CN109812226B

CN109812226B - Pipeline side wall deep hole drilling device

Info

Publication number: CN109812226B
Application number: CN201910103728.XA
Authority: CN
Inventors: 张忠林; 吴志强; 周辉; 朱勇; 常盛; 刘锐; 刘强
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2019-02-01
Filing date: 2019-02-01
Publication date: 2021-06-01
Anticipated expiration: 2039-02-01
Also published as: CN109812226A

Abstract

The invention discloses a device for drilling a deep hole in a pipeline side wall, belonging to the technical field of rock mass mechanics model test equipment; the invention comprises an X-axis feeding mechanism, an X-axis rotating mechanism, a walking mechanism, a clamping mechanism, a cutter feeding mechanism and a cutting mechanism; the X-axis rotating mechanism is arranged on the X-axis feeding mechanism, and the tail end of the X-axis rotating mechanism is provided with a travelling mechanism, a clamping mechanism, a cutter feeding mechanism and a cutting mechanism; the cutting mechanism is arranged on the cutter feeding mechanism; the invention realizes stable positioning and ensures accurate drilling through the pull rod structure; the telescopic universal coupling is adopted to be matched with the bevel gear to steer, so that the drilling depth and positioning are guaranteed while the power is effectively transmitted. The screw rod sliding table driven by the belt wheel can provide sufficient radial force for the drill bit, and the drill bit can be guaranteed to be capable of drilling to a specified depth in the drilling process and cannot idle; the invention realizes the drilling work of 360-degree all-directional coverage in the long and narrow pipeline.

Description

Pipeline side wall deep hole drilling device

Technical Field

The invention relates to the technical field of rock mass mechanics model test equipment, in particular to a device for drilling deep holes in a side wall of a pipeline.

Background

In modern society, many engineering projects need to be constructed in deep holes or to excavate pipelines. Considering the problems of collapse, high construction cost and the like which possibly occur during pipeline excavation, before engineering begins, simulation experiments are needed to be carried out on the deformation destruction characteristics around the rock-soil layer where the pipeline is located and the whole excavation process, the tool can provide early-stage technical support for anchor rod support in the tunnel, and a scientific and reasonable support scheme is provided.

At present, the pipeline robot is mostly a detection type robot, and the problem can be detected but cannot be solved. The common construction scheme is inclined to anchor rod supporting, and the scheme utilizes the self mechanical characteristics of rock and soil layers around the pipeline to lead surrounding rocks to be bound together to play a supporting role. The pre-requisite work for bolting is the drilling work of the inner side wall of the pipeline. At present, the integrative mechanical structure of brill anchor generally is partial to the maximization, and the operation is automatic inadequately, needs artifical the participation more, can't accomplish the pipeline inside wall drilling work in the narrow space, and this structural design can solve this problem, is applicable to the drilling work of long and narrow pipeline inside wall, and is light-dutyization, and is intelligent, and does not need artifical too much to participate in basically. The invention is from the research and development project of major scientific research instruments of national science fund, namely a deep tunnel/tunnel dynamic disaster physical simulation test system, and the serial numbers are as follows: 51427803, developing a drilling robot for the inner side wall of the pipeline is an important sub-topic. The method has important theoretical and application values for correctly and deeply disclosing the formation mechanism and the evolution rule of similar dynamic disasters such as deep roadway/tunnel rock burst and the like, and has important scientific significance for promoting the development of rock mechanics disciplines and building important experiment platforms.

Disclosure of Invention

The invention aims to provide a pipeline side wall deep hole drilling device, which can be used as a tool for drilling a deep hole on the inner side wall of a long and narrow pipeline, can be used for drilling holes on the inner side walls of the long and narrow pipeline and the long and narrow rock hole, is used for an early-stage experimental device in the fields of trenchless pipelines, coal rock exploration, mining and the like, and has important scientific significance for promoting the development of rock mechanics subjects, trenchless work inside the pipeline and simulating the construction of a tunnel anchor bolt support experimental platform.

The purpose of the invention is realized as follows:

a device for drilling deep holes in the side wall of a pipeline comprises an X-axis feeding mechanism, an X-axis rotating mechanism, a walking mechanism, a clamping mechanism, a cutter feeding mechanism and a cutting mechanism; the X-axis rotating mechanism is arranged on the X-axis feeding mechanism, and the tail end of the X-axis rotating mechanism is provided with a travelling mechanism, a clamping mechanism, a cutter feeding mechanism and a cutting mechanism; the cutting mechanism is mounted on the tool feed mechanism.

