Attachment for pipe connection of working machine, working machine equipped with the same, and pipe connection method

Abstract

To obtain a structure of a pipe joining attachment capable of easily positioning an insertion port of a pipe with respect to a receive port of a joined pipe, even if the pipe is bent at a predetermined angle with respect to the joined pipe to be joined in an underground groove, in an attachment of a work machine connected to an arm of the work machine.SOLUTION: A pipe joining attachment 1 of a work machine has an arm connecting portion 11 connected to an arm of the work machine, a grip portion 12 gripping a pipe W1, and a joined pipe contacting portion 15 that is located in an axial direction of an insertion port W1a of the pipe W1 gripped by the grip portion 12 with respect to the grip portion 12, and contacts with an outer peripheral surface on a receive port W2 of the joined pipe W2 joined with the pipe W1.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a pipe joining attachment that is connected to an arm of a working machine and is used to join a pipe to a pipe to be joined, a working machine equipped with the same, and a pipe joining method.

Background Art

[0002] For example, in the laying work of ductile cast iron pipes (an example of water pipes) having sockets and spigots used for water pipes, 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 socket of the pipe into the spigot of the pipe to be joined, and join the socket and the spigot.

[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] As described above, in the conventional pipe joining operation, the working burden on the operator is high, and the workability in a narrow trench is not very good.

[0005] On the other hand, for example, Patent Document 1 discloses a pipe laying machine including a pipe holding body rotatable horizontally at the tip of an arm, a light receiver that receives laser light from a laser transmitter for pipe positioning, a pair of clamp members having claws at both ends, and a roller for automatic centering of a laid pipe. The laser transmitter is installed in the trench so that laser light passes through the center of the laid pipe. The light receiver is disposed at a position protruding from the pipe holding body so as to receive the laser light of the laser transmitter at the center of the laid pipe.

[0006] The pipe laying machine can lower the laid pipe into the trench by horizontally moving the pipe holding body while moving the arm with the laid pipe being gripped by the pair of clamping members. When lowering the laid pipe into the trench, the pipe laying machine adjusts the position of the laid pipe by moving the arm or the like so that the laser of the laser transmitter hits the light receiver.

[0007] Thereby, with the pipe laying machine, it is possible to safely and automatically lay the laid pipe in the trench without a person entering the trench.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0009] Since the pipe laying machine disclosed in Patent Document 1 positions the pipe using laser light in a trench underground, the pipe can be arranged straight along the laser light in the trench.

[0010] By the way, for example, when arranging a seismic-resistant pipe or the like in a trench underground, the seismic-resistant pipe may be arranged at an allowable bending angle with respect to the pipe to be joined. Thus, when joining a pipe to a pipe to be joined in a trench underground, not only when joining the pipe straight along the pipe axis of the pipe to be joined, but also when bending the pipe at a predetermined angle with respect to the pipe to be joined and joining it.

[0011] In this way, when bending the pipe at a predetermined angle with respect to the pipe to be joined in a trench underground and joining it, even when using the pipe laying machine disclosed in Patent Document 1, it is difficult to accurately position the insertion port of the pipe in the trench with respect to the receiving port of the pipe to be joined.

[0012] An object of the present invention is to obtain a configuration of a pipe joining attachment for a working machine that can easily position the insertion port of a pipe with respect to the receiving port of a pipe to be joined even when the pipe is bent and joined at a predetermined angle with respect to the pipe to be joined in a trench in the ground, in the attachment of the working machine connected to the arm of the working machine.

Means for Solving the Problems

[0013] A pipe joining attachment for a working machine according to an embodiment of the present invention includes an arm connection portion connected to an arm of the working machine, a gripping portion that grips a pipe, and a portion that is located in the axial direction of the insertion port of the pipe gripped by the gripping portion with respect to the gripping portion and contacts the outer peripheral surface on the receiving port side of the pipe to be joined that is joined to the pipe (first configuration).

[0014] By bringing the pipe joint contact portion of the pipe joint attachment that grips the pipe with the gripping portion into contact with the outer peripheral surface on the receiving port side of the pipe to be joined, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined. Moreover, by positioning the insertion port of the pipe with respect to the receiving port of the pipe to be joined as described above, even when the pipe is bent and joined at a predetermined angle with respect to the pipe to be joined, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined.

[0015] Therefore, with the above-described configuration, even when the pipe is bent and joined at a predetermined angle with respect to the pipe to be joined in a trench in the ground, a pipe joining attachment for a working machine that can easily position the insertion port of the pipe with respect to the receiving port of the pipe to be joined can be realized.

[0016] In the first configuration, the pipe joint contact portion contacts a portion of the outer peripheral surface on the receiving port side of the pipe to be joined that is located in at least one of a first direction and a second direction orthogonal to the first direction when the receiving port is viewed in the axial direction of the pipe to be joined (second configuration).

[0017] As described above, when the pipe contact portion of the attachment for pipe joining contacts the receiving port of the pipe to be joined, the insertion port of the pipe gripped by the gripping portion of the attachment for pipe joining can be positioned in at least one of the first direction and the second direction with respect to the receiving port of the pipe to be joined when the receiving port is viewed in the axial direction of the pipe to be joined. Thereby, even when the pipe is bent and joined to the pipe to be joined at a predetermined angle, an attachment for pipe joining capable of positioning the insertion port of the pipe more accurately with respect to the receiving port of the pipe to be joined can be obtained.

