CN114178607A

CN114178607A - Cutting machine with vibration damper in small nuclear retired pipeline pipe

Info

Publication number: CN114178607A
Application number: CN202210021574.1A
Authority: CN
Inventors: 姜潮; 贺健达; 田万一
Original assignee: Hunan University
Current assignee: Hunan University
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-03-15
Anticipated expiration: 2042-01-10
Also published as: CN114178607B; WO2023130865A1

Abstract

The invention discloses a cutting machine with a vibration damper in a nuclear retired small pipeline pipe, which is characterized in that: the device comprises a flexible shaft, a transmission shaft (1), a supporting vibration damper (2), a cutting tool (3), a bearing (4), an installation boss (5), a shell (6) and a ground-grabbing air bag (7). The outside symmetry installation boss (5) of casing (6), set up strutting arrangement's ground gasbag (7) of grabbing in the outside of casing (6), grab ground gasbag (7) and be connected with hydraulic pressure damping device (2) hydraulic pressure pole head (2.1), hydraulic pressure damping device (2) can receive the pulling force that ground gasbag (7) were grabbed to the top and the pressure that installation boss (5) were given below to realize the location of hydraulic pressure damping device (2). The cutting machine can effectively reduce vibration generated during cutting, prevent the cutting resonance problem, and the sensor is located outside the nuclear waste pipeline and cannot be influenced by nuclear radiation.

Description

Cutting machine with vibration damper in small nuclear retired pipeline pipe

Technical Field

The invention relates to the technical field of nuclear pipeline cutting, in particular to a nuclear retired small pipeline pipe internal cutting machine with a vibration damper.

Background

The existing pipeline cutting technology is divided into an external pipe cutting technology and an internal pipe cutting technology, the external pipe cutting technology is generally adopted, but in some special environments like an external fixed pipeline, the cutting mode can only select to cut from the inside of the pipeline. However, when cutting a pipe, especially a small pipe, the transmission shaft and the cutter rotate at a high speed in the relatively closed pipe, so that strong resonance of the pipe is easily caused, the pipe is easily damaged, the cutting quality cannot be ensured, and the safety of cutting is further poor.

Currently, current pipe cutters use either jack-type support devices or anchoring devices. The pipe internal cutting machine that patent that grant publication number is CN 213318020U used is exactly the one-way jack that adopts, installs a flexible cutting tool additional in the side of jack and forms a cuboid structure, and such cuboid structure only relies on the jack on one side and wants when fixing in the pipeline, and the cuboid structure needs more accurate placing on a certain horizontal plane of pipeline, in case there is the deviation, can lead to unable fixed, will appear fixing insecurely like this, fix a position inaccurate scheduling problem. The anchoring device used in the patent with the publication number CN 207905752U is not able to control the machine to be located at the center of the tube, and does not provide vibration isolation when the machine starts to vibrate.

Summarizing the following three main problems of the existing pipe internal cutting machine are mostly existed:

1. the problem of poor supporting and fixing effect between the cutting machine in the pipe and the inside of the pipeline caused by only adopting a one-way jack or an anchoring device.

2. The problem of cutting resonance which is easily caused by cutting of a small pipe is not considered, and the problem that the pipe cutting machine on the market cannot work well in a nuclear waste pipe with nuclear radiation because a sensor is arranged on the cutting machine is caused.

3. The problem that pipelines with different sizes cannot be cut in the working process caused by the fact that the cutter shaft cannot be fixed in the circle center by the fixing device and the cutter cannot be replaced easily is solved.

Disclosure of Invention

The invention aims to provide a small pipeline pipe inner cutting machine with a pipe inner vibration damper, aiming at the problem of cutting resonance in the cutting process of the existing pipe inner cutting machine.

In order to achieve the above purpose, the invention provides the following technical scheme: a nuclear retired small pipeline pipe internal cutting machine with a vibration damping device is characterized in that: comprises a flexible shaft, a transmission shaft, a supporting vibration damper, a cutting tool, a bearing, an installation boss, a shell and a ground-grasping air bag.

When the cutting tool works, the shell does not rotate, the motor outputs power to the flexible shaft, and the flexible shaft drives the transmission shaft and the cutting tool connected with the transmission shaft to rotate;

the outer part of the shell is symmetrically provided with bosses for mounting a hydraulic damping device which can rotate in a quarter circle;

the ground-grabbing air bag of the supporting device is arranged outside the shell, and the ground-grabbing air bag is connected with a hydraulic rod head of the hydraulic damping device.

