Pipe joining device and pipe joining method

Abstract

The present invention achieves a pipe joining device that makes it possible to determine, during an operation for joining an insertion port of a pipe and a socket of a joining target pipe, abnormal joining between the insertion port of the pipe and the socket of the joining target pipe, and efficiently perform the joining operation. A pipe joining device 1 comprises: a joining target pipe attachment part that is attached to the socket side of a joining target pipe; a pair of pipe gripping parts 31, 32 that grip the insertion port side of a pipe; a movement part 36 that moves the pair of pipe gripping parts 31, 32 in an axial direction so as to join, in the axial direction, an insertion port of the pipe and a socket of the joining target pipe; a drive force detection part 61 that detects a drive force of the movement part 36 when the pair of pipe gripping parts 31, 32 are moved in the axial direction; and a determination part 71 that determines the joining state between the insertion port of the pipe and the socket of the joining target pipe on the basis of the drive force of the movement part 36 detected by the drive force detection part 61.

Description

Pipe joining device and pipe joining method

[0001] The present invention relates to a pipe connecting device and a pipe connecting method for connecting a spigot of a pipe to a socket of a pipe to be connected to the pipe.

[0002] In the installation of ductile cast iron pipes (an example of a water pipe) having a spigot and a socket, a pipe joining operation is performed to join a pipe to a pipe to be joined that is placed in an underground trench. In this pipe joining operation, a worker must first lower the pipe to be joined to the pipe to be joined into the trench. Then, the worker must align the pipe and the pipe to be joined in the trench, insert the spigot of the pipe into the socket of the pipe to join them.

[0003] In such a conventional pipe joining operation, the worker must lower the pipe into the groove while checking the position of the pipe relative to the pipe to be joined within the groove, and the worker must manually align the pipe and the pipe to be joined within the groove.

[0004] As described above, conventional pipe joining work places a heavy burden on the worker and requires the work to be carried out in a narrow trench, making the work less efficient.

[0005] In response to this, mechanization of pipe joining work has been proposed to reduce the workload of workers. For example, Patent Document 1 discloses a pipe joining device that clamps the socket of a pipe and the spigot of a pipe to be joined, respectively, and inserts the spigot into the socket. The pipe joining device includes a spigot clamp and a spigot clamp. The spigot clamp is provided with a positioning member. The positioning member has a contact portion located at one axial end of the positioning member and an optical white line detection sensor. In the pipe joining device, the spigot clamp clamping the pipe is moved in one axial direction of the pipe by a hydraulic cylinder to insert the spigot into the socket of the pipe to be joined. In addition, in the pipe joining device, when the spigot approaches the socket to a predetermined distance, the contact portion contacts the end face of the socket. In addition, a white line is painted on the outer surface of the spigot at a predetermined distance from one axial end of the pipe. As described above, when the pipe is moved in one axial direction, if the white line detection sensor detects the white line, the operation of the hydraulic cylinder stops.

[0006] Japanese Patent Application Publication No. 04-357383

[0007] In the pipe joining device of Patent Document 1, the white line sensor detects that the spigot has been inserted a predetermined distance into the socket of the pipe fitting. Therefore, although the pipe joining device of Patent Document 1 can measure the insertion distance of the pipe, it may not be able to grasp the joining condition inside the socket of the pipe to be joined. For this reason, it is desirable for the pipe joining device of Patent Document 1 to both improve the efficiency of the joining operation and determine the joining condition during the joining operation between the spigot of the pipe and the socket of the pipe to be joined.

[0008] Therefore, there is a need for a pipe joining device that can make the joining work more efficient while determining the joining condition between the pipe insertion port and the socket of the pipe to be joined during the joining work between the pipe insertion port and the socket of the pipe to be joined.

[0009] The object of the present invention is to realize a pipe joining device that can determine any abnormalities in the connection between the pipe insertion port and the receiving port of the pipe to be joined during the joining operation, thereby performing the joining operation efficiently.

[0010] A pipe joining device according to one embodiment of the present invention is a device for joining a pipe spigot having a spigot and a socket to a socket of a target pipe having a spigot and a socket. The pipe joining device includes a target pipe attachment part attached to the socket side of the target pipe, a pipe gripping part for gripping the spigot side of the pipe, a moving part for axially moving at least one of the target pipe attachment part and the pipe gripping part to axially join the pipe spigot and the socket of the target pipe, a driving force detecting part for detecting a driving force of the moving part when moving at least one of the target pipe attachment part and the pipe gripping part in the axial direction, and a determining part for determining a joining state between the pipe spigot and the socket of the target pipe based on the driving force of the moving part detected by the driving force detecting part (first configuration).

[0011] In the above-described configuration, when joining the pipe insertion port and the socket of the pipe to be joined, the determination unit determines the connection status between the pipe insertion port and the socket of the pipe to be joined based on the driving force of the moving unit detected by the driving force detection unit. In other words, the determination unit indirectly determines the connection status inside the socket of the pipe to be joined, which is not visible during the joining operation, based on the driving force. Therefore, it is possible to determine any connection abnormalities between the pipe insertion port and the socket of the pipe to be joined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the pipe to be performed efficiently.

[0012] In the first configuration, the connecting device further includes a pipe position detection unit that detects the position of the pipe relative to the pipe to be connected. The determining unit determines that the connection state between the pipe insertion opening and the pipe socket is abnormal if the driving force detected by the driving force detection unit at the pipe position detected by the pipe position detection unit is outside the allowable range of the driving force based on the allowable range of the driving force determined for each pipe position (second configuration).

