A walking cutting device for cutting a composite pipe material covering a branch hole of a steel pipe

Abstract

The present application relates to a CIPP trenchless pipe repair lining composite pipe opening technology at the branch line position, in particular to a walking cutting device for cutting composite pipe at a branch line hole of a covered steel pipe, which comprises a walking support assembly, a cutting device, a detection device, a rotary driving assembly and a walking driving assembly, the walking support assembly, the walking driving assembly, the cutting device and the detection device are connected by a universal joint, the cutting device is arranged at intervals from the walking support assembly, the walking cutting device is placed into a composite pipe to be cut, the walking driving assembly drives the walking cutting device to move in the composite pipe along the axial direction, the rotary driving assembly drives the part connected by the universal joint of the walking cutting device to rotate around the axis of the composite pipe to be cut, the walking support assembly guides the movement of the walking cutting device in the composite pipe to be cut, and the walking cutting device can meet the cutting requirements of the composite pipe at the branch line hole of the pipe during the trenchless repair of the small-diameter steel pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to a cutting device for cutting composite pipe material at the position of a branch line after CIPP trenchless pipe repair, in particular to a walking cutting device for cutting composite pipe material covering a branch line hole of a steel pipe, which comprises a walking support assembly, a cutting assembly, a detection device, a rotating drive assembly and a walking drive assembly, the walking support assembly, the walking drive assembly, the cutting assembly and the detection device are connected by a universal joint, the cutting assembly is arranged at intervals from the walking support assembly, the walking cutting device is placed in the composite pipe material pipeline to be cut, the walking drive assembly drives the walking cutting device to move in the composite pipe material along the axial direction, the rotating drive assembly drives the part connected by the universal joint to rotate around the axis of the composite pipe material to be cut, the walking support assembly guides the movement of the walking cutting device in the composite pipe material to be cut, and the application of the walking cutting device can meet the cutting requirements of the composite pipe material at the branch line opening of the small-diameter steel pipeline during trenchless repair. BACKGROUND

[0002] In the aspect of trenchless pipe repair, the CIPP method adds a layer of fiber or fabric reinforced composite pipe material in the pipe to be repaired. Generally, the side of the composite pipe material in contact with the pipe to be repaired is an adhesive that plays a bonding role, and the inner wall of the composite pipe material is a permeation-resistant membrane. When the pipe to be repaired by the CIPP method has a branch line, the composite pipe material lining needs to be cut at the position of the branch line of the original pipeline after CIPP repair to ensure the smoothness of the repaired branch line. When the pipe diameter is large, the worker can enter the main pipe to cut the composite pipe material lining at the position of the branch line, but when the main pipe diameter is small, the worker cannot enter the main pipe, and a special pipeline robot is needed to cut the composite pipe material lining at the position of the branch line joint. Generally, after cutting the composite pipe material around the opening of the branch line pipe, the cut composite pipe material falls into the pipe and needs to be cleaned (or recovered) to prevent debris from blocking the pipe and facilitate subsequent cutting.

[0003] At present, pipeline repair industry at home and abroad cuts the lining composite pipe material by using a pipeline robot as a carrier to carry a high-speed rotating pneumatic milling cutter head to cut the lining pipe. During operation, the operator generally controls the cutting from outside the pipeline. When the robot walks to the position of the branch hole to be cut, the operator controls the milling cutter head to cut the composite pipe material near the edge of the branch hole. This walking cutting method cuts the composite pipe material to be cut into irregular fragments or powders, which cannot be carried out of the pipeline, and the operator is prone to operation errors. In order to keep the pipeline clean and facilitate the walking cutting of the cutting robot in the pipeline, the walking cutting device needs to cut the composite pipe material in a whole piece along the circumference of the branch line opening, and can carry the cut piece-shaped composite pipe material out of the pipe.

[0004] In view of the above problems, the present application discloses a walking cutting device for cutting composite pipe material covering branch pipe holes, which is a "snake" structure capable of walking in the composite pipe. In order to cut the composite pipe material at the position of the branch pipe, a sensor for detecting the opening position of the branch pipe is arranged. After the walking cutting device detects the opening position of the branch pipe, the composite pipe material covering the opening of the branch pipe is cut. The application can meet the cutting requirements of the composite pipe material at the branch pipe opening during the trenchless repair of small-diameter steel pipes. SUMMARY

[0005] In view of the deficiencies of the prior art, the technical problem to be solved by the present application is to provide a walking cutting device for cutting composite pipe material covering branch pipe holes of steel pipes, and the solution is:

[0006] A walking cutting device for cutting composite pipe material covering branch pipe holes of steel pipes, characterized in that

[0007] The walking cutting device for cutting composite pipe material covering branch pipe holes of steel pipes comprises a walking support assembly, a cutting assembly, a detection device, and a rotary drive assembly. The cutting assembly and the detection device are connected to the walking support assembly by a universal joint, preferably a rigid universal joint without obvious elasticity in the torsion direction. The cutting assembly is arranged at a distance from the walking support assembly. The walking support assembly guides the movement of the walking cutting device in the composite pipe to be cut. The rotary drive assembly drives the components connected to the universal joint to rotate around the axis of the composite pipe to be cut.

[0008] The walking support assembly comprises a walking support center shaft, a walking support wheel mounting part, and a walking support wheel. The walking support center shaft is a tubular part. The walking support wheel mounting part is a plate-shaped or frame-shaped structure. The walking support wheel mounting part is rotatably mounted on the radial outer side of the walking support center shaft and can rotate around the axis of the walking support center shaft. The walking support wheel is a wheel, a wheel set, or a track-type structure mounted on the walking support wheel mounting part. The walking support wheels are uniformly distributed in at least three groups along the circumferential direction of the walking support center shaft, with at least two wheels in each group. The walking direction of the walking support wheel is consistent with the axial direction of the walking support center shaft. The center distance between the two wheels farthest apart in a group of walking support wheels is preferably greater than the diameter of the largest branch pipe. At least one group of walking support wheels has a structure that can elastically move radially outward from the walking support center shaft, ensuring that the walking support wheel still normally contacts the inner wall of the steel pipe when the inner diameter of the steel pipe changes locally or passes through a bend.

[0009] The cutting assembly comprises a cutting center connector, a feeding platform, a feeding guide component, a feeding drive component, a center opening assembly, the cutting center connector has a universal joint at each end, the feeding platform is installed on the cutting center connector through the feeding guide component, the feeding drive component is directly or indirectly connected or contacted with the cutting center connector and the feeding platform, the feeding drive component drives the relative movement of the feeding platform relative to the cutting center connector, the feeding guide component ensures that the feeding movement of the feeding platform is the radial direction of the composite pipe to be cut (the radial direction of the line connecting the universal joints at both ends of the cutting center connector), the center opening assembly comprises a center opening component and a center opening drive component which are directly or indirectly installed on the feeding platform, the center opening component is a drill bit or a milling cutter shaped component, the length direction of the center opening component is parallel to the feeding direction of the feeding platform, and the center opening drive component is installed on the feeding platform to drive the center opening component to rotate around its axis.

