CN221158184U

CN221158184U - Battery pack powered channeling machine

Info

Publication number: CN221158184U
Application number: CN202190000737.7U
Authority: CN
Inventors: T·J·拉特克; B·A·桑兹
Original assignee: Milwaukee Electric Tool Corp
Current assignee: Milwaukee Electric Tool Corp
Priority date: 2020-10-19
Filing date: 2021-10-19
Publication date: 2024-06-18
Anticipated expiration: 2031-10-19

Abstract

The battery powered channeling machine (100) described herein includes: a housing (110); an inner roller (140) disposed on the housing (110) and configured to be received in an inner circumference of the workpiece (105); a grooved roll (145) disposed on the housing (110) and configured to create a groove on the workpiece (105); one or more motors (290, 295) disposed within the housing (110) and configured to drive the grooved roll (145); and an electronic processor (200) electrically connected to the one or more motors (290, 295). The electronic processor (200) is configured to operate the one or more motors (290, 295) to perform a first operation to move the grooved roll (145) in a radial direction and to operate the one or more motors (290, 295) to perform a second operation to move the grooved roll (145) in a circumferential direction around the track (155). The first operation is performed to adjust a groove depth on the workpiece (105). The second operation is performed to create the groove on the workpiece (105).

Description

Battery pack powered channeling machine

Cross Reference to Related Applications

The present application claims the benefit of U.S. provisional patent application No. 63/093,577 filed on day 19 of 10 in 2020 and U.S. provisional patent application No. 63/235,507 filed on day 8 of 2021, each of which is incorporated herein by reference in its entirety.

Technical Field

The present utility model relates to a channeling machine, and more particularly to a battery powered channeling machine.

Background

In the plumbing fitting industry, different methods are used to join two separate pipe elements together. In one example, the ends of the pipes are threaded and a threaded adapter is used to join the pipes together. An alternative to a threaded connection is a groove connection. Specifically, the pipe is cut to a desired length and a groove is rolled out at one end of the pipe. The pipe is then joined to another pipe using a groove adapter.

Disclosure of utility model

The grooved pipe connection is particularly suitable for joining pipes carrying water and/or steam and provides a watertight seal between the pipes. The channeling machine is used to create grooves in the pipe. Channeling machines are typically mechanical devices placed on the pipe. A skilled user uses a crank mechanism to rotate the channeling machine around the pipe to roll grooves into the pipe. The crank mechanism includes manually rotating the crank with a hand to rotate the channeling machine.

Current channeling machines require a skilled user to operate and require a significant amount of time to complete an operation. Thus, there is a need for an automatic channeling machine that is simple to operate and reduces the operating time compared to current channeling machines.

Some embodiments provide a channeling machine comprising: a housing; an inner roller configured to be accommodated in an inner circumference of a workpiece provided on the housing; and a grooved roll configured to create grooves on the workpiece disposed on the housing. The channeling machine comprises: a first motor for moving the grooved roll toward and away from the workpiece; and a second motor for moving the grooved roll around the circumference of the rail and the workpiece. The channeling machine includes an electronic processor coupled to the first motor and the second motor. The electronic processor is configured to: operating the first motor to adjust a depth of a groove on the workpiece; and operating the second motor to create the groove in the workpiece.

Some embodiments provide a channeling machine comprising: a housing; an inner roller disposed on the housing and configured to be received in an inner circumference of the workpiece; a grooved roll disposed on the housing and configured to create a groove on the workpiece; one or more motors disposed within the housing and configured to drive the grooved roll; and an electronic processor electrically connected to the one or more motors. The electronic processor is configured to operate the one or more motors to perform a first operation that moves the grooved roll in a radial direction. The first operation is performed to adjust a groove depth on the workpiece. The electronic processor is also configured to operate the one or more motors to perform a second operation that moves the grooved roll in a circumferential direction. The second operation is performed to create the groove on the workpiece.

In some aspects, the one or more motors comprise: a first motor configured to drive the grooved roll in the radial direction; and a second motor configured to drive the grooved roll in the circumferential direction.

In some aspects, the channeling machine further comprises an inertial measurement unit configured to determine the position of the channeling roller.

In some aspects, the electronic processor is further configured to: controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; and using the one or more motors such that for each first predetermined distance of rotation of the grooved roll, the groove depth is increased by a predetermined increment.

In some aspects, the channeling machine further comprises a battery pack configured to power the one or more motors.

In some aspects, the grooved roll is disposed circumferentially outward of the inner roll.

In some aspects, the channeling machine further comprises a roller shell disposed on the housing, wherein the channeling roller is mounted to and moves with the roller shell. The roll shell moves with the grooved roll around the track to create the groove in the workpiece.

In some aspects, the channeling machine further comprises a jog trigger and a direction switch for selecting the direction of movement of the channeling roller. The jog trigger is used to control the first operation.

In some aspects, the channeling machine further comprises an operating switch and a direction switch for selecting the direction of movement of the channeling roller. The second operation is controlled using the run switch.

In some aspects, the channeling machine further comprises one or more circuit boards disposed within the housing and comprising electronic components of the channeling machine. The one or more circuit boards include a total surface area of less than 155 square centimeters (cm 2).

In some aspects, the electronic processor is further configured to: detecting actuation of a pre-position/de-pre-position button; controlling the one or more motors to move the grooved roll toward the workpiece; detecting current drawn by the one or more motors using one or more sensors; determining whether the current exceeds a pre-bit threshold; controlling the one or more motors to stop when the current exceeds the pre-position threshold; and providing an indication that the channeling machine is pre-positioned.

In some aspects, the electronic processor is further configured to: detecting actuation of a pre-position/de-pre-position button; controlling the one or more motors to move the grooved roll away from the workpiece; determining whether the grooved roll is in an original position; controlling the one or more motors to stop when the grooved roll is in the home position; and providing an indication that the channeling machine has disengaged the pre-position.

In some aspects, the electronic processor is further configured to: detecting actuation of the jog trigger; controlling the one or more motors to move the grooved roll toward the workpiece; and determining whether the jog trigger is still actuated. In response to the jog trigger continuing to be activated, the electronic processor is configured to: detecting current drawn by the one or more motors using one or more sensors; determining whether the current exceeds a pre-bit threshold; controlling the one or more motors to stop when the current exceeds the pre-position threshold; and providing an indication that the channeling machine is pre-positioned. In response to the jog trigger not being actuated, the electronic processor is configured to control the one or more motors to stop.

In some aspects, the electronic processor is further configured to: detecting actuation of the run button; determining an initial position of the grooved roll using an inertial measurement unit; controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has rotated 360 °; when the grooved roll has rotated 360 °, controlling the one or more motors to stop and record the measured distance; the groove depth is determined based on the measured distance.

In some aspects, the electronic processor is further configured to: controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has traveled a first predetermined distance around a circumference of the workpiece; and determining whether the grooved roll is below a second predetermined distance of a final depth when the grooved roll has traveled the first predetermined distance. In response to the grooved roll not being below the second predetermined distance of the final depth, the electronic processor is configured to control the one or more motors to increase the groove depth by a predetermined increment. In response to the grooved roll being below the second predetermined distance of the final depth, the electronic processor is configured to: controlling the one or more motors to increase the groove depth in fractional increments; controlling the one or more motors to move the grooved roll around the workpiece; determining whether the grooved roll is in an initial position; and controlling the one or more motors to stop and indicate that operation is complete when the grooved roll is in the initial position.

In some aspects, the electronic processor is further configured to: receiving a selection of a single turn mode; and controlling the one or more motors to complete a single revolution of the grooved roll around the workpiece.

In some aspects, the channeling machine further comprises one or more light detection and ranging (LiDAR) sensors configured to detect objects in proximity to the channeling machine. The electronic processor is further configured to: detecting that the channeling machine is stationary; receiving sensor data from the one or more LiDAR sensors; generating a base 3D point cloud based on the sensor data; continuing operation of the channeling machine; continuously scanning the one or more LiDAR sensors to generate an updated 3D point cloud; comparing the updated 3D point cloud with the base 3D point cloud; and determining whether an anomalous object is detected in the updated 3D point cloud. In response to detecting the abnormal object, the electronic processor is configured to: determining whether the abnormal object is within a predetermined distance of the channeling machine; and stopping the operation of the channeling machine when the anomalous object is within a predetermined distance of the channeling machine.

In some aspects, the inner roll includes a roll groove, and the grooved roll includes a roll protrusion corresponding to the roll groove. The force exerted by the roller projections on the outer circumference of the workpiece together with the margin provided by the roller grooves on the inner circumference of the workpiece creates the grooves on the workpiece.

In some aspects, the grooved roll is a replaceable mold.

In some aspects, the electronic processor is further configured to: receiving a selection to measure an amount of wear on the replaceable die; retrieving an initial distance that the unworn exchangeable mold moves from an initial position for releasing the pre-positioning to a contact fixing point; in response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial position for de-priming to the fixed point; measuring a distance that the grooved roll moves when the grooved roll moves from the initial position of unseating to contact the fixed point; determining whether the measured distance is greater than the initial distance; generating a first indication that the replaceable die has worn when the measured distance is greater than the initial distance; and generating a second indication that the replaceable die is unworn when the measured distance is not greater than the initial distance.

In some aspects, the grooved roll and the inner roll form a replaceable die set.

In some aspects, the electronic processor is further configured to determine identification information of the replaceable die set.

In some aspects, the electronic processor is further configured to: receiving a selection of a measurement workpiece size; retrieving an initial distance that the grooved roll moves from an initial position that unseats to contact the workpiece; in response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial de-pre-positioned position to contact the workpiece; measuring a distance that the grooved roll moves when the grooved roll moves from the initial position for unseating to contact the workpiece; and determining the workpiece size based on a difference between the measured distance and the initial distance.

In some aspects, the electronic processor is further configured to: comparing the workpiece size to an expected thickness of the workpiece; and determining that the workpiece has been grooved when the workpiece size is less than the desired thickness.

In some aspects, the channeling machine further comprises a limit switch disposed on the housing. The electronic processor is configured to detect walk-off (walk-off) of the workpiece using the limit switch.

