Pipe joining device and working machine including the same

Abstract

To provide a pipe joining device capable of smoothly inserting a joining pipe into a pipe to be joined.SOLUTION: A pipe joining device 1 includes: a joined pipe gripping unit 10 having a joined pipe gripping unit main body 11 and a gripping portion 20 that is supported by the joined pipe gripping unit main body 11 and grips a joined pipe W1; a joined pipe attachment unit 50 having a joined pipe attachment unit main body 51 and an attachment portion 60 that attaches the joined pipe attachment unit main body 51 to a joined pipe W2 in a state in which movement of the joined pipe W2 in a second axial direction is restricted; and a unit moving portion 30 that moves the joined pipe gripping unit 10 with respect to the joined pipe attachment unit 50 to reduce the interval in the second axial direction between the joined pipe gripping unit 10 gripping the joined pipe W1 and the joined pipe attachment unit 50 attached to the joined pipe W2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a pipe joining device for joining a joining pipe to a pipe to be joined and a working machine equipped with the same.

Background Art

[0002] For example, in the construction work of laying water pipes, etc., a pipe joining operation of joining a joining pipe to a pipe to be joined disposed in a trench in the ground is performed. In this pipe joining operation, first, an operator needs to hang the joining pipe to be joined to the pipe to be joined in the trench. Thereafter, the operator needs to align the joining pipe and the pipe to be joined in the trench, insert the insertion port of the joining pipe into the receiving port of the pipe to be joined using a chain block or the like, and join the insertion port and the receiving port.

[0003] As described above, in the conventional pipe joining operation, the work burden on the operator is large, and the workability in a narrow trench is not so good.

[0004] On the other hand, for example, Patent Document 1 discloses a pipe joining attachment for a working machine having an arm connection portion connected to an arm of the working machine, a gripping portion for gripping a pipe, and a pipe to be joined contact portion that contacts an outer peripheral surface on the receiving port side of the pipe to be joined to the pipe. By using this pipe joining attachment, the working machine can lower the pipe into the trench and easily align the pipe and the pipe to be joined.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Incidentally, the attachment for pipe joining disclosed in Patent Document 1 inserts the insertion port of the joining pipe into the receiving port of the pipe to be joined while gripping the joining pipe. At this time, the attachment for pipe joining only contacts the outer peripheral surface of the receiving port of the pipe to be joined and does not hold the pipe to be joined in the axial direction. Therefore, when inserting the insertion port of the joining pipe into the receiving port of the pipe to be joined, the relative position between the attachment for pipe joining and the pipe to be joined is likely to fluctuate, and there are cases where it cannot be inserted smoothly.

[0007] An object of the present invention is to realize a pipe joining device capable of smoothly inserting a joining pipe into a pipe to be joined.

Means for Solving the Problems

[0008] A pipe joining device according to an embodiment of the present invention is a pipe joining device for joining the insertion port of a joining pipe to the receiving port of a pipe to be joined. This pipe joining device includes a joining pipe gripping unit having a joining pipe gripping unit body and a gripping portion supported by the joining pipe gripping unit body for gripping the joining pipe, a pipe to be joined mounting unit body, and a mounting portion for mounting the pipe to be joined mounting unit body to the pipe to be joined while restricting movement in the axial direction of the pipe to be joined, and a unit moving portion for moving at least one of the joining pipe gripping unit and the pipe to be joined mounting unit closer to the other in the axial direction between the joining pipe gripping unit gripping the joining pipe and the pipe to be joined mounting unit attached to the pipe to be joined (first configuration).

[0009] Thereby, using the pipe joining device, the insertion port of the joining pipe gripped by the joining pipe gripping unit and the receiving port of the pipe to be joined to which the pipe to be joined mounting unit is attached can be brought closer and joined in the axial direction of the pipe to be joined while restricting movement in the axial direction of the pipe to be joined. Therefore, the joining pipe can be smoothly inserted into the pipe to be joined.

[0010] In the first configuration, the unit moving portion is provided in the joining pipe gripping unit (second configuration).

[0011] This simplifies and reduces the weight of the structure of the joint pipe mounting unit.

[0012] In the second configuration, the joint pipe mounting unit further has an engaged portion provided on the joint pipe mounting unit main body. The joint pipe gripping unit is supported by the joint pipe gripping unit main body, and further has an engaging portion that can engage with the engaged portion of the joint pipe mounting unit, and a gripping movement portion that movably supports the joint pipe gripping unit main body that supports the gripping portion in the axial direction of the joint pipe (third configuration).

[0013] By engaging the engaging portion of the joint pipe gripping unit with the engaged portion of the joint pipe mounting unit and moving the joint pipe toward the joint pipe side by the unit movement portion, the joint pipe and the joint pipe to be joined can be easily joined.

[0014] In addition, since the joint pipe gripping unit and the joint pipe mounting unit are configured separately and can be engaged with each other during joining, each unit can be made lighter and more easily transported compared to the case where the two units are integrally configured.

[0015] In the first configuration, the unit movement portion has a hydraulic cylinder that expands and contracts in the axial direction of the joint pipe so as to be able to change the relative positions of the gripping portion and the engaging portion in the axial direction of the joint pipe (fourth configuration).

[0016] Thereby, the joint pipe and the joint pipe to which the joint pipe mounting unit is attached can be easily joined.

[0017] In the first configuration, the joined pipe mounting unit has an insertion guide portion that supports the insertion port side of the joined pipe so that the axis of the insertion port of the joined pipe coincides with the axis of the receiving port of the pipe to be joined (fifth configuration).

[0018] Thereby, when joining the insertion port of the joined pipe and the receiving port of the pipe to be joined, the axis of the insertion port of the joined pipe can be easily aligned with the axis of the receiving port of the pipe to be joined to which the joined pipe mounting unit is attached.

[0019] In the first configuration, the mounting portion of the pipe to be joined mounting unit includes a pair of first gripping portions that grip the receiving port side of the pipe to be joined so as to sandwich it, and a pair of second gripping portions that grip a position spaced apart from the gripping position of the first gripping portions in the axial direction of the pipe to be joined in the pipe to be joined, and an opening / closing mechanism that switches the pair of first gripping portions and the pair of second gripping portions between an open state and a closed state (sixth configuration).

[0020] According to the above configuration, by switching the pair of first gripping portions and the pair of second gripping portions between an open state and a closed state by the opening / closing mechanism, the joined pipe mounting unit can be easily attached to the pipe to be joined.

[0021] In the sixth configuration, the opening / closing mechanism is configured to be switchable between the open state and the closed state by the gripping portion of the joined pipe gripping unit (seventh configuration).

[0022] Thereby, the switching between the open state and the closed state of the opening / closing mechanism of the pipe to be joined mounting unit can be performed by the gripping portion of the joined pipe gripping unit. In the seventh configuration, the gripping portion includes a pair of gripping claw portions that sandwich and grip the joining pipe, and a claw driving portion that drives the pair of gripping claw portions to open and close. The pair of gripping claw portions extend toward each other and have a hook claw portion that supports the lower side of the joining pipe in the closed state, and a claw engaging portion that protrudes in a direction opposite to the extending direction of the hook claw portion. The opening and closing mechanism has a claw engaged portion with which the claw engaging portion can engage. In a state where the claw engaging portion is engaged with the claw engaged portion, the claw driving portion uses the force for driving the pair of gripping claw portions to open and close to switch the pair of first gripping portions and the pair of second gripping portions between the open state and the closed state (eighth configuration).

[0023] Thereby, the joined pipe attachment unit can be easily attached to and detached from the pipe to be joined by using the gripping portion of the joined pipe gripping unit.

[0024] In the sixth configuration, the attachment portion of the joined pipe attachment unit further has a locking portion for locking the opening and closing mechanism in a closed state where the pair of first gripping portions and the pair of second gripping portions grip the joined pipe (ninth configuration).

[0025] Thereby, it is possible to prevent the pair of first gripping portions and the pair of second gripping portions from being inadvertently opened while the joined pipe attachment unit is attached to the joined pipe. Therefore, it is possible to prevent the joined pipe attachment unit from coming off the joined pipe.

[0026] In the first configuration, the joined pipe gripping unit has a gripping rotation portion that can rotate about a rotation axis extending in a direction perpendicular to the axis of the joined pipe that is gripped by the gripping portion and that supports the joined pipe gripping unit body (tenth configuration).

[0027] Thereby, the joined pipe gripped by the joined pipe gripping unit can be positioned more accurately with respect to the pipe to be joined.

[0028] In any one of the first to tenth configurations, the joint pipe gripping unit is attached to a working machine. The unit moving part and the gripping part are driven and controlled by the working machine (eleventh configuration).

[0029] Thereby, the unit moving part and the gripping part of the joint pipe gripping unit can be easily driven by the working machine. Therefore, using the working machine, the joint pipe gripped by the joint pipe gripping unit can be easily joined to the pipe to be joined.

[0030] A working machine according to an embodiment of the present invention is a working machine having the pipe joining device described in the eleventh configuration (twelfth configuration). Thereby, using the working machine, the joint pipe and the pipe to be joined can be easily joined.

Effect of the Invention

[0031] A pipe joining device according to an embodiment of the present invention includes a joint pipe gripping unit having a joint pipe gripping unit body and a gripping part for gripping a joint pipe, a pipe to be joined mounting unit body, and a mounting part for mounting the pipe to be joined mounting unit body to the pipe to be joined in a state where movement in the axial direction of the pipe to be joined is restricted, and a unit moving part for moving at least one of the joint pipe gripping unit and the pipe to be joined mounting unit relative to the other so as to reduce the axial distance between the joint pipe gripping unit and the pipe to be joined mounting unit.

[0032] Thereby, the joint pipe can be smoothly inserted into the pipe to be joined.