[0010] The cutting assembly comprises a revolving assembly and a circumferential cutting assembly, the revolving assembly comprises a revolving plate component, a revolving guide component and a revolving drive component, the revolving plate component is installed on the feeding platform through the revolving guide component, and the revolving drive component drives the revolving plate component to rotate around an axis parallel to the feeding direction of the feeding platform, the circumferential cutting assembly comprises a circumferential cutting component mounting plate, a circumferential cutting component and a circumferential cutting drive component, the circumferential cutting component mounting plate is swing or translationally installed on the revolving plate component, the plane in which the circumferential cutting component mounting plate moves is perpendicular to the feeding direction of the feeding platform, the swing circumferential cutting component mounting plate is a plate-shaped component capable of swinging with a point thereon as the center, the translation of the translational circumferential cutting component mounting plate is a reciprocating motion in the outward radial direction of the rotation axis of the revolving plate component, the circumferential cutting component is a component capable of realizing rotary radial cutting, and is preferably a milling cutter shaped component, the circumferential cutting component is installed on the circumferential cutting component mounting plate, and the length direction of the circumferential cutting component is parallel to the feeding direction. The circumferential cutting drive component is installed on the feeding platform, the revolving plate component or the circumferential cutting component mounting plate, and the circumferential cutting drive component is a component for driving the circumferential cutting component to rotate. When the cutting assembly comprises the revolving assembly and the circumferential cutting assembly, the center opening component can adopt a conical component capable of piercing the composite pipe by translation, and in this case, the center opening drive component can be cancelled.

[0011] In order to prevent the cut piece-shaped composite pipe from falling off the center opening component, the center opening component has a blocking structure for preventing the piece-shaped composite pipe from falling off the center opening component, and the blocking structure is an end structure thicker than the main body of the center opening component.

[0012] The cutting assembly comprises a cutting track control component for controlling the distance range between the circumferential cutting component and the central opening component and the force for moving the circumferential cutting component away from the central opening component during cutting of the composite pipe, the cutting track control component is installed on the base plate or the revolving plate component and in contact or connected with the circumferential cutting component mounting plate, the cutting track control component uses a cylinder or a contact limiting component to keep the circumferential cutting component and the central opening component at the closest distance before starting to cut the composite pipe, and uses a cylinder, a spring or other elastic component to apply a force to the circumferential cutting component away from the central opening component during cutting.

[0013] The detection device comprises a detection central shaft, a sensor mounting component and a sensor, the detection central shaft is a tubular component, the sensor is installed on the detection central shaft along the radial circumference of the detection central shaft by the sensor mounting component, the sensor mounting component is installed on the plate-shaped, frame-shaped or bracket structure component outside the radial direction of the detection central shaft, preferably a circular ring plate-shaped component perpendicular to the detection central shaft, the detection central shaft is located at the axial position of the composite pipe to be cut, the sensor is a sensor for detecting metal, preferably an inductive proximity switch, the sensor is movably installed on the sensor mounting component and has a degree of freedom of radial movement (moving or swinging) along the detection central shaft, the detection surface of the sensor is uniformly distributed along the peripheral circumferential direction of the detection central shaft, the surface where the sensor is located is perpendicular to the axis of the composite pipe to be cut, the spacing between the detection surfaces of two adjacent sensors is less than the branch pipe diameter of the composite pipe to be cut, preferably less than the branch pipe radius of the composite pipe to be cut, and the spacing between the detection surfaces of two adjacent sensors ensures that at least two sensors can detect the branch pipe opening when the detection device moves through the branch pipe opening position of the steel pipe along the composite pipe to be cut.

[0014] The rotating drive assembly is installed on at least one walking support assembly, the rotating drive assembly is installed between the walking support wheel mounting component and the walking support central shaft of the walking support assembly, and the cutting assembly is driven to rotate around the center of the composite pipe to be cut by driving the walking support central shaft to rotate relative to the walking support wheel mounting component.

[0015] The walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe comprises a walking driving assembly, the walking driving assembly comprises a walking driving central shaft, a walking driving mounting part and a walking driving part, the walking driving central shaft is a tubular part, the walking driving mounting part is mounted on the radial outer side of the walking driving central shaft, the walking driving part is at least three sets of driving wheels mounted on the walking driving mounting part, the driving wheels are wheels, wheel sets or track structures driven by air motors or electric motors, the walking driving mounting part has a degree of freedom for the driving wheels to move radially along the walking driving central shaft or the walking driving mounting part is rotatably assembled with the walking driving central shaft, if the walking driving mounting part is rotatably assembled with the walking driving central shaft, the walking driving mounting part can rotate around the walking driving central shaft, and a slip ring for supplying gas or electricity is mounted between the walking driving mounting part and the walking driving central shaft.

[0016] The walking driving assembly is connected with the walking supporting assembly or the cutting assembly by a universal joint, the cutting assembly is arranged apart from the walking supporting assembly or the walking driving assembly, and the walking driving assembly drives the walking cutting device to move in the composite pipe material to be cut.

[0017] When the walking driving mounting part of the walking driving assembly is rotatably assembled with the walking driving central shaft, a rotating driving assembly can be mounted on the walking driving assembly, the rotating driving assembly is mounted between the walking driving mounting part and the walking driving central shaft of the walking driving assembly, the cutting assembly is driven to rotate around the center of the composite pipe to be cut by driving the walking driving central shaft to rotate relative to the walking driving mounting part.

[0018] The walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe comprises a metering wheel, when the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe walks in the composite pipe material, the metering wheel is in contact with the inner wall of the composite pipe material to measure the displacement of walking.

[0019] When the walking cutting device is applied to cut the composite pipe material covering the branch hole in the steel pipe, the walking support central shaft, the cutting central connecting piece, the detection central shaft and the walking drive central shaft are connected by the universal joint, the walking support assembly, the walking drive assembly, the cutting assembly and the detection device are connected into a "snake" shape, the walking cutting device in the snake shape is put into the composite pipe material pipeline to be cut, the walking drive assembly drives the walking cutting device to move in the composite pipe material along the axial direction, during the movement of the walking cutting device in the composite pipe material, when the sensor of the detection device detects the branch line opening, the walking drive device is controlled to move the cutting assembly to the branch line opening position according to the position difference between the detected branch line opening position and the cutting assembly, the rotation drive assembly drives the walking support central shaft or the walking drive central shaft to rotate, so that the central opening part of the cutting assembly is aligned with the center of the branch line opening or near the center in the radial direction of the steel pipe, and the cutting assembly cuts the composite pipe material at the branch pipe opening position. The walking cutting device has simple structure, and the application of the walking cutting device is beneficial to realize the walking cutting of the composite pipe material covering the branch hole in the steel pipe. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structure front view schematic diagram of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe according to the embodiment 1 of the present application.

[0021] Figure 2 It is a structure schematic diagram of the walking support assembly according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0022] Figure 3 It is a structure schematic diagram of the cutting assembly according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0023] Figure 4 It is a structure schematic diagram of the cutting assembly according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0024] Figure 5 It is a structure schematic diagram of the revolution assembly of the cutting assembly according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0025] Figure 6 It is a structure left view schematic diagram of the detection device according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0026] Figure 7 It is a structure schematic diagram of the rotation drive assembly according to the embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe.

