A mobile pipe perforating apparatus

Abstract

The application designs a mobile pipeline drilling equipment, and belongs to the technical field of metal pipeline drilling. The equipment comprises a lifting device, a drilling device, a clamping device, a leveling device and a control unit. The drilling device is provided with a micro-vibration suppression adaptive mechanism integrated with an acoustic emission sensor to realize vibration monitoring and active suppression. The clamping device adopts a flexible fitting capsule filled with magnetorheological fluid to realize self-adaptive fitting and magnetic control rigid locking. The drilling device is also provided with a double-layer sleeve type nozzle and an eddy current separation and collection bin to realize the linkage spraying of cooling liquid and the negative pressure recovery of cutting chips. The control unit collects cutting state signals in real time and dynamically adjusts the feeding speed and clamping parameters. The application solves the problems of unstable clamping, easy vibration, cutting chip pollution and the inability to adapt to changes in the pipe wall of the existing mobile drilling equipment, and realizes high-quality, high-stability and clean drilling operation on site of in-service pipelines.

Description

Technical Field

[0001] This invention relates to the field of metal pipe drilling technology, and more specifically to a mobile pipe drilling device. Background Technology

[0002] During the installation of heating pipes, it is often necessary to perform on-site drilling operations on existing pipes, such as installing measuring instruments, connecting branch pipes, or performing maintenance. This type of drilling on in-service pipes requires equipment capable of on-site mobile operation, while ensuring drilling accuracy, operational safety, and environmental cleanliness to avoid damage or contamination of the existing piping system.

[0003] Currently, existing pipe drilling technologies and related equipment face a series of technical bottlenecks in practical applications. Traditional drilling equipment is often bulky and fixed to a specific workstation, making it difficult to move flexibly to complex field environments. This forces many pipe drilling jobs to still rely on disassembling pipe sections and transporting them to the workshop for processing, or using manual drilling methods, which are inefficient and difficult to control in terms of quality. Mobile equipment designed specifically for field use often suffers from insufficient overall rigidity and defects in clamping methods, leading to severe vibrations during drilling. This not only affects the quality of the hole wall and the life of the drill bit, but may also cause deviations in the drilling position due to equipment displacement. Existing pipe clamping mechanisms only have point or line contact with the pipe surface, which cannot adaptively conform to the irregular contours of common pipe surfaces such as rust, weld protrusions, or residual insulation layers. This results in uneven distribution of clamping force, making slippage prone to occur under cutting vibration conditions, posing a safety hazard. Furthermore, the cooling and chip removal systems in conventional drilling processes are separate, and the coolant is sprayed indiscriminately and difficult to recover. The generated metal chips are prone to splashing or falling into the pipeline, posing a serious risk of wear or blockage to downstream equipment such as circulating pumps, valves, and heat exchangers. During drilling operations, existing equipment mostly uses constant speed and feed, which cannot adapt to localized changes in pipe wall thickness or material. Encountering hardened zones or inclusions can easily lead to drill bit jamming, chipping, or motor overload. There is a lack of monitoring and active suppression capabilities for cutting chatter, resulting in poor process stability.

[0004] Therefore, developing a mobile pipe drilling device that solves the problems of existing mobile pipe drilling equipment and meets the urgent needs of modern pipeline engineering for efficient, precise, clean, and safe drilling on site is of great significance. Summary of the Invention

[0005] To address the problems existing in the background art, the present invention provides a mobile pipe drilling device, including a lifting device, a drilling device, a clamping device, a leveling device, and a control unit;

[0006] The lifting device includes a chassis, a hydraulic mechanism located at the center of the upper surface of the chassis, a support plate fixedly connected to the top of the piston rod of the hydraulic mechanism, and two sets of symmetrically distributed X-shaped lifting arms located between the chassis and the support plate.

[0007] The drilling device includes a workbench, a mounting bracket on one side of the upper surface of the workbench, a reset mechanism on the top of the mounting bracket, a drilling motor on the bottom of the reset mechanism, a coolant tank on the side of the mounting bracket away from the drilling motor, and a double-layer sleeve-type nozzle on the side of the mounting bracket close to the drilling motor.

[0008] The clamping device includes two positioning plates on the upper surface of the worktable, an adjusting screw passing through the through hole of the positioning plate, a V-shaped clamping plate connected to the worktable by the threaded transmission of the adjusting screw and slidably connected to the worktable, and multiple magnetorheological capsules located on the inner sides of the left and right clamping plates of the V-shaped clamping plate.

[0009] The leveling device includes an electronic bubble level on the outer surface of the punching motor, leveling screws at the four corners of the support plate, and leveling handwheels that are threadedly connected to the leveling screws.

[0010] In a preferred embodiment, the drilling device further includes a drilling bit connected to the drilling motor via a micro-vibration suppression adapter mechanism;

[0011] The micro-vibration suppression adapter includes an outer sleeve fixedly connected to the shaft extension end of the drilling motor, an inner mandrel, an elastic damping element disposed between the outer sleeve and the inner mandrel, and an acoustic emission sensor disposed on the outer surface of the outer sleeve. The upper end of the inner mandrel is connected to the outer sleeve through the elastic damping element, and the lower end of the inner mandrel is fitted with a drilling bit.

[0012] The magnetorheological capsule includes a flexible outer capsule, a magnetorheological fluid filling layer, a magnetic core, an excitation coil, and a pressure sensor. The magnetorheological fluid filling layer is located in the internal cavity of the flexible outer capsule, the magnetic core is located inside the flexible outer capsule, the excitation coil is wound around the magnetic core, and the pressure sensor is located at the bottom or side wall of the flexible outer capsule.

[0013] The double-layer sleeve-type nozzle includes an inner cooling pipe and an outer negative pressure chip suction pipe. The inner cooling pipe is connected to a coolant tank through a liquid supply line. A nozzle is provided at the lower end of the inner cooling pipe. The outer negative pressure chip suction pipe is coaxially sleeved outside the inner cooling pipe. An annular chip removal channel is formed between the outer surface of the inner cooling pipe and the inner surface of the outer negative pressure chip suction pipe. The upper end of the outer negative pressure chip suction pipe is connected to the vortex separation and collection chamber through a chip removal hose.

[0014] The control unit is electrically connected to the acoustic emission sensor, the Hall current sensor located in the power supply line of the punching motor, the contact pressure sensor, the excitation coil, the elastic damping element, and the servo driver of the punching motor.

[0015] In a preferred embodiment, the elastic damping element is a piezoelectric ceramic actuator stack assembly, and the control unit outputs an inverse driving voltage to the piezoelectric ceramic actuator when high-frequency flutter is detected.

[0016] In a preferred embodiment, a push piston is slidably disposed inside the inner cooling pipe. The push piston includes a piston head and a piston rod. The piston head is disposed inside the inner cooling pipe, and the piston rod extends out of the inner cooling pipe and is fixedly connected to the output shaft of the drilling motor. The connection port between the inner cooling pipe and the liquid supply pipeline is located below the push piston. A one-way valve for controlling the unidirectional flow of coolant is provided on the liquid supply pipeline.

[0017] In a preferred embodiment, the vortex separation and collection chamber is provided with a tangential air inlet, and a chip collection box is installed at the bottom of the vortex separation and collection chamber.

[0018] In a preferred embodiment, the magnetorheological fluid filling layer is filled with a magnetorheological fluid composed of a base fluid and micron-sized magnetic particles; the magnetic core is made of a soft magnetic material; and the flexible outer shell is made of high-strength rubber or silicone material.

[0019] In a preferred embodiment, the middle section of the adjusting screw is provided with a forward and reverse thread structure, the V-shaped clamp includes a left clamp and a right clamp, the left clamp and the right clamp are respectively threaded into the left-hand thread section and the right-hand thread section of the adjusting screw; a rotating handwheel is provided at the end of the adjusting screw away from the mounting bracket.

[0020] In a preferred embodiment, the lower end of the leveling screw is threadedly connected to the support plate, the upper end of the leveling screw passes through the through holes provided at the four corners of the workbench, and the end of the leveling screw away from the support plate is provided with a stop structure, which is movably limited to the upper surface of the workbench.

[0021] In a preferred embodiment, the lower surface of the workbench is provided with a coolant recovery box via a sliding groove; a telescopic handle is provided at the end of the chassis away from the mounting frame; one end of each of the two sets of X-shaped lifting arms is hinged to the chassis and the support plate respectively via pins, and pulleys are respectively installed at the other ends of the two sets of X-shaped lifting arms; U-shaped frames are provided on the upper surface of the chassis and the lower surface of the support plate corresponding to the pulley positions as slide rails; and universal wheels are provided at the four corners of the bottom of the chassis.

[0022] This invention also provides a working method for a mobile pipe drilling device, comprising the following steps:

[0023] S1. Equipment positioning and clamping preparation: Move the equipment to the drilling position, fix the equipment, adjust the height of the workbench to make it close to the pipe, and rotate the adjusting screw to make the V-shaped clamp initially contact the surface of the pipe.

[0024] S2, Adaptive bonding and stiffness curing: Monitor bonding pressure and determine whether bonding is sufficient, and pass a set current to the excitation coil to cure the magnetorheological fluid filling layer, thereby achieving high rigidity locking.

[0025] S3. Leveling and Verticality Confirmation: Observe the electronic bubble level and adjust the level of the workbench to ensure that the axis of the drilling bit is perpendicular to the axis of the pipe.

[0026] S4. Multi-source fusion perception of cutting state: Real-time acquisition of motor current signal and acoustic emission signal, construction of load resistance torque observation model based on motor current signal, and calculation of cutting force change rate;

[0027] S5. Adaptive vibration damping feed strategy: Based on the real-time judgment of the cutting state, the set feed speed is maintained in the normal cutting state, the feed speed is reduced and the magnetorheological damping coefficient is increased when hard point is detected, and the feed is paused or the feed speed is reduced and the piezoelectric ceramic actuator is activated to achieve active vibration damping when chatter is detected.

[0028] S6, Negative pressure vortex chip removal and cooling: The piston is pushed down with the drilling motor to push the coolant to the drilling point. The vortex separation collection chamber generates negative pressure, which causes the iron chips to be carried into the collection chamber by the high-speed airflow and fall into the chip collection box under the action of centrifugal force.

[0029] S7. Drilling Completed and Released: After drilling is completed, the reset mechanism drives the drilling motor back to its original position, cuts off the current of the excitation coil to restore the magnetorheological fluid to a liquid state, and rotates the adjusting screw to loosen the V-shaped clamp in the opposite direction.

[0030] Furthermore, S1 includes the following steps:

[0031] S11. Equipment movement and fixing: Move the equipment to the working site of the in-service pipeline by using the telescopic handle, and fix the equipment by stepping on the brake mechanism of the caster wheel to achieve on-site positioning of the equipment;

[0032] S12. Coarse Height Adjustment: Operate the piston rod of the hydraulic mechanism to extend and retract according to the height of the pipeline, which will drive the support plate to rise and fall, the X-shaped lifting arm to extend or retract, and the pulley to slide in the slide rail to adjust the worktable to a height close to that of the pipeline, in preparation for subsequent clamping.

[0033] S13. Initial alignment of the V-shaped clamp: Rotate the handwheel on the adjusting screw. The rotation of the adjusting screw will drive the left and right clamps of the V-shaped clamp to move synchronously towards each other, so that the magnetorheological capsule inside the V-shaped clamp makes initial contact with the outer surface of the pipe without applying clamping force, thus completing the clamping preparation.

[0034] Furthermore, S2 includes the following steps:

[0035] S21. Real-time monitoring of contact pressure: The control unit monitors the contact pressure distribution between each magnetorheological capsule and the pipe surface in real time through contact pressure sensors, and collects pressure signals. The monitoring frequency is no less than 100Hz to ensure timely feedback on the fit status;

[0036] S22. Fit Adequacy Determination: The control unit determines whether the fitting pressure of all capsules has reached the set threshold. ,in The value range is 40-60 kPa; if all cysts satisfy If the pressure is sufficient, proceed to the next step; if there is insufficient pressure in any area, instruct the operator to fine-tune the position of the V-shaped clamp by rotating the adjusting screw, and repeat this step until the fit is sufficient.

[0037] S23. Excitation Current Application and Magnetic Field Generation: After sufficient contact, the control unit supplies a set current to the excitation coil. , generating magnetic field strength ,in The value range is 1.5-3A. The value range is 0.3-0.8T;

[0038] S24. Calculation of the stiffness response of magnetorheological fluid: Shear yield stress of the magnetorheological fluid filling layer The calculation formula for the response magnetic field strength based on the Bingham model is as follows:

[0039] ;

[0040] in, The initial yield stress is given in the absence of a magnetic field, and its value ranges from 0.5 to 1 kPa. is the magnetorheological coefficient, with a value ranging from 40 to 60; The magnetic field strength; The material index ranges from 1.2 to 1.5; the formula enables the controllable transformation of magnetorheological fluids from a liquid to a solid-like state.

[0041] S25. High-rigidity locking confirmation: After the magnetorheological fluid solidifies, the equivalent damping coefficient changes from the initial value. Upgraded to ,in The value range is 30-70 N·s / m. The value range is 1500-2500 N·s / m; the control unit confirms that the stiffness locking is completed, the capsule achieves high rigidity fitting and locks all degrees of freedom, and completes the clamping process.