[0018] In the first or second configuration, the attachment for pipe joining further includes a horizontal rotation mechanism that allows the gripping portion to rotate horizontally about a rotation axis extending in the vertical direction (third configuration).

[0019] Thereby, the pipe gripped by the gripping portion of the attachment for pipe joining can be rotated horizontally about a rotation axis extending in the vertical direction. Therefore, with the attachment for pipe joining having the above-described configuration, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined disposed in the trench in the ground without moving or turning the working machine.

[0020] In any one of the first to third configurations, the attachment for pipe joining further includes a horizontal movement mechanism that allows the gripping portion to move horizontally in a direction perpendicular to the axis of the pipe gripped by the gripping portion (fourth configuration).

[0021] Thereby, the pipe gripped by the gripping portion can be moved horizontally in a direction perpendicular to the axis of the pipe. Therefore, with the attachment for pipe joining having the above-described configuration, the position of the pipe can be finely adjusted horizontally in a direction perpendicular to the axis of the pipe. Therefore, with the attachment for pipe joining, the insertion port of the pipe can be easily and accurately positioned with respect to the receiving port of the pipe to be joined without moving the working machine.

[0022] In any one of the first to fourth configurations, the pipe joining attachment further includes an axial movement mechanism that enables the gripping portion to move in the axial direction toward the pipe contact portion to be joined (fifth configuration).

[0023] As a result, the insertion port of the pipe gripped by the gripping portion of the pipe joining attachment can be moved toward the receiving port of the pipe to be joined with which the pipe contact portion to be joined is in contact. Therefore, the insertion port of the pipe gripped by the gripping portion can be inserted into the receiving port in a state where it is positioned with respect to the receiving port of the pipe to be joined. Thereby, even when joining the pipe by bending it at a predetermined angle with respect to the pipe to be joined, the joining operation between the pipe and the pipe to be joined can be easily performed.

[0024] A working machine according to an embodiment of the present invention includes a pipe joining attachment of a working machine having any one of the first to fifth configurations, and an arm to which the pipe joining attachment is attached at its tip (sixth configuration).

[0025] As a result, a working machine provided with a pipe joining attachment having any one of the first to fifth configurations can be realized. Therefore, using the working machine, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined.

[0026] In the sixth configuration, the working machine further includes an image acquisition unit that acquires an image capable of grasping the position of the pipe contact portion to be joined of the pipe joining attachment with respect to the receiving port of the pipe to be joined (seventh configuration).

[0027] As a result, the position of the pipe contact portion to be joined of the pipe joining attachment with respect to the receiving port of the pipe to be joined can be easily grasped from the image acquired by the image acquisition unit. Therefore, the pipe contact portion to be joined of the pipe joining attachment can be easily brought into contact with the receiving port of the pipe to be joined. Therefore, using the working machine, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined.

[0028] The pipe joining method using the attachment for pipe joining of a working machine according to an embodiment of the present invention is a pipe joining method in which the insertion port of a pipe is joined to the receiving port of a pipe to be joined using the attachment for pipe joining of the working machine described in any one of the first to fifth configurations. This pipe joining method includes a gripping step of gripping the pipe with a gripping portion, and a positioning step of positioning the insertion port of the pipe with respect to the receiving port of the pipe to be joined by bringing a pipe-to-be-joined contact portion into contact with the receiving port of the pipe to be joined while the pipe is being gripped by the gripping portion (first method).

[0029] Thereby, the insertion port of the pipe can be easily positioned with respect to the receiving port of the pipe to be joined using the attachment for pipe joining of the working machine.

Effect of the Invention

[0030] The attachment for pipe joining of a working machine according to an embodiment of the present invention includes an arm connection portion connected to an arm of the working machine, a gripping portion for gripping a pipe, and a pipe-to-be-joined contact portion that is located in the axial direction of the insertion port of the pipe gripped by the gripping portion and contacts the outer peripheral surface of the receiving port of the pipe to be joined to the pipe.

[0031] Thereby, the insertion port of the pipe gripped by the attachment for pipe joining attached to the arm of the working machine can be easily positioned with respect to the receiving port of the pipe to be joined. Therefore, with the above-described configuration, even when the pipe is bent and joined to the pipe to be joined at a predetermined angle in a groove in the ground, an attachment for pipe joining that can easily position the insertion port of the pipe with respect to the receiving port of the pipe to be joined can be realized.

Brief Description of the Drawings

[0032]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0033] Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same reference numerals are given to the same parts, and the description of the same parts will not be repeated. Note that the dimensions of the constituent members in each figure do not faithfully represent the actual dimensions of the constituent members and the dimensional ratios of the constituent members.

[0034] In the following description, the front-rear, left-right directions respectively mean the front-rear, left-right directions as viewed from the operator who operates the work machines 1000 and 2000. Also, the axial direction means the direction in which the axis L of the pipe W1 gripped by the pipe joining attachment 1, 100 extends. The width direction means the horizontal direction and the direction orthogonal to the axial direction. The horizontal direction includes not only the strict horizontal direction but also the direction intersecting the vertical direction.

[0035] 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. of members to each other.

[0036] [Embodiment 1] (Work Machine) FIG. 1 is a diagram showing a schematic configuration of a work machine 1000 to which a pipe joining attachment 1 according to Embodiment 1 of the present invention is connected. The pipe joining attachment 1 is connected to the tip of the arm 1003 of the work machine 1000. The work machine 1000 can perform various construction works and operations by replacing the attachment connected to the tip of the arm 1003. In the present embodiment, the work machine 1000 is, for example, a mini backhoe which is a construction machine for excavation.