Brief Description of the Drawings

[0033]

Figure 1

Figure 2

Figure 3

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Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Embodiments for Carrying Out the Invention

[0034] Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same reference numerals are given to the same parts, and the description of the same parts will not be repeated. Note that the dimensions of the components in each figure do not faithfully represent the actual dimensions of the components and the dimensional ratios of the components.

[0035] In the following description, the first axial direction means the direction in which the axis L1 of the joint pipe W1 extends. The second axial direction means the direction in which the axis L2 of the joint pipe W2 to be joined extends. One of the first axial direction and the second axial direction is the direction in which the joint pipe W1 is inserted into the joint pipe W2 to be joined. The left-right direction means the horizontal direction and the direction orthogonal to the first axial direction or the second axial direction. The horizontal direction includes not only the strict horizontal direction but also the direction intersecting the vertical direction.

[0036] Also, in the following description, expressions such as "fix", "connect", and "attach" (hereinafter, "fix", etc.) include not only cases where members are directly fixed, etc., but also cases where they are fixed, etc. via other members. That is, in the following description, the expression "fix", etc. includes the meaning of direct and indirect fixing, etc. between members.

[0037] (Working Machine) FIG. 1 is a diagram showing a schematic configuration of a work machine 1000 to which a joint pipe gripping unit 10 according to an embodiment of the present invention is connected. The joint pipe gripping unit 10 is connected to the tip of an arm 1003 of the work machine 1000. The work machine 1000 can perform various construction works and operations by replacing an attachment connected to the tip of the arm 1003. In the present embodiment, the work machine 1000 is, for example, a mini backhoe which is a construction machine for excavation.

[0038] Note that the work machine 1000 may be a construction machine other than a mini backhoe, and may be any machine having any configuration as long as it is a machine capable of operating the joint pipe gripping unit 10.

[0039] The work machine 1000 can travel in the front-rear direction and can pivot horizontally about a rotation axis P extending in the vertical direction. The work machine 1000 is drivable, for example, by hydraulic pressure. Note that the work machine 1000 may be drivable, for example, by an electric motor.

[0040] The work machine 1000 includes a work machine main body 1001, a boom 1002, and an arm 1003.

[0041] The work machine main body 1001 includes an upper swing body 1011 and a lower traveling body 1012. The upper swing body 1011 can pivot horizontally about the rotation axis P. The lower traveling body 1012 has an annular endless track and can travel in the front-rear direction.

[0042] The boom 1002 is a beam-like member extending forward from the upper swing body 1011. One end side of the boom 1002 is connected to the upper swing body 1011. The boom 1002 can rotate in the vertical direction about the one end side with respect to the upper swing body 1011.

[0043] The arm 1003 is a beam-shaped member with one end connected to the other end of the boom 1002. The arm 1003 is rotatable in the vertical direction about the one end with respect to the boom 1002. An attachment can be connected to the other end of the arm 1003. In the present embodiment, the joint pipe gripping unit 10 is connected to the other end of the arm 1003.

[0044] Note that the boom 1002 and the arm 1003 can each be driven by a hydraulic cylinder (not shown). The boom 1002 and the arm 1003 may also be driven by an electric motor or the like.

[0045] The joint pipe gripping unit 10 may be connected to the other end of the arm 1003 via an attachment mounting member. The attachment mounting member is configured to enable easy attachment of the attachment to the other end of the arm 1003.

[0046] Since the configurations of the work machine main body 1001, the boom 1002, and the arm 1003 in the work machine 1000 are the same as those of the conventional configurations, detailed descriptions thereof are omitted.

[0047] The joint pipe gripping unit 10 is a part of the pipe joining device 1. The pipe joining device 1 will be described below.

[0048] (Pipe Joining Device) FIG. 2 is a perspective view showing a schematic configuration of the pipe joining device 1. FIG. 3 is a perspective view showing a schematic configuration of the joint pipe gripping unit 10 of the pipe joining device 1. FIG. 4 is a perspective view showing a schematic configuration of the pipe to be joined mounting unit 50 of the pipe joining device 1.

[0049] The pipe joining device 1 is a device for inserting the insertion port W1a of the joining pipe W1 into the receiving port W2a of the pipe to be joined W2 for joining. The pipe joining device 1 is used in a groove where the joining pipe W1 and the pipe to be joined W2 are laid. Therefore, the pipe joining device 1 has a size that can be accommodated in the groove. The insertion port W1a includes not only the open end of the joining pipe W1 but also the portion of the joining pipe W1 that is inserted into the receiving port W2a of the pipe to be joined W2. Similarly, the receiving port W2a includes not only the open end of the pipe to be joined W2 but also the portion of the pipe to be joined W2 into which the insertion port W1a of the joining pipe W1 is inserted.

[0050] The joining pipe W1 and the pipe to be joined W2 are, for example, water pipes. The joining pipe W1 and the pipe to be joined W2 may be pipes other than water pipes, such as sewer pipes, agricultural water pipes, and gas pipes. The joining pipe W1 and the pipe to be joined W2 may be ductile cast iron pipes, other metal pipes, or resin pipes.

[0051] As shown in FIGS. 1 and 2, the pipe joining device 1 has a joining pipe gripping unit 10 and a pipe to be joined mounting unit 50. The joining pipe gripping unit 10 is connected to, for example, the arm 1003 of the working machine 1000 and grips the insertion port W1a side of the joining pipe W1. The pipe to be joined mounting unit 50 is attached to the receiving port W2a side of the pipe to be joined W2. In the pipe joining device 1, by bringing the joining pipe gripping unit 10 that grips the insertion port W1a side of the joining pipe W1 and the pipe to be joined mounting unit 50 that is attached to the receiving port W2a side of the pipe to be joined W2 closer to each other in the axial direction, the insertion port W1a of the joining pipe W1 is inserted into the receiving port W2a of the pipe to be joined W2 for joining.

[0052] (Joining pipe gripping unit) The joining pipe gripping unit 10 is configured to be movable in the axial direction while gripping the insertion port W1a side of the joining pipe W1 in a state of being connected to, for example, the arm 1003 of the working machine 1000. Specifically, as shown in FIGS. 2 and 3, the joining pipe gripping unit 10 has a joining pipe gripping unit main body 11, an axial movement part 13 (gripping movement part), a rotation part 14 (gripping rotation part), a gripping part 20, and a unit movement part 30.

[0053] The joint pipe gripping unit main body 11 supports the gripping portion 20. The joint pipe gripping unit main body 11 has a support portion 12. The axial movement portion 13 is configured to be able to move the joint pipe gripping unit main body 11 that supports the gripping portion 20 in the direction in which the axis L1 of the joint pipe W1 extends (hereinafter referred to as the first axial direction). The rotation portion 14 is configured to be able to rotate the joint pipe gripping unit main body 11 that supports the gripping portion 20 with respect to the attachment member about a rotation axis Q described later.

[0054] The support portion 12 has a connection plate portion 12a and a pair of holding plate portions 12b, 12c. The connection plate portion 12a is supported by the axial movement portion 13 so as to be movable in the first axial direction. The pair of holding plate portions 12b, 12c are connected to the lower surface of the support portion 12 so as to extend downward. The pair of holding plate portions 12b, 12c are arranged in parallel at a predetermined interval so that their thickness directions are the same as the first axial direction. The pair of holding plate portions 12b, 12c rotatably hold the pair of claw drive connection portions 23, 24 of the gripping portion 20 therebetween. The pair of holding plate portions 12b, 12c includes a front holding plate portion 12c located on one side in the first axial direction and a rear holding plate portion 12d located on the other side in the first axial direction. A unit movement portion 30 is connected to the front holding plate portion 12c. Note that one side in the first axial direction is the direction in which the joint pipe W1 is inserted into the pipe to be joined W2.

[0055] The axial movement portion 13 supports the upper surface of the connection plate portion 12a so as to be movable in the first axial direction. Specifically, the axial movement portion 13 has a plurality of slider portions 13a, a pair of rail portions 13b, 13b, and a rail support portion 13c.

[0056] The plurality of slider portions 13a are connected to the upper surface of the connection plate portion 12a of the support portion 12. The plurality of slider portions 13a are attached to the pair of rail portions 13b, 13b so as to be movable in their longitudinal directions. In the present embodiment, two slider portions 13a are attached to one rail portion 13b so as to be movable in the longitudinal direction.

[0057] The pair of rail parts 13b, 13b are arranged in parallel so as to extend in the first axis direction. The pair of rail parts 13b, 13b are fixed to the lower surface of the rail support part 13c in a state of being arranged in parallel at a predetermined interval. A rotation part 14 described later is connected to the upper surface of the rail support part 13c.

[0058] Note that the connection plate part 12a is provided with a stopper capable of restricting the movement of the rail support part 13c in the first axis direction at a position outside the pair of rail parts 13b, 13b in the first axis direction in a top view. This stopper is driven and controlled so as to restrict the movement of the rail support part 13c in the first axis direction by hydraulic pressure or the like when restricting the movement of the gripping part 20 in the first axis direction.

[0059] The rotation part 14 supports the rail support part 13c so as to be rotatable about the rotation axis Q. The rotation axis Q is in a direction orthogonal to the axis L1 of the joint pipe W1 gripped by the gripping part 20 as described later, and extends in the arrangement direction of the gripping part 20, the connection plate part 12a, and the axial movement part 13. That is, the rotation axis Q extends in a direction perpendicular to the first axis direction. In the present embodiment, when the pipe joining device 1 joins the joint pipe W1 and the pipe to be joined W2, the rotation axis Q extends in the vertical direction.

[0060] The rotation part 14 has a rotation gear 14a, a drive gear 14b, and a rotation drive part 14c. The rotation gear 14a is a gear having a plurality of blades on its outer peripheral surface. The rotation gear 14a is connected to the upper surface of the rail support part 13c so that the rotation axis Q extends in a direction perpendicular to the first axis direction. The rotation gear 14a is connected so as to rotate integrally with the rail support part 13c. The drive gear 14b is a pinion gear having a plurality of blades on its outer peripheral surface.