[0042] Furthermore, S3 includes the following steps:

[0043] S31. Levelness detection: The operator observes the electronic bubble level installed on the outer surface of the punching motor and reads the current tilt angle and direction of the workbench.

[0044] S32. Leveling Operation: According to the tilt direction displayed by the electronic bubble level, rotate the leveling handwheels corresponding to the four corners of the worktable. The leveling handwheels drive the leveling screw to rise and fall through the threaded connection. The leveling screw drives the corresponding positions of the four corners of the worktable to rise and fall, gradually adjusting the levelness of the worktable.

[0045] S33. Verticality Confirmation: Repeat S31 and S32 until the electronic bubble level shows the bubble is centered and the worktable is horizontal. At this time, the axis of the drilling bit is perpendicular to the axis of the pipe.

[0046] Furthermore, S4 includes the following steps:

[0047] S41, Sensor Signal Acquisition: The control unit acquires the motor current signal obtained by the Hall current sensor in real time. Acoustic emission signals acquired by the acoustic emission sensor The sampling frequency is not less than 1kHz, of which Characterizing cutting load torque, Characterizing high-frequency flutter;

[0048] S42. Construction of Load Resistance Torque Observation Model: A load resistance torque observation model is constructed based on the motor current signal. The calculation formula is as follows:

[0049] ;

[0050] in, This is the load resistance torque; This is the torque constant, with a value ranging from 0.05 to 0.2 N·m / A; This refers to the motor current. The moment of inertia ranges from 0.001 to 0.01 kg·m². The principal axis angular acceleration; The viscosity coefficient ranges from 0.001 to 0.01 N·m·s / rad. The model enables real-time observation of the cutting load, using the spindle angular velocity as the primary characteristic.

[0051] S43. Calculation of Cutting Force Change Rate: Calculate the cutting force change rate. The calculation formula is:

[0052] ;

[0053] in, This represents the rate of change of cutting force. The load resistance torque at the current moment; The load resistance torque at the previous sampling time; The sampling time interval ranges from 0.001 to 0.01 seconds; this parameter is used to determine whether a sudden change in pipe wall hardness has been encountered.

[0054] S44. Calculation of the variance of the acoustic emission signal: Calculate the variance of the acoustic emission signal. It is used to characterize the degree of cutting chatter, and the calculation formula is:

[0055] ;

[0056] in, The variance of the acoustic emission signal; This represents the number of sampling points, ranging from 100 to 1000. Let be the acoustic emission signal value at the i-th sampling point; This represents the average value of the acoustic emission signal; the parameter is used to determine whether chatter occurs.

[0057] Furthermore, S5 includes the following steps:

[0058] S51. Cutting state classification judgment: The control unit calculates based on S4. and The cutting state is compared with a preset threshold and divided into normal cutting state, hard spot detection state, chatter detection state, and state recovery state.

[0059] S52, Normal Cutting State Control: If and The cutting condition is determined to be normal, and the set feed rate is maintained. ,in The cutting force change rate threshold is defined as 100-200 N·m / s. The threshold value for the acoustic emission signal variance is 0.01-0.05. The feed rate is set to a range of 0.3-0.8 mm / s;

[0060] S53, Hard Spot Detection Status Control: If Upon detecting a sudden change in hardness, immediately perform the following actions: reduce the feed rate to... ,in The feed rate reduction factor ranges from 0.5 to 0.7; simultaneously, the current to the excitation coil is increased to... To further enhance the clamping stiffness, among which The maximum excitation current is 2.5-3.5A; operation should be performed to prevent motor overload and drill bit breakage.

[0061] S54, Flutter Detection Status Control: If If chatter is detected, immediately perform the following operations: pause the feed or reduce the feed rate to [unspecified value]. ,in The minimum feed rate is set to 0.1-0.2 mm / s; simultaneously, the piezoelectric ceramic actuator is activated, and the control unit extracts the dominant frequency of the acoustic emission signal through FFT analysis. Output reverse drive voltage to the piezoelectric ceramic actuator This generates micro-displacements with opposite phases and equal amplitudes to achieve active vibration damping;

[0062] S55. Calculation of Inverting Drive Voltage: The formula for calculating the inverting drive voltage is as follows:

[0063] ;

[0064] in, This is the inverting drive voltage; This is the gain coefficient, with a value ranging from 50 to 200V; It is a sine function; It is twice the value of pi, approximately equal to 6.283; This is the main flutter frequency, with a value range of 500-3000Hz; It is a time variable; The phase compensation angle ranges from -π to π; the formula actively suppresses cutting chatter, reducing drilling amplitude by more than 70%.

[0065] S56, State Recovery Control: When and After all values ​​have returned to normal, the control unit gradually restores the feed rate to normal. The recovery process uses a ramp function for smooth transition to avoid sudden changes in feed rate.

[0066] Furthermore, S6 includes the following steps:

[0067] S61, Coolant Injection: During the drilling process, the piston is pushed down with the drilling motor and slides inside the inner cooling pipe, pushing the coolant in the coolant tank into the inner cooling pipe through the supply pipe. The coolant is then sprayed from the nozzle to the drilling site to achieve cooling and initial flushing of the cutting area.

[0068] S62. Negative pressure airflow generation: The vortex separation and collection chamber generates negative pressure using the Venturi effect. The negative pressure value ranges from -5 to -15 kPa. An upward high-speed airflow is formed in the annular chip discharge channel of the outer negative pressure chip suction pipe. The flow velocity ranges from 10 to 20 m / s. The high-speed airflow provides power for the discharge of iron chips.

[0069] S63. Iron filings carrying and conveying: The iron filings generated by drilling are carried by the high-speed airflow in the annular chip discharge channel and enter the vortex separation collection chamber through the chip discharge hose;

[0070] S64. Iron filings collection: After entering the eddy current separation collection chamber, the iron filings are thrown against the wall of the chamber under the action of centrifugal force and fall down the wall to the chip collection box at the bottom.

[0071] Furthermore, S7 includes the following steps:

[0072] S71, Drilling motor return: After drilling is completed, the operator releases the pull handle, and the reset mechanism drives the drilling motor to return to the initial position through a spring or cylinder and other reset elements, pushing the piston to return synchronously and stopping the coolant spray;

[0073] S72. Magnetic Field Removal and Encapsulation Softening: The control unit cuts off the current to the excitation coil, the magnetic field disappears, the chain structure of magnetic particles within the magnetorheological fluid filling layer disintegrates, and the magnetorheological fluid immediately returns to a liquid state with a response time of less than 10ms. The equivalent damping coefficient changes from... Reduce to The capsule changes from a rigid state to a flexible state;

[0074] S73. Clamp release and equipment removal: Rotate the adjusting screw in the opposite direction, and the left and right clamps of the V-shaped clamp move in opposite directions synchronously. The magnetorheological capsule easily detaches from the pipe surface in a flexible state, completing the release. The operator releases the universal wheel brake mechanism and moves the equipment to the next working position or removes it from the site by using the telescopic handle.

[0075] The beneficial effects achieved by this invention are as follows:

[0076] First, this invention designs a micro-vibration suppression adapter mechanism, including an outer sleeve, an inner mandrel, an elastic damping element, and an acoustic emission sensor. The acoustic emission sensor monitors the high-frequency vibration signal generated during the drill bit cutting process in real time. When the control unit detects high-frequency chatter, it outputs an anti-phase driving voltage to the piezoelectric ceramic actuator. The piezoelectric ceramic actuator generates a displacement opposite to the vibration direction. By actively damping the high-frequency vibration of the drill bit, the high-frequency vibration of the drill bit is canceled out, making the drilling process more stable. This effectively suppresses the adverse effects of cutting chatter on the surface quality of the machined part, significantly extends the service life of the drill bit, and improves the drilling quality.

[0077] Secondly, this invention designs a magnetorheological capsule, including a flexible outer capsule, a magnetorheological fluid filling layer, an excitation coil, a magnetic core, and a pressure sensor. It adopts a working method that combines flexible bonding with magnetic control rigidification. The magnetorheological fluid exhibits low-viscosity liquid characteristics when there is no magnetic field. Under pressure, the flexible outer capsule undergoes elastic deformation and fully adheres to uneven areas on the pipe surface, such as rust depressions, weld protrusions, and insulation layer peeling, achieving surface contact with the pipe surface. When the excitation coil is energized, the magnetic particles in the magnetorheological fluid instantly chain and arrange, making the magnetorheological fluid exhibit near-solid-state characteristics. The flexible outer capsule transforms into a rigid bonding layer and locks all degrees of freedom of the pipe. Even under drilling and vibration conditions, there will be no loosening or displacement, thereby significantly improving the clamping stability.

[0078] Third, this invention designs a double-layer sleeve-type nozzle and a vortex separation collection chamber. The double-layer sleeve-type nozzle consists of an inner cooling pipe and an outer negative pressure chip suction pipe coaxially sleeved on the outside. A push piston, fixedly connected to the outer surface of the drilling motor, slides inside the inner cooling pipe. When the drilling motor descends, the push piston slides within the inner cooling pipe, propelling coolant through the nozzle to the drilling point. This achieves mechanical linkage between the drilling action and coolant spraying without the need for an additional pump. The vortex separation collection chamber utilizes the Venturi effect to generate negative pressure, creating an upward high-speed airflow within the annular chip discharge channel. The iron filings are carried by the airflow into the collection chamber and, under centrifugal force, are thrown against the wall and fall into the chip collection box at the bottom. This ensures complete recovery of the iron filings and prevents them from falling into the pipes and damaging the circulating pump impeller or clogging valves and heat exchangers.

[0079] Fourth, this invention designs a control unit to collect acoustic emission signals, motor current signals, and clamping status signals in real time during the drilling process. By constructing a load resistance torque observation model and calculating the cutting force change rate, it promptly detects sudden changes in pipe wall hardness. When a sudden hardness change point is detected, it automatically reduces the feed rate and increases the excitation current to enhance clamping stiffness, effectively preventing motor overload and drill bit breakage. The control unit identifies chatter precursors by calculating the variance of the acoustic emission signal and activates the piezoelectric ceramic actuator for active vibration damping. When the cutting state returns to normal, a ramp function is used to smoothly transition and gradually restore the feed rate. This adaptive vibration damping feed strategy enables the equipment to adapt to changes in pipe wall hardness and prevents tool jamming and chatter, significantly improving the stability and reliability of the operation.

[0080] Fifth, this invention incorporates a lifting and leveling device to enable mobile on-site operation. The lifting device includes a chassis, casters, a hydraulic mechanism, a support plate, and an X-shaped lifting arm. The leveling device includes an electronic bubble level, a leveling screw, and a leveling handwheel. The chassis has casters with braking mechanisms at the bottom and a telescopic handle at one end, allowing the equipment to be moved to the on-site operation of the pipeline. The braking mechanism prevents displacement caused by drilling vibration. The hydraulic mechanism, in conjunction with the extension or retraction of the X-shaped lifting arm, adjusts the worktable to a suitable height close to the pipeline. The leveling screw, in conjunction with the electronic bubble level, precisely adjusts the level of the worktable to ensure the drill bit axis is perpendicular to the pipeline axis, thereby guaranteeing drilling accuracy and avoiding hole position deviation and sealing difficulties caused by drilling tilt. This invention achieves high-quality on-site drilling operations on in-service pipelines through the orderly coordination of seven steps: equipment positioning and clamping preparation, adaptive fitting and stiffness solidification, leveling and perpendicularity confirmation, multi-source fusion sensing of cutting status, adaptive vibration suppression feed strategy, negative pressure eddy current chip removal, and drilling completion and release. Attached Figure Description

[0081] Figure 1 This is a schematic diagram of the overall structure of a mobile pipe drilling device according to the present invention. Figure 1 ;

[0082] Figure 2 This is the present invention. Figure 1 Enlarged view of part A;

[0083] Figure 3 This is the present invention. Figure 1 Enlarged view of part B;

[0084] Figure 4 This is a schematic diagram of the overall structure of a mobile pipe drilling device according to the present invention. Figure 2 ;

[0085] Figure 5 This is a schematic diagram of the micro-vibration suppression adapter mechanism of the present invention;

[0086] Figure 6 This is a schematic diagram of the double-layer sleeve nozzle structure of the present invention;

[0087] Figure 7 This is a schematic diagram of the composition and structure of the magnetorheological capsule of the present invention;

[0088] Figure 8 This is the control principle diagram of the present invention.

