CN115263218A

CN115263218A - Hydraulic cutting equipment and control method thereof

Info

Publication number: CN115263218A
Application number: CN202210856880.7A
Authority: CN
Inventors: 盖竹兴; 陈宏宇; 陈先树; 孙晓辉; 刘伟强; 王云博
Original assignee: Yantai Jereh Petroleum Equipment and Technologies Co Ltd
Current assignee: Yantai Jereh Petroleum Equipment and Technologies Co Ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2022-11-01
Anticipated expiration: 2042-07-20
Also published as: CN115263218B

Abstract

The invention discloses hydraulic cutting equipment and a control method thereof, and relates to the technical field of hydraulic cutting. The hydraulic cutting equipment comprises a walking device, a cutting arm, a supporting mechanism and a lifting mechanism, wherein the lifting mechanism is arranged on the walking device, the cutting arm is provided with a first end and a second end which are opposite to each other, the first end of the cutting arm is connected with the lifting mechanism, and the lifting mechanism can drive the first end of the cutting arm to rise or fall; the supporting mechanism is connected with the second end of the cutting arm, and the supporting mechanism can drive the second end of the cutting arm to be lifted or lowered. The scheme can solve the problem that the deviation is easy to occur in the front and back feed angles of the hydraulic cutting equipment.

Description

Hydraulic cutting equipment and control method thereof

Technical Field

The invention relates to the technical field of hydraulic cutting, in particular to hydraulic cutting equipment and a control method thereof.

Background

In many projects, it is necessary to cut the object to be cut with a hydraulic cutting apparatus. The object to be cut is taken a wellhead device as an example, after a wellhead generates blowout, the central temperature of the blowout can reach over 1200 ℃, a fire monitor is needed to spray water on site, and high-pressure hydraulic cutting equipment is used for cutting the wellhead device.

Generally, the hydraulic cutting equipment has a relatively low cutting speed under a high-temperature condition and is easily influenced by high temperature, so that after the hydraulic cutting equipment is cut for a period of time, the hydraulic cutting equipment needs to be withdrawn from a high-temperature area, and the hydraulic cutting equipment is buffered for a period of time and then is fed for cutting.

In order to improve the cutting efficiency, the same cutting position and the same cutting angle are required to be ensured in each cutting. The cutting end of the hydraulic cutting equipment in the related art is provided with a positioning structure, the cutting feed position needs to be determined by the positioning structure before each cutting feed, the positioning process is complicated, the positioning precision is low, and the adjustment of the cutting feed angle cannot be realized after the cutting feed position is determined. Therefore, the hydraulic cutting apparatus in the related art is liable to have a deviation of the front and rear cutting breaks due to the difference of the front and rear feed angles.

Disclosure of Invention

The invention discloses hydraulic cutting equipment, which aims to solve the problem that the front and back feed angles of the hydraulic cutting equipment are easy to deviate.

In order to solve the problems, the invention adopts the following technical scheme:

a hydraulic cutting device, which comprises a walking device, a cutting arm, a supporting mechanism and a lifting mechanism,

the lifting mechanism is arranged on the walking device, the cutting arm is provided with a first end and a second end which are opposite, the first end of the cutting arm is connected with the lifting mechanism, and the lifting mechanism can drive the first end of the cutting arm to rise or fall;

the supporting mechanism is connected with the second end of the cutting arm, and the supporting mechanism can drive the second end of the cutting arm to be lifted or lowered.

Based on the hydraulic cutting device disclosed by the embodiment of the invention, the embodiment of the invention also discloses a control method of the hydraulic cutting device. Illustratively, the control method includes:

detecting position information of the cutting arm;

controlling the cutting arm to move to a preset cutting position;

controlling a cutting arm to cut the object to be cut;

after the cutting arm interrupts cutting, the cutting arm is controlled to move to the cutting resuming position according to the first position information, and the first position information is the position information under the condition that the cutting arm moves to the interrupting position.

The technical scheme adopted by the invention can achieve the following beneficial effects:

in the hydraulic cutting device disclosed in the embodiment of the invention, the support mechanism can adjust the height of the second end of the cutting arm by lifting. The lifting mechanism may enable adjustment of the height of the first end of the cutting arm by lifting. Therefore, the hydraulic cutting equipment of the scheme can ensure that the cutting arm keeps consistent postures in the two cutting processes by respectively adjusting the heights of the first end and the second end of the cutting arm. For example, hydraulic cutting apparatus, when used to cut a wellhead, typically require the cutting arm to remain horizontal in order to reduce the amount of cutting. The height of the support structure can then be adjusted to enable the height of the second end of the cutting arm to be adjusted, thereby adjusting the cutting height. Further, in the case that the height of the second end of the cutting arm is fixed, the height of the first end of the cutting arm may be raised or lowered by a lifting mechanism to achieve the adjustment of the cutting angle. Under the condition that the cutting angle is horizontal, the height of the first end of the cutting arm is consistent with the height of the second end of the cutting arm by adjusting the lifting mechanism, and then the cutting angle of the cutting arm is horizontal.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic illustration of a hydraulic cutting apparatus disclosed in one embodiment of the present invention in a first view;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is a schematic view of a trailing arm and a traveling device of the hydraulic cutting apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of a hydraulic cutting apparatus according to one embodiment of the present disclosure from a second perspective;

FIG. 5 is an enlarged view of a portion of the lifting mechanism of FIG. 4;

FIG. 6 is a schematic illustration of a disclosed support mechanism in a first state in accordance with some embodiments of the invention;

FIG. 7 is a schematic illustration of a support mechanism disclosed in some embodiments of the invention in a second state;

FIG. 8 is an enlarged view of a portion of the drive assembly of FIG. 1;

FIG. 9 is a schematic transmission diagram of a drive assembly according to some embodiments of the present invention from a first perspective;

FIG. 10 is a schematic transmission diagram of a drive assembly according to some embodiments of the present invention from a second perspective;

FIG. 11 is a schematic illustration of a hydraulic cutting apparatus according to one embodiment of the present disclosure from a third perspective;

fig. 12 is a schematic view of a priming barrel hoisting mechanism disclosed in an embodiment of the present invention.