[0037] Note that the work machine 1000 may be a construction machine other than a mini backhoe, and may be a machine having any configuration as long as it can operate the pipe joining attachment 1.

[0038] The work machine 1000 is capable of traveling in the front-rear direction and is capable of turning horizontally about a rotation axis P extending in the vertical direction. The work machine 1000 is drivable, for example, by hydraulic pressure. Note that the work machine may be drivable, for example, by an electric motor.

[0039] The working machine 1000 includes a working machine body 1001, a boom 1002, and an arm 1003.

[0040] The working machine body 1001 includes an upper swing body 1011 and a lower traveling body 1012. The upper swing body 1011 is rotatable horizontally about the rotation axis P. The lower traveling body 1012 has an annular endless track and is travelable in the front-rear direction.

[0041] The boom 1002 is a beam-like member extending forward from the upper swing body 1011. One end side of the boom 1002 is connected to the upper swing body 1011. The boom 1002 is rotatable vertically about the one end side with respect to the upper swing body 1011.

[0042] The arm 1003 is a beam-like member having one end side connected to the front end portion of the boom 1002. The arm 1003 is rotatable vertically about the one end side with respect to the boom 1002. An attachment can be connected to the other end side of the arm 1003. In the present embodiment, an attachment 1 for pipe joining is connected to the other end side of the arm 1003.

[0043] Note that the boom 1002 and the arm 1003 can each be driven by a hydraulic cylinder (not shown). The boom 1002 and the arm 1003 may also be driven by an electric motor or the like.

[0044] The attachment 1 for pipe joining may be connected to the other end side of the arm 1003 via an attachment mounting member. The attachment mounting member is configured to be able to easily attach the attachment to the other end side of the arm 1003.

[0045] Since the configurations of the working machine body 1001, the boom 1002, and the arm 1003 in the working machine 1000 are the same as the conventional configurations, detailed descriptions thereof are omitted.

[0046] (Attachment for Pipe Joining) Figures 2 to 5 are diagrams showing the schematic configuration of the pipe joining attachment 1. Figure 2 is a view of the pipe joining attachment 1 seen from one side in the width direction. Figure 3 is a top view of the pipe joining attachment 1. Figure 4 is a view of the pipe joining attachment 1 seen from one side in the axial direction. Figure 5 is a view of the pipe joining attachment 1 seen from the other side in the axial direction. Hereinafter, the schematic configuration of the pipe joining attachment 1 will be described with reference to Figures 2 to 5.

[0047] In the following description, the pipe W1 and the pipe to be joined W2 (see Figures 6 to 8) are preferably, for example, seismic-resistant pipes having a seismic-resistant joint that can be bent at a predetermined angle. Note that the pipes W1 and W2 to be joined may be pipes other than seismic-resistant pipes.

[0048] The pipe joining attachment 1 is configured to be able to grip the pipe W1, and the gripped pipe W1 can be rotated horizontally about a rotation axis Q extending in the vertical direction and can be moved in the axial direction of the pipe W1. As shown in Figures 2 to 5, the pipe joining attachment 1 includes an arm connection portion 11, a gripping portion 12, an axial movement mechanism 13, a horizontal rotation mechanism 14, and a pipe-to-be-joined contact portion 15.

[0049] The arm connection portion 11 is located at the upper end portion of the pipe joining attachment 1 and is connected to the other end side of the arm 1003 of the working machine 1000. The arm connection portion 11 may be connected to the other end side of the arm 1003 by bolts or pins, or may be fitted by a fitting portion. The arm connection portion 11 may be connected to the other end side of the arm 1003 by any configuration.

[0050] The gripping portion 12 is supported by the axial movement mechanism 13 described later so as to be movable in the axial direction. The gripping portion 12 grips the pipe W1. The gripping portion 12 includes a pair of gripping claws 21 and a gripping drive portion 22.

[0051] The pair of gripping claws 21 are arranged side by side in the width direction perpendicular to the axial direction so as to be able to grip the pipe W1. One end side of the pair of gripping claws 21 is connected to the gripping drive unit 22. The pair of gripping claws 21 are rotatable with respect to the gripping drive unit 22 in directions approaching and separating from each other about the one end side. The pair of gripping claws 21 sandwich the pipe W1 in the width direction.

[0052] In the present embodiment, the gripping portion 12 has two pairs of gripping claws 21. The two pairs of gripping claws 21 are arranged side by side in the axial direction of the pipe W1 with respect to the gripping drive unit 22.

[0053] The gripping drive unit 22 applies a driving force to one end side of the pair of gripping claws 21 so that the pair of gripping claws 21 rotate in directions approaching and separating from each other about the one end side. The gripping drive unit 22 may generate a driving force using, for example, the hydraulic pressure output from the working machine 1000, or may generate a driving force by an electric motor or the like.

[0054] The axial movement mechanism 13 is rotatably supported horizontally about the rotation axis Q by a horizontal rotation mechanism 14 described later. The axial movement mechanism 13 moves the gripping portion 12 in the axial direction of the pipe W1 gripped by the gripping portion 12. The axial movement mechanism 13 includes a guide portion 31, a slider 32, and an axial drive portion 33.