[0027] Figure 8Fig. 1 is a partial view of the sensor mounting member and sensor of the detection device of the walking cutting device for cutting composite pipe material covering branch holes of steel pipe according to Embodiment 1 of the present application.

[0028] Figure 9 Fig. 2 is a schematic view of the cutting track of the composite pipe material covering holes according to Embodiment 1 of the present application.

[0029] Figure 10 Fig. 3 is a front view of the structure of Embodiment 2 of the walking cutting device for cutting composite pipe material covering branch holes of steel pipe according to the present application.

[0030] Figure 11 Fig. 4 is a partial view of the walking drive assembly according to Embodiment 2 of the walking cutting device for cutting composite pipe material covering branch holes of steel pipe according to the present application.

[0031] Fig. 1 is a partial view of the sensor mounting member and sensor of the detection device of the walking cutting device for cutting composite pipe material covering branch holes of steel pipe according to Embodiment 1 of the present application. DETAILED DESCRIPTION

[0032] The following gives several specific embodiments of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe according to the present application in combination with the drawings, which are only examples of the present application and do not constitute a limitation on the claims of the present application, and the present application is applicable to the prior art.

[0033] Embodiment 1 of the walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe according to the present application (as shown in Figures 1-9

[0034] The walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe comprises a walking support assembly, a cutting assembly, a detection device and a rotating drive assembly.

[0035] The walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe is arranged in the composite pipe material to be cut, the cutting assembly and the detection device are connected to the walking support assembly by rigid universal joints at both ends, the cutting assembly is arranged at intervals from the walking support assembly, the walking support assembly guides the movement of the walking cutting device in the composite pipe material to be cut, and the rotating drive assembly drives the components directly connected by the universal joints to rotate around the axis of the composite pipe material to be cut.

[0036] The walking support assembly comprises a walking support central shaft 70, a walking support wheel mounting component and walking support wheels. The walking support central shaft 70 is a tubular component, through which the electric wire is conveniently passed. The walking support wheel mounting component is a plate-shaped structural member, which comprises a support mounting plate 717 and two groups of fixed wheel fixing plates 711 and one group of movable wheel fixing plates 713 mounted on the support mounting plate. The support mounting plate is rotatably mounted outside the walking support central shaft through an internal rotation guide component 72, which is a bearing seat with bearings inside. The support mounting plate is mounted on the bearing seat. The walking support wheels are three groups of wheels mounted on the walking support wheel mounting component, two in each group. The three groups of wheels are evenly distributed along the circumferential direction of the walking support central shaft 70, of which two groups are fixed wheels 710 and one group is movable wheels 714. The fixed wheels 710 are mounted on the support mounting plate 717 through the fixed wheel fixing plates 711, and the movable wheels 714 are mounted on the support mounting plate 717 through the movable wheel fixing plates 713. One movable wheel 714 is mounted between the two movable wheel fixing plates 713 connected by the spring fixing columns 716. The two movable wheels form a group, and the movable wheel fixing plates 713 are mounted on the fixed wheel fixing plates 711 through the hinges 715. The two spring fixing columns 716 fixed on the movable wheel fixing plates 713 are pulled tight by the movable wheel tension spring 712, and the two movable wheels are pressed against the inner wall of the composite pipe material by the tension of the movable wheel tension spring 712. Even if the inner diameter of the steel pipe changes locally or passes through an elbow, the movable wheels and the fixed wheels can still normally contact the inner wall of the steel pipe.

[0037] ​The center distance of two wheels in each group of walking support wheels is greater than the diameter of the largest branch pipe, which ensures that at least one wheel in the group does not fall into the opening range of the branch pipe when one walking support wheel in the group falls into the opening range of the branch pipe, preventing all walking support wheels in a group from falling into the opening of the branch pipe at the same time after passing through the opening of the branch pipe. Otherwise, the number of walking support wheel groups needs to be increased, so that even if some groups of walking support wheels fall into the opening range of the branch pipe, the walking support center shaft 70 will not deviate from the center of the composite pipe.

[0038] The cutting assembly includes a base plate 1 as a cutting center connector, a feeding platform 30, a feeding guide component, a feeding drive component, a center opening assembly, a revolution assembly, and a circumferential cutting assembly.

[0039] The base plate 1 (as a cutting center connector) is a bent plate structure component (excluding the use of a frame component) connected to the walking support center shaft 70 at both ends, and the feeding platform 30 is a plate (excluding the use of a frame component). The feeding platform 30 is mounted on the base plate 1 through the feeding guide component, as shown in Figure 1 、 3 The feeding guide component includes feeding rails 112, hinge support mounting sliders 114, fixed hinge supports 110, movable hinge supports 113, and hinge link sets 111. Four feeding rails 112 are respectively mounted on the base plate 1 and the feeding platform 30, the hinge support mounting sliders 114 are slidingly assembled on the feeding rails 112, the four movable hinge supports 113 are mounted on the hinge support mounting sliders 114, the four fixed hinge supports 110 are respectively mounted on the base plate 1 and the feeding platform 30, and the hinge link sets connect the fixed hinge supports 110 and the movable hinge supports 113 to form a scissor structure lifting guide structure, which ensures that the feeding platform 30 and the base plate 1 remain parallel when the distance between them changes.

[0040] Other structures of the feeding guide component are not excluded, for example, a feeding guide rod 12 in the form of a guide rod and slider structure can be used. The feeding guide rod 12 is a rod-shaped component with linear bearings. Two groups of linear bearings and guide rods are respectively mounted on the feeding platform 30 and the base plate 1, and the guide rod passes through the linear bearings. This also allows the feeding platform 30 and the base plate 1 to remain parallel when the distance between them changes. As long as the guide structure can keep the feeding platform 30 and the base plate 1 parallel when the distance between them changes, it can be used as a feeding guide component.

[0041] The feeding driving part contains air bag 11 and lifting spring 13, the air bag 11 is located between the bottom plate 1 and the feeding platform 30, and indirectly contacts with the feeding platform 30 through the center hole motor 210 installed on the feeding platform 30, when the air bag is inflated, the center hole motor 210 is pushed away from the bottom plate 1, and the feeding platform 30 is parallelly away from the bottom plate 1 through the guiding of the feeding guiding part. In order to make the feeding platform 30 automatically close to the bottom plate 1 after the air bag 11 stops driving, the tension lifting spring 13 is installed between the feeding platform 30 and the bottom plate 1, when the air bag driving the feeding part 10 is deflated, the feeding platform automatically closes to the bottom plate 1 and is recovered by the pulling force of the lifting spring 13, the pulling force of the lifting spring 13 is greater than the gravity of the feeding platform 30 and all the components installed on the feeding platform 30, so that the feeding platform can be automatically recovered in any direction.

[0042] In order to detect the feeding position of the feeding platform 30, the pull wire displacement sensor is installed between the bottom plate 1 and the feeding platform 30, when the feeding platform 30 moves, the feeding amount of the feeding platform can be detected, and the feeding amount of the feeding platform can be controlled by adjusting the inflation amount of the air bag 11, of course, other detection forms for detecting the feeding displacement of the feeding platform 30 are not excluded, for example, the feeding driving part uses direct current electric push rod with position detection, optical sensor and other methods.

