Drilling machine for DN400-600 municipal drainage pipeline

Abstract

The invention relates to the technical field of robots, and discloses a drilling machine for a DN400-600 municipal drainage pipeline. A drilling mechanism comprises a drill bit and a plurality of fly cutters connected to the periphery of the drill bit; the drill bit is connected with a hydraulic rotating motor used for driving the drill bit to rotate, and the fly cutter is connected with a variable-diameter hydraulic cylinder used for driving the fly cutter to stretch or retract. When the fly cutter is opened to the maximum angle, the drilling mechanism is a drilling mechanism which is formed by the fly cutter and the drill bit and is in a maximum drilling diameter state; when the fly cutter is completely contracted, the drilling diameter of the drilling mechanism is the diameter of the drill bit; the walking trolley comprises walking wheels and a mounting frame, the mounting frame is used for mounting a hydraulic system comprising a hydraulic rotary motor and a variable-diameter hydraulic cylinder, and the mounting frame is used for mounting a high-pressure water spraying pipe in a high-pressure water supply system; the walking stability and trafficability in the pipeline can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a drilling machine used for DN400-600 municipal drainage pipes. Background Art

[0002] DN400-600 municipal drainage pipes are widely used in municipal drainage systems. DN400-600 municipal drainage pipes refer to pipes with a nominal outer diameter between 400 mm and 600 mm. "DN" stands for Nominal Diameter, a standard size used in piping systems to indicate pipe specifications and facilitate the matching of different components. Municipal drainage pipes are a part of urban infrastructure, responsible for collecting and transporting domestic sewage, industrial wastewater, and rainwater to prevent waterlogging and environmental pollution. These pipes are widely used in urban drainage systems and are commonly constructed from materials such as reinforced concrete, ductile iron, polyethylene (PE), and rigid polyvinyl chloride (PVC-U). The pipe diameter determines its drainage capacity, and DN400-600 pipes are suitable for drainage in urban branch roads, residential areas, and other areas.

[0003] The dumping of garbage and debris, the accumulation of grease and sludge, construction debris, and defects in the design and construction of some pipelines can easily lead to poor water flow. Plant root intrusion, the accumulation of sediment and fallen leaves, geological changes, and extreme weather can also significantly affect the smooth flow of pipes. Pipeline problems such as aging, damage, scaling, and corrosion can also accelerate blockage. Inadequate management and maintenance can further exacerbate the risk of blockage. Therefore, pipe dredging has always been a prerequisite for ensuring the smooth operation of drainage pipes.

[0004] Now, for the blockage of DN400-600 municipal drainage pipes, you can consider using pressure hole opening machines, water drill pipe jacking machines, micro spiral pipe jacking machines, etc. to carry out dredging operations: 1. A pressurized tapping machine primarily consists of a tapping tool, a transmission mechanism, a power system, a sealing device, and an operating control system. When the pipeline is pressurized, the power system drives the transmission mechanism, causing the tapping tool to rotate and cut a hole in the pipeline. The sealing device maintains the pressure of the medium in the pipeline during the tapping process to prevent leakage. Once the hole is tapped, subsequent operations such as connecting or unclogging the pipeline can be performed. Generally speaking, a pressurized tapping machine is primarily used for operations such as tapping and connecting pipelines. It is not the primary tool for simply unclogging blockages. However, it can be used in some special blockage situations (such as when the blockage is near a pipeline connection and a hole needs to be opened for auxiliary unclogging).

[0005] 2. The water drill pipe jacking machine includes: a main body consisting of two double-acting hydraulic cylinders, a hydraulic pump station, a support plate, a push rod and a pulling head, and a drill bit. The hydraulic pump station supplies oil to the hydraulic cylinder, pushing the cylinder piston to move, thereby driving the push rod to push forward or pull back. The alloy drill bit at the front end of the push rod cuts the blockage or formation in the pipe during the jacking process. During the working process, water injection is used to convert the remaining waste soil into mud and flow out, reducing the friction of the jacking force and also changing the toughness of the soil. For example, when the pipe is blocked and the blockage is relatively hard, the alloy drill bit of the water drill pipe jacking machine can cut the blockage and inject water to form mud to discharge, gradually opening the blocked pipe. During the back-pulling process, the waste soil remaining during drilling can be pulled out at the same time as the pipe through the return universal joint and the spiral excavation device.

[0006] 3. A micro-spiral pipe jacking machine consists of an auger rod, drill bit, power unit, control system, and support structure. The power unit drives the auger rod to rotate, and the drill bit cuts through blockages or soil within the pipe. As the auger rod rotates, it transports the removed soil and other debris along the spiral blades to the outside of the pipe or to a designated location. By controlling the power unit's output, the drill rod's rotational speed and advancement speed can be adjusted to suit different blockage situations and geological conditions. For example, if a pipe is blocked, the micro-spiral pipe jacking machine can advance from one end, leveraging the auger rod's cutting and conveying capabilities to gradually clear the blockage and restore the pipe's patency.

[0007] Although the above existing drilling machines can be used to complete pipeline dredging in corresponding scenarios, most drilling machines are suitable for large and medium-sized pipelines; for example, the micro spiral pipe jacking machine can only dredge a pipe with a minimum diameter of about 2500mm.

[0008] More importantly, the existing single drilling machine is not suitable for all blockage situations, especially for DN400-600 municipal drainage pipes with fragile pipe walls, small diameters, and relatively complex installation environments. Most of the existing drilling machines are not suitable for drilling and dredging. The few drilling machines that can be used need to be combined with other dredging methods to complete the pipeline dredging, and their practicality and versatility are poor.

[0009] In addition to the typical drilling machines mentioned above, there are some other common mechanical drill rods that can be used to dredge pipes. These mechanical drill rods are usually composed of a hollow tube body, an external threaded joint, a conical drill bit, a casing and a stirring part. One end of the drill rod is connected to the output part of the drill rig, which drives it to rotate. The conical drill bit reduces the travel resistance, and the stirring part stirs the blockage. At the same time, high-pressure water can be introduced through the hollow tube to dilute the blockage from the inside to achieve the purpose of dredging. However, the cost of dredging with mechanical drill rods is high, and the equipment purchase and maintenance costs are expensive. It requires high skills from the operator, and improper operation can easily damage the pipeline. The long-distance dredging effect is poor and is greatly affected by the on-site construction environment. For example, in narrow spaces or complex terrains, equipment assembly and deployment are restricted, and construction progress is slow.

