CN112855056B - Automatic dismounting equipment and dismounting method for magnetic buckle type supporting sleeve of underground coiled tubing - Google Patents

Abstract

The automatic dismantling equipment of the magnetic buckle type support kit for underground coiled tubing includes a cabinet. The bottom of the cabinet is provided with an industrial computer and a backup power supply. The coiled tubing guide roller assembly is arranged at the outlet of the oil pipe; a partition is fixed at the bottom of the cabinet, and the two sides of the partition are provided with a hopper installation interface. The hopper installation interface is inserted with a hopper. A conical anti-dropping rubber ring is fixed at the end; a magnetic snap-type kit dismantling robot is also arranged on the clapboard. The invention realizes the automatic dismantling of the magnetic buckle type support kit without interrupting the pulling action of the coiled tubing from the well, and has high work efficiency; Modularization among the machine subsystems; it is beneficial to improve the service life of the gripper and the service life of the kit, and realize the reuse.

Description

Automatic dismantling equipment and dismantling method of magnetic buckle type support kit for underground coiled tubing

technical field

The invention belongs to the field of auxiliary equipment for oil exploitation, and in particular relates to an automatic dismantling device and a dismantling method for a magnetic buckle type support kit of an underground coiled tubing.

Background technique

Coiled Tubing (CT), also known as Coiled Tubing, Coiled Tubing or Coiled Tubing, refers to the coiled tubing that can be wound on a large-diameter electric reel. It is made of several sections of steel strips that are mitered together and then rolled and welded. Coiled tubing without joints. This kind of continuous oil pipe with high strength and high toughness is like a coiled cable more than two meters high. Because of the improved automation and good maneuverability, the operation is safer, more efficient and environmentally friendly. After being used in the petroleum industry, in In the past two decades, it has been widely used in a number of oil and gas operations; however, when working underground, coiled tubing is easy to bend downhole due to its own strength problem, causing the construction to fail.

The nested support casing on the outer layer of the downhole coiled tubing can greatly improve the bending resistance of the coiled tubing, allowing the coiled tubing to extend into deeper wells for work; at present, the technology is mainly in the form of a split semi-circle kit, and this form of support kit is available on site Before installation, a series of processing steps need to be completed to form two semi-cylindrical sleeves that can be butt-installed. When docking, it needs to rely on the complex mechanical structure on the sleeve. When disassembling, it is necessary to consider how to integrate the complex mechanical structure. Unlocking, the mechanical structure of this type of casing is too complicated, and the processing volume is large, the processing cycle is long, and the cost is high, which is not conducive to on-site construction, and is not conducive to popularization and application. An automatic dismantling device capable of completing forming, installing and dismantling a support sleeve and a dismantling method thereof.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a downhole coiled tubing magnetic snap support kit capable of automatically dismantling the supporting casing without interrupting the coiled tubing pulling action from the downhole. Automatic dismantling equipment and dismantling method.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical scheme: the automatic dismantling equipment of the magnetic buckle type support kit of the underground coiled tubing, including a cabinet, the bottom of the cabinet is provided with an industrial control computer and a backup power supply, and the middle of the bottom plate of the cabinet is provided with a first U-shaped notch , A variable wheel spacing detector is arranged around the first U-shaped gap, a coiled tubing outlet is provided on the top plate of the cabinet, the coiled tubing outlet is located directly above the first U-shaped gap, and the coiled tubing outlet is provided with a coiled tubing guide pair. Roller assembly; a partition is fixed at the bottom of the cabinet, a hopper installation interface is arranged on both sides of the partition, a hopper is inserted into the hopper installation interface, two horizontal bars are fixed on the hopper, and the ends of the horizontal bars are fixed with a conical anti-fall off A rubber ring; a magnetic snap-type kit removal robot is also provided on the clapboard.

The coiled tubing guide paired roller assembly includes a roller support, and two small rollers are rotatably connected to the roller support. The coiled tubing clamping area is formed between the two small rollers, and the coiled tubing clamping area is located directly above the coiled tubing outlet. .

There are two groups of variable wheelbase detectors. The variable wheelbase detectors are arranged symmetrically about the first U-shaped notch. Each group of variable wheelbase detectors includes a mounting plate and an H-shaped linkage frame, and two linkage frames are hinged on the linkage frame. A set of rocker frames, the lower ends of the two sets of rocker frames are hinged on the mounting plate through two pin shafts, the pins are fixedly connected with the rocker frame, and the upper end of one set of rocker frames is rotatably connected with a large roller. A torsion spring is arranged on the pin shaft at the lower end of the other group of rocker frames, an encoder is installed at the end of the pin shaft, and the encoder is connected with the industrial computer;

A support set detection area is formed between the large rollers of the two sets of variable wheel base detectors, and the support set detection area is located just above the first U-shaped notch.

