A small automatic pipe laying device for well repair and pipe laying method thereof

Abstract

The present invention discloses a small-scale automatic pipe laying device for well repair and a pipe laying method thereof. The device comprises a pipe grabbing component and a pipe conveying component used in conjunction with each other. The pipe grabbing component comprises a main frame, a suspension beam, a trolley and a suction cup pipe hanging assembly. The bottom of the main frame is placed on the bottom surface, and the upper end of the main frame is symmetrically provided with a suspension beam; a rack is provided on the suspension beam, and both ends of the trolley are provided with a traveling gear meshed with the rack; in the present invention, the trolley is meshed and connected with the suspension beam, and the suction cup pipe hanging assembly is movably arranged on the trolley, so that the suspension beam is telescopically connected to ensure its working stroke, and the oil pipe can be taken and placed; at the same time, the two ends of the trolley are respectively meshed and connected with the suspension beam, and the rockers are symmetrically arranged, so that the pipe laying device can ensure that the rockers can be stably raised and lowered on the basis of ensuring stable walking, thereby achieving the technical purpose of stably grasping the oil pipe.

Description

Technical Field

[0001] The invention relates to the technical field of petroleum well repair, in particular to a small-sized automatic pipe laying device for well repair and a pipe laying method thereof. Background Art

[0002] During the oil well repair operation, when lifting the oil pipe, one end of the oil pipe is usually lifted by the derrick hoisting device to make it in a vertical state, and then the other end of the lifted oil pipe is placed on the oil pipe slideway by manpower to make it slide gradually to a horizontal state, and then the oil pipe is manually moved off the slideway and neatly placed on the oil pipe rack. In order to facilitate manual operation, it is generally placed one by one; when lowering the oil pipe, the oil pipe placed on the oil pipe rack is usually moved to the oil pipe slideway by manpower, and then one end of the oil pipe is lifted by the derrick hoisting device to convert the oil pipe from a horizontal state to a vertical state, and then the pipe connection operation is carried out. Therefore, when lifting / lowering the oil pipe, the labor intensity of the workers is high, the working environment is poor, and the oil pipe occupies a large area when placed, and the operation site usually lacks sufficient space for placing the oil pipe. Summary of the invention

[0003] The purpose of the present invention is to address the defects and shortcomings of the prior art and to provide a small-scale automatic pipe laying device and pipe laying method for well repair, which has the advantages of efficient and convenient operation, small oil pipe stacking area, low labor intensity for workers, high efficiency in well repair operation, convenient long-distance transportation, and adaptability to wellheads of different heights.

[0004] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides a small-scale automatic pipe laying device for well repair, including a pipe grabbing assembly and a pipe conveying assembly used in conjunction with each other, the pipe grabbing assembly including a main frame, a suspension beam, a trolley and a suction cup pipe hanging assembly, the bottom of the main frame is placed on the bottom surface, the upper end of the main frame is symmetrically provided with a suspension beam; a rack is provided on the suspension beam, and both ends of the trolley are provided with a traveling gear meshing with the rack; the suction cup pipe hanging assembly includes a suction cup body and a moving assembly and an electric motor respectively arranged on the upper and lower surfaces of the suction cup body The movable assembly comprises a slide rail, a slider, a rocker and a rotatable lead screw, the two ends of the symmetrically arranged rocker are respectively hinged to the slider and the trolley, the lead screw is rotatably mounted on the suction cup body, the slider is threadedly connected to the lead screw, and the slider is slidably connected to the slide rail, the electro-permanent magnets are evenly arranged on the suction cup body, and there are at least two electro-permanent magnets; the pipe conveying assembly comprises a sliding conveying bracket and an oil pipe slideway arranged on the sliding conveying bracket, and a pipe conveyor belt is arranged in the oil pipe slideway.

[0005] Preferably, cantilever beams are symmetrically arranged at the upper end of the main frame, and the cantilever beams are slidably connected to the suspension beams through sliding guide rail pairs, and the ends of the suspension beams are connected to the upper end beam body of the main frame or the cantilever beams through retractable electric push rods.

