CN112855056B - Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing - Google Patents
Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing Download PDFInfo
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- CN112855056B CN112855056B CN202110018657.0A CN202110018657A CN112855056B CN 112855056 B CN112855056 B CN 112855056B CN 202110018657 A CN202110018657 A CN 202110018657A CN 112855056 B CN112855056 B CN 112855056B
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- coiled tubing
- gripper
- supporting sleeve
- oil pipe
- supporting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B23/00—Apparatus for displacing, setting, locking, releasing, or removing tools, packers or the like in the boreholes or wells
Abstract
The automatic dismounting equipment for the underground coiled tubing magnetic buckle type supporting sleeve comprises a cabinet, wherein an industrial control computer and a standby power supply are arranged at the bottom of the cabinet, a variable wheel track detector is arranged in the middle of the bottom plate of the cabinet, a coiled tubing outlet is formed in the top plate of the cabinet, and a coiled tubing guide pair roller assembly is arranged at the coiled tubing outlet; a partition plate is fixed at the inner lower part of the cabinet, hopper mounting interfaces are arranged on two sides of the partition plate, a hopper is inserted into the hopper mounting interfaces, two cross rods are fixed on the hopper, and conical anti-falling rubber rings are fixed at the end parts of the cross rods; a magnetic buckle type external member dismantling robot is also arranged on the clapboard. The invention realizes the automatic dismantling of the magnetic buckle type supporting sleeve without interrupting the pulling-out action of the continuous oil pipe from the underground, and has high working efficiency; the system independence between the variable-wheel-track detector and the external member dismantling robot is also improved, and the modularization between subsystems of the whole machine is realized; the service life of the gripper and the service life of the sleeve are prolonged, and the gripper can be repeatedly used.
Description
Technical Field
The invention belongs to the field of petroleum exploitation auxiliary equipment, and particularly relates to automatic dismounting equipment and a dismounting method for a magnetic buckle type support sleeve of an underground coiled tubing.
Background
The Coiled Tubing (CT) is also called flexible tubing, coiled tubing or coiled tubing, and refers to a jointless coiled tubing which can be wound on a large-diameter electric reel and is formed by connecting a plurality of sections of steel strips in an inclined manner, rolling, forming and welding. The continuous oil pipe with the characteristics of high strength and high toughness has the appearance as a cable which is coiled up to more than two meters, and has the advantages of improved automation, good maneuverability, safer, more efficient and environment-friendly operation, and is widely applied to the fields of various oil and gas operations in the last twenty years after being applied to the oil industry; however, when the coiled tubing is worked in the well, the coiled tubing is easy to bend in the well due to the problem of self strength, so that the construction cannot be normally carried out.
The outer layer of the underground coiled tubing is nested with the support sleeve, so that the bending resistance of the coiled tubing can be greatly improved, and the coiled tubing is allowed to extend into a deeper underground hole for working; this technique is mainly with split type semicircle external member form at present, a series of manufacturing procedure need be accomplished to the support external member of this kind of form before the field installation, make it form two semi-cylindrical sleeve pipes that can the butt joint installation, need rely on complicated mechanical structure to realize on the sleeve pipe when the butt joint, how to unlock complicated mechanical structure need be considered when dismantling, the sleeve pipe mechanical structure of this kind of form is too complicated, and the handling capacity is big, the cycle length is processed, high cost, be unfavorable for the site operation, also do not benefit to popularization and application, consequently, need one kind to need not complicated machining, can accomplish the shaping at the scene, the installation, dismantle the automatic equipment of demolising of support sleeve pipe and demolish method.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides automatic dismounting equipment and a dismounting method for a magnetic buckle type support kit of an underground coiled tubing support sleeve, which can automatically dismount the support sleeve without interrupting the action of pulling out the coiled tubing from the underground.
In order to solve the technical problems, the invention adopts the following technical scheme: the automatic dismounting equipment for the underground coiled tubing magnetic buckle type supporting sleeve comprises a cabinet, wherein an industrial control computer and a standby power supply are arranged at the bottom of the cabinet, a first U-shaped notch is formed in the middle of a bottom plate of the cabinet, a variable wheel track detector is arranged around the first U-shaped notch, a coiled tubing outlet is arranged on a top plate of the cabinet and is positioned right above the first U-shaped notch, and a coiled tubing guide pair roller assembly is arranged at the coiled tubing outlet; a partition plate is fixed at the inner lower part of the cabinet, hopper mounting interfaces are arranged at two sides of the partition plate, a hopper is inserted into the hopper mounting interfaces, two cross rods are fixed on the hopper, and conical anti-falling rubber rings are fixed at the end parts of the cross rods; a magnetic buckle type external member dismantling robot is also arranged on the clapboard.