[0043] The center hole assembly includes a center hole component and a center hole driving component. A drill bit 21 with a triangular tip is used as the center hole component. The rotating circumferential profile of the triangular tip is larger than the diameter of the drill shank. The triangular tip at the end of the drill bit 21 serves as a blocking structure of the center hole component to prevent the cut sheet-shaped composite pipe from falling off the center hole component. The drill bit 21 is installed on the motor shaft of the center hole motor 210 through a coupling 213. The center hole motor 210 is installed below the feeding platform 30 as the center hole driving component. The center hole motor 210 drives the drill bit 21 to rotate. The air bag 11 drives the feeding platform 30 to contact the drill bit 21 with the composite pipe. The center hole motor 210 drives the drill bit 21 to rotate, so that the drill bit 21 can center hole the composite pipe. It is not excluded that the center hole assembly only has a center hole component. For example, the center hole component is replaced by a piercing component similar to a triangular scraper tip-shaped cutting edge. The center hole motor 210 is not configured. When the air bag drives the feeding platform 30 to rise, the piercing component directly pierces the composite pipe.

[0044] The revolving assembly includes a revolving plate component, a revolving guide component, and a revolving driving component. In addition to using the triangular end of the triangular drill as the blocking structure, similar to the barb, the elastic sheet structure extending radially along the drill bit, etc. can be used as the blocking structure. As long as the end structure is thicker than the main body of the center hole component, it can be used as the blocking structure. Although the drill bit 21 is directly installed on the shaft of the center hole motor 210 through the coupling in this embodiment, it is not excluded that both are installed on the feeding platform 30, and then driven by transmission such as belt, chain or gear. Figures 3-5 As shown in the figure, the revolving plate component 31 is a circular hollow plate-shaped component (of course, it is not excluded that other shapes of revolving plate components such as fan-shaped, semi-circular ring-shaped, etc. are used). The revolving plate component 31 is installed on the revolving guide component 300. The revolving guide component 300 is a circular ring-shaped component with a bearing on the outer ring. The revolving guide component 300 is installed on the feeding platform 30. The inner ring of the revolving plate component 31 cooperates with the outer ring of the bearing of the revolving guide component 300 and is installed on the feeding platform 30 through the revolving guide component 300. It can rotate relative to the feeding platform 30. The revolving driving component includes a revolving motor 320 installed below the feeding platform 30, a revolving pinion 321 installed on the motor shaft of the revolving motor 320, and a revolving gear 322 installed below the revolving plate component. The revolving pinion 321 is engaged with the revolving gear 322. The revolving motor 320 drives the revolving pinion 321 to rotate. The revolving pinion 321 transmits power to the revolving gear 322. The revolving gear 322 rotates to drive the revolving plate component 31 to rotate around the center of the drill bit 21. This rotation is also called revolving around the center hole component.

[0045] The circumferential cutting assembly comprises a circumferential cutting component mounting plate, a circumferential cutting component and a circumferential cutting driving component.

[0046] The circumferential cutting component mounting plate 311 is a plate-like (not excluding frame-like) component, one end of which is hinged to the revolving plate component 31 and can swing in a plane parallel to the revolving plate component 31 around the hinged center point, the circumferential cutting component is a milling cutter 23, which is rotatably mounted on the other end of the circumferential cutting component mounting plate 311 away from the hinged end through a bearing, in order to improve the stability of the milling cutter 23, a milling cutter fixing plate 27 parallel to the circumferential cutting component mounting plate 311 is mounted on the circumferential cutting component mounting plate 311 to jointly guide the rotation of the milling cutter 23, the milling cutter fixing plate 27 is mounted on the circumferential cutting component mounting plate 311 through a cushion block, and the milling cutter 23 passes through the bearing mounted on the circumferential cutting component mounting plate 311 and the milling cutter fixing plate 27.

[0047] The circumferential cutting driving component comprises a driven pulley 22 and a center-bored motor 210, the driven pulley 22 is a synchronous pulley with a bearing mounted on the inner ring, the driven pulley 22 is mounted on the revolving plate component 31, the rotation center of the driven pulley 22 is the swing center of the circumferential cutting component mounting plate 311 (the hinged center of the circumferential cutting component mounting plate 311 and the feeding platform 30), the center-bored driving motor 210 not only serves as a center-bored driving component, but also drives the milling cutter 23 to rotate as a circumferential cutting driving component. The center-bored motor 210 drives the drill bit 21 to rotate, the drill bit 21 transmits the motion to the driven pulley 22 through the pulley sleeved on the drill bit 21 and the first-stage synchronous belt 260, the driven pulley 22 transmits the motion to the milling cutter 23 through the second-stage synchronous belt 261, and drives the milling cutter 23 to rotate to bore the composite pipe. The revolving motor 320 drives the revolving plate component 31 to revolve around the drill bit 21, the circumferential cutting component mounting plate 311 and the driven pulley 22 mounted on the revolving plate component 31 revolve around the drill bit 21, and the milling cutter 23 mounted on the circumferential cutting component mounting plate 311 revolves around the drill bit 21, as the circumferential cutting driving component drives the milling cutter 23 to cut the composite pipe circumferentially, the resistance of the composite pipe to the milling cutter 23 and the component force generated by the milling cutter 23 cutting the composite pipe make the milling cutter 23 and the circumferential cutting component mounting plate 31 not only revolve around the drill bit 21, but also swing outward relative to the revolving plate component 31 around the rotation center of the circumferential cutting component mounting plate 311, which is also called that the circumferential cutting component mounting plate 311 swings in the direction of increasing the radius of revolution, until the milling cutter 23 closely contacts the edge of the steel pipe of the steel pipe branch pipe, so that the milling cutter 23 forms a circumferential trajectory cutting the composite pipe with adaptive diameter change.

[0048] In order to prevent the slippage of the power transmission between the drill bit 21 and the driven pulley 22 by the first synchronous belt 260 during the circumferential cutting of the pipe by the milling cutter 23, a tension pulley 25 is added between the drill bit 21 and the driven pulley 22. The tension pulley 25 is a synchronous pulley with a bearing in the inner ring. The tension pulley 25 is installed on the tension pulley fixing plate 251, which can rotate relative to the tension pulley 25. The tension pulley fixing plate 251 is a plate-shaped component, which is installed on the revolving plate component 31.

[0049] Although the milling cutter is used as the circumferential cutting component in the present embodiment, other cutters with radial cutting function, such as two-edged or three-edged cutters with outer cutting edges, can be used instead of the milling cutter as the circumferential cutting component.

