WO2023130865A1 - 一种具有减振装置的核退役小管道管内切割机 - Google Patents

一种具有减振装置的核退役小管道管内切割机 Download PDF

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WO2023130865A1
WO2023130865A1 PCT/CN2022/135939 CN2022135939W WO2023130865A1 WO 2023130865 A1 WO2023130865 A1 WO 2023130865A1 CN 2022135939 W CN2022135939 W CN 2022135939W WO 2023130865 A1 WO2023130865 A1 WO 2023130865A1
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pipe
hydraulic
damping device
airbag
hydraulic rod
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PCT/CN2022/135939
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English (en)
French (fr)
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姜潮
贺健达
田万一
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湖南大学
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Publication of WO2023130865A1 publication Critical patent/WO2023130865A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D21/00—Machines or devices for shearing or cutting tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D33/00—Accessories for shearing machines or shearing devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention relates to the technical field of cutting nuclear pipelines, in particular to an in-pipe cutting machine for nuclear decommissioned small pipelines with a vibration damping device.
  • the existing pipe cutting technology is divided into two types: external cutting technology and internal cutting technology.
  • external cutting technology is used.
  • the cutting method can only be cut from the inside of the pipe. .
  • the transmission shaft and the cutter rotate at high speed in a relatively closed pipe, it is easy to cause strong resonance of the pipe, which is very easy to cause damage to the pipe and cannot ensure the cutting quality. Even more lack of cutting security.
  • the object of the present invention is to provide an in-pipe cutting machine for small pipes with an in-pipe vibration damping device for the problem of cutting resonance in the cutting operation of the existing in-pipe cutting machine.
  • a nuclear decommissioning small pipeline in-pipe cutting machine with a vibration damping device which is characterized in that it includes a flexible shaft, a transmission shaft, a support vibration damping device, a cutting tool, a bearing, and a mounting boss.
  • the housing When working, the housing does not rotate, the motor outputs to the flexible shaft, and the flexible shaft drives the transmission shaft and the cutting tool connected to the transmission shaft to rotate;
  • the outer symmetrical mounting boss of the shell is used to install the supporting and damping device that can rotate in a quarter circle;
  • a gripping airbag of the supporting device is arranged outside the housing, and the gripping airbag is connected with the hydraulic rod head of the supporting shock absorbing device.
  • the hydraulic pipe of the supporting damping device After turning from the vertical position to the horizontal position, the supporting damping device will receive the pulling force from the upper grip airbag and the pressure from the lower installation boss, so as to realize the positioning of the supporting damping device;
  • the grip airbag is a transparent material; the infusion tube and the air tube are connected above the grip airbag to transport liquid and gas respectively;
  • the infusion tube passes through the grip airbag, it is connected with the four hydraulic tubes.
  • the infusion port at the bottom;
  • the surface of the hydraulic rod is coated with reflective material, which will reflect the laser emitted by the sensor back;
  • the surface of the hydraulic pipe is coated with a light-absorbing material, and the sensor's laser will not be reflected back when it hits the hydraulic pipe;
  • Hydraulic pipes And hydraulic rods. Form a support damping device.
  • the transmission device includes a transmission shaft, a bearing, a housing, and a flexible shaft.
  • the housing is cylindrical in shape and installed vertically. The inside of the housing is connected to the transmission shaft with bearings. Axle mounted. The middle of the motor and the drive shaft is connected with a flexible shaft.
  • the ground-grip airbag is inflated and inflated, driving the support and vibration-damping device to rotate, realizing the positioning of the support and vibration-damping device and fixing the in-pipe cutting machine.
  • the grip airbag in the support and damping device will inflate and expand, and the two sets of hydraulic rods on both sides connected to the grip airbag will be driven by the expansion of the grip airbag to move horizontally
  • the position is rotated and the infusion tube will deliver liquid to the infusion port at the bottom of the hydraulic tube.
  • the detection controller is a reflective photoelectric sensor, a distance sensor and a PID controller
  • the reflective photoelectric sensor When the grip airbag and the pipe wall are inflated and the hydraulic pipe is filled with liquid, the reflective photoelectric sensor will emit parallel light into the pipe. When the light hits the hydraulic rod, it will be reflected back and received by the reflective photoelectric sensor. And when it hits the hydraulic pipe, it will be absorbed.
  • the distance sensor will measure the length of the received reflected light, that is, the exposed height of the hydraulic rod. The distance sensor will then transmit the measured value to the PID controller; the exposed height will be sent to the PID controller as a height reference value;
  • a PID controller is a feedback loop component that compares the collected data to a reference value and uses this difference to calculate a new input value whose purpose is to achieve or maintain the system data in the reference value.