[0061] The drive gear 14b is engaged with the blade on the outer peripheral surface of the rotating gear 14a in a state where its rotation axis is parallel to the rotation axis Q of the rotating gear 14a. The drive gear 14b is rotated by a rotation drive unit 14c. The rotation drive unit 14c is, for example, a hydraulically driven motor or an electrically driven motor. In the present embodiment, the rotation drive unit 14c is driven by the hydraulic pressure supplied from the working machine 1000.

[0062] Hydraulic pressure is supplied to the rotation drive unit 14c from the working machine 1000 via a hydraulic hose 1020. Regarding the other configurations of the pipe joint device 1 as well, when hydraulic pressure is supplied from the working machine 1000, the hydraulic pressure is supplied via the hydraulic hose 1020. When the rotation drive unit 14c or other configurations of the pipe joint device 1 are electrically driven, a power supply cable or the like may be provided instead of or in addition to the hydraulic hose 1020.

[0063] Note that the rotating part 14 may be provided integrally with a swivel joint (not shown). By providing the swivel joint, it is possible to prevent the hydraulic hose from getting entangled when the rotating part 14 rotates around the rotation axis and hydraulic pressure is supplied from the working machine 1000 to the joint pipe gripping unit 10. The rotating part 14 may be connected to the arm 1003 of the working machine 1000, or the swivel joint may be connected.

[0064] By the above-described axial movement part 13, the gripping part 20 and the unit movement part 30 supported by the support part 12 can be moved in the axial direction. Also, by the above-described rotating part 14, the axial movement part 13, the support part 12, the gripping part 20, and the unit movement part 30 can be rotated around the rotation axis Q. Therefore, with the above configuration, the gripping part 20 and the unit movement part 30 can be moved in the first axial direction and rotated around the rotation axis Q.

[0065] The gripping part 20 is configured to be able to grip the joint pipe W1. Specifically, the gripping part 20 includes a pair of gripping claw parts 21, 22, a pair of claw drive connecting parts 23, 24, and a claw drive part 25.

[0066] The pair of gripping claw portions 21 and 22 sandwich and grip the joining pipe W1 from above. The pair of gripping claw portions 21 and 22 includes a first gripping claw portion 21 and a second gripping claw portion 22. When viewing the gripping portion 20 from one direction in the first axial direction, the first gripping claw portion 21 is located on the left, and the second gripping claw portion 22 is located on the right.

[0067] The first gripping claw portion 21 has a pair of plate-shaped first claw plate portions 21a and 21a, and a rod-shaped first claw plate connecting portion 21b that connects the pair of first claw plate portions 21a and 21a in the first axial direction. The pair of first claw plate portions 21a and 21a are arranged in a state where their thickness directions coincide with the first axial direction, and are connected by the first claw plate connecting portion 21b.

[0068] The second gripping claw portion 22 has a pair of plate-shaped second claw plate portions 22a and 22a, and a rod-shaped second claw plate connecting portion 22b that connects the pair of second claw plate portions 22a and 22a in the first axial direction. The pair of second claw plate portions 22a and 22a are arranged in a state where their thickness directions coincide with the first axial direction, and are connected by the second claw plate connecting portion 22b.

[0069] The interval in the first axial direction between the pair of first claw plate portions 21a and 21a is wider than the interval in the first axial direction between the pair of second claw plate portions 22a and 22a. When viewing the gripping portion 20 from the side, the pair of second claw plate portions 22a and 22a are located between the pair of first claw plate portions 21a and 21a (see, for example, FIG. 11).

[0070] As described above, each of the pair of gripping claw portions 21 and 22 has a pair of claw plate portions 21a, 21a, 22a, and 22a that are separated from each other in the first axial direction. Thereby, the pair of gripping claw portions 21 and 22 can grip the joining pipe W1 more stably.

[0071] As shown in FIG. 3, each of the pair of first claw plate portions 21a, 21a has a first hook claw portion 21c that extends toward the pair of second claw plate portions 22a, 22a at the lower end when the gripping portion 20 is viewed in the first axial direction. That is, the first hook claw portion 21c extends toward the right when the gripping portion 20 is viewed from one side in the first axial direction. Each of the pair of second claw plate portions 22a, 22a has a second hook claw portion 22c that extends toward the pair of first claw plate portions 21a, 21a at the lower end when the gripping portion 20 is viewed in the first axial direction. That is, the second hook claw portion 22c extends toward the left when the gripping portion 20 is viewed from one side in the first axial direction. Thereby, in a state where the pair of gripping claw portions 21, 22 sandwich the joining pipe W1, the joining pipe W1 can be more reliably gripped by the hook claw portions 21c, 22c.

[0072] Further, each of the pair of first claw plate portions 21a, 21a has a first claw engaging portion 21d that protrudes in a direction opposite to the extending direction of the first hook claw portion 21c at the bent portion of the first hook claw portion 21c when the gripping portion 20 is viewed in the first axial direction. The first claw engaging portion 21d engages with the first operating rod 72a of the opening and closing mechanism 70 when the opening and closing mechanism 70 of the joined pipe mounting unit 50 described later is opened and closed.

[0073] Similarly, each of the pair of second claw plate portions 22a, 22a has a second claw engaging portion 22d that protrudes in a direction opposite to the extending direction of the second hook claw portion 22c at the bent portion of the second hook claw portion 22c when the gripping portion 20 is viewed in the first axial direction. The second claw engaging portion 22d engages with the second operating rod 72b of the opening and closing mechanism 70 when the opening and closing mechanism 70 of the joined pipe mounting unit 50 described later is opened and closed.

[0074] The pair of claw drive connecting portions 23, 24 each extend in the vertical direction and connect the pair of gripping claw portions 21, 22 and the claw drive portion 25. Specifically, the lower ends of the pair of claw drive connecting portions 23, 24 are connected to the claw plate connection portions 21b, 22b of the pair of gripping claw portions 21, 22, respectively, and the upper ends are connected to the claw drive portion 25. The central portions in the vertical direction of the pair of claw drive connecting portions 23, 24 are rotatably supported by the pair of holding plate portions 12b, 12c of the support portion 12.

[0075] The claw driving part 25 is an actuator that can expand and contract in the left - right direction, such as a hydraulic cylinder. Therefore, when the claw driving part 25 expands and contracts in the left - right direction, the pair of claw driving connection parts 23, 24 rotate around the central part as the rotation center. For example, when the claw driving part 25 contracts in the left - right direction, the lower ends of the pair of claw driving connection parts 23, 24 move outward in the left - right direction around the central part as the rotation center. Therefore, the pair of gripping claw parts 21, 22 move outward in the left - right direction and become open. On the other hand, when the claw driving part 25 extends in the left - right direction, the lower ends of the pair of claw driving connection parts 23, 24 move inward in the left - right direction around the central part as the rotation center. Therefore, the pair of gripping claw parts 21, 22 move inward in the left - right direction and become closed.

[0076] The claw driving part 25 is driven by the hydraulic pressure supplied from the working machine 1000. That is, the gripping part 20 is driven by the hydraulic pressure supplied from the working machine 1000. Note that the claw driving part 25 is not limited to the configuration driven by hydraulic pressure, and may be, for example, a configuration driven by electric power supplied from the working machine 1000 or outside the working machine 1000.

[0077] The unit moving part 30 moves the joint - pipe gripping unit 10 relative to the pipe - to - be - joined mounting unit 50 in the axial direction of the pipe - to - be - joined W2. Specifically, the unit moving part 30 includes an axially telescopic part 31, a support and reinforcement part 32, a guide part 33, and an engagement unit 34.

[0078] The axially telescopic part 31 is a component configured to be able to expand and contract in the first axial direction. The axially telescopic part 31 is, for example, a hydraulic cylinder. Specifically, the axially telescopic part 31 has a cylindrical cylinder 31a extending in the first axial direction, a piston (not shown) that can move in the first axial direction inside the cylinder 31a, and a rod 31b connected to the piston. The piston and the rod 31b move inside the cylinder 31a by, for example, hydraulic pressure or the like.

[0079] The base end portion of the cylinder 31a of the axial direction expansion and contraction portion 31 is connected to the front holding plate portion 12c of the support portion 12. The tip end portion of the cylinder 31a of the axial direction expansion and contraction portion 31 is connected to a support reinforcement portion 32 connected to the front holding plate portion 12c of the support portion 12. Thereby, the cylinder 31a of the axial direction expansion and contraction portion 31 can be fixed to the front holding plate portion 12c of the support portion 12. Note that the support reinforcement portion 32 is connected to the front holding plate portion 12c of the support portion 12 by a pair of connection members 32a.

[0080] The tip end portion of the rod 31b of the axial direction expansion and contraction portion 31 is connected to the engagement unit 34. Thereby, when the rod 31b moves in the first axial direction within the cylinder 31a, the engagement unit 34 also moves in the first axial direction.

[0081] The support reinforcement portion 32 is a plate-like member, and the tip end portion of the cylinder 31a of the axial direction expansion and contraction portion 31 and the tip end portion of the guide portion 33 are connected thereto. The support reinforcement portion 32 is connected to the front holding plate portion 12c of the support portion 12 by the connection member 32a. Thereby, it is possible to suppress the tip end portion of the cylinder 31a connected to the support reinforcement portion 32 from lowering. Therefore, it is possible to suppress the engagement unit 34 connected to the tip end portion of the rod 31b from lowering due to its weight.

[0082] The guide portion 33 is provided so as to connect the front holding plate portion 12c of the support portion 12 and the support reinforcement portion 32 in the first axial direction. The guide portion 33 is rod-shaped, and on its outer peripheral surface, a guide moving portion 33a to which an engagement unit support reinforcement portion 36 of the engagement unit 34 to be described later is connected is disposed so as to be movable in the first axial direction. In the present embodiment, two guide portions 33 are arranged so as to sandwich the cylinder 31a of the axial direction expansion and contraction portion 31 in the left-right direction.

