Joint angle adjustment device and joint angle adjustment method

Abstract

To realize a configuration capable of efficiently adjusting an angle of an axial line of an insertion port of a pipe to an axial line of a socket of a pipe to be joined.SOLUTION: A joint angle adjustment device 1 adjusts an angle of an axial line L1 of an insertion port W1a of a pipe W1, which has an insertion port and a socket, relative to an axial line L2 of a socket W2a of a pipe to be joined W2, which also has an insertion port and a socket. The joint angle adjustment device 1 has: a pipe to be joined mounting part 10 that is attached to the socket W2a side of the pipe to be joined W2; a pipe positioning part 20 that is supported by the pipe to be joined mounting part 10, and positions the axial line L1 of the insertion port W1a of the pipe W1 relative to the axial line L2 of the socket W2a of the pipe to be joined W2; and a joint angle adjustment part 30 that adjusts an angle between the axial line L1 of the insertion port W1a of the pipe W and the axial line L2 of the socket W2a of the pipe to be joined W2 by moving the pipe positioning part 20 relative to the pipe to be joined mounting part 10 so that the axial line L1 of the insertion port W1a of the pipe W and the axial line L2 of the socket W2a of the pipe to be joined W2 intersect.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a joining angle adjustment device and a joining angle adjustment method for adjusting the axis of an insertion port of a pipe having an insertion port and a receiving port with respect to the axis of the receiving port of a pipe to be joined having an insertion port and a receiving port.

Background Art

[0002] In laying work of a ductile iron pipe (an example of a water pipe) having an insertion port and a receiving port, etc., a pipe joining operation for joining a pipe to a pipe to be joined arranged in a trench in the ground is performed. In this pipe joining operation, an operator first needs to suspend the pipe to be joined to the pipe in the trench. Thereafter, the operator needs to align the pipe and the pipe to be joined in the trench and insert the insertion port of the pipe into the receiving port of the pipe to be joined, and join the insertion port and the receiving port.

[0003] In such a conventional pipe joining operation, the operator needs to suspend the pipe in the trench while checking the position of the pipe with respect to the pipe to be joined in the trench. Further, the operator needs to manually align the pipe and the pipe to be joined in the trench.

[0004] As described above, in the conventional pipe joining operation, since the work burden on the operator is large and it is necessary to work in a narrow trench, the workability is not very good.

[0005] On the other hand, for example, Patent Document 1 discloses a pipe joining attachment for a working machine having a gripping portion for gripping a pipe and a pipe-to-be-joined contact portion that is located in the axial direction of the insertion port of the pipe gripped by the gripping portion and contacts the outer peripheral surface on the receiving port side of the pipe to be joined to the pipe. By using this pipe joining attachment, the pipe can be gripped and the insertion port of the pipe can be inserted into the receiving port of the pipe to be joined. The pipe joining attachment is attached to the arm of the working machine.

Prior Art Documents

Patent Documents

[0006] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2023-62220 Summary of the Invention Problems to be Solved by the Invention

[0007] By the way, the attachment for pipe joining disclosed in the above Patent Document 1 inserts the insertion port of the pipe into the receiving port of the pipe to be joined while gripping the pipe. Therefore, the attachment for pipe joining has a complex structure, is large-sized and heavy. Thus, the working machine to which the attachment for pipe joining for gripping the pipe is attached also becomes large-sized. When joining the insertion port of the pipe and the receiving port of the pipe to be joined in a state where the axis of the insertion port of the pipe is angle-adjusted to a predetermined angle with respect to the axis of the receiving port of the pipe to be joined by the attachment for pipe joining configured as described above, the attachment for pipe joining gripping the pipe has to be operated by the working machine to a predetermined angle with respect to the pipe to be joined. Therefore, in a narrow construction site or the like, it may take time to adjust the angle of the attachment for pipe joining by the large-sized working machine.

[0008] On the other hand, there is a demand for a joining angle adjustment device that can efficiently adjust the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined without the operator working in the trench.

[0009] An object of the present invention is to realize a configuration capable of efficiently adjusting the angle of the axis of the insertion port of a pipe with respect to the axis of the receiving port of a pipe to be joined in a joining angle adjustment device for joining the insertion port of the pipe to the receiving port of the pipe to be joined. Means for Solving the Problems

[0010] The joining angle adjustment device according to an embodiment of the present invention is a joining angle adjustment device that adjusts the axis of the insertion port of a pipe having an insertion port and a receiving port with respect to the axis of the receiving port of a pipe to be joined having an insertion port and a receiving port. This joining angle adjustment device includes a pipe-to-be-joined attachment portion attached to the receiving port side of the pipe to be joined, a pipe positioning portion supported by the pipe-to-be-joined attachment portion for positioning the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined, and a joining angle adjustment portion that moves the pipe positioning portion with respect to the pipe-to-be-joined attachment portion so that the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined intersect, thereby adjusting the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined (first configuration).

[0011] In the joining angle adjustment device having the above configuration, with the axis of the insertion port of the pipe positioned with respect to the axis of the receiving port of the pipe to be joined by the pipe positioning portion, the joining angle adjustment portion adjusts the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined so that the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined intersect. The insertion port of the pipe is positioned at a predetermined angle with respect to the pipe to be joined in a state where it can be joined to the receiving port of the pipe to be joined. Therefore, it becomes unnecessary for the operator to position the pipe at a position where the insertion port of the pipe can be joined to the receiving port of the pipe to be joined and at a position where the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined is a predetermined angle.

[0012] Therefore, it is possible to realize a joining angle adjustment device that can efficiently adjust the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined without the operator performing complicated alignment work in the groove.

[0013] In the first configuration, the pipe positioning portion includes a vertical direction positioning portion that positions the vertical direction position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined. (Second configuration).

[0014] The pipe positioning part positions the vertical position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined. Therefore, even when the joining angle adjusting device moves the insertion port of the pipe so that the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe intersect, the vertical displacement between the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe is suppressed. Thus, the adjustment of the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined can be efficiently performed.

[0015] In the second configuration, the pipe positioning part includes a horizontal positioning part that positions the horizontal position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined (third configuration).

[0016] The pipe positioning part positions the horizontal position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined. Therefore, even when the joining angle adjusting device moves the insertion port of the pipe so that the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe intersect, the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe do not shift horizontally. Thus, the adjustment of the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined can be efficiently performed.

[0017] In the first configuration, the pipe to be joined mounting part has a mounting part positioning part that positions the mounting position of the pipe to be joined mounting part with respect to the direction orthogonal to the axis of the receiving port of the pipe to be joined (fourth configuration).

[0018] The pipe to be joined mounting part positions the mounting position of the pipe to be joined mounting part with respect to the direction orthogonal to the axis of the receiving port of the pipe to be joined by the mounting part positioning part, thereby improving the mounting accuracy of the pipe to be joined mounting part with respect to the axis of the receiving port of the pipe to be joined. Thus, the displacement of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined when the insertion port of the pipe is moved so that the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe intersect is suppressed. Thereby, the adjustment of the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined can be efficiently performed.

[0019] In the fourth configuration, the joined pipe attachment portion rotatably supports the pipe positioning portion about a rotation axis perpendicular to the axis of the receiving port of the joined pipe. The joined pipe attachment portion has an axial positioning portion that positions the rotation axis in the axial direction of the receiving port of the joined pipe (fifth configuration).

[0020] The axial positioning portion positions the position of the rotation axis of the pipe positioning portion with respect to the receiving port of the joined pipe in the axial direction of the receiving port of the joined pipe. Thereby, when the pipe positioning tool is rotated about the rotation axis by the joining angle adjustment portion, the insertion port of the pipe is disposed at a position where it can be joined to the receiving port of the joined pipe. Therefore, the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the joined pipe can be efficiently adjusted.

[0021] In the first configuration, it further has a pipe gripping portion that grips the insertion port side of the pipe, and a moving portion that moves at least one of the joined pipe attachment portion and the pipe gripping portion so as to join the insertion port of the pipe and the receiving port of the joined pipe (sixth configuration).

[0022] The insertion port of the pipe positioned by the pipe positioning portion can be moved to the receiving port of the joined pipe to which the joined pipe attachment portion is attached and joined to the receiving port. Therefore, the insertion port of the pipe can be easily joined to the receiving port of the joined pipe at an arbitrary angle.

[0023] In the sixth configuration, the moving portion is a joined pipe moving portion that moves the joined pipe attachment portion in the axial direction of the receiving port of the joined pipe, or a pipe moving portion that moves the pipe gripping portion in the axial direction of the insertion port of the pipe (seventh configuration).

[0024] Move the pipe among the pipe and the pipe to be joined that is moved by the moving part in the axial direction of the pipe. As a result, the insertion port of the pipe whose angle is adjusted so that the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe intersect is moved by the moving part in the axial direction of the insertion port of the pipe and joined to the receiving port of the pipe to be joined. Therefore, the insertion port of the pipe can be easily joined to the receiving port of the pipe to be joined at an arbitrary angle.

[0025] The joining angle adjustment method according to an embodiment of the present invention is a pipe joining angle adjustment method for adjusting the angle of the axis of the insertion port of a pipe with respect to the axis of the receiving port of a pipe to be joined to the pipe. A step of attaching a pipe to be joined attachment part to the receiving port side of the pipe to be joined, a pipe positioning step of positioning the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe by a pipe positioning part, and the pipe positioning part is moved relative to the pipe to be joined attachment part by a joining angle adjustment part so that the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined intersect, thereby adjusting the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined (first method).

