新型管道环切机切割方案设计及进给轨迹规划

Design of Cutting Scheme and Feed Trajectory Planning for Novel Pipe Ring Cutter

刀旋式切管机采用刀具绕固定管道外围旋转的方式进行环形切割,在需要精密切割薄壁管材的场合中得到了广泛的应用,但其进给轨迹常为直线或弧线,存在相对单一、无法实现柔性化切割等问题。为此,提出一种新型管道环切机,其核心部件为冗余驱动环切机构,可以在平面内移动以控制环切进给量,并以半圆管道包络切割为例,基于5-6-5-6-5分段高次多项式曲线进行进给轨迹规划,搭建样机平台进行仿真和实验研究。结果表明:实际轨迹与理论轨迹具有一致性,且切割过程较为柔顺,管道切口质量较好,验证了管道环切机结构设计的合理性和柔顺切割的可行性。

The knife-rotating pipe cutter uses the tool to rotate around the periphery of the fixed pipe for ring cutting,and it has been widely used in situations requiring precise cutting of thin-walled pipes.However,its feed path is usually straight or arc,which has the problems of relatively single and flexible cutting cannot be realized.For this reason,a new type of pipe ring cutter was put forward with redundant driving ring cutting mechanism core component,which could move in plane to control the feed of ring cutter.Taking en-velope cutting of semicircular pipe as an example,feed trajectory planning was carried out based on 5-6-5-6-5 sectional high order polynomial curve,and a prototype platform was built for simulation and experimental research.The results show that the actual track is consistent with the theoretical track,the cutting process is more flexible and the quality of pipe cut is better,which verifies the rationali-ty of pipe ring cutter structure design and the feasibility of flexible cutting.