Description of reference numerals: 100-a walking device; 200-a cutting arm; 210 — a first electromagnetic wave reflecting component; 220-a second electromagnetic wave reflecting member; 230 — a third electromagnetic wave reflecting member; 240-mast; 250-a first draw string; 300-a support mechanism; 310-support legs; 320-a drive assembly; 321-a support arm; 3211-a sliding part; 322-worm; 323-worm gear; 324-a third driver; 325 — a first mount; 3251-a limiting hole; 326-a second mount; 327-a tie rod; 328-a lead screw; 330-a roller assembly; 400-a lifting mechanism; 410-a support frame; 420-lifting plate; 421-a first support part; 422-a second support; 423-a third support; 424-a first connection; 425-a second connecting portion; 426-a third connecting portion; 430-a first drive member; 500-a second drive member; 600-a connector; 610-a first connecting arm; 620-second connecting arm; 700-a positioning device; 710-an electromagnetic wave emitting assembly; 720-electromagnetic wave reflection base station; 800-a control device; 900-a mechanical positioning mechanism; 1000-ignition cylinder hoisting mechanism; 1010-lifting hook; 1011-hook groove; 1020-a self-locking plate; 1021-releasing the hook; 1030-mounting plate; 1100-a trailing arm; 1110-a second draw string; 1200-a traction mechanism; 1300-bearing.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to fig. 1 to 12.

Referring to fig. 1, in some alternative embodiments, the hydraulic cutting apparatus includes a running gear 100, a cutting arm 200, a support mechanism 300, and a lifting mechanism 400. The walking device 100 is illustratively a structural base structure that may be used to provide a mounting base for other components. Optionally, the walking device 100 is used for movement of the hydraulic cutting apparatus. In particular, other components of the hydraulic cutting device, such as: the cutting arm 200, the supporting mechanism 300 and the lifting mechanism 400 can be driven by the walking device 100 to move, so that the position of the hydraulic cutting equipment relative to the cut object can be adjusted.

The running gear 100 is a movable mechanism, such as: a vehicle chassis. Alternatively, the running gear 100 may be a tracked vehicle chassis.

Referring to fig. 1 and 2, in some alternative embodiments, a lifting mechanism 400 is provided to the walking device 100. Illustratively, the walking device 100 has two opposite first and second sides, the first side being the side facing the ground and the second side being the side facing away from the ground. Alternatively, the second lifting mechanism 400 may be disposed on a side of the walking device 100 facing away from the ground.

Referring to fig. 1 and 4, the cutting arm 200 has opposite first and second ends, the first end of the cutting arm 200 is connected to a lifting mechanism 400, and the lifting mechanism 400 can drive the first end of the cutting arm 200 to be raised or lowered. The support mechanism 300 is coupled to the second end of the cutting arm 200, and the support mechanism 300 may drive the second end of the cutting arm 200 to be raised or lowered.

In some alternative embodiments, during the process of using the hydraulic cutting apparatus for cutting the object to be cut, the height of the second end of the cutting arm 200, and thus the cutting height, may be adjusted by the supporting mechanism 300 to adapt to different cutting heights. Further, the height of the first end of the cutting arm 200 may be adjusted by the lifting mechanism 400, so that the cutting arm 200 takes the supporting mechanism 300 as a supporting point and rotates around the supporting point, thereby adjusting the cutting angle of the cutting arm 200 to adapt to different cutting angles.

The hydraulic cutting device in the above embodiment can adjust the cutting height of the second end of the cutting arm 200 through the supporting mechanism 300, and can also adjust the cutting angle of the cutting arm 200 through the lifting mechanism 400, so that the cutting height and the cutting angle in the front and back cutting processes can be kept consistent through adjusting the lifting mechanism 400 and the supporting mechanism 300 in the cutting process, and the cutting height and the cutting angle in the front and back cutting processes are different, so that the cutting amount is increased, and the cutting efficiency is improved.

For example, after a blowout occurs at the wellhead, the wellhead may be cut using the hydraulic cutting device described in the above embodiments. In order to reduce the cutting amount during the cutting process, the cutting surface can be minimized by adjusting the cutting angle of the cutting arm 200. The vertical setting of wellhead assembly under the general condition, in order to reduce the cutting volume, then can adjust cutting arm 200 level, and then realize the horizontal feed for the cutting plane reaches the minimum, and then is of value to improving cutting efficiency.

In some optional embodiments, a level detection device is further disposed on the cutting arm 200, so as to detect the levelness of the cutting arm 200 through the level detection device. Illustratively, the hydraulic cutting apparatus further comprises a controller, and the level detection device, the lifting mechanism 400 and/or the support mechanism 300 are each in communication with the controller such that the controller controls the lifting mechanism 400 and/or the support mechanism 300 based on the level detected by the level detection device.

Specifically, during the cutting process, the supporting mechanism 300 may be adjusted, so that the supporting mechanism 300 may drive the second end of the cutting arm 200 to reach a designated height, so as to adjust the cutting height. And after cutting for a period of time, withdrawing the hydraulic cutting device for cooling. The hydraulic cutting device after cooling can make cutting height and feed angle unanimous with last cutting height and feed angle through adjusting supporting mechanism 300 and lifting mechanism 400 once more, and then ensures that the cutting volume in the cutting process twice can superpose, avoids the cutting plane in the cutting process twice not uniform and increases the cutting volume.

In some alternative embodiments, the lifting mechanism 400 includes a support bracket 410, a lifting plate 420, and a first actuator 430. The support bracket 410 is a basic structural member of the lifting mechanism 400, and may provide a mounting base for the lifting plate 420 and the first driving member 430.

Illustratively, the supporting frame 410 is connected to the walking device 100, so that the walking device 100 can move the supporting frame 410 during the movement process.

In some alternative embodiments, the lifting plate 420 has a first supporting portion 421 and a second supporting portion 422, and the first supporting portion 421 is rotatably connected to the supporting frame 410. The second support 422 is rotatably coupled to the first end of the cutting arm 200. The first driving member 430 is connected to the supporting frame 410 and the lifting plate 420, respectively, and the first driving member 430 is used for driving the lifting plate 420 to rotate relative to the supporting frame 410 and driving the first end of the cutting arm 200 to be raised or lowered.

In the above embodiment, the first end of the cutting arm 200 is supported on the lifting plate 420, and the lifting plate 420 is supported by the supporting frame 410 and the first driving member 430, so that the acting force supporting the cutting arm 200 can be dispersed by the lifting plate 420, thereby avoiding the independent stress of the first driving member 430, and further being beneficial to reducing the stress of the first driving member 430, and further reducing the load of the first driving member 430.

