CN106964884B - It is responsible for the control method of plasma cutting gun height in root face cutting process - Google Patents
It is responsible for the control method of plasma cutting gun height in root face cutting process Download PDFInfo
- Publication number
- CN106964884B CN106964884B CN201710306915.9A CN201710306915A CN106964884B CN 106964884 B CN106964884 B CN 106964884B CN 201710306915 A CN201710306915 A CN 201710306915A CN 106964884 B CN106964884 B CN 106964884B
- Authority
- CN
- China
- Prior art keywords
- burning torch
- height
- cutting
- root face
- radius
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/006—Control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a kind of control methods of plasma cutting gun height in supervisor's root face cutting process, according to the cutting parameter of input, automatically calculate burning torch height of the plasma cutting gun on cutting track, and then calculate the track of burning torch end, cutting process is generated by digital control system, it is finally cut according to the cutting process of generation, improves the precision stability of cutting, rejection rate is effectively reduced.Its steps are as follows: step 1: the mathematical model of burning torch and workpiece is abstracted and established to plasma cutting gun, determine relevant input parameter；Step 2: establishing the mathematical model of the welding groove with root face；Step 3: when root face is cut, the control method of plasma cutting gun height；Step 4: by the plasma cutting gun high integration after planning into trajectory planning, and then generate cut-sytle pollination program.
Description
Technical field
The present invention relates to a kind of control methods of plasma cutting gun height in supervisor's root face cutting process.
Background technique
In the pipeline engineering such as petroleum, chemical industry, water conservancy, fire-fighting application, cutting that Guan Guanxiang is passed through and welding be one very
Important task, in some industrial applications, often pipeline can be stored with liquid or gaseous substance, these substances are to pipeline
Air-tightness and barotolerance requirement are very high, some substances even have corrosivity, therefore, in these occasions, tubing connection
Welding quality be an important investigation target.As the preliminary preparation of continuous line welding, mutually pass through two-tube cutting with
Post-processing technique will have a direct impact on the quality of clamping error and welding.In order to guarantee the air-tightness of tubing connection and resistance to
It is voltage resistance, the connection type of interpolation type is used between pipeline, which is to the precision of cutting and the processing technique requirement of section
It is higher, it, generally can be in supervisor or branch pipe bevel, if branch pipe takes interpolation type to connect in order to improve the quality of continuous line welding
It connects, then needs be responsible for upper bevel.
In order to reduce groove section tip because carbon steel tube body difference and caused by the irregular factor of kerf,
And the processing skill of root face can be generally taken the phenomenon that the burn-through of root when preventing groove section tip from leading to welding because of too thin
Art.
Rapid development has been obtained since plasma cutting technique self-application, relies on cutting speed is fast, workpiece deformation is small etc.
Advantage can satisfy the cutting requirement of high quality.But at the same time, plasma cut is different from common cutter and cuts, wait from
Certain gap must be kept between sub- burning torch and workpiece to guarantee the stabilization of arc voltage, when burning torch height is bigger than normal, workpiece compared with
Thick position, which will appear, cuts impermeable phenomenon；When burning torch height is less than normal, it is easy to it collides at a certain position of workpiece,
Damage the precision that burning torch even cuts equipment influence cutting.
Therefore, it needs to control the height of plasma cutting gun in cutting process, burning torch when especially root face is cut
The planning of height, the invention discloses a kind of control methods of plasma cutting gun height in supervisor's root face cutting process.
Summary of the invention
The object of the invention is to solve the above problems, to provide plasma cutting gun in a kind of supervisor's root face cutting process high
The control method of degree, we define burning torch end (comprising shield) and the vertical range of workpiece surface is defined as burning torch height
(such as Fig. 2), because theoretical plasma cutting gun track is complicated class intersection (supervisor's inner wall during root face cutting
The space curve that the intersection formed with branch pipe outer wall is obtained by space homogeneous transformation), it is neat by being carried out to intersection track
Secondary transformation simultaneously carries out planning control to burning torch height, has obtained the final position of burning torch and posture, it is according to the desired height of user
Angle value and relevant cutting parameter automatically calculate the burning torch height value of each position on cutting track, can effectively guarantee
The collision between workpiece is stablized and avoided to plasma arc voltage, improves the precision of cutting, reduces the rejection rate of workpiece.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of control method for being responsible for plasma cutting gun height in root face cutting process, its steps are as follows:
Step 1: the geometrical model of burning torch and workpiece is abstracted and established to plasma cutting gun, relevant input is determined
Parameter, the upper bottom radius of radius, burning torch nozzle including plasma cutting gun and the radius of rotary table cone angle, plasma beam；
Step 2: establishing the geometrical model with root face welding groove, the parameter of welding groove, i.e. groove angle and root face are determined
Highly；
Step 3: determining the plasma cutting gun height after planning；
Step 4: by the plasma cutting gun high integration after planning into trajectory planning, and then generate cut-sytle pollination journey
Sequence；Control system cuts supervisor hole according to the cutting process.
