Tool head for cold cutting of pipeline

Abstract

The invention belongs to the technical field of mechanical cutting, and particularly relates to a tool head for cold cutting of a pipeline. The tool head comprises an external framework, an electric driving device, a pneumatic driving device and two cutters which are symmetrically arranged up and down, the external framework is provided with an opening allowing a cut pipeline to penetrate through, and the two cutters are both arranged in the external framework and used for cutting the pipeline. The pneumatic driving device is connected with the cutting knives and drives the two cutting knives to clamp and cut the pipeline; the electric driving device is connected with the two cutting knives and drives the cutting knives to rotate around the pipeline for cutting. The tool head can be used for cutting pipelines in flammable and explosive areas with narrow space, almost no chippings are generated during cutting, no cutting heat affected zone exists, and the tool head is very suitable for in-service or out-of-service field cutting of pipelines with high environmental requirements and long-arm-extension mechanical arms.

Description

Technical Field

[0001] The present application belongs to the technical field of mechanical cutting, and in particular relates to a tool head for cold cutting of pipes. Background Art

[0002] During the operation of the tokamak device, the blanket, divertor and other components in the vacuum chamber will suffer various forms of damage due to various complex thermal, electromagnetic and neutron loads, such as first wall ablation, shedding and other component structural damage. These components are connected by a large number of pipes. When the blanket or divertor needs to be removed from the vacuum chamber for maintenance, it is necessary to cut off the pipes connected to it. The working space for pipe maintenance in the tokamak device is small and has requirements for cleanliness, which requires the cutting tool to be compact and free of debris or easy to collect debris during cutting.

[0003] Existing mechanical arm external pipe cutting tool heads are mainly laser cutting, plasma cutting, saw cutting or grinding wheel cutting, turning cutting.

[0004] Among them, laser cutting and plasma cutting use high-energy particle flow to melt or vaporize materials, and use high-speed airflow to blow away the molten material to achieve pipe cutting. They are non-contact cutting methods, so laser cutting and plasma cutting have the advantages of fast cutting speed, no reaction force of the robotic arm, and customizable cutting path. However, the cutting process requires a 360° rotation around the pipe, and the tool head requires a large space. In addition, the tool head is expensive and has high power. A large amount of smoke and exhaust gas is generated during cutting, which is difficult to collect, polluting the environment. A heat-affected zone will also be formed in the cutting area to reduce material performance.

[0005] Saw cutting or wheel cutting is to cut the pipe with a high-speed rotating wheel or a high-frequency vibrating saw. Its advantages are fast cutting speed and low tool head price, but this method consumes materials during cutting, generates a lot of dust and debris, and has low incision size accuracy, high noise, burrs after cutting, easy to cause surface burns and cracks, and poor surface quality.

[0006] Turning cutting is similar to machine tool turning. Generally, the tool is fixed and the product rotates at high speed to improve the processing accuracy. Coolant is needed to cool the turning tool. Without coolant, the cutting heat cannot be taken away, and the tool is prone to adhesion, which reduces the processing accuracy. The cutting noise is loud and it is also a cutting method that consumes materials. A large amount of debris will be generated during cutting, and the cutting fluid needs to be recycled. It generally requires the cooperation of master and slave robotic arms. Summary of the invention

[0007] The purpose of the present application is to provide a tool head for cold cutting of pipes, so as to solve the problem in the prior art that a large amount of debris, smoke and exhaust gas will be generated during cutting.

[0008] Technical solution to achieve the purpose of this application:

[0009] The embodiment of the present application provides a tool head for cold cutting of pipes, the tool head comprising: an external frame, an electric drive device, a gas drive device and two cutting knives symmetrically arranged up and down;

[0010] An opening is provided on the external frame for passing the pipe to be cut, and two cutting knives are arranged inside the external frame for cutting the pipe;

[0011] The pneumatic drive device is connected to the cutting knives to drive the two cutting knives to clamp and cut the pipeline; the electric drive device is connected to the two cutting knives to drive the cutting knives to rotate around the pipeline for cutting.