[0026] In the above method, with the axis of the insertion port of the pipe positioned with respect to the axis of the receiving port of the pipe to be joined by the pipe positioning part, the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined is adjusted by the joining angle adjustment part so that they intersect. The insertion port of the pipe is positioned at a predetermined angle with respect to the receiving port of the pipe to be joined in a state where it can be joined to the receiving port of the pipe to be joined. Therefore, the operation of positioning the joining angle adjustment device at a predetermined angle with respect to the insertion port of the pipe or the receiving port of the pipe to be joined becomes unnecessary.

[0027] Therefore, it is possible to realize a joining angle adjustment method that enables an operator to efficiently adjust the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined without working in the groove.

[0028] In the first method, the joining angle adjustment method further includes a vertical positioning step of positioning the vertical position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined by a vertical positioning unit, and a horizontal positioning step of positioning the horizontal position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined by a horizontal positioning unit (second method).

[0029] The joining angle adjustment device positions the vertical position and the horizontal position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined. Therefore, even if the insertion port of the pipe is moved so that the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe intersect, the axis of the receiving port of the pipe to be joined and the axis of the insertion port of the pipe do not shift in the vertical and horizontal directions. Thus, the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined can be efficiently adjusted.

[0030] In the second method, in the vertical positioning step, after supporting the pipe by a support part whose height can be adjusted, the height of the support part is lowered so that the insertion port side of the pipe is held by the vertical positioning unit (third method).

[0031] By lowering the height of the support part that supports the pipe as described above, the vertical position of the axis of the insertion port of the pipe can be easily positioned by the vertical positioning unit. Thereby, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined can be efficiently performed.

[0032] In the first method, the method further includes a pipe gripping step of gripping the insertion port side of the pipe by a pipe gripping part, and a moving step of moving at least one of the pipe to be joined mounting part and the pipe gripping part so that the insertion port of the pipe and the receiving port of the pipe to be joined are joined by a moving part (fourth method).

[0033] The insertion port of the pipe positioned by the pipe positioning portion can be moved to the receiving port of the pipe to be joined to which the pipe-to-be-joined mounting portion is attached, and joined to the receiving port. Therefore, the insertion port of the pipe can be easily joined to the receiving port of the pipe to be joined at an arbitrary angle.

Advantages of the Invention

[0034] A joining angle adjustment device according to an embodiment of the present invention is a joining angle adjustment device that adjusts the axis of the insertion port of a pipe having an insertion port and a receiving port with respect to the axis of the receiving port of a pipe to be joined having an insertion port and a receiving port. This joining angle adjustment device includes a pipe-to-be-joined mounting portion attached to the receiving port side of the pipe to be joined, a pipe positioning portion supported by the pipe-to-be-joined mounting portion for positioning the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined, and a joining angle adjustment portion that adjusts the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined by moving the pipe positioning portion with respect to the pipe-to-be-joined mounting portion so that the axis of the pipe and the axis of the pipe to be joined intersect.

[0035] The joining angle adjustment device having the above-described configuration does not need to be positioned at a predetermined angle with respect to the insertion port of the pipe or the receiving port of the pipe to be joined. Therefore, it is possible to realize a joining angle adjustment device that can efficiently adjust the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined without the operator working in the trench.

Brief Description of the Drawings

[0036]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

BEST MODE FOR CARRYING OUT THE INVENTION

[0037] Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same parts are denoted by the same reference numerals, and the description of the same parts will not be repeated. Note that the dimensions of the constituent members in each figure do not faithfully represent the actual dimensions of the constituent members and the dimensional ratios of the constituent members.

[0038] In the following description, the axial direction means the direction in which the axis L2 of the tube to be joined W2 extends. The left - right direction means the horizontal direction and is perpendicular to the axial direction. The horizontal direction includes not only the strict horizontal direction but also a direction intersecting the up - down direction. The up - down direction includes not only the strict vertical direction but also a direction intersecting the left - right direction.

[0039] Also, in the following description, expressions such as "fix", "connect", and "attach" (hereinafter, "fix" etc.) include not only the case where members are directly fixed etc., but also the case where they are fixed etc. via other members. That is, in the following description, the expressions of "fix" etc. include the meanings of direct and indirect fixing etc. between members.

[0040] [Embodiment 1] (Joining Angle Adjusting Device) With reference to FIGS. 1 to 4, the joining angle adjustment device 1 according to Embodiment 1 of the present invention will be described. FIG. 1 is a top view showing a schematic configuration of the joining angle adjustment device 1 according to Embodiment 1 of the present invention. FIG. 2 is a cross-sectional view taken along the line II-II in FIG. 1. FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2. FIG. 4 is a cross-sectional view taken along the line IV-IV in FIG. 2.

[0041] As shown in FIGS. 1 and 2, the joining angle adjustment device 1 is a device for adjusting the joining angle, which is the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined, when joining the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined. The joining angle adjustment device 1 is used in a groove in which the pipe W1 and the pipe W2 to be joined are laid. The joining angle adjustment device 1 is installed in the groove, for example, by a working machine. The joining angle adjustment device 1 has a size that can be installed in the groove.

[0042] The pipe W1 and the pipe W2 to be joined are, for example, water pipes. The pipe W1 and the pipe W2 to be joined may be pipes other than water pipes, such as sewer pipes, agricultural water pipes, and gas pipes. The pipe W1 and the pipe W2 to be joined may be ductile cast iron pipes, other metal pipes, or resin pipes.

[0043] The joining angle adjustment device 1 moves the insertion port W1a of the pipe W1 to a position where the axis L2 of the receiving port W2a of the pipe W2 to be joined intersects with the axis L1 of the insertion port W1a of the pipe W1 and the insertion port W1a of the pipe W1 can be inserted into the receiving port W2a of the pipe W2 to be joined. Specifically, as shown in FIGS. 1 and 2, the joining angle adjustment device 1 includes a pipe W2 mounting portion 10, a pipe positioning portion 20, and a joining angle adjustment portion 30.

[0044] The joined pipe attachment portion 10 is attached to the receiving port W2a side of the joined pipe W2. Specifically, the joined pipe attachment portion 10 is attached to the receiving port W2a side in the straight pipe portion W2b of the joined pipe W2. Thereby, when the insertion port W1a of the pipe W1 is moved by the joint angle adjustment portion 30 as described later, the joined pipe attachment portion 10 contacts the receiving port W2a of the joined pipe W2, and the reaction force generated when moving the insertion port W1a of the pipe W1 can be received by the receiving port W2a of the joined pipe W2. When the insertion port W1a of the pipe W1 is pulled toward the receiving port W2a of the joined pipe W2 by the moving portion 66 as described later, the joined pipe attachment portion 10 contacts the receiving port W2a of the joined pipe W2, and the reaction force generated during the pulling can be received by the receiving port W2a of the joined pipe W2.

[0045] As shown in FIG. 3, the joined pipe attachment portion 10 includes an attachment portion frame 11, a pair of attachment members 12 and 13, and an attachment member driving portion 14.

[0046] The attachment portion frame 11 supports a pair of attachment members 12 and 13 and the attachment member driving portion 14. The attachment portion frame 11 has a pair of plate-like members 11a and 11b arranged to face each other. The attachment portion frame 11 is configured such that the receiving port W2a of the joined pipe W2 can be disposed between the pair of plate-like members 11a and 11b.

[0047] The pair of attachment members 12 and 13 are attached to the straight pipe portion W2b by sandwiching the straight pipe portion W2b of the joined pipe W2. The pair of attachment members 12 and 13 have pipe attachment portions 12a and 13a and driving force input portions 12b and 13b. The pair of attachment members 12 and 13 are connected to the attachment portion frame 11 via a pair of attachment member support members 15.

[0048] The pipe attachment portions 12a and 13a have a semi-circular shape that follows the outer peripheral surface of the straight pipe portion W2b of the pipe to be joined W2 when viewed in the axial direction. The pipe attachment portions 12a and 13a are attached to the outer peripheral surface of the straight pipe portion W2b of the pipe to be joined W2. The driving force input portions 12b and 13b are connected to the pipe attachment portions 12a and 13a so that the driving force input from the attachment member driving portion 14 can switch the pipe attachment portions 12a and 13a between a closed state in which the straight pipe portion W2b of the pipe to be joined W2 is sandwiched and an open state in which they are separated from the straight pipe portion W2b of the pipe to be joined W2. In Embodiment 1, the driving force input portions 12b and 13b are connected to the upper ends of the pipe attachment portions 12a and 13a. The pair of attachment members 12 and 13 are connected at the connection portions between the pipe attachment portions 12a and 13a and the driving force input portions 12b and 13b so as to be rotatable about an axis extending in the axial direction, for example, by a rotating shaft.

[0049] The attachment member driving portion 14 is provided between the driving force input portions 12b and 13b so as to be able to transmit a driving force to the driving force input portions 12b and 13b. The attachment member driving portion 14 applies a driving force to the driving force input portions 12b and 13b to switch the pipe attachment portions 12a and 13a between the open state and the closed state. In Embodiment 1, the attachment member driving portion 14 switches the pipe attachment portions 12a and 13a between the open state and the closed state by expanding and contracting to change the distance between the driving force input portions 12b and 13b. The attachment member driving portion 14 is, for example, a hydraulic cylinder.

[0050] With the above configuration, the pair of attachment members 12 and 13 can be switched between a closed state in which the pipe attachment portions 12a and 13a sandwich the straight pipe portion W2b of the pipe to be joined W2 and an open state in which the pipe attachment portions 12a and 13a are separated from the straight pipe portion W2b of the pipe to be joined W2 by the driving force generated by the attachment member driving portion 14. With the joined pipe attachment portion 10 attached to the straight pipe portion W2b of the pipe to be joined W2, the pair of attachment members 12 and 13 sandwich the straight pipe portion W2b. The attachment frame 11 is attached to the pipe to be joined W2 via the pair of attachment members 12 and 13. By sandwiching the straight pipe portion W2b with the pair of attachment members 12 and 13, the position of the joined pipe attachment portion 10 in the direction perpendicular to the axis L2 of the socket W2a of the pipe to be joined W2 is positioned.