In some aspects, the electronic processor is further configured to: detecting movement of the grooved roll around the workpiece using an inertial measurement unit; determining a profile of the workpiece based on the movement of the grooved roll around the workpiece; comparing the profile of the workpiece with a predetermined profile; and determining that the workpiece is elliptical when the contour of the workpiece deviates from the predetermined contour.

In some aspects, the electronic processor is further configured to: detecting an angle of the channeling machine relative to the workpiece using a sensor; and determining that the workpiece is a flared tube when the detected angle deviates from a predetermined angle.

Some embodiments provide a channeling machine comprising: a housing; an inner roller disposed on the housing and configured to be received in an inner circumference of the workpiece; a grooved roll disposed on the housing and configured to create a groove on the workpiece; one or more motors disposed within the housing and configured to drive the grooved roll; an electronic processor electrically connected to the one or more motors. The electronic processor is configured to: controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has traveled a first predetermined distance around a circumference of the workpiece; and determining whether the grooved roll is below a second predetermined distance of a final depth when the grooved roll has traveled the first predetermined distance. In response to the grooved roll not being below the second predetermined distance of the final depth, the electronic processor is configured to control the one or more motors to increase the groove depth by a predetermined increment. In response to the grooved roll being below the second predetermined distance of the final depth, the electronic processor is configured to: controlling the one or more motors to increase the groove depth in fractional increments; controlling the one or more motors to move the grooved roll around the workpiece; determining whether the grooved roll is in an initial position; and controlling the one or more motors to stop and indicate that operation is complete when the grooved roll is in the initial position.

Some embodiments provide a method of operating a channeling machine that includes an inner roller configured to be received in an inner circumference of a workpiece and a grooved roller configured to create grooves on the workpiece. The method includes operating one or more motors using an electronic processor to perform a first operation that moves the grooved roll in a radial direction. The first operation is performed to adjust a groove depth on the workpiece. The method also includes operating the one or more motors using the electronic processor to perform a second operation that moves the grooved roll in a circumferential direction. The second operation is performed to create the groove on the workpiece.

In some aspects, the method further comprises determining the position of the grooved roll using an inertial measurement unit.

In some aspects, the method further comprises: controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; and using the one or more motors such that for each first predetermined distance of rotation of the grooved roll, the groove depth is increased by a predetermined increment.

In some aspects, the method further comprises using a battery pack to provide power to the one or more motors.

In some aspects, the method further comprises: detecting actuation of a pre-position/de-pre-position button; controlling the one or more motors to move the grooved roll toward the workpiece; detecting current drawn by the one or more motors using one or more sensors; determining whether the current exceeds a pre-bit threshold; controlling the one or more motors to stop when the current exceeds the pre-position threshold; and providing an indication that the channeling machine is pre-positioned.

In some aspects, the method further comprises: detecting actuation of a pre-position/de-pre-position button; controlling the one or more motors to move the grooved roll away from the workpiece; determining whether the grooved roll is in an original position; controlling the one or more motors to stop when the grooved roll is in the home position; and providing an indication that the channeling machine has disengaged the pre-position.

In some aspects, the method further comprises: detecting actuation of the jog trigger; controlling the one or more motors to move the grooved roll toward the workpiece; and determining whether the jog trigger is still actuated. In response to the jog trigger continuing to be activated, the method includes: detecting current drawn by the one or more motors using one or more sensors; determining whether the current exceeds a pre-bit threshold; controlling the one or more motors to stop when the current exceeds the pre-position threshold; and providing an indication that the channeling machine is pre-positioned. In response to the jog trigger not being actuated, the method includes controlling the one or more motors to stop.

In some aspects, the method further comprises: detecting actuation of the run button; determining an initial position of the grooved roll using an inertial measurement unit; controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has rotated 360 °; when the grooved roll has rotated 360 °, controlling the one or more motors to stop and record the measured distance; and determining a groove depth based on the measured distance.

In some aspects, the method further comprises: controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has traveled a first predetermined distance around a circumference of the workpiece; and determining whether the grooved roll is below a second predetermined distance of a final depth when the grooved roll has traveled the first predetermined distance. In response to the grooved roll not being below the second predetermined distance of the final depth, the method includes controlling the one or more motors to increase the groove depth by a predetermined increment. In response to the grooved roll being below the second predetermined distance of the final depth, the method includes: controlling the one or more motors to increase the groove depth in fractional increments; controlling the one or more motors to move the grooved roll around the workpiece; determining whether the grooved roll is in an initial position; and controlling the one or more motors to stop and indicate that operation is complete when the grooved roll is in the initial position.

In some aspects, the method further comprises: receiving a selection of a single turn mode; and controlling the one or more motors to complete a single revolution of the grooved roll around the workpiece.

In some aspects, the method further comprises: detecting that the channeling machine is stationary; receiving sensor data from one or more light detection and ranging (LiDAR) sensors; generating a base 3D point cloud based on the sensor data; continuing operation of the channeling machine; continuously scanning the one or more LiDAR sensors to generate an updated 3D point cloud; comparing the updated 3D point cloud with the base 3D point cloud; and determining whether an anomalous object is detected in the updated 3D point cloud. In response to detecting the anomalous object, the method includes: determining whether the abnormal object is within a predetermined distance of the channeling machine; and stopping the operation of the channeling machine when the anomalous object is within a predetermined distance of the channeling machine.

In some aspects, the grooved roll is a replaceable mold, and the method includes: receiving a selection to measure an amount of wear on the replaceable die; retrieving an initial distance that the unworn exchangeable mold moves from an initial position for releasing the pre-positioning to a contact fixing point; in response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial position for de-priming to the fixed point; measuring a distance that the grooved roll moves when the grooved roll moves from the initial position of unseating to contact the fixed point; determining whether the measured distance is greater than the initial distance; generating a first indication that the replaceable die has worn when the measured distance is greater than the initial distance; and generating a second indication that the replaceable die is unworn when the measured distance is not greater than the initial distance.

In some aspects, the method further comprises: receiving a selection of a measurement workpiece size; retrieving an initial distance that the grooved roll moves from an initial position that unseats to contact the workpiece; in response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial de-pre-positioned position to contact the workpiece; measuring a distance that the grooved roll moves when the grooved roll moves from the initial position for unseating to contact the workpiece; and determining the workpiece size based on a difference between the measured distance and the initial distance.

In some aspects, the method further comprises: comparing the workpiece size to an expected thickness of the workpiece; and determining that the workpiece has been grooved when the workpiece size is less than the desired thickness.

In some aspects, the method further includes detecting walk-off of the workpiece using a limit switch.

In some aspects, the method further comprises: detecting movement of the grooved roll around the workpiece using an inertial measurement unit; determining a profile of the workpiece based on the movement of the grooved roll around the workpiece; comparing the profile of the workpiece with a predetermined profile; and determining that the workpiece is elliptical when the contour of the workpiece deviates from the predetermined contour.

In some aspects, the method further comprises: detecting an angle of the channeling machine relative to the workpiece using a sensor; and determining that the workpiece is a flared tube when the detected angle deviates from a predetermined angle.

Some embodiments provide a method of operating a channeling machine that includes an inner roller configured to be received in an inner circumference of a workpiece and a grooved roller configured to create grooves on the workpiece. The method comprises the following steps: controlling one or more motors to move the grooved roll around the workpiece while measuring distance; determining whether the grooved roll has traveled a first predetermined distance around a circumference of the workpiece; and determining whether the grooved roll is below a second predetermined distance of a final depth when the grooved roll has traveled the first predetermined distance. In response to the grooved roll not being below the second predetermined distance of the final depth, the method includes controlling the one or more motors to increase the groove depth by a predetermined increment. In response to the grooved roll being below the second predetermined distance of the final depth, the method includes: controlling the one or more motors to increase the groove depth in fractional increments; controlling the one or more motors to move the grooved roll around the workpiece; determining whether the grooved roll is in an initial position; and controlling the one or more motors to stop and indicate that operation is complete when the grooved roll is in the initial position.

Before any embodiments are explained in detail, it is to be understood that the embodiments are not limited in their application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The embodiments may be practiced or carried out in a variety of different ways. It is also to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.

In addition, it should be understood that embodiments may include hardware, software, and electronic components or modules that, for purposes of discussion, may be shown and described as if most of the components were implemented solely in hardware. However, one of ordinary skill in the art will recognize, based on a reading of this detailed description, that in at least one embodiment, the electronic-based aspects may be implemented in software (e.g., stored on a non-transitory computer-readable medium) executable by one or more processing units (e.g., a microprocessor and/or an application specific integrated circuit ("ASIC")). Thus, it should be noted that embodiments may be implemented using a number of hardware and software based devices as well as a number of different structural components. For example, the terms "server," "computing device," "controller," "processor," and the like as described in the specification may include one or more processing units, one or more computer readable medium modules, one or more input/output interfaces, and a plurality of different connections (e.g., a system bus) connecting the components.

Relative terms such as "about," "substantially," and the like, as used in connection with a quantity or condition, will be understood by those of ordinary skill in the art to encompass the stated value and have the meaning dictated by the context (e.g., the term includes at least the degree of error associated with measurement accuracy, tolerances associated with particular values [ e.g., manufacturing, assembly, use, etc. ], and the like). Such terms should also be considered to disclose ranges defined by the absolute values of the two endpoints. For example, the expression "about 2 to about 4" also discloses the range "2 to 4". Relative terms may refer to percentages (e.g., 1%, 5%, 10%, or more) of the indicated value being added or subtracted.

It should be understood that while some of the figures show hardware and software located within a particular device, these depictions are for illustrative purposes only. The functions described herein as being performed by one component may be performed by multiple components in a distributed fashion. Also, functions performed by multiple components may be combined and performed by a single component. In some embodiments, the illustrated components may be combined or divided into separate software, firmware, and/or hardware. For example, the logic and processes may be distributed among multiple electronic processors rather than being located within and executed by a single electronic processor. Regardless of how the hardware and software components are combined or partitioned, the hardware and software components may reside on the same computing device or may be distributed among different computing devices connected by one or more networks or other suitable communication links. Similarly, components described as performing a particular function may also perform additional functions not described herein. For example, a device or structure that is "configured" in some way is configured at least in that way, but may also be configured in ways that are not explicitly listed.