The continuous oil pipe guide pair roller assembly comprises a roller wheel support, two small roller wheels are connected to the roller wheel support in a rotating mode, a continuous oil pipe clamping area is formed between the two small roller wheels, and the continuous oil pipe clamping area is located right above a continuous oil pipe outlet.
The variable wheel pitch detectors are arranged in two groups, the variable wheel pitch detectors are symmetrically arranged about a first U-shaped notch, each group of variable wheel pitch detectors comprises a mounting plate and an H-shaped linkage frame, two groups of rocker arms are hinged to the linkage frame, the lower end parts of the two groups of rocker arms are hinged to the mounting plate through two pin shafts respectively, the pin shafts are fixedly connected with the rocker arms, the upper end of one group of rocker arms is rotatably connected with a large roller, the pin shafts at the lower end of the other group of rocker arms are provided with torsional springs, the end parts of the pin shafts are provided with encoders, and the encoders are connected with an industrial control computer;
a supporting sleeve detection area is formed between the large rollers of the two groups of variable-track detectors and is located right above the first U-shaped notch.
The magnetic buckle type external member dismantling robot comprises a half-gear chassis, wherein the half-gear chassis is provided with half circles of external teeth, a second U-shaped notch is arranged at the circle center of the half-gear chassis, the half-gear chassis is installed on a partition plate through a thrust bearing, the second U-shaped notch and the first U-shaped notch are arranged up and down, a speed reducer and a servo motor are installed on the partition plate, the servo motor is in transmission connection with the speed reducer, a gear is installed on a power output shaft of the speed reducer, and the gear is meshed with the external teeth of the half-gear chassis; two groups of magnetic absorption type dismantling assemblies are arranged on the upper surface of the half gear chassis and are symmetrically arranged around the circle center of the half gear chassis; each group of magnetic suction type dismantling assemblies comprise inner spline guide rails, spline grooves are formed in the inner spline guide rails, spline shafts are installed in the inner spline guide rails, the spline shafts can slide up and down along the inner spline guide rails, steering engines are fixedly installed at the top ends of the spline shafts, electric push rods are installed at the end portions of output shafts of the steering engines, grippers are fixed at the end portions of the push rods of the electric push rods, the grippers are vertically arranged semicircular tubes, through holes are formed in the grippers, the radius of the through holes is larger than the radius of the bottom surface of each anti-falling rubber ring, baffles are fixed at the upper ends of the grippers, and two side walls of each gripper are provided with one row of magnets respectively; and a monitoring camera is arranged on the half-gear chassis, and the monitoring camera, the servo motor and the steering engine are respectively connected with the industrial control computer.
The method for dismantling the magnetic buckle type supporting sleeve of the underground coiled tubing comprises the following steps:
(1) before working, firstly, a coiled tubing extending out of the underground sequentially passes through a first U-shaped notch, a support suite detection area between large rollers of two groups of variable wheel pitch detectors, a second U-shaped notch, a coiled tubing outlet and a coiled tubing clamping area of a coiled tubing guide pair roller assembly, at the moment, two small rollers maintain clamping force on the coiled tubing, two large rollers maintain clamping force on the coiled tubing, the coiled tubing is in a vertical state, and the equipment is ready to work before working;
(2) opening an industrial personal computer, finishing self-checking and initialization setting by a program, slowly drawing a continuous oil pipe out of the underground under the dragging of an external machine, when the continuous oil pipe passes through a detection area of a supporting sleeve between two large rollers, not enabling a rocker arm frame to swing at a large angle, when the continuous oil pipe sleeved with the supporting sleeve passes through the detection area of the supporting sleeve, causing the rocker arm frame to swing due to the sharp increase of the diameter of the section, transmitting the data to the industrial personal computer by an encoder, controlling a monitoring camera to start working by the industrial personal computer, enabling a semi-gear chassis to be at an initial position, enabling two grippers to be arranged oppositely, and enabling a transverse rod on two hoppers and a through hole on the two grippers to be positioned on the same straight line;