[0051] As shown in FIGS. 1 and 2, the pipe positioning portion 20 positions the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe to be joined W2. Specifically, the pipe positioning portion 20 positions the vertical position and the horizontal position of the straight pipe portion W1b of the pipe W1 with respect to the receiving port W2a of the pipe to be joined W2. The pipe positioning portion 20 includes a positioning portion frame 21, a vertical positioning portion 220, and a horizontal positioning portion 230.

[0052] The positioning portion frame 21 supports the vertical positioning portion 220 and the horizontal positioning portion 230. The positioning portion frame 21 has a pair of plate-like members 21a and 21b arranged to face each other. The positioning portion frame 21 is configured such that the insertion port W1a of the pipe W1 can be arranged between the pair of plate-like members 21a and 21b. The positioning portion frame 21 is connected to the mounting portion frame 11 of the pipe to be joined mounting portion 10 via the joining angle adjustment portion 30.

[0053] As shown in FIG. 4, the vertical positioning portion 220 has a pair of vertical positioning members 221 and 222. The pair of vertical positioning members 221 and 222 position the vertical position of the insertion port W1a of the pipe W1 with respect to the pipe to be joined mounting portion 10 by supporting the straight pipe portion W1b of the pipe W1 from below. That is, the vertical positioning portion 220 positions the vertical position of the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe to be joined W2. The pair of vertical positioning members 221 and 222 are rectangular plate-like members. The vertical positioning member 221 is provided at the lower end portion of the plate-like member 21a. The vertical positioning member 222 is provided at the lower end portion of the plate-like member 21b. The pair of vertical positioning members 221 and 222 have a support surface that contacts the outer peripheral surface below the straight pipe portion W1b of the pipe W1.

[0054] The pair of vertical positioning members 221 and 222 are configured to be switchable between an open state in which they extend in the direction of the axis L1 of the insertion port W1a of the pipe W1 and a closed state in which they extend in the left - right direction by the driving forces respectively input from the vertical positioning member driving parts 223 and 224. The vertical positioning member 221 provided on the plate - like member 21a extends toward the plate - like member 21b in the closed state. The vertical positioning member 222 provided on the plate - like member 21b extends toward the plate - like member 21a in the closed state.

[0055] In the open state, the insertion port W1a of the pipe W1 is movable in the vertical direction between the plate - like members 21a and 21b with respect to the positioning part frame 21. That is, in the open state, the insertion port W1a of the pipe W1 is movable upward from below between the pair of plate - like members 21a and 21b. In the closed state, the insertion port W1a of the pipe W1 located between the pair of plate - like members 21a and 21b can be supported from below. That is, in the closed state, the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe to be joined W2 is positioned in the vertical direction. In Embodiment 1, the pair of vertical positioning members 221 and 222 are connected to the plate - like members 21a and 21b in a rotatable state about the rotation axes L3 and L4 extending in the vertical direction by, for example, a rotation axis (not shown).

[0056] The vertical positioning member driving part 223 is provided at the end of the vertical positioning member 221 so as to be able to transmit a rotational driving force about the rotation axis L3 to the vertical positioning member 221. The vertical positioning member driving part 224 is provided at the end of the vertical positioning member 222 so as to be able to transmit a rotational driving force about the rotation axis L4 to the vertical positioning member 222.

[0057] The vertical positioning member driving parts 223 and 224 apply a rotational driving force to the vertical positioning members 221 and 222 to switch the vertical positioning members 221 and 222 between the open state and the closed state. In Embodiment 1, the vertical positioning member driving parts 223 and 224 switch the vertical positioning members 221 and 222 between the open state and the closed state by changing the directions of the vertical positioning members 221 and 222. The vertical positioning member driving parts 223 and 224 are, for example, hydraulic motors.

[0058] The horizontal positioning part 230 has a pair of horizontal positioning members 231 and 232. The pair of horizontal positioning members 231 and 232 contact the straight pipe part W1b of the pipe W1 from the left - right direction of the straight pipe part W1b of the pipe W1, thereby positioning the horizontal position of the straight pipe part W1b of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined. The pair of horizontal positioning members 231 and 232 are rectangular plate - shaped members. The pair of horizontal positioning members 231 and 232 are located between the plate - shaped members 21a and 21b. The horizontal positioning member 231 is provided on the plate - shaped member 21a via a horizontal positioning member driving part 233. The horizontal positioning member 232 is provided on the plate - shaped member 21b via a horizontal positioning member driving part 234. The pair of horizontal positioning members 231 and 232 each have a planar contact surface that can contact the outer peripheral surface of the straight pipe part W1b of the pipe W1. The contact surfaces of the pair of horizontal positioning members 231 and 232 contact the left - right outer peripheral surfaces of the straight pipe part W1b of the pipe W1 respectively.

[0059] The pair of horizontal positioning members 231 and 232 are configured to be switchable between a closed state in which they contact the insertion port W1a of the pipe W1 from the left - right direction and an open state in which they are separated from the insertion port W1a of the pipe W1 by the driving forces respectively input from the horizontal positioning member driving parts 233 and 234. In Embodiment 1, the horizontal positioning members 231 and 232 are respectively connected to the horizontal positioning member driving parts 233 and 234 that move in the left - right direction.

[0060] In the open state, the insertion port W1a of the pipe W1 is movable in the left-right direction between the plate-like members 21a and 21b with respect to the positioning part frame 21. In the closed state, the insertion port W1a of the pipe W1 located between the pair of plate-like members 21a and 21b is in contact with the left-right direction. That is, the closed state is a state in which the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe to be joined W2 is positioned in the horizontal direction. In Embodiment 1, the horizontal positioning members 231 and 232 are provided on the plate-like members 21a and 21b so as to be movable in the horizontal direction by, for example, the horizontal positioning member driving parts 233 and 234.

[0061] The horizontal positioning member driving part 233 is provided on the upper part of the plate-like member 21a so as to be able to transmit a driving force in the left-right direction with respect to the horizontal positioning member 231. Further, the horizontal positioning member driving part 233 is connected to the upper end part of the horizontal positioning member 231. The horizontal positioning member driving part 234 is provided on the upper part of the plate-like member 21b so as to be able to transmit a driving force in the left-right direction with respect to the horizontal positioning member 232. Further, the horizontal positioning member driving part 234 is connected to the upper end part of the horizontal positioning member 232. The horizontal positioning member driving parts 233 and 234 apply a driving force to the horizontal positioning members 231 and 232 so as to switch the horizontal positioning members 231 and 232 between the open state and the closed state. In Embodiment 1, the horizontal positioning member driving parts 233 and 234 switch the horizontal positioning members 231 and 232 between the open state and the closed state by changing the left-right positions of the horizontal positioning members 231 and 232. The horizontal positioning member driving parts 233 and 234 are, for example, hydraulic cylinders.

[0062] As described above, in a state where the insertion port W1a of the pipe W1 is positioned between the plate-like members 21a and 21b, the pipe positioning portion 20 positions the vertical position of the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined by the vertical positioning portion 220. Further, the pipe positioning portion 20 can position the horizontal position of the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined by the horizontal positioning portion 230. The vertical positioning portion 220 and the horizontal positioning portion 230 are provided on the positioning portion frame 21. Further, the positioning portion frame 21 is connected to the attachment portion frame 11 of the pipe W2 to be joined attachment portion 10 via the joining angle adjustment portion 30.

[0063] The joining angle adjustment portion 30 adjusts the joining angle, which is the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined, when the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined are joined, by moving the pipe positioning portion 20. The joining angle adjustment portion 30 has a rotation axis 31 and a pipe positioning portion drive portion 32.

[0064] The rotation axis 31 is a rotation axis for the positioning portion frame 21 provided with the vertical positioning portion 220 and the horizontal positioning portion 230. The rotation axis 31 is provided on the attachment portion frame 11 of the pipe W2 to be joined attachment portion 10. In Embodiment 1, the rotation axis 31 is rotatably supported by the plate-like member 11a of the attachment portion frame 11 with the rotation axis L5, which is the axis, oriented in the vertical direction. That is, the rotation axis L5 extends in a direction perpendicular to the axis L2 of the receiving port W2a of the pipe W2 to which the attachment portion frame 11 is attached.

[0065] Further, the rotation axis 31 is connected to the plate-like member 21a of the positioning portion frame 21. Therefore, the positioning portion frame 21 is connected to the plate-like member 21a rotatably about the rotation axis L5 by the rotation axis 31. That is, the pipe joint portion mounting portion 10 supports the pipe positioning portion 20 rotatably about the rotation axis L5 perpendicular to the axis L2 of the receiving port W2a of the pipe to be joined W2 by the rotation axis 31. Further, the positioning portion frame 21 is supported by the mounting portion frame 11 rotatably about the rotation axis L5 of the rotation axis 31 with respect to the mounting portion frame 11 by the driving force input from the pipe positioning portion driving portion 32.

[0066] The pipe positioning portion driving portion 32 rotates and moves the positioning portion frame 21 with respect to the mounting portion frame 11 about the rotation axis L5 of the rotation axis 31. The pipe positioning portion driving portion 32 is positioned between the mounting portion frame 11 and the positioning portion frame 21 so as to be able to transmit the driving force to the mounting portion frame 11 and the positioning portion frame 21. The pipe positioning portion driving portion 32 gives a driving force capable of adjusting the angle of the positioning portion frame 21 with respect to the mounting portion frame 11 to the mounting portion frame 11 and the positioning portion frame 21. In the first embodiment, the pipe positioning portion driving portion 32 adjusts the angle of the positioning portion frame 21 with respect to the mounting portion frame 11 by expanding and contracting to change the distance between the plate-like members 11b and 21b. The pipe positioning portion driving portion 32 is, for example, a hydraulic cylinder.