Other aspects of the embodiments will become apparent by consideration of the detailed description and accompanying drawings.

Drawings

Fig. 1 is a perspective view of a channeling machine operating on a workpiece according to some embodiments.

Fig. 2 is a plan view of the channeling machine of fig. 1 according to some embodiments.

Fig. 3A-3C are block diagrams of the channeling machine of fig. 1, according to some embodiments.

Fig. 4 is a block diagram of an external device in communication with the channeling machine of fig. 1, according to some embodiments.

Fig. 5 is a flow chart of a method for detecting the position of the channeling machine of fig. 1, according to some embodiments.

Fig. 6 is a flow chart of a method for pre-positioning the channeling machine of fig. 1, according to some embodiments.

FIG. 7 is a flow chart of a method for unseating the channeling machine of FIG. 1, according to some embodiments.

Fig. 8 is a flow chart of a method for pre-positioning the channeling machine of fig. 1, according to some embodiments.

Fig. 9 is a flow chart of a method for determining a groove depth of a workpiece using the channeling machine of fig. 1, according to some embodiments.

Fig. 10 is a flow chart of a method for operating the channeling machine of fig. 1, according to some embodiments.

FIG. 11 is a flow chart of a method for roll perception of the channeling machine of FIG. 1, according to some embodiments.

Fig. 12 is a side perspective view of the channeling machine of fig. 1 according to some embodiments.

Fig. 13 is a flow chart of a method for measuring die wear of the channeling machine of fig. 1, according to some embodiments.

Fig. 14 is a flow chart of a method for measuring a workpiece size using the channeling machine of fig. 1, according to some embodiments.

Detailed Description

Fig. 1 and 2 illustrate an example embodiment of a channeling machine 100. The channeling machine 100 is configured to operate on a workpiece 105 (e.g., a metal pipe, etc.). The channeling machine 100 includes a housing 110 and a handle 115 forming a portion of the housing. The channeling machine 100 also includes a jog trigger 120 and an operating switch 125. In some embodiments, the channeling machine 100 may include a pre-position/un-pre-position button 120 instead of or in addition to the jog trigger 120. In the example shown, the channeling machine 100 is powered by a battery pack 130. The battery pack 130 is, for example, a battery pack of an electric tool having a nominal voltage of 12V, 18V, 36V, 60V, 80V, or the like. In some embodiments, the channeling machine 100 may be powered by an AC power source and may include a power cord that may be plugged into a wall outlet.

The channeling machine 100 includes an inner roller 140 disposed about the center of the housing 110. The inner roller 140 is accommodated inside the pipe. The inner roller 140 is sized to fit within the inner circumference of any pipe used in the current industry for transporting water and steam. The grooved roller 145 is disposed circumferentially outward of the inner roller 140. Grooved rolls 145 engage the outer circumference of workpiece 105 to roll grooves in workpiece 105. The roller housing 150 is disposed over the grooved roller 145 such that the grooved roller 145 is mounted with and moves with the roller housing 150. The roller housing 150 moves with the grooved roller 145 around the rail 155. Grooved rollers 145 create grooves in workpiece 105 by moving about track 155.

Fig. 3A shows a block diagram of the channeling machine 100. In the illustrated example, the channeling machine 100 includes a controller (e.g., electronic processor 200) that is electrically and/or communicatively connected to the various modules or components of the channeling machine 100. For example, the electronic processor 200 is shown connected to a battery pack interface 205, a power input module 210, a FET switch module 215, one or more sensors 220, a transceiver 230, a user input module 235, one or more indicators 240, a jog trigger 120 (or a pre/de-pre button 120), and an run switch 125. The electronic processor 200 includes a combination of hardware and software that is operable, among other things, to control operation of the channeling machine 100, activate one or more indicators 240, monitor operation of the channeling machine 100, communicate with an associated external device (e.g., a smart phone), etc.

In some embodiments, electronic processor 200 includes a plurality of electrical and electronic components that provide power, operational control, and protection for components and modules within electronic processor 200 and/or channeling machine 100. For example, electronic processor 200 includes, among other things, a processing unit 250 (e.g., a microprocessor, a microcontroller, an electronic processor, or another suitable programmable device), a memory 255, an input unit 260, and an output unit 265. The processing unit 250 includes, among other things, a control unit 270, an arithmetic logic unit ("ALU") 275, and a plurality of registers 280 (shown as a set of registers in fig. 3A), and is implemented using known computer architectures, such as a modified harvard architecture, von neumann architecture, and the like. The processing unit 250, memory 255, input unit 260, and output unit 265, as well as a plurality of different modules connected to the electronic processor 200, are connected by one or more control and/or data buses (e.g., common bus 285). The control and/or data buses are generally shown in fig. 3A for illustrative purposes. The interconnection between and communication between a plurality of different modules and components using one or more control and/or data buses will be known to those skilled in the art in view of the utility model described herein.

Memory 255 is a non-transitory computer readable medium and includes, for example, a program storage area and a data storage area. The program storage area and the data storage area may comprise a combination of different types of memory, such as read only memory ("ROM"), random access memory ("RAM") (e.g., dynamic RAM [ "DRAM" ], synchronous DRAM [ "SDRAM" ], etc.), electrically erasable programmable read only memory ("EEPROM"), flash memory, hard disk, SD card, or other suitable magnetic memory device, optical memory device, physical memory device, or electronic memory device. The processing unit 250 is connected to the memory 255 and executes software instructions that can be stored in RAM of the memory 255 (e.g., during execution), ROM of the memory 255 (e.g., on a generally permanent basis), or another non-transitory computer-readable medium such as another memory or disk. Software included in an embodiment of the channeling machine 100 may be stored in the memory 255 of the electronic processor 200. The software includes, for example, firmware, one or more application programs, program data, filters, rules, one or more program modules, and other executable instructions. The electronic processor 200 is configured to retrieve from memory and execute, among other things, instructions related to the control processes and methods described herein. In other constructions, the electronic processor 200 includes additional, fewer, or different components.

The battery pack interface 205 includes a combination of mechanical and electrical components configured and operable to interface with the battery pack 130. For example, power provided by the battery pack 130 to the channeling machine 100 is provided to the power input module 210 through the battery pack interface. The power input module 210 includes a combination of active and passive components to regulate or control power received from the battery pack 130 before providing the power to the electronic processor 200. The battery pack interface 205 also provides power to the FET switch module 215, which is switched by the switch FETs in the FET switch module 215, to selectively provide power to the first motor 290 and the second motor 295. In some embodiments, the channeling machine includes a plurality of independent FET switch bridges (e.g., including six FETs) in FET switch module 215. The battery pack interface 205 also includes, for example, a communication line 296 for providing a communication line or link between the electronic processor 200 and the battery pack 130.

The first motor 290 and the second motor 295 are, for example, brushless direct current (BLDC) motors. The first motor 290 is operated to move the grooved rollers 145 radially inward and outward. The user controls the first motor 290 using the jog trigger 120 (or the pre/un-pre button 120). Micro trigger 120 may be implemented as a trigger switch, a push button, a knob, etc. When the user actuates micro trigger 120, electronic processor 200 controls FET switch module 215 to move grooved roller 145 radially inward or radially outward. The first motor 290 is coupled to the grooved roll 145 using, for example, a feed screw. The first motor 290 drives the feed screw to produce movement of the grooved roll 145. The FET switch module 215 includes a first H-bridge or a first inverter bridge for controlling the first motor 290. The electronic processor 200 provides PWM signals to the first H-bridge or the first inverter bridge to control the speed and direction of the first motor 290 based on signals received from the jog trigger 120 and the first rotary encoder 310 (shown in fig. 3B). The direction of movement (i.e., radially inward or radially outward) may be selected using a directional switch that is disposed separately from the jog trigger 120. Grooved roll 145 engages work piece 105 as grooved roll 145 moves radially inward toward inner roll 140 to bite into work piece 105. Micro trigger 120 may be operated until grooved roller 145 engages a workpiece, as further described below with respect to fig. 6 and 8. As the grooved rollers 145 move radially outward away from the inner rollers 140, the grooved rollers 145 disengage from the workpiece 105 so that the channeling machine 100 may be removed from the workpiece 105. In some embodiments, the first motor 290 moves the inner roller 140 instead of the grooved roller 145.

The second motor 295 is operated to move the roll shell 150 and grooved roll 145 circumferentially about the workpiece 105 to create grooves in the workpiece 105. That is, rather than the pipe rotating within the tool, the channeling machine 100 or a portion of the channeling machine 100 (e.g., the grooved roller 145) moves around the pipe. The user controls the second motor 245 using the run switch 125. The run switch 125 may be implemented as a toggle switch, a push button, a knob, or the like. When the user actuates the run switch 125, the electronic processor 200 controls the FET switch module 215 to move the roller housing 150 and the grooved roller 145 about the track 155. The FET switch module 215 includes a second H-bridge or a second inverter bridge for controlling the second motor 295. The controller 200 provides PWM signals to the second H-bridge or the second inverter bridge to control the speed and direction of the second motor 295 based on signals received from the run switch 125 and the second rotary encoder 320 (shown in fig. 3B). The direction of movement (i.e., clockwise or counterclockwise) may be selected using a direction switch provided separately from the run switch 125. The second motor 295 can move the roller housing 150 and grooved roller 145 in either direction to create grooves in the workpiece 105. In some embodiments, a single motor may be used to control radial and circumferential movement of grooved roll 145 instead of first motor 290 and second motor 295. This can be achieved by switching the operation of a single motor between different movements using mechanical gears and clutches.

In some embodiments, several electrical components of the channeling machine 100 are disposed on one or more circuit boards. The circuit board may be associated with, for example, motors 290, 295, jog trigger 120, run switch 125, on/off button 236, direction switch 237, and battery pack interface 205. The one or more circuit boards include a total surface area of less than 155 square centimeters (cm ²)(24in²). Specifically, the total surface area covered by the one or more circuit boards includes electronics for controlling the two motors 290, 295.