[0055] The guide portion 31 is rotatably connected to a horizontal rotation mechanism 14 described later horizontally about the rotation axis Q. The guide portion 31 has, for example, a pair of guide rails 31a extending along the axis L of the pipe W1. That is, the pair of guide rails 31a extend in the axial direction. Therefore, in the present embodiment, the longitudinal direction of the pair of guide rails 31a coincides with the axial direction. The guide rail 31a is an H-shaped steel having flanges protruding in the width direction vertically when viewed in the axial direction. Note that the guide rail 31a may be a member other than H-shaped steel.

[0056] The slider 32 is provided so as to be movable in the longitudinal direction of the guide portion 31, that is, in the axial direction, with respect to the guide portion 31. The slider 32 is formed in a substantially U-shaped cross section so as to cover the lower surface and the side surfaces of the pair of guide rails 31a of the guide portion 31. That is, the slider 32 has a bottom surface 32a and a pair of side surfaces 32b extending upward from the bottom surface 32a. Rollers 32c are rotatably supported on the pair of side surfaces 32b of the slider 32. The rollers 32c move by rolling on the flanges of the pair of guide rails 31a.

[0057] The axial drive portion 33 is capable of moving the slider 32 in the longitudinal direction of the guide portion 31, that is, in the axial direction, with respect to the guide portion 31. For example, the axial drive portion 33 is a hydraulic cylinder. Hydraulic pressure output from, for example, the working machine 1000 is supplied to this hydraulic cylinder. Although not particularly shown, the cylinder tube of the hydraulic cylinder is fixed to the guide portion 31 via a support portion 16 that supports a joined pipe contact portion 15 described later. The piston rod of the hydraulic cylinder is fixed to the slider 32. The hydraulic cylinder is arranged so as to extend in the longitudinal direction of the guide portion 31, that is, in the axial direction. Therefore, by moving the piston rod of the hydraulic cylinder in the axial direction with respect to the cylinder tube, the slider 32 can be moved with respect to the guide portion 31.

[0058] Thereby, the pipe W1 gripped by the gripping portion 12 of the pipe joining attachment 1 can be moved in the axial direction. Therefore, the pipe joining attachment 1 can easily position the insertion port W1a of the pipe W1 with respect to the receiving port W2a (see FIGS. 6 to 8) of the pipe to be joined W2, and can easily insert the insertion port W1a of the pipe W1 into the receiving port W2a of the pipe to be joined W2.

[0059] The horizontal rotation mechanism 14 is connected to the arm 1003 of the working machine 1000 via the arm connection portion 11. That is, the arm connection portion 11 is fixed to the upper portion of the horizontal rotation mechanism 14. The axial drive portion 33 is rotatably connected to the lower portion of the horizontal rotation mechanism 14 so as to be rotatable in the horizontal direction about the rotation axis Q.

[0060] As a result, the horizontal rotation mechanism 14 can rotate the pipe joining attachment 1 horizontally about the rotation axis Q with respect to the arm 1003 of the working machine 1000. Therefore, without moving and swinging the working machine 1000, the pipe W1 gripped by the gripping portion 12 of the pipe joining attachment 1 can be moved into a trench in the ground or the like.

[0061] The joined pipe contact portion 15 is fixed to the axial movement mechanism 13 by the support portion 16 so as to be located in the axial direction of the insertion port W1a of the pipe W1 with respect to the gripping portion 12. As will be described later, the joined pipe contact portion 15 contacts the receiving port W2a side of the joined pipe W2 when positioning the insertion port W1a of the pipe W1 gripped by the gripping portion 12 with respect to the receiving port W2a of the joined pipe W2. Note that the receiving port W2a side of the joined pipe W2 includes not only the receiving port W2a of the joined pipe W2 but also the receiving port W2a side of the pipe body in the joined pipe W2.

[0062] The support portion 16 is fixed to, for example, the guide portion 31 of the axial movement mechanism 13. The support portion 16 has a support main body 16a and a connection support portion 16b. The support main body 16a is in a flat plate shape and is fixed to the guide portion 31 of the axial movement mechanism 13. The connection support portion 16b extends downward from the support main body 16a. The connection support portion 16b supports the joined pipe contact portion 15.

[0063] The joined pipe contact portion 15 is formed in an inverted V shape in which the distance between the straight portions 15a expands downward when viewed in the axial direction. Specifically, the joined pipe contact portion 15 has a pair of straight portions 15a whose upper ends are connected and whose lower ends are separated in the width direction. The upper ends of the pair of straight portions 15a are fixed to the lower end portion of the connection support portion 16b of the support portion 16. By having such a configuration for the joined pipe contact portion 15, even when the outer diameter of the receiving port W2a side of the joined pipe W2 is different, the straight portions 15a of the joined pipe contact portion 15 can be brought into contact with the outer peripheral surface of the receiving port W2a side of the joined pipe W2.

[0064] The pair of straight portions 15a of the joint pipe contact portion 15 contact a portion of the outer peripheral surface on the receiving port W2a side of the joint pipe W2 that is located in an oblique direction (for example, a direction of 45 degrees with respect to the width direction) with respect to the width direction when viewed in the axial direction of the receiving port W2a of the joint pipe W2. Thereby, the pipe joint attachment 1 is positioned in the width direction and in a direction orthogonal to the width direction with respect to the receiving port W2a of the joint pipe W2.