[0083] The engagement unit 34 engages with an engaged portion 52 of a joined pipe attachment unit 50 to be described later. The engagement unit 34 includes an engagement unit main body 34a, an engagement portion 35, and an engagement unit support reinforcement portion 36.

[0084] The engagement unit main body 34a is a block-shaped member connected to the tip of the rod 31b of the axial expansion and contraction part 31. An engagement part 35 is provided at the lower part of the engagement unit main body 34a. In the present embodiment, two engagement parts 35 are provided side by side in the left-right direction at the lower part of the engagement unit main body 34a.

[0085] The engagement part 35 is a rod-shaped member extending in the first axial direction from the lower part of the engagement unit main body 34a. The engagement part 35 is formed in a hook shape having a protruding part 35a protruding downward at the tip. The protruding part 35a located at the tip of the engagement part 35 is configured to be engageable with an engaged part 52 of a joined pipe attachment unit 50 described later.

[0086] As shown in FIG. 13, the base end part of the engagement part 35 is supported rotatably in the vertical direction at the lower part of the engagement unit main body 34a. Thereby, the tip of the engagement part 35 is movable in the vertical direction. Therefore, as will be described later, when engaging with the engaged part 52 of the joined pipe attachment unit 50, the tip of the engagement part 35 moves upward to get over the engaged part 52 and engages with the engaged part 52.

[0087] As shown in FIG. 3, the engagement unit support reinforcing part 36 connects the engagement unit main body 34a and the guide movement part 33a of the guide part 33. Thereby, the engagement unit main body 34a can be supported not only by the rod 31b of the axial expansion and contraction part 31 but also by the guide part 33. Therefore, it is possible to more surely suppress the engagement unit 34 from dropping due to its weight.

[0088] With the above configuration, the engagement part 35 of the engagement unit 34 moves in the first axial direction with respect to the gripping part 20 and the support part 12 by the axial expansion and contraction part 31.

[0089] (Joined Pipe Attachment Unit) The joined pipe attachment unit 50 is attached to the receiving port W2a side of the joined pipe W2 in a state where movement in the axial direction of the joined pipe W2 (hereinafter referred to as the second axial direction) is suppressed. Specifically, the joined pipe attachment unit 50 includes a joined pipe attachment unit main body 51 and an attachment portion 60.

[0090] The joined pipe attachment unit main body 51 is a flat plate-shaped member that is long in the second axial direction, and is attached to the receiving port W2a of the joined pipe W2 by the attachment portion 60. That is, the joined pipe attachment unit main body 51 is provided with an attachment portion 60 for attaching the joined pipe attachment unit main body 51 to the receiving port W2a of the joined pipe W2.

[0091] The joined pipe attachment unit main body 51 has an engaged portion 52 that protrudes upward at the other end (the receiving port side) in the second axial direction. The engaged portion 52 is configured such that the engaging portion 35 of the joint pipe gripping unit 10 can be engaged therewith. The engaged portion 52 and the engaging portion 35 are configured to withstand the load generated when bringing the joint pipe gripping unit 10 and the joined pipe attachment unit 50 closer to each other in a state where they are engaged with each other. Note that a tapered portion is provided at the end on the other side in the second axial direction at the upper part of the engaged portion 52 so as to move the engaging portion 35 upward when the tip of the engaging portion 35 comes into contact therewith.

[0092] The attachment portion 60 is attached so as to grip the joined pipe W2 and suppress movement in the second axial direction. Specifically, the attachment portion 60 includes a receiving port gripping portion 61, an axial direction restricting portion 62, a straight pipe gripping portion 63, and an opening / closing mechanism 70.

[0093] The receiving port gripping portion 61 has a pair of receiving port gripping claw portions 61a and 61b (first gripping portion) that sandwich and grip the receiving port W2a of the pipe to be joined W2. The pair of receiving port gripping claw portions 61a and 61b sandwich and grip the vicinity of the receiving port W2a of the pipe to be joined W2 from above. The pair of receiving port gripping claw portions 61a and 61b are each arc-shaped members capable of gripping the receiving port W2a of the pipe to be joined W2 when viewed in the second axial direction. The pair of receiving port gripping claw portions 61a and 61b includes a first receiving port gripping claw portion 61a located on the left and a second receiving port gripping claw portion 61b located on the right when viewed from one side in the second axial direction.

[0094] The upper ends of the pair of receiving port gripping claw portions 61a and 61b are connected so as to rotate integrally with a pair of mounting rotation shafts 71a and 71b described later. Specifically, the first receiving port gripping claw portion 61a is connected so as to rotate integrally with the first mounting rotation shaft 71a. Therefore, the first receiving port gripping claw portion 61a can rotate about the first mounting rotation shaft 71a when viewed in the second axial direction. The second receiving port gripping claw portion 61b is connected so as to rotate integrally with the second mounting rotation shaft 71b. Therefore, the second receiving port gripping claw portion 61b can rotate about the second mounting rotation shaft 71b when viewed in the second axial direction.

[0095] The state in which the pair of receiving port gripping claw portions 61a and 61b rotate about the pair of mounting rotation shafts 71a and 71b and the pair of receiving port gripping claw portions 61a and 61b sandwich and grip the receiving port W2a of the pipe to be joined W2 is the closed state of the pair of receiving port gripping claw portions 61a and 61b. The state in which the pair of receiving port gripping claw portions 61a and 61b rotate about the pair of mounting rotation shafts 71a and 71b and the pair of receiving port gripping claw portions 61a and 61b are separated from the receiving port W2a of the pipe to be joined W2 is the open state of the pair of receiving port gripping claw portions 61a and 61b.

[0096] At the tip portions of the pair of socket gripping claw portions 61a and 61b, insertion guide portions 64 are respectively provided. The insertion guide portions 64 are located on the opening side of the socket W2a of the pipe to be joined W2 with respect to the pair of socket gripping claw portions 61a and 61b. That is, the insertion guide portions 64 are located on the other side in the second axis direction with respect to the pair of socket gripping claw portions 61a and 61b. The insertion guide portions 64 are formed in an arc shape when viewed in the second axis direction, and on the inner surface, rollers 64a that rotate so as to move the joining pipe W1 in the second axis direction are rotatably supported. Note that the insertion guide portion 64 is not limited to a configuration including the rollers 64a, and for example, a configuration including a sliding surface on which the joining pipe W1 slides may be used.

[0097] The insertion guide portions 64 are provided at positions where the axis L1 of the insertion port W1a of the joining pipe W1 is made to coincide with the axis L2 of the socket W2a of the pipe to be joined W2 with respect to the pair of socket gripping claw portions 61a and 61b. Therefore, the axis L1 of the insertion port W1a of the joining pipe W1 can be made to coincide with the axis L2 of the socket W2a of the pipe to be joined W2 by the insertion guide portions 64.

[0098] The axial direction restricting portion 62 is located between the socket gripping portion 61 and the straight pipe gripping portion 63 in the second axis direction. The axial direction restricting portion 62 is formed such that its lower surface follows the side surface of the socket W2a of the pipe to be joined W2, and its upper surface is connected to the lower surface of the pipe to be joined mounting unit main body 51. The lower surface of the axial direction restricting portion 62 is formed so as to cover an inclined surface on the outer peripheral surface of the pipe to be joined W2 where the outer diameter gradually decreases from the socket W2a toward the straight pipe portion W2b. Thereby, it is possible to suppress the socket W2a of the pipe to be joined W2 to which the pipe to be joined mounting unit 50 is attached from moving in one direction in the second axis direction. At this time, when inserting the insertion port W1a of the joining pipe W1 into the socket W2a of the pipe to be joined W2, the axial direction restricting portion 62 receives the reaction force of the tensile force transmitted from the engaging portion 35 of the joining pipe gripping unit 10 to the engaged portion 52 of the pipe to be joined mounting unit 50 from the inclined surface of the socket W2a.

[0099] Note that the axial direction regulating portion 62 has a pair of left - right direction positioning portions 62a at the other end in the second axial direction so as to sandwich the straight pipe portion W2b of the pipe to be joined W2 in the left - right direction. Thereby, the mounting position of the axial direction regulating portion 62 with respect to the pipe to be joined W2 can be prevented from shifting in the left - right direction. The axial direction regulating portion 62 may have one left - right direction positioning portion 62a or may not have the left - right direction positioning portion 62a.

[0100] The straight pipe gripping portion 63 has a pair of straight pipe gripping claw portions 63a, 63b (second gripping portion) that sandwich and grip the receiving port W2a side of the straight pipe portion W2b of the pipe to be joined W2. The pair of straight pipe gripping claw portions 63a, 63b sandwich and grip the receiving port W2a side of the straight pipe portion W2b of the pipe to be joined W2 from above. The pair of straight pipe gripping claw portions 63a, 63b grip so as to sandwich a position spaced in the second axial direction from the gripping position of the receiving port gripping claw portion 61a in the pipe to be joined W2. The pair of straight pipe gripping claw portions 63a, 63b are each an arc - shaped member capable of gripping the straight pipe portion W2b of the pipe to be joined W2 when viewed in the second axial direction. The pair of straight pipe gripping claw portions 63a, 63b includes a first straight pipe gripping claw portion 63a located on the left and a second straight pipe gripping claw portion 63b located on the right when viewed from one side in the second axial direction.

[0101] The upper ends of the pair of straight pipe gripping claw portions 63a, 63b are connected so as to rotate integrally with a pair of mounting rotation shafts 71a, 71b described later. Specifically, the first straight pipe gripping claw portion 63a is connected so as to rotate integrally with the first mounting rotation shaft 71a. Therefore, the first straight pipe gripping claw portion 63a is rotatable about the first mounting rotation shaft 71a when viewed in the second axial direction. The second straight pipe gripping claw portion 63b is connected so as to rotate integrally with the second mounting rotation shaft 71b. Therefore, the second straight pipe gripping claw portion 63b is rotatable about the second mounting rotation shaft 71b when viewed in the second axial direction. Moreover, the pair of straight pipe gripping claw portions 63a, 63b rotate integrally with the pair of receiving port gripping claw portions 61a, 61b by the pair of mounting rotation shafts 71a, 71b.