[0010] Furthermore, drill pipes require high-strength alloys, and the complex process of precision threaded joints and wear-resistant drill bits results in high equipment procurement costs. After long-term use, thread wear and blunting of the drill bit require frequent replacement, compounding maintenance costs. Furthermore, the associated drilling rigs are high-powered and energy-intensive, further increasing operating costs. Some older pipes, such as concrete pipes, are made of fragile materials, and mechanical impact on the drill pipe can exacerbate cracks or misaligned joints. The rigid structure of the drill pipe makes it prone to "stuck" during long-distance unclogging due to numerous pipe bends, necessitating segmented operations. Large drilling rigs are difficult to access in narrow lanes or areas with dense underground pipe networks, requiring manual handling and disassembly, which is inefficient. When encountering blockages involving tree roots or hard, agglomerated objects (such as concrete debris), the drill pipe's insufficient stirring capacity necessitates manual breaking, which is time-consuming and labor-intensive. Existing drill pipes are mostly designed for conventional sewage blockages. They lack the ability to penetrate crystalline scale (such as calcium sulfate lumps) or high-temperature grease aggregates caused by chemical wastewater, requiring specialized drill bits to be customized, resulting in poor versatility.

[0011] Therefore, there is an urgent need to develop a universal DN400-600 municipal drainage pipe drilling machine. Summary of the Invention

[0012] The present invention aims to provide a drilling machine for DN400-600 municipal drainage pipes, so as to solve the problem that the dredging of DN400-600 municipal drainage pipes requires the use of multiple drilling machines in coordination with each other.

[0013] In order to solve the above problems, the present invention adopts the following technical solutions: A drilling machine for DN400-600 municipal drainage pipes, comprising: The drilling mechanism includes a central drill bit and a plurality of flying cutters arranged around the drill bit; the drill bit is connected to a hydraulic rotary motor for driving its rotation; the flying cutters are connected to a variable diameter hydraulic cylinder for driving them to expand or contract relative to the drill bit to adjust the drill hole diameter; when the flying cutters are fully expanded, the maximum drill hole diameter is formed; when fully contracted, only the drill bit forms the minimum drill hole diameter; A traveling trolley, comprising traveling wheels and a mounting frame, wherein the mounting frame is used to carry and mount the drilling mechanism, the hydraulic rotary motor, the variable diameter hydraulic cylinder, and the high-pressure water spray pipe in the high-pressure water supply system; A stabilizing mechanism for stabilizing the drilling machine when the drilling mechanism rotates to drill holes; A control mechanism for controlling the operation of the hydraulic system and the high-pressure water supply system; The auxiliary mechanism includes a camera arranged on the traveling trolley and a high-pressure water supply system for spraying water into the drill hole.

[0014] Beneficial effects: The modular design enables the drilling machine to move autonomously, accurately position, and efficiently dredge the pipe, adapting to limited space operations in DN400-600 pipes.

[0015] Preferably, the hydraulic rotary motor adopts a 2K rear oil port specification, a rated pressure of 25 MPa, a flow rate of 40 L / min, and can provide a torque output of 1200 N·m.

[0016] Beneficial effects: High torque output ensures that the drill bit can cut efficiently in dense subsidence materials and adapt to the dredging needs under different geological conditions.

[0017] Preferably, the stroke of the variable diameter hydraulic cylinder is 50 mm, which enables the outer diameter of the drill mechanism to be adjusted within the range of Φ400 mm-Φ600 mm.

[0018] Beneficial effects: The variable diameter design adapts to pipeline operations with different diameters, eliminating the need for frequent drill bit replacement and improving operating efficiency.

[0019] Preferably, the high-pressure water supply system includes a centrifugal pump and a high-pressure nozzle, which is connected to the end of the high-pressure water spray pipe near the drill bit; the water supply pressure of the high-pressure water supply system is 8-12MPa, the flow rate is 30-50L / min, and the high-pressure nozzle adopts a 6-hole design with a fan-shaped distribution.

[0020] Beneficial effects: High-pressure water flow combined with drill bit rotation effectively flushes and breaks up blockages such as soil and branches, improving dredging efficiency.

[0021] Preferably, the stabilizing mechanism includes two groups of hydraulic legs symmetrically arranged on the left and right sides of the walking trolley, and each group of legs is equipped with a pressure sensor; the stabilizing mechanism can automatically adjust the supporting force of the corresponding hydraulic legs according to the pressure applied to the inner wall of the pipeline by the drilling machine detected by the pressure sensor.

[0022] Beneficial effect: The adaptive support system ensures that the drilling machine remains stable during operation and avoids positioning deviations caused by vibrations.

[0023] Preferably, each group of hydraulic legs includes four hydraulic legs arranged in one-to-one correspondence with the running wheels at the bottom end of the walking trolley; the four pairs of hydraulic legs at the top of the walking trolley and the four pairs of running wheels at the bottom end of the walking trolley are distributed in one-to-one correspondence in horizontal positions.

[0024] Beneficial effects: Through the precise and symmetrical layout of the legs and wheels, the stability and balance of the drilling machine during operation are significantly improved, and the efficiency and accuracy of support adjustment may be improved.

[0025] Preferably, the drill bit comprises three evenly distributed blades and a cutterhead connecting the blades; the front ends formed by the three blades are connected to form a tip, and together form a tapered structure that gradually expands from the front end to the rear; There are three flying knives, each of which is distributed along the extension direction of each blade; The center position of the cutter disc is fixedly connected to a fixed rod extending backward along the axial direction of the drill bit, and the fixed rod is connected to the output shaft of the rotary hydraulic motor; a sliding sleeve is sleeved on the fixed rod, and the sliding sleeve is connected to the piston rod of the drill bit variable diameter hydraulic cylinder; the drill bit variable diameter hydraulic cylinder drives the sliding sleeve to move closer to or away from the cutter disc along the fixed rod; the flying cutter includes a long side segment and a short side segment, the angle between the long side segment and the short side segment is less than 180 degrees, the connection between the long side segment and the short side segment is a bent end, and the long side segment is the sharp end of the flying cutter; the bent end of the flying cutter is hinged to the cutter disc, and the end of the short side segment of the flying cutter is hinged to the sliding sleeve.

[0026] Beneficial effects: Through the special design of the drill bit and fly cutter structure, through its specific geometric shape, evenly distributed blades, reliable hydraulic diameter-changing mechanism and optimized fly cutter bending design, efficient, precise and stable drilling and diameter-changing operations can be achieved, while taking into account the compactness and reliability of the structure.

[0027] Preferably, there are four pairs of running wheels, which are pneumatic tires and are all located at the bottom of the mounting frame; the width of a single tire can reach 0.1-0.2 times that of an ordinary tire, and the ground contact area is increased and the pressure is reduced by deformation under low tire pressure, and the tread structure of the running wheel adopts a bionic track tread.