[0050] The detection device comprises a detection central shaft 81, a sensor installation component, and a sensor 80. The detection central shaft 81 is a tubular component. The sensor installation component comprises a sensor fixing plate 810, a sensor supporting spring 811, a universal wheel 812, a sensor sliding block 813, a sensor guide rail 814, and a sliding block fixing disc 815. The sliding block fixing disc 815 is a circular ring plate-shaped component, which is vertically and fixedly installed on the detection central shaft 81. The sensor 80 is a proximity switch (not excluding magnetic sensors, capacitive sensors, and other sensors capable of detecting metal). The sensor sliding block 813 is installed on the sensor fixing disc 815. The sensor guide rail 814 is movably assembled on the sensor sliding block 813. The sensor fixing plate 810 is installed on the sensor guide rail 814. The sensor 80, the sensor supporting spring 811, and the universal wheel 812 are installed on the sensor fixing plate 810. As shown in Figure 6As shown, the sensors 80 are fixedly installed on a sensor fixing plate 810, which is a "∆" shaped plate-like component in horizontal view, and a sensor supporting spring 811 is installed between the sensor fixing plate 810 and the detection center axis 81, so that the sensors 80 can slide along the detection center axis 81 in radial direction, and the elastic force of the sensor supporting spring 811 makes the universal wheels 812 contact with the inner wall of the composite pipe, so as to adapt to the change of the inner diameter of the steel pipe or the change at the bending position. The sensors are uniformly distributed along the circumferential direction of the detection center axis 81, and 18 sensors 80 are uniformly distributed in the circumferential direction, of which 9 sensors are distributed on one side of a sensor fixing disc 815, and the other 9 sensors are distributed on the other side. The circumferential direction interval between two adjacent sensors is 20 degrees, and the interval between two adjacent sensors 80 in the circumferential direction is less than the branch pipe diameter of the composite pipe to be cut, and is preferably less than the branch pipe radius of the composite pipe to be cut. The interval between two adjacent sensors 80 ensures that at least two sensors can detect the branch pipe opening when the detection device moves along the composite pipe to be cut and passes through the branch pipe opening position of the steel pipe. Although the radial movement of the sensors 80 along the detection center axis 81 in this embodiment is realized by the radial distribution of the guide rail slider, but other structures such as connecting rod structure can also be used to realize the radial elastic displacement of the sensors.

[0051] The rotating drive assembly is a component that drives the cutting assembly to rotate relative to the walking support wheel mounting component, the rotating drive assembly is mounted on at least one walking support assembly, the rotating drive assembly includes a rotating drive motor fixed plate 625 mounted on the walking support center shaft 70, a rotating drive motor 611 mounted on the rotating drive motor fixed plate 625, a rotating drive pinion 621 mounted on the rotating drive motor 611, and a rotating drive gear 622 mounted on the gear fixed plate 623, the gear fixed plate 623 is mounted on the support mounting plate 717 through the gear fixed plate support column 624, the rotating drive gear 622 is engaged with the rotating drive pinion 621, the rotating drive motor 611 drives the rotating drive pinion 621 to rotate, the rotating shaft of the rotating drive pinion 621 revolves around the rotating drive gear 622, the rotating drive motor fixed plate 625 and the rotating drive motor 611 also revolve around the rotating drive gear 622, the rotating drive gear 611 is indirectly mounted on the support mounting plate 717, the rotating drive pinion 621 is indirectly mounted on the walking support center shaft 70, the walking support shaft 70 rotates relative to the support mounting plate 717 with the center line of the internal rotating guide component 72 as the axis, the center line of the internal rotating guide component 72 and the center line of the rotating drive gear 622 are the same line, because the fixed wheel 710 and the movable wheel 714 mounted on the support mounting plate 717 have a certain friction with the inner wall of the composite pipe, they remain relatively stationary, the walking support center shaft 70 rotates relative to the center of the composite pipe, because the walking support center shaft 70 is connected with the cutting assembly through the universal joint, the rotating drive assembly can drive the cutting assembly to rotate relative to the center of the composite pipe.

[0052] When cutting the composite pipe covering hole in the steel pipe with branch line repaired with composite pipe, the walking cutting device is pulled by the traction rope to move in the composite pipe, when the sensor 80 of the detection device moves into the branch pipe opening, because there is only composite pipe in the branch pipe opening position, the inductive proximity switch sensor detects the change from steel pipe to no steel pipe outside the composite pipe, when the sensor 80 continues to move away from the branch pipe opening area, the sensor 80 can detect the change from no steel pipe to steel pipe, because at least two sensors 80 pass through the branch opening area, there will be at least four sensor signal change points, the diameter and center position of the branch opening are fitted according to the position of the sensor signal change point, continue to pull the walking cutting device to move in the composite pipe, and drive the cutting assembly to rotate through the rotating drive assembly, so that the drill bit 21 of the cutting assembly is aligned with the center or near the center of the branch hole along the radial direction of the steel pipe, and the cutting of the composite pipe covering hole is started, the specific process of cutting the composite pipe is as follows:

[0053] When the air bag 11 is inflated, the driving feed platform 30 moves radially along the steel pipe, the drill bit 21 feeds towards the composite pipe to be cut and contacts the composite pipe covering the branch pipe opening, the driving feed platform continues to feed, the center opening motor 210 drives the drill bit 21 to drill a hole near the center of the composite pipe, the milling cutter also cuts a hole on the composite pipe to be cut, the revolution motor 320 drives the revolution plate component 31 to revolve, the milling cutter 23 revolves around the axis of revolution and swings around the swing center of the milling cutter swing component mounting plate 311, the milling cutter 23 revolves at least one circle with the revolution plate component 31, until the composite pipe is cut off completely in a circle, so that the milling cutter 23 finally forms a closed circular cutting track to cut off the composite pipe covering the branch pipe opening, when the milling cutter 23 starts cutting from a certain point on the composite pipe, the milling cutter 23 gradually approaches the hole wall of the branch pipe opening, Figure 9 The milling cutter cutting track is shown, the milling cutter 23 starts cutting from a certain point on the composite pipe 40 covering the hole, the starting point is within the edge of the branch pipe opening, the milling cutter 23 gradually approaches the hole wall 41 of the steel pipe during the circumferential cutting, until the composite pipe 40 covering the branch pipe opening is cut off in a circle along the edge of the hole wall 41 of the steel pipe, Figure 9 The arrow in the figure indicates the direction of movement of the milling cutter 23 during the circumferential cutting of the composite pipe 40 covering the hole, Figure 8 The arc segment above the circle inside the circle in the figure represents the track of the milling cutter gradually cutting the composite pipe from the beginning of cutting to the branch pipe wall. During the whole cutting process, the height of the driving feed platform 30 ensures that the drill bit 21 and the milling cutter 23 always pass through the composite pipe to be cut, after cutting, the driving feed platform 30 moves towards the base plate 1, and the cut composite pipe in the form of a disc is strung on the drill bit 21, which carries it out of the steel pipe.