[0012] Optionally, an electric drive device specifically includes: a motor, a driving gear, a driven gear and a rotating guide rail;

[0013] The driving gear, the driven gear and the rotating guide rail are all fixed inside the external frame, the motor is connected to the driving gear, the driving gear is meshed with the driven gear, the driven gear is rotatably fixed on the rotating guide rail, and the cutting knife is fixed on the driven gear;

[0014] The motor drives the driving gear, which drives the driven gear to rotate around the rotating guide rail, thereby driving the cutting knife to rotate around the pipe for cutting.

[0015] Optionally, a notch corresponding to the opening is provided on the driven gear, and guide plates are provided at both upper and lower ends of the notch.

[0016] Optionally, the pneumatic drive device specifically comprises: two drive components correspondingly connected to the cutting knife; each of the drive components comprises: a cylinder, a push rod and a connecting rod;

[0017] The cylinder is connected to one end of the push rod and is used for driving the push rod to extend or retract; the other end of the push rod is connected to one end of the connecting rod, and the other end of the connecting rod is fixed to the driven gear; the cutting knife is fixed on the connecting rod.

[0018] Optionally, the driving component further includes: a limit block;

[0019] The limit block is connected to the cutting knife and is used to limit the initial position and maximum cutting depth of the cutting knife.

[0020] Optionally, the tool head further comprises: an inner auxiliary wheel;

[0021] There are two inner auxiliary wheels, which are arranged opposite to each other and fixed on both sides of the opening of the external frame, and are used to limit the position of the pipeline.

[0022] Optionally, a pneumatic drive device is connected to the inner auxiliary wheel to drive the inner auxiliary wheel to clamp the pipeline.

[0023] Optionally, the tool head further includes: a quick-change adapter;

[0024] The quick-change adapter is fixed to the outside of the external frame and is used to achieve electrical connection and quick installation and disassembly between the tool head and the robot arm.

[0025] Optionally, the tool head further comprises a positioning mechanism for realizing pipe cutting positioning; the positioning mechanism specifically comprises: a laser transmitter, a Hall probe and two positioning blocks arranged opposite to each other;

[0026] The laser emitter is fixed on the inner side of the external frame; the laser emission port of the laser emitter is directly facing the center of the opening;

[0027] The Hall probe and two positioning blocks are fixed on the outside of the external frame; the Hall probe is used to position the pipeline; the two positioning blocks are respectively arranged on both sides of the opening to limit the pipeline.

[0028] Optionally, the positioning mechanism further includes: an anti-locking mechanism;

[0029] Anti-locking mechanism is used to prevent the two cutting knives from locking.

[0030] The beneficial technical effects of this application are:

[0031] The embodiment of the present application provides a tool head for cold cutting of pipelines, comprising: an external frame, an electric drive device, an air drive device and two cutting knives symmetrically arranged up and down; an opening for passing through the pipeline to be cut is opened on the external frame, and the two cutting knives are arranged inside the external frame for cutting the pipeline; the air drive device is connected to the cutting knives to drive the two cutting knives to clamp and cut the pipeline; the electric drive device is connected to the two cutting knives to drive the cutting knives to rotate and cut around the pipeline. After the tool head reaches the specified position of the pipeline, the air drive device applies force to the cutting knives on the pipeline and starts to rotate at the same time, stops after completing the task, and the air drive device reversely withdraws the cutting knives and withdraws under the backward action of the mechanical arm, which can realize the cutting of pipelines in flammable and explosive areas with narrow space, and almost no debris is generated during cutting, and there is no cutting heat affected zone. When cutting the pipeline, the tool head relies on the tool head to hold the pipeline tightly, which greatly reduces the reaction force borne by the mechanical arm, and is very suitable for the on-site cutting of pipelines in service or decommissioning with high environmental requirements and long arm span mechanical arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of a tool head for cold cutting of pipes provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the partial structure of a tool head for cold cutting of pipes provided in an embodiment of the present application;

[0034] Figure 3 and Figure 4 A schematic diagram of the rotary cutting of a tool head for cold cutting of pipes provided in an embodiment of the present application.