The X-axis feeding mechanism comprises a first alternating current servo stepping motor 1, a first coupler 2, a large lead screw 3, a large lead screw sliding table base 4, a large sliding table plate 5 and supporting legs 15; the first alternating current servo stepping motor 1 is connected with a large lead screw 3 through a first coupler 2 and is arranged on a large lead screw sliding table base 4; the supporting leg 15 is fixedly assembled with the left side of the large sliding table plate 5.

The X-axis rotating mechanism comprises a second alternating current servo stepping motor 6, a stepping motor support 7, a second coupler 8, a large sliding table bearing seat 9, a thrust bearing 10, a first tetrafluoro sleeve 11, a main shaft connecting piece 12, a large sliding table end cover 13, a main shaft 14, a ball retainer seat 16, a retainer left end cover 17, a ball retainer 18 and a retainer right end cover 19; the second alternating current servo stepping motor 6 is arranged on the stepping motor bracket 7 and is connected with the main shaft 14 through a second coupling 8; the left side of the main shaft 14 is embedded into the main shaft connecting piece 12 and fixed; then the sleeve and a thrust bearing 10 are arranged in a large sliding table bearing seat 9, and a first tetrafluoro sleeve 11 is fixed in the large sliding table bearing seat 9 through a large sliding table end cover 13 on the right side; the large sliding table bearing seat 9 and the stepping motor bracket 7 are fixed on the large sliding table plate 5; the ball retainer 18 is sleeved on the right side of the main shaft 14, and then the ball retainer 18 is fixed inside the ball retainer seat 16 by the retainer left end cover 17 and the retainer right end cover 19 respectively; the ball retainer seat 16 is fixed on the supporting leg 15;

the travelling mechanism comprises a limiting snap ring 20, a left angular contact ball bearing 21, a travelling wheel bearing seat 22, a travelling wheel seat 23, a travelling wheel 24, a right angular contact ball bearing 25 and a cylindrical flange plate 26; the limit snap ring 20 is fixed on a traveling wheel seat 23 and is respectively provided with a left angular contact ball bearing 21, a traveling wheel bearing seat 22, a right angular contact ball bearing 25 and a cylindrical flange 26 from left to right; the cylindrical flange is fixed with the main shaft 14; the traveling wheel seat 23 is mounted on three mounting holes of the traveling wheel bearing seat 22, and the traveling wheel seat 23 is mounted thereon.

The clamping mechanism comprises a fixed connecting piece 27, a speed reducing motor bracket 28, a worm gear speed reducing motor 29, a supporting gear 31, a supporting rack 32, a first side wall pull rod 33, a second side wall pull rod 34, a pull rod connecting shaft 35, a third side wall pull rod 36, a first upper plate short rod 37, a first upper plate long rod 38, a second upper plate short rod 42, a first lower plate short rod 65, a square pipe lining plate 66, a first lower plate long rod 68 and a second lower plate short rod 69, a fourth side wall pull rod 70, a first left plate short rod 71, a left plate long rod 72, a second left plate short rod 73, a third upper plate short rod 78, a second upper plate long rod 75, a second right plate short rod 76, a right plate long rod 77, a fourth upper plate short rod 74, a fifth side wall pull rod 79, a first right plate short rod 80, a sixth side wall pull rod 81, a first lower plate short rod 65, a third lower plate short rod 85, a second lower plate long rod 84 and a fourth lower plate short rod 83; the worm gear speed reducing motor 29 is meshed with the supporting gear 31 and then meshed with the supporting rack 32, and then the supporting rack 32 is fixed with the pull rod connecting shaft 35; the pull rod connecting shaft 35 is hinged with the first side wall pull rod 33, the second side wall pull rod 34, the third side wall pull rod 36, the fourth side wall pull rod 70, the fifth side wall pull rod 79 and the sixth side wall pull rod 81 respectively; the first side wall pull rod 33 is hinged with a right long plate 77 and a first right short plate 80, the right long plate 77 is hinged with a second right short plate 76, and the other ends of the first right short plate 80 and the second right short plate 76 are hinged with a square tube lining plate 66; the second side wall pull rod 34 is hinged with a left plate long rod 72 and a first left plate short rod 71, and the left plate long rod 72 is hinged with a second left plate short rod 73; the other ends of the first left plate short rod 71 and the second left plate short rod 73 are hinged with the square tube lining plate 66; the third side wall pull rod 36 is hinged with a first upper plate long rod 38 and a first upper plate short rod 37, then the first upper plate long rod 38 is hinged with a second upper plate short rod 42, and the other ends of the first upper plate short rod 37 and the second upper plate short rod 42 are hinged with a square pipe lining plate 66; the fourth side wall tension bar 70 is hinged with a second lower long plate bar 84 and a third lower short plate bar 85, and then the second lower long plate bar 84 is hinged with a fourth lower short plate bar 83; the other ends of the third lower short bar 85 and the fourth lower short bar 83 are hinged with the square tube lining plate 66; the fifth side wall pull rod 79 is hinged with the second upper plate long rod 75 and the third upper plate short rod 78; then the second upper long plate bar 75 is hinged with the fourth upper short plate bar 74; the other ends of the third upper plate short rod 78 and the fourth upper plate short rod 74 are hinged with the square tube lining plate 66; the sixth side wall pull rod 81 is hinged with the first long lower plate rod 68 and the first short lower plate rod 65; the first long lower plate rod 68 is hinged with the second short lower plate rod 69; the other ends of the first lower short bar 65 and the second lower short bar 69 are hinged with the square tube lining plate 66.