[0065] Note that the pair of straight portions 15a of the joint pipe contact portion 15 may contact a portion located on one or the other side in the width direction of the outer peripheral surface on the receiving port W2a side of the joint pipe W2, or may contact a portion located in a direction orthogonal to the width direction of the outer peripheral surface on the receiving port W2a side of the joint pipe W2. That is, the joint pipe contact portion 15 may contact a portion of the outer peripheral surface on the receiving port W2a side of the joint pipe W2 that is located in at least one of the width direction and the direction orthogonal to the width direction when viewed in the axial direction of the receiving port W2a of the joint pipe W2. One of the pair of straight portions 15a of the joint pipe contact portion 15 may contact the outer peripheral surface on the receiving port W2a side of the joint pipe W2.

[0066] As described above, since the pipe joint attachment 1 is positioned in the width direction and in a direction orthogonal to the width direction with respect to the joint pipe W2, the insertion port W1a of the pipe W1 gripped by the gripping portion 12 of the pipe joint attachment 1 can be positioned in the width direction and in a direction orthogonal to the width direction with respect to the receiving port W2a of the joint pipe W2.

[0067] Note that when viewed in the axial direction of the receiving port W2a of the joint pipe W2, the width direction with respect to the joint pipe W2 corresponds to the first direction, and the direction orthogonal to the width direction corresponds to the second direction. When the axis M of the joint pipe W2 is parallel to the axis L of the pipe W1 and the axes L and M extend in the horizontal direction, the direction orthogonal to the width direction is the vertical direction.

[0068] As described above, the pipe joining attachment 1 for a working machine according to the present embodiment includes an arm connection portion 11 connected to the arm 1003 of the working machine 1000, a gripping portion 12 that grips the pipe W1, and a joined pipe contact portion 15 that is positioned in the axial direction of the insertion port W1a of the pipe W1 gripped by the gripping portion 12 and contacts the outer peripheral surface on the receiving port W2a side of the joined pipe W2 to be joined to the pipe W1.

[0069] By bringing the joined pipe contact portion 15 of the pipe joining attachment 1 that grips the pipe W1 with the gripping portion 12 into contact with the outer peripheral surface on the receiving port W2a side of the joined pipe W2, the insertion port W1a of the pipe W1 can be positioned with respect to the receiving port W2a of the joined pipe W2. Moreover, by positioning the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the joined pipe W2 as described above, even when the pipe W1 is bent and joined to the joined pipe W2 at a predetermined angle, the insertion port W1a of the pipe W1 can be easily positioned with respect to the receiving port W2a of the joined pipe W2.

[0070] Therefore, even when the pipe W1 is bent and joined to the joined pipe W2 at a predetermined angle in the groove in the ground with the above-described configuration, a pipe joining attachment 1 that can easily position the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the joined pipe W2 can be realized.

[0071] In the present embodiment, the joined pipe contact portion 15 contacts a portion that is positioned at least in one of the width direction and the direction orthogonal to the width direction with respect to the outer peripheral surface on the receiving port W2a side of the joined pipe W2 when the receiving port W2a is viewed in the axial direction of the joined pipe W2.

[0072] As described above, when the joined pipe contact portion 15 of the pipe joining attachment 1 contacts the receiving port W2a of the joined pipe W2, the insertion port W1a of the pipe W1 gripped by the gripping portion 12 can be positioned in the width direction and the direction orthogonal to the width direction when the receiving port W2a is viewed in the axial direction of the joined pipe W2 with respect to the receiving port W2a of the joined pipe W2. Thereby, even when the pipe W1 is bent and joined to the joined pipe W2 at a predetermined angle, a pipe joining attachment 1 that can more accurately position the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the joined pipe W2 can be obtained.

[0073] In this embodiment, the pipe joining attachment 1 further includes a horizontal rotation mechanism 14 that enables the gripping portion 12 to rotate horizontally about a rotation axis Q extending in the vertical direction.

[0074] As a result, the pipe W1 gripped by the gripping portion 12 can be rotated horizontally about the rotation axis Q extending in the vertical direction. Therefore, with the pipe joining attachment 1 having the configuration of this embodiment, the insertion port W1a of the pipe W1 can be easily positioned with respect to the receiving port W2a of the pipe W2 to be joined disposed in the trench in the ground without moving or turning the working machine 1000.

[0075] In this embodiment, the pipe joining attachment 1 further includes an axial movement mechanism 13 that enables the gripping portion 12 to move axially toward the pipe-to-be-joined contact portion 15.

[0076] As a result, the pipe W1 gripped by the gripping portion 12 can be moved toward the receiving port W2a of the pipe W2 to be joined with which the pipe-to-be-joined contact portion 15 is in contact. Therefore, the insertion port W1a of the pipe W1 gripped by the gripping portion 12 can be inserted into the receiving port W2a in a state where it is positioned with respect to the receiving port W2a of the pipe W2 to be joined. As a result, even when joining the pipe W1 by bending it at a predetermined angle with respect to the pipe W2 to be joined, the joining operation between the pipe W1 and the pipe W2 to be joined can be easily performed.

[0077] The working machine 1000 according to this embodiment includes the pipe joining attachment 1 having the configuration of this embodiment and an arm 1003 to which the pipe joining attachment 1 is attached at the tip.

[0078] As a result, the working machine 1000 equipped with the pipe joining attachment 1 having the configuration of this embodiment can be realized. Therefore, using the working machine 1000, the insertion port W1a of the pipe W1 can be easily positioned with respect to the receiving port W2a of the pipe W2 to be joined.

[0079] (Pipe joining method) Next, a method for joining the pipe W1 and the pipe to be joined W2 using the attachment 1 for pipe joining having the above-described configuration will be described with reference to FIGS. 6 to 8. FIGS. 6 to 8 are diagrams schematically showing a state of joining the pipe W1 and the pipe to be joined W2 using the attachment 1 for pipe joining. Note that FIGS. 6 to 8 show an example of a pipe joining method in a case where the axis L of the pipe W1 and the axis M of the pipe to be joined W2 intersect instead of being parallel.

[0080] As shown in FIG. 6, in the attachment 1 for pipe joining connected to the tip of the arm 1003 of the working machine 1000, the pipe W1 is gripped by moving the pair of gripping claws 21 of the gripping portion 12 in a closing direction. Thus, the step of gripping the pipe W1 by the gripping portion 12 is the gripping step.

[0081] The operator operates the arm 1003 or the like of the working machine 1000 to move the attachment 1 for pipe joining in a state of gripping the pipe W1 into a trench (not shown) in the ground where the pipe to be joined W2 is disposed. At this time, the operator operates the arm 1003 or the like of the working machine 1000 to move the attachment 1 for pipe joining so that the pipe-to-be-joined contact portion 15 of the attachment 1 for pipe joining is positioned above the receiving port W2a side of the pipe to be joined W2.

[0082] Next, the operator operates the arm 1003 or the like of the working machine 1000 to lower the attachment 1 for pipe joining so that the pipe-to-be-joined contact portion 15 of the attachment 1 for pipe joining contacts the outer peripheral surface of the receiving port W2a side of the pipe to be joined W2 (the white arrow shown in FIG. 6 indicates the moving direction of the attachment 1 for pipe joining). At least one of the pair of straight portions 15a of the pipe-to-be-joined contact portion 15 of the attachment 1 for pipe joining contacts the outer peripheral surface of the receiving port W2a side of the pipe to be joined W2. Thereby, even when the axis L of the pipe W1 intersects the axis M of the pipe to be joined W2, the insertion port W1a of the pipe W1 gripped by the pair of gripping claws 21 of the attachment 1 for pipe joining can be positioned in the width direction and the direction orthogonal to the width direction with respect to the receiving port W2a of the pipe to be joined W2.

[0083] Thus, in a state where the pipe W1 is gripped by the gripping portion 12, the step of positioning the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined by bringing the pipe-to-be-joined contact portion 15 into contact with the receiving port W2a of the pipe W2 to be joined is the positioning step.

[0084] Then, as shown in FIG. 7, the gripping portion 12 is moved in the axial direction along the guide portion 31 (the white arrow shown in FIG. 7 indicates the moving direction of the pipe joining attachment 1). As a result, as shown in FIG. 8, the insertion port W1a of the pipe W1 gripped by the gripping portion 12 is inserted into the receiving port W2a of the pipe W2 to be joined for joining. Therefore, the pipe W1 can be bent and joined to the pipe W2 to be joined at a predetermined angle.

[0085] The pipe joining method using the pipe joining attachment 1 according to the present embodiment is a pipe joining method of joining the insertion port W1a of the pipe W1 to the receiving port W2a of the pipe W2 to be joined using the pipe joining attachment 1 having the configuration of the present embodiment. This pipe joining method includes a gripping step of gripping the pipe W1 by the gripping portion 12, and a positioning step of positioning the insertion port W1a of the pipe W1 with respect to the receiving port W2a of the pipe W2 to be joined by bringing the pipe-to-be-joined contact portion 15 into contact with the receiving port W2a of the pipe W2 to be joined in a state where the pipe W1 is gripped by the gripping portion 12.

[0086] Thus, even when the pipe W1 is bent and joined to the pipe W2 to be joined at a predetermined angle, the insertion port W1a of the pipe W1 can be easily positioned with respect to the receiving port W2a of the pipe W2 to be joined using the pipe joining attachment 1 having the configuration of the present embodiment.

[0087] [Embodiment 2] FIGS. 9 and 10 show a schematic configuration of a pipe joining attachment 100 according to Embodiment 2. FIG. 9 is a view of the pipe joining attachment 100 as seen from one side in the width direction. FIG. 10 is a view of the pipe joining attachment 100 as seen from one side in the axial direction.

[0088] The pipe joining attachment 100 is configured to be movable in a direction orthogonal to the axial direction and in the horizontal direction (width direction). Specifically, as shown in FIGS. 9 and 10, in addition to the configuration of Embodiment 1, the pipe joining attachment 100 has a horizontal movement mechanism 50.

[0089] The horizontal movement mechanism 50 is located between the horizontal rotation mechanism 14 and the axial movement mechanism 13. The horizontal movement mechanism 50 includes a base 51, a pair of guide rails 52, and a slider 53.

[0090] The base 51 is a plate-shaped member and is fixed to the upper part of the guide portion 31 of the axial movement mechanism 13. The pair of guide rails 52 each extend in the width direction and are fixed to the upper surface of the base 51. The slider 53 is a plate-shaped member and is movable in the width direction with respect to the pair of guide rails 52. The horizontal rotation mechanism 14 is rotatably connected to the upper surface of the slider 53 in the horizontal direction.

[0091] From the above, the pipe joining attachment 100 of the present embodiment has a horizontal movement mechanism 50 that can move the gripping portion 12 in a direction orthogonal to the axis L of the pipe W1 gripped by the gripping portion 12 and in the horizontal direction.

[0092] With the horizontal movement mechanism 50 having such a configuration, the gripping portion 12 of the pipe joining attachment 100 can be moved in a direction orthogonal to the axial direction and in the horizontal direction (width direction). Therefore, the horizontal movement mechanism 50 can finely adjust the position of the pipe W1 in the width direction gripped by the gripping portion 12. As a result, without moving the working machine 1000, the insertion port W1a of the pipe W1 gripped by the gripping portion 12 can be easily and accurately positioned with respect to the receiving port W2a of the pipe W2 to be joined.

[0093] (Other Embodiments) The embodiments of the present invention have been described above. However, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiments, and it is possible to appropriately modify and implement the above-described embodiments without departing from the spirit thereof.

[0094] In each of the above embodiments, the pipe joining attachment 1,100 has an axial movement mechanism 13. However, the pipe joining attachment may not have an axial movement mechanism.

[0095] In each of the above embodiments, the pipe joining attachment 1,100 has a horizontal rotation mechanism 14. However, the pipe joining attachment may not have a horizontal rotation mechanism.

[0096] In each of the above embodiments, the arm connection portion 11 is located at the upper end portion of the pipe joining attachment 1. However, the arm connection portion may be located at a position other than the upper end portion of the pipe joining attachment.

[0097] In each of the above embodiments, the gripping portion 12 has a pair of gripping claws 21. However, as long as the gripping portion can grip a pipe, it may have other configurations such as a suction mechanism.

[0098] In each of the above embodiments, the pair of gripping claws 21 of the pipe joining attachment 1 are arranged side by side in the width direction orthogonal to the axial direction. However, the pair of gripping claws may be located at positions shifted in the vertical direction or at positions shifted in the axial direction.

[0099] In each of the above embodiments, the gripping portion 12 has two sets of a pair of gripping claws 21. However, the gripping portion may have three or more sets of a pair of gripping claws.

[0100] In each of the above embodiments, the guide portion 31 of the pipe joining attachment 1 has, for example, a pair of guide rails 31a extending along the axis L of the pipe W1. However, the guide portion may have one or three or more guide rails. As long as the slider can move in the axial direction, the guide portion may have a configuration other than a guide rail.

[0101] In each of the above embodiments, the slider 32 of the pipe joining attachment 1 is a member having a substantially U-shaped cross section with a bottom surface 32a and a pair of side surfaces 32b extending upward from the bottom surface 32a. However, as long as the slider can move the gripping portion 12 in the axial direction with respect to the guide portion, it may have any shape such as a flat plate shape or a block shape.

[0102] In each of the above embodiments, the axial drive portion 33 is a hydraulic cylinder. However, as long as the axial drive portion has a configuration that can move the slider in the axial direction with respect to the guide portion, it may be a drive device other than a hydraulic cylinder, such as an electric actuator.

[0103] In each of the above embodiments, the joined pipe contact portion 15 is formed in an inverted V shape. However, the joined pipe contact portion may be formed in an inverted U shape that opens downward. In this case, the distance between the pair of straight portions constituting the inverted U-shaped joined pipe contact portion has a dimension that allows the receiving port side of the pipe body in the joined pipe to be inserted. As long as the joined pipe contact portion can contact the receiving port side of the joined pipe and position the pipe joining attachment in the width direction and the direction orthogonal to the width direction with respect to the receiving port of the joined pipe, it may have a shape other than a V shape, such as an L shape, an inverted L shape, or a T shape. The joined pipe contact portion may have a shape (linear shape, flat plate shape, curved surface shape, etc.) that can contact the receiving port side of the joined pipe and position the pipe joining attachment in the width direction or the direction orthogonal to the width direction with respect to the receiving port of the joined pipe.

[0104] In each of the above embodiments, the working machine may have, for example, an image acquisition unit that acquires an image capable of grasping the position of the joined pipe contact portion 15 of the pipe joining attachment 1,100 with respect to the receiving port W2a of the joined pipe W2 on the arm 1003.

[0105] FIG. 11 is a diagram showing a schematic configuration of a working machine 2000 in which a camera 60, which is an image acquisition unit, is attached to an arm 1003. The camera 60 is attached to the arm 1003 of the working machine 2000 such that the joined pipe contact portion 15 located below the arm 1003 is within the imaging range. That is, the working machine 2000 further has a camera 60 that acquires an image capable of grasping the position of the joined pipe contact portion 15 of the pipe joining attachment 1,100 with respect to the receiving port W2a of the joined pipe W2.

[0106] Note that the image acquired by the camera 60 may be displayed on a display (not shown) that presents information to the operator, or may be transmitted to a control device (not shown) and then used for control of the working machine 2000 in the control device.

[0107] Thereby, based on the image acquired by the camera 60, the operator or the control device can easily grasp the position of the joined pipe contact portion 15 of the pipe joining attachment 1,100 with respect to the receiving port W2a of the joined pipe W2. Therefore, the joined pipe contact portion 15 of the pipe joining attachment 1,100 can be easily brought into contact with the receiving port W2a of the joined pipe W2. Accordingly, using the working machine 2000, the insertion port W1a of the pipe W1 can be easily positioned with respect to the receiving port W2a of the joined pipe W2.

[0108] The camera 60 may be attached to the boom of the working machine or may be attached to the upper slewing body. Also, the camera 60 may be attached to the pipe joining attachment 1,100.