  • the vibration will be transmitted to the hydraulic pipe along with the transmission shaft through the bearing and the housing, so that the hydraulic pipe will perform piston movement, change the height of the liquid level, and finally change the hydraulic rod.
  • the PID controller will receive the real-time exposed height of the hydraulic rod from the distance sensor, start to work, compare the real-time exposed height of the hydraulic rod with the reference height, and then compare the vertical Adjust the inner liquid level of the two hydraulic pipes until it returns to the reference height.
  • the cutting assembly includes a tool table, a cutting tool, and an air pressure tube;
  • the tool table is the connection between the tool and the drive shaft;
  • the air pressure tube is set on the drive shaft and has an air port at the bottom, and the air pressure The rod is fixed together with the tool table.
  • the invention also provides a method for cutting with a nuclear decommissioning small pipeline cutting machine with a vibration damping device, characterized in that:
  • Step 1 When the body of the nuclear decommissioned small pipeline in-pipe cutting machine enters the inside of the pipeline and reaches the cutting position, the gripping airbag in the support and damping device will inflate and expand, and drive the hydraulic rod to rotate to a horizontal position, stretching the hydraulic rod to connect with the pipe The inner wall is swollen to achieve stable support and anti-vibration effects.
  • Step 2 When the grip airbag is inflated and the hydraulic pipe is filled with liquid, the reflective photoelectric sensor will emit parallel light into the pipe. When the light hits the hydraulic rod, it will be reflected back and received by the reflective photoelectric sensor. tube will be absorbed.
  • Step 3 The distance sensor will measure the length of the received reflected light to obtain the exposed height of the hydraulic rod, and the distance sensor will then transmit the measured value to the PID controller. At this time, the exposed height will be sent to the PID controller as the height reference value.
  • Step 4 The cutting machine starts to work, the vibration of the transmission shaft is transmitted to the hydraulic pipe through the bearing and the shell, and the hydraulic pipe starts to move the piston along the hydraulic rod to change the liquid level in the hydraulic pipe, thereby changing the exposed height of the hydraulic rod.
  • Step 5 The distance sensor transmits the real-time exposed height to the PID controller, and the PID controller starts to adjust the liquid level according to the difference between the real-time exposed height and the exposed height reference value.
  • the PID controller controls the hydraulic motor to pressurize and fill the liquid; on the contrary, when the real-time exposed height is higher than the reference value of the exposed height, the PID controller controls the hydraulic motor to depressurize the liquid to flow out.
  • Fig. 1 is a structural representation of the present invention
  • Fig. 2 is the working schematic diagram of the present invention
  • Fig. 3 is a schematic diagram of the support and damping device of the present invention.
  • Fig. 4 is a schematic diagram of the tool module of the present invention.
  • Fig. 5 is the control schematic diagram of the present invention.
  • this embodiment provides an in-pipe cutting machine for nuclear decommissioned small pipelines with a vibration damping device. , to adjust the height of the liquid in the support and damping device, so as to achieve a support and damping effect on the body.
  • the nuclear decommissioning small pipeline in-pipe cutting machine with a vibration damping device includes a flexible shaft, a transmission shaft 1, a support vibration damping device 2, a cutting tool 3, a bearing 4, a mounting boss 5, a housing 6, Grip airbag7.
  • Transmission device Transmission shaft 1, bearing 4, housing 6, flexible shaft.
  • the housing 6 is roughly cylindrical and installed vertically.
  • the interior of the housing 6 is connected with the transmission shaft 1 with the bearing 4.
  • the transmission shaft 1 is supported by the bearings 4 at both ends and installed coaxially with the housing 6.
  • the middle of the motor and the drive shaft is connected with a flexible shaft.
  • the housing 6 When working, the housing 6 does not rotate, and the motor outputs 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.
  • Four symmetrical mounting bosses 5 are respectively arranged on the upper and lower sides of the outer shell 6 for mounting the supporting and damping device 2 capable of quarter-circle rotation.
  • the ground-grip airbag 7 When working, the ground-grip airbag 7 is inflated and inflated, driving the support and damping device 2 to rotate, realizing the positioning of the support and damping device 2 and fixing the in-pipe cutting machine.
  • the support and damping device includes a gripping airbag 7 and a support and damping device 2 (hydraulic rod 2.1, hydraulic pipe 2.2, infusion port 2.3).
  • Grip airbag 7 is that transparent material can not influence the work of reflective photoelectric sensor.
  • Two pipelines are connected above the grip airbag 7: a liquid infusion pipe and an air pipe, which transport liquid and gas respectively.