After the hydraulic damping device rotates from the vertical position to the horizontal position, the hydraulic damping device can be subjected to the pulling force given by the ground grabbing air bag above and the pressure given by the mounting boss below, so that the positioning of the hydraulic damping device is realized;

the ground-grasping air bag is made of transparent material; a liquid conveying pipe and a gas conveying pipe are connected above the ground-grasping air bag and used for conveying liquid and gas respectively;

the infusion tube is connected with infusion ports at the bottom ends of the four hydraulic tubes after passing through the ground-grasping air bag;

the surface of the hydraulic rod is provided with a reflective material coating which can reflect the laser emitted by the sensor back;

the surface of the hydraulic tube is provided with a light absorption material coating, and laser of the sensor is irradiated on the hydraulic tube and cannot be reflected back;

the hydraulic pipe and the hydraulic rod form a hydraulic damping device.

Furthermore, the transmission device comprises a transmission shaft, a bearing, a shell and a flexible shaft, wherein the shell is cylindrical and vertically arranged, the inside of the shell is connected with the transmission shaft through the bearing, and the transmission shaft is coaxially arranged with the shell through bearing supports at two ends. The motor is connected with the middle of the transmission shaft through a flexible shaft.

Further, when the pipe cutting machine works, the ground grasping air bag is inflated and expanded to drive the hydraulic vibration damping device to rotate, so that the hydraulic vibration damping device is positioned and the pipe cutting machine is fixed.

Further, when the body enters the inside of the pipeline and reaches the cutting position, the ground grasping air bags in the supporting and damping device are inflated and expanded, the two groups of hydraulic rods on the two sides connected with the ground grasping air bags are driven by the expansion of the ground grasping air bags to rotate towards the horizontal position, and the infusion tube conveys liquid to the infusion port at the bottom of the hydraulic tube.

Furthermore, the detection controller is a reflection type photoelectric sensor, a distance sensor and a PID controller;

when the ground-grasping air bag and the pipe wall are expanded tightly, the hydraulic pipe is filled with liquid, the reflective photoelectric sensor can emit parallel light to enter the pipeline, when the light ray touches the hydraulic rod, the light ray can be reflected back to be received by the reflective photoelectric sensor, and when the light ray touches the hydraulic pipe, the light ray can be absorbed.

Further, the distance sensor can measure the length of the received reflected light, namely the exposure height of the hydraulic rod, and then the distance sensor transmits the measured value to the PID controller; the exposure height is transmitted to the PID controller as a height reference; the PID controller is a feedback loop component that compares the collected data to a reference value and then uses this difference to calculate a new input value that is intended to allow the data of the system to reach or remain at the reference value.

Further, when the cutting machine in the pipe works to generate vibration, the vibration is finally transmitted to the hydraulic pipe through the bearing and the shell along with the transmission shaft, so that the hydraulic pipe moves, the height of a liquid level is changed, and the exposure height of the hydraulic rod is finally changed; at this time, the PID controller receives the real-time exposed height of the hydraulic rod from the distance sensor, starts working, compares the exposed real-time height of the hydraulic rod with the reference height, and then adjusts the liquid level in the two hydraulic pipes which are perpendicular to each other until the liquid level is restored to the reference height.

Further, the cutting assembly comprises a cutter table, a cutting cutter and an air pressure pipe; the cutter table is a connecting piece between the cutter and the transmission shaft; the pneumatic tube is arranged on the transmission shaft, the bottom of the pneumatic tube is provided with an air transmission port, and the pneumatic rod is fixed with the cutter table.

The invention also provides a method for cutting by using the cutting machine in the nuclear retired small pipeline pipe with the vibration damper, which is characterized by comprising the following steps:

step 1, when a machine body of a cutting machine in a nuclear retired small pipeline pipe enters the inside of a pipeline and reaches a cutting position, a ground grasping air bag in a supporting vibration damping device is inflated and expanded to drive a hydraulic rod to rotate to a horizontal position, and then the hydraulic rod is stretched to expand tightly with the inner wall of the pipeline so as to achieve the effects of stable supporting and vibration prevention.

And 2, when the ground-grasping air bag is expanded tightly and the hydraulic tube is filled with liquid, the reflective photoelectric sensor can emit parallel light to enter the pipeline, the light can be reflected back to be received by the reflective photoelectric sensor when the light touches the hydraulic rod, and the light can be absorbed when the light touches the hydraulic tube.