[0006] Preferably, the trolley has a double main beam structure.

[0007] Preferably, an oil pipe discharge groove is provided at the lower end of the main frame, and a retractable and foldable extension plate for increasing the volume of the oil pipe discharge groove is hinged on one side of the oil pipe discharge groove close to the oil pipe slideway.

[0008] Preferably, the sliding conveying bracket includes a lower bracket and an upper bracket, the bottom of the lower bracket is placed on the bottom surface, the connection between the upper part of the lower bracket and the lower part of the upper bracket is a telescopic connection, and the upper part of the upper bracket is used to install the oil pipe slide.

[0009] Preferably, the conveyor belt is a herringbone conveyor belt.

[0010] Preferably, an electrical control box is provided on the main frame, the electrical control box is electrically connected to the driving motors of the travel gear, the electric push rod and the lead screw, and the electrical control box is electrically connected to the electropermanent magnet.

[0011] Preferably, a wire pull sensor is provided on the trolley, and a photoelectric sensor is provided in the middle of the sliding conveying bracket, and both the wire pull sensor and the photoelectric sensor are electrically connected to the electrical control box.

[0012] Preferably, the controller model in the electrical control box is stc89c52rc, and the controller is also electrically connected to a remote controller that can switch between manual and automatic control.

[0013] The present invention also provides a small-scale automatic pipe laying method for well repair, comprising the following steps:

[0014] Press the power button in the function button on the remote control to turn on the power, and select the manual-automatic mode by turning the knob;

[0015] When the automatic mode is selected, when the oil pipe is lifted, the oil pipe is first pulled onto the herringbone conveyor belt of the oil pipe slideway. The photoelectric sensor starts timing after sensing the oil pipe. At the same time, the photoelectric sensor transmits the timing information to the controller. The preset time for the oil pipe to move to the appropriate position is calculated by the movement speed of the herringbone conveyor belt. When the oil pipe moves to the appropriate position, the controller controls the herringbone conveyor belt to stop moving according to the timing information. After the herringbone conveyor belt stops moving or when the herringbone conveyor belt starts moving, the trolley and the suspension beam move outward to the top of the herringbone conveyor belt, and the suction cup body in the suction cup pipe hanging assembly drives the slide to move by the rotation of the lead screw. The block moves on the slide rail, and then the slider drives the swing rod to move. When the lower ends of the paired swing rods move toward each other, the suction cup body moves downward. When the permanent magnet contacts the oil pipe, the power is cut off and the magnetization is performed to absorb the oil pipe. When the lower ends of the paired swing rods move in the opposite direction, the suction cup body moves upward. After being lifted to a certain height, the trolley and the suspension beam move inward. The position of the discharge oil pipe is located by the pull-wire sensor installed on the trolley. When the trolley and the suspension beam reach the preset position, the oil pipe is accurately discharged, and the transportation of an oil pipe is completed. The pipe laying device continues to repeat this action until the oil pipe is placed. When the oil pipe is lowered, it is the reverse action of lifting the oil pipe.

[0016] When the manual mode is selected, the movement of the suspension beam, trolley, and suction cup hanging pipe assembly is controlled by the buttons on the remote control, and the remaining actions are the same as the automatic mode.

[0017] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0018] 1. The small-scale automatic pipe laying device for well repair provided by the present invention adopts a method in which a trolley is meshed and connected with a suspension beam, and a suction cup pipe hanging assembly is movably arranged on the trolley, so that the suspension beam is telescopically extended to ensure its working stroke and realize the taking and placing of the oil pipe; at the same time, the two ends of the trolley are respectively meshed and connected with the suspension beam, and the rockers are symmetrically arranged, so that the pipe laying device can ensure that the rockers can be stably raised and lowered on the basis of ensuring stable walking, thereby achieving the technical purpose of stably grabbing the oil pipe.

[0019] 2. The small-scale automatic pipe laying device for well repair provided by the present invention uses an automatic control system with stc89c52rc as a control unit to process sensor signals and control the on and off of the electromagnet current, thereby realizing the grabbing of the oil pipe; the control system is provided with manual buttons to control the movement, and at the same time, it can realize the selection of good and bad oil pipes.