[0067] With the above configuration, the joint angle adjustment unit 30 can move the positioning unit frame 21 relative to the mounting unit frame 11 so that the axis L2 of the receiving port W2a of the pipe W2 to which the mounting unit frame 11 is attached and the axis L1 of the insertion port W1a of the pipe W1 positioned by the pipe positioning unit 20 intersect, by the driving force generated by the pipe positioning unit driving unit 32. The joint angle adjustment unit 30 increases or decreases the distance between the plate-like member 11b and the plate-like member 21b according to the joint angle between the axis L2 of the receiving port W2a of the pipe W2 to be joined and the axis L1 of the insertion port W1a of the pipe W1, so that the axis L2 of the receiving port W2a of the pipe W2 to be joined and the axis L1 of the insertion port W1a of the pipe W1 intersect, starting from a state where the axis L2 of the receiving port W2a of the pipe W2 to which the mounting unit frame 11 is attached and the axis L1 of the insertion port W1a of the pipe W1 positioned by the pipe positioning unit 20 do not intersect. Thereby, the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the joined pipe W2 can be adjusted.

[0068] The joint angle adjustment device 1 according to the first embodiment adjusts the angle of the axis L1 of the insertion port W1a of the pipe W1 having the insertion port and the receiving port with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined having the insertion port and the receiving port. The joint angle adjustment device 1 includes a pipe W2 mounting portion 10 attached to the receiving port W2a side of the pipe W2 to be joined, a pipe positioning unit 20 supported by the pipe W2 mounting portion 10 for positioning the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined, and a joint angle adjustment unit 30 that adjusts the angle between the axis L1 of the insertion port W1a of the pipe W and the axis L2 of the receiving port W2a of the pipe W2 to be joined by moving the pipe positioning unit 20 relative to the pipe W2 mounting portion 10 so that the axis L1 of the insertion port W1a of the pipe W and the axis L2 of the receiving port W2a of the pipe W2 to be joined intersect.

[0069] In the above configuration, with the pipe positioning unit 20 positioning the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined, the joining angle adjustment unit 30 adjusts the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined so that the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined intersect. The insertion port W1a of the pipe W1 is positioned at a predetermined angle with respect to the pipe W2 to be joined in a state where it can be joined to the receiving port W2a of the pipe W2 to be joined. Therefore, the operation of positioning the insertion port W1a of the pipe W1 by the operator at a predetermined angle with respect to the receiving port W2a of the pipe W2 to be joined becomes unnecessary.

[0070] Therefore, it is possible to realize the joining angle adjustment device 1 that can efficiently adjust the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined without the operator performing the operation in the trench.

[0071] Also, in Embodiment 1, the pipe positioning unit 20 includes a vertical direction positioning unit 220 that positions the vertical direction position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined.

[0072] In the above configuration, the pipe positioning unit 20 positions the vertical direction position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined. Therefore, even if the joining angle adjustment device 1 moves the insertion port W1a of the pipe W1 so that the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined intersect, the vertical direction displacement between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined is suppressed.

[0073] Also, in Embodiment 1, the pipe positioning unit 20 includes a horizontal direction positioning unit 230 that positions the horizontal direction position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined.

[0074] In the above configuration, the pipe positioning unit 20 positions the horizontal position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined. Therefore, even if the joining angle adjustment device 1 moves the insertion port W1a of the pipe W1 so that the axis L2 of the receiving port W2a of the pipe W2 to be joined intersects the axis L1 of the insertion port W1a of the pipe W1, the horizontal displacement between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined is suppressed.

[0075] In this way, the pipe positioning unit 20 positions the insertion port W1a of the pipe W1 at a position where it can be joined to the receiving port W2a of the pipe W2 to be joined by the vertical positioning unit 220 and the horizontal positioning unit 230, and then adjusts the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined. Therefore, it is not necessary to adjust the position of the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined after the angle adjustment. Thus, the adjustment of the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined can be performed efficiently.

[0076] [Modification Example 1 of Embodiment 1] Next, with reference to FIGS. 1, 2, and 4, a modification example 1 of Embodiment 1 of the joining angle adjustment device 1 will be described. FIG. 5 is a view of the attachment portion positioning unit 40 of the joining angle adjustment device 1 according to the modification example 1 of Embodiment 1, as viewed axially from the side of the pipe W2 to be joined. The joining angle adjustment device 1 may have an attachment portion positioning unit 40 that positions the position of the attachment portion 10 of the joining angle adjustment device with respect to the straight pipe portion W2b of the pipe W2 to be joined.

[0077] As shown in FIGS. 1 and 2, the attachment portion 10 of the pipe to be joined has an attachment portion positioning unit 40. The attachment portion positioning unit 40 is a plate-like member. The attachment portion positioning unit 40 is provided on the attachment portion frame 11. The attachment portion positioning unit 40 is located between the plate-like members 11a and 11b.

[0078] As shown in FIG. 5, the attachment portion positioning portion 40 has a first contact surface 40a that contacts the outer peripheral surface of the straight pipe portion W2b of the pipe W2 to be joined at the lower end portion, and a second contact surface 40b. The first contact surface 40a and the second contact surface 40b are planes substantially parallel to the axis L2 of the pipe W2 to be joined. Further, the first contact surface 40a and the second contact surface 40b are planes that intersect each other. In Modification 1 of Embodiment 1, when viewed in the direction of the axis L2 from the straight pipe portion W2b side of the pipe W2 to be joined, the first contact surface 40a contacts the outer peripheral surface of the straight pipe portion W2b of the pipe W2 to be joined to the left of the perpendicular line passing through the center of the pipe W2 to be joined. When viewed in the direction of the axis L2 from the straight pipe portion W2b side of the pipe W2 to be joined, the second contact surface 40b contacts the outer peripheral surface of the straight pipe portion W2b of the pipe W2 to be joined to the right of the perpendicular line passing through the center of the pipe W2 to be joined.

[0079] When the first contact surface 40a and the second contact surface 40b contact the outer peripheral surface of the straight pipe portion W2b of the pipe W2 to be joined, the position on the plane perpendicular to the axis L2 of the receiving port W2a of the pipe W2 to be joined is determined. That is, the attachment portion positioning portion 40 provided on the attachment portion frame 11 positions the attachment position of the pipe attachment portion 10 in the pipe W2 to be joined in a direction perpendicular to the axis L2 of the receiving port W2a of the pipe W2 to be joined. Since the pipe attachment portion 10 is positioned with respect to the straight pipe portion W2b of the pipe W2 to be joined, it can be easily attached to the pipe W2 to be joined by a pair of attachment members 12 and 13.

[0080] In Modification 1 of Embodiment 1, the pipe attachment portion 10 has an attachment portion positioning portion 40 that positions the attachment position of the pipe attachment portion 10 in a direction perpendicular to the axis L2 of the receiving port W2a of the pipe W2 to be joined.

[0081] In the above configuration, the pipe fitting portion 10 to be joined positions the mounting position of the pipe fitting portion 10 with respect to the direction orthogonal to the axis L2 of the receiving port W2a of the pipe W2 to be joined. For this reason, the positioning accuracy of the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined is improved by the pipe positioning portion 20. Therefore, the operation of adjusting the position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined becomes unnecessary. Further, it can be easily attached to the pipe W2 to be joined by the pair of attachment members 12 and 13. Thereby, the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined can be efficiently adjusted.

[0082] [Modification Example 2 of Embodiment 1] Next, with reference to FIGS. 1 and 2, a modification example 2 of Embodiment 1 of the joining angle adjusting device 1 will be described. The joining angle adjusting device 1 may have an axial positioning portion 50 that positions the position of the axis L2 with respect to the straight pipe portion W2b of the pipe W2 to be joined.

[0083] As shown in FIGS. 1 and 2, the pipe fitting portion 10 to be joined has an axial positioning portion 50. The axial positioning portion 50 has an engaging portion 51 and a guiding portion 52. The axial positioning portion 50 is provided on the mounting portion frame 11. The axial positioning portion 50 is located between the plate-like members 11a and 11b.

[0084] The engaging portion 51 is a plate-like member. The engaging portion 51 is located between the plate-like members 11a and 11b. When the mounting portion frame 11 is attached to the pipe W2 to be joined so that the insertion port W1a of the pipe W1 rotated about the rotation axis L5 of the rotation shaft 31 and the receiving port W2a of the pipe W2 to be joined can be joined, the engaging portion 51 is disposed at a position in contact with the axial end face of the receiving port W2a of the pipe W2 to be joined. That is, the engaging portion 51 positions the position of the rotation shaft 31 with respect to the direction of the axis L2 of the receiving port W2a of the pipe W2 to be joined.

[0085] The guide part 52 is, for example, a roller. The rotation axis of the guide part 52 extends in a direction orthogonal to the axis L2 of the receiving port W2a of the pipe W2 to be joined. In the present embodiment, the rotation axis of the guide part 52 extends in the left-right direction. The guide part 52 is positioned between the plate-like members 11a and 11b. The guide part 52 is arranged so as to contact the tapered portion of the receiving port W2a of the pipe W2 to be joined in a state where the engaging part 51 is in contact with the end face of the receiving port W2a of the pipe W2 to be joined.

[0086] When the pipe joining part 10 is attached to the straight pipe part W2b of the pipe W2 to be joined from above the receiving port W2a of the pipe W2 to be joined by a working machine or the like, when the guide part 52 is brought into contact with the tapered portion of the receiving port W2a of the pipe W2 to be joined, the guide part 52 moves the pipe joining part 10 toward the straight pipe part W2b of the pipe W2 to be joined by descending along the inclined surface of the tapered portion. Thereby, the guide part 52 guides the engaging part 51 toward the end face of the receiving port W2a of the pipe W2 to be joined.