(3) when the coiled tubing of the supporting sleeve enters a working area of the magnetic buckle type sleeve dismantling robot, the picture shot by the monitoring camera is returned to the industrial control computer, and the industrial control computer adjusts the split surface of the supporting sleeve to be parallel to the gripper according to the shot picture;
(4) the supporting sleeve touches a baffle at the upper end of the gripper, the gripper is driven to move upwards along with the rising of the continuous oil pipe, the spline shaft slides upwards in the internal spline guide rail, and when the upper end of the supporting sleeve touches the baffle at the upper end of the gripper, the electric push rod is started to push the gripper to start gripping action, a magnet on one gripper gradually extends into a mounting hole of a supporting pipe body of the self-locking buckle supporting piece, a magnet on the other gripper gradually extends into a mounting hole of a supporting pipe body of the clamping needle supporting piece until the electric push rod confirms that the stroke achieves the gripping purpose, the gripper is recovered, at the moment, a roller in the self-locking buckle supporting piece is sucked back by the magnet, and the self-locking buckle supporting piece and the clamping needle supporting piece are separated and are respectively arranged on the two grippers;
(5) then the industrial control computer controls the servo motor to rotate the semi-gear chassis to an initial position, then the steering engine is controlled to rotate the electric push rod, the hand grips rotate 180 degrees, the hand grips align the hopper at the moment, then the electric push rod pushes the hand grips to push the self-locking buckle supporting pieces into the cross rod of the hopper, the other hand grips push the clamping needle supporting pieces into the cross rod of the other hopper, and the dismounting task of one supporting sleeve piece is completed;
(6) and then the electric push rod and the steering engine restore to the initial positions to wait for the next disassembly of the support suite.
The method for adjusting the split surface of the supporting sleeve to be parallel to the gripper by the industrial control computer according to the shot picture in the step (4) comprises the following steps: the industrial control computer controls the servo motor, the servo motor drives the gear to rotate through the speed reducer, and therefore the half gear chassis is driven to rotate until the split surface of the supporting sleeve is judged to be parallel to the gripper according to the shot picture.
By adopting the technical scheme, the invention has the following beneficial effects: the automatic dismounting device for the underground coiled tubing magnetic buckle type supporting sleeve realizes automatic dismounting of the magnetic buckle type supporting sleeve, does not interrupt the pulling-out action of the coiled tubing from the underground, and is beneficial to improving the working efficiency; the variable-wheel-track detector is in a simple structural form, realizes the detection task of the coiled tubing sleeved with the support piece, is accurate and efficient, avoids faults or misjudgments caused by continuous startup of a monitoring camera, improves the system independence between the variable-wheel-track detector and the external member dismantling robot, and realizes modularization between subsystems of the whole machine; the magnet is used for unlocking the magnetic buckle, the magnetic buckle is simple and rapid, no movable part is arranged on the gripper, the service life of the gripper and the service life of the external member are favorably prolonged, social resources are favorably saved, and the magnetic buckle can be repeatedly utilized.
Drawings
FIG. 1 is a schematic structural view of a support assembly;
FIG. 2 is a schematic structural view of a self-locking snap insert;
FIG. 3 is a schematic view of the structure of the chuck pin;
FIG. 4 is a schematic structural view of an automatic dismounting device for a magnetic buckle type support kit of a downhole coiled tubing;
FIG. 5 is a schematic structural view of a magnetic buckle type kit demolition robot;
FIG. 6 is another side view of the buckle based assembly removal robot;
FIG. 7 is a schematic structural view of a variable track width probe;
FIG. 8 is a schematic flow chart of the task of removing a support assembly according to the present invention.