Referring to fig. 2 to 5, in some alternative embodiments, the first supporting portion 421 is rotatably connected to the supporting frame 410 via a first rotating shaft, and the second supporting portion 422 is rotatably connected to the cutting arm 200 via a second rotating shaft. Optionally, the first rotation axis is parallel to the second rotation axis. In a further alternative embodiment, in the case where the hydraulic cutting device is located in a horizontal plane, the first and second rotating shafts are both parallel to the horizontal plane. Illustratively, the first end and the second end of the cutting arm 200 are both ends of the cutting arm 200 in the length direction. Alternatively, the axial directions of the first and second rotating shafts are perpendicular to the length direction of the cutting arm 200.

Referring to fig. 5, the first drive member 430 may also extend and retract the drive member. The first driving member 430 can be of various types, such as a hydraulic cylinder, an air cylinder, an electromagnetic linear module, etc. For this reason, the present embodiment does not limit the specific kind of the first driving member 430.

Referring to fig. 5, in some alternative embodiments, the lifting plate 420 further has a third supporting portion 423 and a first connecting portion 424, two ends of the first connecting portion 424 are respectively connected to the first supporting portion 421 and the second supporting portion 422, the third supporting portion 423 is located on a side of the first connecting portion 424 away from the supporting frame 410, and the third supporting portion 423 is rotatably connected to the first driving member 430.

In the above embodiment, it is beneficial to increase the distance between the third supporting portion 423 and the supporting frame 410, and further beneficial to increase the length of the first driving element 430, so that the extension range of the first driving element 430 is larger. Therefore, the solution described in this embodiment is beneficial for increasing the moving range of the first end of the cutting arm 200 in the vertical direction, and further beneficial for increasing the adjusting range of the cutting angle of the cutting arm 200 and the cutting height range of the cutting arm 200. In addition, referring to fig. 5, the third supporting portion 423 is located on a side of the first connecting portion 424 away from the supporting frame 410, that is, the height of the third supporting portion 423 is greater than the height of the second supporting portion 422. Thus, this embodiment is beneficial for reducing the minimum cutting height of the cutting arm 200.

Referring to fig. 5, in some alternative embodiments, the lifting plate 420 further includes a second connector 425 and a third connector 426. Illustratively, both ends of the second connection portion 425 are connected to the second support portion 422 and the third support portion 423, respectively. Both ends of the third connecting portion 426 are connected to the third supporting portion 423 and the first supporting portion 421, respectively. Illustratively, the lifting plate 420 has a triangular shape, and the first support 421, the second support 422, and the third support 423 may form three vertexes of the triangular lifting plate 420, respectively. Alternatively, the first connection part 424, the second connection part 425, and the third connection part 426 may form three sides of the triangular lifting plate 420, respectively. This embodiment is beneficial to improving the stability of the lifting plate 420 and to improving the bearing capacity of the lifting plate 420.

In some alternative embodiments, the top end of the supporting frame 410 is rotatably connected to the first supporting portion 421, and the bottom end of the supporting frame 410 is rotatably connected to one end of the first driving member 430 far from the third supporting portion 423. Referring to fig. 5, in this embodiment, the first driving member 430 is connected to the bottom end of the supporting frame 410, which is beneficial to reduce the stress applied to the supporting frame 410 during the lifting process, and is further beneficial to improve the carrying capacity of the lifting mechanism 400.

Referring to fig. 5, in a further alternative embodiment, the top end of the supporting frame 410 is offset to a side away from the cutting arm 200 relative to the bottom end of the supporting frame 410, and the third supporting portion 423 is offset to a side close to the cutting arm 200 relative to the bottom end of the supporting frame 410. This embodiment is beneficial to reduce the moment applied to the connection between the lifting mechanism 400 and the running gear 100, and further beneficial to make the acting force between the running gear 100 and the ground in the length direction of the cutting arm 200 be relatively uniform, and beneficial to improve the balance performance of the running gear 100.

Referring to fig. 2 and 3, in some alternative embodiments, the lifting mechanism 400 includes two support brackets 410, two lifting plates 420, and two first actuators 430. Illustratively, the supporting frame 410, the lifting plate 420 and the first driving member 430 are disposed in a one-to-one correspondence.

Referring to fig. 2, the two supporting frames 410 are disposed in parallel and symmetrically on the walking device 100. The two lifting plates 420 and the two first driving members 430 are disposed on the supporting frame 410 in parallel and symmetrically. Further optionally, a first cross beam is disposed between the two support frames 410, so that the two support frames 410 can be fixedly connected by the first cross beam. Optionally, a second cross beam is disposed between the two lifting plates 420, and the two lifting plates 420 may be fixedly connected by the second cross beam.

In the above embodiment, the two support brackets 410 and the two lifting plates 420 are beneficial to improve the stability of the lifting mechanism 400, and the load of the single first driving member 430 can be reduced. In addition, the first cross beam and the second cross beam can ensure that the two lifting plates 420 move synchronously, thereby being beneficial to ensuring that the two supporting frames 410 and the two lifting plates 420 are stressed evenly.

Referring to fig. 5, in some alternative embodiments, the hydraulic cutting apparatus further comprises a second drive 500. The bottom end of the support frame 410 is rotatably connected to the walking device 100. The second driving member 500 is connected to the supporting frame 410 and the walking device 100, and the second driving member 500 is used for driving the supporting frame 410 to rotate towards two sides of the walking device 100 relative to the walking device 100.

In the above embodiment, the second driving member 500 can drive the supporting frame 410 to rotate, so as to drive the cutting arm 200 to rotate, so as to adjust the relative position between the cutting arm 200 and the object to be cut, and ensure that the object to be cut is within the cutting range of the cutting arm 200.

In some optional embodiments, the hydraulic cutting apparatus further comprises a cutting device. Illustratively, the cutting device is disposed at a second end of the cutting arm 200. In the cutting process, the second driving member 500 drives the supporting frame 410 to rotate relative to the traveling device 100, so as to drive the cutting device located at the second end of the cutting arm 200 to move relative to the object to be cut until the object to be cut is located within the cutting range of the cutting device.

Illustratively, a bearing 1300 is arranged between the bottom of the support frame 410 and the walking device 100, so that the bottom of the support frame 410 can be rotatably matched with the walking device 100 through the bearing 1300 to reduce the resistance of the support frame 410 to rotate relative to the walking device 100.