[0035] In the figure:

[0036] 1-quick-change adapter; 2-external skeleton; 3-electric drive device; 31-motor; 32-driving gear; 33-driven gear; 34-rotating guide rail; 4-pneumatic drive device; 41-connecting rod; 42-cylinder; 43-push rod; 44-limiting block; 5-inner auxiliary wheel; 6-rotating guide rail; 7-cutting knife; 8-anti-locking mechanism; 9-pipeline; 10-introduction piece; 11-laser transmitter; 12-positioning block; 13-Hall probe. DETAILED DESCRIPTION

[0037] In order to make those skilled in the art better understand the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only a part of the embodiments of the present application, not all. Based on the embodiments recorded in the present application, all other embodiments obtained by those skilled in the art without paying creative work are within the scope of protection of the present application.

[0038] In order to solve the problems of the prior art, the inventors of the present application have found in their research that rolling cutting uses a rotating roller to extrude and cut the pipe, with neat incisions and no debris. It is only necessary to apply a certain feed force and rotation amount around the pipe to the cutter to achieve pipe cutting at low power, and the position of the pipe does not need to be changed, and the space requirement is small, which is suitable for on-site cutting. To this end, an embodiment of the present application provides a tool head for cold cutting of pipes. When cutting the pipe, the tool head can clamp the pipe tightly, which greatly reduces the reaction force borne by the robot arm. It is very suitable for on-site cutting of pipes in service or decommissioned with long arm span robots that have high environmental requirements. The tool head is small in size, light in weight, low in input power, and low in noise. It can achieve pipe cutting in a small space area, and almost no debris or cutting heat-affected zone is generated during cutting.

[0039] Based on the above content, in order to clearly and in detail illustrate the above advantages of the present application, the specific implementation methods of the present application will be described below in conjunction with the accompanying drawings.

[0040] See also Figure 1 , this figure is a schematic diagram of the structure of a tool head for cold cutting of pipes provided in an embodiment of the present application.

[0041] The embodiment of the present application provides a tool head for cold cutting of pipes, comprising: an external frame 2, an electric drive device, a gas drive device 4 and two cutting knives 7 symmetrically arranged up and down;

[0042] The external frame 2 is provided with an opening for passing the pipe 9 to be cut, and two cutting knives 7 are arranged inside the external frame 2 for cutting the pipe 9;

[0043] The pneumatic drive device 4 is connected to the cutting knives 7 to drive the two cutting knives 7 to clamp and cut the pipeline 9; the electric drive device 3 is connected to the two cutting knives 7 to drive the cutting knives 7 to rotate around the pipeline 9 for cutting.

[0044] In specific implementation, after the tool head reaches the designated position of the pipeline, the air drive device 4 applies force to the cutting knife 7 to the pipeline 9 and starts to rotate at the same time. After completing the task, it stops and the air drive device 4 reverses and withdraws the cutting knife 7. When the tool head cuts the pipeline, it relies on the tool head to hold the pipeline tightly, which greatly reduces the reaction force borne by the robot arm. It is very suitable for on-site cutting of pipelines in service or decommissioning with long arm spans and high environmental requirements.