[0089] Numbering on the map:

[0090] 1. Lifting device; 11. Chassis; 12. Casters; 13. Hydraulic mechanism; 14. Support plate; 15. X-shaped lifting arm; 2. Drilling device; 21. Workbench; 22. Mounting bracket; 23. Reset mechanism; 24. Pull handle; 25. Drilling motor; 26. Coolant tank; 27. Double-layer sleeve-type nozzle; 271. Inner cooling pipe; 272. Outer negative pressure chip suction pipe; 273. Liquid supply line; 274. Nozzle; 275. Annular chip removal channel; 276. Chip removal hose; 277. Vortex separation collection bin; 278. Chip collection box; 279. One-way valve; 28. Push piston; 2 9. Micro-vibration suppression adapter mechanism; 291. Outer sleeve; 292. Inner spindle; 293. Elastic damping element; 294. Acoustic emission sensor; 295. Hall current sensor; 3. Clamping device; 31. Positioning plate; 32. Adjusting screw; 33. V-shaped clamping plate; 34. Magnetorheological bladder; 341. Flexible outer bladder; 342. Magnetorheological fluid filling layer; 343. Excitation coil; 344. Magnetic core; 345. Adhesion pressure sensor; 4. Leveling device; 41. Electronic bubble level; 42. Leveling screw; 43. Leveling handwheel; 5. Coolant recovery box; 6. Telescopic handle; 7. Control unit. Detailed Implementation

[0091] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0092] like Figures 1 to 8 As shown, the present invention provides a mobile pipe drilling device, which includes a lifting device 1, a drilling device 2, a clamping device 3, a leveling device 4, and a control unit 7. The devices cooperate with each other through mechanical and electrical connections to jointly realize on-site drilling operations on in-service pipes.

[0093] The lifting device 1 serves as the load-bearing foundation and height adjustment mechanism for the entire equipment, providing support and lifting functions for the upper drilling device 2, clamping device 3, and leveling device 4. The lifting device 1 includes a chassis 11, which is made of welded or cast steel plate, possessing sufficient structural strength and rigidity to withstand the reaction force generated during drilling operations. Four casters 12 are located at the four corners of the chassis 11's bottom. The wheel frames of the casters 12 are bolted to the chassis 11. Each caster 12 is equipped with a brake mechanism, which is a foot-operated structure. The operator can press the brake pedal to lock the caster 12, preventing rotation and steering. After the equipment is moved to the working position, the brake mechanism can fix the equipment, preventing displacement due to vibration or cutting reaction force during drilling. The chassis 11 is equipped with a telescopic handle 6 at the end away from the mounting frame 22. The telescopic handle 6 adopts a multi-section sleeve structure and its length can be adjusted according to the height of the operator. Positioning pins or spring buckles are provided between the sleeves to fix the telescopic position. The operator can push and pull the equipment to the target working position by holding the telescopic handle 6.

[0094] A hydraulic mechanism 13 is located at the center of the upper surface of the chassis 11. The hydraulic mechanism 13 includes a hydraulic cylinder, a piston, a piston rod, and a hydraulic control valve. The hydraulic cylinder is fixedly connected to the chassis 11 via a flange. The piston reciprocates within the hydraulic cylinder under the drive of hydraulic oil. The top of the piston rod is fixedly connected to the lower surface of the support plate 14. The hydraulic control valve controls the flow direction and flow rate of the hydraulic oil. The operator can control the extension and retraction speed and direction of the piston rod by operating the handle of the hydraulic control valve, thereby driving the support plate 14 to rise and fall. The support plate 14 is also made of steel plate, and its area matches that of the worktable 21. It is used to support the worktable 21 and the drilling device 2 and clamping device 3 on top of it.

[0095] Two sets of symmetrically distributed X-shaped lifting arms 15 are provided between the chassis 11 and the support plate 14. The two sets of X-shaped lifting arms 15 are located on both sides of the hydraulic mechanism 13, arranged symmetrically to provide guidance and auxiliary support when the hydraulic mechanism 13 is working, preventing the support plate 14 from tilting or swaying during the lifting process. Each set of X-shaped lifting arms 15 consists of two arm rods of equal length that are cross-hinged at the middle by a pin to form an X-shaped structure. One end of each set of X-shaped lifting arms 15 is respectively hinged to the chassis 11 and the support plate 14 by a pin to form a rotating pair. The opposite end of each set of X-shaped lifting arms 15 is equipped with a pulley, which is mounted on the end of the arm rod by a bearing and can rotate freely. The upper surface of the chassis 11 and the lower surface of the support plate 14 are respectively provided with U-shaped frames as slide rails corresponding to the position of the pulleys. The opening of the U-shaped frame faces the X-shaped lifting arm 15. The pulley is located in the U-shaped frame and can slide along the length of the slide rail. The side wall of the U-shaped frame forms a lateral limit on the pulley to ensure that the pulley moves along a straight trajectory. When the piston rod of the hydraulic mechanism 13 extends, the support plate 14 rises, the cross angle of the X-shaped lifting arm 15 increases and it unfolds, and the pulley slides outward within the slide rail; when the piston rod retracts, the support plate 14 descends, the cross angle of the X-shaped lifting arm 15 decreases and it retracts, and the pulley slides inward within the slide rail. This lifting structure, formed by the combination of the hydraulic mechanism 13 and the X-shaped lifting arm 15, ensures both the stability and verticality of the lifting process, while also providing a large lifting stroke and load-bearing capacity, enabling the equipment to adapt to pipeline operation needs at different heights.

[0096] The drilling device 2 is installed above the support plate 14 and connected to the support plate 14 via the leveling device 4, and is used to perform drilling operations on pipes. The drilling device 2 includes a worktable 21, which is a rectangular plate structure. Its upper surface has several strip-shaped through holes extending along the length direction. The strip-shaped through holes are used for the V-shaped clamping plate 33 of the clamping device 3 to slide through to adapt to the clamping position adjustment of pipes of different diameters. A mounting frame 22 is fixedly installed on one side of the upper surface of the worktable 21. The mounting frame 22 is made of welded or cast steel and has a portal frame structure. Its bottom is fixedly connected to the worktable 21 by bolts. The mounting frame 22 provides a mounting base for components such as the drilling motor 25, the reset mechanism 23, the coolant tank 26, and the double-layer sleeve-type nozzle 27.

[0097] The top of the mounting bracket 22 is equipped with a reset mechanism 23, which includes a guide sleeve, a reset spring or cylinder, and a sliding rod. The guide sleeve is fixed to the top of the mounting bracket 22, and the sliding rod passes through the guide sleeve and can slide along its axial direction. The reset spring is sleeved on the outside of the sliding rod, and its two ends abut against the limiting structures on the guide sleeve and the sliding rod, respectively. Alternatively, a cylinder can be used as the reset power source, with the cylinder body fixed to the top of the mounting bracket 22 and the piston rod extending downward. A pull handle 24 is provided on the side of the reset mechanism 23 away from the mounting bracket 22. The pull handle 24 is fixedly connected to the sliding rod or the cylinder piston rod. The operator can hold the pull handle 24 and pull it downward to lower the drilling motor 25 to approach the pipe for drilling. The bottom of the reset mechanism 23 is connected to the drilling motor 25, which is a servo motor or a variable frequency speed control motor, featuring adjustable speed and stable torque. The housing of the drilling motor 25 is fixedly connected to the sliding rod or the cylinder piston rod of the reset mechanism 23. When the drilling motor 25 is pressed down to drill and the pull handle 24 is released, the reset mechanism 23 can drive the drilling motor 25 to automatically return to the initial position through the elastic restoring force of the reset spring or the air pressure thrust of the cylinder, so that the drilling bit is removed from the pipe surface.

[0098] The drilling motor 25 is connected to the drilling bit via a vibration suppression adapter 29. The vibration suppression adapter 29 is positioned between the output end of the drilling motor 25 and the drilling bit, and is used to transmit torque while monitoring and actively suppressing vibrations generated during the drilling process. The vibration suppression adapter 29 includes an outer sleeve 291, an inner spindle 292, an elastic damping element 293, and an acoustic emission sensor 294. The outer sleeve 291 has a cylindrical structure with a flange or spline structure at its upper end. It is fixedly connected to the shaft extension end of the drilling motor 25 via flange bolts or spline connection. The outer sleeve 291 is coaxially arranged with the output shaft of the drilling motor 25 and rotates synchronously with it. The inner mandrel 292 is also cylindrical, with a diameter smaller than the inner diameter of the outer sleeve 291. The inner mandrel 292 is coaxially disposed inside the outer sleeve 291. The upper end of the inner mandrel 292 is connected to the outer sleeve 291 via an elastic damping element 293. The lower end of the inner mandrel 292 extends out of the outer sleeve 291 and is equipped with a drill bit clamping structure, such as a drill chuck or a Morse taper hole, for mounting a drilling bit. The elastic damping element 293 is located in the annular space between the outer sleeve 291 and the inner mandrel 292. On the one hand, the elastic damping element 293 transmits the torque of the outer sleeve 291 to the inner mandrel 292 to drive the drilling bit to rotate; on the other hand, it provides certain elastic deformation and damping characteristics in the radial and axial directions to attenuate vibrations.

[0099] The elastic damping element 293 preferably employs a piezoelectric ceramic actuator stack assembly, which is composed of multiple layers of piezoelectric ceramic sheets stacked axially. Electrode layers are provided between adjacent piezoelectric ceramic sheets, and each electrode layer is led out and connected to the control unit 7 via wires. Piezoelectric ceramic materials exhibit the inverse piezoelectric effect; when a voltage is applied to their ends, mechanical deformation occurs, with the amount of deformation being proportional to the applied voltage. The piezoelectric ceramic actuator stack assembly features fast response speed, high displacement accuracy, and no mechanical wear; its response time can reach the microsecond level, and its displacement resolution can reach the nanometer level. When high-frequency chatter is detected during the drilling process, the control unit 7 can output an anti-phase driving voltage to the piezoelectric ceramic actuator with the same frequency but opposite phase as the chatter signal. This causes the piezoelectric ceramic actuator to generate a micrometer-level displacement opposite to the chatter direction. The reverse displacement and the chatter displacement are superimposed and cancel each other out, achieving active suppression of chatter.

[0100] An acoustic emission sensor 294 is provided on the outer surface of the outer sleeve 291. The acoustic emission sensor 294 is fixed to the outer wall of the outer sleeve 291 by threaded connection or adhesive. The acoustic emission sensor 294 is a piezoelectric sensor, which contains a piezoelectric crystal. When it receives elastic wave signals from inside the material, the piezoelectric crystal converts mechanical vibration into an electrical signal output. Acoustic emission is the phenomenon of a material releasing strain energy due to changes in its internal structure under stress. During the cutting process, the interaction between the drill bit and the pipe wall excites high-frequency elastic waves, which propagate through the outer sleeve 291 to the acoustic emission sensor 294. The acoustic emission sensor 294 is used to monitor the high-frequency vibration signals generated during the drilling process in real time, especially the chatter signal, and converts the vibration signal into an electrical signal output to the control unit 7. The acoustic emission signal has high sensitivity to changes in the cutting state and can detect abnormal vibration characteristics at the initial stage of chatter occurrence, providing chatter early warning information to the control unit 7.

[0101] A Hall current sensor 295 is connected in series in the power supply line of the punching motor 25. The Hall current sensor 295 is installed on the line between the power input terminal of the punching motor 25 and the servo driver. The Hall current sensor 295 operates based on the Hall effect and has a Hall element inside. When the measured current passes through the conductor, a magnetic field is generated around the conductor. The Hall element senses the magnetic field and outputs a voltage signal proportional to the current. The voltage signal is amplified and filtered by the signal conditioning circuit and then input to the control unit 7. The Hall current sensor 295 can monitor the load current of the punching motor 25 in real time without disconnecting the circuit. It has the advantages of wide measurement range, fast response speed, and good electrical isolation. The change in motor current directly reflects the change in cutting load. When the cutting resistance increases, the punching motor 25 needs a larger current to maintain the speed. Therefore, the motor current signal can be used as an indirect observation of the cutting force.

[0102] A coolant tank 26 is located on the side of the mounting bracket 22 away from the drilling motor 25. The coolant tank 26 is made of stainless steel or plastic and is fixed to the side of the mounting bracket 22 by a bracket. The top of the coolant tank 26 has an openable filling port for adding coolant, and the bottom or lower side of the coolant tank 26 has an outlet that connects to the coolant supply line 273. The coolant tank 26 is used to store the coolant used in the drilling process. The coolant can be an emulsion, cutting oil, or water-based coolant, etc., used to cool and lubricate the cutting area during the drilling process.

[0103] A double-layer sleeve-type nozzle 27 is provided on the side of the mounting bracket 22 near the drilling motor 25. The double-layer sleeve-type nozzle 27 is arranged vertically, with its lower end pointing towards the cutting area of ​​the drilling bit. The double-layer sleeve-type nozzle 27 includes an inner cooling pipe 271 and an outer negative pressure chip suction pipe 272. Both the inner cooling pipe 271 and the outer negative pressure chip suction pipe 272 are made of metal or rigid plastic pipe and are coaxially mounted. The inner cooling pipe 271 is located at the center of the double-layer sleeve-type nozzle 27 and is connected to the coolant tank 26 through a liquid supply pipe 273. The liquid supply pipe 273 is a pressure-resistant flexible hose or rigid pipe, with one end connected to the outlet of the coolant tank 26 and the other end connected to the side wall of the inner cooling pipe 271. The lower end of the inner cooling pipe 271 is equipped with a nozzle 274. The nozzle 274 can adopt a conical contraction structure or a multi-hole distribution structure. The conical contraction structure can make the coolant form a high-speed jet to enhance the flushing effect, while the multi-hole distribution structure can make the coolant form an annular spray to evenly cover the cutting area. The nozzle 274 is used to spray coolant onto the drilling area to reduce the cutting temperature, reduce tool wear, and flush away chips.