[0028] Beneficial effects: The width of a single tire can reach 0.1-0.2 times that of an ordinary tire. The deformation under low tire pressure increases the ground contact area and reduces the pressure. While being able to move under load, the four pairs of running wheels can effectively distribute the weight on each tire, making the tire pressure small enough to avoid damage or collapse of the pipeline.

[0029] Preferably, the stabilizing mechanism also includes four pairs of tensioning wheels that can be extended into the pipeline, and the tensioning wheels are arranged at the extended end of the hydraulic support legs; the tensioning wheels are connected to the support leg hydraulic cylinders through the hydraulic support legs; the support leg hydraulic cylinders are connected to an elastic connecting rod structure for driving the four pairs of hydraulic support legs and the tensioning wheels to contract or expand, and the support leg hydraulic cylinders are connected to air springs.

[0030] Beneficial Effects: Once the four pairs of tensioning wheels in the stabilizing mechanism enter the pipeline, they, along with the travel wheels, secure the drill within the pipe, preventing it from tipping over. The outrigger hydraulic cylinders and elastic connecting rods form a four-wheel linkage suspension capable of simultaneously driving all four pairs of tensioning wheels. Combined with the shock-absorbing design of the air springs, these closely spaced tensioning wheels (when extended, the distance between adjacent tensioning wheels is within 1-3 cm) simulate the effect of crawler tracks. While carrying the load, they effectively distribute the pressure on each tire, firmly securing the drill in place while preventing localized pressure on the pipeline from rupturing.

[0031] The advantages of the present invention are: 1. This invention utilizes a ROC20X50 variable-diameter hydraulic cylinder to adjust the drill bit's outer diameter from 400mm to 600mm, breaking the limitation of traditional drilling machines that only accommodate a single pipe diameter. This design allows the device to be used in pipes ranging from DN400 to DN600, eliminating the need for drill bit replacement and significantly improving operational efficiency.

[0032] 2. The high-pressure water supply system uses 8-12 MPa of pressure and fan-shaped nozzles to simultaneously flush out debris as the drill bit rotates. This is particularly effective in breaking up stubborn blockages such as concrete blocks and tree roots. Experimental data shows that this technology improves dredging efficiency by over 40%.

[0033] 3. The hydraulic outriggers of the stabilizing mechanism are equipped with pressure sensors that automatically adjust the support force based on the pipe inner wall pressure, ensuring the stability of the equipment during operation. Compared with traditional mechanical fixing methods, this reduces positioning time by 30%, and the support force error is controlled within ±5%.

[0034] 4. Overall structural innovation: Existing municipal pipe drilling machines mostly use a monolithic drill bit design, which cannot adapt to changes in pipe diameter. This invention achieves dynamic adjustment of the drill bit's outer diameter through independently controlled flying cutter structures and variable diameter hydraulic cylinders. This design has not been reported in the prior art.

[0035] 5. Innovation in Control Logic: The PLC controller uses the CAN bus to coordinate the drill's expansion, rotation, feed, and retraction, forming a closed-loop control system. For example, when the drill encounters increased resistance, the system automatically reduces the feed rate and increases the hydraulic motor torque. This intelligent control logic significantly improves the equipment's adaptability to complex subsidence conditions.

[0036] 6. Material and process innovation: The drill bit cutter is made of carbide YG8 material, combined with a special heat treatment process to make its hardness reach HRA89 or above. The wear resistance is more than 3 times higher than that of traditional high-speed steel. This improvement solves the problem of rapid wear of existing drill bits in hard blockages such as concrete.

[0037] In summary, the present invention solves the shortcomings of the existing DN400-600 municipal drainage pipe drilling machine in terms of versatility, adaptability, efficiency and reliability through multiple innovations in structure, control and materials, and has significant creativity and non-obviousness. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic structural diagram of the drilling machine in Example 1 of the present invention.

[0039] Figure 2 for Figure 1 Front view of.

[0040] Figure 3 for Figure 1 Top view of .

[0041] The figure marks in the drawings of the specification include: walking wheel 11, mounting frame 12, hydraulic support leg 21, tensioning wheel 22, support leg hydraulic cylinder 24, drill bit 31, hydraulic rotation motor 32, drill bit variable diameter hydraulic cylinder 33, cutter head 35, flying cutter 36, fixed rod 37, sliding seat 38, high-pressure nozzle 53, high-pressure pipeline 54, camera 55, center rod 61, and sliding sleeve 62. DETAILED DESCRIPTION

[0042] The following is further described in detail through specific implementation methods: Example 1 like Figure 1 As shown, the drilling machine for DN400-600 municipal drainage pipes of this embodiment includes a traveling trolley, a drilling mechanism installed at the front end of the traveling trolley, a stabilizing mechanism installed on the body of the traveling trolley, a control mechanism, and an auxiliary mechanism: The drilling mechanism includes a drill bit 31, a hydraulic motor for driving the drill bit 31 to rotate, multiple flying cutters 36 hinged at the rear end of the drill bit 31 that can be opened to increase the diameter of the drill bit 31, and a drill bit variable diameter hydraulic cylinder 33 for driving the flying cutters 36 to open or retract.

[0043] In this embodiment, two ROC20X50 drill bit variable diameter hydraulic cylinders 33 are used to drive the flying cutter 36 to open, extending the radial outward contact length of the drill bit 31 at the extension of the drill bit 31, and changing the diameter of the drill bit 31 to make it suitable for drilling and unblocking all drainage pipes with a diameter of 400-600 mm.

[0044] The traveling trolley includes traveling wheels 11 and a mounting frame 12 . The mounting frame 12 is used to mount a hydraulic rotary motor 32 and a drill bit variable diameter hydraulic cylinder 33 . The traveling wheels in this embodiment are solid wheels.

[0045] The drill bit 31 in the drill bit 31 structure uses a conventional drill bit 31. In this embodiment, the front end of the drill bit 31 is a conical structure with three sharp ends, consisting of three blades. The three blades are fixedly connected to an annular cutter head 35. A fixed rod 37 extending rearward along the axial direction of the drill bit 31 is fixedly connected to the center of the cutter head 35. The fixed rod 37 passes through the traveling carriage and is connected to the output shaft of the hydraulic rotary motor 32 installed at the rear end of the traveling carriage. The hydraulic rotary motor 32 drives the entire drill bit 31 structure to rotate. The output shaft of the hydraulic rotary motor 32 and the main shaft of the fixed rod 37 of the drill bit 31 are connected by a conventional rigid connection, such as a key connection or a flange connection. In this embodiment, a flange connection is used.