  • the infusion tube After the infusion tube passes through the airbag 7, it is connected with the infusion port 2.3 at the bottom of the four hydraulic pipes 2.2. There is also an air delivery port below the air bag 7 to be grasped to be connected with the bottom of the air pressure pipe in the cutting tool 3 .
  • the surface of the hydraulic rod 2.1 is a reflective material coating, which will reflect back the laser emitted by the sensor.
  • the surface of the hydraulic pipe 2.2 is coated with a light-absorbing material, and the laser of the sensor will not be reflected back when hitting the hydraulic pipe 2.2.
  • the grip airbag 7 in the support and damping device 2 will inflate and expand, and expand tightly with the inner wall of the pipeline to achieve the effect of stable support.
  • the two groups of hydraulic rods 2.1 on both sides connected to the airbag 7 will be driven by the expansion of the airbag 7 to rotate to the horizontal position and the infusion tube will deliver liquid to the infusion port 2.3 at the bottom of the hydraulic tube 2.2.
  • the hydraulic pipe 2.2 cannot continue to rotate due to the binding force provided by the boss 5 installed on the housing 6, so the force exerted by the grip airbag 7 on the hydraulic rod 2.1 will drive the hydraulic rod 2.1 to pull out Until the airbag 7 and the pipeline inwall are swelled tightly.
  • the hydraulic rod head 2.1 is also closely attached to the inner wall of the pipeline. In this way, the hydraulic pipe 2.2 and the hydraulic rod 2.1 form a support and damping device 2 .
  • the detection controller is a reflective photoelectric sensor, a distance sensor and a PID controller.
  • the sensor is located at the outer nozzle of the nuclear waste pipeline.
  • the grip airbag 7 and the pipe wall are inflated and the hydraulic pipe 2.2 is filled with liquid, the sensor starts to work at this time, and the reflective photoelectric sensor will emit parallel light.
  • the grip airbag 7 is a transparent material that will not affect the propagation of light.
  • the distance sensor will measure the length of the received reflected light, that is, the exposed height of the hydraulic rod 2.1, and then the distance sensor will transmit the measured value to the PID controller.
  • the exposed height will be sent to the PID controller as the height reference value.
  • a PID controller is a feedback loop component that compares the collected data to a reference value and uses this difference to calculate a new input value whose purpose is to achieve or maintain the system data in the reference value. Different from other simple control operations, the PID controller can adjust the input value according to the historical data and the occurrence rate of the difference, which can make the system more accurate and stable. It can be proved mathematically that a PID feedback loop can keep the system stable while other control methods lead to system stability errors or process repetitions.
  • the vibration will be transmitted to the hydraulic pipe 2.2 along with the transmission shaft 1 through the bearing 4 and the housing 6, so that the hydraulic pipe 2.2 will move the piston, change the height of the liquid level, and finally change the hydraulic rod 2.1 exposed height.
  • the PID controller will receive the real-time exposed height of the hydraulic rod 2.1 from the distance sensor, start to work, compare the real-time exposed height of the hydraulic rod 2.1 with the reference height, and then compare the two hydraulic pipes 2.2 perpendicular to each other.
  • the liquid level is adjusted until it returns to the reference height, and the process of restoring the exposed height of the hydraulic rod 2.1 is the process of damping the vibration of the cutting machine.
  • the cutting assembly includes a tool table 3.1, a cutting tool 3.2 and an air pressure tube 3.3.
  • the cutting tool 3.2 is detachable, and when cutting pipes of different sizes, it can be replaced with different sized cutters for better cutting.
  • the tool rest 3.1 is the connection between the tool 3.2 and the drive shaft 1 .
  • Air pressure pipe 3.3 is to be arranged on the power transmission shaft 1 and has air delivery port at the bottom, and air pressure bar is to be fixed together with cutter rest 3.1.
  • the grip airbag 7 When the grip airbag 7 starts to inflate, a part of the gas will enter the air pressure pipe 3.3 along with the air delivery port below, and the air pressure bar, the tool rest 3.1 and the cutting tool 3.2 will be pushed up to realize the radial swing of the cutting tool 3.2.
  • the cutter 3.2 can rotate at high speed in the axial direction to cut the pipe wall. While being driven by the transmission shaft 1 to rotate axially, the cutter 3.2 is also driven to swing radially by the air pressure rod, so as to better contact with the inner wall of the pipeline to complete the cutting work.
  • the invention proposes a cutting method of an in-pipe cutting machine for nuclear decommissioning small pipelines with a vibration damping device.