The magnetic snap-type kit dismantling robot includes a half-gear chassis, the half-gear chassis has a half-circle of external teeth, the center of the half-gear chassis is provided with a second U-shaped notch, the half-gear chassis is mounted on the partition through a thrust bearing, and the second U-shaped The notch and the first U-shaped notch are arranged up and down, a reducer and a servo motor are installed on the partition, the servo motor is connected with the reducer, and a gear is installed on the power output shaft of the reducer, and the gear meshes with the external teeth of the half-gear chassis. ;There are two sets of magnetic removal components installed on the upper surface of the half-gear chassis, and the two sets of magnetic removal components are symmetrically arranged about the center of the half-gear chassis; It has a spline groove, a spline shaft is installed in the inner spline guide rail, the spline shaft can slide up and down along the inner spline guide rail, the top of the spline shaft is fixedly installed with a steering gear, and the output shaft end of the steering gear is installed with an electric push rod , the end of the push rod of the electric push rod is fixed with a gripper, the gripper is a semi-circular tube arranged vertically, and a through hole is opened on the gripper. A baffle is fixed at the upper end, and two side walls of the gripper are respectively provided with a row of magnets; a monitoring camera is installed on the half-gear chassis, and the monitoring camera, the servo motor and the steering gear are respectively connected with the industrial computer.

The method for dismantling the magnetic snap support kit of downhole coiled tubing includes the following steps:

(1) Before working, firstly, the coiled tubing extending from the downhole passes through the first U-shaped notch, the detection area of the support kit between the large rollers of the two sets of variable wheel spacing detectors, and the second U-shaped notch. , The coiled tubing outlet and the coiled tubing clamping area of the coiled tubing guide to the roller assembly. At this time, the two small rollers maintain the clamping force for the coiled tubing, and the two large rollers maintain the clamping force for the coiled tubing, and the coiled tubing is in the vertical position. Straight state, so far the equipment is ready for work;

(2) Turn on the industrial computer, wait for the program to complete the self-checking and initialization settings, and the coiled tubing is slowly pulled out from the downhole under the drag of the external machine. When the coiled tubing passes through the detection area of the support kit between the two large rollers, no It will cause the rocker frame to swing at a large angle. When the coiled tubing with the support kit passes through the detection area of the support kit, the diameter of the section increases sharply, causing the rocker frame to swing, and the encoder transmits the data to the industrial computer. The computer-controlled monitoring camera starts to work, the half-gear chassis is in the initial position, the two grippers are set opposite to each other, and the horizontal bars on the two hoppers and the through holes on the two grippers are on the same straight line;

(3) When the coiled tubing with the support kit enters the working area of the magnetic buckle-type kit dismantling robot, the picture captured by the monitoring camera is returned to the industrial control computer, and the industrial control computer adjusts the opposite surface of the support kit to be parallel to the gripper according to the captured picture;

(4) The support kit touches the baffle on the upper end of the gripper, and with the rise of the coiled tubing, the gripper moves upward together, and the spline shaft slides upward on the inner spline guide rail, and touches the upper end stop of the gripper with the upper end of the support kit At the same time as the plate, the electric push rod starts to push the gripper to start the gripping action. The magnet on one gripper gradually extends into the mounting hole of the supporting tube body of the The magnet gradually extends into the mounting hole of the support tube of the pin holder, until the electric push rod confirms that the stroke reaches the purpose of grasping, then the gripper is recovered. At this time, the roller in the self-locking buckle support is sucked back by the magnet , the self-locking buckle support and the pin support are separated, and are respectively on the two grippers;

(5) Then the industrial computer controls the servo motor to rotate the half-gear chassis to the initial position, and then controls the steering gear to rotate the electric push rod, so that the gripper rotates 180°. At this time, the gripper is aligned with the hopper, and then the electric push rod pushes the gripper to automatically Push the locking clip support into the cross bar of the hopper, and another gripper pushes the pin support into the cross bar of the other hopper, thus completing the dismantling task of a support kit;

(6) Then the electric push rod and steering gear return to their original positions, waiting for the disassembly of the next support kit.