[0046] like Figure 1 As shown, a sliding seat 38 is connected to a fixed rod 37 between the cutterhead 35 and the traveling carriage. Behind the sliding seat 38, two drill bit reducing hydraulic cylinders 33 are mounted on the traveling carriage. The piston rods of the two drill bit reducing hydraulic cylinders 33 are connected to the rear end of the sliding seat 38. The circulation of hydraulic oil pushes the hydraulic cylinder pistons, driving the sliding seat 38 to move along the fixed rod 37 toward the cutterhead 35.

[0047] Each fly cutter 36 has a "√"-shaped structure, consisting of a long segment and a short segment. The angle between the long and short segments is less than 180 degrees, and the connection between the long and short segments is a bent end. The long segment serves as the sharp end of the fly cutter 36. A mounting hole is defined on the end of the short segment facing away from the long segment, and a corresponding mounting ring is also defined on the front ring of the sliding seat 38. The short segment ends of the fly cutter 36 are hingedly connected by pins that pass through the mounting holes in the fly cutter 36 and the sliding seat 38.

[0048] A mounting seat extending backward and having an opening is welded to the rear end of the cutter disc 35, and the opening corresponds to the bent end of the flying cutter 36. The bent end of the flying cutter 36 is hinged to the mounting seat of the cutter disc 35 by a pin, so that the direction of the long side section of the cutter disc 35 after opening is the radial outward extension direction of the drill bit 31, so that the flying cutter 36 is connected to the periphery of the drill bit 31 and rotates synchronously with the drill bit 31.

[0049] like Figure 3 As shown, in this embodiment, two drill-bit reducing hydraulic cylinders 33 are symmetrically arranged on either side of the fixed rod 37 of the drill bit 31. The cylinder bodies of the hydraulic cylinders are fixed to the rear ends of the cutterhead 35 and the fixed rod 37, and to the front bracket of the traveling carriage. The front ends of the piston rods are rigidly connected (e.g., by threaded connection or pin connection) to the sliding seat 38. When the hydraulic cylinders are operating, the expansion and contraction of the piston rods directly drives the sliding seat 38 to move axially.

[0050] The drill bit reducing hydraulic cylinder 33 is retracted, and the piston rod drives the sliding seat 38 away from the cutterhead 35 (moving it behind the drill bit 31). At this point, the flying cutter 36 is pulled inward by the sliding seat 38, and the outer end of the flying cutter 36 forms a smaller diameter with the outer circumference of the initial drill bit 31. This is suitable for the initial stages of drilling or when a small diameter hole is required.

[0051] When the drill diameter needs to be increased, the hydraulic system supplies oil to the drill bit's variable diameter hydraulic cylinder 33, pushing the piston rod forward and driving the slide 38 toward (closer to) the cutterhead 35. Because the middle curved ends of the cutters 36 are hinged to the cutterhead 35, as the short side segments move forward with the slide 38, the long side segments of each cutter 36 expand radially outward from the hinge point at the curved end. The outer ends of the cutters 36, or the ends of the long side segments, gradually move away from the axis of the drill bit 31 until they reach their maximum expansion position. At this point, the outer ends of all the cutters 36 and the drill bit 31 form a cutting profile with a larger diameter (similar to an umbrella-like expansion).

[0052] After the fly cutters 36 are opened, the rotary hydraulic cylinder continues to rotate the drill bit 31 and cutterhead 35. The cutting edges on the outer ends of the fly cutters 36 work together with the drill bit 31 to drill a large hole. Because the fly cutters 36 are linked to the sliding seat 38 via an articulated joint, the opening angles of all the fly cutters 36 are synchronized, ensuring uniformity and symmetry in the drilled hole diameter.

[0053] When the drilling is completed or the diameter needs to be reduced, the hydraulic cylinder supplies oil in the reverse direction, the piston rod retracts, and the sliding seat 38 moves backward. The flying cutter 36 retracts inward due to the pulling force and returns to the initial small diameter state, making it easier for the drill bit 31 to exit the channel or switch the drilling diameter.

[0054] This embodiment utilizes a linkage mechanism consisting of a hydraulic cylinder piston rod, a sliding seat 38, and an articulated fly cutter 36 to convert the hydraulic cylinder's axial linear motion into radial oscillation of the fly cutter 36, achieving stepless diameter adjustment. The symmetrical arrangement of the hydraulic cylinders and the even distribution of the fly cutters 36 ensure balanced cutting forces during diameter adjustment, preventing eccentricity or vibration in drilling.

[0055] It is suitable for working conditions that require switching diameters in the same drill hole (such as step hole processing and hole expansion operations), reducing the number of tool changes and improving processing efficiency.

[0056] In this embodiment, the drill bit 31 comprises a cutterhead 35 and three flying cutters 36 evenly distributed around the circumference of the cutterhead 35. Each flying cutter 36 is independently controlled by a ROC20x50 variable-diameter hydraulic cylinder. The flying cutters 36 are made of YG8 carbide. The independently controlled design of the flying cutters 36 allows for adjustment of the cutting angle to accommodate varying collapse conditions. The carbide material improves wear resistance and service life.

[0057] The stabilizing mechanism is used to stabilize the drilling machine when the drill bit 31 rotates to drill holes. The stabilizing mechanism includes a tensioning wheel 22 mounted on the trolley mounting frame 12, hydraulic legs 21 connecting each tensioning wheel 22, and a leg hydraulic cylinder 24 that drives the hydraulic legs 21 to expand or retract. In this embodiment, the number of tensioning wheels 22 is the same as the number of traveling wheels 11, and the installation position of the tensioning wheel 22 corresponds to the installation position of the traveling wheels 11. In this embodiment, the traveling wheels 11 are mounted at the bottom of the mounting frame 12, while the tensioning wheel 22 is mounted at the top of the mounting frame 12. When the tensioning wheel 22 is opened, the drilling machine driven into the pipe can contact the inner wall of the pipe while the tensioning wheel 22 contacts the inner wall of the opposite pipe. This makes the force on the inner wall of the entire pipe more balanced, avoiding damage due to excessive local force.