And 3, measuring the length of the received reflected light by the distance sensor to obtain the exposure height of the hydraulic rod, and transmitting the measured value to the PID controller by the distance sensor. The exposure height is then transmitted to the PID controller as a height reference.

And 4, starting the cutting machine to work, transmitting the vibration of the transmission shaft to the hydraulic pipe through the bearing and the shell, and enabling the hydraulic pipe to start to do piston motion along the hydraulic rod to change the liquid level height in the hydraulic pipe so as to change the exposure height of the hydraulic rod.

Step 5, the distance sensor transmits the real-time exposure height to a PID controller, the PID controller starts to adjust the liquid level according to the difference between the real-time exposure height and the exposure height reference value, and when the real-time exposure height is smaller than the exposure height reference value, the PID controller controls the hydraulic motor to pressurize and fill liquid; on the contrary, when the real-time exposure height is higher than the exposure height reference value, the PID controller controls the hydraulic motor to reduce the pressure so as to enable the liquid to flow out.

The invention has the beneficial effects that:

1. the double fixation of the ground-grasping air bag and the hydraulic vibration damper can effectively avoid the problem of poor supporting and fixing effects between the cutting machine in the pipe and the inside of the pipeline.

2. The real-time exposure height of the piston rod is obtained through the reflection type photoelectric sensor and the distance sensor, the PID controller controls the exposure height of the piston rod, vibration generated during cutting can be effectively reduced, the cutting resonance problem is prevented, and the sensor is located outside the nuclear waste pipeline and cannot be influenced by nuclear radiation.

3. The telescopic hydraulic vibration damper has the advantages that the telescopic hydraulic vibration damper can be supported, the cutters with different sizes can be replaced, and the problem that the sizes of pipelines are different when different pipelines are cut can be effectively solved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the operation of the present invention;

FIG. 3 is a schematic view of the support and damping apparatus of the present invention;

FIG. 4 is a schematic view of a cutter module of the present invention;

FIG. 5 is a control schematic of the present invention;

wherein: 1-transmission shaft, 2-supporting vibration damper, 3-cutting tool, 4-bearing, 5-mounting boss, 6-shell and 7-ground-grasping air bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

As shown in fig. 1, the embodiment provides a nuclear retired small pipeline pipe internal cutting machine with a vibration damping device, and the principle is that through a hydraulic controller and an adjustment module of the hydraulic vibration damping device, the height of liquid in the hydraulic vibration damping device is adjusted during the cutting operation of the pipe internal cutting machine, so that the supporting and vibration damping effects on a machine body are achieved.

In a preferred embodiment, the nuclear retired small pipeline pipe internal cutting machine with the vibration damping device comprises a flexible shaft, a transmission shaft 1, a supporting vibration damping device 2, a cutting tool 3, a bearing 4, a mounting boss 5, a shell 6 and a ground grabbing air bag 7.

Transmission shaft 1, bearing 4, casing 6, flexible shaft.

The housing 6 is substantially cylindrical and vertically installed, the inside of the housing 6 is connected to the transmission shaft 1 by the bearing 4, and the transmission shaft 1 is supported by the bearings 4 at both ends and coaxially installed with the housing 6. The motor is connected with the middle of the transmission shaft through a flexible shaft.

During operation, 6 irrotations on the casing, motor output to the flexible shaft, the flexible shaft drives transmission shaft 1 and the cutting tool 3 who is connected with transmission shaft 1 rotatory.

The upper side and the lower side of the outer part of the shell 6 are respectively provided with four symmetrical mounting bosses 5 which are used for mounting the hydraulic damping device 2 which can rotate in a quarter circle.

After hydraulic pressure pipe 2.2 rotated to the horizontal position from vertical position, if want to continue to rotate, can receive the restraint that installation boss 5 gave and can't continue to rotate, at this moment, hydraulic damping device 2 can receive the pulling force that the ground gasbag 7 was grabbed to the top and the pressure that installation boss 5 gave below to realize hydraulic damping device 2's location.

Furthermore, a layer of ground-engaging air bag 7 of the support device is arranged outside the housing 6, and the ground-engaging air bag 7 is connected to the hydraulic ram head 2.1 of the hydraulic damping device 2.

When the pipe cutting machine works, the ground grasping air bag 7 is inflated to expand to drive the hydraulic vibration damping device 2 to rotate, so that the hydraulic vibration damping device 2 is positioned and the pipe cutting machine is fixed.