[0087] In Modification 2 of Embodiment 1, the pipe joining part 10 has an axial positioning part 50 that positions the rotation axis L5 in the direction of the axis L2 of the receiving port W2a of the pipe W2 to be joined.

[0088] In the above configuration, the axial positioning part 50 positions the rotation axis L5 of the pipe positioning part 20 in the direction of the axis L2 of the receiving port W2a of the pipe W2 to be joined. By using the inclined surface of the receiving port W2a of the pipe W2 to be joined, the axial positioning part 50 can position the rotation axis L5 when the pipe joining part 10 is attached to the pipe W2 to be joined. Thereby, when the pipe positioning part 20 is rotated about the rotation axis L5 by the joining angle adjustment part 30, the insertion port W1a of the pipe W1 is arranged at a position where it can be joined to the receiving port W2a of the pipe W2 to be joined. Therefore, the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined can be efficiently adjusted.

[0089] [Embodiment 2] Next, with reference to FIGS. 6 to 8, the joining angle adjustment device 1A which is Embodiment 2 of the joining angle adjustment device will be described. FIG. 6 is a top view showing the schematic configuration of the joining angle adjustment device 1A according to Embodiment 2. FIG. 7 is a cross-sectional view taken along the arrow VII-VII in FIG. 6. FIG. 8 is a cross-sectional view taken along the arrow VIII-VIII in FIG. 7. The joining angle adjustment device 1A is different from the joining angle adjustment device 1 in that it has a pipe movement mechanism 60.

[0090] The joining angle adjustment device 1A is a device for joining the insertion port W1a of the pipe W1 and the receiving port W2a of the joined pipe W2 in a state where the axis L2 of the receiving port W2a of the joined pipe W2 and the axis L1 of the insertion port W1a of the pipe W1 intersect. The joining angle adjustment device 1A has a function of adjusting the joining angle between the receiving port W2a of the joined pipe W2 and the insertion port W1a of the pipe W1, and also has a function of joining the insertion port W1a of the pipe W1 and the receiving port W2a of the joined pipe W2.

[0091] As shown in FIGS. 6 and 7, the joining angle adjustment device 1A has a joined pipe attachment portion 10, a pipe positioning portion 20, a joining angle adjustment portion 30, and a pipe movement mechanism 60.

[0092] The pipe movement mechanism 60 grips the insertion port W1a side of the pipe W1 and moves it toward the receiving port W2a of the joined pipe W2, thereby inserting the insertion port W1a into the receiving port W2a. The pipe movement mechanism 60 has a pair of pipe gripping portions 61, 62 and a moving portion 66.

[0093] The pair of tube gripping parts 61 and 62 sandwich and grip the insertion port W1a side of the tube W1. The pair of tube gripping parts 61 and 62 are provided on the tube gripping part frame 65. The pair of tube gripping parts 61 and 62 are members having an arc-shaped contact surface along the outer peripheral surface on the insertion port W1a side of the tube W1 when viewed in the direction of the axis L1 of the insertion port W1a of the tube W1. The tube gripping part 61 is located on one side in the left-right direction perpendicular to the axis L1 of the insertion port W1a of the tube W1. The tube gripping part 62 is located on the other side in the left-right direction perpendicular to the axis L1 of the insertion port W1a of the tube W1. The tube gripping parts 61 and 62 are configured to be respectively movable in the left-right direction perpendicular to the axis L1 of the insertion port W1a of the tube W1 by the tube gripping part driving parts 63 and 64. The pair of tube gripping parts 61 and 62 are configured to be switchable between a closed state in which they are in close contact with the outer peripheral surface on the insertion port W1a side of the tube W1 from the left and right directions and an open state in which they are separated from the outer peripheral surface on the insertion port W1a side of the tube W1. The pair of tube gripping parts 61 and 62 grip the insertion port W1a of the tube W1 in the closed state.

[0094] The moving part 66 moves the pair of tube gripping parts 61 and 62 that grip the insertion port W1a side of the tube W1 in the axial direction toward the receiving port W2a of the tube W2 to be joined via the tube gripping part frame 65. Specifically, the moving part 66 has a moving support part 67 and an axially moving part 68.

[0095] The moving support part 67 guides the tube gripping part frame 65 in the axial direction. The moving support part 67 is provided on the positioning part frame 21. The moving support part 67 is, for example, a slide unit. The moving support part 67 extends in the direction of the axis L1 of the insertion port W1a of the tube W1. The moving support part 67 guides the tube gripping part frame 65 in the direction of the axis L1 of the insertion port W1a of the tube W1. Therefore, the pair of tube gripping parts 61 and 62 are supported via the tube gripping part frame 65 so as to be movable in the direction of the axis L1 of the insertion port W1a of the tube W1.

[0096] The axial movement part 68 is configured to be movable in the direction of the axis L1 of the insertion port W1a of the tube W1 with respect to the tube gripping part frame 65. The axial movement part 68 is provided on the attachment part frame 11. In the present embodiment, the axial movement part 68 is a winch that pulls the tube gripping part frame 65 by a wire 69. The axial movement part 68 may be, for example, a hydraulic cylinder that expands and contracts in the direction of the axis L1 of the insertion port W1a of the tube W1, or a mechanism that can move in the direction of the axis L1 of the insertion port W1a of the tube W1 like a rack and pinion. Therefore, the pair of tube gripping parts 61 and 62 are moved in the direction of the axis L1 of the insertion port W1a of the tube W1 by the axial movement part 68 via the tube gripping part frame 65. In this way, the movement part 66 is configured as a tube movement part that moves the pair of tube gripping parts 61 and 62 in the direction of the axis L1 of the insertion port W1a of the tube W1.

[0097] The tube movement mechanism 60 inserts the insertion port W1a of the tube W1 gripped by the pair of tube gripping parts 61 and 62 into the receiving port W2a of the tube W2 to be joined by moving it toward the receiving port W2a of the tube W2 to be joined by the movement part 66. At this time, even if the axis L1 of the insertion port W1a of the tube W1 intersects the axis L2 of the receiving port W2a of the tube W2 to be joined, the tube movement mechanism 60 moves the tube W1 in the direction of the axis L1 of the insertion port W1a of the tube W1, so that the insertion port W1a of the tube W1 can be smoothly moved with respect to the receiving port W2a of the tube W2 to be joined.

[0098] Note that the axial movement part 68 may have a position detection sensor (not shown) in order to control the movement amount of the pair of tube gripping parts 61 and 62. The position detection sensor may be provided on the tube gripping part frame 65 so as to be able to detect, for example, a state in which the insertion port W1a of the tube W1 is inserted to a predetermined position with respect to the receiving port W2a of the tube W2 to be joined.

[0099] The joining angle adjustment device 1A according to Embodiment 2 further includes pipe gripping portions 61 and 62 that grip the insertion port W1a side of the pipe W1, and a moving portion 66 that moves at least one of the joined pipe attachment portion 10 and the pair of pipe gripping portions 61 and 62 so as to join the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2. The moving portion 66 is a joined pipe moving portion that moves the joined pipe attachment portion 10 in the direction of the axis L2 of the receiving port W2a of the pipe to be joined W2, or a pipe moving portion that moves the pipe gripping portions 61 and 62 in the direction of the axis L1 of the insertion port W1a of the pipe W1.

[0100] In the above configuration, the insertion port W1a of the pipe W1 positioned in a state where the axis L1 of the insertion port W1a of the pipe W1 intersects the axis L2 of the receiving port W2a of the pipe to be joined W2 by the pipe positioning portion 20 is moved to the receiving port W2a of the pipe to be joined W2 and joined to the receiving port W2a of the pipe to be joined W2. Therefore, the insertion port W1a of the pipe W1 can be easily bent and joined to the receiving port W2a of the pipe to be joined W2 at an arbitrary angle.

[0101] Moreover, in the state where the receiving port W2a of the pipe to be joined W2 and the insertion port W1a of the pipe W1 are joined, the joining angle adjustment portion 30 can move the insertion port W1a of the pipe W1 or the receiving port W2a of the pipe to be joined W2 so that the axis L2 of the receiving port W2a of the pipe to be joined W2 and the axis L1 of the insertion port W1a of the pipe W1 intersect. In the present embodiment, the insertion port W1a of the pipe W1 is moved with respect to the receiving port W2a of the pipe to be joined W2 so that the axis L1 of the insertion port W1a of the pipe W1 intersects the axis L2 of the receiving port W2a of the pipe to be joined W2.

[0102] Therefore, the joining angle adjustment device 1A of the present embodiment can adjust the position of the axis L1 of the insertion port W1a of the pipe W1 so as to intersect the axis L2 of the receiving port W2a of the pipe to be joined W2, and join the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2. Therefore, the bending joining operation between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 can be performed efficiently.

[0103] (Joining Angle Adjustment Method) Next, with reference to FIGS. 9 to 20, a joining angle adjustment method for crossing the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined by the joining angle adjustment device 1A having the above-described configuration will be described. The joining angle adjustment method includes a moving step of moving the insertion port W1a of the pipe W1 in order to join the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined. FIG. 9 is a flowchart showing the joining angle adjustment method using the joining angle adjustment device 1A. FIGS. 10 to 20 are diagrams schematically explaining the joining angle adjustment method using the joining angle adjustment device 1A. Note that the joining angle adjustment device 1A is shown as a cross-sectional view taken along the arrow VII-VII in FIG. 6.