[0102] A pair of straight pipe gripping claws 63a and 63b rotate about a pair of mounting rotation axes 71a and 71b, and a state in which the pair of straight pipe gripping claws 63a and 63b sandwich and grip the receiving port W2a of the pipe to be joined W2 is the closed state of the pair of straight pipe gripping claws 63a and 63b. A state in which the pair of straight pipe gripping claws 63a and 63b rotate about a pair of mounting rotation axes 71a and 71b and the pair of straight pipe gripping claws 63a and 63b are separated from the receiving port W2a of the pipe to be joined W2 is the open state of the pair of straight pipe gripping claws 63a and 63b.

[0103] In the mounting portion 60, the receiving port gripping portion 61, the axial direction restricting portion 62, and the straight pipe gripping portion 63 are arranged in order from the other to the one in the second axial direction. That is, in the pipe to be joined mounting unit 50, the receiving port gripping portion 61a, the axial direction restricting portion 62, and the straight pipe gripping portion 63 are arranged in order from the receiving port W2a side.

[0104] The opening and closing mechanism 70 opens and closes the pair of receiving port gripping claws 61a and 61b and the pair of straight pipe gripping claws 63a and 63ba in response to an input to the pair of operating rods 72a and 72b. The opening and closing mechanism 70 includes a pair of mounting rotation axes 71a and 71b, a pair of operating rods 72a and 72b (claw engaged portions), a pair of connection links 73 and 74, and a pair of lock portions 75a and 75b.

[0105] The pair of mounting rotation shafts 71a and 71b extend in the second axis direction and are arranged parallel to each other in the left-right direction. The pair of mounting rotation shafts 71a and 71b includes a first mounting rotation shaft 71a located on the left and a second mounting rotation shaft 71b located on the right when viewed from one side in the second axis direction. A pair of socket gripping claw portions 61a and 61b and a pair of straight pipe gripping claw portions 63a and 63b are connected to the pair of mounting rotation shafts 71a and 71b. That is, the first mounting rotation shaft 71a is connected to the first socket gripping claw portion 61a and the first straight pipe gripping claw portion 63a. The second mounting rotation shaft 71b is connected to the second socket gripping claw portion 61b and the second straight pipe gripping claw portion 63b. Therefore, when the pair of mounting rotation shafts 71a and 71b rotate, the pair of socket gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b also rotate. The pair of mounting rotation shafts 71a and 71b are rotatably supported on the upper surface of the joined pipe mounting unit main body 51.

[0106] The pair of operating rods 72a and 72b are above the pair of mounting rotation shafts 71a and 71b, extend in the second axis direction, and are arranged parallel to each other in the left-right direction. The pair of operating rods 72a and 72b includes a first operating rod 72a located on the left and a second operating rod 72b located on the right when viewed from one side in the second axis direction. The claw engaging portion 21d of the gripping claw portion 21 of the joined pipe gripping unit 10 engages with the first operating rod 72a. The claw engaging portion 22d of the gripping claw portion 22 of the joined pipe gripping unit 10 engages with the second operating rod 72b. The upper end portions of the pair of connection links 73 and 74 are connected to the central portions in the axial direction of the pair of operating rods 72a and 72b.

[0107] A pair of connection links 73, 74 connect a pair of mounting rotation shafts 71a, 71b and a pair of operating rods 72a, 72b. The pair of connection links 73, 74 includes a first connection link 73 and a second connection link 74. The first connection link 73 connects the first mounting rotation shaft 71a located on the left and the second operating rod 72b located on the right as viewed from one side in the second axis direction. The second connection link 74 connects the second mounting rotation shaft 71b located on the right and the first operating rod 72a located on the left. That is, the pair of connection links 73, 74 connect the pair of mounting rotation shafts 71a, 71b and the pair of operating rods 72a, 72b so as to cross in the left-right direction.

[0108] The pair of connection links 73, 74 each have a first link 73a, 74a and a second link 73b, 74b. The lower end of the first link 73a of the first connection link 73 is connected to the first mounting rotation shaft 71a so as to rotate integrally therewith. The upper end of the first link 73a is rotatably connected to the lower end of the second link 73b. The upper end of the second link 73b is connected to the second operating rod 72b so as to rotate integrally therewith. The lower end of the first link 74a of the second connection link 74 is connected to the second mounting rotation shaft 71b so as to rotate integrally therewith. The upper end of the first link 74a is rotatably connected to the lower end of the second link 74b. The upper end of the second link 74b is connected to the first operating rod 72a so as to rotate integrally therewith.

[0109] The first link 73a of the first connection link 73 and the first link 74a of the second connection link 74 intersect as viewed in the second axis direction. The second links 73b, 74b extend outward in the left-right direction from the upper ends of the first links 73a, 74a. As viewed in the second axis direction, the inclination angles of the second links 73b, 74b are smaller than the inclination angles of the first links 73a, 74a.

[0110] With the above configuration, when the pair of operating rods 72a and 72b are moved upward in a direction separating them in the left - right direction, the pair of mounting rotation shafts 71a and 71b connected by the pair of connection links 73 and 74 rotate so as to open the pair of socket gripping claw portions 61a and 61b and the pair of straight - pipe gripping claw portions 63a and 63b. On the other hand, when the pair of operating rods 72a and 72b are moved downward in a direction approaching them in the left - right direction, the pair of mounting rotation shafts 71a and 71b connected by the pair of connection links 73 and 74 rotate so as to close the pair of socket gripping claw portions 61a and 61b and the pair of straight - pipe gripping claw portions 63a and 63b.

[0111] The movement of the pair of operating rods 72a and 72b as described above can be easily realized by the trajectory drawn by the claw engaging portions 21d and 22d due to the opening and closing operation of the pair of gripping claw portions 21 and 22 in the gripping portion 20 of the joint - pipe gripping unit 10. Therefore, the pair of socket gripping claw portions 61a and 61b and the pair of straight - pipe gripping claw portions 63a and 63b can be easily opened and closed by the gripping portion 20 of the joint - pipe gripping unit 10.

[0112] The pair of lock portions 75a and 75b are provided on the second links 73b and 74b of the pair of connection links 73 and 74. In the present embodiment, the pair of lock portions 75a and 75b are provided so as to project in the second axis direction and downward with respect to the second links 73b and 74b. The pair of lock portions 75a and 75b come into contact with a lock receiving portion 51a provided on the upper surface of the joined - pipe mounting unit main body 51 when the pair of socket gripping claw portions 61a and 61b and the pair of straight - pipe gripping claw portions 63a and 63b are in the closed state, and when the pair of operating rods 72a and 72b and the second links 73b and 74b are such that the upper end portions of the second links 73b and 74b are located below the lower end portions due to their own weights. Thereby, the pair of socket gripping claw portions 61a and 61b and the pair of straight - pipe gripping claw portions 63a and 63b can be locked in the closed state.

[0113] As a result, it is possible to restrict the downward movement of the tips of the pair of operating rods 72a and 72b and the second links 73b and 74b of the pair of connection links 73 and 74. Therefore, the closed states of the pair of socket gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b are maintained.

[0114] Note that by lifting the pair of operating rods 72a and 72b obliquely upward so as to be separated from each other, the locking by the pair of locking portions 75a and 75b can be released.

[0115] (Pipe joining method) Next, a method of inserting the insertion port W1a of the joining pipe W1 into the socket W2a of the pipe to be joined W2 using the pipe joining device 1 having the above-described configuration will be described with reference to FIGS. 5 to 15.

[0116] FIG. 5 is a view of the joining pipe gripping unit 10 of the pipe joining device 1 approaching the pipe to be joined mounting unit 50 as seen from one side in the first axis direction. FIG. 6 is a view of the pair of socket gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b in the pipe to be joined mounting unit 50 being opened by the joining pipe gripping unit 10 of the pipe joining device 1 as seen from one side in the first axis direction. FIG. 7 is a view of the pipe to be joined mounting unit 50 approaching the socket W2a side of the pipe to be joined W2 as seen from one side in the first axis direction. FIG. 8 is a view of the pair of socket gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b in the pipe to be joined mounting unit 50 being closed by the joining pipe gripping unit 10 of the pipe joining device 1 as seen from one side in the first axis direction. FIG. 9 is a view of the joining pipe gripping unit 10 being detached from the pipe to be joined mounting unit 50 as seen from one side in the first axis direction. FIG. 10 is a view of the insertion port W1a side of the joining pipe W1 being gripped by the pair of gripping claw portions 21 and 22 of the joining pipe gripping unit 10 as seen from one side in the first axis direction.

[0117] FIG. 11 is a side view showing a state where the joining pipe W1 held by the holding part 20 of the joining pipe holding unit 10 is brought close to the joined pipe W2 to which the joined pipe attaching unit 50 is attached. FIG. 12 is a side view showing a state where the insertion port W1a of the joining pipe W1 held by the holding part 20 of the joining pipe holding unit 10 is placed on the insertion guide part 64 of the joined pipe attaching unit 50. FIG. 13 is a side view showing a state where the axially telescopic part 31 of the joining pipe holding unit 10 is extended in the first axial direction and the engaging part 35 of the engaging unit 34 is engaged with the engaged part 52 of the joined pipe attaching unit 50. FIG. 14 is a side view showing a state where the axially telescopic part 31 of the joining pipe holding unit 10 is contracted in the first axial direction and the holding part 20 is brought closer to the engaging part 35 of the engaging unit 34 and the engaged part 52 of the joined pipe attaching unit 50. FIG. 15 is a partially enlarged view showing a state where the engaging part 35 of the engaging unit 34 of the joining pipe holding unit 10 is engaged with the engaged part 52 of the joined pipe attaching unit 50.