[0020] 3. In the small-scale automatic pipe laying device for well repair provided by the present invention, the cantilever beam is telescopically moved on the cantilever beam by an electric push rod, so that the telescopic structure can meet the travel; further, an expandable and foldable extension plate is provided on the main frame. When in use, it is unfolded outward to ensure the storage capacity of the oil pipe; when transporting, the base can be folded inward to reduce the overall volume of the device for easy transportation.

[0021] 4. The large vehicle in the small-scale automatic pipe laying device for well repair provided by the present invention adopts a double main beam structure to ensure the stability of the movement of the large vehicle and the suction cup pipe hanging assembly installed on the large vehicle.

[0022] 5. The small automatic pipe laying device for well repair provided by the present invention positions the oil pipe through the coordinated movement of the pull-wire displacement sensor, the limit switch for controlling the movement of each axis, the trolley, the suction cup pipe hanging device and other structures.

[0023] 6. In the pipe conveying assembly of the small-scale automatic pipe laying device for well repair provided by the present invention, the upper bracket and the lower bracket are telescopically connected, so that the height of the bracket can be adjusted to adapt to wellheads of different heights; the conveyor belt adopts a herringbone pattern to increase the friction between the oil pipe and the oil pipe, so that there is no relative movement between the two, thereby ensuring that the outer thread of the oil pipe is not worn when the oil pipe is changed from a vertical state to a horizontal state, thereby extending the service life of the oil pipe.

[0024] 7. In the small-scale automatic pipe laying device for well repair provided by the present invention, by adjusting the placement position of the slideway assembly, the oil pipes can be put in and out from both sides without being restricted by the well site layout.

[0025] 8. The small-scale automatic pipe-laying device for well repair provided by the present invention can be completely operated by one or two workers through the design and optimization calculation of the equipment.

[0026] In summary, the present invention realizes the transformation between automation and semi-automation of operations under the condition of meeting the on-site working conditions, and the whole set of actions can be completed within one minute, and one or two people can complete the work of repairing and laying pipes at a wellhead. While reducing the labor force and the work intensity of the labor force, the space required for laying pipes is reduced, and the efficiency of laying pipes is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 The structural schematic diagram of the small automatic pipe laying device for well repairing of the present invention (I);

[0029] Figure 2 This is a structural schematic diagram of a small automatic pipe laying device for well repairing of the present invention (II);

[0030] Figure 3 is a schematic diagram of the interface of the remote controller in the present invention;

[0031] Figure 4 This is a control system flow chart of the small and medium-sized well repair automatic pipe arrangement device of the present invention;