[0104] An outer negative pressure chip suction tube 272 is coaxially sleeved outside the inner cooling tube 271. The inner diameter of the outer negative pressure chip suction tube 272 is larger than the outer diameter of the inner cooling tube 271. An annular chip removal channel 275 is formed between the outer surface of the inner cooling tube 271 and the inner surface of the outer negative pressure chip suction tube 272. The annular chip removal channel 275 extends axially along the double-layer sleeve-type nozzle 27, with its lower opening located around the cutting area of ​​the drilling bit, and its upper end connected to the chip removal hose 276. The annular chip removal channel 275 provides an upward discharge channel for the mixture of chips and coolant generated during drilling. The diameter of the lower opening of the outer negative pressure chip suction tube 272 is larger than the spray range of the nozzle 274, ensuring that the cutting area is completely within the suction range of the outer negative pressure chip suction tube 272.

[0105] The upper end of the outer negative pressure chip suction pipe 272 is connected to the vortex separation collection chamber 277 via a chip discharge hose 276. The chip discharge hose 276 is made of wear-resistant rubber hose or corrugated pipe, which has a certain degree of flexibility to adapt to the positional changes when the drilling motor 25 is raised and lowered, and at the same time has wear resistance to withstand the scouring of chips carried by the high-speed airflow. The vortex separation collection chamber 277 is fixedly installed on the mounting frame 22 or the workbench 21. The vortex separation collection chamber 277 has a cylindrical or conical structure, and a rotating airflow separation chamber is formed inside. A tangential air inlet is provided on the upper part of the side wall of the vortex separation collection chamber 277. The axis of the tangential air inlet forms a certain angle with the radial direction of the vortex separation collection chamber 277, so that the incoming airflow flows tangentially along the inner wall of the collection chamber. The tangential air inlet can be connected to a compressed air pipeline or a fan outlet. When compressed air or airflow generated by the fan enters the vortex separation and collection chamber 277 through the tangential air inlet, the airflow enters tangentially and rotates along the inner wall of the collection chamber to form a vortex.

[0106] The eddy current separation and collection chamber 277 utilizes the Venturi effect to generate negative pressure. An internal narrowing section is provided within the chamber; as the rotating airflow passes through this section, its velocity increases, creating a low-pressure zone according to Bernoulli's principle. This low-pressure zone is transmitted to the annular chip removal channel 275 via the chip removal hose 276 and the outer negative pressure suction pipe 272, creating an upward negative pressure suction force within the channel. Under this negative pressure, a high-speed upward airflow is generated within the annular chip removal channel 275, carrying the mixture of iron filings and coolant generated during drilling upwards into the eddy current separation and collection chamber 277. A chip collection box 278 is located at the bottom of the chamber. This box can be detachably installed at the bottom of the chamber using snap-fit, threaded, or magnetic methods. Iron filings fall into the collection box 278, facilitating periodic removal and cleaning of the collected iron filings and recycling of the coolant.

[0107] An internally mounted piston 28 slides within the inner cooling pipe 271. The piston 28 comprises a piston head and a piston rod. The piston head is located inside the inner cooling pipe 271, with its outer diameter matching the inner diameter of the inner cooling pipe 271. A sealing ring, such as an O-ring or Y-ring, is provided around the outer circumference of the piston head, forming a sliding seal with the inner wall of the inner cooling pipe 271 to prevent coolant leakage between the piston head and the pipe wall. One end of the piston rod is fixedly connected to the piston head, and the other end extends beyond the upper end of the inner cooling pipe 271 and is fixedly connected to the housing or output shaft housing of the drilling motor 25 via a connector. The connection point between the inner cooling pipe 271 and the liquid supply line 273 is located below the piston head of the piston 28, specifically on the side wall of the pipe section between the piston head and the nozzle 274. A one-way valve 279 is provided on the liquid supply line 273. The one-way valve 279 adopts a spring-loaded ball valve or diaphragm valve structure. The one-way valve 279 only allows the coolant to flow from the coolant tank 26 to the inner cooling pipe 271 and prevents the coolant from flowing back from the inner cooling pipe 271 to the coolant tank 26.

[0108] When the drilling motor 25 descends to drill, it pushes the piston 28 to move downwards synchronously with the drilling motor 25. The piston head slides downwards within the inner cooling pipe 271, compressing the coolant below the piston head. Because the one-way valve 279 prevents coolant backflow, the compressed coolant can only be sprayed outwards through the nozzle 274. The coolant is sprayed out from the nozzle 274 at a certain pressure and flow rate, covering the drilling bit and the cutting area, achieving cooling and lubrication of the cutting area. When the drilling motor 25 rises back to its original position, it pushes the piston 28 upwards, causing the piston head to slide upwards within the inner cooling pipe 271. The increased space below the piston head creates a negative pressure. Under this negative pressure, coolant flows from the coolant tank 26 through the supply line 273 and the one-way valve 279 into the inner cooling pipe 271 to replenish the coolant. The one-way valve 279 automatically opens when the pressure on the coolant tank 26 side is greater than the pressure on the inner cooling pipe 271 side. This mechanism, in which the piston 28 is driven by the lifting motion of the drilling motor 25 to spray coolant, achieves mechanical linkage between the drilling action and the coolant spraying. When the drilling motor 25 descends, it automatically sprays coolant, and when the drilling motor 25 rises, it automatically replenishes coolant. It does not require additional power equipment such as electric pumps or pneumatic pumps, and its structure is simple, reliable, and energy-saving.

[0109] The lower surface of the worktable 21 is equipped with a coolant recovery box 5 via a slide groove. The slide groove extends along the width or length of the worktable 21, and the two side edges of the coolant recovery box 5 are embedded in the slide groove and can slide along the slide groove. The coolant recovery box 5 has a shallow disc-shaped structure and is located below the cutting area of ​​the drilling bit. It is used to collect a small amount of coolant and fine chips that drip from the drilling point and are not sucked into the annular chip removal channel 275, preventing them from contaminating the working environment. The slide groove design allows the coolant recovery box 5 to be slidably pulled out for cleaning, and then pushed back into the slide groove to reset after cleaning.

[0110] A clamping device 3 is mounted on the workbench 21 to clamp and fix the pipe to be drilled, preventing the pipe from moving or rotating during the drilling process. The clamping device 3 includes two positioning plates 31 on the upper surface of the workbench 21. The two positioning plates 31 are spaced apart along the length of the workbench 21. Each positioning plate 31 has a vertical plate structure, and its bottom is fixed to the upper surface of the workbench 21 by bolts or welding. Each positioning plate 31 has a through hole for the adjusting screw 32 to pass through. The inner diameter of the through hole is slightly larger than the outer diameter of the adjusting screw 32. The positioning plate 31 provides radial restraint to the adjusting screw 32 while allowing the adjusting screw 32 to rotate along its axis.

[0111] The adjusting screw 32 is a long rod-shaped structure, with both ends passing through the through holes of two positioning plates 31, which provide radial support and limit its movement. The middle section of the adjusting screw 32 has a reverse thread structure; one end has a left-hand thread, and the other end has a right-hand thread. The left-hand and right-hand threaded sections are located on either side of the midpoint of the adjusting screw 32 and are of equal length. The adjusting screw 32 is threadedly connected to a V-shaped clamping plate 33, which is slidably connected to the worktable 21. The V-shaped clamping plate 33 consists of a left clamping plate and a right clamping plate, both of which are inclined plate structures arranged in a V-shape. The V-shaped opening faces upwards to support and clamp pipes with circular cross-sections. The bottom of the left and right clamping plates has threaded holes or nut seats. The threaded hole of the left clamping plate engages with the left-hand threaded section of the adjusting screw 32, and the threaded hole of the right clamping plate engages with the right-hand threaded section of the adjusting screw 32. The bottom of the left and right clamping plates are also provided with sliders. The sliders are embedded in the strip-shaped through holes or specially designed grooves on the upper surface of the worktable 21, so that the left and right clamping plates can slide along the width direction of the worktable 21 but cannot move in other directions.

[0112] When the adjusting screw 32 is rotated, the left and right clamping plates move synchronously towards each other or in opposite directions under the action of the threaded transmission, due to the opposite directions of the left and right threads. When the adjusting screw 32 rotates in one direction, the left and right clamping plates move synchronously towards each other, i.e., they move closer to each other, and the opening of the V-shaped clamping plate 33 contracts, thus clamping the pipe; when the adjusting screw 32 rotates in the opposite direction, the left and right clamping plates move synchronously in opposite directions, i.e., they move away from each other, and the opening of the V-shaped clamping plate 33 opens, thus releasing the pipe. This synchronous drive structure of the forward and reverse threads ensures symmetrical clamping of the pipe by the left and right clamping plates, keeping the pipe axis always at the symmetrical center position of the V-shaped clamping plate 33, which facilitates the alignment of the drilling position. The end of the adjusting screw 32 away from the mounting bracket 22 extends out of the positioning plate 31 and is equipped with a rotating handwheel. The rotating handwheel is disc-shaped or spoke-shaped, and its central hole is fixedly connected to the end of the adjusting screw 32. The operator can rotate the adjusting screw 32 by holding the edge of the rotating handwheel. The wheel-shaped structure increases the lever arm, making the operation more labor-saving.

[0113] Multiple magnetorheological bladders 34 are evenly distributed on the inner sides of the left and right clamps of the V-shaped clamp 33. These bladders replace traditional rigid rollers or rubber pads, providing direct contact with the pipe surface and clamping force. The bladders 34 are arranged along the length of the left and right clamps, with a certain spacing between adjacent bladders. Each bladder is fixed to the inner surface of the clamp by bolts or clips. The number and arrangement of the magnetorheological bladders 34 can be adjusted according to the pipe size and clamping requirements; a larger number of bladders provides a more uniform clamping force distribution and better surface adaptability.

[0114] Each magnetorheological capsule 34 includes a flexible outer capsule 341, a magnetorheological fluid filling layer 342, a magnetic core 344, an excitation coil 343, and a pressure sensor 345. The flexible outer capsule 341, serving as the shell of the magnetorheological capsule 34, is made of high-strength rubber such as nitrile rubber, fluororubber, or silicone, possessing good elasticity, wear resistance, and corrosion resistance. The flexible outer capsule 341 has a semi-circular or multi-jointed arc structure, with its arc surface facing the pipe surface. The curvature of the arc surface can be designed according to the commonly used pipe diameter range to obtain a larger initial contact area. The outer surface of the flexible outer capsule 341, i.e., the surface in contact with the pipe, is provided with anti-slip textures such as raised stripes or a grid pattern, or covered with a soft rubber layer to increase the coefficient of friction and prevent pipe slippage during clamping. The flexible outer capsule 341 has a certain elastic deformation capacity, and can deform under pressure to adapt to minor unevenness on the pipe surface, such as rust pits, paint peeling marks, or weld protrusions.

[0115] The magnetorheological fluid filling layer 342 is located within the internal cavity of the flexible outer capsule 341. The internal cavity of the flexible outer capsule 341 has a closed structure, and the magnetorheological fluid filling layer 342 fills the entire internal cavity. The magnetorheological fluid filling layer 342 is filled with magnetorheological fluid, which is a smart material composed of a base liquid and micron-sized magnetic particles uniformly mixed together. The base liquid can be a low-viscosity liquid such as silicone oil, mineral oil, or synthetic oil, which serves to suspend the magnetic particles and provide lubrication. The magnetic particles can be high-permeability materials such as carbonyl iron powder, iron-cobalt alloy powder, or soft magnetic ferrite powder, with a particle diameter generally between 1 μm and 10 μm. The magnetic particles are uniformly suspended and dispersed in the base liquid. Magnetorheological fluids exhibit a low-viscosity liquid state in the absence of a magnetic field, where magnetic particles move freely within the base fluid. At this state, the magnetorheological fluid exhibits good fluidity and low shear yield stress. Under the influence of a magnetic field, the magnetic particles align along the magnetic field lines, forming a chain-like structure. This chain-like structure restricts the flow of the magnetorheological fluid, causing a sharp increase in shear yield stress, and the magnetorheological fluid displays near-solid-state characteristics. This reversible liquid-solid transition property of the magnetorheological fluid allows the flexible outer capsule 341 to rapidly switch between a flexible, fitted state and a rigid, locked state.