Referring to FIG. 3B, one or more sensors 220 include a first rotary encoder 310, a second rotary encoder 320, and a plurality of LiDAR (light detection and ranging) sensors 330. The first rotary encoder 310 and the second rotary encoder 320 are, for example, hall effect sensors. The first rotary encoder 310 is provided on the first motor 290 to detect a rotational position of the first motor 290. The first rotary encoder 310 includes three hall effect sensors, for example, placed 120 degrees apart. The first rotary encoder 310 divides the motor into six sectors (e.g., 0 ° to 60 °, 60 ° to 120 °, 120 ° to 180 °, 180 ° to 240 °, 240 ° to 300 °, 300 ° to 360 °). Complete mechanical rotation of the rotor involves movement of the rotor through these six sectors twice. Specifically, electrical power flows through the six sectors to create a force on the rotor to rotate the rotor within the stator. Thus, the rotational position of the rotor of the first motor 290 can be accurately sensed within every twelve times the circumference of the rotor. Additional hall effect sensors may be used to provide finer measurements. Through the coupling of the rotor to the gearbox and the feed screw, the linear equation directly relates the rotation of the rotor to the linear movement of the feed screw. The rotational position of the motor and the linear equation can be used to accurately detect the linear position of grooved roll 145 and produce incremental movement of grooved roll 145.

A second rotary encoder 320 is provided on the second motor 295 to detect the rotational position of the second motor 295. The second rotary encoder 320 includes, for example, three hall effect sensors positioned 120 degrees apart. The second rotary encoder 320 divides the motor into six sectors (e.g., 0 ° to 60 °, 60 ° to 120 °, 120 ° to 180 °, 180 ° to 240 °, 240 ° to 300 °, 300 ° to 360 °). Complete mechanical rotation of the rotor involves movement of the rotor through these six sectors twice. Specifically, electrical power flows through the six sectors to create a force on the rotor to rotate the rotor within the stator. Thus, the rotational position of the rotor of the second motor 295 can be accurately sensed within every twelve times the circumference of the rotor. Additional hall effect sensors may be used to provide finer measurements. By coupling the rotor to the gearbox and grooved roll 145, the linear equation directly relates the rotation of the rotor to the rotational movement of grooved roll 145 about track 155. The rotational position of grooved roll 145 and the linear equation may be used to accurately detect the rotational position of grooved roll 145 and produce movement of grooved roll 145 about circumferential track 155.

A plurality of LiDAR sensors 330 are used to detect objects in the vicinity of the channeling machine 100. During automatic operation of the channeling machine 100, the LiDAR sensor 330 may be used to detect obstacles or objects in the vicinity of the channeling machine 100. An example method for detecting objects in the vicinity of the channeling machine 100 is explained below with respect to FIG. 11. The one or more sensors 220 may include additional sensors, such as current sensors, voltage sensors, and the like.

The inertial measurement unit 225 is operably coupled to the electronic processor 200 to provide, for example, the electronic processor 200 with heading, orientation, position, and motion information of the slot machine 100. Referring to fig. 3C, inertial measurement unit 225 includes, for example, a 9-axis inertial measurement sensor including gyroscope 340, accelerometer 350, and magnetometer 360. Gyroscope 340 provides the orientation of the channeling machine 100, accelerometer 350 provides the angular position/speed and gravitational acceleration of the channeling machine 100, and magnetometer 360 provides the heading of the channeling machine 100. The electronic processor 200 uses information received from the inertial measurement unit 225 to determine the position and/or orientation of the channeling machine 100. A method for determining the position of the channeling machine 100 is explained below with respect to fig. 5.

Referring back to fig. 3A, transceiver 230 is operably coupled to electronic processor 200 to, for example, allow wired and/or wireless communication with an external device 400 (shown in fig. 4) (e.g., a user's smart phone, a connected display or control unit, etc.). Transceiver 230 allows electronic processor 200 to receive inputs from external devices and provide outputs for display on external devices. In some embodiments, jog trigger 120, run switch 125, indicator 240, and user input module 235 may be implemented as inputs and/or outputs on an external device. An input from the external device 400 is received through the transceiver 230 and an output is provided to the external device 400 through the transceiver 230.

The user input module 235 is operably coupled to the electronic processor 200 to, for example, select an operating direction, torque, and/or speed setting of the first motor 290 and/or the second motor 295. For example, the user input module 235 includes an on/off switch 236 for turning on or off the channeling machine 100 and a direction switch 237 for selecting the direction of rotation of the channeling roller 145. In some embodiments, the user input module 235 includes a combination of digital and analog input or output devices, such as one or more knobs, one or more dials, one or more switches, one or more buttons, a touch screen, etc., as needed to achieve a desired level of operation of the channeling machine 100. In some embodiments, jog trigger 120 and run switch 125 are part of user input module 235. The indicator 240 includes, for example, one or more light emitting diodes ("LEDs"). The indicator 240 may be configured to display the status of the channeling machine 100 or information associated with the channeling machine. For example, the indicator 240 is configured to indicate that the grooved roll 145 has reached a selected depth, the rolling grooving operation is complete, and the like. In some embodiments, the indicator 240 may be part of a connected display or may be provided in an external device.

Fig. 4 illustrates a block diagram of an example embodiment of an external device 300 in communication with the channeling machine 100. The external device 400 is, for example, a smart phone, a smart wearable device, a tablet computer, a laptop computer, a remote control unit, or the like. In the example shown, external device 400 includes a device electronic processor 410, a device memory 420, a device transceiver 430, and a device input/output interface 440. The device electronic processor 410, device memory 420, device transceiver 430, and device input/output interface 440 communicate over one or more control and/or data buses (e.g., device communication bus 450). The device electronic processor 410 and the device memory 420 are implemented similarly to the processing unit 250 and the memory 255, respectively. The device memory 420 stores a channelling machine application 460 that is executed by the device electronic processor 410 to perform the functions of the external device 400 described herein.

The device transceiver 430 allows for wired or wireless communication with the channeling machine 100. The device transceiver 430 may include separate receiving and transmitting components, such as a receiving and transmitter. The device input/output interface 440 includes one or more input units (e.g., a mouse, keyboard, touchpad, etc.), one or more output units (e.g., a display, speaker, pointer, etc.), and/or a combination input/output unit (e.g., a touch screen). The device input/output interface 440 may generate a Graphical User Interface (GUI) on a display of the external device 400 to receive various inputs (e.g., jog trigger, run switch, direction of motor, etc.) and display various outputs (e.g., job completion, error warning, etc.).

Fig. 5 is a flow chart of an example method 500 for determining a position of the channeling machine 100. The method 500 includes: the heading of the channeling machine 100 from the magnetometer 360 (at block 510), the angular or gravitational acceleration from the accelerometer 350 (at block 520), and the orientation from the gyroscope 340 (at block 530) are received at the electronic processor. The electronic processor 200 receives the heading, angular or gravitational acceleration and orientation from the inertial measurement unit 225.

The method 500 further includes applying a zero-speed filter (at block 540) using the electronic processor 200. The zero-speed filter removes any interference signals between the inputs. The method 500 includes: after the zero-speed filter is applied, the result is double integrated (at block 550) using the electronic processor 200. Double integrating the results provides an estimated position of the channeling machine 100. The method 500 includes applying (at block 560) a standard complementary filter using the electronic processor 200. Over time, sensor readings may develop errors. The standard complementary filter corrects for this error to improve the accuracy of the sensor readings. The method 500 includes reporting (at block 570) the position of the channeling machine 100 using an electronic processor. The channeling machine 100 position is used for operation of the channeling machine 100 as described below with respect to fig. 9.

Fig. 6 is a flow chart of an example method 600 for pre-positioning the channeling machine 100. The method 600 includes detecting (at block 610) actuation of the pre/un-pre button 120 using the electronic processor 200. The user places the channeling machine 100 on a workpiece 105 (e.g., a metal pipe). The channeling machine 100 is positioned such that the inner roller 140 is received in the inner circumference of the pipe. The inner rollers 140 support the channeling machine 100 on the workpiece 105. The user may then actuate the pre/un-pre button 120 to pre-position the channeling machine 100 onto the workpiece 105. The pre/un-pre button 120 may be provided on the housing of the channeling machine 100, on a connected display or on the external device 400.

The method 600 includes controlling (at block 620) the first motor 290 to move the grooved roll 145 toward the workpiece 105 using the electronic processor 200. The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The first motor 290 is controlled to move the grooved roll 145 toward the inner roll 140. In some embodiments, first motor 290 is used to move inner roller 140, instead of grooved roller 145, to move grooved roller 145 toward workpiece 105.

The method 600 includes detecting (at block 630) a current drawn by the first motor 290 using the one or more sensors 220. The one or more sensors 220 may include, for example, a current sensor that detects the amount of current flowing to the first motor 290. The current sensor provides a signal to the electronic processor 200 indicative of the amount of current drawn by the first motor 290.

The method 600 includes determining (at block 640) whether the current exceeds a pre-programmed threshold of the channeling machine 100 using the electronic processor 200. During operation of first motor 290, current flow is typically constant when grooved roll 145 is not experiencing resistance. When grooved roll 145 contacts workpiece 105, the current drawn by first motor 290 begins to increase. An accumulator may be used to accumulate the current signal and detect a sudden increase in current. When the current accumulator reaches a predetermined pre-positioning threshold, the electronic processor 200 determines that the grooved roll 145 has contacted the workpiece 105.

When the current does not exceed the pre-position threshold, the electronic processor 200 continues operation of the first motor 290. When the current exceeds the pre-position threshold, the method 600 includes controlling (at block 650) the first motor 290 to stop using the electronic processor 200. The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The method 600 includes using the electronic processor 200 to provide an indication that the channeling machine 100 is pre-positioned (at block 660). The electronic processor 200 activates an indicator 240 (e.g., an LED) to inform the user that the slot machine 100 is pre-positioned. Once the channeling machine 100 has been pre-positioned, the channeling machine 100 may support itself on the workpiece 105. The user may then remove their hand from the channeling machine 100.

Fig. 7 is a flow chart of an example method 700 for unseating the slot machine 100. The method 700 includes detecting (at block 710) actuation of the pre/de-pre button 120 using the electronic processor 200. Once the channeling machine 100 has completed slotting the workpiece 105, the user may unseat the channeling machine 100 from the workpiece 105. The user may actuate the pre/un-pre button 120 to un-pre the slot machine 100 from the workpiece 105. The pre/un-pre button 120 may be provided on the housing of the channeling machine 100, on a connected display or on the external device 400.

