhead centering device of the present invention is in a wellhead assembly of a sucker rod system, with an upper portion connected to a locating block assembly of the wellhead assembly of the sucker rod system and a lower portion connected to a wiper assembly of the wellhead assembly of the sucker rod system.
FIG. 1 shows a wellhead centering device 1 suitable for use in a sucker rod operating system according to an embodiment of the present invention, the wellhead centering device 1 integrating a measuring unit for measuring the diameter gauge of a sucker rod (not shown) and a centering unit that enables the sucker rod to be aligned to a wellhead reference.
According to a specific embodiment of the invention, the wellhead centering device 1 comprises a base 2, a guide rail 3 arranged on the base 2, and a first slide 4 and a second slide 5 (see fig. 3 and 4) capable of relative movement along the guide rail 3, the first slide 4 and the second slide 5 jointly defining an open space for the sucker rod to pass through. The first slider 4 and the second slider 5 can be driven by an actuating mechanism, in particular via a linkage, either close to each other (i.e. the closed working position in fig. 6b) or away from each other (i.e. the open standby position in fig. 6 a). In the closed working position, the first plug-in part 9 comprised on the first slider 4 and the second plug-in part 10 comprised on the second slider 5 are in plugging engagement with each other to form an elongated open space (see fig. 6 b). With particular reference to fig. 5, a through-section 11 for receiving the second plug-in section 10 is provided below the first plug-in section 9, and a recess 12 for receiving the first plug-in section 9 is provided above the second plug-in section 10. Of course, other engagement means known in the art are possible as long as the above-described functions are achieved.
With continued reference to fig. 5, advantageously, the first and second spigot parts 9, 10 are provided with a first and second curved section 13, 14, respectively, so that the sucker rod in the elongated open space can be brought to move towards the wellhead reference during the plugging engagement to perform an auxiliary centering action on the sucker rod. More advantageously, with reference to fig. 4, a first rolling element 15 and a second rolling element 16 are further respectively provided on the first slider 4 and the second slider 5, and when the first slider 4 and the second slider 5 move towards each other, the first inserting portion 9 and the second inserting portion 10 are inserted into engagement with each other to reduce the open space and drive the sucker rod to move towards the wellhead reference until the first rolling element 15 and the second rolling element 16 clamp the sucker rod to limit the displacement of the sucker rod in the translational movement direction (i.e. the X direction shown in fig. 1) of the first slider 4 and the second slider 5. The first and second rolling bodies and the first and second arc segments together form a centering unit of the sucker rod, which enables positioning of the sucker rod in the X direction and coarse positioning in the Y direction. The accurate centering of the sucker rod is finally accomplished by such a centering unit together with a positioning block device (not shown) for the sucker rod operating system arranged above the wellhead centering device 1. The positioning block device is usually provided with a guiding component with a bell mouth shape, which can realize the accurate positioning of the sucker rod in the Y direction.
As mentioned in the background art, in order to make the above-mentioned wellhead centering device 1 applicable to an automated sucker rod operating system, the specification of the sucker rod needs to be detected, so that the specification information of the sucker rod can be accurately and timely fed back to the operating system, and thus an operating device suitable for the specification of the corresponding rod diameter is selected. Therefore, a measuring unit for measuring the diameter of the sucker rod is also integrated into the device. The measuring unit comprises a sensor for determining the diameter of the sucker rod, such as a string sensor 17.
As shown in fig. 1 and 2, the actuating mechanism is, for example, a hydraulic cylinder 6, and a piston rod 18 of the hydraulic cylinder 6 is connected to a link mechanism, so that the reciprocating linear motion of the piston rod 18 is converted into the translational motion of the first slider 4 and the second slider 5 in the opposite directions via the link mechanism. Of course, other forms of actuation mechanisms are possible in the art that can achieve the actuation effect. Next, how the detection process of the diameter of the sucker rod using the link mechanism will be described in detail.
In particular, see in particular fig. 2, the linkage comprises a first shaft 7 provided with a first pivot arm 19 and a second pivot arm 20, a second shaft 8 provided with a third pivot arm 21, and a connecting rod 22, wherein the piston rod 18 is pivotally connected to the first shaft 7 via the first pivot arm 19; a first end of the connecting rod 22 is pivotally connected to the second pivot arm 20 and a second end of the connecting rod 22 is pivotally connected to the third pivot arm 21, a first swing arm 23 is disposed on the first rotating shaft 7, a second swing arm 24 is disposed on the second rotating shaft 8, a free end of the first swing arm 23 is rotatably connected to the first slider 4, and a free end of the second swing arm 24 is rotatably connected to the second slider 5. Therefore, the reciprocating linear motion of the piston rod 18 of the hydraulic oil cylinder 6 is converted into the rotation of the first rotating shaft 7 and the second rotating shaft 8 in opposite directions, so that the first slider 4 and the second slider 5 are finally driven by the first swing arm 23 and the second swing arm 24 to respectively move in translation in opposite directions.
