• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.1019-1022
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• 2002

Pipe-cutting machines have been used in many fields. Recently, an automatic pipe-cutting machine that uses magnet has born developed. In this paper, a magnetic-type automatic pipe-cutting machine that attaches itself and performs unmanned cutting process is proposed. It is designed that there is a room at the bottom of its body to contain a magnet. And it uses magnetic force between the magnet and the pipe surface to prevent slip and to attach the machine to the pipe against gravity. Also the magnetic force is adjustable by changing the gap between the magnet and the pipe. This machine is, however, necessary to control cutting velocity for the elevation of work efficiency and the adjustable faculties. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies. That is, the cutting machine gets fast when moving from the top to the bottom of the pipe and slow when moving from the bottom to the top. Actually the system is kind of a non-linear system where the gravity is function of climbing angle of the cutting machine along the pipe. Especially jerking motion is critical. Therefore, authors design the non-linear controller that estimates the current position of the machine along the pipe and compensates the effect of gravity in this paper. It receives the feed back signal from the encoder.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.31.3-31
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• 2001

In this paper, an automatic pipe-cutting machine that uses magnet to attach itself to pipe and performs unmanned cutting process is proposed. The machine uses magnetic force to prevent slip and to attach the machine to the pipe against gravity. The magnetic force is adjustable by changing the gap between the magnet and the pipe. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies nonlinearly where the gravity is function of climbing angle of the cutting machine along the pipe. The cutting quality is deteriorated with irregular cutting speed. It is necessary to maintain constant cutting speed to obtain good cutting quality ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.475-478
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• 2004

In this paper, a magnet-type automatic pipe cutting machine that binds itself to the surface of the pipe using magnetic force and executes unmanned cutting process is proposed. During pipe cutting process when the machine moves around the pipe laid vertical to the gravitational field, the gravity acting on the pipe cutting machine widely varies as the position of the machine varies. That is, with same driving force from the driving motor the cutting machine moves faster when it climbs down the surface of the pipe and moves slower when it climbs up to the top of the pipe. To maintain a constant velocity of the pipe cutting machine and improve the cutting quality, the authors adopted a conventional PID controller with a feedforward effort designed based on the encoder measurement of the driving motor. It is, however, impossible for the encoder at the motor to measure the absolute position and consequently the absolute velocity of the cutting machine in the case where the slip between the surface of the pipe and wheel of the cutting machine is not negligible. As an attempt to obtain a better estimation of the absolution angular position/velocity of the machine the authors proposes the use of the MEMS-type accelerometer which can measure static acceleration as well as dynamic acceleration. The estimated angular velocity of the cutting machine using the MEMS-type accelerometer measurement is experimentally obtained and it indicates the significant slipping of the machine during the cutting process.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.1
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• pp.144-149
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• 2008

This study presents the selection of cutting conditions in high speed pipe cutting machine for the better quality. A high speed pipe cutting machine which uses a rotary knife can make good quality products in short time. But, the machine is much sensitive by cutting conditions because of the complicated mechanism. In this reason, many experiments for cutting condition selection are necessary to improve quality of production. This study carried out cutting experiments with the three factors that are cutting RPM, cutting force and pooling force. 2-dimensional profile measuring instrument is used to measure which is represented by ${\Delta}h$, a sum of burr and collapse height. The effects of factors are analyzed by using MINITAB, the commercial software.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.9
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• pp.1866-1873
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• 2002

The pipe-cutting machine developed in this study is a portable device used to cut a steel pipe. The machine, which is attached to the steel pipe by magnetic force, is moving around the pip e using four wheels. It also works for straight cutting of a steel plate. For the higher precision and labor time reduction, the automation of a pipe-cutting process is needed. However, it is not easily achieved because of vibrations and the loss of track. It is also found that the problems of the automation arise from the coupling of the functional requirements for the pipe-cutting machine. So, it is very difficult io solve the problems by a conventional design method. To overcome the difficulties the new design process for the pipe-cutting machine is established by axiomatic approach in this paper. Based on the Independence Axiom design process, a new product is designed and manufactured. Finally, it is verified by experiments that the performance of the automatic pipe-cutting machine is improved

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1029-1034
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• 2006

In this paper, the tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder is studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopt a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer is also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.105-112
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• 2005

The guillotined cutting process for the pipe was studied in this paper. Until now guillotining mechanism can not be practically applied in the industries because of the deformation of sheared section around cutting area, the coarse sheared surface, and the burs. To find optimum shapes of blade, several types of blade were experimentally studied. The cutting force normal to the axial direction of the pipe was compared with the theoretical result based on the cutting energy. The experimental maximum cutting forces were very good agreement with the theoretical results. It also discussed that the design parameters of guillotining system such as the blade shape and the clearance between the blade and the die made effects to the deformation of the cutting cross section area. The results show that the guillotining method can be applicable to the pipe cutting system by optimizing the blade shape and the clearance between the blade and the die of the guillotined cutting system with respect to the sheared pipe material.

• Journal of Digital Contents Society
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• v.18 no.7
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• pp.1387-1391
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• 2017

Cutting power estimation can be used to select appropriate actuators in the design process of machine tools. Therefore, accurate estimation of cutting power is an important part of the design process. In this study, pipe cutting power is first calculated theoretically using the slotting cutting power equation and then verified experimentally. In this case, a pipe cutting machine is used to cut two pipes made of different materials. Power consumptions in the motor during pipe cutting are measured by using the embedded software, Labview, and NI hardware. The slotting cutting power equation can thus be confirmed easily comparing theoretically calculated cutting powers with experimentally measured cutting powers. The pipe materials used in this study are SUS304 and AL6N01. The specific cutting power of AL6N01 material is proposed through our cutting experiment. As a result, this cutting power can be used to design machining tools for AL6N01 material.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.1955-1960
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• 2010

A performance of CNC 3-axis pipe profile-cutting machine we developed was evaluated by measuring and verifying a positioning accuracy of its feeding unit and a cutting shape accuracy of pipe workpiece. The positioning accuracy was verified by comparing moving distance actuated by PLC motion controller with actual one measured by a laser interferometer. The cutting shape accuracy was also verified by comparing a cutting shape obtained through scanning and 3D modeling the pipe workpiece with that through CL data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.11
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• pp.3066-3073
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• 2009

Joint paths of master and branch pipes are induced mathematically for many kinds of joint patterns between both pipes in 3-axis pipe profile-cutting machines. By compensating them with a kerf width, the real cutting paths are determined, and their CL-data are generated, and the tool paths generated by CL-data are verified by a ghost function. A bevelling of welds is implemented through tilting a cutting torch in the $\beta$-axis direction for 8 sections in the chuck rotation of $\alpha$-axis. A PLC controls simultaneously position and velocity in a real time for $\alpha$, X, $\beta$-axis by loading CL-data generated. We developed the PLC-controlled 3-axis pipe profile-cutting system which can cut a master or branch pipe along the cutting path and simultaneously do a bevelling process.