As shown in fig. 2, the supporting and damping device comprises a ground-grasping air bag 7 and a hydraulic damping device 2 (a hydraulic rod 2.1, a hydraulic pipe 2.2 and a transfusion port 2.3).

The ground-grasping air bag 7 is made of transparent material and does not influence the work of the reflective photoelectric sensor. Two pipelines are connected above the ground-grasping air bag 7: the liquid conveying pipe and the gas conveying pipe are used for conveying liquid and gas respectively.

The transfusion tube is connected with transfusion ports 2.3 at the bottom ends of four hydraulic tubes 2.2 after passing through the ground-grasping air bag 7. An air delivery port is also present below the grip air bag 7 and is connected to the bottom of the pneumatic tube in the cutting tool 3.

The surface of the hydraulic rod 2.1 is coated with a light-reflecting material, which reflects the laser light emitted by the sensor. The surface of the hydraulic tube 2.2 is coated with a light-absorbing material, and the laser light of the sensor impinging on the hydraulic tube 2.2 is not reflected back.

When the body enters the inside of the pipeline to reach the cutting position, the ground gripping air bag 7 in the supporting and damping device 2 is inflated and expanded to be tightly expanded with the inner wall of the pipeline so as to achieve the effect of stable support.

Meanwhile, the two groups of hydraulic rods 2.1 on two sides connected with the ground-grasping air bag 7 are driven by the expansion of the ground-grasping air bag 7 to rotate to the horizontal position, and the infusion tube can convey liquid to the infusion port 2.3 at the bottom of the hydraulic tube 2.2. When the hydraulic rod 2.1 reaches the horizontal position, the hydraulic rod 2.1 can not rotate continuously due to the constraint force of the hydraulic rod 2.2 supplied by the mounting boss 5 on the shell 6, and the force of the ground gripping air bag 7 for the hydraulic rod 2.1 can drive the hydraulic rod 2.1 to be pulled out until the ground gripping air bag 7 is expanded with the inner wall of the pipeline. At this time, the hydraulic rod head 2.1 is also attached to the inner wall of the pipeline. The hydraulic pipe 2.2 and the hydraulic rod 2.1 thus form a hydraulic damping device 2.

Meanwhile, during work, four symmetrical hydraulic vibration damping devices 2 are arranged on the horizontal plane, which is equivalent to an X axis and a Y axis on a coordinate axis, and all forces on the horizontal plane can be decomposed to the X axis and the Y axis, so that the four hydraulic vibration damping devices 2 on the horizontal plane can reduce the vibration in any horizontal direction, and the effect of damping the vibration of the machine is achieved.

The detection controller is a reflection type photoelectric sensor, a distance sensor and a PID controller.

As shown in figure 3, the sensor is positioned at the external pipe orifice of the nuclear waste pipeline, when the ground grasping air bag 7 and the pipe wall are expanded tightly, the hydraulic pipe 2.2 is filled with liquid, the sensor starts to work at the moment, the reflective photoelectric sensor can emit parallel light to enter the pipeline, and the ground grasping air bag 7 is made of transparent materials and cannot influence the transmission of light. When the light ray hits the hydraulic rod 2.1, the light ray is reflected back to be received by the reflection type photoelectric sensor, and when the light ray hits the hydraulic pipe 2.2, the light ray is absorbed. The distance sensor will then measure the length of the reflected light received, i.e. the exposed height of the hydraulic rod 2.1, and the distance sensor will then pass the measured value to the PID controller. The exposure height is transmitted to the PID controller as a height reference. The PID controller is a feedback loop component that compares the collected data to a reference value and then uses this difference to calculate a new input value that is intended to allow the data of the system to reach or remain at the reference value. Different from other simple control operations, the PID controller can adjust the input value according to historical data and the occurrence rate of differences, so that the system is more accurate and more stable. It can be shown mathematically that a PID feedback loop can maintain the stability of the system in the event that other control methods result in a system with a stability error or process iteration.

When the pipe internal cutting machine works to generate vibration, the vibration is finally transmitted to the hydraulic pipe 2.2 along with the transmission shaft 1 through the bearing 4 and the shell 6, so that the hydraulic pipe 2.2 performs piston motion, the height of a liquid level is changed, and the exposure height of the hydraulic rod 2.1 is finally changed. At this moment, the PID controller receives the real-time exposed height of the hydraulic rod 2.1 transmitted by the distance sensor, starts working, compares the exposed real-time height of the hydraulic rod 2.1 with the reference height, then adjusts the liquid level in the two mutually perpendicular hydraulic pipes 2.2 until the reference height is recovered, and the process of recovering the exposed height of the hydraulic rod 2.1 is the process of damping the cutting machine.