[0118] First, as shown in FIG. 5, the arm 1003 of the working machine 1000 and the like are operated to bring the joining pipe holding unit 10 of the pipe joining device 1 connected to the tip of the arm 1003 of the working machine 1000 closer to the joined pipe attaching unit 50. At this time, the tips of the pair of holding claw parts 21 and 22 in the holding part 20 of the joining pipe holding unit 10 are moved to a position below the pair of operating rods 72a and 72b with respect to the joined pipe attaching unit 50.

[0119] Next, as shown in FIG. 6, while opening the pair of holding claw parts 21 and 22 of the joining pipe holding unit 10, the claw engaging parts 21d and 22d in the pair of holding claw parts 21 and 22 are engaged with the pair of operating rods 72a and 72b of the joined pipe attaching unit 50. Then, the pair of holding claw parts 21 and 22 of the joining pipe holding unit 10 are further opened, and the pair of operating rods 72a and 72b are lifted upward while being opened in the left - right direction, so that the pair of receiving port holding claw parts 61a and 61b and the pair of straight - pipe holding claw parts 63a and 63b in the joined pipe attaching unit 50 are in an open state.

[0120] Next, as shown in FIG. 7, operate the arm 1003 of the working machine 1000 or the like to bring the joined pipe mounting unit 50 engaged with the claw engaging portions 21d and 22d of the pair of gripping claws 21 and 22 of the joined pipe gripping unit 10 closer to the receiving port W2a side of the pipe W2 to be joined and place it on the outer peripheral surface of the receiving port W2a of the pipe W2 to be joined.

[0121] Thereafter, as shown in FIG. 8, close the pair of gripping claws 21 and 22 of the joined pipe gripping unit 10 and lower them downward while bringing the pair of operating rods 72a and 72b in the joined pipe mounting unit 50 closer to each other in the left-right direction. As a result, the pair of receiving port gripping claws 61a and 61b and the pair of straight pipe gripping claws 63a and 63b in the joined pipe mounting unit 50 are brought into a closed state. In this way, the joined pipe mounting unit 50 can be attached to the receiving port W2a of the pipe W2 to be joined. Thereafter, as shown in FIG. 9, operate the arm 1003 of the working machine 1000 or the like to detach the joined pipe gripping unit 10 from the joined pipe mounting unit 50.

[0122] Operate the arm 1003 of the working machine 1000 or the like to move the joined pipe gripping unit 10 to the position of the joined pipe W1, and as shown in FIG. 10, grip the insertion port W1a side of the joined pipe W1 with the pair of gripping claws 21 and 22 of the joined pipe gripping unit 10. Thereafter, as shown in FIG. 11, with the joined pipe W1 gripped by the joined pipe gripping unit 10, place the insertion port W1a of the joined pipe W1 near the receiving port W2a of the pipe W2 to be joined to which the joined pipe mounting unit 50 is attached. At this time, as shown in FIG. 12, place the insertion port W1a of the joined pipe W1 on the insertion guide portion 64 of the joined pipe mounting unit 50.

[0123] Next, as shown in FIG. 13, extend the axial expansion / contraction portion 31 of the unit moving portion 30 of the joint pipe gripping unit 10, and move the engaging unit 34 in the first axial direction and in the direction approaching the joint pipe mounting unit 50. The axial expansion / contraction portion 31 moves the engaging unit 34 in the first axial direction until the engaging portion 35 passes through the engaged portion 52 of the joint pipe mounting unit 50. At this time, as shown in FIG. 15, since the protruding portion 35a at the tip of the engaging portion 35 contacts the upper portion of the engaged portion 52, the engaging portion 35 rotates upward about the base end portion and gets over the upper portion of the engaged portion 52. After getting over the upper portion of the engaged portion 52, the engaging portion 35 rotates downward about the base end portion and returns to its original posture (the state of extending in the first axial direction).

[0124] As shown in FIG. 14, contract the axial expansion / contraction portion 31 of the unit moving portion 30 of the joint pipe gripping unit 10 in the first axial direction to bring the engaging unit 34 closer to the gripping portion 20. Thereby, the tip portion of the engaging portion 35 of the engaging unit 34 is engaged with the engaged portion 52 of the joint pipe mounting unit 50. Then, by further contracting the axial expansion / contraction portion 31 in the first axial direction, the engaging portion 35 of the joint pipe gripping unit 10 and the engaged portion 52 of the joint pipe mounting unit 50 are brought closer to the gripping portion 20 in the first axial direction.

[0125] At this time, the gripping portion 20, the support portion 12, and the unit moving portion 30 are moved in one direction of the first axial direction with respect to the rotating portion 14 and the arm 1003 of the working machine 1000 by the axial moving portion 13. Therefore, when the axial expansion / contraction portion 31 contracts in the first axial direction as described above, the gripping portion 20 that grips the insertion port W1a of the joint pipe W1 approaches the joint pipe mounting unit 50 in the first axial direction.

[0126] The pipe to be joined W2 is restricted from moving in one direction in the second axial direction by the axial direction restricting portion 62 of the pipe to be joined mounting unit 50. Therefore, as described above, when the gripping portion 20 that grips the insertion port W1a of the joining pipe W1 approaches the pipe to be joined mounting unit 50 and the insertion port W1a of the joining pipe W1 is inserted into the receiving port W2a of the pipe to be joined W2 in one direction in the second axial direction, it is possible to suppress the pipe to be joined W2 from moving in one direction in the second axial direction, which is the direction away from the joining pipe W1 in the second axial direction. Therefore, the joining operation between the joining pipe W1 and the pipe to be joined W2 can be performed smoothly.

[0127] Then, by inserting the insertion port W1a of the joining pipe W1 gripped by the gripping portion 20 to a predetermined position of the receiving port W2a of the pipe to be joined W2, the joining operation between the joining pipe W1 and the pipe to be joined W2 is completed. Although not particularly shown, after the joining operation between the joining pipe W1 and the pipe to be joined W2 is completed, the joining pipe gripping unit 10 opens the pair of gripping claw portions 21, 22 of the gripping portion 20 and disengages upward from the joining pipe W1. Thereafter, the joining pipe gripping unit 10 removes the pipe to be joined mounting unit 50 attached to the receiving port W2a side of the pipe to be joined W2. The removal of the pipe to be joined mounting unit 50 from the pipe to be joined W2 by the joining pipe gripping unit 10 is performed by performing an operation opposite to the attachment operation of the pipe to be joined mounting unit 50 to the pipe to be joined W2 by the joining pipe gripping unit 10 as shown in FIGS. 5 to 9.

[0128] The pipe joining device 1 according to this embodiment is a device for joining the insertion port W1a of the joining pipe W1 to the receiving port W2a of the pipe to be joined W2. The pipe joining device 1 includes a joining pipe gripping unit 10 having a joining pipe gripping unit main body 11 and a gripping portion 20 that is supported by the joining pipe gripping unit main body 11 and grips the joining pipe W1, a pipe to be joined mounting unit main body 51, and a mounting portion 60 that mounts the pipe to be joined mounting unit main body 51 to the pipe to be joined W2 while restricting movement of the pipe to be joined mounting unit main body 51 in the second axial direction of the pipe to be joined W2. The pipe joining device 1 also includes a unit moving portion 30 that moves the joining pipe gripping unit 10 relative to the pipe to be joined mounting unit 50 so as to reduce the interval in the second axial direction between the joining pipe gripping unit 10 that grips the joining pipe W1 and the pipe to be joined mounting unit 50 attached to the pipe to be joined W2.

[0129] Thereby, using the pipe joining device 1, the insertion port W1a of the joining pipe W1 gripped by the joining pipe gripping unit 10 and the receiving port W2a of the pipe to be joined W2 to which the pipe to be joined mounting unit 50 is attached can be brought closer and joined in the second axial direction of the pipe to be joined W2 while restricting movement of the pipe to be joined W2 in the second axial direction. Therefore, the pipe joining device 1 can easily join the insertion port W1a of the joining pipe W1 and the receiving port W2a of the pipe to be joined W2. Thus, it is possible to realize a pipe joining device 1 that can easily join pipes without the operator working in a trench.

[0130] Moreover, the pipe joining device 1 includes a joining pipe gripping unit 10 that grips the joining pipe W1 and a pipe to be joined mounting unit 50 that is attached to the pipe to be joined W2. By separating the pipe joining device 1 into the joining pipe gripping unit 10 and the pipe to be joined mounting unit 50 in this way, the weight of each unit can be reduced compared to an integrated device having a mechanism for gripping the joining pipe W1 and a mechanism for attaching to the pipe to be joined W2. Therefore, when joining the insertion port W1a of the joining pipe W1 and the receiving port W2a of the pipe to be joined W2 using the pipe joining device 1, the load on the device for transporting the joining pipe gripping unit 10 and the pipe to be joined mounting unit 50 can be reduced.

[0131] Also, in the present embodiment, the unit moving unit 30 is provided in the joint pipe gripping unit 10. Thereby, the joint pipe gripping unit 10 that has gripped the joint pipe W1 can be brought closer to the joint pipe mounting unit 50 in the second axial direction by the unit moving unit 30 provided in the joint pipe gripping unit 10. Therefore, while the configuration of the joint pipe mounting unit 50 can be simplified and its weight can be reduced, for example, when the joint pipe gripping unit 10 is connected to a working machine 1000 or the like, energy for driving the unit moving unit 30 can be easily supplied from the working machine 1000 or the like to the unit moving unit 30.