[0109] In each of the above embodiments, the pipe joining attachment 1, 100 may have an elastic support portion that elastically supports the gripping portion 12 and the pipe-to-be-joined contact portion 15 in the vertical direction. For example, as shown in FIG. 12, the pipe joining attachment 200 may have an elastic support portion 70 that elastically supports the axial movement mechanism 13 in the vertical direction with respect to the horizontal rotation mechanism 14 between the horizontal rotation mechanism 14 and the axial movement mechanism 13. The elastic support portion 70 includes, for example, a member such as a spring or rubber that connects the horizontal rotation mechanism 14 and the axial movement mechanism 13. Thereby, the gripping portion 12 that is supported by the axial movement mechanism 13 so as to be movable in the axial direction, and the pipe-to-be-joined contact portion 15 that is supported by the guide portion 31 of the axial movement mechanism 13 can be elastically supported in the vertical direction with respect to the horizontal rotation mechanism 14 by the elastic support portion 70. Therefore, when the pipe-to-be-joined contact portion 15 contacts the outer peripheral surface on the receiving port W2a side of the pipe-to-be-joined W2 in a state where the pipe W1 is gripped by the gripping portion 12, the impact applied to the pipe-to-be-joined W2 can be reduced. Note that an elastic support portion as described above may be provided on the pipe joining attachment 100 shown in FIGS. 9 and 10.

[0110] In FIGS. 6 to 8 for explaining the pipe joining method of Embodiment 1, an example of a pipe joining method is shown in a case where the axis L of the pipe W1 and the axis M of the pipe-to-be-joined W2 intersect rather than being parallel. However, even when the axis L of the pipe W1 and the axis M of the pipe-to-be-joined W2 are parallel, the insertion port W1a of the pipe W1 can be positioned with respect to the receiving port W2a of the pipe-to-be-joined W2 using the pipe joining attachments 1, 100 having the configurations of the above-described embodiments.

Industrial Applicability

[0111] The present invention can be used for a pipe joining attachment that is connected to an arm of a working machine and is used for joining a pipe to a pipe-to-be-joined.

Explanation of Reference Numerals

[0112] 1, 100, 200 Pipe joining attachment 11 Arm connection portion 12 Gripping portion 13 Axis Direction Movement Mechanism 14 Horizontal Direction Rotation Mechanism 15 Joint Pipe Contact Part 15a Straight Part 16 Support Part 16a Support Body 16b Connection Support Part 21 Holding Claw 22 Holding Driving Part 31 Guide Part 31a Guide Rail 32 Slider 32a Bottom Surface 32b Side Surface 32c Roller 33 Axis Direction Driving Part 50 Horizontal Direction Movement Mechanism 51 Base 52 Guide Rail 53 Slider 60 Camera (Image Acquisition Part) 70 Elastic Support Part 1000, 2000 Machine Tools 1001 Machine Tool Body 1002 Boom 1003 Arm 1011 Upper Swing Body 1012 Lower Traveling Body W1 Pipe W1a Insertion Port W2 Joint Pipe W2a Receiving Port P, Q Rotation Axis L, M Axis

Claims

1. An arm connection part connected to an arm of a working machine, a gripping part supported by the arm connection part and gripping a pipe, a support part supported by the arm connection part, extending in the axial direction so as to be located in the axial direction of the insertion port of the pipe at least partially gripped by the gripping part, and extending downward in the axial direction position with respect to the gripping part, a joined pipe contact part connected to the lower end part of the support part, located in the axial direction with respect to the gripping part, and configured to contact only the upper side of the outer peripheral surface of the receiving port side of the joined pipe joined to the pipe among the outer peripheral surface of the receiving port of the joined pipe with respect to the axis of the joined pipe, having a pipe joining attachment for a working machine.

2. In the pipe joining attachment for a working machine according to Claim 1, the joined pipe contact part contacts a part of the outer peripheral surface of the receiving port of the joined pipe, which is located in at least one of a first direction and a second direction orthogonal to the first direction, when the receiving port is viewed in the axial direction of the joined pipe. a pipe joining attachment for a working machine.

3. In the pipe joining attachment for a working machine according to Claim 1 or 2, the gripping part further has a horizontal rotation mechanism that can rotate horizontally around a rotation axis extending in the vertical direction. a pipe joining attachment for a working machine.

4. In the pipe joining attachment for a working machine according to any one of Claims 1 to 3, the gripping part further has a horizontal movement mechanism that can move horizontally in a direction orthogonal to the axis of the pipe gripped by the gripping part. a pipe joining attachment for a working machine.

5. In the pipe joining attachment for a working machine according to any one of Claims 1 to 4, the gripping part further has an axial movement mechanism that can move in the axial direction toward the joined pipe contact part. a pipe joining attachment for a working machine.

6. A working machine having a pipe joining attachment for a working machine according to any one of Claims 1 to 5, and an arm with the pipe joining attachment attached to its tip. a working machine.

7. In the working machine according to Claim 6, the working machine further has an image acquisition part that acquires an image capable of grasping the position of the joined pipe contact part of the pipe joining attachment with respect to the receiving port of the joined pipe. a working machine.

8. Using the pipe joining attachment for a working machine according to any one of Claims 1 to 5, A pipe joining method for joining an insertion port of a pipe to a receiving port of a pipe to be joined, a gripping step of gripping the pipe by a gripping portion, a positioning step of positioning the insertion port of the pipe with respect to the receiving port of the pipe to be joined by bringing a pipe-to-be-joined contact portion into contact with the receiving port of the pipe to be joined while the pipe is being gripped by the gripping portion, which comprises: A pipe joining method using an attachment for pipe joining of a working machine.

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