In order to realize the diameter detection of the sucker rod, the measuring unit further comprises a first measuring shaft 25 and a second measuring shaft 26, wherein the first measuring shaft 25 and the second measuring shaft 26 are fixedly connected with the first sliding block 4 and the second sliding block 5 respectively so as to be capable of performing translational motion along with the first sliding block 4 and the second sliding block 5. The wire 30 drawn from the sensor is wound around a first wire pulley 27 provided at the end of the first measuring shaft 25 where the first wire pulley 27 is freely rotatable and the tip of the wire is fixedly connected to the end of the second measuring shaft 26. In addition, as shown in fig. 2, a second wire pulley 28 is provided on the base adjacent the wire exit of the sensor to provide a motion guide for the wire.
In this way, when the first slider 4 and the second slider 5 are moved towards each other to the closed working state shown in fig. 6b by the actuation of the actuation mechanism (e.g. hydraulic cylinder) driven by the first swing arm 23 and the second swing arm 24, the steel wire with one end wound around the steel wire roller provided at the end of the first measuring shaft 25 and the other end fixed at the end of the second measuring shaft 26 will retract from the steel wire outlet of the sensor towards the inside of the sensor by a length that depends on the relative movement stroke of the first slider 4 and the second slider 5. In this way, the sensor can measure the diameter of the rod from the relative movement stroke of the first slider 4 and the second slider 5.
From the above, it can be seen that the measuring unit and the centering unit, which are simultaneously integrated in the wellhead centering device, are associated or interlocked with each other.
In addition, referring to fig. 3, each of the first slider 4 and the second slider 5 is provided with a pair of attachment lugs 29 for receiving therein the first swing arm 23 and the second swing arm 24, respectively, and each of the first swing arm and the second swing arm is provided with an oblong hole (see fig. 2) aligned with the shaft hole of the attachment lug 29 for the corresponding measurement shaft to pass through. With the oblong hole, the first and second sliders can adapt to the position change of the respective swing arm when opening or closing.
Advantageously, the first and second measuring shafts 25, 26 may be provided with rollers (not shown in the figures) able to slide in said oblong holes, so as to reduce the friction present in the oblong holes of the respective oscillating arms during the movement of the first and second sliders by means of the first and second oscillating arms.
According to the wellhead centering device, on one hand, the rod diameter specification of the sucker rod can be detected, on the other hand, the sucker rod can be efficiently aligned to the wellhead reference, and the whole device relates to a simple structure, can be effectively integrated into an automatic sucker rod operation system, and saves manual operation to realize full automation and intellectualization of sucker rod operation.
It should be noted that the above-described embodiments should be regarded as merely illustrative, and the present invention is not limited to these embodiments. Various changes and modifications may be made by those skilled in the art without departing from the scope or spirit of the invention in view of the contents of this specification. With a true scope of the invention being indicated by the following claims and their equivalents.
Claims (12)
1. A wellhead centering device suitable for use in a sucker rod operating system, the wellhead centering device being integrated with a measurement unit for measuring the diameter gauge of a sucker rod and a centering unit to enable the sucker rod to be aligned with a wellhead reference.
2. The wellhead centering device according to claim 1, comprising a base, a guide rail disposed on said base, and first and second blocks relatively movable along said guide rail under the action of an actuating mechanism, said first and second blocks collectively defining an open space for the passage of a sucker rod, wherein said measuring unit comprises a sensor that determines the diameter of said sucker rod in response to the relative movement of said first and second blocks.
3. A wellhead centering device according to claim 2, wherein the actuating mechanism is a hydraulic ram, the piston rod of which is connected to a linkage mechanism such that reciprocating linear motion of the piston rod is converted via the linkage mechanism into translational motion of the first and second blocks respectively in opposite directions.
4. A wellhead centering device according to claim 3, wherein the linkage comprises a first shaft provided with a first pivot arm and a second pivot arm, a second shaft provided with a third pivot arm, and a link, wherein the piston rod is pivotally connected to the first shaft via the first pivot arm; the first end of the connecting rod is pivotally connected to the second pivot arm, the second end of the connecting rod is pivotally connected to the third pivot arm, a first swing arm is arranged on the first rotating shaft, a second swing arm is arranged on the second rotating shaft, the free end of the first swing arm is rotatably connected to the first sliding block, and the free end of the second swing arm is rotatably connected to the second sliding block; the reciprocating linear motion of the piston rod is converted into the rotation of the first rotating shaft and the second rotating shaft in opposite directions, so that the first sliding block and the second sliding block are driven by the first swing arm and the second swing arm to respectively move in opposite directions in a translation mode.
