管端相贯线坡口切割割炬位姿控制

针对管端相贯线坡口切割过程中存在三维空间曲面加工问题，研究割炬轨迹的保证和姿态的选择是获得良好加工质量的关键．利用空间解析几何原理，建立了管-管。管-板及管-管、板相贯带坡口切割时割炬位姿控制数学模型．提出了最大Z坐标原则求管-管、板相贯线坡口切割割炬轨迹的方法．对管-管、板相贯线坡口切割实例进行了割炬位姿控制仿真分析，研究了在不同相贯段时割炬位姿和两面角、坡口角以及割炬姿态角等相关参敷的数学表达式，理论研究表明在拐点处割炬姿态的转变应分多步进行，从而保证拐点处的切割质量．为管端相贯线坡口精确数控切割提供了理论基础．

Torch Pose Control in Intersecting Curve with Groove Cutting at the End of Pipe

In order to solve the problem of processing the three-dimensional curved surface in intersecting curve with groove cutting at the end of pipe, the ensurance of torch track and the selection of torch pose become the key to better processing quality. According to analytic geometry in the three-dimensional space, the mathematical model of torch pose in intersecting curve with groove cutting of pipe-pipe, pipe-plate and pipe-pipe-plate was presented. The principle of Z-max was also proposed for the intersecting curve of pipe-pipe-plate. A real cutting example about intersection of pipe-pipe-plate was simulated and analyzed, and the mathematical expressions of torch pose and related parameters at different intersecting sections, such as dihedral angle, groove angle, torch pose angle and so on, were studied. The torch pose at the inflexion part should be changed in several steps, in order to ensure its cutting quality. The above study provides a theoretical foundation for the accurate numerically controlled cutting of intersecting curve with groove at the end of pipe.