[0032] Among them, 1-electrical control box, 2-main frame, 3-cantilever beam, 4-cantilever beam, 5-travel gear, 6-travel drive motor, 7-hanging plate, 8-rack, 9-extension plate, 10-conveyor belt, 11-oil pipe slide, 12-sliding conveying bracket, 13-electric push rod, 14-sliding guide pair, 15-main beam, 16-slider, 17-rocker, 18-screw, 19-electropermanent magnet, 20-trolley, 21-suction cup hanging pipe assembly, 22-remote control. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to address the defects and shortcomings of the prior art and to provide a small-scale automatic pipe laying device and pipe laying method for well repair, which has the advantages of efficient and convenient operation, small oil pipe stacking area, low labor intensity for workers, high efficiency in well repair operation, convenient long-distance transportation, and adaptability to wellheads of different heights.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] The embodiment of the present invention corresponds to Figure 1-4The present invention provides a small-scale automatic pipe laying device for well repair, including a pipe grabbing assembly and a pipe conveying assembly used in conjunction, that is, the pipe grabbing assembly and the pipe conveying assembly are placed at the wellhead, and the pipe grabbing assembly is used to grab and store the oil pipe on the pipe conveying assembly, wherein the pipe grabbing assembly includes a main frame 2 for serving as a support frame and storing the oil pipe, a suspension beam 4 for increasing the grabbing stroke, a large vehicle 20 for walking, and a suction cup pipe hanging assembly 21 for grabbing, the bottom of the main frame 2 is placed on the bottom surface, the main frame 2 can be supported by a column or a base, as long as it can play a stable supporting role, about the oil pipe The storage position can be prepared separately as a storage rack located on one side of the main frame 2, or the main frame 2 can be directly provided with an oil pipe discharge groove as shown in the figure. In order to ensure the movement stability of the trolley 20, a suspension beam 4 is symmetrically arranged at the upper end of the main frame 2; a rack 8 is arranged on the suspension beam 4, wherein the rack 8 is placed on the upper surface of the suspension beam 4 and is symmetrically distributed, wherein the travel gear 5 is connected to the travel drive motor 6 through a flange and a coupling, and the drive motor is fixed in the middle of the main beam of the trolley; the suction cup hanging pipe assembly 21 includes a suction cup body and a moving component and an electro-permanent magnet 19 respectively arranged on the upper and lower surfaces of the suction cup body, and the moving component includes a slide rail, a slider 16, and a rocker 17 The two ends of the symmetrically arranged rocker 17 are respectively hinged with the slider 16 and the trolley 20, the screw 18 is rotatably installed on the suction cup body, the slider 16 is threadedly connected with the screw 18, and the slider 16 is slidably connected with the slide rail, and the electro-permanent magnet 19 is evenly arranged on the suction cup body, that is, the screw 18 is driven by the driving motor to rotate, so that the slider 16 produces a corresponding displacement, driving the rocker 17 to swing, and as the rocker 17 is converted from an inclined state to a vertical state, the suction cup body rises or falls, and the electro-permanent magnet 19 is at least 2; the pipe conveying assembly includes a sliding conveying support The frame 12 and the oil pipe slide 11 arranged on the sliding conveying bracket 12, and the conveyor belt 10 is arranged in the oil pipe slide 11; in the above embodiment, the trolley 20 is meshed and connected with the suspension beam 4, and the suction cup pipe hanging assembly 21 is movably arranged on the trolley 20, so that the pipe laying device can take and put the oil pipe on the basis of ensuring the stroke; at the same time, the two ends of the trolley 20 are respectively meshed and connected with the suspension beam 4, and the rocker 17 is symmetrically arranged, so that the pipe laying device can ensure that the rocker 17 can be stably extended and retracted on the basis of ensuring stable walking, thereby achieving the technical purpose of stably grasping the oil pipe.

[0037] In order to further increase the grabbing stroke, cantilever beams 3 are symmetrically arranged at the upper end of the main frame 2 in the present invention. The cantilever beams 3 are slidably connected to the suspension beams 4 through sliding guide rail pairs 14, and the ends of the suspension beams 4 are connected to the upper end beam body of the main frame 2 or the cantilever beams 3 through retractable electric push rods 13. As long as the suspension beams 4 can be pushed to perform retractable movements, it will be sufficient.

[0038] In order to ensure structural stability, the vehicle 20 of the present invention is provided with two main beams 15, that is, a double main beam structure.

[0039] In order to facilitate the storage of oil pipes, an oil pipe discharge trough is provided at the lower end of the main frame in the present invention. Furthermore, in order to increase the storage capacity of the oil pipes, a retractable and foldable extension plate 9 is hinged on one side of the oil pipe discharge trough close to the oil pipe slide 11 for reducing the volume during transportation; that is, the volume of the oil pipe discharge trough is increased by stretching and folding the extension plate 9. In order to make the oil pipe discharge trough have a retractable performance, the bottom of the oil pipe discharge trough can also be set as a retractable structure, such as a socket structure, so that the oil pipe discharge trough can be moved in the direction close to the conveyor belt, thereby increasing the distance between the oil pipe discharge trough and the main frame, thereby achieving the technical purpose of increasing the volume and shrinking for easy transportation and storage.