5. A wellhead centering device according to any of claims 2 to 4, wherein said sensor is a pull wire sensor which determines the diameter of the sucker rod from the relative travel of the first and second sliders.
6. A wellhead centering device according to claim 5, wherein said gauging unit further comprises a first gauging shaft and a second gauging shaft fixedly connected to said first slide and said second slide, respectively, so as to be capable of translational movement therewith; wherein the wire drawn from the sensor is wound around a first wire pulley provided at an end of the first measuring shaft and a tip of the wire is fixedly connected to an end of the second measuring shaft.
7. A wellhead centering device according to claim 6, wherein a second wire pulley is also provided on said base adjacent the wire exit of said sensor to provide a guide for the movement of the wire.
8. A wellhead centering device according to claim 6 or 7, wherein each of said first and second blocks is provided with a pair of attachment lugs for receiving therein the first and second swing arms, respectively, said first and second swing arms being provided with an oblong hole therein, said oblong hole being aligned with the shaft hole in said attachment lug for the passage of the corresponding measuring shaft therethrough.
9. A wellhead centering device according to claim 8, wherein rollers are provided on both the first and second measuring shafts, which rollers are slidable within the oblong holes.
10. A wellhead centering device according to any of claims 2 to 4, wherein the centering unit comprises first and second spigot portions provided on the first and second blocks, respectively, the first and second spigot portions defining first and second arcuate sections, respectively, which together define the open space.
11. The wellhead centering device of claim 10, wherein the centering unit further comprises a first rolling element and a second rolling element disposed on the first slider and the second slider, respectively, and when the first slider and the second slider move toward each other, the first insertion portion and the second insertion portion are in insertion engagement with each other to reduce the open space and move the sucker rod toward a wellhead reference until the first rolling element and the second rolling element clamp the sucker rod.
12. A wellhead centering device according to claim 11, wherein said first and second rolling elements rotate as said sucker rod is moved up and down to provide motion guidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110806370.4A CN113530479B (en) | 2021-07-16 | 2021-07-16 | Wellhead centering device suitable for sucker rod operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110806370.4A CN113530479B (en) | 2021-07-16 | 2021-07-16 | Wellhead centering device suitable for sucker rod operation system |
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| Publication Number | Publication Date |
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| CN113530479A true CN113530479A (en) | 2021-10-22 |
| CN113530479B CN113530479B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110806370.4A Active CN113530479B (en) | 2021-07-16 | 2021-07-16 | Wellhead centering device suitable for sucker rod operation system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105672908A (en) * | 2016-03-26 | 2016-06-15 | 山东胜利石油装备产业技术研究院 | Full-automatic intelligent hydraulic workover rig |
| CN207260974U (en) * | 2017-07-24 | 2018-04-20 | 中国石油集团渤海石油装备制造有限公司 | One kind is used for well workover lower oil tube, sucker rod integrative machine |
| CN111927347A (en) * | 2020-09-22 | 2020-11-13 | 胜利油田康贝石油工程装备有限公司 | Wellhead positioning integrated guide type vertical operation well repairing catwalk and using method thereof |
| CN111927343A (en) * | 2020-08-13 | 2020-11-13 | 无锡智瀚能源科技装备与服务有限公司 | Clamping device and sucker rod operation system and workover rig comprising same |
| CN112267841A (en) * | 2020-10-26 | 2021-01-26 | 无锡智瀚能源科技装备与服务有限公司 | Automatic positioning device for sucker rod and workover rig comprising same |
-
2021
- 2021-07-16 CN CN202110806370.4A patent/CN113530479B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105672908A (en) * | 2016-03-26 | 2016-06-15 | 山东胜利石油装备产业技术研究院 | Full-automatic intelligent hydraulic workover rig |
| CN207260974U (en) * | 2017-07-24 | 2018-04-20 | 中国石油集团渤海石油装备制造有限公司 | One kind is used for well workover lower oil tube, sucker rod integrative machine |
| CN111927343A (en) * | 2020-08-13 | 2020-11-13 | 无锡智瀚能源科技装备与服务有限公司 | Clamping device and sucker rod operation system and workover rig comprising same |
| CN111927347A (en) * | 2020-09-22 | 2020-11-13 | 胜利油田康贝石油工程装备有限公司 | Wellhead positioning integrated guide type vertical operation well repairing catwalk and using method thereof |
| CN112267841A (en) * | 2020-10-26 | 2021-01-26 | 无锡智瀚能源科技装备与服务有限公司 | Automatic positioning device for sucker rod and workover rig comprising same |
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| CN113530479B (en) | 2024-04-05 |
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