Plasma cutting torch trajectory planning for main pipe hole cutting with welding groove and root face

摘要

As the preparation of intersecting pipes (using set-in branch connection) welding, intersecting pipe hole cutting has a direct effect on welding trajectory accuracy and quality. In order to improve the cutting quality, this paper makes lots of researches on main pipe hole cutting with welding groove and root face and proposes a novel approach for plasma cutting torch trajectory planning. The geometrical models of intersecting curve and welding groove with root face are established, which can cover the most complicated intersecting modes. To accommodate different production requirements and production environment, the geometrical model also provides an interface to modify parameters. Then, based on the principle of three-dimensional tool compensation, the plasma torch radius compensation is discussed. At the same time, the paper gives a planning method of cutting torch height when cutting the groove and root face. Finally, the position and orientation of the torch are given in the form of a homogeneous matrix, and the correctness of the welding groove cutting model with root face is verified by simulation and experiments.