Detailed Description
As shown in fig. 1-3, the support kit related in the present invention includes a self-locking buckle support member 1 and a needle support member 2, both the self-locking buckle support member 1 and the needle support member 2 include a support tube body 3, the support tube body 3 is a semicircular tube, two through holes 4 are formed on the support tube body 3, a plurality of mounting holes 5 are formed on two side tube walls of the support tube body 3, and the mounting holes 5 are arranged side by side in an up-and-down spaced manner;
the self-locking buckle embedded part 6 is installed in a mounting hole 5 in a supporting pipe body 3 of the self-locking buckle supporting part 1, the self-locking buckle embedded part 6 comprises an embedded part shell 7, a plurality of elastic ratchets 8 are arranged on the outer side of the embedded part shell 7 and used for fixing the self-locking buckle embedded part 6 in the mounting hole 5, the inner cavity wall of the embedded part shell 7 is provided with two inclined planes 9 which are symmetrically arranged, the outer end of the embedded part shell 7 is provided with a jack 10, the inner end of the embedded part shell 7 is provided with a clamping plate 11, two groups of self-locking parts are installed in the inner cavity of the embedded part shell 7, each group of self-locking parts comprises a spring 12, a roller frame 13 and a roller 14, two ends of the spring 12 are respectively connected to the clamping plate 11 and the roller frame 13, the roller 14 is assembled on the roller frame 13, and a clamping area 15 is formed between the two rollers 14;
the mounting holes 5 on the supporting tube body 3 of the card needle supporting piece 2 are all provided with card needles 16, the card needles 16 can be inserted into the jacks 10 of the self-locking card embedded part 6, the rollers 14 can slide along the inclined surface 9, under the pressing force of the springs 12, the rollers 14 press the inner wall of the embedded part shell 7 on one hand, and press the inserted card needles 16 on the other hand to form self-locking, so that the card needles 16 cannot be pulled out; in addition, the roller and the clamping pin are both made of ferrous materials.
As shown in fig. 4-7, the automatic dismounting device for the magnetic buckle type support kit of the underground coiled tubing comprises a cabinet 17, wherein the bottom of the cabinet 17 is provided with an industrial control computer 18 and a standby power supply 19, the middle part of the bottom plate of the cabinet 17 is provided with a first U-shaped notch 20, a variable wheel distance detector 21 is arranged around the first U-shaped notch 20, the top plate of the cabinet 17 is provided with a coiled tubing outlet, the coiled tubing outlet is positioned right above the first U-shaped notch 20, and a coiled tubing guide pair roller assembly is arranged at the coiled tubing outlet; a partition plate 24 is fixed at the inner lower part of the cabinet 17, hopper mounting interfaces 25 are arranged on two sides of the partition plate 24, a hopper 26 is inserted into the hopper mounting interfaces 25, two cross rods 27 are fixed on the hopper 26, and conical anti-falling rubber rings 28 are fixed at the end parts of the cross rods 27; a magnetic buckle type suite dismantling robot is also arranged on the partition plate 24.
The continuous oil pipe guiding pair roller assembly comprises a roller bracket 29, two small rollers 30 are rotatably connected to the roller bracket 29, a continuous oil pipe clamping area is formed between the two small rollers 30, and the continuous oil pipe clamping area is located right above a continuous oil pipe outlet.
Two groups of variable wheel distance detectors 21 are arranged, the variable wheel distance detectors 21 are symmetrically arranged about the first U-shaped notch 20, each group of variable wheel distance detectors 21 comprises a mounting plate 31 and an H-shaped linkage frame 32, two groups of rocker arms 33 are hinged on the linkage frame 32, the lower end parts of the two groups of rocker arms 33 are respectively hinged on the mounting plate 31 through two pin shafts 34, the pin shafts 34 and the rocker arms 33 are fixedly connected, the upper end of one group of rocker arms 33 is rotatably connected with a large roller 35, the pin shafts 34 at the lower ends of the other group of rocker arms 33 are provided with torsional springs 36, the end parts of the pin shafts 34 are provided with encoders 37, and the encoders 37 are connected with an industrial control computer 18;
a supporting sleeve detection area is formed between the large rollers 35 of the two groups of variable track detectors 21 and is positioned right above the first U-shaped notch 20.