  • Step 1 When the body of the nuclear decommissioned small pipeline in-pipe cutting machine enters the inside of the pipeline and reaches the cutting position, the gripping airbag 7 in the support and damping device 2 will inflate and expand, and drive the hydraulic rod to rotate to a horizontal position, stretching the hydraulic rod so that It is tightened with the inner wall of the pipe to achieve stable support and anti-vibration effects.
  • Step 2 When the grip airbag 7 is inflated and the hydraulic pipe is filled with liquid, the reflective photoelectric sensor will emit parallel light into the pipe. When the light hits the hydraulic rod, it will be reflected back and received by the reflective photoelectric sensor. hydraulic pipes are absorbed.
  • Step 3 The distance sensor will measure the length of the received reflected light to obtain the exposed height of the hydraulic rod, and the distance sensor will then transmit the measured value to the PID controller. At this time, the exposed height will be sent to the PID controller as the height reference value.
  • Step 4 The cutting machine starts to work, the vibration of the transmission shaft is transmitted to the hydraulic pipe through the bearing and the shell, and the hydraulic pipe starts to move the piston along the hydraulic rod to change the liquid level in the hydraulic pipe, thereby changing the exposed height of the hydraulic rod.
  • Step 5 The distance sensor transmits the real-time exposed height to the PID controller, and the PID controller starts to adjust the liquid level according to the difference between the real-time exposed height and the exposed height reference value.
  • the PID controller controls the hydraulic motor to pressurize and fill the liquid; on the contrary, when the real-time exposed height is higher than the reference value of the exposed height, the PID controller controls the hydraulic motor to depressurize the liquid to flow out.
  • the cutting assembly can rotate axially and swing radially, so as to better contact with the inner wall of the pipe to complete the cutting.