The cutter feeding mechanism comprises a square pipe 30, a first small belt wheel 39, a third stepping motor 40, a first V-shaped belt 41, a third small belt wheel 49, a sliding table frame 50, a small screw rod 60 and an endoscope head 61; a third step motor 40 and a sliding table frame 50 are fixed on the square pipe 30 and are respectively provided with a first small belt wheel 39 and a third small belt wheel 49, and the two belt wheels are connected through a first V-shaped belt 41; the third small belt wheel 49 is connected with a small screw 60 and assembled with the sliding stand 50; the endoscope head 61 is mounted on the lower side of the rectangular tube 30 in the same direction as the X-axis feeding direction.

The cutting mechanism comprises a telescopic universal coupling 43, a sliding table plate 44, a gear end cover 45, an angular contact ball bearing 46, a second small belt wheel 47, a second V-shaped belt 48, a tension wheel 51, a fourth small belt wheel 52, a stud 53, a cover plate 54 for a drill bit, a thrust bearing 55, a drill bit sleeve 56, a drill bit fastening screw 57, an impact drill bit 58, a self-lubricating copper sleeve 59, an inert bevel gear 62, a vertical bevel gear 63, a transverse bevel gear 64 and a brushless direct current motor 67; a brushless direct current motor 67 is fixed on the square tube lining plate 66, and a main shaft of the brushless direct current motor is connected with one end of the telescopic universal coupling 43; the other end of the telescopic universal coupling 43 is connected with a transverse bevel gear 64 and fixed on the sliding table plate 44; the vertical bevel gear 63 and the angular contact ball bearing 46 are assembled and fixed on the sliding table plate 44 through a gear end cover 45, one end of the vertical bevel gear is respectively meshed with the inert bevel gear 62 and the transverse bevel gear 64, and the other end of the vertical bevel gear is fixed with the second small belt wheel 47; the drill sleeve 5 is assembled with a thrust bearing 55, then fixed with a stud 53 through a cover plate 54 for a drill, and the tail end of the stud is fixed with a fourth small belt wheel 52; bit securing screws 57 secure the impact bits 58 in the bit pockets 56; the second V-belt 48 connects the second small pulley 47 with the fourth small pulley 52 via the tension pulley 51; one end of the sliding table plate is provided with a through hole which is assembled with the upright post of the sliding table frame 50, and the other end of the sliding table plate is engaged with a small screw rod 60 through installing a self-lubricating copper sleeve 59.

The invention has the beneficial effects that: be mostly the upsizing to current mechanical structure, and need artifical the participation more, can't accomplish long and narrow pipeline or rock hole inside wall drilling work, provide a sizing pipeline inside wall and bore deep hole instrument, can realize axial 3 meters, 360 degrees all-round covering's drilling work in the long and narrow pipeline of sizing diameter 200 mm.