[0058] like Figure 2 and Figure 3 As shown, in this embodiment, the trolley is mounted on top of a bracket, fixedly connected to a center rod 61 parallel to the axis of the drill bit 31. There are two outrigger hydraulic cylinders 24 and eight tensioning pulleys 22, each group of four tensioning pulleys 22 symmetrically distributed on either side of the drill bit 31 axis and the center rod 61. Each group of four tensioning pulleys 22 is connected by a connecting rod, and the two hydraulic outriggers 21 are connected between the connecting rod and the center rod 61. A sliding sleeve 62 is attached to the center rod 61, which is hingedly connected to the two hydraulic outriggers 21 on the same side. The piston rod of the outrigger hydraulic cylinder 24 is connected to the sliding sleeve 62, pushing the sliding sleeve 62 forward and backward along the center rod 61, causing the hydraulic outriggers 21 to expand or contract, driving the tensioning pulleys 22 on the connecting rod to expand or contract outward. When the drilling machine enters the pipeline, the outrigger hydraulic cylinder 24 retracts the hydraulic outriggers 21 and the tensioning pulleys 22, allowing the drilling machine to enter the pipeline under the driving wheels, facilitating movement. After the drilling machine enters the pipeline, the support leg hydraulic cylinder 24 drives the hydraulic support leg 21 and the tensioning wheel 22 to open, so that the tensioning wheel 22 and the traveling wheel 11 are outwardly and closely contacted with the inner wall of the pipeline, and as much as possible contact with the inner wall of the pipeline on the upper and lower sides of the pipeline. The inner wall of the pipeline where it is difficult to apply force on the ground is supported outward to fix the entire drilling machine, providing a stable and as balanced a support force as possible for the drilling machine to prevent the drilling machine from tipping over during the drilling process.

[0059] The control mechanism is used to control the operation of the hydraulic system and the high-pressure water supply system; it should be noted that the control mechanism in this embodiment is not shown in the accompanying drawings, and it is not installed on the drilling machine body, but is connected to the drilling machine through a wire. During the operation of the drilling machine, the control mechanism is outside the pipeline and is operated by remote control. Regarding the selection of the control mechanism, existing control terminal equipment on the market can be directly purchased, such as server background, all-in-one computer, mobile phone terminal, etc. are all applicable. In this embodiment, the control mechanism adopts a PLC controller, which connects the various hydraulic valve groups and sensors through the CAN bus to achieve coordinated control of the expansion, rotation, feed and retreat of the drilling mechanism. The automated control logic reduces manual intervention and improves operation accuracy and safety.

[0060] The auxiliary mechanism includes a camera 55 mounted on the traveling trolley and a high-pressure water supply system for spraying water to the drill hole. The auxiliary mechanism is used to provide assistance when the drilling machine is drilling. Figure 1 As shown, the camera 55 is located at the top of the rear end of the traveling trolley mounting frame 12. The lens position of the camera 55 is higher than the top of the mounting frame 12, and the drilling situation of the front drill bit 31 and the flying cutter 36 can be photographed without obstruction. Figure 3 As shown, the camera 55 is installed above the fixing rod 37 and is parallel to the axial direction of the drill bit 31, so as to more comprehensively capture the drilling situation of the front drill bit 31.

[0061] like Figure 1 As shown, a high-pressure pipe 54 is mounted at the bottom of the trolley mounting frame, extending forward from the rear of the trolley. A high-pressure nozzle 53 is mounted at the front end of the pipe 54. The nozzle 53 is aligned with the outer edge of the front fly cutter 36 after it has been deployed. The nozzle 53 can simultaneously spray water to cool the fly cutter 36 and the surface being drilled, thereby softening the surface and facilitating drilling and unblocking. To further facilitate construction, after the trolley enters the pipe and reaches the location where drilling and unblocking are to be performed, water can be sprayed onto the surface to be drilled before the fly cutter 36 is deployed. After a certain period of time, the drill bit 31 can be activated to rotate. This will reduce the resistance encountered by the drill bit 31 during drilling, further facilitating drilling.

[0062] The modular design enables the drilling machine to move autonomously, accurately position itself, and efficiently clear the pipes, making it suitable for limited space operations in DN400-600 pipes.

[0063] The hydraulic rotary motor 32 features a 2K rear oil port, a rated pressure of 25 MPa, a flow rate of 40 L / min, and a torque output of 1200 N·m. This high torque output ensures the drill bit 31 can efficiently cut through dense subsidence, adapting to dredging needs in various geological conditions.

[0064] The drill bit variable diameter hydraulic cylinder 33 has a stroke of 50mm, allowing the outer diameter of the entire drill bit 31 mechanism, formed by the fly cutter 36 and the drill bit 31, to be adjusted within a range of Φ400mm-Φ600mm. The variable diameter design accommodates pipe operations of varying diameters, eliminating the need for frequent drill bit 31 replacement and improving operational efficiency.

[0065] The high-pressure water supply system connected to the high-pressure pipe 54 includes a centrifugal pump and a high-pressure nozzle 53. The water supply pressure is 8-12MPa, the flow rate is 30-50L / min, and the nozzle adopts a fan-shaped 6-hole design. The high-pressure water flow cooperates with the rotation of the drill bit 31 to effectively flush and break up blockages such as soil and branches, thereby improving the dredging efficiency. The high-pressure nozzle 53 and part of the high-pressure pipe 54 connected to it are installed on the walking carriage through existing buckles and other methods, and can move synchronously with the forward movement of the walking carriage. The remaining high-pressure pipes 54 and the centrifugal pump are all outside the pipeline to be dredged and do not move with the walking carriage.

[0066] Example 2 The drilling machine of this embodiment adopts a modular design and is mainly composed of a traveling trolley, a stabilizing mechanism, a drilling mechanism, a control mechanism and an auxiliary mechanism. Different from the first embodiment, the traveling trolley moves in the pipeline through the crawler-type traveling wheels 11, and the traveling trolley mounting frame 12 is welded with high-strength aluminum alloy profiles, which is light in weight and has good rigidity. The four groups of hydraulic legs 21 of the stabilizing mechanism are symmetrically distributed on both sides of the traveling trolley. Pressure sensors and anti-skid rubber pads are installed at the ends of the legs, and the pressure sensors monitor the supporting force in real time. There are two hydraulic legs 21 in each group, and all hydraulic legs 21 and all traveling wheels 11 are symmetrically arranged relative to the traveling trolley, so that after entering the pipeline, the pressure applied by the hydraulic legs 21 on the inner wall of the pipeline through the anti-skid pads and the pressure applied by the traveling wheels 11 on the inner wall of the pipeline can be almost equal in magnitude and opposite in direction in relative directions, so as to balance the forces on the inner wall of the pipeline as much as possible and avoid rupture due to excessive local pressure.

[0067] Compared with the first embodiment, the structure of the hydraulic support leg 21 of this embodiment is the same as that of the first embodiment except that the tensioning wheel 22 is not installed at the end of the hydraulic support leg 21 and a pressure sensor is installed.