Abstract

一种具有减振装置的核退役小管道管内切割机，包括柔性轴、传动轴(1)、支撑减振装置(2)、切割刀具(3)、轴承(4)、安装凸台(5)、壳体(6)、抓地气囊(7)。壳体(6)的外部对称设有安装凸台(5)，在壳体(6)的外部设置支撑装置的抓地气囊(7)，抓地气囊(7)与支撑减振装置(2)的液压杆(2.1)连接，支撑减振装置(2)会受到上方抓地气囊(7)给的拉力和下方安装凸台(5)给的压力，从而实现支撑减振装置(2)的定位。

Description

一种具有减振装置的核退役小管道管内切割机
相关申请
本申请主张于2022年1月10日提交的、名称为“一种具有减振装置的核退役小管道管内切割机”的中国发明专利申请：202210021574.1的优先权。
技术领域
本发明涉及核管道切割技术领域，更具体的说涉及具有减振装置的核退役小管道管内切割机。
背景技术
现有的管道切割技术分为管外切割技术和管内切割技术两种，一般都是采用管外切割技术，但在一些特殊环境下像外部被固定管道，切割方式只能选择从管道内部进行切割。但是，从管道内部切割，特别是小管道切割的时候，由于传动轴和刀具在相对密闭管道内高速旋转，所以很容易引起管道的强烈共振，这样非常容易造成管道的损坏，无法确保切割质量，更加缺乏切割的安全性。
目前，现有的管道内切割机使用的有千斤顶式的支撑装置或者是锚定装置。授权公告号为CN 213318020 U的专利使用的管道内切割机就是采用的单向千斤顶，在千斤顶的侧面加装一个伸缩切割刀具形成一个长方体结构，这样的长方体结构仅凭一边的千斤顶想在管道内进行固定时，长方体结构需要较准确的放置在管道的某一水平面上，一旦有偏差，会导致无法固定，这样就会会出现固定不牢靠，定位不准确等问题。而在授权公告号为CN 207905752 U的专利中是使用锚定装置来固定的，无法控制机器位于圆管的中心，且当机器开始振动时，锚定装置不会起到防振作用。
总结现有的管内切割机大多存在以下三大问题：
1、由于只采取单向千斤顶或锚定装置造成的管内切割机与管道内部的支撑固定效果不好的问题。
2、没有考虑到小管道切割容易带来的切割共振问题，并且市面上的管内切割机由于传感器设置在切割机上，造成在有核辐射的核废弃管道内不能良好工作的问题。
3、由于固定装置无法将刀具轴固定在圆心且刀具不易替换造成的工作时无法切割尺寸不一样的管道的问题。
发明内容
本发明的目的在于针对现有管内切割机在切割作业过程中，存在切割共振的问题，提供一种具有管内减振装置的小管道管内切割机。
为了实现上述目的，本发明提供如下技术方案：一种具有减振装置的核退役小管道管内切割机，其特征在于：包括柔性轴、传动轴、支撑减振装置、切割刀具、轴承、安装凸台、壳体、抓地气囊。
工作时，壳体不旋转，电机输出至柔性轴，柔性轴带动传动轴及跟传动轴连接的切割刀具旋转；
壳体的外部对称安装凸台，用来安装可进行四分之一圆转动的支撑减振装置；
在壳体的外部设置支撑装置的抓地气囊，抓地气囊与支撑减振装置的液压杆头.连接。
支撑减振装置的液压管.从竖直位置转动到水平位置后，支撑减振装置会受到上方抓地气囊给的拉力和下方安装凸台给的压力，从而实现支撑减振装置的定位；
抓地气囊是透明材料；在抓地气囊上方连接输液管和输气管，分别输送液体和气体；
输液管穿过抓地气囊后，与四个液压管.底端的输液口.连接；
液压杆.的表面是反光材料涂层，会将传感器发射来的激光反射回去；
液压管.的表面是吸光材料涂层，传感器的激光打在液压管.上不会被反射回去；
液压管.和液压杆.组成了一个支撑减振装置。
进一步地，传动装置包括传动轴、轴承、壳体、柔性轴，壳体玮圆筒状，竖直安装，壳体内部与传动轴以轴承相连接，传动轴通过两端轴承支承与壳体同轴心安装。电动机与传动轴中间用柔性轴连接。
进一步地，在工作时，抓地气囊充气膨胀，带动支撑减振装置转动，实现支撑减振装置的定位及将管内切割机进行固定。
进一步地，当机体进入管道内部到达切割位置时，支撑减振装置中的抓地气囊会充气膨胀，抓地气囊相连接的两边的两组液压杆.会被抓地气囊的膨胀带动，向水平位置旋转且输液管会向液压管.底部的输液口.输送液体。
进一步地，检测控制器为反射式光电传感器、距离传感器和PID控制器；
当抓地气囊与管壁胀紧，液压管.被充入液体后，反射式光电传感器将会发射平行光进入管道，当光线碰到液压杆.时会被反射回来被反射式光电传感器接收，而碰到液压管.时则会被吸收。
进一步地，距离传感器会测量接收到反射光的长度，即液压杆.的露出高度，距离传感器再将测量到的数值传给PID控制器；露出高度会被传送到PID控制器作为高度参考值；PID控制器是一个反馈回路部件，它把收集到的数据和一个参考值进行比较，然后把这个差别用于计算新的输入值，这个新的输入值的目的是可以让系统的数据达到或者保持在参考值。