[0116] The magnetic core 344 is made of soft magnetic material, which features high permeability and low coercivity. It can be made of laminated silicon steel sheets, sintered ferrite, or amorphous soft magnetic alloys. The magnetic core 344 is located inside the flexible outer shell 341 and has a columnar or ring-shaped structure. The magnetic core 344 forms a magnetic circuit and enhances the magnetic field strength in the magnetorheological fluid filling layer 342 region. The excitation coil 343 is made of enameled copper or aluminum wire and is wound around the magnetic core 344 to form an electromagnet structure. Lead wires from both ends of the excitation coil 343 are connected to the excitation current control module of the control unit 7. When the control unit 7 applies a direct current through the excitation coil 343, the excitation coil 343 generates a magnetic field. This magnetic field is guided by the magnetic core 344 and concentrated in the magnetorheological fluid filling layer 342 region, causing the magnetorheological fluid to undergo a liquid-to-solid transition. The number of turns, wire diameter, and excitation current intensity of the excitation coil 343 are designed according to the required magnetic field strength and response time requirements. A larger number of turns and a larger current can generate a stronger magnetic field but will also increase power consumption and heat generation. The excitation coils 343 of all magnetorheological capsules 34 can be connected in parallel and uniformly powered and controlled by the control unit 7 to ensure that each capsule can switch between liquid and solid states simultaneously; alternatively, they can be controlled independently, adjusting the excitation current according to the contact state of each capsule.

[0117] The contact pressure sensor 345 is located at the bottom or side wall of the flexible outer bladder 341, that is, at the corresponding position in the contact area between the flexible outer bladder 341 and the pipeline. The contact pressure sensor 345 can be a thin-film pressure sensor, a piezoresistive sensor, or a capacitive sensor, and has the characteristics of thin thickness, fast response, and moderate range. The contact pressure sensor 345 is used to detect the contact pressure between the flexible outer bladder 341 and the pipeline surface, and feeds back the pressure signal to the control unit 7 through a wire. Based on the pressure signal fed back by the contact pressure sensor 345 of each magnetorheological bladder 34, the control unit 7 determines whether each bladder is fully in contact with the pipeline surface. If the pressure at a certain point is too low, it indicates that there is poor contact at that point, and the operator can be prompted to adjust the position of the V-shaped clamp 33 or fine-tune the pipeline posture.

[0118] The leveling device 4 is used to adjust the levelness of the workbench 21 to ensure that the axis of the drilling bit is perpendicular to the axis of the pipe, thereby ensuring the verticality of the drilling. The leveling device 4 consists of three parts: an electronic bubble level 41, a leveling screw 42, and a leveling handwheel 43. The electronic bubble level 41 is mounted on the outer surface of the drilling motor 25 and is fixed to the housing of the drilling motor 25 by a bracket or magnetic attraction. The electronic bubble level 41 contains a bubble tube and an angle sensor. The position of the bubble in the bubble tube reflects the tilt state of the current plane, and the angle sensor converts the tilt angle into an electrical signal, which can be digitally displayed on the screen. The operator can determine the levelness and tilt direction of the workbench 21 by observing the position of the bubble in the electronic bubble level 41 or reading the angle value on the display screen.

[0119] Four leveling screws 42 are located at the four corners of the support plate 14, each arranged vertically. The lower end of the leveling screw 42 is threaded to the support plate 14. The support plate 14 has threaded holes or fixing nuts at its four corners. The lower section of the leveling screw 42 has external threads and screws into the threaded holes or nuts. The upper end of the leveling screw 42 passes through through holes located at the four corners of the worktable 21. These through holes are smooth and have an inner diameter slightly larger than the outer diameter of the leveling screw 42, allowing the leveling screw 42 to slide axially within the through holes. The upper end of the leveling screw 42, away from the support plate 14, is equipped with a stop structure. This stop structure can be an enlarged head at the end of the leveling screw 42, a retaining ring or nut fixed to the leveling screw 42, etc. The outer diameter of the stop structure is larger than the inner diameter of the through hole in the worktable 21. The stop structure's movement is limited to the upper surface of the worktable 21, preventing the worktable 21 from falling off the leveling screw 42 while allowing the worktable 21 to move axially along the leveling screw 42. A leveling handwheel 43 is provided corresponding to each leveling screw 42. The leveling handwheel 43 is disc-shaped or hexagonal, with a threaded hole at its center that engages with the external thread of the middle section of the leveling screw 42. The leveling handwheel 43 is located between the upper surface of the support plate 14 and the lower surface of the worktable 21.

[0120] When the leveling handwheel 43 is rotated, the lower end of the leveling screw 42 is threadedly fixed to the support plate 14, and the leveling handwheel 43 moves axially along the leveling screw 42. The upper surface of the leveling handwheel 43 abuts against the lower surface of the worktable 21, thereby pushing the corresponding angular position of the worktable 21 up or down. By adjusting the leveling handwheels 43 at the four corners respectively, the four corners of the worktable 21 can be raised or lowered by different heights, thereby adjusting the overall levelness of the worktable 21. The operator can judge the tilt state of the worktable 21 by observing the electronic bubble level 41, and adjust the leveling handwheel 43 at the corresponding position according to the direction of bubble offset until the bubble is centered, indicating that the worktable 21 has reached a level state. When the worktable 21 is level, the axis of the drilling motor 25 fixed on the reset mechanism 23 is perpendicular to the plane of the worktable 21. Since the pipe is placed horizontally in the V-shaped clamp 33 and its axis is parallel to the plane of the worktable 21, the axis of the drilling bit is perpendicular to the axis of the pipe, satisfying the verticality requirements of drilling.

[0121] The control unit 7 coordinates the operation of various sensors and actuators to achieve intelligent monitoring and adaptive control of the drilling process. The control unit 7 is located in a suitable position on the mounting bracket 22 or chassis 11, and is fixed in place by a bracket or chassis. Its housing is made of high-protection metal or plastic to adapt to the field operating environment. The control unit 7 includes a microprocessor, a power supply module, a signal acquisition module, an excitation current control module, and a human-machine interface.

[0122] The microprocessor is the core of the control unit 7 for computation and control. It can be a microcontroller, digital signal processor, or embedded industrial computer. The microprocessor has a built-in control program for receiving and processing sensor signals, executing control algorithms, and outputting control commands. The power supply module converts external power into the operating voltage required by the various modules of the control unit 7. The power supply module may include an AC-to-DC converter, a DC voltage regulator, and a filter circuit to provide a stable power supply for the microprocessor, sensors, and excitation coils. The signal acquisition module receives analog or digital signals output from the sensors. The signal acquisition module includes an analog-to-digital converter, a signal conditioning circuit, and a filter circuit. The analog-to-digital converter converts the analog voltage or current signals output by the sensors into digital signals that the microprocessor can process. The signal conditioning circuit amplifies, biases, and impedance-matches the signals, and the filter circuit removes high-frequency noise and interference from the signals. The excitation current control module controls the current intensity of the excitation coil 343 in the magnetorheological capsule 34. The module includes a power amplifier circuit, a current detection circuit, and a pulse width modulation (PWM) control circuit. The power amplifier circuit amplifies the control signal output by the microprocessor into a power signal capable of driving the excitation coil 343. The current detection circuit detects the actual current in the excitation coil 343 and feeds it back to the microprocessor to form a closed-loop control. The PWM control circuit achieves continuous adjustment of the excitation current by adjusting the duty cycle. The human-machine interface (HMI) displays equipment status information and receives control commands from operators. The HMI may include an LCD screen, indicator lights, buttons, and knobs. The LCD screen displays sensor data, equipment operating status, and fault alarm information. Indicator lights indicate power status and the operating status of each functional module. Buttons and knobs are used to input control parameters and execute control commands.

[0123] The control unit 7 is electrically connected to the acoustic emission sensor 294, Hall current sensor 295, contact pressure sensor 345, excitation coil 343, elastic damping element 293, and servo driver of the perforating motor 25 via wires or a communication bus. The signal output of the acoustic emission sensor 294 is connected to the signal acquisition module of the control unit 7. The control unit 7 acquires the acoustic emission signal in real time and performs time-domain and frequency-domain analysis to extract vibration characteristics. The signal output of the Hall current sensor 295 is connected to the signal acquisition module of the control unit 7. The control unit 7 acquires the motor current signal in real time and calculates the changing trend of the cutting load. The signal outputs of each contact pressure sensor 345 are connected to the signal acquisition module of the control unit 7. The control unit 7 monitors the contact pressure distribution between each bladder and the pipe surface in real time to determine the clamping state. The power input of the excitation coil 343 is connected to the excitation current control module of the control unit 7. The control unit 7 controls the stiffness state of the magnetorheological fluid by adjusting the excitation current. The drive voltage input terminal of the elastic damping element 293, i.e., the piezoelectric ceramic actuator, is connected to the signal output module of the control unit 7. The control unit 7 generates an inverted drive voltage signal based on the frequency characteristics of the acoustic emission signal and outputs it to the piezoelectric ceramic actuator. The control signal input terminal of the servo driver of the drilling motor 25 is connected to the control unit 7. The control unit 7 can send speed commands and feed speed commands to the servo driver to control the operation of the drilling motor 25.

[0124] Control unit 7 is used to acquire acoustic emission signals, motor current signals, and clamping status signals in real time during the drilling process, and dynamically adjusts the feed speed and excitation current intensity based on sensor signals using an adaptive algorithm. Control unit 7 constructs a load resistance torque observation model based on the motor current signal acquired by Hall current sensor 295, estimates the cutting force in real time, and calculates the rate of change of cutting force to determine if a sudden change in pipe wall hardness has occurred. Control unit 7 calculates the signal variance based on the acoustic emission signal acquired by acoustic emission sensor 294 to determine if chatter has occurred. When the rate of change of cutting force exceeds a set threshold, indicating a sudden change in hardness, control unit 7 reduces the feed speed of the drilling motor 25 to decrease the cutting force, while simultaneously increasing the excitation current of the excitation coil 343 to strengthen the clamping stiffness and prevent motor overload or drill bit breakage. When the variance of the acoustic emission signal exceeds a set threshold, indicating chatter, control unit 7 extracts the main frequency of the acoustic emission signal and outputs an inverse driving voltage to the elastic damping element 293 (i.e., the piezoelectric ceramic actuator), generating a micro-displacement opposite to the phase of the chatter to counteract the chatter amplitude, thus achieving active vibration damping. When the pressure signals fed back by each contact pressure sensor 345 indicate that the clamping pressure is insufficient at a certain point, the control unit 7 can issue prompts through the human-machine interface to guide the operator to adjust the clamping position, or automatically increase the excitation current to improve the clamping stiffness.

[0125] The mobile pipe drilling equipment provided by this invention achieves convenient movement of the equipment through casters 12 and telescopic handles 6, and flexible adjustment of the height of the worktable 21 through a hydraulic mechanism 13 and an X-shaped lifting arm 15, adapting to the needs of pipe operations at different heights. A magnetorheological capsule 34 combines flexible adaptive fitting to the pipe surface with magnetically controlled rigid locking. The flexible capsule 341 can adaptively fit the irregular contours of the pipe surface when there is no magnetic field, and after energization, the magnetorheological fluid solidifies, transforming the capsule into a rigid locked state to provide strong clamping force, solving the problem that traditional rigid clamping methods cannot adapt to uneven pipe surfaces. The acoustic emission sensor 294 in the micro-vibration suppression adapter mechanism 29 monitors cutting vibration in real time, and the piezoelectric ceramic actuator outputs reverse displacement to achieve active vibration damping, improving drilling quality and drill bit life. The integration of coolant spraying and chip negative pressure recovery is achieved through the combination of the double-layer sleeve-type nozzle 27 and the vortex separation and collection chamber 277. The high-speed airflow carries the iron chips and coolant generated during cutting to the vortex separation and collection chamber 277 for separation and recovery, preventing chips from falling into the pipeline and causing pollution. The electronic bubble level 41 and leveling screw 42 in the leveling device 4 achieve precise leveling of the worktable 21, ensuring that the axis of the drilling bit is perpendicular to the axis of the pipeline. Through the acquisition and processing of signals from various sensors by the control unit 7, real-time monitoring and adaptive control of the cutting state during the drilling process are achieved. The feed rate and clamping stiffness are dynamically adjusted according to changes in cutting force and chatter detection results, improving the safety and operating efficiency of the equipment.

[0126] This invention provides a working method for a mobile pipe drilling device. Applied to the aforementioned mobile pipe drilling device, the method fully utilizes the coordinated operation of the lifting device 1, drilling device 2, clamping device 3, leveling device 4, and control unit 7 within the device to achieve high-precision and high-stability drilling operations on in-service pipes. The working method includes seven main steps: device positioning and clamping preparation, adaptive fitting and stiffness solidification, leveling and perpendicularity confirmation, multi-source fusion sensing of cutting state, adaptive vibration suppression feed strategy, negative pressure eddy current chip removal and cooling, and drilling completion and release. These steps are interconnected to form a complete work process.

[0127] S1. Equipment Positioning and Clamping Preparation: Equipment positioning and clamping preparation is the initial stage of the entire drilling operation. The main task is to move the equipment to the drilling position and complete the preliminary clamping preparation work, laying the foundation for the subsequent drilling operation. Specifically, it includes three sub-steps: equipment movement and fixation, rough height adjustment, and preliminary alignment of the V-shaped clamp 33.

[0128] S11. Equipment Movement and Fixing: The operator grips and pulls the equipment using the telescopic handle 6 at one end of the chassis 11, and moves the equipment to the work site of the in-service pipeline using the casters 12 mounted at the four corners of the bottom of the chassis 11. The casters 12 have omnidirectional rotation capability, allowing the equipment to flexibly navigate narrow passages and turns, adapting to various complex site environments. When the equipment reaches the predetermined drilling position, the operator depresses the brake mechanism of the casters 12. The brake mechanism fixes the casters 12 through mechanical locking, preventing the equipment from shifting due to vibration during subsequent drilling operations, thus achieving on-site positioning and stable fixation of the equipment.