The diameter of the pipeline or rock hole is small and long, so that a plurality of motors cannot enter the pipeline or rock hole in consideration of the diameter of the pipeline, and a cantilever structure is easily caused in the drilling process. The motor position must be reserved in a narrow limit space as far as possible, so the structure of the invention is characterized in that a telescopic universal coupling is adopted to be matched with a bevel gear for steering, the effective transmission of power is realized, and the drilling depth and positioning are ensured. Meanwhile, the power source is external, and a rigid hollow main shaft is adopted to go deep into the hole. Moreover, the screw rod sliding table driven by the belt wheel can provide sufficient radial force for the drill bit, and the drill bit can be guaranteed to be capable of drilling to a specified depth in the drilling process and not to idle; an industrial endoscope apparatus using an infrared function can realize remote visual observation for 24 hours.

Drawings

FIG. 1 is a schematic diagram of the working environment of the present invention;

FIG. 2 is a three-dimensional view of the overall structure of the present invention;

FIG. 3 is a front view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is a side view of the present invention;

FIG. 6 is a cross-sectional view of the invention A-A;

FIG. 7 is an enlarged view of part B of the present invention;

FIG. 8 is a three-dimensional view of the drawbar support mechanism according to the present invention;

FIG. 9 is a top view of the tie bar support structure of the present invention;

fig. 10 is a bottom view of the tie bar support structure of the present invention.

Detailed Description

The invention relates to a device for drilling a deep hole on the side wall of a pipeline, and aims to design a tool capable of drilling a hole with a certain depth on the inner wall of a narrow sizing pipeline, which mainly comprises: the whole axial moving structure of the drilling device is realized, and the power source is an alternating current servo stepping motor; the drilling device is of a structure for realizing 360-degree circumferential rotation movement of the drilling device, and the power source is an alternating-current servo stepping motor; the stable pull rod supporting structure realizes the positioning of the front end device of the drilling tool on the inner side wall of the pipeline, and the power source is a worm gear speed reducing motor; the front-end drill bit device capable of drilling deep holes is realized, the power source is a brushless direct current speed reduction motor, and the mode comprises a universal coupling and a bevel gear; the power source of the small screw rod sliding table is a stepping motor with an encoder, and the small screw rod sliding table is driven by a synchronous belt pulley; and a visual transmission device. The parts are tightly matched to form the deep hole drilling tool for the side wall of the sizing pipeline. The whole tool action is divided into five steps: firstly, the whole structure of the drilling device is driven to axially advance by an alternating current servo stepping motor, and the drilling device penetrates into a pipeline to be drilled and accurately reaches a specified position; then another AC servo stepper motor drives the drilling tool to rotate in the pipeline, and the drilling tool is matched with the front-end visual transmission device to accurately rotate to a specified position and stop; then the worm gear speed reducing motor works to drive the pull rod supporting structure to form stable support in the pipeline; then the brushless direct current motor drives the drill bit to work through the coupler, meanwhile, the stepping motor with the encoder at the front end works synchronously, and the small-sized lead screw sliding table is driven by the V-shaped belt to realize axial feeding and returning of the drill bit through the transmission of the synchronous belt wheel; and finally, the worm and gear speed reducing motor runs reversely, and the supporting structure is folded, so that the deep hole drilling work inside the pipeline is completed once. The tool for drilling the deep hole on the inner wall of the pipeline is characterized by small size, light weight, systematic structure, modularization and strong practicability. The invention discloses a tool for drilling deep holes in the inner side wall of a pipeline, which is used for an early-stage experimental device in the fields of coal mine rock exploration, underground pipeline development, roadway support and the like, and belongs to the technical field of rock-soil mechanical model test equipment.

The invention is further described below with reference to the accompanying drawings.

Example 1:

1. the utility model provides a pipeline lateral wall bores deep hole device, its purpose designs a pipeline inside wall drilling tool, includes: the drilling device has the advantages that the whole axial moving structure of the drilling device is realized, the 360-degree circumferential rotation motion structure of the drilling device is realized, the stable pull rod supporting structure for positioning the front end device of the drilling tool on the inner side wall of the pipeline is realized, the front end drill bit device capable of drilling deep holes and the radial forward and backward structure are realized, and the synchronous belt wheel, the universal coupling and the bevel gear matched power transmission system and the visual transmission device are realized. The parts are tightly matched to form a deep hole drilling tool for the inner side wall of the sizing pipeline.