In the first step, desired burning torch height d is given0(assuming that suitable), is collided in order to prevent, and burning torch is with supervisor's
Minimum spacing g (g < d0), the exterior radius of supervisor is Ro, inner wall radius is Ri, plasma cutting gun is equivalent to by groove angle γ
Cylindrical body, radius Rg, the nozzle of burning torch end is equivalent to rotary table, and bottom radius surface is identical as the radius of cylindrical body, upper bottom surface
Radius is rg, rotary table cone angle is Ψ, and the radius of plasma beam is m, the angle definition between the center line and workpiece section of burning torch
For burning torch angle beta；
The second step establishes the geometrical model with root face welding groove, as shown in Figure 1, model parameter includes groove angle
With tube wall gap, and relevant cutting parameter is determined, including any dihedral angle on intersection in intersection cutting process.
In the third step, in the case of root face cutting, the burning torch height after planning is denoted as D, and plasma cutting gun is with supervisor's
Practical spacing is denoted as G, when groove angle meets conditionWhen, it can be calculated cutting after planning according to method shown in schematic diagram
Rifle height isWhen groove angle is unsatisfactory for above-mentioned condition (i.e.), in two kinds of situation
It discusses: being judged according to the cutting parameter of input, ifAt this point, calculating burning torch height D's
True formula comparison it is difficult and calculate complexity can approximate calculation according to schematic diagram under the premise of guaranteeing certain error
Burning torch height after must planning:
If cutting parameter meetsWhen, the burning torch after being planned according to schematic diagram
Highly can be approximately
In conclusion in the case of root face cutting, the burning torch height after planning are as follows:
General principles are:
According to the cutting parameter of input, burning torch height of the plasma cutting gun on cutting track is automatically calculated, in turn
The track for calculating burning torch end generates cutting process by digital control system, is finally cut according to the cutting process of generation.
The beneficial effects of the present invention are:
Before generating processing program, the control method by plasma cutting gun height in supervisor's root face cutting process is automatic
Calculate burning torch height of the plasma cutting gun on cutting track, and processing program is generated by digital control system, can (1) etc. from
Certain gap is kept between sub- burning torch and workpiece to guarantee the stabilization of arc voltage；(2) avoid in cutting process with workpiece certain
One position collides, and damage burning torch, which even cuts equipment, influences the precision of cutting；(3) precision of cutting, Neng Gouyou be ensure that
Improve the welding quality in later period in effect ground.
Detailed description of the invention
Fig. 1 is the geometrical model of the welding groove with root face；
Fig. 2 is plasma cutting gun model and incision principle schematic diagram；
Fig. 3, Fig. 4, Fig. 5 are that plasma cutting gun height plans schematic diagram.
Specific embodiment
The present invention will be further described with embodiment with reference to the accompanying drawing.
In Fig. 1,2,3,4,5, planing method of the invention are as follows:
Step 1: the geometrical model of burning torch and workpiece is abstracted and established to plasma cutting gun, relevant input is determined
Parameter, the ginseng such as radius of the upper bottom radius and rotary table cone angle of radius, burning torch nozzle including plasma cutting gun, plasma beam
Number；
Step 2: establishing the geometrical model with root face welding groove, the parameter of welding groove, i.e. groove angle and root face are determined
Highly；
Step 3: when root face is cut, the control method of plasma cutting gun height；
In the first step, desired burning torch height d is given0(assuming that suitable), is collided in order to prevent, and burning torch is with supervisor's
Minimum spacing g (g < d0), the exterior radius of supervisor is Ro, inner wall radius is Ri, plasma cutting gun is equivalent to by groove angle γ
Cylindrical body, radius Rg, the nozzle of burning torch end is equivalent to rotary table, and bottom radius surface is identical as the radius of cylindrical body, upper bottom surface
Radius is rg, rotary table cone angle is Ψ, and the radius of plasma beam is m, the angle definition between the center line and workpiece section of burning torch
For burning torch angle beta；
The second step establishes the geometrical model with root face welding groove, as shown in Figure 1, model parameter includes groove angle
With tube wall gap, and relevant cutting parameter is determined, including any dihedral angle on intersection in intersection cutting process.