[0129] S12. Coarse Height Adjustment: Based on the height of the pipe to be drilled, the operator operates the hydraulic mechanism 13 to control the extension and retraction of the piston rod. When the piston rod of the hydraulic mechanism 13 extends upward, the top of the piston rod pushes the support plate 14 upward, simultaneously causing the two sets of X-shaped lifting arms 15 located between the chassis 11 and the support plate 14 to unfold. The pulleys installed at both ends of the X-shaped lifting arms 15 slide within the U-shaped frame rails at corresponding positions on the chassis 11 and the support plate 14, achieving smooth guidance for the lifting movement. When the piston rod of the hydraulic mechanism 13 retracts, the support plate 14 moves downward, and the X-shaped lifting arms 15 retract accordingly. Through the adjustment of the hydraulic mechanism 13, the worktable 21 above the support plate 14 is adjusted to a suitable height close to the pipe, preparing for subsequent clamping. The symmetrical distribution design of the X-shaped lifting arms 15 ensures the stability of the lifting process and avoids tilting caused by unilateral force.

[0130] S13. Initial Alignment of V-Shaped Clamping Plates: The operator rotates the handwheel at one end of the adjusting screw 32. Driven by the handwheel, the adjusting screw 32 rotates. Due to the positive and negative thread structure in the middle section of the adjusting screw 32, the rotation of the adjusting screw 32 drives the left and right clamping plates of the V-shaped clamping plate 33 to move synchronously towards each other through thread transmission. The bottom of the V-shaped clamping plate 33 is slidably connected to the worktable 21 through a sliding guide rail, ensuring the linearity and stability of the clamping plate movement. The operator continues to rotate the handwheel until the multiple magnetorheological capsules 34 evenly distributed on the inner side of the left and right clamping plates of the V-shaped clamping plate 33 initially contact the outer surface of the pipe. At this time, the magnetorheological capsules 34 only make slight contact with the pipe surface without applying clamping force, completing the clamping preparation stage and providing a basic position for subsequent adaptive fitting.

[0131] S2, Adaptive bonding and stiffness curing; Adaptive bonding and stiffness curing specifically includes five sub-steps: real-time monitoring of bonding pressure, determination of bonding adequacy, application of excitation current and generation of magnetic field, calculation of magnetorheological fluid stiffness response, and confirmation of high rigidity locking.

[0132] S21. Real-time monitoring of contact pressure: The control unit 7 establishes a signal transmission channel with the contact pressure sensor 345 installed inside each magnetorheological bladder 34 via an electrical connection, and monitors the contact pressure distribution between each magnetorheological bladder 34 and the pipe surface in real time. The contact pressure sensor 345 converts the contact pressure into an electrical signal and transmits it to the control unit 7, which then collects the pressure signal. ,in express The constant pressure value of the fit. To ensure timely capture of pressure changes and accurate feedback of the fit status, the monitoring frequency should be no less than 100Hz, meeting the requirements of real-time control. During this stage, the excitation coil 343 is not yet energized, the magnetorheological fluid filling layer 342 inside the magnetorheological bladder 34 is in a liquid state, and the flexible outer bladder 341 has good elastic deformation capability, adaptively fitting the uneven areas of the pipe surface under pressure.

[0133] S22. Adhesion Adequacy Determination: The control unit 7 analyzes and judges the adhesion pressure signals of each magnetorheological capsule 34 collected, and determines whether the adhesion pressure of all capsules has reached the set threshold. Fitting pressure threshold The value needs to be selected based on the pipe material, diameter, and surface condition, with a preferred range of 40 to 60 kPa. When all the bladders meet the requirements... Upon successful detection, the control unit 7 determines that the fit is sufficient and that each magnetorheological capsule 34 has formed good surface contact with the pipe surface, then proceeds to the next step. If the pressure of any capsule is insufficient, indicating that it has not yet fully fit with the pipe surface, the control unit 7 issues a prompt message through the human-machine interface, instructing the operator to fine-tune the position of the V-shaped clamp 33 by rotating the adjusting screw 32 to increase the contact pressure at that point. This determination process is then repeated until the fit is sufficient. This closed-loop feedback mechanism ensures the reliability of the clamping and avoids clamping failure caused by poor local fit.

[0134] S23. Excitation Current Application and Magnetic Field Generation: After the fit adequacy determination is passed, the excitation current control module of the control unit 7 supplies a set current to the excitation coil 343 of each magnetorheological capsule 34. The excitation coil 343 is wound around the magnetic core 344. When a direct current passes through the excitation coil 343, a magnetic field is generated according to the principle of electromagnetic induction. The magnetic core 344 is made of a soft magnetic material, which has high permeability and effectively converges and enhances magnetic field lines, resulting in a strong magnetic field in the magnetorheological fluid filling layer 342 region. Excitation current The value of needs to be selected based on the required clamping stiffness and the response characteristics of the magnetorheological fluid; the preferred range is 1.5 to 3 A. Within the excitation current range, the magnetic field strength generated by the magnetic core 344... The preferred value range is 0.3 to 0.8T, and the magnetic field strength is sufficient to produce a significant rheological effect in the magnetorheological fluid.

[0135] S24. Calculation of Magnetorheological Fluid Stiffness Response: The magnetorheological fluid filling layer 342 is composed of a base fluid and micron-sized magnetic particles. The base fluid is preferably silicone oil or mineral oil, and the micron-sized magnetic particles are preferably carbonyl iron powder. Magnetorheological fluids possess unique controllable rheological properties, and their mechanical behavior can be described using the Bingham model. The Bingham model is a classic viscoplastic constitutive model that posits that the material exhibits rigid solid behavior before the shear stress reaches the yield stress, and viscous fluid behavior after the shear stress exceeds the yield stress. The shear yield stress of the magnetorheological fluid filling layer 342 is... According to the Bingham model, the magnetic field strength of the response is calculated using the following formula: ;

[0136] in, magnetic field strength Shear yield stress under action, in kPa; The initial yield stress is the stress under no magnetic field conditions, reflecting the basic shear resistance of the magnetorheological fluid under zero magnetic field conditions. The preferred value range is 0.5 to 1 kPa. The magnetorheological coefficient reflects the sensitivity of the magnetorheological fluid to the magnetic field response. It is related to factors such as the type, particle size, volume fraction of magnetic particles, and viscosity of the base fluid. The preferred value range is 40 to 60. This refers to the magnetic field strength, measured in tons (T). The material index reflects the nonlinear relationship between shear yield stress and magnetic field strength, with a preferred value range of 1.2 to 1.5. The formula reveals the physical mechanism of the transformation of magnetorheological fluid from a liquid to a solid-like state. When a magnetic field is applied, the magnetic particles in the magnetorheological fluid align along the magnetic field lines to form a chain-like structure under the influence of the magnetic force. The formation of this chain-like structure causes a sharp increase in the shear yield stress of the magnetorheological fluid, from an initial yield stress of less than 1 kPa without a magnetic field to a yield stress of 30 to 50 kPa with a magnetic field. The magnetorheological fluid transforms from a low-viscosity liquid state to a high-viscosity state with solid-like properties, achieving controllable adjustment of stiffness.

[0137] S25. High-rigidity locking confirmation: As the magnetorheological fluid filling layer 342 solidifies, the equivalent damping coefficient of the magnetorheological capsule 34 changes from its initial value. Increase to maximum value The equivalent damping coefficient characterizes the ability of the bladder to resist vibration. The initial equivalent damping coefficient... The preferred value range is 30 to 70 N·s / m, corresponding to the damping characteristics of the magnetorheological fluid in the liquid state. Maximum equivalent damping coefficient. The preferred value range is 1500 to 2500 N·s / m, which corresponds to the damping characteristics of the magnetorheological fluid after complete solidification. Control unit 7 confirms stiffness locking is complete by monitoring the stability and time delay of the excitation current. The response time of the magnetorheological fluid is at the millisecond level, making the locking process rapid. After stiffness locking is complete, the flexible outer bladder 341 transforms from an elastic deformation state to a rigid bonding layer. This rigid bonding layer perfectly adapts to the pipe surface shape and provides strong clamping force, locking all degrees of freedom of the pipe. Even under subsequent drilling and vibration conditions, it will not loosen or shift, thus completing the clamping process.

[0138] S3. Leveling and Verticality Confirmation: Leveling and verticality confirmation are crucial steps to ensure drilling accuracy. Precise adjustment of the leveling device 4 ensures the drill bit axis is perpendicular to the pipe axis, thereby guaranteeing the positional and angular accuracy of the drilling. This includes three sub-steps: horizontality detection, leveling operation, and verticality confirmation.

[0139] S31. Levelness Detection: The operator observes the electronic bubble level 41 mounted on the outer surface of the punching motor 25. The electronic bubble level 41 has a built-in bubble tube and a scale. When the equipment is level, the bubble is located in the center of the scale. When the equipment is tilted, the bubble deviates from the center position. The direction and degree of deviation directly reflect the tilt angle and tilt direction of the current workbench 21. The electronic bubble level 41 can also be equipped with an electronic sensor to convert the tilt angle into a digital signal and display it on the human-machine interface of the control unit 7, making it easy for the operator to accurately read the levelness data. Since the electronic bubble level 41 is mounted on the outer surface of the punching motor 25, and the punching motor 25 is rigidly connected to the workbench 21 through the reset mechanism 23 and the mounting bracket 22, the reading of the electronic bubble level 41 accurately reflects the posture of the entire punching device 2 relative to the horizontal plane.

[0140] S32. Leveling Operation: Based on the tilt direction displayed by the electronic bubble level 41, the operator selects the corresponding leveling handwheel 43 at each of the four corners of the worktable 21. The leveling handwheel 43 is fixedly connected to the leveling screw 42 via a key connection or welding. The lower end of the leveling screw 42 is threadedly connected to the support plate 14, and the upper end of the leveling screw 42 passes through the holes at the four corners of the worktable 21 and is limited to its movement on the worktable 21 by a stop structure. When the leveling handwheel 43 is rotated, the leveling screw 42 rotates under the drive of the leveling handwheel 43. Since the leveling screw 42 is threadedly connected to the support plate 14 and has a hole connection with the worktable 21, the leveling screw 42 undergoes axial displacement relative to the support plate 14. The stop structure at the top of the leveling screw 42 abuts against the worktable 21 and pushes the worktable 21 up and down. According to the instructions of the electronic bubble level 41, the operator adjusts the leveling screws 42 at the four corners of the workbench 21 to gradually adjust the posture of the workbench 21 relative to the support plate 14, so that the workbench 21 tends to be horizontal.

[0141] S33. Verticality Confirmation: Repeat the S31 levelness check and S32 leveling operation. Through repeated observation and adjustment, until the electronic bubble level 41 shows that the bubble is completely centered, indicating that the workbench 21 has reached a horizontal state. At this time, the axis of the drilling motor 25 is perpendicular to the plane of the workbench 21. Since the pipe is placed horizontally in the V-shaped clamp 33 and its axis is parallel to the plane of the workbench 21, the axis of the drilling bit is perpendicular to the axis of the pipe, meeting the verticality requirements of drilling. Through the precise adjustment of the leveling device 4, the drilling verticality error can be controlled within the preferred range, effectively ensuring drilling accuracy and avoiding hole position deviation and sealing difficulties caused by drilling tilt.

[0142] S4. Multi-source fusion sensing of cutting state; Multi-source fusion sensing of cutting state is the foundation for intelligent adaptive control in this invention. Through the collaborative work of multiple sensors, key signals during the drilling process are collected in real time, and cutting state features are extracted using signal processing algorithms, providing a decision-making basis for subsequent adaptive control strategies. Multi-source fusion sensing refers to the comprehensive utilization of complementary information obtained from different types of sensors, achieving a more comprehensive and accurate state perception capability than a single sensor through information fusion technology. Specifically, it includes four sub-steps: sensor signal acquisition, construction of a load resistance torque observation model, calculation of the cutting force change rate, and calculation of the variance of the acoustic emission signal.

[0143] S41, Sensor Signal Acquisition: After drilling begins, the signal acquisition module of control unit 7 acquires two types of key signals in real time through an analog-to-digital converter. The first type is the motor current signal. The signal is acquired by a Hall current sensor 295 connected in series in the power supply line of the punch motor 25. The Hall current sensor 295 operates based on the Hall effect principle; when current flows through a conductor, a magnetic field is generated around the conductor. The Hall element senses this magnetic field and outputs a voltage signal proportional to the current. This signal is processed by a signal conditioning circuit and then input to the control unit 7. (Motor current signal) The first type represents the cutting load torque of the drilling motor 25. When the cutting resistance increases, the motor requires a larger current to maintain the speed; therefore, changes in motor current directly reflect changes in the cutting load. The second type is acoustic emission signals. The signal is acquired by an acoustic emission sensor 294 located on the outer surface of the outer sleeve 291 of the micro-vibration suppression adapter mechanism 29. Acoustic emission is a transient elastic wave generated by a material under stress. During the cutting process, the interaction between the drill bit and the pipe wall excites high-frequency vibrations. These high-frequency vibrations propagate to the acoustic emission sensor 294 in the form of elastic waves, and the acoustic emission sensor 294 converts the mechanical vibration into an electrical signal output. Acoustic emission signal Characterizing high-frequency chatter during the cutting process provides high sensitivity for detecting unstable cutting conditions. To accurately capture rapid changes in the cutting state, the signal sampling frequency should be no less than 1 kHz, meeting the requirements for acquiring high-frequency chatter signals.