In an alternative embodiment, the side of the walking device 100 facing away from the ground has a mounting surface. Illustratively, the support bracket 410 rotates relative to the walking device 100 about a first axis, optionally perpendicular to the mounting surface, such that the bottom of the support bracket 410 may rotate along the mounting surface. In a further alternative embodiment, the first axis is perpendicular to the axis of the first shaft connecting the first supporting portion 421 and the supporting frame 410.

The second driving member 500 may be of various kinds, such as an electric motor, a hydraulic cylinder, etc. For this reason, the present embodiment does not limit the specific kind of the second driver 500.

In an alternative embodiment, the second driving member 500 is connected to the supporting frame 410 through a worm gear, so that not only the worm gear can be used for reducing speed, thereby improving the control accuracy of the hydraulic cutting device, but also the characteristic of unidirectional transmission of the worm gear can be used for limiting the supporting frame 410 and the traveling device 100.

In some alternative embodiments, the length of the cutting arm 200 may be 20m to 30m. Illustratively, the cutting arm 200 may have a length of 26m. Due to the longer length of the cutting arm 200. Therefore, during the cutting operation, the support frame 410 can rotate a smaller angle relative to the traveling device 100 to obtain a larger rotation of the second end of the cutting arm 200. In some alternative embodiments, the hydraulic cutting apparatus further comprises a decelerator, through which the second driving member 500 is connected to the supporting frame 410. This embodiment is beneficial for improving the control accuracy of the hydraulic cutting device.

In some alternative embodiments, the supporting frame 410 is provided with a positioning pin, and the walking device 100 is provided with a positioning slot. The positioning pin is in sliding fit with the support frame 410, and the positioning pin can be switched between a first state and a second state relative to the support frame 410. For example, in the first state of the positioning pin relative to the support frame 410, the positioning pin is at least partially located in the positioning groove, so that the positioning pin can limit the support frame 410 to rotate relative to the running gear 100. Under the condition that the positioning pin is in the second state relative to the supporting frame 410, the positioning pin moves out of the positioning groove, so that the supporting frame 410 can rotate relative to the walking device 100.

Referring to fig. 2 and 5, the hydraulic cutting apparatus further includes a connector 600. The connecting member 600 has a first connecting arm 610 and a second connecting arm 620, the first end of the first connecting arm 610 is rotatably connected to the lifting mechanism 400, the second end of the first connecting arm 610 is connected to the second connecting arm 620, the second connecting arm 620 is inclined toward the bottom of the first connecting arm 610 relative to the first connecting arm 610, and the end of the second connecting arm 620 away from the first connecting arm 610 is connected to the first end of the cutting arm 200.

Illustratively, the first end of the first link arm 610 is pivotally connected to the lift mechanism 400 via a pivot shaft. Further, the rotation axis for connecting the first connection arm 610 and the lifting mechanism 400 is parallel to the first rotation axis and/or the second rotation axis. Further optionally, the first end of the first connecting arm 610 is rotatably connected to the second support 422.

In the above embodiment, the second connecting arm 620 is inclined toward the bottom side of the first connecting arm 610 relative to the first connecting arm 610, so that it is beneficial to reduce the height of the connecting portion 600 connected to the cutting arm 200, and it is beneficial to reduce the minimum cutting height of the cutting arm 200 during the cutting process and increase the cutting range of the cutting arm 200.

In an alternative embodiment, the end of the second connecting arm 620 remote from the first connecting arm 610 is flush with the bottom side of the cutting arm 200. This embodiment may further reduce the minimum cutting height of the cutting arm 200 during the cutting action. Specifically, the connection member 600 according to this embodiment, in cooperation with the lifting mechanism 400, can enable the minimum height of the cutting arm 200 to reach 200mm, and thus can be suitable for cutting objects at a low cutting position.

Referring to fig. 11, the hydraulic cutting apparatus includes two sets of support mechanisms 300, and the two sets of support mechanisms 300 are respectively disposed at both sides of the cutting arm 200. Illustratively, two sets of support mechanisms 300 are provided on both sides in the width direction of the cutting arm 200. The width direction of the cutting arm 200 is perpendicular to the length direction of the cutting arm 200. Alternatively, two sets of support mechanisms 300 are respectively disposed on the left and right sides of the cutting arm 200.

In the above embodiment, the heights of the two sides of the second end of the cutting arm 200 can be respectively adjusted by the two sets of supporting mechanisms 300, so that the second end of the cutting arm 200 can be kept horizontal in the width direction of the cutting arm 200, which is beneficial to reducing the cutting amount in the cutting process. Of course, the cutting angle of the second end of the cutting arm 200 in the width direction can also be achieved through the two sets of supporting mechanisms 300, so that the cutting angle of the cutting arm 200 in the width direction is ensured to be consistent in front and back, and the cutting efficiency is improved beneficially.

It should be noted that, in the above embodiments, the joints between the cutting arm 200 and the two sets of supporting mechanisms 300 and the joints between the cutting arm 200 and the lifting mechanisms 400 form three supporting points, so that the cutting direction of the cutting arm 200 can be kept horizontal in both the length direction and the width direction of the cutting arm 200 by adjusting the heights of the two sets of supporting mechanisms 300 and/or the lifting mechanisms 400, which is beneficial to improving the cutting efficiency and the cutting precision.

Referring to fig. 6 and 7, the hydraulic cutting apparatus further includes a positioning device 700 and a control device 800, the positioning device 700 for detecting position information of the first end of the cutting arm 200 and position information of both sides of the second end of the cutting arm 200. The control device 800 is respectively connected with the two supporting mechanisms 300 and the lifting mechanism 400, and the control device 800 is used for controlling the two supporting mechanisms 300 and the lifting mechanism 400 to drive the cutting arm 200 to ascend or descend according to the position information detected by the positioning device 700, so as to realize the automatic positioning of the cutting arm 200.

The preset cutting position refers to a position where the cutting arm 200 is located when cutting for the first time. Specifically, the position of the cutting arm 200 includes the height of the first end of the cutting arm 200 and the height of both sides of the second end in the width direction.

The positioning device 700 is used for detecting position information of the cutting arm 200, the control device 800 is respectively in communication connection with the positioning device 700, the lifting mechanism 400 and the two sets of support mechanisms 300, and the control device 800 is used for controlling the lifting mechanism 400 and the two sets of support mechanisms 300 to drive the cutting arm 200 to move to a cutting recovery position according to first position information, wherein the first position information is position information of the cutting arm 200 moving to an interruption position.