[0068] In this embodiment, the hydraulic system outside the trolley uses a dual gear pump for oil supply. The main pump has a rated pressure of 31.5 MPa and a flow rate of 60 L / min, providing power for the hydraulic rotary motor 32 and the feed hydraulic cylinder; the feed hydraulic cylinder is the driving mechanism that drives the trolley's wheels 11 forward, which is not shown in the accompanying drawings. The auxiliary pump has a rated pressure of 20 MPa and a flow rate of 25 L / min, and is responsible for the operation of the drill bit variable diameter hydraulic cylinder 33 and the support leg hydraulic cylinder 24. The hydraulic rotary motor 32 adopts a 2K rear oil port specification, a displacement of 250 mL / r, a rated speed of 1500 r / min, and a maximum output torque of 1200 N·m. The feed hydraulic cylinder has a stroke of 500 mm and a thrust of 30 kN, which can provide a stable drilling feed speed.

[0069] The high-pressure water supply system in this embodiment consists of a centrifugal pump, an accumulator, and a high-pressure nozzle 53. Neither the centrifugal pump nor the accumulator are mounted on the trolley. During drilling, the high-pressure water supply system is located outside the pipe, except for the portion of the high-pressure pipe 54 connected to the high-pressure nozzle 53, which is mounted on the trolley. The centrifugal pump is a multi-stage centrifugal pump with a rated flow of 40 L / min and a head of 120 m, capable of providing a stable water supply pressure of 10 MPa. The high-pressure nozzle 53 is mounted near the front end of the drill bit 31 and adopts a 6-hole fan-shaped distribution design with a nozzle diameter of 1.5 mm and a spray angle of 120°, ensuring that the high-pressure water flow can cover the entire drill hole cross-section.

[0070] The PLC controller of the control mechanism is connected to each hydraulic valve group and sensor via the CAN bus to achieve automatic control. The control process of the drill bit 31 expansion is as follows: 1. After the equipment reaches the predetermined position, the PLC controller issues a command to extend the outriggers. The pressure sensor then provides feedback on the supporting force until the set value is reached. This value varies depending on the type of pipe being cleared. As shown in Table 1, the pressure sensor setting for concrete pipes is 1-3 kN, for PVC-U pipes it is 4-5 kN, for ductile iron pipes it is ≤40 kN, and for HDPE pipes it is 2-3 kN.

[0071] Table 1

[0072] 2. Start the drill bit variable diameter hydraulic cylinder 33, and monitor the angle of the fly cutter 36 through the displacement sensor installed on the drill bit variable diameter hydraulic cylinder 33, and automatically adjust it to the corresponding position according to the diameter of the pipe to be drilled (DN400 corresponds to an angle of 40°, DN600 corresponds to an angle of 60°).

[0073] The angle of the fly cutter 36 is directly controlled by the telescopic stroke of the drill bit variable diameter hydraulic cylinder 33. The hydraulic cylinder pushes or pulls the sliding seat 38 to rotate the fly cutter 36 around the pin connected to the bent portion. Therefore, the displacement of the hydraulic cylinder and the angle of the fly cutter 36 are fixedly correlated. The displacement sensor installed on the drill bit variable diameter hydraulic cylinder 33 monitors the telescopic stroke of the hydraulic cylinder.

[0074] 3. Simultaneously start the high-pressure water supply system and the hydraulic rotary motor 32 , and the drill bit 31 drives the flying cutter 36 to start rotating and drilling.

[0075] 4. The feed hydraulic cylinder advances at a speed of 50mm / min. When encountering increased resistance, it automatically reduces the feed speed and increases the torque of the hydraulic motor.

[0076] 5. After drilling is completed, the feed hydraulic cylinder retreats at a speed of 100 mm / min, and the drill diameter reducing hydraulic cylinder 33 contracts to restore the initial diameter.

[0077] In this embodiment, the four pairs of running wheels 11 all have extra-wide tires and a special tread structure, which expands the contact area between the tires and the ground and optimizes the force distribution, while using the mechanical structure to simulate the "continuous support" characteristics of the tracks.

[0078] This embodiment utilizes wide, low-pressure tires: Using a low-pressure, large-diameter, narrow-tread design, the width of a single tire can be 0.1-0.2 times that of a typical tire (e.g., 50-80mm). This deformation at low pressure increases the contact patch and reduces pressure (pressure = pressure / area). For example, if a single tire carries a 0.5-ton load, a typical tire's contact patch is approximately 0.1 square meters, with a pressure of 50 kPa. The narrow tire's low-pressure design increases the contact patch to 0.25-0.5 square meters, reducing the pressure to 10-20 kPa, directly matching the pressure of the track.

[0079] Among them, the key parameter adjustment logic is: Pressure calculation: 0.5 tons = 500 kg, corresponding to a pressure of about 5000 N (calculated based on the acceleration of gravity of 10 m / s²).

[0080] Ground contact area matches track pressure: When the pressure needs to be reduced to 10kPa, the ground contact area = 5000N ÷ 10000Pa = 0.5㎡; When the pressure needs to be reduced to 20kPa, the ground contact area = 5000N ÷ 20000Pa = 0.25㎡.

[0081] Decoupling design of tire width and contact patch: Although the tire width is reduced to 50-80mm (0.1-0.2 times that of ordinary tires), the tire is greatly deformed due to extremely low tire pressure, and the contact area is increased to 2.5-5 times that of ordinary tires (0.25-0.5㎡ vs. 0.1㎡), achieving pressure equivalent to that of the track.

[0082] The running wheels 11 also feature a bionic track tread: a tread designed with continuous raised horizontal or grid patterns that mimic the "block support" effect of a track, preventing localized pressure concentration. The raised patterns can embed into soft surfaces (such as mud and snow), increasing friction and dispersing pressure.

[0083] Example 3 In this embodiment, the stabilization mechanism includes eight tensioning wheels 22 that can be extended within the pipeline. These tensioning wheels 22 are driven by outrigger hydraulic cylinders 24 in the hydraulic system. There are two outrigger hydraulic cylinders 24, and eight tensioning wheels 22. Each group of four tensioning wheels 22 forms a pair. Within each group, two tensioning wheels 22, positioned opposite each other on either side of the trolley, form a pair, for a total of four pairs of tensioning wheels 22, symmetrically distributed on either side of the axis of the drill bit 31 and the center rod 61. Each group of four tensioning wheels 22 is connected by a connecting rod, and the two hydraulic outriggers 21 are connected between the connecting rod and the center rod 61. The distribution of the tensioning wheels 22 in this embodiment is consistent with that in the previous embodiment.