The method 700 includes controlling (at block 720) the first motor 290 to move the grooved roll 145 away from the workpiece 105 using the electronic processor 200. The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The first motor 290 is controlled to move the grooved roll 145 away from the inner roll 140. In some embodiments, first motor 290 is used to move inner roller 140 instead of grooved roller 145, moving grooved roller 145 away from workpiece 105.

Method 700 includes determining (at block 730) whether grooved roll 145 is in an original position using electronic processor 200. The home position may include, for example, the end of a feed screw. An optical sensor or other sensor may be used to detect that grooved roll 145 is in the home position. In some embodiments, electronic processor 200 may also use a current accumulator as described above to determine that grooved roll 145 is in the home position. The electronic processor 200 continues to operate the first motor 290 until the grooved roll 145 reaches the home position.

When grooved roll 145 is in the home position, method 700 includes using electronic processor 200 to control first motor 290 to stop (at block 740). The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The method 700 includes using the electronic processor 200 to provide an indication that the channeling machine 100 has been undone (at block 750). The electronic processor 200 activates an indicator 240 (e.g., an LED) to inform the user that the slot machine 100 has been undone. Once the channeling machine 100 has been undone, the channeling machine 100 may be removed from the workpiece 105.

In some embodiments, the channeling machine 100 may include a jog trigger 120 instead of the pre-position/un-pre-position button 120 to manually operate the channeling roller. Fig. 8 is a flow chart of an example method 800 for pre-positioning the channeling machine 100 using the jog trigger 120. The method 600 includes detecting (at block 810) actuation of the jog trigger 120 using the electronic processor 200. The user places the channeling machine 100 on a workpiece 105 (e.g., a pipe). The channeling machine 100 is positioned such that the inner roller 140 is received in the inner circumference of the pipe. The inner rollers 140 support the channeling machine 100 on the workpiece 105. The user may then actuate the jog trigger 120 to pre-position the channeling machine 100 onto the workpiece 105. Micro trigger 120 may be provided on the housing of channeling machine 100, on a connected display or on external device 400.

The method 800 includes controlling (at block 820) the first motor 290 to move the grooved roll 145 toward the workpiece 105 using the electronic processor 200. The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The first motor 290 is controlled to move the grooved roll 145 toward the inner roll 140. In some embodiments, first motor 290 is used to move inner roller 140, instead of grooved roller 145, to move grooved roller 145 toward workpiece 105.

The method 800 includes determining (at block 830) whether the jog trigger 120 is still actuated using the electronic processor 200. The electronic processor 200 continues to operate the first motor 290 until the jog trigger 120 is actuated. As the jog trigger 120 continues to be actuated, the method 800 includes detecting (at block 840) a current drawn by the first motor 290 using the one or more sensors 220. The one or more sensors 220 may include, for example, a current sensor that detects the amount of current flowing to the first motor 290. The current sensor provides a signal to the electronic processor 200 indicative of the amount of current drawn by the first motor 290.

The method 800 includes using the electronic processor 200 to determine whether the current exceeds a pre-programmed threshold of the channeling machine 100 (at block 850). During operation of first motor 290, current flow is typically constant without the grooved roll 145 encountering resistance. When grooved roll 145 contacts workpiece 105, the current drawn by first motor 290 begins to increase. An accumulator may be used to accumulate the current signal and detect a sudden increase in current. When the current accumulator reaches a predetermined pre-positioning threshold, the electronic processor 200 determines that the grooved roll 145 has contacted the workpiece 105.

When the current does not exceed the pre-position threshold, the electronic processor 200 continues operation of the first motor 290. The method 800 includes controlling (at block 860) the first motor 290 to stop when the current exceeds a pre-threshold and/or when the electronic processor 200 determines that the jog trigger 120 is not actuated. The electronic processor 200 uses the FET switch module 215 to control the first motor 290 to stop. The method 800 includes using the electronic processor 200 to provide an indication that the channeling machine 100 is pre-positioned (at block 870). The electronic processor 200 activates an indicator 240 (e.g., an LED) to inform the user that the slot machine 100 is pre-positioned. Once the channeling machine 100 has been pre-positioned, the channeling machine 100 may support itself on the workpiece 105. The user may then remove their hand from the channeling machine 100.

As discussed above, the channelling machine 100 may be pre-positioned using a pre/un-pre button 120 or jog trigger 120. Once the channeling machine 100 has been pre-positioned, the channeling machine 100 may automatically detect the size of the workpiece 105 and the corresponding groove depth. Fig. 9 is a flow chart of an example method 900 for determining a groove depth of a workpiece 105. The method 900 includes detecting (at block 910) actuation of the run button 125 using the electronic processor 200. Once the user receives an indication that the channeling machine 100 has been pre-positioned on the workpiece 105, the user may actuate the run button 125 to begin the slotting process by the channeling machine 100. The run button 125 may be provided on the housing 110 of the channeling machine 100, on a connected display or on an external device 400.

The method 900 includes determining (at block 920) an initial position of the grooved roll 145 using the inertial measurement unit 225. The initial position of the grooved roll provides the home position for measuring the outer perimeter of the workpiece 105. The initial position may be determined using, for example, the method 500 for determining the position of the channeling machine 100. Specifically, inertial measurement unit 225 includes a 9-axis sensor to provide the home position of grooved roll 145.

The method 900 includes: while measuring the distance, the electronic processor 200 is used to control the second motor 295 to move the grooved roll 145 around the workpiece 105 (at block 930). The electronic processor 200 uses the FET switch module 215 to control the second motor 295. The second motor 295 is controlled to move grooved roll 145 about track 155 and workpiece 105. In some embodiments, the distance is measured using the inertial measurement unit 225 based on a difference between an initial position (e.g., home position) and an intermediate position of the grooved roll 145, as further explained below. In some embodiments, the distance is measured using a second rotary encoder 320. As explained above, a linear equation may be derived based on the connection between the second motor 295 and the grooved roll 145. The distance traveled may then be calculated using the signal from the second rotary encoder 320 and the linear equation.

Method 900 includes using electronic processor 200 to determine if grooved roll 145 has rotated 360 ° (at block 940). For example, electronic processor 200 may use inertial measurement unit 225 to detect whether grooved roller 145 has returned to an original position after operating around the circumference of workpiece 105. The electronic processor 200 may also use the second rotary encoder 320 to determine the position of the rotor of the second motor 295 to determine whether the grooved roll has rotated 360 ° about the workpiece 105. The electronic processor 200 continues rotation of the second motor 295 until the second motor 295 reaches the home position after having rotated about the workpiece 105.

When grooved roll 145 has rotated 360 °, method 900 includes using electronic processor 200 to control second motor 295 to stop and record the measured distance (at block 950). The electronic processor 200 uses the FET switch module 215 to control the second motor 295 to stop. The measured distance is then recorded in, for example, memory 255. In one example, the distance is measured using an inertial measurement unit 225. Electronic processor 200 can determine an initial position and a position furthest from the initial position during movement of grooved roll 145 about workpiece 105. The electronic processor 200 determines the difference between the initial position and the furthest position as a diameter and may use the diameter to determine the circumference of the workpiece 105. Alternatively, the electronic processor 200 may detect the circumference using the inertial measurement unit 225 and the second rotary encoder 320. The electronic processor determines the change in angular position of the rotor during movement of grooved roll 145 around workpiece 105 from the home position back to the home position. A linear equation previously derived based on the connection between the second motor 295 and the grooved roll may be used to determine the circumference of the workpiece 105. The circumference may then be used to determine the diameter and other dimensions of the workpiece. The diameter and/or circumference of the workpiece may then be recorded as a measured distance in memory 255. Specifically, the diameter may be recorded as the "C" size of the workpiece 105.

The method 900 includes determining a groove depth based on the measured distance using the electronic processor 200 (at block 960). The groove depth varies according to the "C" dimension of the pipe in the pipe fitting industry. Typically, the groove depth is standard for a particular "C" size of the pipe. Memory 255 stores a lookup table that includes a mapping between "C" size and groove depth. The electronic processor 200 may reference a look-up table stored in the memory 255 to determine if a measured distance (e.g., a "C" size) is provided in the look-up table. When the measured distances are provided in the lookup table, the electronic processor 200 uses the corresponding groove depths as groove depths for operation on the workpiece 105. When no measurement distance is provided in the lookup table, the electronic processor 200 may determine the groove depth based on the "C" size using industry standard formulas. The determined groove depth is then used to create a groove in the workpiece 105. In some embodiments, the groove depth may also be provided as an input on the external device 400.

Fig. 10 is a flow chart of an example method 1000 for operating the channeling machine 100. The method 1000 includes: while measuring the distance, the electronic processor 200 is used to control the second motor 295 to move the grooved roll 145 around the workpiece (at block 1010). The electronic processor 200 uses the FET switch module 215 to control the second motor 295. The second motor 295 is controlled to move grooved roll 145 about track 155 and workpiece 105. In some embodiments, the distance is measured using the inertial measurement unit 225 based on a difference between an initial position (e.g., home position) and a current position of the grooved roll 145, as explained below. In some embodiments, the distance is measured using a second rotary encoder 320. As explained above, a linear equation may be derived based on the connection between the second motor 295 and the grooved roll 145. The distance traveled may then be calculated using the signal from the second rotary encoder 320 and the linear equation.

The method 1000 includes determining, using the electronic processor 200, whether the grooved roll 145 has traveled a first predetermined distance around a circumference of the workpiece 105 (at block 1020). As described above, the electronic processor continuously measures the distance traveled by grooved roll 145 around the circumference of workpiece 105. This distance is tracked to determine if grooved roll 145 has reached a point where the groove depth of grooved roll 145 will increase. Grooved roll 145 begins with an initial groove depth when grooves are created in workpiece 105. The groove depth is gradually increased until a determined or desired groove depth is reached in the workpiece 105. The electronic processor continues to operate the second motor 295 until the grooved roll 145 has traveled a first predetermined distance around the circumference of the workpiece 105. The first predetermined distance around the circumference may comprise, for example, half of the circumference distance, a quarter of the circumference distance, a third of the circumference distance, etc.