2. Because the pipeline is narrow and long, so in order to guarantee to realize that drilling tool can axial displacement to the assigned position, need long enough lead screw slip table and closed-loop control, therefore the power source is exchange servo step motor.

3. Because the 360-degree circumferential drilling needs to be realized, the drilling machine needs to be self-locked after an alternating current servo stepping motor accurately controls the rotation angle of the drilling hole, so that the drilling machine can work at a specified angle.

4. Realize the stable supporting structure of pipeline inside wall location, because the front end drilling tool quality is big, cause cantilever structure easily, the inaccurate scheduling problem of drilling location, consequently must have stable positioning supporting structure to guarantee the location, drive the pull rod mechanism by worm gear reduction motor and provide.

5. The structure that realizes drilling tool drill bit radial feed and roll back is lead screw slip table structure, because this instrument has stable location bearing structure, consequently need take the step motor of encoder to drive the lead screw slip table via synchronous pulley and provide sufficient radial power for drilling, cooperation front end vision transmission device just can guarantee that the drill bit feeds perpendicularly, and drilling is accurate.

The device for drilling the deep hole on the side wall of the pipeline comprises: because the pipeline inside wall is less, in order to guarantee drilling depth, the motor that drives the work of drill bit does not link to each other with lead screw slip table is direct, but through universal joint, via bevel gear turn to, band pulley transmission connects the drill bit, passes power transmission to this completion drill bit bores deep hole work.

Example 2:

the invention relates to a device for drilling a deep hole on the side wall of a pipeline, and aims to design a tool capable of drilling a deep hole on the inner side wall of a long and narrow pipeline.

The purpose of the invention is realized as follows:

it includes: the integral axial moving structure of the drilling device is realized; a structure for realizing 360-degree circumferential rotation movement of the drilling device; the stable pull rod supporting structure and the power transmission system realize the positioning of the front end device of the drilling tool on the inner side wall of the pipeline; the front end drill bit device and the power transmission system which can drill a deep hole are realized; the axial advancing and retracting structure and the power transmission system of the drill bit device are realized; and a visual transmission observation device. The power source of the whole axial moving structure of the drilling device is an alternating-current servo stepping motor, the axial moving and accurate positioning can be realized, and the power transmission is a screw rod sliding table structure; the power source of the 360-degree circumferential rotation motion structure of the drilling device is another alternating current servo stepping motor, so that the self-locking can be kept after accurate angular displacement is realized; the power source of the stable pull rod supporting structure is a worm gear and worm reduction motor, and a power system is transmitted by a gear rack; the drill bit device capable of drilling the deep hole and the power transmission are mainly provided by a brushless direct current motor matched with a telescopic universal coupling, a bevel gear steering and belt pulley transmission structure with an axis crossing angle of 90 degrees and an impact drill bit; the structure for realizing the axial forward and backward movement of the drill bit device is mainly provided with a stepping motor with encoder feedback and a small screw rod sliding table, and a power transmission system drives the small screw rod sliding table through a belt pulley; the visual transmission device is applied to an industrial endoscope with an infrared function.

The invention aims to solve the technical problem that the existing mechanical structure is large in size, needs more labor participation and cannot complete drilling work on the inner side wall of a long and narrow pipeline or a rock hole, and provides a tool for drilling a deep hole on the inner side wall of a sizing pipeline, which can realize drilling work of 360-degree all-directional coverage in the long and narrow pipeline with the axial length of 3 meters and the sizing diameter of 200 mm.

Example 3:

please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, and fig. 10.