[0040] In order to make the height of the sliding conveying bracket 12 adjustable to adapt to wellheads of different heights, the sliding conveying bracket 12 in the present invention includes a lower bracket and an upper bracket, the bottom of the lower bracket is placed on the bottom surface, and the connection method between the upper part of the lower bracket and the lower part of the upper bracket is a telescopic connection, wherein the telescopic connection method is various, such as a socket connection combined with a bolt and screw fastening method, and an internal and external thread socket connection method, and the upper part of the upper bracket is used to install the oil pipe slide 11.

[0041] In order to increase the friction between the oil pipe, the conveyor belt 10 in the present invention is a herringbone conveyor belt.

[0042] In the present invention, an electrical control box 1 is arranged on the main frame 2 , and the electrical control box 1 is electrically connected to the driving motor of the travel gear 5 , the electric push rod 13 and the lead screw 18 , and the electrical control box 1 is electrically connected to the electro-permanent magnet 19 .

[0043] In the present invention, a wire-pulling sensor is provided on the trolley 20 , and a photoelectric sensor is provided on the side of the sliding conveying support 12 close to the wellhead. Both the wire-pulling sensor and the photoelectric sensor are electrically connected to the electrical control box 1 .

[0044] The controller model in the electrical control box 1 of the present invention is stc89c52rc, and the controller is also electrically connected to a remote controller 22 that can switch between manual and automatic operation.

[0045] The present invention also provides a small-scale automatic pipe laying method for well repair, comprising the following steps:

[0046] By operating the power button among the function buttons on the remote controller 22, the power is turned on, and the manual-automatic mode is selected by the knob;

[0047] After the automatic mode is selected, when the oil pipe is lifted, the oil pipe is first pulled onto the herringbone conveyor belt 10 of the oil pipe slide 11. After the herringbone conveyor belt 10 drives the oil pipe to move a certain distance, the photoelectric sensor will sense the oil pipe. When the photoelectric sensor senses the oil pipe, the timing starts. At the same time, the photoelectric sensor transmits the timing information to the controller. The preset time for the oil pipe to move to the appropriate position is calculated through the movement speed of the herringbone conveyor belt 10. When the oil pipe moves to the appropriate position, the controller controls the herringbone conveyor belt 10 to stop moving according to the timing information; after the herringbone conveyor belt 10 stops moving or when the herringbone conveyor belt 10 starts moving, the trolley 20 and the suspension beam 4 move outward to the top of the herringbone conveyor belt 10, and the suction cup body in the suction cup pipe hanging assembly 21 drives the slider 16 to move on the slide rail through the rotation of the lead screw 18, and then the slider 16 The swing rod is driven to move. When the lower ends of the paired swing rods move toward each other, the suction cup body moves downward. When the electro-permanent magnet 19 contacts the oil pipe, the power is cut off and the oil pipe is sucked up by magnetization. When the lower ends of the paired swing rods move in the opposite direction, the suction cup body moves upward. After being lifted to a certain height, the trolley 20 and the suspension beam 4 move inward. The position of the discharge oil pipe is located by the pull-wire sensor installed on the trolley 20. When the trolley 20 and the suspension beam 4 reach the preset position, the oil pipe is accurately discharged, that is, the transportation of an oil pipe is completed; the pipe laying device continues to repeat this action until the oil pipe is placed. When the oil pipe is lowered, it is the reverse action of lifting the oil pipe.

[0048] When the manual mode is selected, the movement of the suspension beam 4, the trolley 20, and the suction cup pipe hanging assembly 21 is controlled by the buttons on the remote controller 22, and the remaining actions are the same as the automatic mode.