When grooved roll 145 has traveled a first predetermined distance around the circumference of workpiece 105, method 1000 includes determining, using electronic processor 200, whether grooved roll 145 is below a second predetermined distance of the final depth (at block 1030). As discussed above, the groove depth gradually increases until the final depth is reached. The depth may increase by a predetermined distance (e.g., a second predetermined distance). However, the final depth may not be an integer multiple of the predetermined depth increment. Thus, electronic processor 200 determines whether grooved roll 145 is below a predetermined depth increment from the final depth.

When grooved roll 145 is not below the second predetermined distance of the final depth, method 1000 includes using electronic processor 200 to control first motor 290 to increase the groove depth by a predetermined increment (at block 1040). Once grooved roll 145 has traveled a first predetermined distance around the circumference of workpiece 105, electronic processor 200 stops the second motor to increase the groove depth. In one embodiment, the predetermined increment is a second predetermined distance. The predetermined increment is, for example, a full turn, a half turn, a quarter turn, etc. of the feed screw for moving the grooved roll 145 to increase or decrease the depth. Electronic processor 200 controls first motor 290 to move grooved roll 145 to increase or decrease the groove depth. The method 1000 then continues to block 1010 to operate the second motor 295 and create a groove in the workpiece 105. The method 1000 continues with gradually increasing the groove depth and creating a groove in the workpiece 105, as discussed in blocks 1010-1040, until the groove depth is below the second predetermined distance of the final depth.

When the groove depth is a second predetermined distance below the final depth, the method 1000 includes controlling the first motor 290 to increase the groove depth in fractional increments using the electronic processor 200 (at block 1050). The fractional increment corresponds to the difference between the final depth (i.e., the desired depth) and the current depth. The electronic processor 200 stops the second motor 295 and controls the first motor 290 to rotate the feed screw a fraction for producing the desired groove depth.

The method 1000 includes: while measuring the distance, the electronic processor 200 is used to control the second motor 295 to move the grooved roll 145 around the workpiece (at block 1060). Once the final depth is reached, the electronic processor 200 controls the second motor 295 to complete the grooving operation on the workpiece 105. Method 1000 includes determining (at block 1070) whether grooved roll 145 is in an initial position using electronic processor 200. The electronic processor 200 continues to operate the second motor 295 until the grooved roll 145 has reached an initial position. In some embodiments, determining that grooved roll 145 has reached an initial position includes determining that a grooving process on workpiece 105 has been completed.

When grooved roll 145 is in the initial position, method 1000 includes using electronic processor 200 to control second motor 295 to stop and indicate that the operation is complete (at block 1080). Once the slotting process is complete, the electronic processor 200 stops the motor and provides an indication, for example using the indicator 240. The indication informs the user that the slotting operation is complete. The user may then unseat the slot machine 100 from the workpiece 105.

In some embodiments, the final groove depth and details of the grooving operation may be stored in memory 255. The user may connect to the channelling machine using an external device running the channelling machine application 460. The user may compare the final groove depth to manufacturer specifications for the workpiece 105 on the external device 400.

In some embodiments, the channeling machine 100 may include an additional single turn mode, also referred to as a "1X" mode. Buttons on the housing 110 of the channeling machine 100 or on the user interface of the channeling machine 100 may be used to activate the single-turn mode. In some embodiments, the single turn mode may be activated using the channelling machine application 460, for example, by receiving a selection of the single turn mode. In the single revolution mode, grooved roll 145 completes a single revolution around the workpiece to perform groove cutting on workpiece 105. The single turn mode allows for additional applications beyond the current capabilities of the channeling machine 100. For example, if the automated operation depicted in fig. 10 does not result in a desired depth of cut, the single-turn mode allows the user to achieve the desired depth. In some embodiments, a desired depth may be provided for a single turn mode or other modes. In this embodiment, for example, when the automatic operation depicted in fig. 10 does not result in a desired depth, grooved roll 145 is operated to achieve the desired depth. In some embodiments, the 1X mode is wirelessly controlled by an external device (e.g., a smart phone).

Thus, the above-described channeling machine 100 provides several advantages over current channeling machines on the market. Specifically, the channeling machine 100 uses motor operation, thereby eliminating the need to manually operate the channeling machine through a crank mechanism. In addition, the channeling machine 100 automatically determines the groove depth and automatically creates a groove in the workpiece 105. This provides a more accurate groove in the workpiece by reducing any human error during operation. The external device 400 may be used to verify the groove depth. In addition, the channeling machine 100 increases the efficiency and speed of the channeling operation. Specifically, the user may set the first operation on the first work piece 105 by pre-positioning the first channeling machine 100 on the first work piece 105 and pressing the run button 125 of the first channeling machine 100. While the first channeling machine 100 is operating on the first workpiece, the user may set the second workpiece 105 by pre-positioning the second channeling machine 100 on the second workpiece 105 and pressing the run button 125 of the second channeling machine 100.

Automatic channeling machine 100 (such as the ones described herein) may be subject to certain safety regulations. For example, the channeling machine 100 may have to cease operation when an object that may be involved with the operation of the channeling machine 100 is detected in the vicinity of the channeling machine 100. The channeling machine 100 uses, for example, a LiDAR sensor 330 or other similar proximity detection sensor to detect any objects that may interfere with the operation of the channeling machine 100 and stops the operation of the channeling machine 100 when such objects are detected.

FIG. 11 is a flow chart of an example method 1100 for roll-in awareness of a channeling machine 100. Method 1100 includes detecting (at block 1110) that the channeling machine 100 is stationary using the electronic processor 200. The electronic processor 200 receives signals from the inertial measurement unit 225 regarding the movement of the channeling machine 100. A better 3D model may be obtained when the channeling machine 100 is stationary than when the channeling machine 100 is operating. In particular, the initial 3D model may be obtained after the channeling machine 100 is pre-positioned on the workpiece 105 and before operation of the channeling machine 100 has begun.

Method 1100 includes receiving sensor data from LiDAR sensors 330 at electronic processor 200 (at block 1120). LiDAR sensor 330 may include one or more light emitters and one or more light detectors positioned at locations around channeling machine 100. The light emitter emits light signals that are reflected by the environment surrounding the channeling machine 100 and detected by a light detector. LiDAR sensor 330 provides the detection results to electronic processor 200.

The method 1100 includes generating (at block 1130) a base 3D point cloud based on the sensor data using the electronic processor 200. The electronic processor 200 uses the sensor data to create a basic 3D model of the environment surrounding the channeling machine 100. The electronic processor 200 may use known techniques of 3D point cloud construction to generate a base 3D point cloud (e.g., reCap of Autodesk corporation). The underlying 3D point cloud may be later used for comparison to detect if any objects have entered the surroundings of the channeling machine 100.

The method 1100 includes continuing operation of the channeling machine 100 using the electronic processor 200 (at block 1140). For example, the electronic processor 200 performs the methods 900 and 1000 to create a recess in the workpiece 105. Method 1100 includes continuously scanning LiDAR sensors using electronic processor 200 to generate an updated 3D point cloud (at block 1150). For example, the electronic processor 200 may receive sensor data from LiDAR sensors at predetermined time intervals. The electronic processor 200 continuously updates the 3D point cloud based on the received sensor data.

The method 1100 includes comparing (at block 1160) the updated 3D point cloud to the underlying 3D point cloud using the electronic processor 200. The electronic processor 200 compares the updated 3D point cloud with the underlying 3D point cloud to detect any discrepancies within these point clouds. The method 1100 includes determining (at block 1170) whether an anomalous object is detected in the updated 3D point cloud using the electronic processor 200. The electronic processor 200 detects objects by comparing the updated 3D point cloud with the underlying 3D point cloud. For example, an anomalous object is an object that is not originally present in the underlying 3D point cloud. When no anomalous objects are detected in the updated 3D point cloud, the method 1100 returns to block 1140 to continue operation of the channeling machine 100.

When an anomalous object is detected in the updated 3D point cloud, the method 1100 includes determining (at block 1180) whether the anomalous object is within a predetermined distance of the channeling machine 100 using the electronic processor 200. The predetermined distance is, for example, a pre-calibrated distance within which an object may interfere with the operation of the channeling machine 100. Sensor data from LiDAR sensor 330 may be used to determine the distance between an object and the channeling machine 100. When the abnormal object is not within the predetermined distance of the channeling machine 100, the method 1100 returns to block 1140 to continue operation of the channeling machine 100.

When the abnormal object is within the predetermined distance of the channeling machine 100, the method 1100 includes using the electronic processor 200 to stop operation of the channeling machine 100 (at block 1190). The electronic processor 200 stops the first motor 290 and/or the second motor 295 and may provide an indication to the user. For example, the electronic processor 200 may activate the indicator 240 to inform the user that an abnormal object is detected in the vicinity of the channeling machine 100. When the object is removed from the vicinity of the channeling machine 100, the electronic processor 200 may resume operation. Thus, the method 1100 allows the channeling machine 100 to meet the safety criteria as discussed above.

Fig. 12 is a side perspective view of the channeling machine 100 according to an example embodiment. As shown in fig. 12, the inner roller 140 is, for example, a female roller including a roller groove 1210, and the grooved roller 145 is, for example, a male roller including a roller protrusion 1220. The roller slots 1210 are shaped to correspondingly receive the roller protrusions 1220. The force exerted by the roller protrusions 1220 on the outer circumference of the workpiece 105, together with the margin provided by the roller grooves 1210 on the inner circumference of the workpiece 105, creates a groove in the workpiece 105.

The grooved roll 145 includes a replaceable mold 1230 or set of molds. In some embodiments, both inner roll 140 and grooved roll 145 include replaceable molds that form part of the mold set. The mold 1230 is replaceable to create different sized grooves or to accommodate different sized workpieces 105. In some embodiments, the channeling machine 100 is configured to detect the type of die set and identification information. For example, the user may enter the identification information of the die set in the channelling machine application 460 or on the user interface of the channelling machine 100. In some embodiments, the channeling machine 100 automatically detects the identification information of the die set currently placed on the channeling machine 100. The type of the die set may be determined based on the identification information. The channeling machine 100 may include a Radio Frequency Identification (RFID) reader to read RFID tags in the die set. The channeling machine 100 or external device 400 may include a QR code or bar code scanner to scan the QR code or bar code on the die set. Each type of die set may include different electrical contacts. The channeling machine 100 may determine the type of die set based on the die set's electrical contacts. In some embodiments, each type of die set may contact a different combination of a series of switches disposed on the channeling machine 100. The channeling machine 100 may determine the type of die set based on a switch that detects die set contact.