[0104] Specifically, FIG. 10 is a view corresponding to FIG. 3 when the pair of mounting members 12 and 13 in the joined pipe mounting portion 10 are in the open state. FIG. 11 is a view showing a state in which the joining angle adjusting device 1A is gripped by the gripping device X attached to the tip of the arm portion Ma of the working machine M and conveyed with respect to the joined pipe W2 in the groove. FIG. 12 is a view corresponding to FIG. 2 showing a state in which the joined pipe mounting portion 10 of the joining angle adjusting device 1A is arranged with respect to the joined pipe W2. FIG. 13 is a view corresponding to FIG. 3 showing a state in which the joined pipe mounting portion 10 of the joining angle adjusting device 1A is arranged with respect to the joined pipe W2. FIG. 14 is a view corresponding to FIG. 4 when the pair of vertical positioning members 221 and 222 in the vertical positioning portion 220 are in the open state and the pair of horizontal positioning members 231 and 232 in the horizontal positioning portion 230 are in the open state. FIG. 15 is a view corresponding to FIG. 2 showing a state in which the vertical position of the pipe W1 is positioned by the vertical positioning portion 220 and the horizontal position of the pipe W1 is positioned by the horizontal positioning portion 230. FIG. 16 is a view corresponding to FIG. 4 showing a state in which the vertical position of the pipe W1 is positioned by the vertical positioning portion 220 and the horizontal position of the pipe W1 is positioned by the horizontal positioning portion 230. FIG. 17 is a top view showing a state in which the axis L1 of the insertion port W1a of the pipe W1 is made to intersect the axis L2 of the receiving port W2a of the joined pipe W2 by the joining angle adjusting portion 30. FIG. 18 is a view corresponding to FIG. 8 showing a state in which the pair of pipe gripping portions 61 and 62 grip the outer peripheral surface on the insertion port W1a side of the pipe W1. FIG. 19 is a top view showing a state in which the insertion port W1a of the pipe W1 is drawn toward the receiving port W2a of the joined pipe W2 through the pair of pipe gripping portions 61 and 62 by the movement of the moving portion 66. FIG. 20 is a side view showing a state in which the joining angle adjusting device 1A is lifted by the working machine M or the like and separated from the pipe W1 and the joined pipe W2.

[0105] In step S1 of the flowchart shown in FIG. 9, the joined pipe mounting portion 10 in the joining angle adjusting device 1A is attached to the joined pipe W2.

[0106] Specifically, as shown in FIG. 10, the pair of mounting members 12 and 13 of the pipe joint mounting portion 10 are in an open state. In this state, as shown in FIG. 11, the joint angle adjustment device 1 is carried into the groove in which the pipe W1 is laid by the working machine M. In the groove, the pipe W2 to be joined and the pipe W1 to be joined to the pipe W2 are arranged. The pipe W2 to be joined and the pipe W1 to be joined to the pipe W2 are supported by the support base T. A gripping device X is attached to the tip of the arm portion Ma of the working machine M. As shown in FIG. 12, the joint angle adjustment device 1 is gripped by the gripping device X attached to the tip of the arm portion Ma of the working machine M and carried into the groove.

[0107] Note that the working machine M can perform various construction works and operations by replacing the attachment connected to the tip of the arm portion Ma. In this embodiment, the working machine M is, for example, a mini backhoe which is a construction machine for excavation. Note that the working machine M may be a construction machine other than a mini backhoe, such as a truck crane.

[0108] The joint angle adjustment device 1A is arranged with respect to the pipe W2 so that the pipe joint mounting portion 10 is positioned on the side of the receiving port W2a of the straight pipe portion W2b of the pipe W2 to be joined. At this time, the joint angle adjustment device 1A is arranged with respect to the pipe W2 so that the guide portion 52 of the axial positioning portion 50 contacts the tapered portion of the receiving port W2a of the pipe W2. When the guide portion 52 which is a roller contacts the tapered portion, the guide portion 52 rolls on the tapered portion toward the straight pipe portion W2b of the pipe W2 (see the arrow in FIG. 11). Therefore, the joint angle adjustment device 1A is moved in the axial direction. The joint angle adjustment device 1 determines the axial position with respect to the receiving port W2a of the pipe W2 to be joined by the engagement portion 51 contacting the end face of the receiving port W2a of the pipe W2.

[0109] Next, as shown in FIG. 13, the attachment member drive unit 14 closes the pair of attachment members 12 and 13 in the joined pipe attachment portion 10. In the present embodiment, when the attachment member drive unit 14 extends, the pair of attachment members 12 and 13 are driven so that the pipe attachment portions 12a and 13a of the pair of attachment members 12 and 13 contact the outer peripheral surface of the straight pipe portion W2b of the joined pipe W2. Thereby, the joined pipe attachment portion 10 can be attached to the receiving port W2a side of the joined pipe W2.

[0110] Next, in step S2 of the flowchart shown in FIG. 9, the vertical positioning unit 220 in the pipe positioning unit 20 positions the vertical position of the pipe W1 with respect to the joined pipe attachment portion 10 of the joining angle adjustment device 1A.

[0111] Specifically, as shown in FIG. 14, the pair of vertical positioning members 221 and 222 of the vertical positioning unit 220 are in an open state. The vertical positioning unit 220 positions the vertical position of the pipe W1 with respect to the joined pipe attachment portion 10 in a state where the joined pipe attachment portion 10 is attached to the receiving port W2a side of the joined pipe W2. The plurality of support bases T are support portions that support the pipe W1 at a plurality of locations in the axial direction. The support base T is configured to be able to change the support height. The support base T is constituted by, for example, a bag body that can change the support height according to the amount of fluid contained therein. The plurality of support bases T are adjusted to a support height that supports the pipe W1 above the pair of vertical positioning members 221 and 222 of the vertical positioning unit 220.

[0112] As shown in FIG. 15, a pair of vertical positioning members 221 and 222 are closed by vertical positioning member driving parts 223 and 224. In the present embodiment, when the rotation shafts of the vertical positioning member driving parts 223 and 224, which are hydraulic motors, rotate, the pair of vertical positioning members 221 and 222 are rotated to positions where the support surfaces of the pair of vertical positioning members 221 and 222 can contact the bottom surface of the insertion port W1a of the pipe W1. Next, the support height of the pipe W1 by the plurality of support bases T is lowered. When the support height of the plurality of support bases T becomes lower than the support surfaces of the pair of vertical positioning members 221 and 222, the pipe W1 contacts the support surfaces of the pair of vertical positioning members 221 and 222. The pipe W1 is supported by the pair of vertical positioning members 221 and 222. Thereby, the vertical position of the pipe W1 with respect to the joined pipe attachment part 10 is determined by the pair of vertical positioning members 221 and 222.

[0113] Next, in step S3 of the flowchart shown in FIG. 9, the horizontal position of the pipe W1 with respect to the joined pipe attachment part 10 of the joint angle adjustment device 1A is positioned by the horizontal positioning part 230 in the pipe positioning part 20.

[0114] Specifically, as shown in FIG. 14, a pair of horizontal positioning members 231 and 232 of the horizontal positioning part 230 are in an open state. The horizontal positioning part 230 positions the horizontal position of the pipe W1 with respect to the joined pipe attachment part 10 in a state where the joined pipe attachment part 10 is attached to the receiving port W2a side of the joined pipe W2.

[0115] As shown in FIG. 16, the pair of horizontal positioning members 231 and 232 are closed by the vertical positioning member driving units 223 and 224. In the present embodiment, the pair of horizontal positioning members 231 and 232 are moved to positions where the support surfaces of the pair of horizontal positioning members 231 and 232 can contact the outer peripheral surface of the insertion port W1a of the pipe W1 by the extension of the horizontal positioning member driving units 233 and 234 which are hydraulic cylinders. The pair of horizontal positioning members 231 and 232 contact the outer peripheral surface of the insertion port W1a of the pipe W1 from the left and right directions. Thereby, the horizontal position of the pipe W1 with respect to the joined pipe attachment portion 10 is determined by the pair of horizontal positioning members 231 and 232.

[0116] The pipe W1 positioned with respect to the joined pipe attachment portion 10 by the vertical positioning portion 220 and the horizontal positioning portion 230 is positioned with respect to the receiving port W2a of the joined pipe W2 to which the joined pipe attachment portion 10 is attached. Thereby, the insertion port W1a of the pipe W1 is movable by the joining angle adjustment unit 30 based on the state of being positioned with respect to the receiving port W2a of the joined pipe W2.

[0117] Next, in step S4 of the flowchart shown in FIG. 9, the pipe W1 is moved by the joining angle adjustment unit 30 so that the axis L2 of the receiving port W2a of the joined pipe W2 and the axis L1 of the insertion port W1a of the pipe W1 intersect.

[0118] Specifically, the axis L2 of the receiving port W2a of the joined pipe W2 to which the joined pipe attachment portion 10 is attached and the axis L1 of the insertion port W1a of the pipe W1 positioned by the pipe positioning portion 20 are in a non-intersecting state (see FIG. 6). The joining angle adjustment unit 30 adjusts the direction of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the joined pipe W2 in a state where the joined pipe attachment portion 10 is attached to the receiving port W2a side of the joined pipe W2.

[0119] As shown in FIG. 17, the position of the positioning portion frame 21 of the pipe positioning portion 20 is adjusted with respect to the attachment portion frame 11 of the joined pipe attachment portion 10 by the pipe positioning portion drive portion 32. In the present embodiment, the positioning portion frame 21 is rotationally moved leftward about the rotation axis L5 of the rotation axis 31 with respect to the attachment portion frame 11 when the pipe positioning portion drive portion 32, which is a hydraulic cylinder, contracts, as viewed from above. Further, the positioning portion frame 21 is rotationally moved rightward about the rotation axis L5 of the rotation axis 31 with respect to the attachment portion frame 11 when the pipe positioning portion drive portion 32 extends, as viewed from above.