The magnetic buckle type kit dismantling robot comprises a half-gear chassis 38, wherein the half-gear chassis 38 is provided with half circles of external teeth, a second U-shaped notch 39 is arranged at the circle center of the half-gear chassis 38, the half-gear chassis 38 is installed on a partition plate 24 through a thrust bearing, the second U-shaped notch 39 and a first U-shaped notch 20 are arranged up and down, a speed reducer 41 and a servo motor 42 are installed on the partition plate 24, the servo motor 42 is in transmission connection with the speed reducer 41, a power output shaft of the speed reducer 41 is provided with a gear 43, and the gear 43 is meshed with the external teeth of the half-gear 43 chassis 38; two groups of magnetic suction type dismantling assemblies 44 are arranged on the upper surface of the chassis 38 of the half gear 43, and the two groups of magnetic suction type dismantling assemblies 44 are symmetrically arranged around the circle center of the chassis 38 of the half gear 43; each group of magnetic type dismantling assemblies 44 comprises an inner spline guide rail 45, a spline groove is formed in the inner spline guide rail 45, a spline shaft 47 is installed in the inner spline guide rail 45, the spline shaft 47 can slide up and down along the inner spline guide rail 45, a steering engine 48 is fixedly installed at the top end of the spline shaft 47, an electric push rod 49 is installed at the end part of an output shaft of the steering engine 48, a gripper 50 is fixed at the end part of a push rod of the electric push rod 49, the gripper 50 is a vertically arranged semicircular pipe, a through hole 51 is formed in the gripper 50, the radius of the through hole 51 is larger than that of the bottom surface of the anti-falling rubber ring 28, a baffle plate 52 is fixed at the upper end of the gripper 50, and a row of magnets 53 are respectively arranged on two side walls of the gripper 50; the chassis 38 of the half gear 43 is provided with a monitoring camera 54, and the monitoring camera 54, the servo motor 42 and the steering engine 48 are respectively connected with the industrial control computer 18.
As shown in fig. 8, the method for removing the magnetic buckle type supporting sleeve of the downhole coiled tubing comprises the following steps:
(1) before working, firstly, a coiled tubing 100 extending out of the underground sequentially passes through a first U-shaped notch 20, a support sleeve detection area between large rollers 35 of two groups of variable wheel pitch detectors 21, a second U-shaped notch 39, a coiled tubing 100 outlet and a coiled tubing 100 clamping area of a coiled tubing 100 guide pair roller assembly, at the moment, two small rollers 30 keep clamping force on the coiled tubing 100, two large rollers 35 keep clamping force on the coiled tubing 100, the coiled tubing 100 is in a vertical state, and the equipment is ready to work before working;
(2) opening the industrial personal computer 18, finishing self-checking and initialization setting by a program, slowly drawing the continuous oil pipe 100 out of the underground under the dragging of an external machine, when the continuous oil pipe 100 passes through a detection area of a supporting kit between two large rollers 35, enabling the rocker arm frame 33 not to swing in a large angle, when the continuous oil pipe 100 sleeved with the supporting kit 101 passes through the detection area of the supporting kit 101, enabling the rocker arm frame 33 to swing due to the fact that the diameter of the section is sharply increased, transmitting the data to the industrial personal computer 18 by the encoder 37, controlling the monitoring camera 54 to work by the industrial personal computer 18, enabling the half-gear 43 chassis 38 to be at an initial position, enabling the two grippers 50 to be oppositely arranged at the moment, and enabling the cross rods 27 on the two hoppers 26 and the through holes 51 on the two grippers 50 to be located on the same straight line;
(3) when the coiled tubing 100 of the supporting sleeve member 101 enters a working area of the magnetic buckle type sleeve member dismantling robot, the picture shot back by the monitoring camera 54 is returned to the industrial control computer 18, and the industrial control computer 18 adjusts the split surface of the supporting sleeve member 101 to be parallel to the hand grip 50 according to the shot picture;
(4) the supporting sleeve 101 touches a baffle 52 at the upper end of the gripper 50, the gripper 50 is driven to move upwards along with the rising of the coiled tubing 100, the spline shaft 47 slides upwards in the internal spline guide rail 45, the upper end of the supporting sleeve 101 touches the baffle 52 at the upper end of the gripper 50, the electric push rod 49 is started, the gripper 50 is pushed to start gripping action, the magnet 53 on one gripper 50 gradually extends into the mounting hole of the supporting tube body of the self-locking buckle supporting piece, the magnet 53 on the other gripper 50 gradually extends into the mounting hole of the supporting tube body of the clamping needle supporting piece until the electric push rod 49 confirms that the stroke reaches the gripping purpose, the gripper 50 is recovered, the roller in the self-locking buckle supporting piece is sucked back by the magnet 53 at the moment, and the self-locking buckle supporting piece and the clamping needle supporting piece are separated and are respectively arranged on the two grippers 50;
(5) then the industrial personal computer 18 controls the servo motor 42 to rotate the half gear 43 chassis 38 to an initial position, then controls the steering engine 48 to rotate the electric push rod 49, so that the hand grip 50 rotates 180 degrees, at the moment, the hand grip 50 aligns at the hopper 26, then the electric push rod 49 pushes the hand grip 50 to push the self-locking buckle support piece into the cross rod 27 of the hopper 26, and the other hand grip 50 pushes the clamping pin support piece into the cross rod 27 of the other hopper 26, so that the dismounting task of one supporting sleeve member 101 is completed;
(6) the electric push rod 49 and the steering engine 48 are then restored to the initial position, and the next support assembly 101 is waited for to be detached.