In step (4), the method for the industrial computer to adjust the bisected surface of the support kit to be parallel to the gripper according to the shooting picture is as follows: the industrial computer controls the servo motor, and the servo motor drives the gear to rotate through the reducer, thereby driving the half-gear chassis to rotate until the shooting The screen judges that the opposite surface of the support kit is parallel to the gripper.

By adopting the above technical solution, the present invention has the following beneficial effects: the automatic dismantling equipment of the magnetic snap-type support kit of the downhole coiled tubing realizes the automatic dismantling of the magnetic snap-type support kit without interrupting the pull-out action of the coiled tubing from the downhole, which is beneficial to Improve work efficiency; the variable wheel base detector can realize the detection task of the coiled tubing embedded in the support with a simple structure, which is accurate and efficient, avoids failure or misjudgment caused by continuous startup of the monitoring camera, and improves the variable wheel base The system independence between the detector and the kit dismantling robot realizes the modularization among the subsystems of the whole machine; the use of a magnet to unlock the magnetic buckle is simple and fast, and there are no moving parts on the gripper, which is beneficial to improve the service life of the gripper and the durability of the kit. The service life is conducive to saving social resources and realizing reuse.

Description of drawings

Figure 1 is a schematic structural diagram of a support kit;

Figure 2 is a schematic structural diagram of a self-locking buckle embedded part;

Fig. 3 is the structural representation of the pin;

Fig. 4 is the structural schematic diagram of the automatic dismantling equipment of the magnetic buckle type support kit of the downhole coiled tubing;

Figure 5 is a schematic structural diagram of a magnetic snap-type kit dismantling robot;

Figure 6 is another side view of the magnetic snap-type kit removal robot;

FIG. 7 is a schematic structural diagram of a variable wheel base detector;

FIG. 8 is a schematic diagram of the work flow of the task of dismantling a support kit according to the present invention.

Detailed ways

As shown in FIGS. 1-3 , the support kit involved in the present invention includes a self-locking buckle support 1 and a clip needle support 2 , and both the self-locking clip support 1 and the clip needle support 2 include a support pipe body 3 , the support pipe body 3 is a semi-circular pipe, the support pipe body 3 is provided with two through holes 4, the pipe walls on both sides of the support pipe body 3 are provided with a number of mounting holes 5, and a number of mounting holes 5 are arranged side by side at intervals;

The mounting holes 5 on the supporting pipe body 3 of the self-locking buckle support 1 are equipped with self-locking buckle embedded parts 6 , and the self-locking buckle embedded parts 6 include an embedded part casing 7 , and the outer side of the embedded part casing 7 is provided with a self-locking buckle embedded part 6 . Several elastic ratchet teeth 8 are used to fix the self-locking snap embedded part 6 in the installation hole 5. The inner cavity wall of the embedded part housing 7 has two symmetrically arranged inclined surfaces 9, and the outer end of the embedded part housing 7 is provided with The socket 10, the inner end of the embedded part housing 7 has a card plate 11, and the inner cavity of the embedded part housing 7 is installed with two sets of self-locking parts, each set of self-locking parts includes a spring 12, a roller frame 13 and a roller 14, the spring 12 The two ends of the roller 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 support tube body 3 of the card needle support member 2 are all installed with card needles 16 , the card needles 16 can be inserted into the insertion holes 10 of the self-locking buckle embedded member 6 , and the rollers 14 can slide along the inclined surface 9 . Move, under the pressing force of the spring 12, the roller 14 presses the inner wall of the embedded part housing 7 on the one hand, and the inserted clip 16 on the other hand, forming a self-locking, so that the clip 16 cannot be pulled out; And the card needle are made of iron material.

As shown in Figures 4-7, the automatic removal equipment of the magnetic snap-type support kit for downhole coiled tubing includes a cabinet 17. The bottom of the cabinet 17 is provided with an industrial computer 18 and a backup power supply 19, and a first U-shaped notch is opened in the middle of the bottom plate of the cabinet 17 20. A variable track detector 21 is arranged around the first U-shaped notch 20, and a coiled tubing outlet is arranged on the top plate of the cabinet 17. The coiled tubing outlet is located directly above the first U-shaped notch 20, and the coiled tubing outlet is provided. There is a coiled tubing guide to the roller assembly; a partition 24 is fixed at the bottom of the cabinet 17, a hopper installation interface 25 is arranged on both sides of the partition 24, a hopper 26 is inserted into the hopper installation interface 25, and two horizontal bars 27 are fixed on the hopper 26 , the end of the cross bar 27 is fixed with a conical anti-dropping rubber ring 28;

The coiled tubing guide paired roller assembly includes a roller support 29, two small rollers 30 are rotatably connected to the roller support 29, and a coiled tubing clamping area is formed between the two small rollers 30, and the coiled tubing clamping area is located in the coiled tubing. Just above the exit.