[0120] The pipe W1 positioned by the pipe positioning portion 20 is rotationally moved about the rotation axis L5 of the rotation axis 31 together with the positioning portion frame 21. As a result, the axis L2 of the receiving port W2a of the joined pipe W2 and the axis L1 of the insertion port W1a of the pipe W1 intersect. The angle between the intersecting axis L2 of the receiving port W2a of the joined pipe W2 and the axis L1 of the insertion port W1a of the pipe W1 is adjusted by the amount of expansion and contraction of the pipe positioning portion drive portion 32. Thereby, the angle of the axis L2 of the receiving port W2a of the joined pipe W2 can be adjusted to an arbitrary angle with respect to the axis L1 of the insertion port W1a of the pipe W1.

[0121] Next, in step S5 of the flowchart shown in FIG. 9, the insertion port W1a side of the pipe W1 is gripped by the pair of pipe gripping portions 61, 62.

[0122] Specifically, as shown in FIG. 18, the pair of pipe gripping portions 61, 62 grip the insertion port W1a of the pipe W1 in a state where the joined pipe attachment portion 10 is attached to the receiving port W2a side of the joined pipe W2.

[0123] The pair of tube gripping portions 61 and 62 are closed by the tube gripping portion driving portions 63 and 64. In the present embodiment, as the tube gripping portion driving portions 63 and 64, which are hydraulic cylinders, extend, the pair of tube gripping portions 61 and 62 are moved toward the outer peripheral surface of the insertion port W1a of the tube W1. The pair of tube gripping portions 61 and 62 are brought into close contact with the outer peripheral surface of the insertion port W1a of the tube W1 from the left and right directions. Thereby, the insertion port W1a of the tube W1 is sandwiched and gripped from the left and right directions by the pair of tube gripping portions 61 and 62.

[0124] Next, in step S6 of the flowchart shown in FIG. 9, the pair of tube gripping portions 61 and 62 are moved in the axial direction by the moving portion 66, whereby the insertion port W1a of the tube W1 is brought close to and inserted into the receiving port W2a of the tube to be joined W2.

[0125] Specifically, as shown in FIG. 19, the tube gripping portion frame 65 provided with the pair of tube gripping portions 61 and 62 is moved in the axial direction by the axial direction moving portion 68 in the moving portion 66. At this time, the pair of tube gripping portions 61 and 62 provided on the tube gripping portion frame 65 are gripping the outer peripheral surface of the insertion port of the insertion port W1a of the tube W1. Therefore, by the axial movement of the above-described tube gripping portion frame 65, the insertion port W1a of the tube W1 is attracted to the receiving port W2a of the tube to be joined W2 via the pair of tube gripping portions 61 and 62. The axial direction moving portion 68 may be provided with a detection portion (not shown) for detecting that the insertion port W1a of the tube W1 has been inserted to a predetermined position within the receiving port W2a of the tube to be joined W2. Thereby, the insertion port W1a of the tube W1 can be surely inserted to a predetermined position of the receiving port W2a of the tube to be joined W2.

[0126] Finally, in step S7 of the flowchart shown in FIG. 9, the pair of attachment members 12 and 13 in the tube to be joined attachment portion 10, the pair of vertical direction positioning members 221 and 222 in the tube positioning portion 20, the pair of horizontal direction positioning members 231 and 232, and the pair of tube gripping portions 61 and 62 of the moving portion 66 are opened, and the joining angle adjusting device 1A is removed from the tube to be joined W2 and the tube W1.

[0127] Specifically, after inserting the insertion port W1a of the pipe W1 into the receiving port W2a of the pipe to be joined W2, the pair of mounting members 12 and 13 of the pipe-to-be-joined mounting portion 10 are opened. Next, the pair of vertical positioning members 221 and 222 and the pair of horizontal positioning members 231 and 232 of the pipe positioning portion 20 are opened. Next, the pair of pipe gripping portions 61 and 62 of the moving portion 66 are opened. Then, as shown in FIG. 20, the joining angle adjustment device 1A is lifted by a working machine or the like and separated from the joined pipe W1 and the pipe to be joined W2.

[0128] After that, the flow shown in FIG. 9 is ended (END).

[0129] Here, step S1 corresponds to the step of attaching the pipe to be joined, step S2 corresponds to the vertical positioning step in the pipe positioning step, step S3 corresponds to the horizontal positioning step in the pipe positioning step, step S4 corresponds to the joining angle adjustment step, step S5 corresponds to the pipe gripping step, and step S6 corresponds to the moving step.

[0130] Further, the joining angle adjustment method of the present embodiment adjusts the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe to be joined W2 that is joined to the pipe W1. It has a step of attaching the pipe-to-be-joined mounting portion 10 to the receiving port W2a side of the pipe to be joined W2, a pipe positioning step of positioning the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe to be joined W2 by the pipe positioning portion 20, and a joining angle adjustment step of moving the pipe positioning portion 20 with respect to the pipe-to-be-joined mounting portion 10 by the joining angle adjustment portion 30 so that the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe to be joined W2 intersect, thereby adjusting the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe to be joined W2.

[0131] The device capable of realizing the above method positions the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined by the pipe positioning unit 20, and then adjusts the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined by the joining angle adjustment unit 30 so that the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 intersect. The insertion port W1a of the pipe W1 is positioned at a predetermined angle with respect to the pipe W2 in a state where it can be joined to the receiving port W2a of the pipe W2 to be joined. Therefore, it is not necessary for the operator to position the pipe W1 at a position where the insertion port W1a of the pipe W1 can be joined to the receiving port W2a of the pipe W2 to be joined and at a position where the angle between the axis L1 of the insertion port W1a of the pipe W1 and the axis L2 of the receiving port W2a of the pipe W2 to be joined is a predetermined angle.

[0132] Therefore, it is possible to realize a joining angle adjustment method that can efficiently adjust the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined without the operator performing complicated alignment work in the groove.

[0133] In addition, in the present embodiment, the joining angle adjustment method further includes a vertical positioning step of positioning the vertical position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined by the vertical positioning unit 220, and a horizontal positioning step of positioning the horizontal position of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined by the horizontal positioning unit 230.

[0134] Thereby, since the angle of the axis L1 of the insertion port W1a of the pipe W1 in a state where the axis L1 of the insertion port W1a of the pipe W1 is positioned vertically and horizontally with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined is adjusted, it is possible to adjust to an arbitrary angle more reliably and easily with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined. Therefore, the angle of the axis L1 of the insertion port W1a of the pipe W1 with respect to the axis L2 of the receiving port W2a of the pipe W2 to be joined can be adjusted efficiently.

[0135] In the vertical positioning step, after supporting the pipe W1 by the support base T whose height can be adjusted, the height of the support base T is lowered, whereby the insertion port W1a side of the pipe W1 is held by the vertical positioning portion 220.

[0136] By lowering the height of the support base T that supports the pipe W1 as described above, the vertical positioning portion 220 can easily position the vertical position of the axis L1 of the insertion port W1a of the pipe W1. Thereby, the joining operation between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 can be efficiently performed.

[0137] In addition, in the present embodiment, the joining angle adjustment method further includes a pipe gripping step of gripping the insertion port W1a side of the pipe W1 by the pipe gripping portions 61 and 62, and a moving step of moving at least one of the pipe to be joined mounting portion 10 and the pipe gripping portions 61 and 62 by the moving portion 66 so that the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 are joined.

[0138] Thereby, the insertion port W1a of the pipe W1 positioned by the pipe positioning portion 20 can be moved to the receiving port W2a of the pipe to be joined W2 to which the pipe to be joined mounting portion 10 is attached and joined to the receiving port W2a. Therefore, the insertion port W1a of the pipe W1 can be easily joined to the receiving port W2a of the pipe to be joined W2 at an arbitrary angle.

[0139] (Other embodiments) Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for implementing 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.

[0140] In the above embodiment, the attachment member driving portion 14 is, for example, a hydraulic cylinder. However, the attachment member driving portion may be a telescopic actuator such as a piezoelectric element. The attachment member driving portion may have any configuration as long as it can generate a driving force capable of switching the pipe attachment portion between an open state and a closed state.

[0141] In the above-described embodiment, the tube moving mechanism 60 has a pair of tube gripping portions 61 and 62. However, the tube moving mechanism may have one or three or more tube gripping portions.

[0142] In the above-described embodiment, the pair of tube gripping portions 61 and 62 are members having arcuate contact surfaces. However, the pair of tube gripping portions may have any configuration as long as they are configured to grip the tube so as to be movable in the axial direction.

[0143] In the above-described embodiment, the tube positioning portion 20 includes a vertical positioning portion 220, which is a mechanism for positioning the tube W1 in the vertical direction, and a horizontal positioning portion 230, which is a mechanism for positioning the tube W1 in the horizontal direction. However, the tube positioning portion may be configured by one mechanism that positions the tube in the vertical direction and positions the tube in the horizontal direction.

[0144] In the above-described embodiment, the vertical positioning portion 220 positions the vertical position of the tube W1 by supporting the outer peripheral surface of the insertion port W1a of the tube W1 from below by a pair of vertical positioning members 221 and 222. However, the vertical positioning portion may have any configuration as long as it can hold the vertical position of the tube.

[0145] In the above-described embodiment, the horizontal positioning portion 230 positions the left-right position of the tube W1 by contacting the outer peripheral surface of the insertion port W1a of the tube W1 from the left and right directions by a pair of horizontal positioning members 231 and 232. However, the horizontal positioning portion may have any configuration as long as it can hold the horizontal position of the tube.

[0146] In the above embodiment, the horizontal positioning unit 230 positions the horizontal position of the pipe W1 by contacting the outer peripheral surface of the insertion port W1a of the pipe W1 from the left and right directions by a pair of two sets of horizontal positioning members 231 and 232. However, the horizontal positioning unit may position the horizontal position of the pipe by a pair of one set of horizontal positioning members or a pair of three or more sets of horizontal positioning members.