Wherein, the interruption position refers to the position when the cutting arm 200 interrupts the cutting, and the cutting arm 200 stops cutting at the interruption position and exits; the cutting recovery position refers to a position at which the cutting arm 200 recovers cutting, and after the retraction buffer is completed, the cutting arm 200 moves to the cutting recovery position and continues the cutting process. In this embodiment, the interrupting position and the resuming cutting position may be the same position. Specifically, the cutting arm 200 includes a cutting head that is opposite to the position to be cut of the work piece with the cutting arm 200 moved to the resume cutting position, at which time the cutting arm 200 resumes the cutting process.

Specifically, the positioning device 700 may be a position sensor, or other elements capable of detecting the position of the cutting arm 200; the control device 800 may be a PLC (Programmable Logic Controller), a single chip microcomputer, or another Controller.

In the positioning process, the control device 800 controls the lifting mechanism 400 and the two sets of supporting mechanisms 300 to drive the cutting arm 200 to move back to the cutting recovery position according to the first position information detected by the positioning device 700, so that the cutting arm 200 can directly continue to cut. By the arrangement, an automatic control process is realized, positioning by a mechanical positioning structure is not required during feeding every time, the positioning process is simple, and the positioning precision is high.

In the above embodiment, the lifting mechanism 400 and the two sets of supporting mechanisms 300 can be controlled by the control device 800 to adjust the cutting height and the cutting angle, so as to ensure that the front and back cutting heights and the cutting direction are consistent. For example, in the case of horizontal cutting, this embodiment may achieve the lengthwise and widthwise horizons of the cutting arm 200, thereby improving the front-to-rear cutting height and the cutting direction uniformity.

In some optional embodiments, the positioning device 700 includes an electromagnetic wave emitting assembly 710. The cutting arm 200 includes a first electromagnetic wave reflecting member 210, a second electromagnetic wave reflecting member 220, and a third electromagnetic wave reflecting member 230, the first electromagnetic wave reflecting member 210 and the second electromagnetic wave reflecting member 220 are respectively disposed at both sides of the second end of the cutting arm 200, and the third electromagnetic wave reflecting member 230 is disposed at the first end of the cutting arm 200. The electromagnetic wave emitting means 710 is for emitting a first detection electromagnetic wave, the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and the third electromagnetic wave reflecting member 230 are for receiving the first detection electromagnetic wave and reflecting the first detection electromagnetic wave to the electromagnetic wave emitting means 710, and the electromagnetic wave emitting means 710 is in communication connection with the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, the third electromagnetic wave reflecting member 230, and the control device 800, respectively.

It should be noted that, during the movement of the cutting arm 200, the position of the electromagnetic wave emitting assembly 710 is not changed, and therefore, the position of the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and/or the third electromagnetic wave reflecting member 230 with respect to the electromagnetic wave emitting assembly 710 is changed from time to time.

Specifically, the electromagnetic wave emitting means 710 can calculate the time period from the start of emitting the first detected electromagnetic wave to the time when the first detected electromagnetic wave is reflected back to the electromagnetic wave emitting means 710, and then determine the distance between the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and the third electromagnetic wave reflecting member 230 and the electromagnetic wave emitting means 710 according to the velocity of the electromagnetic wave, and then determine the position of the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and/or the third electromagnetic wave reflecting member 230 relative to the electromagnetic wave emitting means 710 according to the angle at which the electromagnetic wave emitting means 710 reflects back to the first detected electromagnetic wave. That is, by means of the electromagnetic wave emitting means 710, the position information of the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and/or the third electromagnetic wave reflecting member 230, which is the position information of the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and/or the third electromagnetic wave reflecting member 230 when the cutting arm 200 is moved to the interrupting position, is detected.

The first electromagnetic wave for detection may be laser, the electromagnetic wave emitting component 710 may be a laser emitter, and the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220, and/or the third electromagnetic wave reflecting member 230 may receive the laser and reflect the laser. Of course, the first detected electromagnetic wave is not limited to the laser light.

With such an arrangement, the principle of electromagnetic wave positioning is adopted, the positioning speed is high, the positioning efficiency is high, and the position information of the first electromagnetic wave reflecting member 210, the second electromagnetic wave reflecting member 220 and/or the third electromagnetic wave reflecting member 230 can be accurately obtained, so as to determine the position information of the cutting arm 200.

In a further embodiment, as shown in fig. 11, the positioning apparatus 700 further comprises an electromagnetic wave reflecting base station 720, the electromagnetic wave emitting component 710 is used for emitting the second detected electromagnetic wave, the electromagnetic wave reflecting base station 720 can receive the second detected electromagnetic wave and reflect the second detected electromagnetic wave to the electromagnetic wave emitting component 710, and the electromagnetic wave reflecting base station 720 is in communication connection with the electromagnetic wave emitting component 710, so that the electromagnetic wave emitting component 710 can obtain the position information of the first electromagnetic wave reflecting component 210, the second electromagnetic wave reflecting component 220 and/or the third electromagnetic wave reflecting component 230 relative to the electromagnetic wave reflecting base station 720.

Specifically, the electromagnetic wave reflecting base station 720 and the electromagnetic wave emitting component 710 interact with each other through the second detection electromagnetic wave, the interaction principle is the same as the interaction principle between the first electromagnetic wave reflecting component 210, the second electromagnetic wave reflecting component 220 and/or the third electromagnetic wave reflecting component 230 and the electromagnetic wave emitting component 710, so as to determine the position information of the electromagnetic wave reflecting base station 720 relative to the electromagnetic wave emitting component 710, and as can be seen from the above, the position information of the first electromagnetic wave reflecting component 210, the second electromagnetic wave reflecting component 220 and/or the third electromagnetic wave reflecting component 230 relative to the electromagnetic wave emitting component 710 is determined, so that the position information of the first electromagnetic wave reflecting component 210, the second electromagnetic wave reflecting component 220 and/or the third electromagnetic wave reflecting component 230 relative to the electromagnetic wave reflecting base station 720 can be finally determined.

