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Coiled tubing drilling robot, robot system and process parameter control method thereof
Coiled tubing drilling robot, robot system and process parameter control method thereof
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机译:卷绕管钻机器人,机器人系统及其工艺参数控制方法
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摘要
A coiled tubing drilling robot, a robot system and a process parameter control method thereof. The coiled tubing drilling robot is mainly characterized in that a drilling pressure and a drilling speed of a drill string are adjusted by an electric proportional relief valve and an electric proportional flow valve disposed inside the drilling robot; a support mechanism of the drilling robot adopts a single oblique block to prop against a spring piece to clamp a well wall; the coiled tubing drilling robot system consists of a coiled tubing intelligent drilling rig, a wellhead device, a coiled tubing, a drilling robot, a drill string vibration measurement device, a MWD, a power drill and a drill bit.
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