[0144] S42. Construction of the load resistance torque observation model: based on the collected motor current signal. The control unit 7 constructs a load resistance torque observation model to monitor the cutting load in real time. The model is based on the motor dynamics equations, converting the motor current into an estimated load resistance torque. Load resistance torque The calculation formula is: ;

[0145] in, for The load resistance torque at any given time, expressed in N·m, reflects the magnitude of the resistance torque experienced by the drill bit when cutting the pipe wall; This is the torque constant, measured in N·m / A. The constant reflects the proportional relationship between the motor current and the output torque and is an inherent parameter of the motor. The preferred value range is 0.05 to 0.2 N·m / A. Represents the multiplication operator; for The motor current at any given time, expressed in amperes (A). The moment of inertia of the main spindle system is expressed in kg·m². This value reflects the inertial characteristics of the main spindle system in resisting changes in angular acceleration. The preferred value range is 0.001 to 0.01 kg·m². The principal axis angular acceleration is expressed in rad / s², and this value reflects the rate of change of the principal axis angular velocity over time. The viscosity coefficient, measured in N·m·s / rad, reflects the viscous resistance generated by components such as bearings and seals in the spindle system. The preferred value range is 0.001 to 0.01 N·m·s / rad. for The spindle angular velocity at any given time is expressed in rad / s. The physical meaning of the formula is that the motor output torque equals the sum of the load resistance torque, the inertial torque, and the viscous resistance torque. By solving this equation, an estimate of the cutting load can be obtained in real time. The load resistance torque observation model converts the cutting force, which is difficult to measure directly, into a physical quantity that can be indirectly observed through the motor current, providing a reliable feedback signal for subsequent adaptive control.

[0146] S43. Calculation of Cutting Force Change Rate: In order to detect sudden changes in pipe wall hardness in a timely manner, control unit 7 further calculates the cutting force change rate. The rate of change of cutting force reflects the rate of change of the load resistance torque over time. When the drill bit encounters a point of abrupt change in pipe wall hardness, the cutting force will rise sharply in a short period of time, resulting in a significant increase in the rate of change of cutting force. The calculation formula is: ;

[0147] in, This is the rate of change of cutting force, expressed in N·m / s. This value reflects the degree of drastic change in cutting load over time. The load resistance torque at the current moment is expressed in N·m. The load resistance torque at the previous sampling time is expressed in N·m; The sampling time interval is expressed in seconds (s), with a preferred range of 0.001 to 0.01 s. This time interval must match the signal sampling frequency. The formula uses the differential method to numerically differentiate the load resistance torque, offering simple calculations and good real-time performance, making it suitable for implementation in embedded control systems. When the rate of change of cutting force exceeds a set threshold, it indicates that the drill bit has encountered a sudden hardness change point, which may be caused by weld seams, corrosion spots, or uneven material hardness. The control system needs to adjust the feed strategy promptly to prevent motor overload or drill bit breakage.

[0148] S44. Acoustic Emission Signal Variance Calculation: To detect chatter that may occur during the cutting process, control unit 7 calculates the variance of the acoustic emission signal. Chatter is a common instability phenomenon in machining, manifested as strong self-excited vibrations between the tool and the workpiece. Chatter can lead to decreased surface finish, accelerated tool wear, and even tool breakage. The variance of the acoustic emission signal reflects the degree of signal fluctuation. When chatter occurs, the acoustic emission signal exhibits significant periodic fluctuations, and the signal variance increases significantly. Acoustic emission signal variance The calculation formula is: ;in, The variance of the acoustic emission signal is a dimensionless quantity that reflects the degree of dispersion of the acoustic emission signal. This is the number of sampling points. This value determines the length of the data window used in variance calculation. The preferred value range is 100 to 1000, and a larger value is acceptable. The value can provide a more stable variance estimate, but it will increase computational latency. Indicates to From 1 to Summation; For the first The acoustic emission signal value at each sampling point; The variance of the acoustic emission signal is the average value within the calculation window. The formula calculates the expected value of the squared deviation of the acoustic emission signal from the mean, a classic indicator in statistics describing the dispersion of a random variable. When the cutting process is stable, the acoustic emission signal fluctuates little and has a low variance; when chatter occurs, the acoustic emission signal exhibits large periodic fluctuations, and the variance increases significantly. Therefore, the variance of the acoustic emission signal can be used as an effective indicator for chatter detection.

[0149] S5. Adaptive Vibration Suppression Feed Strategy: Based on the cutting state characteristics obtained in step S4, the adaptive vibration suppression feed achieves adaptive adjustment of the drilling process through intelligent judgment and control execution, ensuring the safety and stability of the drilling operation. Adaptive control is a control method that automatically adjusts control parameters according to changes in the characteristics of the controlled object, and is particularly suitable for industrial processes with uncertainties. The steps specifically include six sub-steps: cutting state classification and judgment, normal cutting state control, hard point detection state control, chatter detection state control, reverse drive voltage calculation, and state recovery control.

[0150] S51. Cutting condition classification judgment: Control unit 7 calculates the cutting force change rate based on step S4. Harmony emission signal variance The current cutting state is compared with a preset threshold and classified into one of four types: normal cutting state, hard spot detection state, chatter detection state, or state recovery state. Cutting force change rate threshold. Used to determine if a sudden change in pipe wall hardness has occurred; acoustic emission signal variance threshold. This is used to determine whether chatter has occurred. The threshold setting needs to be calibrated based on the specific pipe material, drill bit type, and cutting parameters to ensure the accuracy and sensitivity of the judgment.

[0151] S52, Normal Cutting State Control: When the rate of change of cutting force... Less than the cutting force change rate threshold And the variance of acoustic emission signals Less than the acoustic emission signal variance threshold At this time, the control unit 7 determines that the current cutting state is normal, and the cutting process is smooth and without abnormal fluctuations. Under normal cutting conditions, the control unit 7 maintains the set feed rate of the drilling motor 25. Keep it constant to ensure drilling efficiency. Cutting force change rate threshold. The preferred value range is 100 to 200 N·m / s, effectively distinguishing between normal cutting fluctuations and sudden load increases caused by abrupt changes in hardness. Acoustic emission signal variance threshold. The preferred value range is 0.01 to 0.05, which effectively identifies signal fluctuations caused by flutter. Set the feed rate. The preferred value range is 0.3 to 0.8 mm / s, which ensures drilling efficiency while avoiding excessive cutting force.

[0152] S53, Hard Spot Detection Status Control: When the cutting force change rate... Greater than the cutting force change rate threshold At this point, control unit 7 determines that the drill bit has encountered a point of sudden change in the hardness of the pipe wall. This point of sudden change could be a weld seam, a hard oxide layer formed by corrosion, or an area of ​​uneven hardness in the material itself. In this state, control unit 7 immediately performs two operations. The first operation is to reduce the feed rate. Determined according to the following relationship: ,in The feed rate reduction factor is preferably set between 0.5 and 0.7 to moderately reduce the feed rate, thereby decreasing the cutting force while maintaining a certain level of machining efficiency. The second operation involves increasing the magnetorheological damping coefficient; the control unit 7 increases the current to the excitation coil 343 to the maximum excitation current. Maximum excitation current The preferred value range is 2.5 to 3.5 A. Increasing the excitation current increases the magnetic field strength of the magnetorheological fluid filling layer 342, further enhancing the shear yield stress and thus strengthening the clamping stiffness, preventing pipe displacement under large cutting forces. This fast-response control strategy effectively prevents motor overload and drill bit breakage, improving the reliability and safety of the equipment.

[0153] S54, Flutter Detection Status Control: When the variance of the acoustic emission signal... Greater than the acoustic emission signal variance threshold At this point, control unit 7 determines that chatter has occurred during the cutting process. Chatter is usually related to factors such as improper selection of cutting parameters, tool wear, or insufficient system rigidity. If not addressed promptly, it can lead to deterioration of the machined surface quality and tool damage. In this state, control unit 7 immediately performs two operations. The first operation is to pause the feed or reduce the feed rate to the minimum feed rate. Minimum feed rate The preferred value range is 0.1 to 0.2 mm / s; this extremely low feed rate effectively suppresses the development of flutter. The second operation is to activate the piezoelectric ceramic actuator for active vibration damping. The control unit 7 first extracts the spectral characteristics of the acoustic emission signal through Fast Fourier Transform (FFT) analysis to identify the dominant frequency of the flutter. The Fast Fourier Transform (FFT) is an efficient algorithm for converting time-domain signals into frequency-domain signals, quickly obtaining the frequency component distribution of the signal. Then, the control unit 7 outputs an inverted drive voltage to the elastic damping element 293, i.e., the piezoelectric ceramic actuator, according to the dominant flutter frequency. Piezoelectric ceramic actuators generate micron-level displacements with opposite phase and equal amplitude under the action of a reverse driving voltage. These displacements are superimposed on the chatter displacement of the drill bit, thereby canceling out the chatter and achieving active vibration damping. Active vibration damping technology is a vibration control technology based on the principle of negative feedback, which eliminates or reduces the original vibration by generating compensating motion opposite to the vibration.

[0154] S55. Calculation of Inverting Drive Voltage: Inverting Drive Voltage The calculation formula is: ;in, for The inverse driving voltage at any given moment, in V; the negative sign indicates that the generated displacement is opposite to the direction of vibration. The gain coefficient, measured in V, determines the displacement amplitude generated by the piezoelectric ceramic actuator. The preferred value range is 50 to 200V. The gain coefficient needs to be adjusted according to the chatter amplitude and the response characteristics of the piezoelectric ceramic actuator to obtain the best vibration damping effect. It represents the sine function, which is a type of trigonometric function; It is twice the value of pi, and its value is approximately 6.283; The main frequency of chatter obtained through FFT analysis is expressed in Hz, with a preferred value range of 500 to 3000 Hz, covering the common chatter frequencies in metal cutting processes. Represents the multiplication operator; The variable is time, and the unit is seconds (s). The phase compensation angle, measured in rad, is preferably within the range of -π to π. This angle compensates for the time delay in the control system and the phase response of the piezoelectric actuator, ensuring that the generated compensated displacement is precisely out of phase with the chatter displacement. The sinusoidal signal generated by the formula has the same frequency as the chatter signal but is out of phase. When the piezoelectric actuator generates displacement according to the driving voltage, the compensated displacement cancels out the chatter displacement of the drill bit, effectively suppressing chatter. This significantly reduces the drilling amplitude, resulting in improved drilling surface quality and tool life.

[0155] S56. State recovery control: Control unit 7 continuously monitors the rate of change of cutting force. Harmony emission signal variance The changing trend of the cutting force. When the rate of change of the cutting force... Harmony emission signal variance All have returned to normal range, that is Less than and Less than At this point, control unit 7 determines that the cutting state has returned to normal. Control unit 7 then gradually restores the feed rate to the set feed rate. The recovery process employs a ramp function to achieve a smooth transition, avoiding sudden changes in feed rate that could cause new cutting instabilities. The ramp function gradually increases the feed rate according to a set acceleration, rather than through a step-like jump. This smooth transition strategy improves the stability of the control system. Simultaneously, if the excitation current and piezoelectric ceramic drive voltage are adjusted during abnormal condition handling, the control unit 7 gradually restores them to normal operating parameters, completing the state recovery process.

[0156] S6. Negative pressure vortex chip removal; Negative pressure vortex chip removal and cooling are auxiliary steps performed simultaneously during the drilling process of this invention. Through the operation of the integrated negative pressure vortex chip removal and cooling system, cooling and lubrication of the cutting area are achieved, as well as complete recovery of the iron chips generated during cutting, preventing iron chips from falling into the pipe and causing pollution. Specifically, it includes:

[0157] S61, Coolant Injection: During the drilling process, the operator pulls the handle 24 of the reset mechanism 23, causing the drilling motor 25 to move downwards towards the pipe surface and perform cutting. Simultaneously, the push piston 28, fixedly connected to the outer surface of the drilling motor 25, descends synchronously with the drilling motor 25, sliding downwards within the inner cooling pipe 271 of the double-layer sleeve-type nozzle 27. The outer diameter of the push piston 28 matches the inner diameter of the inner cooling pipe 271 and is sealed by a sealing ring. The downward movement of the push piston 28 compresses the coolant below it. The coolant stored in the coolant tank 26 enters the inner cooling pipe 271 through the supply line 273. The supply line 273 is equipped with a one-way valve 279, which only allows coolant to flow from the coolant tank 26 to the inner cooling pipe 271, preventing backflow. Compressed coolant is sprayed outward from nozzles 274 located at the lower end of the inner cooling pipe 271. The nozzles 274 surround the drilling bit, and the coolant evenly covers the drilling bit and cutting area in a ring-shaped spray pattern, achieving cooling and lubrication of the cutting area. The coolant reduces cutting temperature, decreases tool wear, and improves chip removal conditions. The coolant spraying mechanism utilizes the downward motion of the drilling motor 25 to drive the piston, propelling the coolant spray. This achieves mechanical linkage between the drilling action and coolant spraying, eliminating the need for additional pump equipment and energy consumption, resulting in a simple and reliable structure.

