• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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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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• 제어로봇시스템학회 2001년도 ICCAS
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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 ...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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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.

• 한국공작기계학회논문집
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• 제17권1호
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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.

• 대한기계학회논문집A
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• 제26권9호
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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

• 제어로봇시스템학회논문지
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• 제12권10호
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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.

• 한국정밀공학회지
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• 제22권2호
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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.

• 디지털콘텐츠학회 논문지
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• 제18권7호
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• pp.1387-1391
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• 2017

절단 파워 예측은 가공 툴 또는 공작기계의 최적 설계를 가능하게 하므로 기술 개발에 소요되는 시간과 비용을 줄일 수 있다. 이러한 이유로 정확한 절단파워 예측은 설계과정에서 매우 중요한 부분이다. 본 연구에서는 파이프 절단 파워를 이론적으로 예측하고 실험을 통해 검증한다. 우선, slotting 절단 파워 계산식을 사용하여 파이프의 절단 파워를 예측한다. 다음으로 파이프 절단기로 파이프를 절단하는 실험을 진행하며, 파이프를 절단하는 동안 모터에서 소비하는 파워를 embedded 소프트웨어인 Labview로 측정한다. 그리고 이론으로 계산한 절단파워와 실험으로 측정한 절단파워를 비교하여 정확성을 검증한다. 본 연구에서 사용한 파이프의 재질은 SUS304와 AL6N01이다. 그리고 본 연구에서는 실험을 통해 AL6N01 재질의 specific power 값을 구하였으며 추후 이 재질의 절단 및 절삭파워를 예측하고 최적의 가공기 및 툴을 설계하는데 이 값을 활용할 수 있다.

• 한국산학기술학회논문지
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• 제11권6호
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• pp.1955-1960
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• 2010

CNC 3축 파이프 형상절단기의 성능은 이송계의 위치결정 정밀도와 공작물의 가공 정밀도를 측정하고 검증함으로써 평가되었다. 위치결정 정밀도는 PLC의 모션 컨트롤러에 의하여 구동된 이송 거리와 레이저 간섭계를 이용 한 실제 이송 거리를 측정 비교하여 오차를 확인하였다. 그리고 가공 정밀도는 절단된 공작물을 스캐닝하고 3D 모델링하여 가공형상을 확보하고, 절단궤적에 해당하는 CL 데이터와 비교하여 오차를 확인하였다.

• 한국산학기술학회논문지
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• 제10권11호
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• pp.3066-3073
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• 2009

3축 파이프 형상절단기에서 다양한 접합형상에 대하여 모관과 지관의 접합궤적을 수학적으로 유도하였다. 그 접합궤적에 절단폭 등의 공구 보정하여 실제로 가공할 절단궤적을 결정하여 이 공구궤적에 해당하는 CL-data를 생성하고, 또한 공구 궤적을 확인하기 위하여 ghost 기능을 구현하였다. 생성된 CL data를 PLC의 위치결정제어 모듈에 로딩하여 동시 3축($\alpha$, X, $\beta$축)의 이송을 제어하여 경로를 따라서 형상절단과 동시에 개선을 할 수 있도록 동시3축 파이프 형상절단 시스템을 개발하였다.