The variable track detectors 21 are provided with two groups. The variable track detectors 21 are symmetrically arranged with respect to the first U-shaped notch 20. Each group of the variable track detectors 21 includes a mounting plate 31 and an H-shaped linkage frame 32. Two sets of rocker frames 33 are hinged on the linkage frame 32, and the lower ends of the two sets of rocker frames 33 are hinged on the mounting plate 31 through two pin shafts 34. The pin shafts 34 and the rocker frame 33 are fixedly connected. The upper end of the rocker arm frame 33 is rotatably connected with a large roller 35, and a torsion spring 36 is provided on the pin shaft 34 at the lower end of the rocker arm frame 33 of the other group. Industrial computer 18 is connected;

A support set detection area is formed between the large rollers 35 of the two sets of variable wheel base detectors 21 , and the support set detection area is located just above the first U-shaped notch 20 .

The magnetic snap-type kit dismantling robot includes a half-gear chassis 38 with a half-circle of external teeth, a second U-shaped notch 39 at the center of the half-gear chassis 38, and the half-gear chassis 38 is mounted on the partition plate 24 through a thrust bearing Up, the second U-shaped notch 39 and the first U-shaped notch 20 are arranged up and down, a reducer 41 and a servo motor 42 are installed on the partition plate 24, the servo motor 42 is connected with the reducer 41 in a transmission, and the power output shaft of the reducer 41 A gear 43 is installed, and the gear 43 meshes with the external teeth of the chassis 38 of the half-gear 43; the upper surface of the chassis 38 of the half-gear 43 is equipped with two sets of magnetic removal assemblies 44, and the two sets of magnetic removal assemblies 44 are related to the chassis of the half-gear 43 The center of the circle of 38 is symmetrically arranged; each group of magnetic removal assemblies 44 includes an inner spline guide rail 45, the inner spline guide rail 45 has a spline groove, and a spline shaft 47 is installed in the inner spline guide rail 45, and the spline shaft 47 can be The inner spline guide rail 45 slides up and down, the top end of the spline shaft 47 is fixedly mounted with a steering gear 48, the output shaft end of the steering gear 48 is mounted with an electric push rod 49, and the push rod end of the electric push rod 49 is fixed with a gripper 50 , the gripper 50 is a vertically arranged semicircular tube, the gripper 50 is provided with a through hole 51, the radius of the through hole 51 is greater than the radius of the bottom surface of the anti-falling rubber ring 28, the upper end of the gripper 50 is fixed with a baffle 52, Two side walls of the gripper 50 are respectively provided with a row of magnets 53 ; a monitoring camera 54 is installed on the chassis 38 of the half gear 43 , and the monitoring camera 54 , the servo motor 42 and the steering gear 48 are respectively connected to the industrial computer 18 .

As shown in Figure 8, the method for dismantling the magnetic snap support kit of the downhole coiled tubing includes the following steps:

(1) Before working, firstly, the coiled tubing 100 extending from the downhole passes through the first U-shaped notch 20, the detection area of the support kit between the large rollers 35 of the two sets of variable wheel spacing detectors 21, the first The two U-shaped notches 39, the coiled tubing 100 outlet, and the coiled tubing 100 clamping area where the coiled tubing 100 guides the roller assembly. At this time, the two small rollers 30 maintain the clamping force for the coiled tubing 100, and the two large rollers 35 The coiled tubing 100 maintains the clamping force, the coiled tubing 100 is in a vertical state, and the equipment is ready for work;

(2) Turn on the industrial control computer 18, wait for the program to complete the self-checking and initialization settings, the coiled tubing 100 is slowly pulled out from the downhole under the drag of the external machine, and the coiled tubing 100 is detected by the support kit between the two large rollers 35 When the coiled tubing 100 with the support kit 101 passes through the detection area of the support kit 101, the diameter of the section increases sharply, causing the rocker frame 33 to swing, and the encoder 37 Send the data to the industrial control computer 18, the industrial control computer 18 controls the monitoring camera 54 to start working, the half gear 43 and the chassis 38 are in the initial position, at this time the two grippers 50 are set opposite to each other, and the cross bars 27 on the two hoppers 26 are connected with each other. The through holes 51 on the two grippers 50 are located on the same straight line;