[0054] In order to let the milling cutter 23 start cutting from a position with a small revolution radius, a stop block component 5 is installed on the side of the base plate 1, the stop block component 5 is a bent plate-shaped component, before the air bag 11 starts to drive the driving feed platform 30 to feed, the upper edge of the stop block component 5 is flush with the upper edge of the circumferential cutting component mounting plate 311, when the circumferential cutting component mounting plate 311 revolves counterclockwise with the revolution plate component 31, as shown in the figure, Figure 1As shown, due to the limiting of the stopper part 5, the end of the circumferential cutting part mounting plate 311 installed with the milling cutter 23 is pushed by the stopper part 5 to swing in the direction close to the drill bit 21, the revolution radius of the milling cutter 23 rotating with the revolution plate part 31 is reduced, which is equivalent to the distance between the milling cutter 23 and the drill bit 21 is reduced, when the distance between the milling cutter 23 and the drill bit 21 is reduced to a certain range, the revolution driving motor 320 stops driving, the milling cutter 23 and the circumferential cutting part mounting plate 311 stop revolution, the air bag 11 starts to drive the feeding platform 30 to feed, when the drill bit 21 and the milling cutter 23 both pass through the composite pipe, the bottom surface of the circumferential cutting part mounting plate 311 is higher than the top of the stopper part 5, the circumferential cutting part mounting plate 311 can swing outward in the cutting process to make the distance between the milling cutter 23 and the drill bit 21 gradually increase, which can adapt to the opening operation of the smaller diameter branch pipe, and is also beneficial to improve the adaptability to the drill bit deviating from the branch pipe opening center during opening, even if the drill bit has a certain deviation from the branch pipe opening center, the milling cutter can also ensure that it can pass through the composite pipe at the branch pipe opening.

[0055] In the process of cutting the composite pipe by the milling cutter, the revolving plate component 31 applies a pushing force to the circumferential cutting component mounting plate 311 through the oscillation center of the circumferential cutting component mounting plate 311, and when the circumferential cutting component mounting plate 311 swings outward at a large angle, the pushing force will make the milling cutter 23 swing away from the drill bit 21. In order to improve the force of the circumferential cutting component mounting plate 311 swinging in the direction of increasing the revolution radius (away from the drill bit 21) when the circumferential cutting component mounting plate 311 is close to the drill bit 21 from the milling cutter 23, and to limit the maximum revolution radius of the circumferential cutting component mounting plate 311 swinging, an outward swinging pushing device is arranged between the circumferential cutting component mounting plate 311 and the revolving plate component 31. The outward swinging pushing device comprises a limiting rod mounting support assembly 24 and a limiting rod 241 as the oscillation limiting component of the circumferential cutting component mounting plate 311, which are mounted on the circumferential cutting component mounting plate 311 and the revolving plate component 31. The limiting rod mounting support assembly 24 is a pair of bent plate components, one support of the limiting rod mounting support assembly 24 is mounted on the circumferential cutting component mounting plate 311, and the other support of the limiting rod mounting support assembly 24 is mounted on the revolving plate component 31. The limiting rod 241 is a rod component with a spring, which is inserted into the two supports of the limiting rod mounting support assembly 24, and the hole of the limiting rod mounting support assembly 24 and the limiting rod 241 are in clearance fit. When the revolving drive motor 230 starts to drive the revolving plate component 31 to revolve, the revolution radius of the milling cutter 23 and the circumferential cutting component mounting plate 311 is small, at this time, the spring on the limiting rod 241 is in a compressed state between the two limiting rod mounting supports, and the pushing force of the spring on the limiting rod 241 to the circumferential cutting component mounting plate 311 through the limiting rod mounting support assembly 24 makes the circumferential cutting component mounting plate 311 swing outward (away from the drill bit). As the cutting process proceeds, the revolution radius of the milling cutter 23 mounted on the circumferential cutting component mounting plate 311 gradually increases. In order to limit the revolution radius of the milling cutter 23 mounted on the circumferential cutting component mounting plate 311, a nut is mounted on the limiting rod 241 as an axial limiting element to limit the maximum distance between the two supports of the limiting rod mounting support assembly 24, thereby limiting the maximum revolution radius of the milling cutter.

[0056] The stop block component 5 and the outward swinging pushing device are both cutting track control components, which are used to control the distance range between the milling cutter and the drill bit and the force of the milling cutter swinging away from the drill bit. The greater the force of the milling cutter swinging away from the drill bit, the faster the speed of the milling cutter contacting the wall of the branch line opening pipe in the cutting process.

[0057] The walking cutting device for cutting the composite pipe covering the hole in the hole steel pipe according to the present application is used for cutting the composite pipe covering the hole in the hole steel pipe. Figure 10 、 11 ):

[0058] The difference between this embodiment and embodiment 1 is that:

[0059] The walking cutting device for cutting the composite pipe material covering the branch hole of the steel pipe comprises a walking driving assembly, the walking driving assembly comprises a walking driving central shaft 10, a walking driving mounting component and a walking driving component, the walking driving central shaft 10 is a round pipe-shaped component (not excluding a square pipe or other structural component), the walking driving mounting component comprises three driving motor fixed plate fixed supports 104 and three driving cylinder supports 101 which are uniformly mounted on the outer side of the walking driving central shaft 10, a driving motor fixed plate 103 which is hingedly mounted on the driving motor fixed plate fixed support 104, a driving cylinder 100 which is mounted on the driving cylinder support 101 and a driving cylinder push plate 106, the driving cylinder push plate 106 is connected with the cylinder rod of the driving cylinder 100 and the driving motor fixed plate 103, the walking driving component comprises a driving motor 105 which is mounted on the driving motor fixed plate 103 and a driving wheel 102 which is mounted on the driving motor 105, the driving motor 105 drives the driving wheel 102 to rotate, the driving cylinder 100 pushes the driving motor fixed plate 103 to swing radially along the walking driving central shaft 10 through the driving cylinder push plate 106, the walking driving mounting component and the walking driving component are uniformly distributed in three groups along the driving central shaft 10, when the driving motor fixed plate 103 swings outward, the driving wheel 102 contacts the inner wall of the composite pipe material, and the driving motor 105 drives the driving wheel 102 to walk along the inner wall of the composite pipe material in the steel pipe.

[0060] Although the driving wheel 102 adopts a single wheel structure directly driven by a motor in this embodiment, it is not excluded that a driving wheel group or a track structure driven by a gas motor or a motor is used. Although the diameter adjustment structure of the driving motor fixed plate 103 swinging driven by the driving cylinder 100 is used to adjust the outer diameter of the driving wheel 102 in this embodiment, it is not excluded that a scheme of moving along the radial direction of the walking driving central shaft 10 such as a scissor type lifting structure and a guide rail sliding block structure is used to adjust the outer diameter of the driving wheel 102.

[0061] The walking driving central shaft 10 of the walking driving assembly is connected with the walking support central shaft 70 through a universal joint, and the walking driving assembly drives the walking cutting device to move in the composite pipe material to be cut. In order to improve the position detection accuracy of the walking cutting device moving in the composite pipe material, a metering wheel in elastic contact with the composite pipe material is arranged on the walking support central shaft 70, the detection central shaft 81, the cutting central connecting piece or the walking driving central shaft 10 of the walking cutting device, and the metering wheel contacts the inner wall of the composite pipe material to measure the displacement of walking.