The method for adjusting the parallel of the split surface of the supporting sleeve 101 and the hand grip 50 by the industrial control computer 18 according to the shot picture in the step (4) comprises the following steps: the industrial personal computer 18 controls the servo motor 42, the servo motor 42 drives the gear 43 to rotate through the speed reducer 41, and therefore the half gear 43 chassis 38 is driven to rotate until the fact that the split surface of the supporting sleeve 101 is parallel to the hand grip 50 is judged according to the shot picture.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (4)
1. Automatic equipment of demolising of supporting component is buckled to coil pipe magnetism in pit, its characterized in that: the industrial control computer and the standby power supply are arranged at the bottom of the cabinet, a first U-shaped notch is formed in the middle of a bottom plate of the cabinet, a variable wheel track detector is arranged around the first U-shaped notch, a continuous oil pipe outlet is formed in a top plate of the cabinet and is located right above the first U-shaped notch, and a continuous oil pipe guiding pair roller assembly is arranged at the continuous oil pipe outlet; a partition plate is fixed at the inner lower part of the cabinet, hopper mounting interfaces are arranged at two sides of the partition plate, a hopper is inserted into the hopper mounting interfaces, two cross rods are fixed on the hopper, and conical anti-falling rubber rings are fixed at the end parts of the cross rods; a magnetic buckle type external member dismantling robot is also arranged on the partition plate;
the variable wheel pitch detectors are arranged in two groups, the variable wheel pitch detectors are symmetrically arranged about a first U-shaped notch, each group of variable wheel pitch detectors comprises a mounting plate and an H-shaped linkage frame, two groups of rocker arms are hinged to the linkage frame, the lower end parts of the two groups of rocker arms are hinged to the mounting plate through two pin shafts respectively, the pin shafts are fixedly connected with the rocker arms, the upper end of one group of rocker arms is rotatably connected with a large roller, the pin shafts at the lower end of the other group of rocker arms are provided with torsional springs, the end parts of the pin shafts are provided with encoders, and the encoders are connected with an industrial control computer;
a supporting sleeve detection area is formed between the large rollers of the two groups of variable-track detectors and is positioned right above the first U-shaped notch;
the magnetic buckle type external member dismantling robot comprises a half-gear chassis, wherein the half-gear chassis is provided with half circles of external teeth, a second U-shaped notch is arranged at the circle center of the half-gear chassis, the half-gear chassis is installed on a partition plate through a thrust bearing, the second U-shaped notch and the first U-shaped notch are arranged up and down, a speed reducer and a servo motor are installed on the partition plate, the servo motor is in transmission connection with the speed reducer, a gear is installed on a power output shaft of the speed reducer, and the gear is meshed with the external teeth of the half-gear chassis; two groups of magnetic absorption type dismantling assemblies are arranged on the upper surface of the half gear chassis and are symmetrically arranged around the circle center of the half gear chassis; each group of magnetic suction type dismantling assemblies comprises an inner spline guide rail, a spline groove is formed in the inner spline guide rail, a spline shaft is arranged in the inner spline guide rail and can slide up and down along the inner spline guide rail, a steering engine is fixedly arranged at the top end of the spline shaft, an electric push rod is arranged at the end part of an output shaft of the steering engine, a gripper is fixed at the end part of a push rod of the electric push rod and is a vertically arranged semicircular tube, a through hole is formed in the gripper, the radius of the through hole is larger than the radius of the bottom surface of the anti-falling rubber ring, a baffle is fixed at the upper end of the gripper, and a row of magnets are respectively arranged on two side walls of the gripper; and a monitoring camera is arranged on the half-gear chassis, and the monitoring camera, the servo motor and the steering engine are respectively connected with the industrial control computer.
2. The automatic dismounting device for the magnetic buckle type support kit of the downhole coiled tubing according to claim 1, characterized in that: the continuous oil pipe guide pair roller assembly comprises a roller wheel support, wherein two small roller wheels are connected to the roller wheel support in a rotating mode, a continuous oil pipe clamping area is formed between the two small roller wheels, and the continuous oil pipe clamping area is located right above a continuous oil pipe outlet.
