In light of problems in conventional flame pipe cutting

machines, such as low processing precision and efficiency, complex process, and not capable of machining two cuts of a pipe in one time process, the motion control of a 5-axis

 NC pipe cutting machine was studied. The machining of intersecting curves

 was disassembled into the travel of torch assembly along the pipe’s axis and the pipe’s

rotation.The machining of welding groove was divided into the rotation of torch plane,the tilt of torch in normal section and compensation motion. The mathematical models of intersecting curves with welding groove were established based on the motion types of each axis. By virtue of these mathematical models, NC software was developed to realize real-time control for the 5-axis NC pipe cutting machine. 

pipe cutting machine, intersecting curve, torch, control of pose, welding groove angle

针对现有火焰数控切管机存在的加工精度差、效率低、工序复杂,以及不能实现管件两端切头同时加工等问题，对一种五轴数控切管机的运动控制进行了研究分析。将切管机的相贯线切割运动分解为割炬支架沿被切管轴线的平移运动和被切管的回转运动;将焊接坡口的切割运动分解为割炬面板的旋转运动、割炬在法平面内的摆动以及割炬的补偿运动。根据各轴运动形式推导切管机加工运动的数学模型，并以该数学模型为基础，开发切管机数控软件，实现对该五轴切管机系统的实时控制。

切管机, 相贯线, 割炬, 位姿控制, 焊接坡口