In the third step, in the case of root face cutting, the burning torch height after planning is denoted as D, and plasma cutting gun is with supervisor's
Practical spacing is denoted as G, when groove angle meets conditionWhen, it can be calculated cutting after planning according to method shown in schematic diagram
Rifle height isWhen groove angle is unsatisfactory for above-mentioned condition (i.e.), in two kinds of situation
It discusses: being judged according to the cutting parameter of input, ifAt this point, calculating burning torch height D's
True formula comparison it is difficult and calculate complexity can approximate calculation according to schematic diagram under the premise of guaranteeing certain error
Burning torch height after must planning:
If cutting parameter meetsWhen, the burning torch after being planned according to schematic diagram
Highly can be approximately
In conclusion in the case of root face cutting, the burning torch height after planning are as follows:
Claims (3)
1. the control method of plasma cutting gun height in a kind of supervisor's root face cutting process, characterized in that its steps are as follows:
The first step；The geometrical model of burning torch and workpiece is abstracted and established to plasma cutting gun, determines relevant input parameter,
The upper bottom radius of radius, burning torch nozzle including plasma cutting gun and the radius of rotary table cone angle, plasma beam；
Specifically；Give desired burning torch height d0, collide in order to prevent, the minimum spacing g of burning torch and supervisor, wherein g < d0,
The exterior radius of supervisor is Ro, inner wall radius is Ri, plasma cutting gun is equivalent to cylindrical body, radius R by groove angle γg,
The nozzle of burning torch end is equivalent to rotary table, and bottom radius surface is identical as the radius of cylindrical body, and upper bottom surface radius is rg, rotary table cone angle
Radius for Ψ, plasma beam is m, and the angle between the center line and workpiece section of burning torch is defined as burning torch angle beta；
Step 2: establishing the geometrical model with root face welding groove, determine that the parameter of welding groove, i.e. groove angle and root face are high
Degree；
Step 3: being responsible for plasma cutting gun height in root face cutting process after determining planning are as follows:
Step 4: by the plasma cutting gun high integration after planning into trajectory planning, and then generate cut-sytle pollination program；Control
System processed cuts supervisor hole according to the cutting process.
2. being responsible for the control method of plasma cutting gun height in root face cutting process as described in claim 1, characterized in that institute
Second step is stated, establishes the geometrical model with root face welding groove, model parameter includes groove angle and tube wall gap, and is determined related
Cutting parameter, including any dihedral angle on intersection in intersection cutting process.