[0045] In the embodiment of the present application, the extrusion cutting of the incision of the pipeline 9 is realized by low power input through the electric drive device 3 and the air drive device 4. The tool head cleverly controls the cutting speed of the cutter 7 around the pipeline 9 through the electric drive device 3 through reasonable system layout, which greatly reduces the input power of the tool head, and the propulsion force and feed amount of the cutter 7 are controlled by the air drive device 4, and the input power of the electric drive device 3 only needs to provide the friction force of the swing and extrusion cold cutting of the cutter 7, which effectively utilizes the energy input of the tool head to the greatest extent. Compared with other cutting methods for reducing materials, such as sawing, wheel cutting, plasma cutting, laser cutting and other cutting methods, this cutting method has low cutting input power, almost no pollution and debris or no debris, low noise, and no heat-affected zone in the incision.

[0046] It can be understood that due to the symmetrical distribution of the cutting blades 7, the cutting blades 7 rotate around the pipe 9 for cutting, which reduces the weight, size and usable space size of the tool head, and is suitable for in-service or decommissioning site cutting where the space is small and the pipes are densely distributed.

[0047] In some possible implementations of the present application, such as Figure 1 and Figure 2 As shown, the electric drive device 3 may specifically include: a motor 31, a driving gear 32, a driven gear 33 and a rotating guide rail 34;

[0048] The driving gear 32, the driven gear 33 and the rotating guide rail 34 are all fixed inside the external frame 2, the motor 31 is connected to the driving gear 32, the driving gear 32 is meshed with the driven gear 33, the driven gear 33 is rotatably fixed on the rotating guide rail 34, and the cutting knife 7 is fixed on the driven gear 33;

[0049] The motor 31 drives the driving gear 32 to drive the driven gear 33 to rotate around the rotating guide rail 34 , thereby driving the cutting knife 7 to rotate around the pipe 9 for cutting.

[0050] In one example, a notch corresponding to the opening is provided on the driven gear 33, and guide plates 10 are provided at both upper and lower ends of the notch for guiding the pipe (9) into the opening.

[0051] In some possible implementations of the present application, the pneumatic drive device 4 may specifically include: two drive components correspondingly connected to the cutting knife 7; each of the drive components includes: a cylinder 42, a push rod 43 and a connecting rod 41;

[0052] The cylinder 42 is connected to one end of the push rod 43 to drive the push rod 43 to extend or retract; the other end of the push rod 43 is connected to one end of the connecting rod 41, and the other end of the connecting rod 41 is fixed to the driven gear 33; the cutting knife 7 is fixed on the connecting rod 41.

[0053] In the embodiment of the present application, the cutting knife 7 is directly pushed by the cylinder 42 to cut, which reduces the friction power loss of the intermediate connection, and can more efficiently utilize the input of the air source of the cylinder 42 to output a greater propulsion force.

[0054] In one example, the driving component may further include: a limit block 44;

[0055] The limit block 44 is connected to the cutting knife 7 and is used to limit the initial position and maximum cutting depth of the cutting knife 7 .

[0056] In some possible implementations of this application, such as Figure 2 As shown, the tool head may further include: an inner auxiliary wheel 5;

[0057] There are two inner auxiliary wheels 5 , which are arranged opposite to each other and fixed on two sides of the opening of the external frame 2 to limit the position of the pipeline 9 .

[0058] In one example, the pneumatic drive device 4 is connected to the inner auxiliary wheel 5 to drive the inner auxiliary wheel 5 to clamp the pipe 9 .

[0059] It is understandable that the inner auxiliary wheel 5 can realize a self-holding and anti-derailment design, thereby preventing the cutting knife 7 from sliding, derailing and jumping, and reducing the reaction force borne by the remote-controlled robot arm.

[0060] In some possible implementations of the present application, the tool head may further include: a quick-change adapter 1;

[0061] The quick-change adapter 1 is fixed to the outside of the external frame 2 and is used to achieve electrical connection and quick installation and removal between the tool head and the robot arm.

[0062] In specific implementation, the quick-change adapter 1 on the outside of the external skeleton 2 can be quickly connected with the quick-change adapter mother of the robot arm to achieve electrical connection and rapid installation and disassembly between the tool head and the robot arm.