[0062] When the detection device detects the opening position of the branch to be cut, the rotary drive assembly drives the cutting assembly to rotate. Since the cutting center connector of the cutting assembly is connected with the walking drive center shaft 10 by a universal joint, in order to prevent the friction between the driving wheel 102 of the walking drive component and the inner wall of the composite pipe from hindering the rotation of the cutting center connector, the driving cylinder 100 is deflated, and the driving wheel 102 and the inner wall of the composite pipe are no longer pressurized by the driving cylinder 100. Thus, the rotary drive assembly can drive the cutting assembly to rotate. On the other hand, if the walking drive assembly fails to drive the walking device, the entire device needs to be pulled out and processed. Since the driving wheel 102 is in contact with the inner wall of the pipe, and the driving motor 105 is generally a reduction motor with a large self-locking torque, a large force is required to pull it out. At this time, the driving cylinder 100 needs to be retracted to pull out the walking and cutting device through the traction rope.

[0063] The cutting assembly in the embodiment is also different from the cutting assembly in embodiment 1, and specifically:

[0064] The conical part with a barb is used as the center opening part. When the feeding platform 30 is fed, the center opening part directly penetrates the composite pipe, and after cutting, the barb can prevent the cut piece-shaped composite pipe from falling off the conical part. The barb as a blocking structure of the center opening part is used to prevent the cut piece-shaped composite pipe from falling off the center opening part. In addition to the triangular drill and the conical part, any part that can penetrate the composite pipe can be used as the center opening part.

[0065] The feeding drive component uses a feeding cylinder instead of the air bag 11. The feeding cylinder is fixedly installed on the bottom plate 1, and the cylinder rod of the feeding cylinder is in contact with the feeding platform 30. If the cylinder rod of the feeding cylinder is connected with the feeding platform 30, the feeding cylinder can not only drive the feeding platform 30 to move away from the bottom plate 1, but also drive the feeding platform to move close to the bottom plate. Thus, the lifting spring 13 in embodiment 1 can also be replaced. Of course, a rotary motor and a lead screw can also be used as the feeding drive component. These driving modes have a wide application in the lifting platform.

[0066] The revolution plate component is cancelled, the driven pulley 22 and the swing plate component 311 are installed on the revolution gear 322, and the inner ring of the revolution gear 322 is sleeved with a bearing matched with the outer ring of the revolution guide component 300.

[0067] An independent milling cutter driving motor is installed on the revolution plate component 31 or the circumferential cutting component installation plate 311 at the position of the driven pulley 22 in embodiment 1 as a circumferential cutting driving component. The milling cutter driving motor drives the milling cutter by a chain transmission, and a conductive slip ring is installed on the revolution guide component to supply power to the milling cutter driving motor. It is not excluded that the milling cutter driving motor is replaced by a pneumatic motor as a circumferential cutting driving component, and a gas slip ring is installed on the revolution guide component to supply gas to the pneumatic motor.

[0068] The cylinder is fixed on the revolving plate component 31, the cylinder rod is connected with the circumferential cutting component mounting plate 311, and the cylinder rod pushes the circumferential cutting component mounting plate 311 to drive the milling cutter to swing in the direction of increasing the revolving radius (the direction of moving away from the center hole component) during the cutting process. When the cylinder reaches the maximum stroke, the circumferential cutting component mounting plate 311 drives the milling cutter 23 to swing to the position of the maximum revolving radius. Before the milling cutter starts to cut the composite pipe, the cylinder rod is retracted to pull the circumferential cutting component mounting plate 311 to swing in the direction of reducing the revolving radius of the milling cutter, so that the milling cutter is closest to the center hole component. Even if the center hole component is not positioned at the center position of the branch hole to be cut, the milling cutter can pass through the composite pipe within the range of the branch hole.

[0069] The walking cutting device for cutting the composite pipe covering the hole in the steel pipe with hole according to the third embodiment of the present application comprises:

[0070] The difference between the present embodiment and the first embodiment is that:

[0071] The walking support assembly is changed into an assembly with walking driving function. The walking support assembly is provided with a driving component of the walking driving assembly, which comprises a driving motor installed on the fixed wheel fixing plate 711 and the movable wheel fixing plate 713 of the walking support assembly. The driving motor drives the fixed wheel 710 and the movable wheel 714 through a belt transmission. A slip ring for supplying gas or power to the driving motor is installed between the walking support center shaft 70 and the support mounting plate 717. In this case, the walking support assembly not only has the support and guide functions, but also has the driving function of the walking driving assembly. The walking support assembly with the driving mechanism can be used as the walking driving assembly. At this time, the rotating driving assembly can be installed on the walking support assembly with the walking support function. The rotating driving assembly is installed between the support mounting plate 717 and the walking support center shaft 70. An inner ring is installed on the support mounting plate 717. A motor with an outer gear is installed on the walking support center shaft 70. The outer gear is engaged with the inner ring to drive the walking support center shaft 70 to rotate relative to the support mounting plate 717, thereby indirectly driving the cutting assembly to rotate around the center of the composite pipe to be cut.

[0072] The cutting assembly in the present embodiment is also different from the cutting assembly in the first embodiment. Specifically, the cutting assembly in the present embodiment comprises:

[0073] A radial guide rail slider assembly is installed on the revolution plate component 31 along the radial direction of the drill bit. The milling cutter, which serves as the circumferential cutting component, and the milling cutter drive motor, which serves as the circumferential cutting drive component, are both fixed on the circumferential cutting component mounting plate. The circumferential cutting component mounting plate is fixed on the radial slider. The position of the cutting component mounting plate is adjusted by a cylinder installed on the revolution plate component 31. Before the cutting hole is started, the cylinder pulls the cutting component mounting plate to make the distance between the milling cutter and the drill bit 21 the closest. After the drill bit and the milling cutter have both made holes in the composite pipe, when the revolution motor 320 starts to drive the revolution plate component 31 to start rotating, the cylinder pushes the cutting component mounting plate outward to translate, so that the diameter of the cutting circle of the milling cutter continuously expands until the milling cutter touches the metal hole wall of the branch pipe opening. The milling cutter will advance along the hole wall of the branch pipe opening to cut the composite pipe.

[0074] exist Figure 1 , 3 A guide rail and slider assembly in the direction of a plumb bob is installed on the vertical plate on the right side of the base plate 1 as a feed guide component. The feed platform 30 is mounted on the slider in the direction of the plumb bob to guide the feed platform 30. In this case, when the feed platform 30 feeds, it no longer approaches or moves away from the vertical plate on which the guide rail and slider in the direction of the plumb bob are installed, but rather moves in a vertical direction. Therefore, the feed guide component only needs to guide the feed platform 30 to move in the feed direction (along the axis of the milling cutter and drill bit).

[0075] Embodiment 4 of the present invention: A walking cutting device for cutting composite pipes with covering holes in perforated steel pipes:

[0076] The cutting component in this embodiment is also different from the cutting component in Embodiment 1, specifically:

[0077] In this embodiment, the revolution component and the circumferential cutting component of Embodiment 1 are removed from the cutting component. Only the central opening component structure of Embodiment 1 is retained for cutting. However, the drill bit 21 in Embodiment 1 is replaced with a central milling cutter. The central milling cutter can move along the length of the composite pipe under the drive of the travel drive component, and can rotate around the center line of the composite pipe under the drive of the rotation drive component. At the same time, it can move radially along the composite pipe with the feed platform 30. The combination of these three movements can be used to cut off the composite pipe at the branch pipe opening.