进一步地，当管内切割机工作产生振动时，振动会随着传动轴通过轴承、壳体最终传送到液压管.上，从而使液压管.进行活塞运动，改变液面的高度，最终改变液压杆.的露出高度；这时，PID控制器就会接收到距离传感器传来的液压杆.的实时露出高度，开始工作，将液压杆.的露出实时高度与参考高度做对比，接着对相互垂直的两液压管.内液面进行调整，直至恢复成参考高度。
进一步地，切割组件包括刀具台.、切割刀具.和气压管.；刀具台.是刀具.和传动轴之间的连接件；气压管.是设置在传动轴上且底部有输气口，气压杆是与刀具台.固定在一起。
该发明还提供了一种具有减振装置的核退役小管道管内切割机进行切割的方法，其特征在于：
步骤1、当核退役小管道管内切割机的机体进入管道内部到达切割位置时，支撑减振装置中的抓地气囊会充气膨胀，带动液压杆旋转至水平位置后，拉伸液压杆从而与管道内壁胀紧以达到稳定支撑和防振的效果。
步骤2、当抓地气囊胀紧，液压管内充液后，反射式光电传感器将会发射平行光进入管道，当光线碰到液压杆时会被反射回来被反射式光电传感器接收，而碰到液压管时则会被吸收。
步骤3、距离传感器会测量接收到反射光的长度，得出液压杆的露出高度，距离传感器再将测量到的数值传给PID控制器。此时露出高度会被传送到PID控制器作为高度参考值。
步骤4、切割机开始工作，传动轴的振动通过轴承、壳体传到液压管，液压管开始沿着液压杆做活塞运动，改变液压管内的液面高度，从而改变液压杆的露出高度。
步骤5、距离传感器将实时的露出高度传送到PID控制器，PID控制器就开始根据实时露出高度与露出高度参考值之差进行液位的调整，当实时露出高度小于露出高度参考值时，PID控制器控制液压电动机加压充入液体；反之，当实时露出高度高于露出高度参考值时，PID控制器控制液压电动机减压使液体流出。
本发明的有益效果是：
1、有着抓地气囊和支撑减振装置的双重固定，能有效避免管内切割机与管道内部的支撑固定效果不好的问题。
2、通过反射式光电传感器和距离传感器获得活塞杆的实时露出高度，PID控制器控制活塞杆的露出高度，从而能有效减轻切割时产生的振动，防止切割共振问题的出现，且传感器位于核废弃管道的外部，不会受到核辐射的影响。
3、有着可伸缩的支撑支撑减振装置和可更换不同尺寸的刀具，能有效解决切割不同管道时管道尺寸不一样的问题。
附图说明
图1为本发明结构示意图；
图2为本发明工作示意图；
图3为本发明支撑减振装置示意图；
图4为本发明刀具模块示意图；
图5为本发明控制原理图；
其中：1-传动轴、2-支撑减振装置、3-切割刀具、4-轴承、5-安装凸台、6-壳体、7-抓地气囊。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
如图1所示，该实施例提供了一种具有减振装置的核退役小管道管内切割机，原理是通过支撑减振装置的液压控制器和调整模块，在管内切割机在切割作业过程中，对支撑减振装置内液体高度进行调节，从而达到对机体的一个支撑和减振作用。
在优选的实施例中，具有减振装置的核退役小管道管内切割机，包括柔性轴、传 动轴1、支撑减振装置2、切割刀具3、轴承4、安装凸台5、壳体6、抓地气囊7。
传动装置传动轴1、轴承4、壳体6、柔性轴。
壳体6大致为圆筒状，竖直安装，壳体6内部与传动轴1以轴承4相连接，传动轴1通过两端轴承4支承与壳体6同轴心安装。电动机与传动轴中间用柔性轴连接。
工作时，壳体6不旋转，电机输出至柔性轴，柔性轴带动传动轴1及跟传动轴1连接的切割刀具3旋转。
壳体6的外部上下两边各设置有对称的四个安装凸台5，用来安装可进行四分之一圆转动的支撑减振装置2。
在液压管2.2从竖直位置转动到水平位置后，如果想继续转动，将会受到安装凸台5给的约束无法继续转动，此时，支撑减振装置2会受到上方抓地气囊7给的拉力和下方安装凸台5给的压力，从而实现支撑减振装置2的定位。
此外，在壳体6的外部还有一层支撑装置的抓地气囊7，抓地气囊7与支撑减振装置2的液压杆头2.1连接。
在工作时，抓地气囊7充气膨胀，带动支撑减振装置2转动，实现支撑减振装置2的定位及将管内切割机进行固定。
如图2所示，支撑减振装置包括抓地气囊7、支撑减振装置2(液压杆2.1、液压管2.2、输液口2.3)。
抓地气囊7是透明材料不会影响到反射式光电传感器的工作。在抓地气囊7上方连接有两根管道：输液管和输气管，分别输送液体和气体。
输液管穿过抓地气囊7后，与四个液压管2.2底端的输液口2.3连接。抓地气囊7下方也存在一个输气口与切割刀具3中的气压管底部相连接。
液压杆2.1的表面是反光材料涂层，会将传感器发射来的激光反射回去。液压管2.2的表面是吸光材料涂层，传感器的激光打在液压管2.2上不会被反射回去。
当机体进入管道内部到达切割位置时，支撑减振装置2中的抓地气囊7会充气膨胀，与管道内壁胀紧以达到稳定支撑的效果。