The mold 1230 may exhibit wear after repeated use due to the cutting action. If the mold 1230 is not replaced after exhibiting wear, the quality of the grooves created on the work piece 105 may deteriorate. In some embodiments, the channelling machine application 460 may alert the user to check for wear on the die 1230. Fig. 13 is a flow chart of an example method 1300 for measuring die wear. The method 1300 includes receiving a first selection to measure an amount of wear on a mold 1230 (at block 1310). The first selection may be received on a user interface of the channeling machine 100. For example, a user may press a button on the channeling machine 100 to pre-position measure die wear. In some embodiments, the first selection may be received on an external device 400 (e.g., a smart phone). Specifically, the external device 400 may track the age of the mold 1230 and provide periodic reminders to the user to measure mold wear. In response, the user may select an option on the channelling machine application 460 to measure die wear.

The method 1300 includes retrieving an initial distance that the unworn mold moved from the initial position to unset to the touch fix point (at block 1320). The initial distance may be determined during manufacturing and may be stored in memory 255 or device memory 420. When the pre-position measures die wear, the channeling machine 100 retrieves the initial distance from memory 255. Alternatively, the external device 400 retrieves the initial distance from the device memory 420. The initial position of de-priming may refer to the position of the slot rollers 145 when the slot machine 100 has de-priming, as discussed above with respect to method 700. The fixed point may be referred to as the inner roller 140. Accordingly, the initial distance is a distance that the grooved roller 145 moves when the grooved roller 145 moves from the initial position of releasing the pre-positioning to contact the inner roller 140.

The method 1300 further comprises: in response to receiving the first selection, the electronic processor 200 is used to control the first motor 290 to move the grooved roller 145 from the initial position to unseat to a fixed point (at block 1330). The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The first motor 290 is controlled to move the grooved roll 145 toward the inner roll 140.

The method 1300 further comprises: the electronic processor 200 is used to measure the distance that the grooved roller 145 moves as the grooved roller 145 moves from the initial position for de-priming to the touch fixation point (at block 1340). In some embodiments, the inertial measurement unit 225 is used to measure the measurement distance. In other embodiments, the number of revolutions of the first rotary encoder 310 or motor 290, 295 is used to measure the measured distance. As the mold wears, grooved roll 145 travels farther to contact the fixed point than an unworn mold.

The method 1300 includes determining whether the measured distance is greater than the initial distance (at block 1350). As the mold wears, grooved roll 145 travels farther to contact the fixed point than an unworn mold. Thus, when the measured distance is greater than the initial distance, the electronic processor 200 determines that the mold 1230 has worn. In some embodiments, when the measured distance exceeds the initial distance by more than a predetermined amount, the electronic processor 200 determines that the mold 1230 has worn.

When the measured distance is greater than the initial distance, the method 1300 includes determining that the mold 1230 has worn and generating a first indication that the mold 1230 has worn (at block 1360). When the measured distance is not greater than the initial distance, the method 1300 includes determining that the mold 1230 is not worn and generating a second indication that the mold 1230 is not worn (at block 1370). The first and second indications may be provided on a user interface of the channeling machine 100 (e.g., using the indicator 240) or on a user interface of the external device 400. When the mold 1230 has worn, the external device 400 may prompt the user to replace the mold 1230 or recalibrate the slot machine 100. Recalibrating the channeling machine 100 adjusts the initial position (e.g., the home position) based on the amount of wear so that the channeling machine 100 can accurately create grooves on the workpiece 105.

Grooved roll 145 may also be used to determine the dimensions of workpiece 105 in some embodiments. The dimensions of the workpiece 105 include, for example, the thickness of the workpiece 105 (e.g., a pipe) or the depth of a groove in the workpiece 105. Fig. 14 is a flow chart of an example method 1400 for measuring a size of a workpiece. The method 1400 includes receiving a second selection of measuring a workpiece size (at block 1410). The second selection may be received on a user interface of the channeling machine 100. For example, a user may press a button on the channeling machine 100 to pre-position the workpiece size. In some embodiments, the second selection may be received on the external device 400. Specifically, the user may select an option on the channelling machine application 460 to measure the workpiece size. The workpiece dimension is, for example, the thickness of the workpiece 105 or the depth of a groove in the workpiece 105.

The method 1400 includes retrieving an initial distance that the grooved roll moves from an initial position that unsets to contact the inner roll 140 (at block 1420). The initial distance may be determined during manufacturing and may be stored in memory 255 or device memory 420. When the workpiece size is measured by the second selection preset, the channeling machine 100 retrieves the initial distance from the memory 255. Alternatively, the external device 400 retrieves the initial distance from the device memory 420. The initial position of de-priming may refer to the position of the slot rollers 145 when the slot machine 100 has de-priming, as discussed above with respect to method 700. Accordingly, the initial distance is a distance that the grooved roller 145 moves when the grooved roller 145 moves from the initial position of releasing the pre-positioning to contact the inner roller 140.

The method 1400 further comprises: in response to receiving the second selection, the electronic processor 200 is used to control the first motor 290 to move the grooved roller 145 from the initial position to unseat to contact the workpiece 105 (at block 1430). The electronic processor 200 uses the FET switch module 215 to control the first motor 290. The first motor 290 is controlled to move the grooved roll 145 toward the inner roll 140.

The method 1400 further comprises: the distance that grooved roller 145 moves as grooved roller 145 moves from the initial position, unseating, to contacting workpiece 105 is measured using electronic processor 200 (at block 1440). In some embodiments, the inertial measurement unit 225 is used to measure the measurement distance. In other embodiments, the first rotary encoder 310 is used to measure the measured distance.

The method 1400 includes determining a workpiece size based on a difference between the measured distance and the initial distance (at block 1450). The thickness of the workpiece 105 may be determined by subtracting the measured distance from the initial distance. The groove depth may be determined by subtracting the measured thickness of the workpiece 105 from the known thickness of the workpiece. The known thickness of the workpiece may be determined based on identifying the type of workpiece 105 and retrieving pre-stored values for each type of workpiece 105. The groove depth measured by the method 1400 is the depth of the groove currently present in the workpiece 105. Thus, the groove depth measured by method 1400 is different than the groove thickness measured by method 900. The groove depth measured by the method 1400 is related to the groove depth (i.e., the predicted groove depth) that is ultimately achieved by operation of the channeling machine 100 based on the "C" size of the workpiece 105.

In some embodiments, the method 1400 may also be used to determine whether the workpiece 105 has been grooved. For example, the electronic processor 200 compares the workpiece size to an expected thickness of the workpiece 105. When the workpiece size is less than the desired thickness of the workpiece 105, the electronic processor 200 determines that the workpiece 105 has been grooved. The electronic processor 200 may also determine whether the workpiece 105 is grooved to the desired specifications by determining a difference between the workpiece size and the desired thickness and comparing the difference to a predetermined threshold. The predetermined threshold corresponds to an expected groove depth for a particular type of workpiece 105. When the electronic processor 200 determines that the groove depth does not match the desired specification, the electronic processor 200 continues operation of the channeling machine 100 to roll grooves into the workpiece 105. When the electronic processor 200 determines that the groove depth matches the desired specification, the electronic processor 200 stops operation of the channeling machine 100.

In some embodiments, the channeling machine 100 may also perform walk-off detection to detect whether the channeling machine 100 is moving away from the workpiece 105 in the Z-axis (i.e., in the axial direction of the workpiece 105). The walk-off detection may be performed using, for example, a limit switch 1240 (see fig. 12) provided on the housing 110 of the channeling machine 100. Limit switch 1240 may be an offset physical switch disposed at the interface of workpiece 105 and housing 110. Limit switch 1240 is normally biased to an open position (e.g., an OFF position). When the workpiece 105 is properly attached to the housing 110 for operation, the workpiece 105 depresses/actuates the limit switch 1240 to a closed position (e.g., an ON position). When in the closed position, the physical limit switch 1240 may cause the electronic limit switch to close (i.e., turn on). When closed, the electronic limit switch provides a signal to the electronic processor 200 indicating that the workpiece 105 is properly attached to the housing 110. When the workpiece 105 begins to walk away, the workpiece releases the limit switch 1240, which moves to an open position due to the biasing force, and in turn opens the electronic limit switch. Without a signal from the electronic limit switch, the electronic processor 200 detects the walk-off of the workpiece 105 from the channeling machine 100. In some embodiments, the electronic limit switch may be closed or turned on when the physical limit switch 1240 is not depressed/actuated. In these embodiments, when the physical limit switch 1240 is released, the electronic processor 200 detects a walk-off if a signal from the electronic limit switch is detected as the electronic limit switch is turned on. The physical limit switch 1240 may be configured such that the electronic limit switch is turned on/off before the workpiece 105 is completely disengaged from the housing 110.

In some embodiments, walk-off detection is performed based on displacement of the channeling machine 100 during operation using, for example, an inertial measurement unit 225. Specifically, the electronic processor 200 uses the inertial measurement unit 225 to monitor the movement of the channeling machine 100 in the Z-axis. When the motion in the Z-axis exceeds a predetermined walk-off threshold, the electronic processor 200 detects the walk-off of the workpiece 105 from the channeling machine 100.

In some embodiments, the channeling machine 100 may also be used to detect oval tubing (e.g., not fitting the correct shape of the coupler). For example, inertial measurement unit 225 detects movement of grooved roll 145 about workpiece 105. The channeling machine 100 may store a predetermined profile of the measurement results of the inertial measurement unit 225 for round pipes. When the measurement result for the current movement of grooved roll 145 deviates from the predetermined profile, electronic processor 200 detects an oval shaped pipe. In some embodiments, the channeling machine 100 may also be used to detect flared tubing, that is, when the outer edge of the workpiece 105 is flared. The channeling machine 100 includes a sensor for detecting the angle of the channeling machine 100 relative to the workpiece 105. When the detected angle deviates from the predetermined angle, the electronic processor 200 detects a flared tube. The sensors for detecting the flared conduit include, for example, inertial measurement unit 225, LIDAR sensor 330, ultrasonic sensor, and the like. The inertial measurement unit 225 may be used to detect a current profile of the workpiece 105 (e.g., an inner diameter and shape of a tube) and to detect a flared tube when the current profile deviates from an expected profile. The LIDAR sensor 330 or ultrasonic sensor may be used to measure distances at a plurality of different points of the workpiece 105 to detect a flared conduit.