(3) When the coiled tubing 100 with the support kit 101 enters the working area of the magnetic snap-type kit removal robot, the picture captured by the monitoring camera 54 is returned to the industrial control computer 18, and the industrial control computer 18 adjusts the facing of the support kit 101 according to the captured picture. The face is parallel to the gripper 50;

(4) The support kit 101 touches the baffle 52 at the upper end of the gripper 50 , and with the rise of the coiled tubing 100 drives the gripper 50 to move upward together, the spline shaft 47 slides up on the inner spline guide rail 45 , and the support kit 101 When the upper end touches the baffle 52 at the upper end of the gripper 50, the electric push rod 49 starts to push the gripper 50 to start the gripping action, and the magnet 53 on one of the grippers 50 gradually extends into the position of the self-locking snap support. In the mounting hole of the supporting pipe body, the magnet 53 on the other gripper 50 gradually extends into the mounting hole of the supporting pipe body of the clamping needle support, until the electric push rod 49 confirms that the stroke reaches the purpose of grasping, then the gripper is recovered. 50. At this time, the roller in the self-locking buckle support is sucked back by the magnet 53, and the self-locking buckle support and the clip needle support are separated from each other and are respectively on the two grippers 50;

(5) Then the industrial computer 18 controls the servo motor 42 to rotate the half gear 43 chassis 38 to the initial position, and then controls the steering gear 48 to rotate the electric push rod 49, so that the gripper 50 rotates 180°, and the gripper 50 is aligned with the hopper 26 at this time, Then the electric push rod 49 pushes the gripper 50 to push the self-locking snap support into the cross bar 27 of the hopper 26 , and another gripper 50 pushes the pin support into the cross bar 27 of the other hopper 26 . The disassembly task of the support kit 101;

(6) Then the electric push rod 49 and the steering gear 48 return to their original positions, waiting for the disassembly of the next support kit 101 .

In step (4), the method for the industrial computer 18 to adjust the bisected surface of the support kit 101 to be parallel to the gripper 50 according to the shooting picture is as follows: the industrial computer 18 controls the servo motor 42, and the servo motor 42 drives the gear 43 to rotate through the reducer 41, thereby driving The chassis 38 of the half gear 43 is rotated until it is determined according to the photographed image that the opposite surface of the support kit 101 is parallel to the gripper 50 .

This embodiment does not limit the shape, material, structure, etc. of the present invention in any form, and any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention belong to the protection of the technical solution of the present invention scope.

Claims (4)