[0147] In the above embodiment, the joining angle adjustment device 1 joins the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 in a state where the axis L1 of the insertion port W1a of the pipe W1 intersects the axis L2 of the receiving port W2a of the pipe to be joined W2. However, the joining angle adjustment device may join the insertion port of the pipe and the receiving port of the pipe to be joined in a state where the axis of the insertion port of the pipe coincides with the axis of the receiving port of the pipe to be joined. That is, the joining angle adjustment device may join the pipe and the pipe to be joined linearly.

[0148] In the above embodiment, the pipe moving mechanism 60 moves the insertion port W1a of the pipe W1 to the receiving port W2a of the pipe to be joined W2. However, the pipe moving mechanism may have a pipe to be joined moving part that moves the receiving port of the pipe to be joined with respect to the insertion port of the pipe. That is, the moving part of the pipe moving mechanism may move the pipe to be joined mounting part so as to attract it to a pair of gripping parts that grip the insertion port side of the pipe. The pipe moving mechanism only needs to be configured to be able to move at least one of the insertion port of the pipe and the receiving port of the pipe to be joined.

[0149] In the above embodiment, the vertical position of the insertion port W1a of the pipe W1 is positioned by a pair of vertical positioning members 221 and 222, and the horizontal position of the insertion port W1a of the pipe W1 is positioned by a pair of horizontal positioning members 231 and 232. However, the timing of performing the vertical positioning and the horizontal positioning of the insertion port W1a of the pipe W1 by the vertical positioning unit 220 and the horizontal positioning unit 230 may be earlier or the same timing.

[0150] In the above-described embodiment, in the step of attaching the attachment portion 10 for the pipe to be joined to the pipe to be joined W2, the positions in the direction perpendicular to the axis L2 of the receiving port W2a of the pipe to be joined W2 are positioned by the pair of attachment members 12 and 13. However, in the step of attaching the pipe to be joined, the position in the direction perpendicular to the axis of the receiving port of the pipe to be joined may be positioned by the attachment portion positioning portion 40.

[0151] In the above-described embodiment, before the pipe W1 is held by the pipe positioning portion 20, the pipe W1 is supported by the plurality of support bases T. However, the pipe may be positioned with respect to the pipe holding portion by another device, or may be positioned with respect to the pipe holding portion in a state of being suspended by a working machine.

[0152] In the above-described embodiment, the pipe positioning portion 20 that positions the pipe W1 is moved by the joining angle adjustment portion 30 so that the axis L1 of the insertion port W1a of the pipe W1 intersects the axis L2 of the receiving port W2a of the pipe to be joined W2. However, with the pipe positioning portion moved by the joining angle adjustment portion, the pipe may be positioned by the pipe positioning portion so that the axis of the insertion port of the pipe intersects the axis of the receiving port of the pipe to be joined.

[0153] In the above-described embodiment, with the axis L1 of the insertion port W1a of the pipe W1 intersecting the axis L2 of the receiving port W2a of the pipe to be joined W2, the receiving port W2a of the pipe to be joined W2 and the insertion port W1a of the pipe W1 are joined by the pipe moving mechanism 60. However, with the axis of the insertion port of the pipe coinciding with the axis of the receiving port of the pipe to be joined, after joining the receiving port of the pipe to be joined and the insertion port of the pipe by the pipe moving mechanism, the pipe positioning portion may be moved by the joining angle adjustment portion so that the axis of the insertion port of the pipe intersects the axis of the receiving port of the pipe to be joined.

[0154] In the above-described embodiment, the joining angle adjustment unit 30 adjusts the angle such that the axis L1 of the insertion port W1a of the pipe W1 intersects the axis L2 of the receiving port W2a of the pipe to be joined W2 by rotating the axis of the rotating shaft 31 extending in the vertical direction about the rotation axis L5. However, the joining angle adjustment unit may adjust the angle such that the axis of the insertion port of the pipe intersects the axis of the receiving port of the pipe to be joined by rotating the axis of the insertion port of the pipe in the vertical direction with the axis of the rotating shaft extending in the horizontal direction as the rotation axis. That is, the joining angle adjustment unit may be configured to adjust the angle by rotating the axis of the insertion port of the pipe so as to intersect with the axis of the receiving port of the pipe to be joined with the axis of the rotating shaft extending in a direction perpendicular to the axis of the receiving port of the pipe to be joined as the rotation axis.

Industrial Applicability

[0155] The present invention can be used in a joining angle adjustment device that adjusts the angle of the axis of the insertion port of a pipe having an insertion port and a receiving port with respect to the axis of the receiving port of a pipe to be joined having an insertion port and a receiving port.

Explanation of Reference Numerals

[0156] 1, 1A Joining angle adjustment device 10 Pipe to be joined attachment portion 11 Attachment portion frame 11a, 11b Plate-like members 12, 13 Attachment members 12a, 13a Pipe attachment portions 12b, 13b Driving force input portions 14 Attachment member driving unit 20 Pipe positioning portion 21 Positioning portion frame 21a, 21b Plate-like members 220 Vertical direction positioning portion 221, 222 Vertical direction positioning members 223, 224 Vertical direction positioning member driving units 230 Horizontal direction positioning portion 231, 232 Horizontal direction positioning members 233, 234 Horizontal direction positioning member driving units 30 Joining angle adjustment portion 31 Rotating shaft 32 Tube positioning part drive part 40 Mounting part positioning part 40a First contact surface 40b Second contact surface 50 Axial direction positioning part 51 Engaging part 52 Guide part 60 Tube moving mechanism 61, 62 Tube gripping parts 63, 64 Tube gripping part drive parts 65 Tube gripping part frame 66 Moving part 67 Moving support part 68 Axial direction moving part W1 Tube W1a Insertion port W1b Straight tube part W1c Insertion port protrusion W2 Pipe to be joined W2a Receiving port W2b Straight tube part M Working machine Ma Arm part X Gripping device T Support stand L1, L2 Axes L3, L4, L5 Rotation axes

Claims

1. A joining angle adjustment device for adjusting the angle of the axis of the insertion port of a pipe having an insertion port and a receiving port with respect to the axis of the receiving port of a pipe to be joined having an insertion port and a receiving port, a pipe-to-be-joined attachment portion attached to the receiving port side of the pipe to be joined, a pipe positioning portion supported by the pipe-to-be-joined attachment portion for positioning the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined, a joining angle adjustment portion that adjusts the angle between the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined by moving the pipe positioning portion with respect to the pipe-to-be-joined attachment portion so that the axis of the insertion port of the pipe and the axis of the receiving port of the pipe to be joined intersect, characterized by comprising: a joining angle adjustment device.

2. In the joining angle adjustment device according to Claim 1, the pipe positioning portion includes a vertical direction positioning portion for positioning the position of the axis of the insertion port of the pipe in the vertical direction with respect to the axis of the receiving port of the pipe to be joined, a joining angle adjustment device.

3. In the joining angle adjustment device according to Claim 1 or 2, the pipe positioning portion includes a horizontal direction positioning portion for positioning the position of the axis of the insertion port of the pipe in the horizontal direction with respect to the axis of the receiving port of the pipe to be joined, a joining angle adjustment device.

4. In the joining angle adjustment device according to Claim 1, the pipe-to-be-joined attachment portion has an attachment portion positioning portion for positioning the attachment position of the pipe-to-be-joined attachment portion with respect to a direction orthogonal to the axis of the receiving port of the pipe to be joined, a joining angle adjustment device.

5. In the joining angle adjustment device according to Claim 4, the pipe-to-be-joined attachment portion supports the pipe positioning portion so as to be rotatable about a rotation axis perpendicular to the axis of the receiving port of the pipe to be joined, the pipe-to-be-joined attachment portion has an axis direction positioning portion for positioning the rotation axis with respect to the axis direction of the receiving port of the pipe to be joined, a joining angle adjustment device.

6. In the joining angle adjustment device according to Claim 1, a pipe gripping portion for gripping the insertion port side of the pipe, and a moving portion for moving at least one of the pipe-to-be-joined attachment portion and the pipe gripping portion so as to join the insertion port of the pipe and the receiving port of the pipe to be joined, a joining angle adjustment device.

7. In the joining angle adjustment device according to Claim 6, the moving portion is a pipe-to-be-joined moving portion for moving the pipe-to-be-joined attachment portion in the axis direction of the receiving port of the pipe to be joined, or is a pipe moving portion for moving the pipe gripping portion in the axis direction of the insertion port of the pipe, a joining angle adjustment device.

8. A method for adjusting the joining angle of a pipe, which adjusts the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe to be joined to the pipe, comprising: a step of attaching a pipe to be joined mounting portion to the receiving port side of the pipe to be joined; a pipe positioning step of positioning the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe by a pipe positioning portion; a joining angle adjustment step of adjusting the angle of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe by moving the pipe positioning portion with respect to the pipe to be joined mounting portion by a joining angle adjustment portion so that the axis of the pipe and the axis of the pipe to be joined intersect; having: a joining angle adjustment method.

9. The joining angle adjustment method according to claim 8, further comprising: a vertical positioning step of positioning the vertical position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe by a vertical positioning portion; a horizontal positioning step of positioning the horizontal position of the axis of the insertion port of the pipe with respect to the axis of the receiving port of the pipe by a horizontal positioning portion. a joining angle adjustment method.

10. In the joining angle adjustment method according to claim 9, in the vertical positioning step, after supporting the pipe by a support portion capable of adjusting the height, the height of the support portion is lowered so that the insertion port side of the pipe is held by the vertical positioning portion. a joining angle adjustment method.

11. In the joining angle adjustment method according to claim 8, a pipe gripping step of gripping the insertion port side of the pipe by a pipe gripping portion; a moving step of moving at least one of the pipe to be joined mounting portion and the pipe gripping portion by a moving portion so that the insertion port of the pipe and the receiving port of the pipe to be joined are joined. a joining angle adjustment method.

Images