Accordingly, embodiments described herein provide, among other things, a channeling machine for creating a connection groove on a pipe.

Claims

1. A channeling machine, comprising:

A housing;

an inner roller disposed on the housing and configured to be received in an inner circumference of the workpiece;

A grooved roll disposed on the housing and configured to create a groove on the workpiece;

One or more motors disposed within the housing and configured to drive the grooved roll;

An electronic processor electrically connected to the one or more motors, the electronic processor configured to:

Operating the one or more motors to perform a first operation to move the grooved roll in a radial direction, wherein the first operation is performed to adjust a groove depth on the workpiece; and

The one or more motors are operated to perform a second operation that moves the grooved roll in a circumferential direction, wherein the second operation is performed to create the groove on the workpiece.

2. The channeling machine of claim 1 wherein the one or more motors comprise:

a first motor configured to drive the grooved roll in the radial direction; and

A second motor configured to drive the grooved roll in the circumferential direction.

3. The channeling machine of claim 1 further comprising an inertial measurement unit configured to determine the position of the channeling roller.

4. A channeling machine as claimed in claim 3 wherein the electronic processor is capable of controlling the one or more motors to move the grooved roll around the workpiece while measuring distance; and using the one or more motors such that for each first predetermined distance of rotation of the grooved roll, the groove depth is increased by a predetermined increment.

5. The channeling machine of claim 1 further comprising a battery pack configured to power the one or more motors.

6. The channeling machine of claim 1 wherein the grooved roll is disposed circumferentially outward of the inner roll.

7. The channeling machine of claim 1, further comprising:

A roll shell disposed on the shell, wherein the grooved roll is mounted to the roll shell and configured to move with the roll shell, wherein the roll shell and grooved roll are configured to move in the circumferential direction together to create the groove on the workpiece.

8. The channeling machine of claim 1, further comprising:

A jog trigger configured to control the first operation; and

A direction switch for selecting a direction of movement of the grooved roll.

9. The channeling machine of claim 1, further comprising:

an operation switch configured to control the second operation; and

A direction switch for selecting a direction of movement of the grooved roll.

10. The channeling machine of claim 1 further comprising one or more circuit boards disposed within the housing and comprising electronic components of the channeling machine, wherein the one or more circuit boards comprise a total surface area of less than 155 square centimeters.

11. The channeling machine of claim 1 wherein the electronic processor is capable of detecting actuation of the pre-position/de-pre-position button; controlling the one or more motors to move the grooved roll toward the workpiece;

Detecting current drawn by the one or more motors using one or more sensors;

and wherein the one or more motors are controlled to stop when the current exceeds a pre-threshold; and

Providing an indication that the channeling machine is pre-positioned.

12. The channeling machine of claim 1 wherein the electronic processor is capable of detecting actuation of the pre-position/de-pre-position button;

Controlling the one or more motors to move the grooved roll away from the workpiece;

Determining whether the grooved roll is in an original position;

controlling the one or more motors to stop when the grooved roll is in the home position; and

An indication is provided that the channeling machine has disengaged the pre-position.

13. The channeling machine of claim 1 wherein the electronic processor is capable of detecting actuation of the jog trigger;

controlling the one or more motors to move the grooved roll toward the workpiece;

determining whether the jog trigger continues to be actuated;

In response to the jog trigger continuing to be actuated:

one or more sensors are used to detect the current drawn by the one or more motors,

And wherein the one or more motors are controlled to stop when the current exceeds a pre-threshold, an

Providing an indication that the channeling machine is pre-positioned; and

In response to the jog trigger not being actuated:

The one or more motors are controlled to stop.

14. The channeling machine of claim 1 wherein the electronic processor is capable of

Detecting actuation of the run button;

determining an initial position of the grooved roll using an inertial measurement unit;

Controlling the one or more motors to move the grooved roll around the workpiece while measuring distance;

determining whether the grooved roll has rotated 360 °;

When the grooved roll has rotated 360 °, controlling the one or more motors to stop and record the measured distance; and

The groove depth is determined based on the measured distance.

15. The channeling machine of claim 1 wherein the electronic processor is capable of

Determining whether the grooved roll has traveled a first predetermined distance around a circumference of the workpiece;

determining whether the grooved roll is below a second predetermined distance of a final depth when the grooved roll has traveled the first predetermined distance;

Controlling the one or more motors to increase the groove depth by a predetermined increment in response to the grooved roll not being below a second predetermined distance of the final depth; and

A second predetermined distance responsive to the grooved roll being below the final depth:

the one or more motors are controlled to increase the groove depth in fractional increments,

The one or more motors are controlled to move the grooved roll around the workpiece,

Determining whether the grooved roll is in an initial position, and

When the grooved roll is in the initial position, the one or more motors are controlled to stop and indicate that operation is complete.

16. The channeling machine of claim 15 wherein the channeling machine comprises a single turn mode, the electronic processor being capable of

Receiving a selection of a single turn mode; and

The one or more motors are controlled to complete a single revolution of the grooved roll around the workpiece.

17. The channeling machine of claim 1 further comprising one or more LiDAR sensors configured to detect objects in proximity to the channeling machine, the electronic processor being capable of stopping operation of the channeling machine when the one or more LiDAR sensors detect that an anomalous object is within a predetermined distance of the channeling machine.

18. The channeling machine of claim 1 wherein the inner roller comprises a roller groove, wherein the grooved roller comprises a roller protuberance corresponding to the roller groove, and wherein the force exerted by the roller protuberance on the outer circumference of the workpiece and the margin provided by the roller groove on the inner circumference of the workpiece together create the groove on the workpiece.

19. The channeling machine of claim 1 wherein the grooved roll is a replaceable die.

20. The channeling machine of claim 19 wherein the electronic processor is capable of

Receiving a selection to measure an amount of wear on the replaceable die;

Retrieving an initial distance that the unworn exchangeable mold moves from an initial position for releasing the pre-positioning to a contact fixing point;

in response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial position for de-priming to the fixed point;

measuring a distance that the grooved roll moves when the grooved roll moves from the initial position of unseating to contact the fixed point;

And wherein when the measured distance is greater than the initial distance, generating a first indication that the replaceable die has worn; and

When the measured distance is not greater than the initial distance, a second indication is generated that the replaceable die is not worn.

21. The channeling machine of claim 1 wherein the grooved roll and the inner roll form a replaceable die set.

22. The channeling machine of claim 21 wherein the electronic processor is capable of determining identification information of the replaceable die set.

23. The channeling machine of claim 1 wherein the electronic processor is capable of

Receiving a selection of a measurement workpiece size;

Retrieving an initial distance that the grooved roll moves from an initial position that unseats to contact the workpiece;

In response to receiving the selection, controlling the one or more motors to move the grooved roll from the initial de-pre-positioned position to contact the workpiece;

Measuring a distance that the grooved roll moves when the grooved roll moves from the initial position for unseating to contact the workpiece; and

The workpiece size is determined based on a difference between the measured distance and the initial distance.

24. A channeling machine as set forth in claim 23, wherein,

When the workpiece size is less than the intended thickness of the workpiece, the electronic processor can determine that the workpiece has been grooved.

25. The channeling machine of claim 1 further comprising a limit switch disposed on the housing, wherein the electronic processor is capable of detecting the walk-off of the workpiece using the limit switch.

26. The channeling machine of claim 1 wherein the electronic processor is capable of

Detecting movement of the grooved roll around the workpiece using an inertial measurement unit;

determining a profile of the workpiece based on the movement of the grooved roll around the workpiece;

And wherein the electronic processor is capable of determining that the workpiece is elliptical when the contour of the workpiece deviates from the predetermined contour.

27. The channeling machine of claim 1 wherein the electronic processor is capable of

Detecting an angle of the channeling machine relative to the workpiece using a sensor; and

When the detected angle deviates from a predetermined angle, the workpiece is determined to be a flared tube.

28. A channeling machine, comprising:

A housing;

The one or more motors are controlled to move the grooved roll around the workpiece while measuring the distance,

Determining whether the grooved roll has traveled a first predetermined distance around the circumference of the workpiece,

When the grooved roll has traveled the first predetermined distance, determining whether the grooved roll is below a second predetermined distance of a final depth,

Determining whether the grooved roll is in an initial position, and

29. The channeling machine of claim 28 wherein the one or more motors comprise:

a first motor configured to drive the grooved roll in a radial direction; and

A second motor configured to drive the grooved roll in a circumferential direction.

30. The channeling machine of claim 28 further comprising an inertial measurement unit configured to determine the position of the channeling roller.

31. The channeling machine of claim 28 further comprising a battery pack configured to power the one or more motors.

32. The channeling machine of claim 28 wherein the grooved roll is disposed circumferentially outward of the inner roll.

33. The channeling machine of claim 28, further comprising:

A roll shell disposed on the shell, wherein the grooved roll is mounted to the roll shell and configured to move with the roll shell, wherein the roll shell is configured to move with the grooved roll to create the groove on the workpiece.

34. The channeling machine of claim 28 further comprising one or more circuit boards disposed within the housing and comprising the electronic components of the channeling machine, wherein the one or more circuit boards comprise a total surface area of less than 155 square centimeters.

35. A channeling machine as claimed in claim 28 wherein the channeling machine includes a single turn mode, the electronic processor being capable of

Receiving a selection of a single turn mode; and

36. The channeling machine of claim 28 wherein the inner roller comprises a roller groove, wherein the grooved roller comprises a roller protuberance corresponding to the roller groove, and wherein the force exerted by the roller protuberance on the outer circumference of the workpiece and the margin provided by the roller groove on the inner circumference of the workpiece together create the groove on the workpiece.

37. The channeling machine of claim 28 wherein the grooved roll is a replaceable die.