1. The automatic dismantling equipment of the magnetic buckle type support kit of the downhole coiled tubing is characterized in that: comprising a cabinet, the bottom of the cabinet is provided with an industrial control computer and a backup power supply, and the middle of the bottom plate of the cabinet is provided with a first U-shaped notch, at the first U-shaped notch There are variable wheelbase detectors around, the top plate of the cabinet is provided with a coiled tubing outlet, the coiled tubing outlet is located directly above the first U-shaped notch, and the coiled tubing outlet is provided with a coiled tubing guide roller assembly; the bottom of the cabinet is fixed There is a partition, the two sides of the partition are provided with a hopper installation interface, the hopper installation interface is inserted with a hopper, two horizontal bars are fixed on the hopper, and a conical anti-falling rubber ring is fixed at the end of the horizontal bar; There is also a magnetic snap-type kit removal robot; There are two groups of variable wheelbase detectors. The variable wheelbase detectors are arranged symmetrically about the first U-shaped notch. Each group of variable wheelbase detectors includes a mounting plate and an H-shaped linkage frame, and two linkage frames are hinged on the linkage frame. A set of rocker frames, the lower ends of the two sets of rocker frames are hinged on the mounting plate through two pin shafts, the pins are fixedly connected with the rocker frame, and the upper end of one set of rocker frames is rotatably connected with a large roller. A torsion spring is arranged on the pin shaft at the lower end of the other group of rocker frames, an encoder is installed at the end of the pin shaft, and the encoder is connected with the industrial computer; A support kit detection area is formed between the large rollers of the two sets of variable wheel base detectors, and the support kit detection area is located just above the first U-shaped notch; The magnetic snap-type kit dismantling robot includes a half-gear chassis, the half-gear chassis has a half-circle of external teeth, the center of the half-gear chassis is provided with a second U-shaped notch, the half-gear chassis is mounted on the partition through a thrust bearing, and the second U-shaped The notch and the first U-shaped notch are arranged up and down, a reducer and a servo motor are installed on the partition, the servo motor is connected with the reducer, and a gear is installed on the power output shaft of the reducer, and the gear meshes with the external teeth of the half-gear chassis. ;There are two sets of magnetic removal components installed on the upper surface of the half-gear chassis, and the two sets of magnetic removal components are symmetrically arranged about the center of the half-gear chassis; It has a spline groove, a spline shaft is installed in the inner spline guide rail, the spline shaft can slide up and down along the inner spline guide rail, the top of the spline shaft is fixedly installed with a steering gear, and the output shaft end of the steering gear is installed with an electric push rod , the end of the push rod of the electric push rod is fixed with a gripper, the gripper is a semi-circular tube arranged vertically, and a through hole is opened on the gripper. A baffle is fixed at the upper end, and two side walls of the gripper are respectively provided with a row of magnets; a monitoring camera is installed on the half-gear chassis, and the monitoring camera, the servo motor and the steering gear are respectively connected with the industrial computer. 2. The downhole coiled tubing magnetic buckle type support kit automatic dismantling equipment according to claim 1 is characterized in that: the coiled tubing guide paired roller assembly comprises a roller bracket, and two small rollers are rotatably connected to the roller bracket, and the two A coiled tubing clamping area is formed between the small rollers, and the coiled tubing clamping area is located just above the coiled tubing outlet. 3. The method for dismantling the magnetic buckle type support kit of downhole coiled tubing according to claim 2, characterized in that: comprising the following steps: (1) Before working, firstly, the coiled tubing extending from the downhole passes through the first U-shaped notch, the detection area of the support kit between the large rollers of the two sets of variable wheel spacing detectors, and the second U-shaped notch. , The coiled tubing outlet and the coiled tubing clamping area of the coiled tubing guide to the roller assembly. At this time, the two small rollers maintain the clamping force for the coiled tubing, and the two large rollers maintain the clamping force for the coiled tubing, and the coiled tubing is in the vertical position. Straight state, so far the equipment is ready for work; (2) Turn on the industrial computer, wait for the program to complete the self-checking and initialization settings, and the coiled tubing is slowly pulled out from the downhole under the drag of the external machine. When the coiled tubing passes through the detection area of the support kit between the two large rollers, no It will cause the rocker frame to swing at a large angle. When the coiled tubing with the support kit passes through the detection area of the support kit, the diameter of the section increases sharply, causing the rocker frame to swing, and the encoder transmits the data to the industrial computer. The computer-controlled monitoring camera starts to work, the half-gear chassis is in the initial position, the two grippers are set opposite to each other, and the horizontal bars on the two hoppers and the through holes on the two grippers are on the same straight line; (3) When the coiled tubing with the support kit enters the working area of the magnetic buckle-type kit dismantling robot, the picture captured by the monitoring camera is returned to the industrial control computer, and the industrial control computer adjusts the opposite surface of the support kit to be parallel to the gripper according to the captured picture; (4) The support kit touches the baffle on the upper end of the gripper, and with the rise of the coiled tubing, the gripper moves upward together, and the spline shaft slides upward on the inner spline guide rail, and touches the upper end stop of the gripper with the upper end of the support kit At the same time as the plate, the electric push rod starts to push the gripper to start the gripping action. The magnet on one gripper gradually extends into the mounting hole of the supporting tube body of the The magnet gradually extends into the mounting hole of the support tube of the pin holder, until the electric push rod confirms that the stroke reaches the purpose of grasping, then the gripper is recovered. At this time, the roller in the self-locking buckle support is sucked back by the magnet , the self-locking buckle support and the pin support are separated, and are respectively on the two grippers; (5) Then the industrial computer controls the servo motor to rotate the half-gear chassis to the initial position, and then controls the steering gear to rotate the electric push rod, so that the gripper rotates 180°. At this time, the gripper is aligned with the hopper, and then the electric push rod pushes the gripper to automatically Push the locking clip support into the cross bar of the hopper, and another gripper pushes the pin support into the cross bar of the other hopper, thus completing the dismantling task of a support kit; (6) Then the electric push rod and steering gear return to their original positions, waiting for the disassembly of the next support kit. 4. the dismantling method of the magnetic buckle type support kit of downhole coiled tubing according to claim 3, it is characterized in that: in step (4), the method that the bisected surface of the support kit is adjusted by the industrial control computer according to the shooting picture is parallel to the gripper as follows: The industrial computer controls the servo motor, and the servo motor drives the gear to rotate through the reducer, thereby driving the half-gear chassis to rotate until it is judged that the opposite surface of the support kit is parallel to the gripper according to the shooting picture.

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