3. being responsible for the control method of plasma cutting gun height in root face cutting process as described in claim 1, which is characterized in that
The specific calculation method of plasma cutting gun height after planning is as follows:
In the case of root face cutting, burning torch after planning height is denoted as D, and the practical spacing of plasma cutting gun and supervisor are denoted as G, works as slope
Bicker meets conditionWhen, the burning torch height after can be calculated planning isWork as slope
Bicker is unsatisfactory for above-mentioned condition, i.e.,It discusses: being judged according to the cutting parameter of input in two kinds of situation, ifAt this point, the true formula comparison for calculating burning torch height D is difficult and calculates complexity,
Guarantee certain error under the premise of, can approximate calculation must plan after burning torch height:
If cutting parameter meetsWhen, the burning torch height after planning can be approximately
In conclusion in the case of root face cutting, the burning torch height after planning are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306915.9A CN106964884B (en) | 2017-05-04 | 2017-05-04 | It is responsible for the control method of plasma cutting gun height in root face cutting process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306915.9A CN106964884B (en) | 2017-05-04 | 2017-05-04 | It is responsible for the control method of plasma cutting gun height in root face cutting process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106964884A CN106964884A (en) | 2017-07-21 |
| CN106964884B true CN106964884B (en) | 2019-01-08 |
Family
ID=59330951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306915.9A Active CN106964884B (en) | 2017-05-04 | 2017-05-04 | It is responsible for the control method of plasma cutting gun height in root face cutting process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106964884B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922040A (en) * | 2022-12-12 | 2023-04-07 | 山东大学 | Self-adaptive compensation method and system for Y-shaped groove of intersecting branch pipe for plasma cutting |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1298780A (en) * | 2000-12-20 | 2001-06-13 | 华中科技大学 | Method and equipment for directly and quickly manufacturing mould and parts |
| CN201211576Y (en) * | 2008-07-08 | 2009-03-25 | 江苏省机械研究设计院有限责任公司 | Tube scarf welding groove cut-off apparatus |
| CN101767267A (en) * | 2010-03-03 | 2010-07-07 | 潮峰钢构集团有限公司 | Technology for processing curve of intersection pipeline |
| CN104875204A (en) * | 2015-01-06 | 2015-09-02 | 连云港宏翔东方智能技术有限公司 | Offline programming module and application method of plasma space cutting robot |
-
2017
- 2017-05-04 CN CN201710306915.9A patent/CN106964884B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1298780A (en) * | 2000-12-20 | 2001-06-13 | 华中科技大学 | Method and equipment for directly and quickly manufacturing mould and parts |
| CN201211576Y (en) * | 2008-07-08 | 2009-03-25 | 江苏省机械研究设计院有限责任公司 | Tube scarf welding groove cut-off apparatus |
| CN101767267A (en) * | 2010-03-03 | 2010-07-07 | 潮峰钢构集团有限公司 | Technology for processing curve of intersection pipeline |
| CN104875204A (en) * | 2015-01-06 | 2015-09-02 | 连云港宏翔东方智能技术有限公司 | Offline programming module and application method of plasma space cutting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106964884A (en) | 2017-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10335887B2 (en) | Methods and systems for plasma cutting holes and contours in workpieces | |
| CN106735999B (en) | A kind of variable cross-section groove header tube socket automatic soldering method | |
| CN107608344B (en) | Vehicle motion control method and device based on trajectory planning and related equipment | |
| CN105881521B (en) | The processing unit (plant) and method of intersection cutting are carried out using six-shaft industrial robot | |
| CN106826834B (en) | A kind of robot welding automatic localization method | |
| CN103568012B (en) | A kind of planing method of arc welding robot biplane swinging arc track | |
| US9709975B2 (en) | Control system of servo motors improving processing precision of plurality of axes | |
| EP3633473A1 (en) | Ruled surface machining path generation method, device and equipment, and medium | |
| CN106964884B (en) | It is responsible for the control method of plasma cutting gun height in root face cutting process | |
| CN104655068B (en) | A kind of two point examination method for mutually passing through two-tube clamping pose based on Nonlinear System of Equations | |
| CN109388140A (en) | A kind of improved pure tracing control method for surface car path trace | |
| CN105619411A (en) | Stacking method for six-axis industrial robot | |
| CN205043322U (en) | Automatic weld system based on movable thick plate | |
| CN102866666B (en) | High energy beam processing method with ejection point as control target | |
| EP2724808A1 (en) | Method of adjusting pre-programmed arc welding parameters with adaptive control using two laser sensors ; corresponding apparatus | |
| CN102658412B (en) | Hole opening process by numerical control cutting machine | |
| CN103817448A (en) | Gas shielding device for titanium alloy laser-MIG (metal inert gas welding) hybrid welding | |
| CN107052548B (en) | The control method of supervisor's hole cutting process plasma cutting gun height of welding groove | |
| CN109469333A (en) | The oblique davit accurate positioning method of the more bracket complex nodes of multi-angle | |
| CN109963679A (en) | The detection method of offset in electric arc tracking welding | |
| CN104777838B (en) | Continuous variational inclination angle spraying track planning method for corner characteristic curved surface | |
| CN105700469A (en) | Cutter location point solving method oriented to triangular mesh curved surface numerical control processing | |
| CN206140014U (en) | Welding system suitable for right angle welding seam laser tracking | |
| CN106002014A (en) | Welding system suitable for right-angled welding line laser tracking and welding method thereof | |
| US20100213178A1 (en) | Internal part feature cutting method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |