Pipe joining device and pipe joining method

Abstract

To provide a pipe joining device capable of determining abnormal joint between an insertion port of a pipe and a socket of a pipe to be joined to efficiently perform joint work, during the joint work between the insertion port of the pipe and the socket of the pipe to be joined.SOLUTION: A pipe joining device 1 has: a pipe to be joined mounting part that is attached to a socket side of a pipe to be joined; a pair of pipe gripping parts 31, 32 that grips an insertion port side of a pipe; a movable part 36 that moves the pair of pipe gripping parts 31, 32 in an axial direction so as to join the insertion port of the pipe and the socket of the pipe to be joined in the axial direction; a driving force detection part 61 that detects the driving force of the movable part 36 when moving the pair of pipe gripping parts 31, 32 in the axial direction; and a determination part 71 that determines a joint state between the insertion port of the pipe and the socket of the pipe to be joined on the basis of the driving force of the movable part 36 detected by the driving force detection part 61.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a pipe joining device and a pipe joining method for joining an insertion port of a pipe to a receiving port of a pipe to be joined that is joined to the pipe.

Background Art

[0002] In laying work of ductile cast iron pipes (an example of water pipes) having an insertion port and a receiving port, etc., a pipe joining operation for joining a pipe to a pipe to be joined disposed 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 to be joined into the trench. Thereafter, the operator needs to align the pipe and the pipe to be joined in the trench, 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 into 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] Thus, in the conventional pipe joining operation, since the work load 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, in order to reduce the workload of workers, the mechanization of pipe joining operations has been proposed. For example, Patent Document 1 discloses a pipe joining device that clamps the receiving port of a pipe and the insertion port of the pipe to be joined, respectively, and inserts the insertion port into the inside of the receiving port. The pipe joining device has an insertion port clamp and a receiving port clamp. The insertion port clamp is provided with a position setting member. The position setting member has a contact portion located at one end in the axial direction of the position setting member and an optical white line detection sensor. In the pipe joining device, the insertion port clamp that has clamped the pipe is moved by a hydraulic cylinder in one direction in the axial direction of the pipe to insert the insertion port into the receiving port of the pipe to be joined. Further, in the pipe joining device, when the insertion port approaches the receiving port by a predetermined distance, the contact portion contacts the end face of the receiving port. Also, a white line is applied to the outer surface of the insertion port at a position a predetermined distance from one end in the axial direction of the pipe. When moving in one direction in the axial direction of the pipe as described above, when the white line detection sensor reads the white line, the operation of the hydraulic cylinder stops.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] By the way, in the pipe joining device of Patent Document 1, it is detected by the white line sensor that the insertion port has been inserted into the receiving port of the pipe joint by a predetermined amount. Therefore, in the pipe joining device of Patent Document 1, although the insertion amount of the pipe can be measured, there are cases where the joining state inside the receiving port of the pipe to be joined cannot be grasped. For this reason, in the pipe joining device of Patent Document 1, it is desirable to achieve both the efficiency of the joining operation and the determination of the joining state during the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined.

[0008] Therefore, there is a need for a pipe joining device that can determine the joining state between the insertion port of a pipe and the receiving port of a pipe to be joined while streamlining the joining operation.

[0009] An object of the present invention is to realize a pipe joining device that can determine an abnormal joining between the insertion port of a pipe and the receiving port of a pipe to be joined during the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined, and perform the joining operation efficiently.

Means for Solving the Problems

[0010] A pipe joining device according to an embodiment of the present invention is a device for joining an insertion port of a pipe having an insertion port and a receiving port to a receiving port of a pipe to be joined having an insertion port and a receiving port. The pipe joining device includes a pipe to be joined attachment portion attached to the receiving port side of the pipe to be joined, a pipe gripping portion that grips the insertion port side of the pipe, a moving portion that moves at least one of the pipe to be joined attachment portion and the pipe gripping portion in the axial direction so as to join the insertion port of the pipe and the receiving port of the pipe to be joined in the axial direction, a driving force detection portion that detects the driving force of the moving portion when moving at least one of the pipe to be joined attachment portion and the pipe gripping portion in the axial direction, and a determination portion that determines the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving portion detected by the driving force detection portion (first configuration).

[0011] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the determination portion determines the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving portion detected by the driving force detection portion. That is, the determination portion indirectly determines the joining state inside the receiving port of the pipe to be joined that cannot be visually recognized during the joining operation by the driving force. Therefore, it is possible to determine an abnormal joining between the insertion port of the pipe and the receiving port of the pipe to be joined in real time during the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined. Thereby, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined can be performed efficiently.

[0012] In the first configuration, it further includes a pipe position detection unit that detects the position of the pipe with respect to the pipe to be joined. The determination unit determines that the joint state of the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal when the driving force detected by the driving force detection unit at the position of the pipe detected by the pipe position detection unit is not within the allowable range of the driving force based on the allowable range of the driving force determined for each position of the pipe (second configuration).

[0013] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the joint state of the insertion port of the pipe and the receiving port of the pipe to be joined is determined by the driving force for each position of the pipe with respect to the pipe to be joined. That is, the control unit determines the joint state inside the receiving port of the pipe to be joined that cannot be visually recognized during the joining operation by the driving force corresponding to the joining stage of the receiving port of the pipe to be joined and the insertion port of the pipe. Therefore, it is possible to accurately determine in real time the joining abnormality between the insertion port of the pipe and the receiving port of the pipe to be joined during the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined. As a result, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined can be efficiently performed.

[0014] In the first configuration, it further includes a pipe position detection unit that detects the position of the pipe with respect to the pipe to be joined. The determination unit determines that the joint state of the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal when the change rate of the driving force per unit displacement distance of the pipe calculated based on the position of the pipe detected by the pipe position detection unit and the driving force detected by the driving force detection unit at the position of the pipe is not within the allowable range of the change rate of the driving force based on the allowable range of the change rate of the driving force per unit displacement distance of the pipe determined based on the position of the pipe (third configuration).

[0015] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is determined by the rate of change of the driving force for each unit displacement distance of the pipe with respect to the pipe to be joined. That is, the determination unit determines the joining state between the receiving port of the pipe to be joined, which cannot be visually recognized during the joining operation, and the insertion port of the pipe, based on the rate of change of the driving force corresponding to the joining stage between the receiving port of the pipe to be joined and the insertion port of the pipe. Therefore, during the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined, it is possible to accurately determine an abnormality in the joining between the insertion port of the pipe and the receiving port of the pipe to be joined in real time. 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.

[0016] In any one of the first to third configurations, it further includes a signal output unit that outputs a control signal to the moving unit. When the determination unit determines that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, the signal output unit outputs a control signal to the moving unit to stop the movement of the pipe to be joined mounting unit and the pipe gripping unit (fourth configuration).

[0017] In the above configuration, when the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined by the moving unit is aborted. Therefore, the insertion port of the pipe can be easily detached from the receiving port of the pipe to be joined, and the joining operation can be restarted. 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.

[0018] In the fourth configuration, it further includes an operation instruction reception unit that generates a control signal according to an operation instruction for the moving unit by an operator, and a manual operation switching unit that switches to a manual operation mode in which a control signal can be output from the operation instruction reception unit to the moving unit according to the operation instruction. When the signal output unit outputs a control signal to stop the movement of the pipe to be joined mounting unit and the pipe gripping unit with respect to the moving unit, the manual operation switching unit switches to the manual operation mode (fifth configuration).

[0019] In the above configuration, when a control signal for stopping the movement of the joint pipe attachment portion and the pipe gripping portion with respect to the moving portion is output, it switches to a manual operation mode in which the moving portion is operated based on an operation instruction for the moving portion by an operator. Thereby, for example, a detachment operation for detaching the insertion port of the pipe from the receiving port of the joint pipe can be performed according to an operation instruction of the moving portion by the operator. For this reason, it is not necessary to remove the pipe gripping portion from the insertion port of the pipe and perform the detachment operation manually by the operator. Thereby, the joining operation between the insertion port of the pipe and the receiving port of the joint pipe can be performed efficiently.

[0020] In the fifth configuration, the manual operation switching unit is configured to be able to output only the control signal for the moving portion generated by the operation instruction receiving unit to the moving portion when switching to the manual operation mode (sixth configuration).

[0021] In the above configuration, when switching to the manual operation mode, only the control signal for the moving portion generated by the operation instruction receiving unit according to an operation instruction from the operator is output to the moving portion. Therefore, the pipe joining device does not perform the joining operation between the insertion port of the pipe and the receiving port of the joint pipe by a control signal other than the control signal generated according to the operation instruction from the operator. Thereby, the detachment operation between the insertion port of the pipe and the receiving port of the joint pipe can be performed more reliably.

[0022] In the first configuration, it further includes a joining completion determination unit that determines the completion of the joining between the insertion port of the pipe and the receiving port of the joint pipe, and an evaluation unit that evaluates the joining state between the insertion port of the pipe and the receiving port of the joint pipe based on the history of the driving force of the moving portion detected by the driving force detection unit from the start to the completion of the joining between the insertion port of the pipe and the receiving port of the joint pipe. When the joining completion determination unit determines that the joining between the insertion port of the pipe and the receiving port of the joint pipe is completed, the evaluation unit evaluates the joining state between the insertion port of the pipe and the receiving port of the joint pipe (seventh configuration).

[0023] In the above configuration, based on the history of the driving force of the moving part detected by the driving force detection part from the start of the joining of the insertion port of the pipe and the receiving port of the joined pipe until the joining is completed, the evaluation part evaluates the joining state of the insertion port of the pipe and the receiving port of the joined pipe. That is, after the joining of the insertion port of the pipe and the receiving port of the joined pipe is completed, the evaluation part comprehensively evaluates the joining state inside the receiving port of the joined pipe based on the history of the driving force of the moving part. Therefore, not only can the determination be made based on the joining state during the joining operation, but also the state where the insertion port of the pipe and the receiving port of the joined pipe are joined can be evaluated. Thereby, the joining operation of the insertion port of the pipe and the receiving port of the joined pipe can be efficiently performed.

[0024] The pipe joining method according to an embodiment of the present invention is a method of joining the insertion port of a pipe to the receiving port of a joined pipe to be joined to the pipe. The pipe joining method includes a joined pipe attaching step of attaching a joined pipe attaching part to the receiving port side of the joined pipe, a pipe gripping step of gripping the insertion port side of the pipe by a pipe gripping part, a moving step of moving at least one of the joined pipe attaching part and the pipe gripping part in the axial direction so that the insertion port of the pipe and the receiving port of the joined pipe are joined in the axial direction by a moving part, a driving force detecting step of detecting the driving force of the moving part when moving at least one of the joined pipe attaching part and the pipe gripping part in the axial direction by a driving force detecting part, and a determining step of determining the joining state of the insertion port of the pipe and the receiving port of the joined pipe based on the driving force of the moving part detected by the driving force detecting part by a determining part (eighth configuration).

[0025] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the determination unit determines the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving part detected by the driving force detection unit. That is, the determination unit indirectly determines the joining state inside the receiving port of the pipe to be joined that cannot be visually recognized during the joining operation by the driving force. Therefore, it is possible to determine in real time an abnormality in the joining of the insertion port of the pipe and the receiving port of the pipe to be joined during the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined. Thereby, the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined can be performed efficiently.

[0026] In the eighth configuration, it further has a pipe position detection step of detecting the position of the pipe with respect to the pipe to be joined by a pipe position detection unit. In the determination step, when the driving force detected by the driving force detection unit at the position of the pipe detected by the pipe position detection unit is not included in the allowable range of the driving force determined for each position of the pipe, it is determined that the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal (ninth configuration).

[0027] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined is determined by the driving force for each position of the pipe with respect to the pipe to be joined. That is, the control unit determines the joining state inside the receiving port of the pipe to be joined that cannot be visually recognized during the joining operation by the driving force corresponding to the joining stage of the receiving port of the pipe to be joined and the insertion port of the pipe. Therefore, it is possible to accurately determine in real time an abnormality in the joining of the insertion port of the pipe and the receiving port of the pipe to be joined during the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined. Thereby, the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined can be performed efficiently.

[0028] In the eighth configuration, there is further a pipe position detection step of detecting the position of the pipe with respect to the pipe to be joined by a pipe position detector. In the determination step, based on the allowable range of the change rate of the driving force per unit displacement distance of the pipe determined based on the position of the pipe, the position of the pipe detected by the pipe position detector and the driving force detected by the driving force detector at the position of the pipe, when the change rate of the driving force per unit displacement distance of the pipe calculated thereby is not included in the allowable range of the change rate of the driving force, it is determined that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal (tenth configuration).

[0029] In the above configuration, when joining the insertion port of the pipe and the receiving port of the pipe to be joined, the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is determined by the change rate of the driving force for each unit displacement distance of the pipe with respect to the pipe to be joined. That is, the control unit determines the joining state between the receiving port of the pipe to be joined, which cannot be visually recognized during the joining operation, and the insertion port of the pipe by the change rate of the driving force corresponding to the joining stage between the receiving port of the pipe to be joined and the insertion port of the pipe. Therefore, it is possible to accurately determine in real time the joining abnormality between the insertion port of the pipe and the receiving port of the pipe to be joined during the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined. 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.

[0030] In any one of the eighth to tenth configurations, there is further a signal output step of outputting a control signal to the moving unit by a signal output unit. In the signal output step, when it is determined by the determination step that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, a control signal for stopping the movement of the pipe to be joined mounting part and the pipe gripping part is transmitted to the moving unit (eleventh configuration).

[0031] In the above configuration, when the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, the moving unit stops the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined. Therefore, the insertion port of the pipe can be easily detached from the receiving port of the pipe to be joined, and the joining operation can be redone. 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 eleventh configuration, there is further a manual operation switching step of switching to a manual operation mode in which a control signal can be transmitted from the operation unit to the moving unit by the manual operation switching unit.

[0033] In the manual operation switching step, when a control signal for stopping the movement of the pipe joining portion and the pipe gripping portion with respect to the moving unit is output by the signal output unit, the manual operation mode is switched (twelfth configuration).

[0034] In the above configuration, when a control signal for stopping the movement of the pipe joining portion and the pipe gripping portion with respect to the moving unit is output, the mode switches to a manual operation mode in which the moving unit is operated based on an operation instruction for the moving unit by the operator. Thereby, for example, a detachment operation for detaching the insertion port of the pipe from the receiving port of the pipe to be joined can be performed according to an operation instruction for the moving unit by the operator. For this reason, it is not necessary to remove the pipe gripping portion from the insertion port of the pipe and perform the detachment operation manually by the operator. 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.

[0035] In the twelfth configuration, in the manual operation switching step, when switching to the manual operation mode, only the control signal for the moving unit generated by the operation instruction receiving unit is output to the moving unit (thirteenth configuration).

[0036] In the above configuration, when switched to the manual operation mode, only the control signal input from the operation unit by the operator is transmitted to the moving unit. Therefore, the pipe joining device does not perform the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined by a control signal other than the control signal input by the operator. Thereby, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined can be performed more reliably.

[0037] In the eighth configuration, there are further a joining completion determination step of determining the completion of the joining between the insertion port of the pipe and the receiving port of the pipe to be joined by the joining completion determination unit, and an evaluation step of evaluating the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined based on the history of the driving force of the moving unit detected by the driving force detection unit from the start to the completion of the joining between the insertion port of the pipe and the receiving port of the pipe to be joined by the evaluation unit. In the evaluation step, when it is determined by the joining completion determination step that the joining between the insertion port of the pipe and the receiving port of the pipe to be joined is completed, the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is evaluated (the fourteenth configuration).

[0038] In the above configuration, based on the history of the driving force of the moving unit detected by the driving force detection unit from the start of the joining between the insertion port of the pipe and the receiving port of the pipe to be joined until the joining is completed, the evaluation unit evaluates the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined. That is, after the joining between the insertion port of the pipe and the receiving port of the pipe to be joined is completed, the evaluation unit comprehensively evaluates the joining state inside the receiving port of the pipe to be joined based on the history of the driving force of the moving unit. Therefore, not only the determination based on the joining state during the joining operation can be made, but also the state where the insertion port of the pipe and the receiving port of the pipe to be joined are joined can be evaluated. Thereby, the joining operation between the insertion port of the pipe and the receiving port of the pipe to be joined can be performed efficiently.

Effects of the Invention

[0039] A pipe joining device according to an embodiment of the present invention includes a pipe-to-be-joined mounting portion attached to the receiving port side of the pipe to be joined, a pipe gripping portion that grips the insertion port side of the pipe, and a moving portion that moves at least one of the pipe-to-be-joined mounting portion and the pipe gripping portion in the axial direction so as to axially join the insertion port of the pipe and the receiving port of the pipe to be joined, a driving force detection portion that detects the driving force of the moving portion when moving at least one of the pipe-to-be-joined mounting portion and the pipe gripping portion in the axial direction, and a determination portion that determines the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving portion detected by the driving force detection portion.

[0040] The pipe joining device having the above-described configuration can determine an abnormal joining of the insertion port of the pipe and the receiving port of the pipe to be joined in real time during the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined. Thereby, the joining operation of the insertion port of the pipe and the receiving port of the pipe to be joined can be performed efficiently.

Brief Description of the Drawings

[0041]

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Mode for Carrying Out the Invention

[0042] 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.

[0043] In the following description, the axial direction means the direction in which the axis L2 of the pipe 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 the direction intersecting the vertical direction.

[0044] Also, in the following description, expressions such as "fix", "connect", and "attach" (hereinafter, "fixing, 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 fixing, etc. include the meanings of direct and indirect fixing, etc. between members.

[0045] [Embodiment 1] (Pipe joining device) FIG. 1 is a side view showing a schematic configuration of a pipe joining device 1 according to an embodiment of the present invention. FIG. 2 is a top view showing the schematic configuration of the pipe joining device 1. FIG. 3 is a view of the pipe joining device 1 seen axially from the side of the pipe to be joined W2.

[0046] The pipe joining device 1 is a device for inserting and joining the insertion port W1a of the pipe W1 into the receiving port W2a of the pipe to be joined W2. The pipe joining device 1 is used in a groove in which the pipe W1 and the pipe to be joined W2 are laid. The pipe joining device 1 is installed in the groove, for example, by a working machine. The pipe joining device 1 has a size that can be installed in the groove.

[0047] The pipe W1 and the pipe to be joined W2 are, for example, water pipes. The pipe W1 and the pipe to be joined W2 may be pipes other than water pipes, such as sewer pipes, agricultural water pipes, and gas pipes. The pipe W1 and the pipe to be joined W2 may be ductile iron pipes, other metal pipes, or resin pipes.

[0048] The pipe joining device 1 inserts the insertion port W1a of the pipe W1 into 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 is position - adjusted with respect to the axis L2 of the receiving port W2a of the pipe to be joined W2. Specifically, as shown in FIG. 1, the pipe joining device 1 has a pipe - to - be - joined mounting portion 10 and a pipe moving mechanism 30.

[0049] The pipe - to - be - joined mounting portion 10 is attached to the side of the receiving port W2a of the pipe to be joined W2. Specifically, the pipe - to - be - joined mounting portion 10 is attached to the side of the receiving port W2a in the straight pipe portion W2b of the pipe to be joined W2. Thereby, when the insertion port W1a of the pipe W1 is drawn closer to the receiving port W2a of the pipe to be joined W2 by the moving portion 36 as described later, the pipe - to - be - joined mounting portion 10 comes into contact with the receiving port W2a of the pipe to be joined W2, and the reaction force generated during the drawing - closer can be received by the receiving port W2a of the pipe to be joined W2.

[0050] As shown in FIG. 3, the pipe - to - be - joined mounting portion 10 has a pair of mounting members 11, 12 and a mounting - member driving portion 13. The pair of mounting members 11, 12 are attached to the straight pipe portion W2b of the pipe to be joined W2 by sandwiching the straight pipe portion W2b. The pair of mounting members 11, 12 have pipe mounting portions 11a, 12a and driving - force input portions 11b, 12b.

[0051] The pipe mounting portions 11a, 12a have a semi - circular shape along 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 mounting portions 11a, 12a 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 11b, 12b are connected to the pipe mounting portions 11a, 12a so that the pipe mounting portions 11a, 12a can be switched between a closed state in which the straight pipe portion W2b of the pipe to be joined W2 is sandwiched and an open state separated from the straight pipe portion W2b of the pipe to be joined W2 by the driving force input from the mounting - member driving portion 13. In the present embodiment, the driving - force input portions 11b, 12b are connected to the upper ends of the pipe mounting portions 11a, 12a. The pair of mounting members 11, 12 are rotatably connected at the connection portions between the pipe mounting portions 11a, 12a and the driving - force input portions 11b, 12b about an axis extending in the axial direction by, for example, a rotating shaft.

[0052] The attachment member driving unit 13 is provided between the driving force input units 11b and 12b so as to be able to transmit a driving force to the driving force input units 11b and 12b. The attachment member driving unit 13 applies a driving force to the driving force input units 11b and 12b to switch the pipe attachment parts 11a and 12a between the open state and the closed state. In the present embodiment, the attachment member driving unit 13 switches the pipe attachment parts 11a and 12a between the open state and the closed state by expanding and contracting to change the distance between the driving force input units 11b and 12b. The attachment member driving unit 13 is, for example, a hydraulic cylinder.

[0053] With the above configuration, the pair of attachment members 11 and 12 can be switched between a closed state in which the pipe attachment parts 11a and 12a sandwich the straight pipe portion W2b of the pipe to be joined W2 by the driving force generated by the attachment member driving unit 13 and an open state in which the pipe attachment parts 11a and 12a are separated from the straight pipe portion W2b of the pipe to be joined W2. In a state where the pipe attachment part 10 of the pipe to be joined is attached to the straight pipe portion W2b of the pipe to be joined W2, the pair of attachment members 11 and 12 sandwich the straight pipe portion W2b.

[0054] The pipe moving mechanism 30 inserts the insertion port W1a into the receiving port W2a by gripping the insertion port W1a side of the pipe W1 and moving it toward the receiving port W2a of the pipe to be joined W2. The pipe moving mechanism 30 includes a pair of pipe gripping parts 31 and 32, a moving part 36, a driving force detection part 61, and a control part 70.

[0055] The pair of pipe gripping parts 31 and 32 sandwich and grip the insertion port W1a side of the pipe W1. The pair of pipe gripping parts 31 and 32 are attached to the tip parts of a pair of axial movement parts 37 and 38 in the moving part 36 described later via connection parts 33 and 34, and are configured to be engageable with an insertion port protrusion W1c located at the axial tip of the insertion port W1a of the pipe W1. The pair of pipe gripping parts 31 and 32 are arc-shaped plate members that follow the outer peripheral surface of the insertion port W1a side of the pipe W1 when viewed in the axial direction. The pair of plate-shaped pipe gripping parts 31 and 32 are attached so as to extend from the tip parts of the pair of axial movement parts 37 and 38 toward the base end side.

[0056] The thickness of the pair of tube gripping parts 31 and 32 is equal to or smaller than the radial protruding height of the insertion port protrusion W1c. As a result, as will be described later, when the insertion port W1a of the tube W1 is inserted into the receiving port W2a of the tube to be joined W2 while the insertion port side of the tube W1 is gripped by the pair of tube gripping parts 31 and 32, it is possible to prevent the pair of tube gripping parts 31 and 32 from interfering with the receiving port W2a.

[0057] The connecting parts 33 and 34 rotatably connect the tips of the pair of axially moving parts 37 and 38 and the pair of tube gripping parts 31 and 32 about an axis extending in the vertical direction. That is, the connecting parts 33 and 34 are rotatably connected to the tips of the pair of axially moving parts 37 and 38 about the axis. Also, the pair of tube gripping parts 31 and 32 are connected to the connecting parts 33 and 34. The lateral interval between the connecting parts 33 and 34 is equal to the outer diameter of the insertion port W1a side of the tube W1 in a parallel state in a top view, and is smaller than the outer diameter of the insertion port W1a side of the tube W1 in a state where the connecting parts 33 and 34 rotate about the axis with respect to the tips of the pair of axially moving parts 37 and 38. The pair of tube gripping parts 31 and 32 are elastically supported by an elastic member (not shown) with respect to the connecting parts 33 and 34 or the pair of axially moving parts 37 and 38 so as to be displaced in a direction approaching each other.

[0058] Therefore, when the insertion port W1a side of the tube W1 is inserted between the connecting parts 33 and 34, the outer peripheral surface of the insertion port W1a side of the tube W1 comes into contact with the connecting parts 33 and 34. As a result, the connecting parts 33 and 34 and the pair of tube gripping parts 31 and 32 rotate about the axis, and the pair of tube gripping parts 31 and 32 are moved toward the outer peripheral surface of the insertion port W1a side of the tube W1 (see the solid arrows in FIG. 11). Moreover, at this time, the elastic member biases the pair of tube gripping parts 31 and 32 toward the outer peripheral surface of the insertion port W1a side of the tube W1. As a result, the pair of tube gripping parts 31 and 32 adhere closely to the outer peripheral surface of the insertion port W1a side of the tube W1.

[0059] Note that the pair of tube gripping parts 31 and 32 may be configured to generate an elastic restoring force toward the outer peripheral surface of the insertion port W1a side of the tube W1.

[0060] As shown in FIGS. 1 and 2, the moving part 36 moves a pair of pipe gripping parts 31 and 32 that grip the insertion port W1a side of the pipe W1 in the axial direction toward the receiving port W2a of the pipe W2 to be joined, based on a control signal output from the control part 70. Specifically, the moving part 36 has a pair of axial moving parts 37 and 38, and a moving support part 39.

[0061] The pair of axial moving parts 37 and 38 are each configured such that their tips are axially movable with respect to the moving support part 39. The pair of axial moving parts 37 and 38 may be, for example, hydraulic cylinders that expand and contract in the axial direction, or may be a mechanism that is axially movable like a rack and pinion. The base end sides of the pair of axial moving parts 37 and 38 are supported by the moving support part 39.

[0062] The moving support part 39 is connected to the pipe to be joined attachment part 10. The moving support part 39 may be connected, for example, to a rotating shaft that rotatably connects a pair of attachment members 11 and 12 in the pipe to be joined attachment part 10, or may be connected to the attachment member driving part 13.

[0063] The driving force detection part 61 detects the driving force of the moving part 36 when the pipe gripping part 31 is moved in the axial direction by the axial moving part 37. The driving force detection part 61 is constituted by a sensor such as a pressure sensor or a torque sensor that can detect the driving force of the moving part 36. Specifically, the driving force detection part 61 detects the driving force when the axial moving part 37 moves in the axial direction together with the pipe gripping part 31. The driving force detection part 61 outputs the detected driving force to the determination part 63 of the control part 70.

[0064] The control part 70 generates and outputs a control signal for the moving part 36. Hereinafter, the details of the control part 70 will be described.

[0065] (Configuration of the control part) FIG. 4 is a functional block diagram showing the schematic configuration of the pipe moving mechanism 30 in the pipe joining device 1. As shown in FIG. 4, the control part 70 has a determination part 71 and a signal output part 72.

[0066] The determination unit 71 determines the joining state between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined based on the driving force of the moving unit 36 detected by the driving force detection unit 61. For example, when the driving force detected by the driving force detection unit 61 is not within a predetermined allowable range, the determination unit 71 determines that the joining state between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is abnormal.

[0067] The determination unit 71 may determine that the joining state is abnormal when the driving force detected by the driving force detection unit 61 is equal to or greater than the upper limit of the predetermined allowable range. In this case, there is a possibility that the insertion port W1a of the pipe W1 cannot be smoothly inserted into the receiving port W2a of the pipe W2 to be joined. Also, in this case, there may be a possibility of improper attachment of the rubber seal.

[0068] Further, the determination unit 71 may determine that the joining state is abnormal when the driving force detected by the driving force detection unit 61 is equal to or less than the lower limit of the predetermined allowable range. In this case, there is a possibility that the resistance during the insertion of the pipe W1 is too small. Therefore, in this case, there may be a possibility of forgetting to insert the rubber seal or the like.

[0069] The signal output unit 72 generates and outputs a control signal for controlling the moving unit 36. The signal output unit 72 generates a control signal for axially moving the pair of pipe gripping units 31, 32 by the axial moving units 37, 38 and outputs it to the moving unit 36. Also, when the determination unit 71 determines that the joining state between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is abnormal, the signal output unit 72 generates a control signal for stopping the movement of the pipe gripping units 31, 32 and outputs it to the moving unit 36.

[0070] (Pipe joining method) Next, a pipe joining method S1 for joining the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined using the pipe joining device 1 having the above-described configuration will be described. FIG. 5 is a flowchart showing the pipe joining method S1 using the pipe joining device 1.

[0071] Figs. 6 to 13 are diagrams schematically illustrating a pipe joining method S1 using the pipe joining device 1. Specifically, Fig. 6 is a diagram corresponding to Fig. 3 when the pair of mounting members 11 and 12 in the pipe to be joined mounting portion are in an open state. Fig. 7 is a diagram showing a state where the pipe joining device 1 is gripped by a gripping device X attached to the tip of the arm portion Ma of the working machine M and conveyed to the pipe W2 to be joined in the groove. Fig. 8 is a side view showing a state where the pipe to be joined mounting portion 10 of the pipe joining device 1 is attached to the pipe W2 to be joined. Fig. 9 is a diagram corresponding to Fig. 3 when the pair of mounting members 11 and 12 in the pipe to be joined mounting portion 10 are closed by the mounting member driving portion 13. Fig. 10 is a side view showing a state where the pipe W1 is supported at a predetermined height by a plurality of support bases T and aligned with the pipe W2 to be joined. Fig. 11 is a top view showing a state where the pair of pipe gripping portions 31 and 32 grip the outer peripheral surface on the insertion port W1a side of the pipe W1. Fig. 12 is a top view showing a state where the insertion port W1a of the pipe W1 is pulled toward the receiving port W2a of the pipe W2 to be joined through the pair of pipe gripping portions 31 and 32 by the movement of the axially moving portions 37 and 38. Fig. 13 is a side view showing a state where the pipe joining device 1 is lifted by a working machine or the like and separated from the pipe W1 and the pipe W2 to be joined.

[0072] In step S11 of the flowchart shown in Fig. 5, the pipe to be joined mounting portion 10 of the pipe joining device 1 is attached to the pipe W2 to be joined.

[0073] Specifically, as shown in Fig. 6, the pair of mounting members 11 and 12 of the pipe to be joined mounting portion 10 in the pipe joining device 1 are in an open state. In that state, as shown in Fig. 7, the pipe joining device 1 is carried into the groove where the pipe W1 is laid by the working machine M. A gripping device X is attached to the tip of the arm portion Ma of the working machine M. The pipe joining 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. At this time, as shown in Fig. 8, the pipe joining device 1 is arranged with respect to the pipe W2 to be joined so that the pipe to be joined mounting portion 10 is positioned on the receiving port W2a side of the straight pipe portion W2b of the pipe W2 to be joined.

[0074] Note that the work machine M can perform various construction works and operations by replacing the attachment connected to the tip of the arm part Ma. In the present embodiment, the work machine M is, for example, a mini backhoe which is a construction machine for excavation. Note that the work machine M may be a construction machine other than the mini backhoe, such as a truck crane or the like.

[0075] Next, as shown in FIG. 9, the attachment member driving unit 13 closes the pair of attachment members 11 and 12 in the joined pipe attachment portion 10. In the present embodiment, the attachment member driving unit 13 extends to drive the pair of attachment members 11 and 12 so that the pipe attachment portions 11a and 12a of the pair of attachment members 11 and 12 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.

[0076] Next, in step S12 of the flowchart shown in FIG. 5, the pipe W1 is positioned with respect to the joined pipe W2 while being held at a predetermined height by the support base T.

[0077] Specifically, as shown in FIG. 10, with the joined pipe attachment portion 10 attached to the receiving port W2a side of the joined pipe W2, the pipe W1 held at a predetermined height by a plurality of support bases T is positioned with respect to the joined pipe W2. Note that the plurality of support bases T support the pipe W1 at a plurality of positions 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 whose support height can be changed according to the amount of fluid contained therein. Thereby, the axis L1 of the insertion port W1a of the pipe W1 is adjusted in position with respect to the axis L2 of the receiving port W2a of the joined pipe W2.

[0078] Next, in step S13 of the flowchart shown in FIG. 5, the pair of pipe gripping portions 31 and 32 grip the insertion port W1a side of the pipe W1.

[0079] Specifically, with the pipe W1 positioned relative to the pipe W2 to be joined, as shown in FIG. 11, a pair of pipe gripping portions 31 and 32 rotate about a rotation axis extending in the vertical direction at the connection portions 33 and 34 and contact the outer peripheral surface of the insertion port W1a side of the pipe W1. Thereby, the insertion port W1a side of the pipe W1 is gripped by the pair of pipe gripping portions 31 and 32. Note that the pair of pipe gripping portions 31 and 32 are pressed against the outer peripheral surface of the insertion port W1a side of the pipe W1 by a spring member (not shown). Also, a rubber seal is attached to the inner peripheral surface of the receiving port W2a. To facilitate the insertion of the pipe W1, a lubricant may be supplied to the inner peripheral surface of the rubber seal.

[0080] Further, in a state where the insertion port W1a side of the pipe W1 is gripped by the pair of pipe gripping portions 31 and 32, the pipe W1 is located at a movement start position PS1 that is separated from one end of the movement support portion 39 by the axial lengths L of the pair of axial movement portions 37 and 38 and the connection portions 33 and 34. For the sake of convenience in explanation, the movement start position PS1 is based on the tip portions of the pair of axial movement portions 37 and 38 hereinafter, but is not limited thereto. The movement start position PS1 may be based on the end face of the insertion port W1a of the pipe W1.

[0081] Next, in step S14 of the flowchart shown in FIG. 5, the pair of pipe gripping portions 31 and 32 are axially moved by the moving portion 36, so that the insertion port W1a of the pipe W1 is brought close to and inserted into the receiving port W2a of the pipe W2 to be joined.

[0082] Specifically, as shown in FIG. 12, a pair of axial movement parts 37 and 38 in the moving part 36 are moved in the axial direction. At this time, the tips of a pair of tube gripping parts 31 and 32 connected to the ends of the pair of axial movement parts 37 and 38 come into contact with the insertion port protrusion W1c of the insertion port W1a of the tube W1. Therefore, due to the axial movement of the above-described axial movement parts 37 and 38, 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 parts 31 and 32. The pair of tube gripping parts 31 and 32 are inserted into the receiving port W2a together with the insertion port W1a when the insertion port W1a of the tube W1 is inserted into the receiving port W2a of the tube to be joined W2. In step S14, the determination unit 71 determines the joining state between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2 based on the position of the tube W1 and the driving force of the moving part 36. Details of the determination process of the joining state by the determination unit 71 will be described later. When the tube W1 is axially moved in a state where there is no abnormality in the joining state, the insertion port W1a of the tube W1 is inserted into the receiving port W2a of the tube to be joined W2 up to a predetermined movement completion position PS2. Thereby, the insertion of the tube W1 into the tube to be joined W2 is completed.

[0083] Finally, in step S15 of the flowchart shown in FIG. 5, the pair of attachment members 11 and 12 in the tube-to-be-joined attachment part 10 are opened, and the tube joining device 1 is removed from the tube to be joined W2.

[0084] Specifically, after inserting the insertion port W1a of the tube W1 into the receiving port W2a of the tube to be joined W2, the pair of attachment members 11 and 12 of the tube-to-be-joined attachment part 10 are opened. Then, as shown in FIG. 13, the tube joining device 1 is lifted by a working machine or the like and separated from the joined tube W1 and the tube to be joined W2.

[0085] After that, the flow shown in FIG. 5 is ended (END).

[0086] (Determination Process of Joining State) FIG. 14 is a flowchart for explaining the determination process of the joining state in step S14 of the flowchart shown in FIG. 5.

[0087] As shown in FIG. 14, when the determination process of the joined state is started (START), in movement step S141, the pair of pipe gripping parts 31, 32 are axially moved by the moving part 36 so as to axially join the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined.

[0088] Next, in driving force detection step S142, the driving force detection unit 61 detects the driving force of the moving part 36 when axially moving the pair of pipe gripping parts 31, 32.

[0089] Next, in determination step S143, the determination unit 71 determines the joined state of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined based on the driving force of the moving part 36 detected by the driving force detection unit 61 and the position of the pipe W1 detected by the pipe position detection unit 62. If the joined state is normal (NO in step S144), the flow returns to movement step S141, and further, the pair of pipe gripping parts 31, 32 are axially moved.

[0090] On the other hand, if the joined state is abnormal (YES in step S144), the flow proceeds to signal output step S145. In signal output step S145, a control signal for stopping the movement of the pair of pipe gripping parts 31, 32 is transmitted to the moving part 36. Thereby, the movement of the pair of pipe gripping parts 31, 32 stops.

[0091] After that, the flow shown in FIG. 14 ends (END).

[0092] In the pipe joining device 1 and the pipe joining method S1 described above, when joining the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2, the determination unit 71 determines the joining state of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 based on the driving force of the moving unit 36 detected by the driving force detection unit 61. That is, the determination unit 71 indirectly determines the joining state inside the receiving port W2a of the pipe to be joined W2 that cannot be visually recognized during the joining operation by the driving force. Therefore, it is possible to determine in real time an abnormal joining between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 during the joining operation of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2. Thereby, the joining operation of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 can be performed efficiently.

[0093] Also, in the above-described configuration, when the joining state between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 is abnormal, the joining operation of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 by the moving unit 36 is stopped. Therefore, the insertion port W1a of the pipe W1 can be easily detached from the receiving port W2a of the pipe to be joined W2, and the joining operation can be performed again. Thereby, the joining operation of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 can be performed efficiently.

[0094] [Embodiment 2] (Schematic configuration) FIG. 15 is a functional block diagram showing a schematic configuration of a pipe moving mechanism 30 of a pipe joining device 2 according to Embodiment 2. The pipe joining device 2 according to Embodiment 2 is different from the pipe joining device 1 according to Embodiment 1 in that it has a pipe position detection unit 62. In the following description, the same reference numerals are given to the same configurations as those in Embodiment 1, and the description thereof is omitted, and only the differences from Embodiment 1 are described.

[0095] The pipe moving mechanism 30 of the pipe joining device 2 includes a pair of pipe gripping parts 31 and 32 (not shown), a moving part 36, and a driving force detection unit 61. Since the pair of pipe gripping parts 31 and 32, the moving part 36, and the driving force detection unit 61 are the same as those in Embodiment 1, the description thereof will not be repeated below. As shown in FIG. 15, the pipe moving mechanism 30 includes a pipe position detection unit 62 and a control unit 700.

[0096] The tube position detection unit 62 detects the amount of movement of the axial movement unit 37. The tube position detection unit 62 can be configured by, for example, a sensor capable of detecting the position where the insertion port W1a of the tube W1 is inserted into the receiving port W2a of the tube to be joined W2. The tube position detection unit 62 outputs the detected position of the tube W1 to the determination unit 710 of the control unit 700.

[0097] The control unit 700 includes a determination unit 710 and a signal output unit 72. Based on the driving force of the moving unit 36 detected by the driving force detection unit 61 and the position of the tube W1 detected by the tube position detection unit 62, the determination unit 710 determines the joining state between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2.

[0098] (Determination process of joining state) FIG. 16 is a flowchart for explaining the determination process of the joining state by the determination unit 710. FIG. 17 is a graph showing the allowable range R1 of the driving force determined for each position of the tube.

[0099] First, since the movement step S141 and the driving force detection step S142 after the start (START) of the joining state determination process S140 are the same as the movement step S141 and the driving force detection step S142 of Embodiment 1, the description thereof will not be repeated here.

[0100] Next, in the tube position detection step S1403, the tube position detection unit 62 detects the position of the tube W1 with respect to the tube to be joined W2.

[0101] Next, in the determination step S1404, based on the driving force of the moving unit 36 detected by the driving force detection unit 61 and the position of the tube W1 detected by the tube position detection unit 62, the determination unit 710 determines the joining state between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2.

[0102] Specifically, the determination unit 710 determines whether the driving force detected by the driving force detection unit 61 at the position of the pipe W1 detected by the pipe position detection unit 62 is included in the allowable range R1 of the driving force indicated by hatching in FIG. 17. At a certain position, if the driving force is equal to or greater than the upper limit of the allowable range R1 or equal to or less than the lower limit, the determination unit 710 determines that the joining state is abnormal. For example, the white circles in FIG. 17 show an example in which the position of the pipe W1 detected by the pipe position detection unit 62 and the driving force detected by the driving force detection unit 61 in the joining operation are plotted.

[0103] At the movement start position PS1, the driving force TQ1 is within the allowable range R1. Also, at the position PS11 during the movement from the movement start position PS1 to the movement completion position PS2, the driving force TQ11 is within the allowable range R1. If the pipe W1 moves from the position PS11 to the movement completion position PS2 in a state where the driving force detected by the driving force detection unit 61 does not deviate from the allowable range R1, the insertion of the pipe W1 into the pipe W2 to be joined is completed. The driving force TQ2 at the movement completion position PS2 is within the allowable range R1. On the other hand, if a driving force TQ12 exceeding the upper limit of the allowable range R1 is detected at the position PS12, the determination unit 710 determines that the joining state is abnormal.

[0104] Note that the allowable range R1 can be determined based on, for example, data obtained by sampling the position of the pipe W1 and the driving force at the position in past joining operations. The allowable range R1 may be determined by providing a predetermined buffer range with respect to the profile curve PR1 calculated based on the sampled data. The profile curve PR1 may be calculated by regression analysis such as the additive average value, minimum value, maximum value, median value, or least squares method. Further, the determination unit 710 may be configured by a learned model obtained as a result of performing machine learning based on teacher data in which the sampling data of the position of the pipe W1 and the driving force at the position are labeled with the type of normal state or abnormal state.

[0105] When the joined state is abnormal (YES in step S1405), the flow proceeds to signal output step S145, and the movement of the pair of tube gripping parts 31, 32 stops.

[0106] On the other hand, when the joined state is normal (NO in step S1405), in completion determination step S1406, the determination unit 710 determines whether or not the pair of tube gripping parts 31, 32 has moved to the movement completion position PS2. When the pair of tube gripping parts 31, 32 has moved to the movement completion position PS2 (YES in completion determination step S1406), the flow proceeds to signal output step S145, and the movement of the pair of tube gripping parts 31, 32 is stopped. On the other hand, when the pair of tube gripping parts 31, 32 has not moved to the movement completion position PS2 (NO in completion determination step S1406), the flow returns to movement step S141, and the pair of tube gripping parts 31, 32 is further moved in the axial direction.

[0107] In the tube joining apparatus 2 and the tube joining method including the joining state determination process S140 described above, when joining the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined, the joining state of the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined is determined by a driving force for each position of the tube W1 with respect to the tube W2 to be joined. That is, the control unit determines the joining state inside the receiving port W2a of the tube W2 to be joined that cannot be visually recognized during the joining operation by a driving force corresponding to the joining stage of the receiving port W2a of the tube W2 to be joined and the insertion port W1a of the tube W1. Therefore, it is possible to accurately determine in real time an abnormality in the joining of the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined during the joining operation of the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined. Thereby, the joining operation of the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined can be performed efficiently.

[0108] [Embodiment 3] (Schematic configuration) FIG. 18 is a functional block diagram showing a schematic configuration of a tube moving mechanism 30 of the tube joining device 3 according to Embodiment 3. The tube joining device 3 according to Embodiment 3 is different from the tube joining device 2 according to Embodiment 2 in that it has a manual operation switching unit 73 for switching to a manual operation mode. In the following description, the same components as those in Embodiment 2 are denoted by the same reference numerals and the description thereof is omitted, and only the differences from Embodiment 2 are described.

[0109] As shown in FIG. 18, the tube joining management system SYS1 includes a tube joining device 3, an information processing terminal 92, and a server device 91. In the tube joining management system SYS1, the tube joining device 3, the information processing terminal 92, and the server device 91 are communicably connected to each other via a communication network.

[0110] The information processing terminal 92 transmits an operation instruction for performing various operations on the moving part 36 of the tube joining device 3 to the tube joining device 3. The information processing terminal 92 may be configured by a remote controller dedicated to the tube joining device 3. The information processing terminal 92 may be configured by a mobile terminal such as a tablet terminal, a smartphone, or a notebook PC. The information processing terminal 92 may transmit an operation instruction to the tube joining device 3 via the server device 91.

[0111] The server device 91 provides various information related to the tube joining operation to the information processing terminal 92.

[0112] The tube moving mechanism 30 of the tube joining device 3 includes a pair of tube gripping parts 31, 32 (not shown), a moving part 36, a driving force detection part 61, and a tube position detection part 62. Since the pair of tube gripping parts 31, 32, the moving part 36, the driving force detection part 61, and the tube position detection part 62 are as described above, the description thereof is not repeated here. As shown in FIG. 18, the tube moving mechanism 30 includes a control part 701. The control part 701 has a communication part 81, a determination part 710, a signal output part 721, a manual operation switching part 73, and an operation instruction reception part 74.

[0113] The communication unit 81 is a communication interface for the pipe joining device 3, the server device 91, and the information processing terminal 92 to communicate via a communication network. For example, the pipe joining device 3 and the information processing terminal 92 may be communicably connected by a wireless communication network. Also, the information processing terminal 92 and the server device 91 may be communicably connected via the Internet. Note that the communication unit 81 may be able to receive the above-described allowable range R1 and the profile curve PR1 from the server device 91 or the information processing terminal 92.

[0114] When the determination unit 710 determines that the joining state of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 is abnormal, the signal output unit 721 generates a control signal to stop the movement of the pipe gripping units 31 and 32, outputs it to the moving unit 36, and transmits a notification indicating that the joining state is abnormal to the information processing terminal 92 via the communication unit 81. Thereby, the operator can confirm that the joining state is abnormal by the information processing terminal 92.

[0115] The manual operation switching unit 73 switches between the automatic operation mode and the manual operation mode. In the automatic operation mode, when the pipe joining device 3 receives, for example, an operation start instruction for the moving unit 36 of the pipe joining device 3 from the information processing terminal 92, the pipe joining device 3 joins the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 in the axial direction. In this mode, the pair of axial moving units 37 and 38 in the moving unit 36 are moved in the axial direction. Note that in the automatic operation mode, the above-described joining state determination process S140 (see FIG. 16) is executed. The manual operation mode is a mode in which the pipe joining device 3 can manually operate the moving unit 36 of the pipe joining device 3 in response to receiving, for example, an operation instruction for the moving unit 36 of the pipe joining device 3 from the information processing terminal 92. Examples of the operation instruction in the manual operation mode include a pulling-out operation instruction for moving the pair of axial moving units 37 and 38 in the moving unit 36 in the axial direction so that the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 are separated in the axial direction. The present invention is not limited to this, and operation instructions other than the pulling-out operation instruction may be possible as the operation instruction in the manual operation mode.

[0116] When the signal output unit 72 outputs a control signal to stop the movement of the pair of tube gripping units 31 and 32 with respect to the moving unit 36, the manual operation switching unit 73 switches to the manual operation mode.

[0117] The operation instruction receiving unit 74 generates a control signal corresponding to an operation instruction for the moving unit 36 by the operator and outputs it to the moving unit 36. Specifically, the operation instruction receiving unit 74 generates a control signal for operating the pair of axial moving units 37 and 38 in the moving unit 36 in the automatic operation mode in response to receiving a start operation instruction from the information processing terminal 92.

[0118] Also, when an abnormality in the joined state occurs, as described above, the operator can confirm that the joined state is abnormal by the information processing terminal 92. In response to this, the operator performs an operation on the information processing terminal 92 to send a withdrawal operation instruction. In response to this operation, the information processing terminal 92 sends a withdrawal operation instruction to the tube joining device 3. Also, when an abnormality in the joined state occurs, the manual operation switching unit 73 switches to the manual operation mode. When switched to the manual operation mode, the operation instruction receiving unit 74 generates a withdrawal control signal for moving the pair of axial moving units 37 and 38 in the moving unit 36 in the axial direction so that the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined are separated in the axial direction. The operation instruction receiving unit 74 outputs the generated withdrawal control signal to the moving unit 36.

[0119] When a withdrawal control signal is input from the operation instruction receiving unit 74, the moving unit 36 moves the pair of axial moving units 37 and 38 in the axial direction so that the insertion port W1a of the tube W1 and the receiving port W2a of the tube W2 to be joined are separated in the axial direction. Thereby, the insertion port W1a of the tube W1 can be detached from the receiving port W2a of the tube W2 to be joined.

[0120] In the above-described tube joining device 3 and the tube joining method using the tube joining device 3, when a control signal for stopping the movement of the pair of tube gripping portions 31 and 32 with respect to the moving portion 36 is output, it switches to a manual operation mode in which the moving portion 36 is operated based on an operation instruction for the moving portion 36 by the operator. Thereby, for example, a detachment operation of detaching the insertion port W1a of the tube W1 from the receiving port W2a of the tube to be joined W2 can be performed according to an operation instruction of the moving portion 36 by the operator. For this reason, it is not necessary to remove the pair of tube gripping portions 31 and 32 from the insertion port W1a of the tube W1 and perform the above-described detachment operation manually by the operator. Thereby, the joining operation between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2 can be performed efficiently.

[0121] Further, in the above-described tube joining device 3 and the tube joining method using the tube joining device 3, when switching to the manual operation mode, the operation instruction receiving unit 74 generates a control signal according to an operation instruction from the operator. Further, only the control signal for the moving portion 36 generated by the operation instruction receiving unit 74 is output to the moving portion 36. Therefore, the tube joining device 3 does not perform the joining operation between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2 by a control signal other than the control signal generated according to the operation instruction from the operator. Thereby, the detachment operation between the insertion port W1a of the tube W1 and the receiving port W2a of the tube to be joined W2 can be surely performed.

[0122] [Embodiment 4] (Schematic Configuration) FIG. 19 is a functional block diagram showing a schematic configuration of a tube movement mechanism 30 of a tube joining device 4 according to Embodiment 4. The tube joining device 4 according to Embodiment 4 is different from the tube joining device 3 according to Embodiment 3 in that it has an evaluation of the joined state. In the following description, the same components as those in Embodiment 3 are denoted by the same reference numerals and the description thereof is omitted, and only the parts different from Embodiment 3 will be described.

[0123] As shown in FIG. 19, the pipe joint management system SYS1 includes a pipe joint device 4, an information processing terminal 92, and a server device 91. The control unit 702 includes a determination unit 710, a signal output unit 721, a manual operation switching unit 73, an operation instruction reception unit 74, a memory 82, a joint completion determination unit 83, and an evaluation unit 84.

[0124] The memory 82 stores a history H1 including each position of the pipe W1 detected by the pipe position detection unit 62 and the driving force of the moving unit 36 detected by the driving force detection unit 61 at each of the positions, from the start to the completion of the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined.

[0125] The joint completion determination unit 83 determines the completion of the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined. Specifically, the joint completion determination unit 83 determines whether or not a pair of pipe gripping parts 31, 32 in the moving unit 36 have moved to the movement completion position PS2. When the pair of pipe gripping parts 31, 32 have moved to the movement completion position PS2, the joint completion determination unit 83 determines that the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is complete. Further, the joint completion determination unit 83 associates each position of the pipe W1 detected by the pipe position detection unit 62 with the driving force of the moving unit 36 detected by the driving force detection unit 61 at each of the positions and adds them to the history H1 in the memory 82.

[0126] When the evaluation unit 84 determines that the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is complete by the joint completion determination unit 83, the evaluation unit 84 evaluates the joining state of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined based on the history H1 stored in the memory 82.

[0127] For example, the evaluation unit 84 determines whether or not the driving force associated with each position of the pipe W1 is within the allowable range R1 of the driving force shown by the hatching in FIG. 17 during the period from the start to the completion of the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined in the history H1.

[0128] When the driving force associated with the position of each pipe W1 is included in the allowable range R1 of the driving force indicated by hatching in FIG. 17, the evaluation unit 84 may evaluate it as a normal joint state. The evaluation unit 84 may output, as an evaluation result, a score calculated based on the degree of deviation from the profile curve PR1 of the driving force associated with the position of each pipe W1. The score may be a real number value from 0 to 1. The score may be a multi-level evaluation of three levels or four levels or more.

[0129] The evaluation unit 84 transmits the evaluation result of the joint state to at least one of the server device 91 and the information processing terminal 92 via the communication unit 81. The evaluation unit 84 may transmit the history H1 to at least one of the server device 91 and the information processing terminal 92.

[0130] In the above-described pipe joining device 4 and the pipe joining method using the pipe joining device 4, based on the history H1 of the driving force of the moving part 36 detected by the driving force detection unit 61 from the start of the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined until the joining is completed, the evaluation unit 84 evaluates the joining state of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined. That is, after the joining of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is completed, the evaluation unit 84 comprehensively evaluates the joining state inside the receiving port W2a of the pipe W2 to be joined based on the history of the driving force of the moving part 36. Therefore, not only can it be determined based on the joining state during the joining operation, but also the state where the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined are joined can be evaluated. As a result, the joining operation of the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined can be performed efficiently.

[0131] (Other Embodiments) The embodiments of the present invention have been described above, but the above-described embodiments are merely examples for implementing the present invention. Therefore, without being limited to the above-described embodiments, it is possible to appropriately modify and implement the above-described embodiments within the scope not departing from the gist thereof.

[0132] In each of the above embodiments, the attachment member driving unit 13 is, for example, a hydraulic cylinder. However, the attachment member driving unit may be a stretchable actuator such as a piezoelectric element. The attachment member driving unit 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.

[0133] In each of the above embodiments, the pipe moving mechanism 30 has a pair of pipe gripping portions 31, 32. However, the pipe moving mechanism may have one or three or more pipe gripping portions.

[0134] In each of the above embodiments, the pair of pipe gripping portions 31, 32 are arc-shaped plate members. However, the pair of pipe gripping portions may have any configuration as long as they are configured to grip the pipe so as to be movable in the axial direction.

[0135] In each of the above embodiments, the driving force detection unit 61 detects the driving force of the moving portion 36 when moving the pipe gripping portions 31, 32 in the axial direction. However, the driving force detection unit may detect the driving force of the moving portion when moving the pipe attachment portion to be joined in the axial direction.

[0136] In each of the above embodiments, the pipe joining device 1 joins the insertion port W1a of the pipe W1 and 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 coincides with the axis L2 of the receiving port W2a of the pipe W2 to be joined. However, the pipe joining device may join the insertion port of the pipe and the receiving port of the pipe to be joined so that the axis of the insertion port of the pipe intersects the axis of the receiving port of the pipe to be joined. That is, the pipe joining device may join the pipe and the pipe to be joined in a bent state.

[0137] In each of the above embodiments, the driving force detection unit 61 detects the driving force of the moving portion 36 when moving the pipe gripping portion 31 in the axial direction by the axial moving portion 37. However, the driving force detection unit may detect the driving force of any of the pair of axial moving portions, or may detect both driving forces.

[0138] In each of the above embodiments, although not particularly described, the pipe joining device 1 may have a pipe holding portion for holding the pipe W1. Further, the pipe W1 and the pipe W2 may be aligned by the holding portion.

[0139] In each of the above embodiments, the pipe moving mechanism 30 moves the insertion port W1a of the pipe W1 to the receiving port W2a of the pipe W2 to be joined. However, the pipe moving mechanism may move the receiving port of the pipe to be joined with respect to the insertion port of the pipe. That is, the moving portion of the pipe moving mechanism may move so as to draw the pipe to be joined attachment portion toward a pair of gripping portions that grip the insertion port side of the pipe. The pipe moving mechanism only needs to be configured such that at least one of the insertion port of the pipe and the receiving port of the pipe to be joined is movable.

[0140] In each of the above embodiments, the pipe joining device 1 is carried into the groove in which the pipe W1 is laid by the working machine M and attached to the pipe W2 to be joined. However, the pipe joining device may be carried into the groove in a state of being attached to the insertion port of the pipe. Further, the pipe joining device may be attached to the receiving port of the pipe to be joined and the insertion port of the pipe, respectively. In this case, the pipe joining device attached to the insertion port of the pipe may be carried into the groove in a state of being attached to the insertion port of the pipe.

[0141] In Embodiments 2 and 3, the pipe position detection unit 62 detects the amount of movement of the axially moving portion 37. However, the pipe position detection unit may detect the amount of movement of either one of the pair of axially moving portions, or may detect the amounts of movement of both.

[0142] In Embodiments 2 to 4, the determination unit 710 determines whether or not the driving force detected by the driving force detection unit 61 at the position of the pipe W1 detected by the pipe position detection unit 62 is included in the allowable range R1 of the driving force. However, in the pipe joining device and the pipe joining method using the pipe joining device, when the change rate of the driving force detected by the driving force detection unit is not included in the allowable range of the change rate of the driving force, the determination unit may determine that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal. The allowable range of the change rate of the driving force is the change rate of the driving force per unit displacement distance of the pipe determined based on the position of the pipe.

[0143] Specifically, the determination unit calculates a change rate of the driving force per unit displacement distance of the pipe, which is calculated based on the position of the pipe detected by the pipe position detection unit and the driving force detected by the driving force detection unit at the position of the pipe. When the calculated change rate of the driving force is not included in the allowable range of the change rate of the driving force, the determination unit determines that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal.

[0144] In the above-described pipe joining device and the pipe joining method using the pipe joining device, when joining the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined, the joining state between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined is determined by the change rate of the driving force for each unit displacement distance of the pipe W1 with respect to the pipe W2 to be joined. That is, the determination unit determines the joining state between the receiving port W2a of the pipe W2 to be joined, which cannot be visually recognized during the joining operation, and the insertion port W1a of the pipe W1, based on the change rate of the driving force corresponding to the joining stage between the receiving port W2a of the pipe W2 to be joined and the insertion port W1a of the pipe W1. Therefore, it is possible to accurately determine in real time an abnormality in the joining between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined during the joining operation between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined. Thereby, the joining operation between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe W2 to be joined can be efficiently performed.

[0145] Further, the determination unit may determine the joining state based on either a predetermined upper limit value or a predetermined lower limit value of the driving force or the change rate. That is, when the driving force or the change rate is equal to or greater than a predetermined upper limit value of the driving force or the change rate, the determination unit may determine that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal. Also, when the driving force or the change rate is equal to or less than a predetermined lower limit value of the driving force or the change rate, the determination unit may determine that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal.

[0146] In the third embodiment, the communication unit 81 can receive the above-described allowable range R1 and profile curve PR1 from the server device 91 or the information processing terminal 92. However, in the first to fourth embodiments, the above-described allowable range and profile curve may be stored in advance in the read-only memory of the pipe joining device.

[0147] In the third and fourth embodiments, the operation instruction receiving unit 74 receives an operation instruction from the information processing terminal 92. However, the operation instruction receiving unit may acquire an operation instruction corresponding to a button operation on the control panel provided in the pipe joining device.

[0148] In the third embodiment, only the control signal for the moving unit 36 generated by the operation instruction receiving unit 74 is output to the moving unit 36. However, a signal other than the control signal for the moving unit generated by the operation instruction receiving unit may be output to the moving unit. For example, a data signal may be output to the moving unit.

[0149] In the third embodiment, when switching to the manual operation mode, the operation instruction receiving unit 74 generates a pulling-out control signal to axially move the pair of axial moving units 37, 38 in the moving unit 36 so that the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 are axially separated in response to receiving a pulling-out operation instruction from the information processing terminal 92. However, the operation instruction receiving unit may generate a restart control signal to operate the pair of axial moving units in the moving unit again in the automatic operation mode in response to receiving a restart operation instruction from the information processing terminal or in response to receiving a start operation instruction. Note that when transmitting a restart operation instruction, the information processing terminal may request confirmation from the operator.

[0150] In the second to fourth embodiments, although not particularly described, the determination unit and the joining completion determination unit may determine the completion of the joining of the insertion port of the pipe and the receiving port of the pipe to be joined by a contact sensor. The contact sensor is provided, for example, at a position where it contacts when the insertion port of the pipe and the receiving port of the pipe to be joined move to a predetermined distance. The contact sensor can be configured by, for example, a limit switch.

Industrial Applicability

[0151] The present invention can be used in a pipe joining device for joining the insertion port of a pipe to the receiving port of a pipe to be joined that is joined to the pipe.

Description of Reference Numerals

[0152] 1, 2, 3, 4 Pipe joining device 10 Pipe to be joined mounting part 11, 12 Mounting members 11a, 12a Pipe mounting parts 11b, 12b Driving force input parts 13 Mounting member driving part 30 Pipe moving mechanism 31, 32 Pipe gripping parts 33, 34 Connection parts 36 Moving part 37, 38 Axial moving parts 39 Moving support part 61 Driving force detection part 62 Pipe position detection part 70, 700, 701, 702 Control parts 71, 710 Judgment parts 72, 721 Signal output parts 73 Manual operation switching part 74 Operation instruction reception part 81 Communication part 82 Memory 83 Joining completion judgment part 84 Evaluation part W1 Pipe W1a Insertion port W1b Straight pipe part W1c Insertion port protrusion W2 Pipe to be joined W2a Receiving port W2b Straight pipe part M Working machine Ma Arm part PS1 Moving start position PS2 Moving completion position X Gripping device T Support stand L1, L2 Axes

Claims

1. A pipe joining device for joining an insertion port of a pipe having an insertion port and a receiving port to a 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 gripping portion for gripping the insertion port side of the pipe, a moving portion for moving at least one of the pipe-to-be-joined attachment portion and the pipe gripping portion in the axial direction so as to axially join the insertion port of the pipe and the receiving port of the pipe to be joined, a driving force detection portion for detecting a driving force of the moving portion when moving at least one of the pipe-to-be-joined attachment portion and the pipe gripping portion in the axial direction, a determination portion for determining a joining state between the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving portion detected by the driving force detection portion, and having, a pipe joining device.

2. In the pipe joining device according to Claim 1, further comprising a pipe position detection portion for detecting a position of the pipe with respect to the pipe to be joined, the determination portion, when the driving force detected by the driving force detection portion at the position of the pipe detected by the pipe position detection portion is not within an allowable range of the driving force determined for each position of the pipe, determines that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, a pipe joining device.

3. In the pipe joining device according to Claim 1, further comprising a pipe position detection portion for detecting a position of the pipe with respect to the pipe to be joined, the determination portion, when the change rate of the driving force per unit movement distance of the pipe determined based on the position of the pipe is not within an allowable range of the change rate of the driving force, and the change rate of the driving force per unit movement distance of the pipe calculated by the position of the pipe detected by the pipe position detection portion and the driving force detected by the driving force detection portion at the position of the pipe is not within the allowable range of the change rate of the driving force, determines that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, a pipe joining device.

4. In the pipe joining device according to any one of Claims 1 to 3, further comprising a signal output portion for outputting a control signal to the moving portion, the signal output portion, when the determination portion determines that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, outputs a control signal for stopping the movement of the pipe-to-be-joined attachment portion and the pipe gripping portion to the moving portion, a pipe joining device.

5. In the pipe joining device according to Claim 4, An operation instruction receiving unit that generates a control signal according to an operation instruction for the moving part by an operator; A manual operation switching unit that switches to a manual operation mode in which a control signal can be output from the operation instruction receiving unit to the moving part according to the operation instruction; and further has, The manual operation switching unit, When a control signal for stopping the movement of the joining pipe mounting part and the pipe gripping part with respect to the moving part is output by the signal output unit, it switches to the manual operation mode, Pipe joining device.

6. In the pipe joining device according to claim 5, The manual operation switching unit, When switched to the manual operation mode, it is configured to be able to output only the control signal for the moving part generated by the operation instruction receiving unit to the moving part, Pipe joining device.

7. In the pipe joining device according to claim 1, A joining completion determination unit that determines the completion of the joining of the insertion port of the pipe and the receiving port of the pipe to be joined; An evaluation unit that evaluates the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force history of the moving part detected by the driving force detection unit from the start to the completion of the joining of the insertion port of the pipe and the receiving port of the pipe to be joined; and further has, The evaluation unit, When it is determined by the joining completion determination unit that the joining of the insertion port of the pipe and the receiving port of the pipe to be joined is completed, it evaluates the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined, a pipe joining device.

8. A pipe joining method for joining the insertion port of a pipe to the receiving port of a pipe to be joined to the pipe, A step of attaching the pipe to be joined mounting part to the receiving port side of the pipe to be joined; A pipe gripping step of gripping the insertion port side of the pipe by the pipe gripping part; A moving step of moving at least one of the pipe to be joined mounting part and the pipe gripping part in the axial direction so that the insertion port of the pipe and the receiving port of the pipe to be joined are joined in the axial direction by the moving part; A driving force detection step of detecting the driving force of the moving part when moving at least one of the pipe to be joined mounting part and the pipe gripping part in the axial direction by the driving force detection unit; A determination step of determining the joining state of the insertion port of the pipe and the receiving port of the pipe to be joined based on the driving force of the moving part detected by the driving force detection unit by the determination unit; Having, Pipe joining method.

9. In the pipe joining method according to claim 8, It further has a pipe position detection step of detecting the position of the pipe with respect to the pipe to be joined by a pipe position detection unit, In the determination step, based on the allowable range of the driving force determined for each position of the pipe, when the driving force detected by the driving force detection unit at the position of the pipe detected by the pipe position detection unit is not included in the allowable range of the driving force, it is determined that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal. Pipe joining method.

10. In the pipe joining method according to claim 8, further comprising a pipe position detection step of detecting the position of the pipe with respect to the pipe to be joined by a pipe position detection unit, in the determination step, based on the allowable range of the change rate of the driving force per unit displacement distance of the pipe determined based on the position of the pipe, the position of the pipe detected by the pipe position detection unit and the driving force detected by the driving force detection unit at the position of the pipe, when the change rate of the driving force per unit displacement distance of the pipe calculated thereby is not included in the allowable range of the change rate of the driving force, it is determined that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal. Pipe joining method.

11. In the pipe joining method according to any one of claims 8 to 10, further comprising a signal output step of outputting a control signal to the moving unit by a signal output unit, in the signal output step, when it is determined by the determination step that the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined is abnormal, a control signal for stopping the movement of the pipe to be joined mounting part and the pipe gripping part is transmitted to the moving unit. Pipe joining method.

12. In the pipe joining method according to claim 11, further comprising a manual operation switching step of switching to a manual operation mode in which a control signal can be transmitted from an operation instruction receiving unit that generates a control signal according to an operation instruction to the moving unit by a manual operation switching unit, in the manual operation switching step, when a control signal for stopping the movement of the pipe to be joined mounting part and the pipe gripping part is output to the moving unit by the signal output unit, the manual operation mode is switched. Pipe joining method.

13. In the pipe joining method according to claim 12, in the manual operation switching step, when switching to the manual operation mode, only the control signal for the moving unit generated by the operation instruction receiving unit is output to the moving unit. Pipe joining method.

14. In the pipe joining method according to claim 8, A joint completion determination step of determining completion of the joint between the insertion port of the pipe and the receiving port of the joint pipe by a joint completion determination unit; An evaluation step of evaluating the joint state between the insertion port of the pipe and the receiving port of the joint pipe based on the history of the driving force of the moving part detected by the driving force detection unit from the start to the completion of the joint between the insertion port of the pipe and the receiving port of the joint pipe by an evaluation unit; and In the evaluation step, when it is determined by the joint completion determination step that the joint between the insertion port of the pipe and the receiving port of the joint pipe is completed, the joint state between the insertion port of the pipe and the receiving port of the joint pipe is evaluated. Pipe joint method.

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