[0049] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A small-scale automatic pipe laying method for well repair, which adopts a small-scale automatic pipe laying device for well repair, characterized in that: The small-scale automatic pipe arrangement device for well repair includes a pipe grabbing component and a pipe conveying component used in conjunction with each other. The pipe grabbing component includes a main frame, a suspension beam, a trolley and a suction cup pipe hanging assembly. The bottom of the main frame is placed on the bottom surface, and the upper end beam of the main frame is symmetrically provided with a suspension beam; a rack is provided on the suspension beam, and both ends of the trolley are provided with a traveling gear meshing with the rack; the suction cup pipe hanging assembly includes a suction cup body and a moving component and an electro-permanent magnet respectively arranged on the upper and lower surfaces of the suction cup body, the moving component includes a slide rail, a slider, a rocker and a rotatable lead screw, the two ends of the symmetrically arranged rocker are respectively hinged with the slider and the trolley, the lead screw is rotatably installed on the suction cup body, the slider is threadedly connected to the lead screw, and the slider is slidably connected to the slide rail, the electro-permanent magnet is evenly arranged on the suction cup body, and the number of the electro-permanent magnets is at least 2; the pipe conveying component includes a sliding conveying bracket and an oil pipe slideway arranged on the sliding conveying bracket, and a pipe conveyor belt is arranged in the oil pipe slideway; The upper end beam of the main frame is symmetrically provided with cantilever beams, the cantilever beams are slidably connected to the suspension beams through sliding guide rail pairs, and the ends of the suspension beams are connected to the upper end beam of the main frame or the cantilever beams through retractable electric push rods; The trolley has a double main beam structure; The lower end of the main frame is provided with an oil pipe discharge groove, and a retractable and foldable extension plate for increasing the volume of the oil pipe discharge groove is hingedly connected to one side of the oil pipe discharge groove close to the oil pipe slideway; The sliding conveying bracket comprises a lower bracket and an upper bracket, the bottom of the lower bracket is placed on the bottom surface, the upper part of the lower bracket is connected to the lower part of the upper bracket in a telescopic manner, and the upper part of the upper bracket is used to install the oil pipe slideway; The conveyor belt is a herringbone conveyor belt; An electrical control box is provided on the main frame, the electrical control box is electrically connected to the travel gear, the electric push rod and the drive motor of the lead screw, and the electrical control box is electrically connected to the electro-permanent magnet; The method comprises the following steps: turning on the power by operating the power button in the function button on the remote control, and selecting the manual automatic mode by the knob; after selecting the automatic mode, when lifting the oil pipe, first pull the oil pipe onto the herringbone conveyor belt of the oil pipe slideway, and the photoelectric sensor starts timing after sensing the oil pipe, and at the same time, the photoelectric sensor transmits the timing information to the controller, and calculates the preset time for the oil pipe to move to the appropriate position by the movement speed of the herringbone conveyor belt, and when the oil pipe moves to the appropriate position, the controller controls the herringbone conveyor belt to stop moving according to the timing information; after the herringbone conveyor belt stops moving or when the herringbone conveyor belt starts moving, the trolley and the suspension beam move outward to the top of the herringbone conveyor belt, and the suction cup body in the suction cup pipe hanging assembly drives the slide to move by the rotation of the lead screw The block moves on the slide rail, and then the slider drives the swing rod to move. When the lower ends of the paired swing rods move toward each other, the suction cup body moves downward. When the electro-permanent magnet contacts the oil pipe, the power is cut off and the magnetization is performed to absorb the oil pipe. When the lower ends of the paired swing rods move in the opposite direction, the suction cup body moves upward, and after being lifted to a certain height, the trolley and the suspension beam move inward. The position of the discharge oil pipe is located by the pull-wire sensor installed on the trolley. When the trolley and the suspension beam reach the preset position, the oil pipe is accurately discharged, and the transportation of an oil pipe is completed; the pipe discharge device continues to repeat this action until the oil pipe is placed. When the oil pipe is lowered, it is the reverse action of lifting the oil pipe. When the manual mode is selected, the movement of the suspension beam, the trolley, and the suction cup pipe hanging assembly is controlled by the buttons on the remote control, and the rest of the actions are the same as the automatic mode.

2. The small-scale automatic pipe laying method for well repair according to claim 1 is characterized by: A wire-pulling sensor is arranged on the trolley, and a photoelectric sensor is arranged in the middle of the sliding conveying bracket. Both the wire-pulling sensor and the photoelectric sensor are electrically connected to the electrical control box.

3. The small-scale automatic pipe laying method for well repair according to claim 1 is characterized by: The model of the controller in the electrical control box is stc89c52rc, and the controller is also electrically connected to a remote controller capable of switching between manual and automatic modes.

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