[0158] S62. Negative Pressure Airflow Generation: The vortex separation and collection chamber 277 is fixedly installed on the mounting bracket 22 or the workbench 21. A tangential air inlet is provided inside the vortex separation and collection chamber 277. When compressed air or airflow generated by a fan enters the vortex separation and collection chamber 277 through the tangential air inlet, the airflow enters tangentially and rotates along the inner wall of the collection chamber, forming a vortex. The vortex separation and collection chamber 277 utilizes the Venturi effect to generate negative pressure. The Venturi effect is a phenomenon in fluid mechanics where the flow velocity increases and the pressure decreases when the fluid passes through a narrowing section. The vortex separation and collection chamber 277 has a narrowing section inside. When the rotating airflow passes through the narrowing section, the flow velocity increases significantly, forming a low-pressure zone in the narrowing section according to Bernoulli's equation. This generates an upward negative pressure suction force within the annular chip discharge channel 275 of the outer negative pressure chip suction pipe 272. The generated negative pressure value is preferably in the range of -5 to -15 kPa, which is sufficient to overcome the gravity of the iron filings and the airflow resistance. Under negative pressure, an upward high-speed airflow is formed in the annular chip removal channel 275. The preferred flow velocity of the high-speed airflow is 10 to 20 m / s, which effectively carries the iron chips generated by cutting upward.

[0159] S63. Scrap Carrying and Conveying: During drilling, the scrap generated by the drill bit cutting the tube wall mixes with the sprayed coolant to form a scrap-coolant mixture. An outer negative pressure suction pipe 272 is coaxially sleeved outside the inner cooling pipe 271, forming an annular scrap discharge channel 275 between them. The lower opening of the outer negative pressure suction pipe 272 is located around the cutting area of ​​the drilling bit. Under the action of the upward high-speed airflow within the annular scrap discharge channel 275, the scrap-coolant mixture is carried upward into the annular scrap discharge channel 275. The scrap, carried upward by the high-speed airflow, moves along the annular scrap discharge channel 275 and enters the vortex separation collection chamber 277 through the scrap discharge hose 276. Throughout the entire conveying process, the scrap remains enveloped by airflow and does not come into contact with other parts of the equipment, achieving contactless scrap conveying and avoiding wear and contamination of the equipment.

[0160] S64. Iron Scrap Collection: An airflow carrying iron scrap and a small amount of coolant enters the eddy current separation collection chamber 277 tangentially through the scrap discharge hose 276. The incoming airflow merges with the existing rotating airflow within the collection chamber, forming a high-speed rotating eddy current field. Under centrifugal force, the iron scrap is thrown against the wall of the eddy current separation collection chamber 277, spiraling down the wall and finally falling into the scrap collection box 278 at the bottom. The scrap collection box 278 is located at the bottom of the eddy current separation collection chamber 277 and can be detached and installed using a snap-fit ​​or threaded connection, facilitating periodic removal and cleaning of the collected iron scrap. This prevents damage to the impeller of the circulating pump in the heating pipeline and blockage of valves and heat exchangers caused by iron scrap, protecting the safe operation of the pipeline system.

[0161] S65, Coolant Filtration and Return: The lower surface of the workbench 21 is provided with a coolant recovery box 5 via a slide groove, which is used to collect the coolant dripping from the perforation. The coolant recovery box 5 can be slidably pulled out via the slide groove for cleaning.

[0162] S7. Drilling Completion and Release: Drilling completion and release is the final stage of the entire drilling operation. Its main task is to restore all components of the equipment to their initial state after the drilling operation is completed, release the clamps on the pipe, and prepare for equipment removal or the next drilling operation. Specifically, it includes three sub-steps: returning the drilling motor to its original position, removing the magnetic field and softening the bladder, and loosening the clamps and removing the equipment.

[0163] S71. Drilling Motor Return: After the drill bit completes the drilling operation on the pipe, the operator releases the pull handle 24. A reset mechanism 23 is located on top of the mounting bracket 22. The reset mechanism 23 contains a spring or cylinder as a reset element. When the pull handle 24 is released, the reset mechanism 23 uses the elastic restoring force or pneumatic thrust generated by the reset element to drive the drilling motor 25 back to its initial position. The return of the drilling motor 25 allows the drill bit to exit the pipe hole and move away from the pipe surface, providing space for subsequent clamp release operations. Simultaneously, the push piston 28, fixedly connected to the outer surface of the drilling motor 25, moves upward synchronously with the drilling motor 25, pushing the piston 28 to slide upward back into its original position within the inner cooling pipe 271. The space within the inner cooling pipe 271 is restored, stopping the compression of the coolant, and the coolant spraying stops accordingly. The reset mechanism 23 ensures that the return of the drilling motor 25 is completed automatically, requiring no additional operation from the operator, thus improving work efficiency.

[0164] S72. Magnetic Field Removal and Encapsulation Softening: The excitation current control module of control unit 7 cuts off the current supply to the excitation coil 343. The current in the excitation coil 343 rapidly drops to zero, and the excitation coil 343 no longer generates a magnetic field. The magnetic core 344 is demagnetized, and the magnetic field in the magnetorheological fluid filling layer 342 region disappears. With the disappearance of the magnetic field, the chain structure of the magnetic particles in the magnetorheological fluid filling layer 342 loses its magnetic field constraint and disintegrates. The magnetic particles return to a free and dispersed state, and the magnetorheological fluid immediately recovers from a near-solid state to a low-viscosity liquid state. The response time of the recovery process can reach the millisecond level. After the magnetorheological fluid recovers to a liquid state, the equivalent damping coefficient of the magnetorheological encapsulation 34 drops from its maximum value. Reduce to initial value The flexible outer bladder 341 returns to an elastic and soft state from a rigid, fitted state. After the bladder softens, the contact between the magnetorheological bladder 34 and the pipe surface changes from a rigid lock to a flexible contact, significantly reducing the clamping force and providing conditions for subsequent release of the clamping plate.

[0165] S73. Clamping Plate Release and Equipment Removal: The operator rotates the handwheel at one end of the adjusting screw 32, causing the adjusting screw 32 to rotate in the opposite direction. Because the adjusting screw 32 has a reverse thread structure in the middle section, the reverse rotation of the adjusting screw 32 drives the left and right clamps of the V-shaped clamp 33 to move synchronously in opposite directions, i.e., move away from each other, through thread transmission. With the bladder softened, the magnetorheological bladder 34 easily detaches from the pipe surface without causing scratches or damage. Continue rotating the handwheel until the V-shaped clamp 33 is fully open, and the pipe is completely separated from the clamping device 3, completing the release operation. Finally, the operator releases the brake mechanism of the universal wheel 12, allowing the universal wheel 12 to return to its free-rotating state. The operator then uses the telescopic handle 6 to move the equipment to the next drilling position or remove it from the site, completing the entire drilling operation. If another drilling operation is required, steps S1 to S7 are repeated; if all drilling tasks are completed, the equipment is transported back to its storage location, the power to the control unit 7 is turned off, and the operation is complete.

[0166] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile pipe piercing apparatus, characterized in that, The device comprises a lifting device, a punching device, a clamping device, a leveling device and a control unit. The lifting device comprises a chassis, a hydraulic mechanism arranged at the center of the upper surface of the chassis, a support plate fixedly connected to the top end of the piston rod of the hydraulic mechanism, and two groups of symmetrically distributed X-shaped lifting arms arranged between the chassis and the support plate. The punching device comprises a workbench, a mounting frame arranged on one side of the upper surface of the workbench, a reset mechanism arranged on the top of the mounting frame, a punching motor arranged at the bottom of the reset mechanism, a cooling liquid tank arranged on the side of the mounting frame away from the punching motor, and a double-layer sleeve type nozzle arranged on the side of the mounting frame close to the punching motor. The clamping device comprises two positioning plates arranged on the upper surface of the workbench, an adjusting screw rod passing through the through hole of the positioning plate, a V-shaped clamping plate in threaded transmission connection with the adjusting screw rod and in sliding connection with the workbench, and a plurality of magneto-rheological capsules arranged on the inner sides of the left and right clamping plates of the V-shaped clamping plate. The leveling device comprises an electronic bubble level arranged on the outer surface of the punching motor, leveling screws arranged at the four corners of the support plate, and leveling handwheels in threaded connection with the leveling screws, respectively. The punching device further comprises a punching drill bit connected to the punching motor through a micro-vibration suppression adapter. The micro-vibration suppression adapter comprises an outer sleeve fixedly connected to the shaft extension end of the punching motor, an inner core shaft, an elastic damping element arranged between the outer sleeve and the inner core shaft, and an acoustic emission sensor arranged on the outer surface of the outer sleeve. The inner core shaft is connected to the outer sleeve through the elastic damping element at the upper end, and the inner core shaft is installed with the punching drill bit at the lower end. The magneto-rheological capsule comprises a flexible outer capsule, a magneto-rheological liquid filling layer, a magnetic core, an excitation coil, and a pressure sensor. The magneto-rheological liquid filling layer is located in the internal cavity of the flexible outer capsule, the magnetic core is located inside the flexible outer capsule, the excitation coil is wound around the magnetic core, and the pressure sensor is arranged on the bottom or side wall of the flexible outer capsule.

2. A mobile pipe cutting apparatus according to claim 1, wherein The double-layer sleeve type nozzle comprises an inner cooling pipe and an outer negative pressure chip suction pipe.

3. A mobile pipe cutting apparatus as defined in claim 1, wherein The inner cooling pipe is in communication with the cooling liquid tank through a liquid supply pipeline, the lower end of the inner cooling pipe is provided with a nozzle, the outer negative pressure chip suction pipe is coaxially arranged outside the inner cooling pipe, an annular chip removal channel is formed between the outer surface of the inner cooling pipe and the inner surface of the outer negative pressure chip suction pipe, and the upper end of the outer negative pressure chip suction pipe is connected to the eddy current separation collection bin through a chip removal hose. The control unit is electrically connected with the acoustic emission sensor, a Hall current sensor arranged in the power supply circuit of the punching motor, the pressure sensor, the excitation coil, the elastic damping element, and the servo driver of the punching motor. The elastic damping element is a piezoelectric ceramic actuator laminated assembly, and the control unit outputs a reverse driving voltage to the piezoelectric ceramic actuator when detecting high-frequency flutter. A push piston is slidably arranged inside the inner cooling pipe, the push piston comprises a piston head and a piston rod, the piston head is arranged inside the inner cooling pipe, the piston rod extends out of the inner cooling pipe and is fixedly connected to the output shaft of the punching motor, and the communication port of the inner cooling pipe and the liquid supply pipeline is located below the push piston. A one-way valve for controlling the one-way flow of the cooling liquid is arranged on the liquid supply pipeline.

4. A mobile pipe cutting apparatus as defined in claim 1, wherein The tangential air inlet is arranged in the vortex separation collecting bin, and the bottom of the vortex separation collecting bin is provided with a chip collecting box.

5. A mobile pipe cutting apparatus as defined in claim 1, wherein The magneto-rheological liquid filling layer is filled with magneto-rheological liquid mixed by base liquid and micron magnetic particles; the magnetic core is made of soft magnetic material; and the flexible outer bag is made of high-strength rubber or silica gel material.

6. A mobile pipe cutting apparatus as defined in claim 1, wherein The middle section of the adjusting screw is provided with a positive and negative thread structure, the V-shaped clamping plate comprises a left clamping plate and a right clamping plate, the left clamping plate and the right clamping plate are respectively threadedly connected with the left-hand thread section and the right-hand thread section of the adjusting screw, and one end of the adjusting screw away from the mounting frame is provided with a rotating hand wheel.

7. A mobile pipe cutting apparatus as defined in claim 1, wherein The lower end of the leveling screw is threadedly connected with the supporting plate, the upper end of the leveling screw passes through the through hole arranged at the four corners of the workbench, one end of the leveling screw away from the supporting plate is provided with a stop structure, and the stop structure is movably limited on the upper surface of the workbench.

8. A mobile pipe cutting apparatus as defined in claim 1, wherein, The lower surface of the workbench is provided with a cooling liquid recovery box through a sliding groove, one end of the X-shaped lifting arm is hingedly connected with the bottom disc and the supporting plate through a pin shaft, the other end of the X-shaped lifting arm is provided with a pulley, the upper surface of the bottom disc and the lower surface of the supporting plate are respectively provided with U-shaped frames as slide rails at positions corresponding to the pulley, and universal wheels are arranged at the four corners of the bottom of the bottom disc. The tangential air inlet is arranged in the vortex separation collecting bin, and the bottom of the vortex separation collecting bin is provided with a chip collecting box.

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