与此同时，和抓地气囊7相连接的两边的两组液压杆2.1会被抓地气囊7的膨胀带动，向水平位置旋转且输液管会向液压管2.2底部的输液口2.3输送液体。当液 压杆2.1达到水平位置时，由于壳体6上安装凸台5给液压管2.2的约束力，无法继续旋转，所以抓地气囊7给液压杆2.1的力会带动液压杆2.1向外拉出直至抓地气囊7与管道内壁胀紧。此时，液压杆头2.1也与管道内壁相贴紧。这样，液压管2.2和液压杆2.1组成了一个支撑减振装置2。
同时，工作的时候，在水平面上有对称的四个支撑减振装置2，相当于坐标轴上的X轴和Y轴，由于水平面上的所有力都可以分解到X轴和Y轴上，所以水平面上的四个支撑减振装置2可以减小任意水平方向的振动，达到给机器减振的效果。
检测控制器为反射式光电传感器、距离传感器和PID控制器。
如图3所示传感器位于核废弃管道的外部管口，当抓地气囊7与管壁胀紧，液压管2.2被充入液体后，此时传感器开始工作，反射式光电传感器将会发射平行光进入管道，抓地气囊7是透明材料不会影响到光线的传播。当光线碰到液压杆2.1时会被反射回来被反射式光电传感器接收，而碰到液压管2.2时则会被吸收。然后距离传感器会测量接收到反射光的长度，即液压杆2.1的露出高度，距离传感器再将测量到的数值传给PID控制器。露出高度会被传送到PID控制器作为高度参考值。PID控制器是一个反馈回路部件，它把收集到的数据和一个参考值进行比较，然后把这个差别用于计算新的输入值，这个新的输入值的目的是可以让系统的数据达到或者保持在参考值。和其他简单的控制运算不同，PID控制器可以根据历史数据和差别的出现率来调整输入值，这样可以使系统更加准确，更加稳定。可以通过数学的方法证明，在其他控制方法导致系统有稳定误差或过程反复的情况下，一个PID反馈回路却可以保持系统的稳定。
当管内切割机工作产生振动时，振动会随着传动轴1通过轴承4、壳体6最终传送到液压管2.2上，从而使液压管2.2进行活塞运动，改变液面的高度，最终改变液压杆2.1的露出高度。这时，PID控制器就会接收到距离传感器传来的液压杆2.1的实时露出高度，开始工作，将液压杆2.1的露出实时高度与参考高度做对比，接着对相互垂直的两液压管2.2内液面进行调整，直至恢复成参考高度，恢复液压杆2.1的露出高度的过程就是给切割机器减振的过程。
如图4所示，切割组件包括刀具台3.1、切割刀具3.2和气压管3.3。切割刀具3.2是可以拆卸的，在切割不同尺寸的管道时，更换不同尺寸的刀具，便于更好的切 割。刀具台3.1是刀具3.2和传动轴1之间的连接件。气压管3.3是设置在传动轴1上且底部有输气口，气压杆是与刀具台3.1固定在一起。当抓地气囊7开始充气，一部分气体会随着下方的输气口进入到气压管3.3中，将气压杆、刀具台3.1和切割刀具3.2顶起来，实现切割刀具3.2的径向摆动。在工作时，刀具3.2能进行轴向的高速转动，进行管壁的切割。在被传动轴1带动进行轴向转动的同时，也被气压杆带动刀具3.2进行径向的摆动，以便更好的与管道内壁接触完成切割工作。
1-传动轴、2-支撑减振装置、3-切割刀具、4-轴承、5-安装凸台、6-壳体、7-抓地气囊；
本发明提出了一种具有减振装置的核退役小管道管内切割机的切割方法。
步骤1、当核退役小管道管内切割机的机体进入管道内部到达切割位置时，支撑减振装置2中的抓地气囊7会充气膨胀，带动液压杆旋转至水平位置后，拉伸液压杆从而与管道内壁胀紧以达到稳定支撑和防振的效果。
步骤2、当抓地气囊7胀紧，液压管内充液后，反射式光电传感器将会发射平行光进入管道，当光线碰到液压杆时会被反射回来被反射式光电传感器接收，而碰到液压管时则会被吸收。
步骤3、距离传感器会测量接收到反射光的长度，得出液压杆的露出高度，距离传感器再将测量到的数值传给PID控制器。此时露出高度会被传送到PID控制器作为高度参考值。
步骤4、切割机开始工作，传动轴的振动通过轴承、壳体传到液压管，液压管开始沿着液压杆做活塞运动，改变液压管内的液面高度，从而改变液压杆的露出高度。
步骤5、距离传感器将实时的露出高度传送到PID控制器，PID控制器就开始根据实时露出高度与露出高度参考值之差进行液位的调整，当实时露出高度小于露出高度参考值时，PID控制器控制液压电动机加压充入液体；反之，当实时露出高度高于露出高度参考值时，PID控制器控制液压电动机减压使液体流出。
这样就实现了给切割机减振的效果，并提高了切割质量。切割组件可以进行轴向转动和径向摆动，以便更好的与管道内壁接触完成切割。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (7)

  1. 一种具有减振装置的核退役小管道管内切割机，其特征在于：包括柔性轴、传动轴(1)、支撑减振装置(2)、切割刀具(3)、轴承(4)、安装凸台(5)、壳体(6)、抓地气囊(7)；