[0132] Also, in the present embodiment, the joint pipe mounting unit 50 further has an engaged portion 52 provided in the joint pipe mounting unit main body 51. The joint pipe gripping unit 10 is supported by the joint pipe gripping unit main body 11, and further has an engaging portion 35 that can engage with the engaged portion 52 of the joint pipe mounting unit 50, and an axial direction moving unit 13 that movably supports the joint pipe gripping unit main body 11 that supports the gripping unit 20 in the first axial direction. The unit moving unit 30 is configured to be able to change the relative position in the first axial direction between the gripping unit 20 and the engaging portion 35 so that the gripping unit 20 approaches the engaging portion 35 in the first axial direction.

[0133] Thereby, with the engaging portion 35 of the joint pipe gripping unit 10 engaged with the engaged portion 52 of the joint pipe mounting unit 50, the gripping unit 20 that has gripped the joint pipe W1 can be moved in the first axial direction so as to approach the engaging portion 35 by the unit moving unit 30 of the joint pipe gripping unit 10. Thus, the joint pipe W2 to which the joint pipe mounting unit 50 is attached and the joint pipe W1 gripped by the pipe gripping unit 10 can be pulled closer. Therefore, the joint pipe W1 and the joint pipe W2 can be easily joined.

[0134] In the present embodiment, the unit moving unit 30 has a hydraulic cylinder that expands and contracts in the first axial direction so as to be able to change the relative position in the second axial direction between the gripping unit 20 and the engaging portion 35.

[0135] As a result, the gripping portion 20 that grips the joining pipe W1 can be easily moved closer to the engaging portion 35 in the first axial direction. Therefore, the joining pipe W1 can be easily brought closer to the joined pipe attachment unit 50 having the engaged portion 52 with which the engaging portion 35 engages. Accordingly, the joining pipe W1 and the joined pipe W2 to which the joined pipe attachment unit 50 is attached can be easily joined.

[0136] Also, in the present embodiment, the joined pipe attachment unit 50 has an insertion guide portion 64 that supports the insertion port W1a side of the joining pipe W1 so as to align the axis L1 of the insertion port W1a of the joining pipe W1 with the axis L2 of the receiving port W2a of the joined pipe W2.

[0137] As a result, when joining the insertion port W1a of the joining pipe W1 and the receiving port W2a of the joined pipe W2, the axis L1 of the insertion port W1a of the joining pipe W1 can be easily aligned with the axis L2 of the receiving port W2a of the joined pipe W2 to which the joined pipe attachment unit 50 is attached. Accordingly, the joining pipe W1 and the joined pipe W2 to which the joined pipe attachment unit 50 is attached can be easily joined.

[0138] Also, in the present embodiment, the attachment portion 60 of the joined pipe attachment unit 50 includes a pair of receiving port gripping claw portions 61a, 61b that grip so as to sandwich the vicinity of the receiving port W2a of the joined pipe W2, and a pair of straight pipe gripping claw portions 63a, 63b that grip so as to sandwich positions spaced apart from the gripping positions of the receiving port gripping claw portions 61a, 61b in the second axial direction in the joined pipe W2, and an opening / closing mechanism 70 that switches the pair of receiving port gripping claw portions 61a, 61b and the pair of straight pipe gripping claw portions 63a, 63b between an open state and a closed state.

[0139] As a result, the joined pipe attachment unit 50 can be attached to the joined pipe W2 in a state where it is fixed in the second axial direction by the pair of receiving port gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b. Moreover, by switching the pair of receiving port gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b between the open state and the closed state by the opening and closing mechanism 70, the joined pipe attachment unit 50 can be easily attached to the joined pipe W2.

[0140] Further, in the present embodiment, the opening and closing mechanism 70 is configured to be switchable between the open state and the closed state by the gripping portion 20 of the joined pipe gripping unit 10.

[0141] As a result, the switching between the open state and the closed state of the opening and closing mechanism 70 of the joined pipe attachment unit 50 can be performed by the gripping portion 20 of the joined pipe gripping unit 10. Therefore, the joined pipe attachment unit 50 can be easily attached to the joined pipe W2.

[0142] Further, in the present embodiment, the gripping portion 20 includes a pair of gripping claw portions 21 and 22 that sandwich and grip the joined pipe W1, and a claw drive portion 25 that drives the pair of gripping claw portions 21 and 22 to open and close. The pair of gripping claw portions 21 and 22 have a pair of hook claw portions 21c and 22c that extend toward the side facing each other and support the lower side of the joined pipe W1 in the closed state, and a pair of claw engaging portions 21d and 22d that protrude on the side opposite to the extending direction of the pair of hook claw portions 21c and 22c. The opening and closing mechanism 70 has a pair of operating rods 72a and 72b with which the pair of claw engaging portions 21d and 22d can engage. With the pair of claw engaging portions 21d and 22d engaged with the pair of operating rods 72a and 72b, the claw drive portion 25 uses the force to drive the pair of gripping claw portions 21 and 22 to open and close to switch the pair of receiving port gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b between the open state and the closed state. In the above configuration, a pair of gripping claw portions 21 and 22 engaged with a pair of operating rods 72a and 72b in the opening / closing mechanism 70 of the joined pipe attachment unit 50 are driven to open and close by a claw driving unit 25. Thereby, a pair of socket gripping claw portions 61a and 61b and a pair of straight pipe gripping claw portions 63a and 63b are switched between an open state and a closed state, and the joined pipe attachment unit 50 can be easily attached to and detached from the joined pipe W2.

[0143] Further, in the present embodiment, the attachment portion 60 of the joined pipe attachment unit 50 further has a lock portion 74 for locking the opening / closing mechanism 70 in a closed state where a pair of socket gripping claw portions 61a and 61b and a pair of straight pipe gripping claw portions 63a and 63b grip the joined pipe W2.

[0144] Thereby, since a pair of socket gripping claw portions 61a and 61b and a pair of straight pipe gripping claw portions 63a and 63b can be locked in the closed state, it is possible to prevent the pair of socket gripping claw portions 61a and 61b and the pair of straight pipe gripping claw portions 63a and 63b from being inadvertently opened in a state where the joined pipe attachment unit 50 is attached to the joined pipe W2. Therefore, it is possible to prevent the joined pipe attachment unit 50 from coming off the joined pipe W2.

[0145] Further, in the present embodiment, the joined pipe gripping unit 10 has a rotating portion 14 (gripping rotating portion) that is rotatable about a rotation axis Q extending in a direction perpendicular to the first axis direction of the joined pipe W1 that is gripped by the gripping portion 20, and the joined pipe gripping unit main body 11 that supports the gripping portion 20.

[0146] Thereby, the gripping portion 20 of the joined pipe gripping unit 10 is rotatable about the rotation axis Q in a state of gripping the joined pipe W1. Therefore, the joined pipe W1 gripped by the joined pipe gripping unit 10 can be positioned more accurately with respect to the joined pipe W2.

[0147] Further, in the present embodiment, the joined pipe gripping unit 10 is attached to the working machine 1000. The unit moving portion 30 and the gripping portion 20 are driven and controlled by the working machine 1000.

[0148] As a result, the unit moving part 30 and the gripping part 20 of the joint pipe gripping unit 10 can be easily driven by the working machine 1000. Therefore, by using the working machine 1000, the joint pipe W1 gripped by the joint pipe gripping unit 10 can be easily joined to the pipe to be joined W2.

[0149] The working machine 1000 according to the present embodiment is a working machine having the pipe joining device 1 of the present embodiment. As a result, by using the working machine 1000, the joint pipe W1 and the pipe to be joined W2 can be easily joined.

[0150] (Other embodiments) The embodiments of the present invention have been described above, but the above-described embodiments are merely examples for carrying out the present invention. Therefore, without being limited to the above-described embodiments, the above-described embodiments can be appropriately modified and implemented within the scope not departing from the gist thereof.

[0151] In the above embodiment, the pair of gripping claw parts 21 and 22 of the gripping part 20 grip the joint pipe W1 by sandwiching it from above. However, the pair of gripping claw parts may grip the joint pipe from a direction other than above.

[0152] In the above embodiment, in the pair of gripping claw parts 21 and 22 of the gripping part 20, the distance in the first axis direction between the pair of first claw plate parts 21a and 21a is wider than the distance in the first axis direction between the pair of second claw plate parts 22a and 22a. However, in the pair of gripping claw parts, the distance in the first axis direction between the pair of claw plate parts in one gripping claw part may be equal to or narrower than the distance in the first axis direction between the pair of claw plate parts in the other gripping claw part.

[0153] In the above embodiment, when the gripping part 20 is viewed from the side, the pair of second claw plate parts 22a and 22a are located between the pair of first claw plate parts 21a and 21a. However, when the gripping part is viewed from the side, the pair of first claw plate parts may be located between the pair of second claw plate parts. When the gripping part is viewed from the side, the first claw plate part and the second claw plate part may be alternately arranged in the first axis direction.

[0154] In the above embodiment, the joining pipe gripping unit 10 has the axial movement part 13 and the rotating part 14. However, the joining pipe gripping unit may not have at least one of the axial movement part and the rotating part.

[0155] In the above embodiment, the unit movement part 30 moves the joining pipe gripping unit 10 in the second axial direction with respect to the joined pipe mounting unit 50 so as to reduce the interval in the second axial direction between the joining pipe gripping unit 10 and the joined pipe mounting unit 50. However, the joined pipe mounting unit may have a unit movement part that moves the joined pipe mounting unit in the axial direction with respect to the joining pipe gripping unit so as to reduce the axial interval between the joining pipe gripping unit. That is, the pipe joining device only needs to have a unit movement part that moves at least one of the joining pipe gripping unit and the joined pipe mounting unit relative to the other so as to reduce the interval in the second axial direction between the joining pipe gripping unit that grips the joining pipe and the joined pipe mounting unit attached to the joined pipe.

[0156] In the above embodiment, the axial expansion and contraction part 31 of the joining pipe gripping unit 10 is, for example, a hydraulic cylinder. However, the axial expansion and contraction part may be a stretchable actuator such as a piezoelectric element. The axial expansion and contraction part may have any configuration as long as the engaging part can be moved in the axial direction in a state where the engaging part of the joining pipe gripping unit is engaged with the engaged part of the joined pipe mounting unit.