As shown in fig. 4, the cutting assembly comprises a cutter table 3.1, a cutting cutter 3.2 and a pneumatic tube 3.3. The cutting tool 3.2 is detachable, and when the pipeline with different sizes is cut, the cutting tool with different sizes is replaced, so that better cutting is facilitated. The tool table 3.1 is the connection between the tool 3.2 and the drive shaft 1. The pneumatic tube 3.3 is arranged on the transmission shaft 1, the bottom of the pneumatic tube is provided with an air transmission port, and the pneumatic rod is fixed with the cutter table 3.1. When the ground-grasping air bag 7 starts to be inflated, a part of air enters the air pressure pipe 3.3 along with the air transmission port below, the air pressure rod, the cutter table 3.1 and the cutting cutter 3.2 are jacked up, and the radial swing of the cutting cutter 3.2 is realized. When the cutting tool works, the cutter 3.2 can axially rotate at high speed to cut the pipe wall. The cutter 3.2 is driven by the pneumatic rod to swing radially while being driven by the transmission shaft 1 to rotate axially, so that the cutter can be better contacted with the inner wall of the pipeline to finish cutting work.

1-transmission shaft, 2-supporting vibration damper, 3-cutting tool, 4-bearing, 5-mounting boss, 6-shell and 7-ground-grasping air bag;

the invention provides a cutting method of a cutting machine in a nuclear retired small pipeline pipe with a vibration damper.

Step 1, when a machine body of a cutting machine in a nuclear retired small pipeline pipe enters the inside of a pipeline and reaches a cutting position, a ground grasping air bag 7 in a supporting vibration damper 2 is inflated and expanded to drive a hydraulic rod to rotate to a horizontal position, and then the hydraulic rod is stretched to expand tightly with the inner wall of the pipeline so as to achieve the effects of stable supporting and vibration prevention.

And 2, when the ground-grasping air bag 7 is expanded and the hydraulic tube is filled with liquid, the reflective photoelectric sensor can emit parallel light to enter the pipeline, the light can be reflected back to be received by the reflective photoelectric sensor when the light touches the hydraulic rod, and the light can be absorbed when the light touches the hydraulic tube.

Therefore, the effect of vibration reduction for the cutting machine is achieved, and the cutting quality is improved. The cutting assembly can perform axial rotation and radial oscillation so as to be in better contact with the inner wall of the pipeline to complete cutting.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A nuclear retired small pipeline pipe internal cutting machine with a vibration damping device is characterized in that: the device comprises a flexible shaft, a transmission shaft (1), a supporting vibration damper (2), a cutting tool (3), a bearing (4), an installation boss (5), a shell (6) and a ground-grabbing air bag (7).

When the cutting machine works, the shell (6) does not rotate, the motor outputs power to the flexible shaft, and the flexible shaft drives the transmission shaft (1) and the cutting tool (3) connected with the transmission shaft (1) to rotate;

bosses (5) are symmetrically arranged outside the shell (6) and used for mounting a hydraulic damping device (2) which can rotate in a quarter circle;

a ground-grasping air bag (7) of a supporting device is arranged outside the shell (6), and the ground-grasping air bag (7) is connected with a hydraulic rod head (2.1) of the hydraulic damping device (2).

After a hydraulic pipe (2.2) of the hydraulic vibration damping device (2) rotates to a horizontal position from a vertical position, the hydraulic vibration damping device (2) can receive the pulling force given by an upper ground-grasping air bag (7) and the pressure given by a lower mounting boss (5), so that the hydraulic vibration damping device (2) is positioned;

the ground-grasping air bag (7) is made of transparent material; an infusion tube and an air delivery tube are connected above the ground-grasping air bag (7) and respectively deliver liquid and air;

the infusion tube is connected with infusion ports (2.3) at the bottom ends of four hydraulic tubes (2.2) after passing through the ground-grasping air bag (7);

the surface of the hydraulic rod (2.1) is provided with a reflective material coating which can reflect the laser emitted by the sensor back;

the surface of the hydraulic tube (2.2) is a light absorption material coating, and the laser of the sensor is irradiated on the hydraulic tube (2.2) and cannot be reflected back;

the hydraulic pipe (2.2) and the hydraulic rod (2.1) form a hydraulic damping device (2).