In this case, the position where the electromagnetic wave emitting means 710 emits the first detected electromagnetic wave or the second detected electromagnetic wave is not limited as long as the position of the electromagnetic wave reflecting base station 720 is determined, and even if the electromagnetic wave emitting means 710 emits the electromagnetic wave from a different position, the positional information of the cutting arm 200 at the same position with respect to the electromagnetic wave reflecting base station 720 is not changed. In this way, the user can adjust the position of the electromagnetic wave emitting assembly 710 as needed to suit the needs of the positioning process.

Referring to fig. 6 and 7, in some alternative embodiments, the support mechanism 300 includes a support leg 310, a drive assembly 320, and a roller assembly 330. A first end of the support leg 310 is rotatably coupled to the cutting arm 200 and a second end of the support leg 310 is rotatably coupled to the roller assembly 330. The driving assembly 320 is disposed on the cutting arm 200, and the driving assembly 320 is used for driving the supporting leg 310 to rotate between a first position and a second position relative to the cutting arm 200. With the support leg 310 in the first position, the height of the support leg 310 in the vertical direction is a first height. With the support leg 310 in the second position, the height of the support leg 310 in the vertical direction is a second height, and the first height is less than the second height.

Illustratively, the support leg 310 is disposed on a side of the cutting arm 200 adjacent the ground. Further alternatively, the support leg 310 may be pivotally connected to the cutting arm 200. Alternatively, a rotation axis connecting the supporting leg 310 and the cutting arm 200 may be provided in the width direction of the cutting arm 200.

In the above embodiment, the driving assembly 320 adjusts the height of the supporting leg 310 in the vertical direction by driving the supporting leg 310 to rotate relative to the cutting arm 200, thereby raising or lowering the both sides of the second end of the cutting arm 200.

The drive assembly 320 can be of a variety of types, for example: hydraulic cylinders, pneumatic cylinders, etc. For this reason, the present embodiment does not limit the specific kind of the driving assembly 320.

In some alternative embodiments, the drive assembly 320 includes a support arm 321, a first mount 325, and a third drive 324. Illustratively, a first end of the support arm 321 is rotatably coupled to the support leg 310, and a second end of the support arm 321 is slidably and rotatably coupled to the first mount 325. The third driving member 324 is connected to the supporting arm 321, and the third driving member 324 is used for driving the supporting arm 321 to slide relative to the first mounting seat 325.

Illustratively, the first mounting seat 325 has a limiting hole 3251, and the second end of the supporting arm 321 has a sliding portion 3211. At least part of the sliding portion 3211 is located in the limiting hole 3251, and the sliding portion 3211 slides and is rotationally engaged with the limiting hole 3251.

Illustratively, the sliding portion 3211 may be a cylindrical protrusion. The stopper hole 3251 is provided along the length direction of the cutting arm 200 so that the sliding portion 3211 can move along the stopper hole 3251 in the length direction of the cutting arm 200 by the third driving member 324.

In some alternative embodiments, drive assembly 320 further includes a pull rod 327. Illustratively, the third drive 324 is coupled to the support arm 321 by a pull rod 327. This embodiment can increase the distance between the third driving member 324 and the supporting leg 310 by the pulling rod 327, thereby preventing the third driving member 324 from being damaged by high temperature.

In some alternative embodiments, as shown in fig. 8-10, the drive assembly 320 further includes a worm 322, a worm gear 323, a lead screw 328, and a second mount 326. Illustratively, the second mount 326 is disposed on the cutting arm 200. Specifically, the second mounting base 326 provides a mounting base for the worm wheel 323, the worm 322 and the third driving member 324.

Referring to fig. 5, the worm wheel 323 and the worm 322 are disposed on the second mounting seat 326, and the worm wheel 323 and the worm 322 are in mesh transmission. Further alternatively, the worm 322 is connected to a third driving member 324, so that the third driving member 324 can drive the worm 322 to rotate the worm wheel 323. Further optionally, a worm gear 323 is disposed on the lead screw 328, such that the worm gear 323 can rotate the lead screw 328. In some alternative embodiments, the lead screw 328 is threadably engaged with the pull rod 327.

In the above embodiment, the worm wheel 323 and the worm 322 not only can realize one-way transmission, but also can play a role in speed reduction, thereby being beneficial to the rotation limit of the support leg 310 and the cutting arm 200, and improving the precision of the lifting height of the cutting arm 200 driven by the support mechanism 300.

In some alternative embodiments, the hydraulic cutting apparatus further comprises a mechanical positioning mechanism 900 and a pyrotechnic cup lifting mechanism 1000, both the mechanical positioning mechanism 900 and the pyrotechnic cup lifting mechanism 1000 being selectively removably attachable to the second end of the cutting arm 200.

In the above embodiment, the mechanical positioning mechanism 900 or the priming barrel lifting mechanism 1000 may be rotatably mounted at the second end of the cutting arm 200 as required.

Illustratively, where the hydraulic cutting device is used for cutting, the mechanical positioning mechanism 900 is mounted to the second end of the cutting arm 200 to reduce the difficulty of positioning the cutting arm 200 and the object to be cut by the mechanical positioning mechanism 900. For example, the mechanical positioning mechanism 900 has a "V" shaped positioning slot, so that the cut object can slide along the side wall of the positioning slot until the two sides of the cut object are lower than the two side walls of the positioning slot respectively.

Under the condition that the hydraulic cutting device is used for lifting the ignition cylinder, the ignition cylinder lifting mechanism 1000 is arranged at the second end of the cutting arm 200, so that the ignition cylinder is lifted through the ignition cylinder lifting mechanism 1000.

Thus, the hydraulic cutting device according to the above embodiment can selectively mount the mechanical positioning mechanism 900 or the priming barrel hoisting mechanism 1000 at the second end of the cutting arm 200 as required to realize the cutting action or the hoisting of the priming barrel, increase the function of the hydraulic cutting device, and expand the application range of the hydraulic cutting device.

In some alternative embodiments, as shown in fig. 12, the pyrotechnic cup lifting mechanism 1000 includes a lifting hook 1010 and a self-locking plate 1020, the lifting hook 1010 is detachably connected to the second end of the cutting arm 200, the lifting hook 1010 is provided with a hook slot 1011, the hook slot 1011 is used for hooking the pyrotechnic cup, the self-locking plate 1020 is rotatably connected to the lifting hook 1010, and the self-locking plate 1020 can rotate relative to the lifting hook 1010 under the action of gravity until the self-locking plate 1020 is at least partially located on the inner side wall protruding from the hook slot 1011.

In the above embodiment, after the ignition cylinder is assembled to the hook groove 1011, the self-locking plate 1020 can achieve self-locking under the action of gravity, so as to prevent the assembly failure between the ignition cylinder and the ignition cylinder lifting mechanism 1000. Illustratively, both sides of the pyrotechnic cup have lugs that are at least partially located within the hook grooves 1011 when the pyrotechnic cup is assembled to the pyrotechnic cup lifting mechanism 1000. From jam plate 1020 can play lifting hook 1010 relatively under the effect of gravity and rotate to from jam plate 1020 at least part be located protrusion in the inside wall of hook groove 1011, and then can prevent the lug of the both sides of priming tube along the lateral wall roll-off hook groove 1011 of hook groove 1011 to improve the steadiness of assembling between priming tube and priming tube lifting mechanism 1000.

Referring to fig. 12, in some alternative embodiments, the self-locking plate 1020 has a release hook 1021. In case that the priming cartridge needs to be disassembled, the releasing hook 1021 can be supported by a rod to enable the self-locking plate 1020 to lift the hook 1010 relatively, so that the part of the self-locking plate 1020 protruding out of the hook slot 1011 moves towards the direction of the inner side wall of the hook slot 1011, until the lugs at the two sides of the priming cartridge can slide out of the hook slot 1011 along the side wall of the hook slot 1011.

In some alternative embodiments, the pyrophoric barrel hoisting mechanism 1000 further comprises a mounting plate 1030. Illustratively, the lifting hook 1010 is fixedly disposed on the mounting plate 1030. Further, a mounting hole is provided on the mounting plate 1030 so that the mounting plate 1030 can be fixedly mounted to the second end of the cutting arm 200 by means of a bolt.

In an alternative embodiment, as shown in fig. 1-5, the cutting arm 200 further includes a mast 240 and a first pull cord 250. Illustratively, a first end of the mast 240 is coupled to the lifting mechanism 400 and a second end of the mast 240 is coupled to the cutting arm 200 via a first pull line 250. Optionally, the first end of the mast 240 is pivotally connected to the lifting mechanism 400. Further alternatively, the cutting arm 200 and the lifting mechanism 400 and the first end of the mast 240 and the lifting mechanism 400 may be pivotally connected by the same pivot.

In a further alternative embodiment, the hydraulic cutting device further includes a pulling arm 1100, a second pulling rope 1110, and a pulling mechanism 1200. Illustratively, the tow arm 1100 is connected to the running gear 100, and the tow arm 1100 and the cutting arm 200 are located on opposite sides of the running gear 100. The traction mechanism 1200 is disposed at an end of the traction arm 1100 remote from the running gear 100. A first end of the second pull rope 1110 is coupled to the second end of the mast 240 and a second end of the second pull rope 1110 is coupled to the traction mechanism 1200.

In the above embodiment, the pulling mechanism 1200 can pull the second pulling rope 1110 to rotate the mast 240 and the cutting arm 200 relative to the lifting mechanism 400, so as to lift the second end of the cutting arm 200. Specifically, the second pulling rope 1110 can be pulled by the pulling mechanism 1200 to drive the cutting arm 200 to lift the priming cartridge.

It should be noted that, during the cutting operation, at least one of the second pulling rope 1110 and the first pulling rope 250 may be in a loose state, so as to prevent the mast 240 from being driven during the lifting of the lifting mechanism 400, and further prevent the mast 240 from affecting the adjustment of the cutting angle of the cutting arm 200.

step 101, detecting position information of a cutting arm;

103, controlling the cutting arm to move to a preset cutting position;

105, controlling a cutting arm to cut the to-be-cut object;

and step 107, after the cutting of the cutting arm is interrupted, controlling the cutting arm to move to the cutting resuming position according to the first position information, wherein the first position information is the position information under the condition that the cutting arm moves to the interrupting position.

Specifically, the position information of the cutting arm 200 is detected using the positioning device 700. In the present embodiment, the electromagnetic wave emitting means 710 first emits the second detected electromagnetic wave to the electromagnetic wave reflection base station 720, and then emits the first detected electromagnetic wave to the first electromagnetic wave reflection part 210, the second electromagnetic wave reflection part 220, and the third electromagnetic wave reflection part 230, respectively, to thereby detect the position information of the first electromagnetic wave reflection part 210, the second electromagnetic wave reflection part 220, and the third electromagnetic wave reflection part 230 with respect to the electromagnetic wave reflection base station 720.

The cutting arm 200 is controlled to move to a preset cutting position. Specifically, the cutting arm 200 may be controlled to move to a preset cutting position by the control device 800. In this embodiment, the preset cutting position may be a cutting position at which the cutting arm 200 performs a cutting operation on the object to be cut.

Alternatively, the positioning device 700 may detect the position information of the cutting arm 200 at all times during the movement of the cutting arm 200 to the preset cutting position; when the cutter arm 200 moves to the preset cutting position, the positioning device 700 may start to detect the position information of the cutter arm 200 again, in short, the positioning device 700 may detect the first position information that the cutter arm 200 moves to the interrupt position.

The cutting arm 200 is controlled to cut the object to be cut. Specifically, the cutting arm 200 may be controlled by the control device 800 to cut the object to be cut. The cutting arm 200 comprises a cutting head, the external fracturing truck conveys sand fluid to the cutting head through a conveying pipe, the cutting head sprays the sand fluid to the position to be cut of the object to be cut, and the cutting process is started.

So set up, hydraulic cutting device can realize automatic cutting, improves cutting efficiency.

Specifically, when the cutting arm is interrupted to cut, the control device 800 controls the first driving mechanism to drive the cutting arm 200 to retract, so that the cutting arm 200 is far away from the object to be cut and buffered, and after the buffering is completed, that is, after the cutting arm is interrupted to cut, the control device 800 controls the first driving mechanism to drive the cutting arm 200 to move to the cutting resuming position according to the first position information.

According to the arrangement, an automatic control process is realized, frequent positioning by a mechanical positioning structure is not needed during feeding every time, the positioning process is simple, and the positioning precision is high.