[0157] In the above embodiment, the claw driving part 25 of the gripping part 20 and the rotation driving part 14c of the rotating part 14 in the joining pipe gripping unit 10 are driven by the hydraulic pressure supplied from the work machine 1000. However, at least one of the claw driving part of the gripping part and the rotation driving part of the rotating part may be driven by other energy such as electricity.

[0158] In the above-described embodiment, the pair of receiving-port gripping claw portions 61a and 61b of the receiving-port gripping portion 61 and the pair of straight-pipe gripping claw portions 63a and 63b of the straight-pipe gripping portion 63 are connected by the pair of mounting rotation shafts 71a and 71b of the opening / closing mechanism 70. As a result, the pair of receiving-port gripping claw portions 61a and 61b and the pair of straight-pipe gripping claw portions 63a and 63b open and close in conjunction with each other. However, the pair of receiving-port gripping claw portions and the pair of straight-pipe gripping claw portions may be configured to open and close separately without being connected by the mounting rotation shafts.

[0159] In the above-described embodiment, the opening / closing mechanism 70 of the joined-pipe attachment unit 50 includes a pair of mounting rotation shafts 71a and 71b, a pair of operating rods 72a and 72b, and a pair of connection links 73 and 74. However, the opening / closing mechanism may have other configurations as long as it can open and close at least one of the pair of receiving-port gripping claw portions and the pair of straight-pipe gripping claw portions.

[0160] In the above-described embodiment, the joined-pipe attachment unit 50 has a receiving-port gripping portion 61. However, the joined-pipe attachment unit may not have a receiving-port gripping portion. Further, in the present embodiment, the receiving-port gripping portion 61 has a pair of receiving-port gripping claw portions 61a and 61b that sandwich and grip the receiving port W2a of the joined pipe W2. However, the receiving-port gripping portion may have other configurations as long as it is configured to be attached to the receiving port of the joined pipe.

[0161] In the above-described embodiment, the pair of receiving-port gripping claw portions 61a and 61b sandwich and grip the joined pipe W2 from above. However, the pair of receiving-port gripping claw portions may grip the joined pipe from a direction other than above.

[0162] In the above-described embodiment, the joined-pipe attachment unit 50 has a pair of insertion guide portions 64 for aligning the axis L1 of the insertion port W1a of the joining pipe W1 with the axis L2 of the receiving port W2a of the joined pipe W2. However, the joined-pipe attachment unit may have one insertion guide portion, or may have three or more insertion guide portions. The joined-pipe attachment unit may not have an insertion guide portion.

[0163] In the above-described embodiment, the pipe-to-be-joined mounting unit 50 has the axial-direction restricting portion 62. However, the pipe-to-be-joined mounting unit may not have the axial-direction restricting portion. In this case, the pipe-to-be-joined mounting unit may be restricted from moving in the second axial direction with respect to the pipe-to-be-joined by the socket gripping portion, the straight-pipe gripping portion, or the like.

[0164] In the above-described embodiment, the pipe-to-be-joined mounting unit 50 has the straight-pipe gripping portion 63. However, the pipe-to-be-joined mounting unit may not have the straight-pipe gripping portion. Further, in the present embodiment, the straight-pipe gripping portion 63 has a pair of straight-pipe gripping claw portions 63a and 63b that sandwich and grip the socket W2a side in the straight-pipe portion W2b of the pipe-to-be-joined W2. However, the straight-pipe gripping portion may have another configuration as long as it is configured to be attached to the socket side in the straight-pipe portion of the pipe-to-be-joined.

[0165] In the above-described embodiment, the pair of straight-pipe gripping claw portions 63a and 63b sandwich and grip the pipe-to-be-joined W2 from above. However, the pair of straight-pipe gripping claw portions may grip the pipe-to-be-joined from a direction other than above.

[0166] In the above-described embodiment, the pipe joining device 1 joins the insertion port W1a of the joining pipe W1 and the socket W2a of the pipe-to-be-joined W2 such that the axis L1 of the insertion port W1a of the joining pipe W1 coincides with the axis L2 of the socket W2a of the pipe-to-be-joined W2. However, the pipe joining device may join the insertion port of the joining pipe and the socket of the pipe-to-be-joined such that the axis of the insertion port of the joining pipe intersects the axis of the socket of the pipe-to-be-joined. That is, the pipe joining device may join the joining pipe and the pipe-to-be-joined in a bent state.

Industrial Applicability

[0167] The present invention can be used for a pipe joining device for joining the insertion port of a joining pipe to the socket of a pipe-to-be-joined that is joined to the joining pipe.

Explanation of Reference Numerals

[0168] 1 Pipe joining device 10 Joining pipe gripping unit 11 Joint pipe gripping unit body 12 Support part 13 Axial movement part (gripping movement part) 14 Rotation part (gripping rotation part) 20 Gripping part 21 First gripping claw part 22 Second gripping claw part 21c First hook claw part 22c Second hook claw part 21d First claw engagement part 22d Second claw engagement part 23, 24 Claw drive connection parts 25 Claw drive part 30 Unit movement part 31 Axial expansion and contraction part 35 Engagement part 35a Protrusion 50 Pipe to be joined mounting unit 51 Pipe to be joined mounting unit body 52 Part to be engaged 60 Mounting part 61a First socket gripping claw part (first gripping part) 61b Second socket gripping claw part (first gripping part) 63 Straight pipe gripping part (second gripping part) 70 Opening and closing mechanism 1000 Working machine W1 Joint pipe W1a Insertion port W2 Pipe to be joined W2a Socket

Claims

1. A pipe joining device for joining an insertion port of a joining pipe to a receiving port of a pipe to be joined, comprising: a joining pipe gripping unit having a joining pipe gripping unit main body and a gripping portion supported by the joining pipe gripping unit main body for gripping the joining pipe; a pipe to be joined mounting unit having a pipe to be joined mounting unit main body and a mounting portion for mounting the pipe to be joined mounting unit main body to the pipe to be joined while restricting movement in the axial direction of the pipe to be joined; a unit moving portion for moving at least one of the joining pipe gripping unit and the pipe to be joined mounting unit relative to the other so as to reduce the axial interval between the joining pipe gripping unit gripping the joining pipe and the pipe to be joined mounting unit attached to the pipe to be joined. A pipe joining device.

2. The pipe joining device according to claim 1, wherein the unit moving portion is provided on the joining pipe gripping unit. A pipe joining device.

3. The pipe joining device according to claim 2, wherein the pipe to be joined mounting unit further has an engaged portion provided on the pipe to be joined mounting unit main body, and the joining pipe gripping unit has an engaging portion supported by the joining pipe gripping unit main body and engageable with the engaged portion of the pipe to be joined mounting unit, and a gripping moving portion for movably supporting the joining pipe gripping unit main body supporting the gripping portion in the axial direction of the joining pipe. The pipe joining device further comprises: wherein the unit moving portion is configured to be able to change the relative positions of the gripping portion and the engaging portion so that the gripping portion approaches the engaging portion in the axial direction of the joining pipe. A pipe joining device.

4. The pipe joining device according to claim 3, wherein the unit moving portion has a hydraulic cylinder that expands and contracts in the axial direction of the joining pipe so as to be able to change the relative positions of the gripping portion and the engaging portion in the axial direction of the joining pipe. A pipe joining device.

5. The pipe joining device according to claim 1, wherein the pipe to be joined mounting unit has an insertion guide portion for supporting the insertion port side of the joining pipe so that the axis of the insertion port of the joining pipe coincides with the axis of the receiving port of the pipe to be joined. A pipe joining device.

6. The pipe joining device according to claim 1, wherein the mounting portion of the pipe to be joined mounting unit has a pair of first gripping portions for gripping so as to sandwich the receiving port side of the pipe to be joined. A pair of second gripping parts that grip the joined pipe so as to sandwich a position spaced apart from the gripping position of the first gripping part in the axial direction of the joined pipe; An opening / closing mechanism that switches the pair of first gripping parts and the pair of second gripping parts between an open state and a closed state; having a pipe joining device.

7. In the pipe joining device according to claim 6, the opening / closing mechanism is configured to be switchable between the open state and the closed state by the gripping parts of the joined pipe gripping unit. a pipe joining device.

8. In the pipe joining device according to claim 7, the gripping part a pair of gripping claw parts that sandwich and grip the joined pipe; a claw driving part that drives the pair of gripping claw parts to open and close; having the pair of gripping claw parts a hook claw part that extends to the side facing each other and supports the lower side of the joined pipe in the closed state; a claw engaging part that protrudes on the side opposite to the extending direction of the hook claw part; having the opening / closing mechanism has a claw engaged part with which the claw engaging part can be engaged; in a state where the claw engaging part is engaged with the claw engaged part, the claw driving part uses the force for driving the pair of gripping claw parts to open and close, and switches the pair of first gripping parts and the pair of second gripping parts between the open state and the closed state. a pipe joining device.

9. In the pipe joining device according to claim 6, the mounting part of the joined pipe mounting unit further has a locking part for locking the opening / closing mechanism in a closed state where the pair of first gripping parts and the pair of second gripping parts grip the joined pipe. a pipe joining device.

10. In the pipe joining device according to claim 1, the joined pipe gripping unit has a gripping rotating part that can rotate around a rotation axis extending in a direction perpendicular to the axial direction of the joined pipe gripped by the gripping part and that supports the joined pipe gripping unit body for the gripping part. a pipe joining device.

11. In the pipe joining device according to any one of claims 1 to 10, the joined pipe gripping unit is attached to a working machine, and the unit moving part and the gripping part are driven and controlled by the working machine. a pipe joining device.

12. A working machine having the pipe joining device according to claim 11.

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