A pipeline side wall deep hole drilling device mainly comprises: the device comprises a first alternating-current servo stepping motor 1, a first coupler 2, a large screw rod 3, a large screw rod sliding table base 4, a large sliding table plate 5, a second alternating-current servo stepping motor 6, a stepping motor support 7, a second coupler 8, a large sliding table bearing seat 9, a thrust bearing 10, a first tetrafluoro sleeve 11, a spindle connecting piece 12, a large sliding table end cover 13, a spindle 14, a support leg 15, a ball retaining frame seat 16, a retainer left end cover 17, a ball retaining frame 18, a retainer right end cover 19, a limit snap ring 20, a left angular contact ball bearing 21, a walking wheel bearing seat 22, a walking wheel seat 23, a walking wheel 24, a right angular contact ball bearing 25, a cylindrical flange plate 26, a fixed connecting piece 27, a speed reducing motor support 28, a worm gear speed reducing motor 29, a square tube 30, a support gear 31, a support rack 32, a first side wall pull rod 33, a, A third side wall pull rod 3, a first upper plate short rod 37, a first upper plate long rod 38, a first small belt pulley 39, a third stepping motor 40, a first V-shaped belt 41, a second upper plate short rod 42, a telescopic universal coupling 43, a sliding table plate 44, a gear end cover 45, an angular contact ball bearing 46, a second small belt pulley 47, a second V-shaped belt 48, a third small belt pulley 49, a sliding table frame 50, a tension pulley 51, a fourth small belt pulley 52, a stud 53, a cover plate 54 for a drill bit, a thrust bearing 55, a drill bit sleeve 56, a drill bit fastening screw 57, an impact drill bit 58, a self-lubricating copper sleeve 59, a small lead screw 60, an endoscope lens 61, an inert bevel gear 62, a vertical bevel gear 63, a transverse bevel gear 64, a first lower plate short rod 65, a square pipe plate 66, a brushless direct current motor 67, a first lower plate 68, a second lower plate short rod 69, a fourth side wall pull rod 70, a first left plate short rod 71, a left long plate 72, a second left short plate 73, a third short plate 78, a second long plate 75, a second right short plate 76, a right long plate 77, a fourth short plate 74, a fifth side wall pull rod 79, a first right short plate 80, a sixth side wall pull rod 81, a first short plate 65, a third short plate 85, a second long lower plate 84, and a fourth short lower plate 83. The above-mentioned every parts are mutually matched to form the complete tool.

The working process of the deep hole drilling tool for the inner side wall of the sizing pipeline is as follows: firstly, a first alternating current servo stepping motor 1 works, a large lead screw 3 is driven to rotate through a first coupler 2, so that a large sliding table plate 5 is matched with a walking wheel 24 to bear the whole device and moves to a proper position, and a large lead screw sliding table base 4 is fixed; then a second alternating current servo stepping motor 6 fixed on a stepping motor support 7 works, a main shaft connecting piece 12 is driven through a second coupler 8, a main shaft 14 is driven to rotate to work, the drilling tool is rotated to a proper position to stop and self-lock the drilling tool, and a walking wheel 24 provides walking support in the process of going deep into a pipeline; then, the worm gear speed reducing motor 29 rotates forwards to work, and the supporting rack 32 is driven by the supporting gear 31 connected with the shaft to drive the whole pull rod supporting structure to stably support the inside of the pipeline; then the brushless DC motor 67 works, and finally drives the impact drill 58 to rotate and work by power through the telescopic universal coupling 43, the transverse bevel gear 64, the vertical bevel gear 63, the second small belt wheel 47, the second V-shaped belt 48, the fourth small belt wheel 52 and the drill sleeve 56; then, the third step motor 40 works to drive the first small belt pulley 39, the power is transmitted to the third small belt pulley 49 through the first V-belt 41 and finally transmitted to the small screw 60, and the sliding table plate 44 moves downwards under the guidance of the smooth guide rail column, so as to provide stable axial force for the drill to work. Therefore, deep hole drilling work on the inner side wall of the pipeline can be realized; after drilling is finished, the worm gear speed reducing motor 29 works in a reverse rotation mode, so that the small screw 60 can rotate reversely, the sliding table plate 44 is driven to move upwards, the impact drill 58 retracts to the initial position, and drilling on the inner side wall of the sizing pipeline is finished once. According to the operation, the first alternating current servo stepping motor 1 and the second alternating current servo stepping motor 6 work again to adjust the feeding position and the rotating angle of the whole device of the tool, and then the following drilling work can be completed in a matched mode.

In the invention, one end of a main shaft 14 supports and rotates by depending on a main shaft connecting piece 12, and a thrust bearing 10 and a tetrafluoro sleeve 11 are embedded in a large sliding table bearing seat 9 under a large sliding table end cover 13; the other end of the walking support rotating action is completed by the ball retainer 18.

In the invention, a spring can be added between the walking wheel 24 and the walking wheel seat 23 to realize walking support in the hole, and an adjusting gasket can also be used; since it is fixed to the traction bearing housing 22, it only participates in axial travel support of the device in the interior of the duct, and does not participate in the operation of the main shaft 14 during rotation.

In the invention, the specific working process of the pull rod supporting structure is realized as follows: the worm gear speed reducing motor 29 rotates forwards to drive the supporting gear 31 and the supporting rack 32 to be matched to realize axial displacement, and then the first side wall pull rod 33, the second side wall pull rod 34, the third side wall pull rod 36, the fourth side wall pull rod 70, the fifth side wall pull rod 79 and the sixth side wall pull rod 81 are driven to be linked through the pull rod connecting shaft 35; under the action of the first sidewall pull rod 33, the long right plate rod 77 is supported under the second short right plate rod 76 and the first short right plate rod 80; under the action of the second side wall pull rod 34, the long left plate rod 72 is supported under the first short left plate rod 71 and the second short left plate rod 73; under the action of the third side wall pull rod 36, the first upper plate long rod 38 is supported under the first upper plate short rod 37 and the second upper plate short rod 42; under the action of the fourth side wall pull rod 70, the second lower long plate bar 84 is supported under the third lower short plate bar 85 and the fourth lower short plate bar 83; under the action of the fifth side wall pull rod 79, the second upper plate long rod 75 is supported under the third upper plate short rod 78 and the fourth upper plate short rod 74; under the action of the sixth side wall pull rod 81, the first lower plate long rod 68 is supported under the first lower plate short rod 65 and the second lower plate short rod 69; the above rod supporting processes are synchronous, and after the drilling is finished and the drill bit returns to the initial position, the rods return to the initial position under the reverse rotation of the worm gear speed reducing motor 29.

Example 4

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for drilling deep holes in the side wall of a pipeline comprises an X-axis feeding mechanism, an X-axis rotating mechanism, a walking mechanism, a clamping mechanism, a cutter feeding mechanism and a cutting mechanism; the method is characterized in that: a large sliding table plate (5) and a supporting leg (15) are arranged on the X-axis feeding mechanism; the X-axis rotating mechanism is fixed on the large sliding table plate (5) through a large sliding table bearing seat (9) and a stepping motor support (7), meanwhile, a main shaft (14) is fixed inside a ball retaining frame seat (16), and the ball retaining frame seat (16) is fixed on a supporting leg (15); the travelling mechanism is fixed with the main shaft (14) through a cylindrical flange plate (26) and is arranged at the tail end of the X-axis rotating mechanism; the cutter feeding mechanism is fixed on the cylindrical flange plate (26) through a square pipe (30) and is arranged at the tail end of the travelling mechanism; the cutting mechanism is fixed on the square pipe (30) through a sliding rack (50) and is arranged on the cutter feeding mechanism; the clamping mechanism also fixes the tail end of the X-axis rotating mechanism; the clamping mechanism comprises a fixed connecting piece (27), a gear motor support (28), a worm gear and worm gear speed reduction motor (29), a support gear (31), a support rack (32), a first side wall pull rod (33), a second side wall pull rod (34), a pull rod connecting shaft (35), a third side wall pull rod (36), a first upper short rod (37), a first upper long rod (38), a second upper short rod (42), a first lower short rod (65), a square tube lining plate (66), a first lower long rod (68), a second lower short rod (69), a fourth side wall pull rod (70), a first left short rod (71), a left long rod (72), a second left short rod (73), a third upper short rod (78), a second upper long rod (75), a second right short rod (76), a right long rod (77), a fourth upper short rod (74), a fifth side wall pull rod (79), A first right plate short rod (80), a sixth side wall pull rod (81), a third lower plate short rod (85), a second lower plate long rod (84) and a fourth lower plate short rod (83); the worm gear speed reducing motor (29) is meshed with the supporting gear (31) and then meshed with the supporting rack (32), and then the supporting rack (32) is fixed with the pull rod connecting shaft (35); the pull rod connecting shaft (35) is hinged with the first side wall pull rod (33), the second side wall pull rod (34), the third side wall pull rod (36), the fourth side wall pull rod (70), the fifth side wall pull rod (79) and the sixth side wall pull rod (81); the first side wall pull rod (33) is hinged with a right long plate rod (77) and a first right short plate rod (80), the right long plate rod (77) is hinged with a second right short plate rod (76), and the other ends of the first right short plate rod (80) and the second right short plate rod (76) are hinged with a square pipe lining plate (66); the second side wall pull rod (34) is hinged with a left plate long rod (72) and a first left plate short rod (71), and the left plate long rod (72) is hinged with a second left plate short rod (73); the other ends of the first left plate short rod (71) and the second left plate short rod (73) are hinged with the square tube lining plate (66); the third side wall pull rod (36) is hinged with a first upper plate long rod (38) and a first upper plate short rod (37), then the first upper plate long rod (38) is hinged with a second upper plate short rod (42), and the other ends of the first upper plate short rod (37) and the second upper plate short rod (42) are hinged with a square pipe lining plate (66); the fourth side wall pull rod (70) is hinged with a second lower long plate rod (84) and a third lower short plate rod (85), and then the second lower long plate rod (84) is hinged with a fourth lower short plate rod (83); the other ends of the third lower short rod (85) and the fourth lower short rod (83) are hinged with the square tube lining plate (66); a fifth side wall pull rod (79) is hinged with the second upper plate long rod (75) and the third upper plate short rod (78); then the second upper plate long rod (75) is hinged with the fourth upper plate short rod (74); the other ends of the third upper plate short rod (78) and the fourth upper plate short rod (74) are hinged with the square tube lining plate (66); the sixth side wall pull rod (81) is hinged with the first long lower plate rod (68) and the first short lower plate rod (65); the first lower plate long rod (68) is hinged with the second lower plate short rod (69); the other ends of the first lower plate short rod (65) and the second lower plate short rod (69) are hinged with the square tube lining plate (66).

2. The device for drilling the deep hole on the side wall of the pipeline according to claim 1, wherein: the cutting mechanism comprises a telescopic universal coupling (43), a sliding table plate (44), a gear end cover (45), an angular contact ball bearing (46), a second small belt wheel (47), a second V-shaped belt (48), a tensioning wheel (51), a fourth small belt wheel (52), a stud (53), a cover plate (54) for the drill bit, a thrust bearing (55), a drill bit sleeve (56), a drill bit fastening screw (57), an impact drill bit (58), a self-lubricating copper sleeve (59), an inert bevel gear (62), a vertical bevel gear (63), a transverse bevel gear (64) and a brushless direct current motor (67); a main shaft of the brushless direct current motor (67) is connected with one end of the telescopic universal coupling (43); the other end of the telescopic universal coupling (43) is connected with a transverse bevel gear (64) and fixed on the sliding table plate (44); a vertical bevel gear (63) and an angular contact ball bearing (46) are assembled and fixed on the sliding plate (44) through a gear end cover (45), one end of the vertical bevel gear (63) is respectively meshed with an inert bevel gear (62) and a transverse bevel gear (64), and the other end of the vertical bevel gear (63) is fixed with a second small belt pulley (47); the drill bit sleeve (56) is assembled with the thrust bearing (55), then the drill bit is fixed with the stud (53) through the cover plate (54) for the drill bit, and the tail end of the drill bit sleeve (56) is fixed with the fourth small belt wheel (52); a bit fastening screw (57) secures the percussion bit (58) in the bit housing (56); the second V-shaped belt (48) connects the second small belt wheel (47) with the fourth small belt wheel (52) through a tension wheel (51); a through hole at one end of the sliding table plate is assembled with an upright post of the sliding table frame (50), and the other end of the sliding table plate is meshed with a small screw rod (60) through a self-lubricating copper sleeve (59);

the cutter feeding mechanism comprises a square pipe (30), a first small belt wheel (39), a third stepping motor (40), a first V-shaped belt (41), a third small belt wheel (49), a sliding table frame (50), a small screw rod (60) and an endoscopic lens (61); a third step motor (40) and a sliding rack (50) are fixed on the square pipe (30), and are respectively provided with a first small belt wheel (39) and a third small belt wheel (49), and the two belt wheels are connected through a first V-shaped belt (41); the third small belt wheel (49) is connected with a small screw rod (60) and assembled with the sliding rack (50); the endoscope head (61) is mounted on the lower side of the square tube (30) and the direction is the same as the X-axis feeding direction.