[0084] The outrigger hydraulic cylinders 24 and the connecting rods form a flexible suspension linkage for the four pairs of tensioning wheels 22. The travel wheels 11 and tensioning wheels 22 are positioned above and below the trolley. In this embodiment, the connection structure of the travel wheels 11 and the tensioning wheels 22 is identical, except for the conventional connection to the feed hydraulic cylinders. Both form a four-wheel linkage suspension. In this embodiment, a central rod 61 is mounted on both the top and bottom mounting frames 12 of the trolley, along with four hydraulic outriggers 21 and two outrigger hydraulic cylinders 24 on either side of the central rod 61. The hydraulic suspension, which is formed by the elastic connecting rods, including the central rod 61, and the outrigger hydraulic cylinders 24, connects the four tensioning wheels 22 to the travel wheels 11. This allows all tires to independently swing up and down with the pipe surface, maintaining consistent contact with the pipe surface (similar to the "adaptive" nature of crawler tracks). For example, the front and rear tires are connected by transverse elastic beams. When encountering a bump, the diagonal tires automatically adjust their height, preventing the suspended tires from bearing the entire weight. The hydraulic suspension balances the load on each tire in real time. When a tire falls into a pothole, the other tires automatically share the pressure to prevent a sudden increase in pressure at a single point.

[0085] Shock-absorbing and buffering design: Air springs or rubber shock absorbers are added to the suspension to absorb ground impact while extending the tire's contact time (similar to the "continuous support" of tracks) and reducing instantaneous pressure peaks.

[0086] In a municipal drainage pipe collapse repair project, the drilling machine of the present invention was used to clear the tree roots and concrete mixture collapse in the DN500 pipe. The actual test data is as follows: Drill bit 31 expansion time: ≤30 seconds Average drilling speed: 0.8m / min (concrete mixture), 1.5m / min (root blockage) Maximum drilling depth: 15m (single operation) High-pressure water flushing efficiency: 40% higher than traditional methods Equipment continuous operation time: ≥8 hours Compared with traditional manual dredging methods, the present invention can reduce operation time by 70%, reduce labor costs by 50%, and complete deep collapse dredging without damaging the pipeline structure.

[0087] The drilling process of the drilling machine is described as follows: 1. Equipment entry and positioning The drilling machine autonomously enters the DN400-600 pipeline via the crawler-type wheels 11 of the traveling trolley, observes the situation inside the pipeline using the auxiliary mechanism's camera 55, and moves to the position above the collapsed area. Upon reaching the predetermined position, the control mechanism's PLC controller issues a command, and the four sets of hydraulic legs 21 of the stabilization mechanism are extended through the leg hydraulic cylinders 24. The tensioning wheel 22 at the end is pressed against the inner wall of the pipeline. Pressure sensors installed at the connection between each hydraulic leg 21 and the connecting rod monitor the supporting force transmitted by the hydraulic leg 21 and the connecting rod to the tensioning wheel 22 or the traveling wheel 11 in real time until the set value is reached, ensuring the stable fixation of the equipment.

[0088] 2. Drill bit 31 expansion and parameter adjustment Based on the nominal pipe diameter (e.g., DN500), the PLC controller activates the drill bit variable diameter hydraulic cylinder 33. A displacement sensor mounted on the drill bit variable diameter hydraulic cylinder 33 monitors the angle of the cutter 36 of the drill bit 31. For example, a DN400 diameter corresponds to an angle of 40° (drill bit 31 outer diameter Φ400mm), and a DN600 diameter corresponds to an angle of 60° (drill bit 31 outer diameter Φ600mm). This allows the drill bit 31 outer diameter to be adaptively adjusted within the Φ400mm-Φ600mm range without having to replace the drill bit 31.

[0089] 3. Collaborative operation of drilling and high-pressure water Synchronously start the hydraulic rotary motor 32 and the high-pressure water supply system: A hydraulic rotary motor 32 (2K rear port specification, rated pressure 25 MPa, torque 1200 N·m) drives the drill bit 31 to rotate at 1500 r / min, and three YG8 carbide cutters 36 cut through obstructions such as tree roots and concrete.

[0090] The centrifugal pump of the high-pressure water supply system provides water at a pressure of 8-12 MPa and a flow rate of 30-50 L / min, which is sprayed through the high-pressure nozzle 53 with 6 holes distributed in a fan shape at the front end of the drill bit 31, covering the entire drill hole cross section, flushing the broken objects and cooling them, thereby improving cutting efficiency.

[0091] 4. Feeding and intelligent control The feed hydraulic cylinder propels the drill at a speed of 50 mm / min. When the pressure sensor detects increased resistance (e.g., encountering a hard concrete block), the PLC controller automatically reduces the feed speed to 20 mm / min and increases the hydraulic motor torque to 1500 N·m to prevent equipment overload. During drilling, the trolley's elastic suspension linkage (outrigger hydraulic cylinder 24 + connecting rod) enables the tracked wheels 11 to adapt to the undulations of the pipe's inner wall, maintaining stable support.

[0092] 5. Shutdown and reset After the drilling is completed, the feed hydraulic cylinder retracts at a speed of 100 mm / min, the drill diameter reducing hydraulic cylinder 33 contracts to reset the angle of the fly cutter 36, and the drill bit 31 returns to its original diameter. The hydraulic legs 21 of the stabilizing mechanism are retracted, and the trolley drives the equipment out of the pipeline, completing the operation.

[0093] When the drilling machine of this embodiment is used for operation, it is possible to: Adaptive diameter change: The ROC20X50 hydraulic cylinder enables a single device to adapt to the full range of pipe diameters from DN400 to DN600, reducing changeover time. High-pressure water synergy: 8-12MPa water flow combined with 36 carbide cutters increases the efficiency of breaking stubborn blockages such as tree roots and concrete by 40%; Intelligent control: PLC+CAN bus system adjusts feed speed and torque in real time to avoid pipeline damage, and the single operation depth can reach 15m; Low-pressure travel: Low tire pressure deformation and elastic suspension simulate track support, with ground pressure close to the track pressure, suitable for operations in limited spaces in pipelines.

[0094] Example 4 In this embodiment, the running wheels 11 are rubber crawler-type structures with anti-slip bumps on the crawler surface. The crawler width is 80 mm, and the ground contact pressure is ≤ 0.05 MPa. The crawler-type running mechanism improves the maneuverability in muddy or uneven pipelines, and the low ground contact pressure prevents secondary damage to the pipeline.

[0095] Example 5 In this embodiment, the camera 55 is equipped with an LED fill light and a 360° rotating pan / tilt. The video signal is transmitted to the ground control terminal in real time via a wireless transmission module. The all-round visual monitoring system helps operators understand the drilling position and dredging effect in real time, improving decision-making accuracy.