    工作时，壳体(6)不旋转，电机输出至柔性轴，柔性轴带动传动轴(1)及跟传动轴(1)连接的切割刀具(3)旋转；
    壳体(6)的外部对称安装凸台(5)，用来安装可进行四分之一圆转动的支撑减振装置(2)；
    在壳体(6)的外部设置支撑装置的抓地气囊(7)，抓地气囊(7)与支撑减振装置(2)的液压杆(2.1)连接；
    支撑减振装置(2)的液压管(2.2)从竖直位置转动到水平位置后，支撑减振装置(2)会受到上方抓地气囊(7)给的拉力和下方安装凸台(5)给的压力，从而实现支撑减振装置(2)的定位；
    抓地气囊(7)是透明材料；在抓地气囊(7)上方连接输液管和输气管，分别输送液体和气体；
    输液管穿过抓地气囊(7)后，与四个液压管(2.2)底端的输液口(2.3)连接；
    液压杆(2.1)的表面是反光材料涂层，会将传感器发射来的激光反射回去；
    液压管(2.2)的表面是吸光材料涂层，传感器的激光打在液压管(2.2)上不会被反射回去；
    液压管(2.2)和液压杆(2.1)组成了一个支撑减振装置(2)；
    壳体(6)为圆筒状，竖直安装，壳体(6)内部与传动轴(1)以轴承(4)相连接，传动轴(1)通过两端轴承(4)支承与壳体(6)同轴心安装；电动机与传动轴中间用柔性轴连接。
  2. 根据权利要求1所述的具有减振装置的核退役小管道管内切割机，其特征在于：
    在工作时，抓地气囊(7)充气膨胀，带动支撑减振装置(2)转动，实现支撑减振装置(2)的定位及将管内切割机进行固定。
  3. 根据权利要求1所述的具有减振装置的核退役小管道管内切割机，其特征在于：
    当机体进入管道内部到达切割位置时，支撑减振装置(2)中的抓地气囊(7)会 充气膨胀，抓地气囊(7)相连接的两边的两组液压杆(2.1)会被抓地气囊(7)的膨胀带动，向水平位置旋转且输液管会向液压管(2.2)底部的输液口(2.3)输送液体。
  4. 根据权利要求1所述的具有减振装置的核退役小管道管内切割机，其特征在于：还包括检测控制器；
    检测控制器为反射式光电传感器、距离传感器和PID控制器；
    当抓地气囊(7)与管壁胀紧，液压管(2.2)被充入液体后，反射式光电传感器将会发射平行光进入管道，当光线碰到液压杆(2.1)时会被反射回来被反射式光电传感器接收，而碰到液压管(2.2)时则会被吸收。
  5. 根据权利要求4所述的具有减振装置的核退役小管道管内切割机，其特征在于：
    距离传感器会测量接收到反射光的长度，即液压杆(2.1)的露出高度，距离传感器再将测量到的数值传给PID控制器；露出高度会被传送到PID控制器作为高度参考值；PID控制器是一个反馈回路部件，它把收集到的数据和一个参考值进行比较，然后把这个差别用于计算新的输入值，这个新的输入值的目的是可以让系统的数据达到或者保持在参考值。
  6. 根据权利要求4所述的具有减振装置的核退役小管道管内切割机，其特征在于：
    当管内切割机工作产生振动时，振动会随着传动轴(1)通过轴承(4)、壳体(6)最终传送到液压管(2.2)上，从而使液压管(2.2)进行活塞运动，改变液面的高度，最终改变液压杆(2.1)的露出高度；这时，PID控制器就会接收到距离传感器传来的液压杆(2.1)的实时露出高度，开始工作，将液压杆(2.1)的露出实时高度与参考高度做对比，接着对相互垂直的两液压管(2.2)内液面进行调整，直至恢复成参考高度。
  7. 利用权利要求6所述的具有减振装置的核退役小管道管内切割机进行切割的方法，其特征在于：
    步骤1、当核退役小管道管内切割机的机体进入管道内部到达切割位置时，支撑减振装置(2)中的抓地气囊(7)会充气膨胀，带动液压杆旋转至水平位置后，拉伸液压杆从而与管道内壁胀紧以达到稳定支撑和防振的效果；
    步骤2、当抓地气囊(7)胀紧，液压管内充液后，反射式光电传感器将会发射平行光进入管道，当光线碰到液压杆时会被反射回来被反射式光电传感器接收，而碰到 液压管时则会被吸收；
    步骤3、距离传感器会测量接收到反射光的长度，得出液压杆的露出高度，距离传感器再将测量到的数值传给PID控制器；此时露出高度会被传送到PID控制器作为高度参考值；
    步骤4、切割机开始工作，传动轴的振动通过轴承、壳体传到液压管，液压管开始沿着液压杆做活塞运动，改变液压管内的液面高度，从而改变液压杆的露出高度；
    步骤5、距离传感器将实时的露出高度传送到PID控制器，PID控制器就开始根据实时露出高度与露出高度参考值之差进行液位的调整，当实时露出高度小于露出高度参考值时，PID控制器控制液压电动机加压充入液体；反之，当实时露出高度高于露出高度参考值时，PID控制器控制液压电动机减压使液体流出。
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