In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A hydraulic cutting device is characterized by comprising a walking device (100), a cutting arm (200), a supporting mechanism (300) and a lifting mechanism (400),

the lifting mechanism (400) is arranged on the walking device (100), the cutting arm (200) is provided with a first end and a second end which are opposite, the first end of the cutting arm (200) is connected with the lifting mechanism (400), and the lifting mechanism (400) can drive the first end of the cutting arm (200) to be lifted or lowered;

the support mechanism (300) and the second end of the cutting arm (200), and the support mechanism (300) can drive the second end of the cutting arm (200) to be raised or lowered.

2. The hydraulic cutting apparatus of claim 1, wherein the lifting mechanism (400) comprises a support frame (410), a lifting plate (420), and a first drive member (430),

the supporting frame (410) is connected with the walking device (100);

the lifting plate (420) is provided with a first supporting part (421) and a second supporting part (422), the first supporting part (421) is rotatably connected with the supporting frame (410), and the second supporting part (422) is rotatably connected with the first end of the cutting arm (200);

first driving piece (430) respectively with support frame (410) with lift board (420) and link to each other, just first driving piece is used for the drive lift board (420) relatively support frame (410) rotate, and drive the first end of cutting arm (200) risees or reduces.

3. The hydraulic cutting apparatus as claimed in claim 2, wherein the lifting plate (420) further has a third support portion (423) and a first connection portion (424), both ends of the first connection portion (424) are connected to the first support portion (421) and the second support portion (422), respectively, the third support portion (423) is located at a side of the first connection portion (424) far from the support frame (410), and the third support portion (423) is rotatably connected to the first driving member (430).

4. The hydraulic cutting apparatus as recited in claim 3, wherein a top end of the support frame (410) is rotatably coupled to the first support (421), and a bottom end of the support frame (410) is rotatably coupled to an end of the first drive member (430) distal from the third support (423).

5. The hydraulic cutting apparatus according to claim 2, further comprising a second driving member (500), wherein the bottom end of the support frame (410) is rotatably connected to the walking device (100), the second driving member (500) is connected to the support frame (410) and the walking device (100), and the second driving member (500) is used for driving the support frame (410) to rotate relative to the walking device (100) to two sides of the traveling direction of the walking device (100).

6. The hydraulic cutting apparatus according to claim 1, further comprising a link (600), wherein the link (600) has a first link arm (610) and a second link arm (620), a first end of the first link arm (610) is rotatably connected to the lifting mechanism (400), a second end of the first link arm (610) is connected to the second link arm (620), the second link arm (620) is disposed obliquely to a bottom side of the first link arm (610) with respect to the first link arm (610), and an end of the second link arm (620) away from the first link arm (610) is connected to a first end of the cutting arm (200).

7. The hydraulic cutting device according to any one of claims 1 to 6, characterized in that it comprises two sets of said support means (300), said two sets of support means (300) being respectively arranged on both sides of said cutting arm (200).

8. The hydraulic cutting device according to claim 7, further comprising a positioning device (700) and a control device (800), the positioning device (700) being configured to detect position information of the first end of the cutting arm (200) and position information of both sides of the second end of the cutting arm (200);

the control device (800) is respectively connected with the two supporting mechanisms (300) and the lifting mechanism (400), and the control device (800) is used for controlling the two supporting mechanisms (300) and the lifting mechanism (400) to drive the cutting arm (200) to ascend or descend according to the position information detected by the positioning device (700).

9. The hydraulic cutting apparatus according to claim 8, wherein the positioning device (700) comprises an electromagnetic wave emitting assembly (710), the cutting arm (200) comprises a first electromagnetic wave reflecting member (210), a second detected electromagnetic wave reflecting member (220), and a third electromagnetic wave reflecting member (230), the first electromagnetic wave reflecting member (210) and the second detected electromagnetic wave reflecting member (220) are respectively disposed at both sides of the second end of the cutting arm (200), and the third electromagnetic wave reflecting member (230) is disposed at the first end of the cutting arm (200);

the electromagnetic wave emitting component (710) is configured to emit a first detection electromagnetic wave, the first electromagnetic wave reflecting component (210), the second detection electromagnetic wave reflecting component (220), and the third electromagnetic wave reflecting component (230) are configured to receive the first detection electromagnetic wave and reflect the first detection electromagnetic wave to the electromagnetic wave emitting component (710), and the electromagnetic wave emitting component (710) is communicatively connected to the first electromagnetic wave reflecting component (210), the second detection electromagnetic wave reflecting component (220), the third electromagnetic wave reflecting component (230), and the control device (800), respectively.

10. The hydraulic cutting apparatus according to claim 1, wherein the support mechanism (300) comprises a support leg (310), a driving assembly (320) and a roller assembly (330), a first end of the support leg (310) is rotatably connected to the cutting arm (200), a second end of the support leg (310) is rotatably connected to the roller assembly (330), the driving assembly (320) is disposed on the cutting arm (200), and the driving assembly (320) is configured to drive the support leg (310) to rotate between a first position and a second position relative to the cutting arm (200),

the height of the support leg (310) in the vertical direction with the support leg (310) in the first position is a first height,

the height of the support leg (310) in the vertical direction is a second height with the support leg (310) in the second position, the first height being less than the second height.

11. The hydraulic cutting apparatus of claim 1, further comprising a mechanical positioning mechanism (900) and a pyrotechnic cup lifting mechanism (1000), each of the mechanical positioning mechanism (900) and the pyrotechnic cup lifting mechanism (1000) being selectively removably attachable to the second end of the cutting arm (200).

12. Hydraulic cutting apparatus according to claim 11, wherein the pyrotechnic cup lifting mechanism (1000) comprises a lifting hook (1010) and a self-locking plate (1020), the lifting hook (1010) being detachably connected to the second end of the cutting arm (200), the lifting hook (1010) being provided with a hook slot (1011), the hook slot (1011) being adapted for hooking with the pyrotechnic cup, the self-locking plate (1020) being rotatably connected to the lifting hook (1010), and the self-locking plate (1020) being rotatable under the influence of gravity relative to the lifting hook (1010) until the self-locking plate (1020) is at least partially located on an inner side wall projecting from the hook slot (1011).

13. A control method of a hydraulic cutting apparatus applied to the hydraulic cutting apparatus of any one of claims 8 to 12, characterized by comprising:

detecting position information of the cutting arm;

controlling the cutting arm to move to a preset cutting position;

controlling the cutting arm to cut the object to be cut;

after the cutting arm interrupts cutting, the cutting arm is controlled to move to a cutting recovery position according to first position information, and the first position information is position information under the condition that the cutting arm moves to the interruption position.