[0096] Example 6 In this embodiment, the stabilization mechanism includes four groups of hydraulic legs 21 symmetrically arranged on the upper, lower, left, and right sides of the trolley. Each group of hydraulic legs 21 includes at least four hydraulic legs 21. The end of each leg is covered with a pressure sensor with a sponge pad attached to the outside. The control mechanism can automatically adjust the extension length of each hydraulic leg 21 according to the pressure on the inner wall of the pipe. By using the four groups of hydraulic legs 21 that can be extended from the upper, lower, left, and right sides of the trolley, when the trolley is moved to the position to be dredged by the walking wheels 11, the hydraulic legs 21 that extend outward in the circumferential direction of the trolley can evenly apply force to various positions on the inner wall of the pipe to fix the trolley, avoiding the force balance of the pipe being disrupted due to excessive concentration of force at a local position. This can ensure that the entire drilling machine is fixed while avoiding damage to the inner wall of the pipe. The sponge pads at the ends of each hydraulic support leg 21 can not only increase the contact area between the hydraulic support leg 21 and the inner wall of the pipe and reduce the pressure, but also increase the friction and more firmly fix the entire drilling machine at the position to be dredged, providing a stable and firm support force for the drilling machine when it rotates, and preventing the drilling machine from flipping over as the drilling machine rotates; at the same time, the sponge pads are provided to provide a buffer for the pressure sensor at the end, so that the pressure sensor can protect the pressure sensor while accurately detecting the force applied to the inner wall of the pipe by each hydraulic support leg 21.

[0097] An adaptive support system is formed by the hydraulic legs 21, the pressure sensors on each leg 21, a control mechanism that receives signals from each pressure sensor, and the leg hydraulic cylinders 24 that are controlled by the control mechanism to adjust the length of each leg 21. This system ensures the drilling machine remains stable during operation, preventing positioning deviations caused by vibration. It adjusts the extension length of the hydraulic legs 21 in real time, ensuring that each leg 21 maintains nearly consistent contact force with the inner wall of the pipe, preventing excessive local pressure from causing pipe rupture.

[0098] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. A drilling machine for DN400-600 municipal drainage pipes, characterized in that: include: The drilling mechanism includes a central drill bit and a plurality of flying cutters arranged around the drill bit; the drill bit is connected to a hydraulic rotary motor for driving its rotation; the flying cutters are connected to a variable diameter hydraulic cylinder for driving them to expand or contract relative to the drill bit to adjust the drill hole diameter; when the flying cutters are fully expanded, the maximum drill hole diameter is formed; when fully contracted, only the drill bit forms the minimum drill hole diameter; A traveling trolley, comprising traveling wheels and a mounting frame, wherein the mounting frame is used to carry and mount the drilling mechanism, the hydraulic rotary motor, the variable diameter hydraulic cylinder, and the high-pressure water spray pipe in the high-pressure water supply system; A stabilizing mechanism for stabilizing the drilling machine when the drilling mechanism rotates to drill holes; A control mechanism for controlling the operation of the hydraulic system and the high-pressure water supply system; The auxiliary mechanism includes a camera arranged on the traveling trolley and a high-pressure water supply system for spraying water into the drill hole.

2. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: The hydraulic rotary motor adopts a 2K rear oil port specification, a rated pressure of 25 MPa, a flow rate of 40 L / min, and can provide a torque output of 1200 N·m.

3. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: The stroke of the variable diameter hydraulic cylinder is 50 mm, which enables the outer diameter of the drill mechanism to be adjusted within the range of Φ400 mm-Φ600 mm.

4. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: The high-pressure water supply system includes a centrifugal pump and a high-pressure nozzle, which is connected to the end of the high-pressure water spray pipe near the drill bit; the water supply pressure of the high-pressure water supply system is 8-12MPa, the flow rate is 30-50L / min, and the high-pressure nozzle adopts a 6-hole design with a fan-shaped distribution.

5. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: The stabilizing mechanism includes two sets of hydraulic legs symmetrically arranged on the left and right sides of the walking trolley, and each set of legs is equipped with a pressure sensor; the stabilizing mechanism can automatically adjust the supporting force of the corresponding hydraulic legs according to the pressure applied to the inner wall of the pipeline by the drilling machine detected by the pressure sensor.

6. The drilling machine for DN400-600 municipal drainage pipes according to claim 5, characterized in that: Each set of hydraulic legs includes 4 hydraulic legs that are arranged in a one-to-one correspondence with the running wheels at the bottom of the trolley; the 4 pairs of hydraulic legs at the top of the trolley and the 4 pairs of running wheels at the bottom of the trolley are distributed in a one-to-one correspondence in the horizontal position.

7. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: The drill bit includes three evenly distributed blades and a cutterhead connecting the blades; the front ends formed by the three blades are connected to form a tip, and together form a tapered structure that gradually expands from the front end to the rear; There are three flying knives, each of which is distributed along the extension direction of each blade; The center position of the cutter disc is fixedly connected to a fixed rod extending backward along the axial direction of the drill bit, and the fixed rod is connected to the output shaft of the rotary hydraulic motor; a sliding sleeve is sleeved on the fixed rod, and the sliding sleeve is connected to the piston rod of the drill bit variable diameter hydraulic cylinder; the drill bit variable diameter hydraulic cylinder drives the sliding sleeve to move closer to or away from the cutter disc along the fixed rod; the flying cutter includes a long side segment and a short side segment, the angle between the long side segment and the short side segment is less than 180 degrees, the connection between the long side segment and the short side segment is a bent end, and the long side segment is the sharp end of the flying cutter; the bent end of the flying cutter is hinged to the cutter disc, and the end of the short side segment of the flying cutter is hinged to the sliding sleeve.

8. The drilling machine for DN400-600 municipal drainage pipes according to claim 1, characterized in that: There are four pairs of running wheels, which are pneumatic tires and are all located at the bottom of the mounting frame. The width of a single tire can reach 0.1-0.2 times that of an ordinary tire. The ground contact area is increased and the pressure is reduced by deformation under low tire pressure. The tread structure of the running wheel adopts a bionic track tread.

9. The drilling machine for DN400-600 municipal drainage pipes according to claim 6, characterized in that: The stabilizing mechanism also includes four pairs of tensioning wheels that can be extended into the pipeline, and the tensioning wheels are arranged at the extended end of the hydraulic support legs; the tensioning wheels are connected to the support leg hydraulic cylinders through the hydraulic support legs; the support leg hydraulic cylinders are connected to an elastic connecting rod structure for driving the four pairs of hydraulic support legs and the tensioning wheels to contract or expand, and the support leg hydraulic cylinders are connected to air springs.

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