[0078] In some embodiments, the driving devices can be replaced with common components and mechanisms with the same function. For example, rotation can be driven by a pneumatic motor, movement can be driven by a linear motor, a rotary motor with a lead screw, a motor with a cam push rod, an electromagnet, etc., and guidance can be achieved by optical shafts, sliders, or linear guides, etc. These are all common knowledge in the art and will not be elaborated further. This invention is not limited to the embodiments discussed above. Those skilled in the art can deduce other variations based on this invention, and these variations are also part of the subject matter of this invention.

Claims

1. A traveling cutting device for cutting composite pipes covering branch holes of steel pipes, characterized in that... It includes a walking support assembly, a cutting assembly, a detection device, and a rotary drive assembly. The walking support assembly includes a walking support central shaft, a walking support wheel mounting component, and a walking support wheel. The walking support wheel mounting component is rotatably mounted radially outside the walking support central shaft and can rotate around the axis of the walking support central shaft. The walking support wheel is a wheel, wheel set, or track structure mounted on the walking support wheel mounting component. The cutting assembly includes a cutting center connector, a feed platform, a feed guide component, a feed drive component, and a center opening assembly. The feed platform is mounted on the cutting center connector via the feed guide component. The feed drive component is directly or indirectly connected to or in contact with the cutting center connector and the feed platform, driving the feed platform to move relative to the cutting center connector. The center opening assembly includes a center opening component and a center opening drive component, directly or indirectly mounted on the feed platform. The center opening component is a drill bit or milling cutter-like component, with its length direction parallel to the feed direction of the feed platform. The center opening drive component is mounted on the feed platform and drives the center opening component to rotate around its own axis. The cutting assembly includes a revolution assembly and a circumferential cutting assembly. The revolution assembly includes a revolution plate component, a revolution guide component, and a revolution drive component. The revolution plate component is mounted on the feed platform via the revolution guide component, and the revolution drive component drives the center opening component to rotate around its own axis. The rotating plate component rotates about an axis parallel to the feed direction of the feed platform, and drives the rotating plate component to rotate about the rotation center of the central opening component. The circumferential cutting assembly includes a circumferential cutting component mounting plate, a circumferential cutting component, and a circumferential cutting drive component. The circumferential cutting component mounting plate is oscillatingly or translatorily mounted on the rotating plate component. The circumferential cutting component is a component capable of rotary radial cutting. The circumferential cutting component is mounted on the circumferential cutting component mounting plate. The circumferential cutting component is a component capable of rotary radial cutting. The circumferential cutting component can revolve around the central opening component to cut composite pipe circumferentially, and simultaneously oscillates outward relative to the rotating plate component and about the rotation center of the circumferential cutting component mounting plate. The length direction of the circumferential cutting component is parallel to the feed direction. The circumferential cutting drive component is mounted on the feed platform, the rotating plate component, or the circumferential cutting component mounting plate, and drives the circumferential cutting component to rotate. The detection device includes a detection central axis, a sensor mounting component, and sensors. The sensors are evenly distributed radially around the detection central axis via the sensor mounting component. The sensors are movably mounted on the sensor mounting component and have the freedom to move radially along the detection central axis. The rotary drive assembly is the component that drives the cutting assembly to rotate relative to the mounting component of the walking support wheel.

2. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The travel support central shaft is a tubular component, and at least three sets of travel support wheels are evenly distributed along the circumference of the travel support central shaft, with at least two travel support wheels in each set. The travel direction of the travel support wheels is consistent with the direction of the axis of the travel support central shaft. The detection center shaft is a tubular component, and the sensor is a metal detection sensor. The distance between two adjacent sensors is smaller than the branch diameter of the composite pipe to be cut.

3. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 2, characterized in that... The oscillation of the circumferential cutting component mounting plate is an oscillation with a point on it as the center, and the translation of the circumferential cutting component mounting plate is a reciprocating motion in the outward radial direction along the rotation axis of the revolution plate component. The circumferential cutting component is preferably a milling cutter-shaped component.

4. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The walking cutting device for cutting composite pipes covering branch holes of steel pipes includes a walking drive assembly. The walking drive assembly includes a walking drive mounting component and a walking drive component. The walking drive component consists of at least three sets of drive wheels mounted radially outside the walking drive central shaft via the walking drive component mounting component.

5. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 4, characterized in that... The walking drive center shaft is a tubular component. The walking drive center shaft, walking support center shaft, cutting center connector or detection center shaft are connected by a universal joint. The drive wheel is a wheel, wheel set or track structure driven by a pneumatic motor or electric motor. The walking drive mounting component has the degree of freedom to move the drive wheel radially along the walking drive center shaft or the walking drive mounting component is rotatably assembled with the walking drive center shaft.

6. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The cutting assembly includes a cutting trajectory control component, which is mounted on a base plate or a revolution plate component and contacts or connects to a circumferential cutting component mounting plate. The cutting trajectory control component uses a cylinder or a contact limiting component to keep the circumferential cutting component and the central opening component as close as possible. During the cutting process, the circumferential cutting component mounting plate swings outward, gradually increasing the distance between the circumferential cutting component and the central opening component. During the cutting process, a cylinder or an elastic component applies a force away from the central opening component to the circumferential cutting component.

7. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The rotary drive assembly is mounted on at least one walking support assembly or one walking drive assembly. When the rotary drive assembly is mounted on the walking support assembly, it is installed between the walking support wheel mounting component and the walking support central shaft, driving the walking support central shaft to rotate relative to the walking support wheel mounting component. The rotary drive assembly is mounted on the walking drive assembly. The walking drive mounting component of the walking drive assembly is rotatably assembled with the walking drive central shaft. The rotary drive assembly is installed between the walking drive mounting component and the walking drive central shaft of the walking drive assembly, driving the walking drive central shaft to rotate relative to the walking drive mounting component.

8. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... When the walking cutting device is applied to a composite pipe with a covered hole cut inside a steel pipe, the cutting component, the detection device, and the walking support component or the walking drive component are connected in a "snake" shape at intervals. The walking cutting device is placed into the composite pipe to be cut. The walking drive component drives the walking cutting device to move along its axial direction inside the composite pipe. The walking support component guides the walking cutting device to move inside the composite pipe to be cut. The rotation drive component drives the cutting component to rotate around the axis of the composite pipe to be cut.

9. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The distance between the detection surfaces of two adjacent sensors is less than the branch radius of the composite pipe to be cut; the center distance between the two farthest wheels in a set of walking support wheels is greater than the diameter of the largest branch pipe; and at least one set of walking support wheels has a structure that allows for elastic movement radially outward from the central axis of the walking support. The central opening component has a blocking structure to prevent the sheet-like composite tube from falling off the central opening component. The blocking structure is an end structure that is thicker than the main body of the central opening component.

10. The traveling cutting device for cutting composite pipes covering branch holes of steel pipes according to claim 1, characterized in that... The feed guide component ensures that the feed movement of the feed platform is radial to the composite pipe to be cut, and the walking cutting device for cutting the composite pipe covering the branch hole of the steel pipe includes a metering wheel that contacts the inner wall of the composite pipe.

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