3. The method for dismounting the magnetic buckle type support kit of the downhole coiled tubing according to claim 2, wherein the method comprises the following steps: the method comprises the following steps:
(1) before working, firstly, a coiled tubing extending out of the underground sequentially passes through a first U-shaped notch, a support suite detection area between large rollers of two groups of variable wheel pitch detectors, a second U-shaped notch, a coiled tubing outlet and a coiled tubing clamping area of a coiled tubing guide pair roller assembly, at the moment, two small rollers maintain clamping force on the coiled tubing, two large rollers maintain clamping force on the coiled tubing, the coiled tubing is in a vertical state, and the equipment is ready to work before working;
(2) opening an industrial personal computer, finishing self-checking and initialization setting by a program, slowly drawing a continuous oil pipe out of the underground under the dragging of an external machine, when the continuous oil pipe passes through a detection area of a supporting sleeve between two large rollers, not enabling a rocker arm frame to swing at a large angle, when the continuous oil pipe sleeved with the supporting sleeve passes through the detection area of the supporting sleeve, causing the rocker arm frame to swing due to the sharp increase of the diameter of the section, transmitting the data to the industrial personal computer by an encoder, controlling a monitoring camera to start working by the industrial personal computer, enabling a semi-gear chassis to be at an initial position, enabling two grippers to be arranged oppositely, and enabling a transverse rod on two hoppers and a through hole on the two grippers to be positioned on the same straight line;
(3) when the coiled tubing with the supporting sleeve enters a working area of the magnetic buckle type sleeve dismantling robot, the picture shot back by the monitoring camera is returned to the industrial control computer, and the industrial control computer adjusts the split surface of the supporting sleeve to be parallel to the gripper according to the shot picture;
(4) the supporting sleeve touches a baffle at the upper end of the gripper, the gripper is driven to move upwards along with the rising of the continuous oil pipe, the spline shaft slides upwards in the internal spline guide rail, and when the upper end of the supporting sleeve touches the baffle at the upper end of the gripper, the electric push rod is started to push the gripper to start gripping action, a magnet on one gripper gradually extends into a mounting hole of a supporting pipe body of the self-locking buckle supporting piece, a magnet on the other gripper gradually extends into a mounting hole of a supporting pipe body of the clamping needle supporting piece until the electric push rod confirms that the stroke achieves the gripping purpose, the gripper is recovered, at the moment, a roller in the self-locking buckle supporting piece is sucked back by the magnet, and the self-locking buckle supporting piece and the clamping needle supporting piece are separated and are respectively arranged on the two grippers;
(5) then the industrial control computer controls the servo motor to rotate the semi-gear chassis to an initial position, then the steering engine is controlled to rotate the electric push rod, the hand grips rotate 180 degrees, the hand grips align the hopper at the moment, then the electric push rod pushes the hand grips to push the self-locking buckle supporting pieces into the cross rod of the hopper, the other hand grips push the clamping needle supporting pieces into the cross rod of the other hopper, and the dismounting task of one supporting sleeve piece is completed;
(6) and then the electric push rod and the steering engine restore to the initial positions to wait for the next disassembly of the support suite.
4. The method for dismounting the magnetic buckle type support kit of the downhole coiled tubing according to claim 3, wherein the method comprises the following steps: the method for adjusting the split surface of the supporting sleeve to be parallel to the gripper by the industrial control computer according to the shot picture in the step (4) comprises the following steps: the industrial control computer controls the servo motor, the servo motor drives the gear to rotate through the speed reducer, and therefore the half gear chassis is driven to rotate until the split surface of the supporting sleeve is judged to be parallel to the gripper according to the shot picture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018657.0A CN112855056B (en) | 2021-01-07 | 2021-01-07 | Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018657.0A CN112855056B (en) | 2021-01-07 | 2021-01-07 | Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing |
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| Publication Number | Publication Date |
|---|---|
| CN112855056A CN112855056A (en) | 2021-05-28 |
| CN112855056B true CN112855056B (en) | 2022-09-23 |
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| CN202110018657.0A Active CN112855056B (en) | 2021-01-07 | 2021-01-07 | Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing |
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| CN (1) | CN112855056B (en) |
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| CN112855056A (en) | 2021-05-28 |
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