[0063] In some possible implementations of the present application, the tool head may further include a positioning mechanism for realizing the cutting positioning of the pipe 9; the positioning mechanism specifically includes: a laser emitter 11, a Hall probe 13 and two positioning blocks 12 arranged opposite to each other;

[0064] The laser emitter 11 is fixed to the inner side of the external frame 2; the laser emission port of the laser emitter 11 is directly facing the center of the opening;

[0065] The Hall probe 13 and the two positioning blocks 12 are fixed to the outside of the external frame 2 ; the Hall probe 13 is used to position the pipeline 9 ; the two positioning blocks 12 are respectively arranged on both sides of the opening to limit the pipeline 9 .

[0066] In some possible implementations of the present application, the positioning mechanism may further include: an anti-locking mechanism 8;

[0067] The anti-locking mechanism 8 is used to prevent the two cutting knives 7 from being locked.

[0068] A tool head for cold cutting of pipes provided in an embodiment of the present application is described in detail below with reference to a specific example.

[0069] The pipe cold cutting tool head provided in the embodiment of the present application may include the following steps when implemented:

[0070] Step 1: The robot arm replaces or connects the tool head through the quick-change connector 1;

[0071] Step 2: Use the laser transmitter 11 to position the tool head to the cutting position of the pipe 9, insert the tool head into the cutting position of the pipe 9 through the positioning block 12 and the guide piece 10, and limit the pipe 9 and the tool head through the inner auxiliary wheel 5 axle;

[0072] Step 3: Open the air pressure valve, and let 0.7MPa compressed gas into the cylinder 42 to push out the push rod 43 of the cutter 7 so that the cutter 7 tightens the pipe 9. The actual cutting thrust can be 160N to 300N.

[0073] Step 4: The motor 31 is started, the driving gear 32 meshes with the driven gear 33 to rotate, so that the cutting knife 7 rotates around the cutting opening and cuts, and the driving gear 32 drives the driven gear 33, and the cutting is repeated. Figure 3 and Figure 4 The input power of the motor 31 may be 10W to 30W, and the torque of the motor 31 may be approximately 0.22N·m.

[0074] Step 5: After the pipe 9 is cut, the valve of the cylinder 42 is reversely pressurized, the push rod 43 of the cutter 7 drives the cutter 7 to retract, the motor 31 is turned off, the axle of the inner auxiliary wheel 5 is released, and the mechanical arm drives the tool head to the specified position, and the cutting is completed.

[0075] The embodiment of the present application provides a tool head for cold cutting of pipelines, comprising: an external frame, an electric drive device, an air drive device and two cutting knives symmetrically arranged up and down; an opening for passing through the pipeline to be cut is opened on the external frame, and the two cutting knives are arranged inside the external frame for cutting the pipeline; the air drive device is connected to the cutting knives to drive the two cutting knives to clamp and cut the pipeline; the electric drive device is connected to the two cutting knives to drive the cutting knives to rotate and cut around the pipeline. After the tool head reaches the specified position of the pipeline, the air drive device applies force to the cutting knives on the pipeline and starts to rotate at the same time, stops after completing the task, and the air drive device reversely withdraws the cutting knives and withdraws under the backward action of the mechanical arm. It can realize the cutting of pipelines in flammable and explosive areas with narrow space, and almost no debris is generated during cutting, and there is no cutting heat affected zone. When cutting the pipeline, the tool head relies on the tool head to hold the pipeline tightly, which greatly reduces the reaction force borne by the mechanical arm. It is very suitable for on-site cutting of pipelines in service or decommissioning with high environmental requirements and long arm span mechanical arms.

[0076] The present application is described in detail above in conjunction with the accompanying drawings and embodiments, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present application. Any content not described in detail in the present application can adopt the existing technology.