2. The small pipe ex-service pipe cutting machine with vibration damping device of claim 1, wherein: the transmission device comprises a transmission shaft (1), a bearing (4), a shell (6) and a flexible shaft, wherein the shell (6) is cylindrical and is vertically installed, the inside of the shell (6) is connected with the transmission shaft (1) through the bearing (4), and the transmission shaft (1) is supported by the bearings (4) at two ends and coaxially installed with the shell (6). The motor is connected with the middle of the transmission shaft through a flexible shaft.

3. The small pipe ex-service pipe cutting machine with vibration damping device of claim 1, wherein:

when the pipe cutting machine works, the ground-grasping air bag (7) is inflated to expand to drive the hydraulic vibration damping device (2) to rotate, so that the hydraulic vibration damping device (2) is positioned and the pipe cutting machine is fixed.

4. The small pipe ex-service pipe cutting machine with vibration damping device of claim 1, wherein:

when the machine body enters the pipeline to reach a cutting position, the ground grabbing air bags (7) in the supporting and damping device (2) are inflated and expanded, two groups of hydraulic rods (2.1) on two sides, connected with the ground grabbing air bags (7), are driven by the expansion of the ground grabbing air bags (7) to rotate to the horizontal position, and the infusion tube can convey liquid to an infusion port (2.3) at the bottom of the hydraulic tube (2.2).

5. The small pipe ex-service pipe cutting machine with vibration damping device of claim 1, wherein:

the detection controller is a reflection type photoelectric sensor, a distance sensor and a PID controller;

when the ground-grasping air bag (7) and the pipe wall are expanded tightly, the hydraulic pipe (2.2) is filled with liquid, the reflective photoelectric sensor can emit parallel light to enter the pipeline, when the light ray touches the hydraulic rod (2.1), the light ray can be reflected back to be received by the reflective photoelectric sensor, and when the light ray touches the hydraulic pipe (2.2), the light ray can be absorbed.

6. The small pipe ex-service pipe cutting machine with vibration damping device of claim 5, wherein:

the distance sensor can measure the length of the received reflected light, namely the exposure height of the hydraulic rod (2.1), and then transmits the measured numerical value to the PID controller; the exposure height is transmitted to the PID controller as a height reference; the PID controller is a feedback loop component that compares the collected data to a reference value and then uses this difference to calculate a new input value that is intended to allow the data of the system to reach or remain at the reference value.

7. The small pipe ex-service pipe cutting machine with vibration damping device of claim 5, wherein:

when the cutting machine in the pipe works to generate vibration, the vibration is finally transmitted to the hydraulic pipe (2.2) along with the transmission shaft (1) through the bearing (4) and the shell (6), so that the hydraulic pipe (2.2) performs piston motion, the height of a liquid level is changed, and the exposure height of the hydraulic rod (2.1) is finally changed; at the moment, the PID controller receives the real-time exposed height of the hydraulic rod (2.1) transmitted by the distance sensor, starts working, compares the exposed real-time height of the hydraulic rod (2.1) with the reference height, and then adjusts the liquid level in the two mutually perpendicular hydraulic pipes (2.2) until the liquid level is restored to the reference height.

8. The small pipe ex-service pipe cutting machine with vibration damping device of claim 5, wherein:

the cutting assembly comprises a cutter table (3.1), a cutting cutter (3.2) and an air pressure pipe (3.3); the cutter table (3.1) is a connecting piece between the cutter (3.2) and the transmission shaft (1); the air pressure pipe (3.3) is arranged on the transmission shaft (1), the bottom of the air pressure pipe is provided with an air transmission port, and the air pressure rod is fixed with the cutter table (3.1).

9. The method of cutting with the nuclear ex-service small pipeline pipe cutting machine with vibration damping device of claim 1, wherein:

step 1, when a machine body of a cutting machine in a nuclear retired small pipeline pipe enters the inside of a pipeline and reaches a cutting position, a ground grabbing air bag (7) in a supporting vibration damper (2) is inflated and expanded to drive a hydraulic rod to rotate to a horizontal position, and then the hydraulic rod is stretched to expand tightly with the inner wall of the pipeline so as to achieve the effects of stable supporting and vibration prevention.

And 2, when the ground-grasping air bag (7) is expanded and the hydraulic tube is filled with liquid, the reflective photoelectric sensor can emit parallel light to enter the pipeline, the light can be reflected back to be received by the reflective photoelectric sensor when encountering the hydraulic rod, and the light can be absorbed when encountering the hydraulic tube.