Claims

1. A tool head for cold cutting of pipes, characterized in that: The tool head comprises: an external frame (2), an electric drive device (3), a gas drive device (4) and two cutting knives (7) symmetrically arranged up and down; The external frame (2) is provided with an opening for passing the pipe (9) to be cut, and two cutting knives (7) are arranged inside the external frame (2) for cutting the pipe (9); The pneumatic drive device (4) is connected to the cutting knives (7) to drive the two cutting knives (7) to clamp and cut the pipeline (9); the electric drive device (3) is connected to the two cutting knives (7) to drive the cutting knives (7) to rotate around the pipeline (9) for cutting.

2. The tool head for cold pipe cutting according to claim 1, characterized in that: The electric drive device (3) specifically comprises: a motor (31), a driving gear (32), a driven gear (33) and a rotating guide rail (34); The driving gear (32), the driven gear (33) and the rotating guide rail (34) are all fixed inside the external frame (2); the motor (31) is connected to the driving gear (32); the driving gear (32) is meshed with the driven gear (33); the driven gear (33) is rotatably fixed on the rotating guide rail (34); and the cutting knife (7) is fixed on the driven gear (33); The motor (31) drives the driving gear (32), driving the driven gear (33) to rotate around the rotating guide rail (34), thereby driving the cutting knife (7) to rotate around the pipe (9) for cutting.

3. The tool head for cold pipe cutting according to claim 2, characterized in that: A notch corresponding to the opening is provided on the driven gear (33), and guide plates (10) are provided at both upper and lower ends of the notch.

4. The tool head for cold pipe cutting according to claim 2, characterized in that: The pneumatic drive device (4) specifically comprises: two drive components correspondingly connected to the cutting knife (7); each of the drive components comprises: a cylinder (42), a push rod (43) and a connecting rod (41); The cylinder (42) is connected to one end of the push rod (43) and is used for driving the push rod (43) to extend or retract; the other end of the push rod (43) is connected to one end of the connecting rod (41), and the other end of the connecting rod (41) is fixed to the driven gear (33); the cutting knife (7) is fixed on the connecting rod (41).

5. The tool head for cold pipe cutting according to claim 4, characterized in that: The driving component further comprises: a limit block (44); The limit block (44) is connected to the cutting knife (7) and is used to limit the initial position and maximum cutting depth of the cutting knife (7).

6. The tool head for cold pipe cutting according to claim 1, characterized in that: The tool head further comprises: an inner auxiliary wheel (5); There are two inner auxiliary wheels (5), which are arranged opposite to each other and fixed on both sides of the opening of the external frame (2) to limit the position of the pipeline (9).

7. The tool head for cold pipe cutting according to claim 6, characterized in that: The pneumatic drive device (4) is connected to the inner auxiliary wheel (5) and is used to drive the inner auxiliary wheel (5) to clamp the pipeline (9).

8. The tool head for cold pipe cutting according to any one of claims 1 to 7, characterized in that: The tool head further comprises: a quick-change adapter (1); The quick-change adapter (1) is fixed to the outside of the external frame (2) and is used to achieve electrical connection and quick installation and removal between the tool head and the robot arm.

9. The tool head for cold cutting of pipes according to any one of claims 1 to 7, characterized in that: The tool head also includes a positioning mechanism for realizing the cutting positioning of the pipe (9); the positioning mechanism specifically includes: a laser emitter (11), a Hall probe (13) and two positioning blocks (12) arranged opposite to each other; The laser emitter (11) is fixed on the inner side of the external frame (2); the laser emission port of the laser emitter (11) faces the center of the opening; The Hall probe (13) and the two positioning blocks (12) are fixed to the outside of the external frame (2); the Hall probe (13) is used to position the pipeline (9); the two positioning blocks (12) are respectively arranged on both sides of the opening and are used to limit the pipeline (9).

10. The tool head for cold cutting of pipes according to any one of claims 1 to 7, characterized in that: The positioning mechanism further comprises: an anti-locking mechanism (8); The anti-locking mechanism (8) is used to prevent the two cutting knives (7) from being locked.

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