[0013] In the above configuration, when joining a pipe insertion port and a socket of a target pipe, the connection status between the pipe insertion port and the socket of the target pipe is determined by the driving force for each position of the pipe relative to the target pipe. In other words, the control unit determines the connection status inside the socket of the target pipe, which cannot be visually confirmed during the joining operation, by using a driving force corresponding to the joining stage between the socket of the target pipe and the pipe insertion port. Therefore, connection abnormalities between the pipe insertion port and the socket of the target pipe can be accurately determined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the target pipe to be performed efficiently.

[0014] In the first configuration, the connecting device further includes a pipe position detection unit that detects the position of the pipe relative to the connected pipe. The determination unit determines that the connection state between the pipe insertion opening and the connected pipe socket is abnormal if the rate of change of the driving force per unit pipe movement distance, calculated from the pipe position detected by the pipe position detection unit and the driving force detected by the driving force detection unit at the pipe position, is not within the allowable range of the rate of change of the driving force (third configuration).

[0015] In the above-described configuration, when joining a pipe insertion port and a socket of a target pipe, the connection status between the pipe insertion port and the socket of the target pipe is determined based on the rate of change in the driving force for each unit distance traveled by the pipe relative to the target pipe. In other words, the determination unit determines the connection status between the socket of the target pipe and the pipe insertion port, which cannot be visually confirmed during the joining operation, based on the rate of change in the driving force corresponding to the stage of joining between the socket of the target pipe and the pipe insertion port. Therefore, connection abnormalities between the pipe insertion port and the socket of the target pipe can be accurately determined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the target pipe to be performed efficiently.

[0016] In any one of the first to third configurations, the apparatus further includes a signal output unit that outputs a control signal to the moving unit, and when the determining unit determines that the connection state between the pipe insertion opening and the connection pipe socket is abnormal, the signal output unit outputs a control signal to the moving unit to stop the movement of the connection pipe attachment portion and the pipe gripping portion (fourth configuration).

[0017] In the above configuration, if the connection between the pipe insertion port and the socket of the pipe to be connected is abnormal, the connecting operation between the pipe insertion port and the socket of the pipe to be connected by the moving unit is stopped. Therefore, the pipe insertion port can be easily removed from the socket of the pipe to be connected and the connecting operation can be restarted. This allows the connecting operation between the pipe insertion port and the socket of the pipe to be connected to be performed efficiently.

[0018] In a fourth configuration, the apparatus further includes an operation instruction receiving unit that generates a control signal in response to an operation instruction given to 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 receiving unit to the moving unit in response to the operation instruction. The manual operation switching unit switches to the manual operation mode when the signal output unit outputs a control signal to the moving unit to stop the movement of the joined pipe attaching portion and the pipe gripping portion (fifth configuration).

[0019] In the above configuration, when a control signal for stopping the movement of the connected pipe attachment portion and the pipe gripping portion is output to the moving unit, the operation mode is switched to a manual operation mode in which the moving unit is operated based on an operator's operation instruction to the moving unit. This allows, for example, an operator to perform a separation operation of separating the pipe insertion end from the pipe socket by operating the moving unit. This eliminates the need to remove the pipe gripping portion from the pipe insertion end and perform the separation operation manually by the operator. This allows the pipe insertion end and the pipe socket to be joined efficiently.

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

[0021] In the above configuration, when the device is switched to the manual operation mode, only a control signal for the moving unit generated by the operation instruction receiving unit in response to an operation instruction from the operator is output to the moving unit. Therefore, the pipe connecting device does not perform the joining operation between the pipe insertion port and the socket of the connected pipe based on control signals other than the control signal generated in response to the operation instruction from the operator. This makes it possible to more reliably separate the pipe insertion port from the socket of the connected pipe.

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

[0023] In the above-described configuration, the evaluation unit evaluates the connection state between the pipe insertion end and the socket of the pipe to be joined based on the driving force history of the moving unit detected by the driving force detection unit from the start of joining the pipe insertion end and the socket of the pipe to be joined until the joining is completed. In other words, after the joining of the pipe insertion end and the socket of the pipe to be joined is completed, the evaluation unit comprehensively evaluates the connection state inside the socket of the pipe to be joined based on the driving force history of the moving unit. Therefore, it is possible to evaluate the connection state between the pipe insertion end and the socket of the pipe to be joined not only based on the connection state during the joining operation, but also to evaluate the connection state between the pipe insertion end and the socket of the pipe to be joined. This allows the joining operation of the pipe insertion end and the socket of the pipe to be joined to be performed efficiently.

[0024] A pipe joining method according to an eighth embodiment of the present invention is a method for joining a pipe insertion end to a socket of a target pipe, the pipe joining method comprising: a connecting step of connecting a connecting end of a target pipe to the socket of the target pipe; a pipe gripping step of gripping the connecting end of the pipe with a pipe gripping unit; a moving step of axially moving at least one of the connecting end and the pipe gripping unit with a moving unit to axially join the pipe insertion end and the socket of the target pipe; a driving force detection step of detecting a driving force of the moving unit when moving at least one of the connecting end and the pipe gripping unit in the axial direction; and a determination step of determining a connection state between the pipe insertion end and the socket of the target pipe based on the driving force of the moving unit detected by the driving force detection unit (eighth configuration).

[0025] In the above-described configuration, when joining the pipe insertion port and the socket of the pipe to be joined, the determination unit determines the connection status between the pipe insertion port and the socket of the pipe to be joined based on the driving force of the moving unit detected by the driving force detection unit. In other words, the determination unit indirectly determines the connection status inside the socket of the pipe to be joined, which is not visible during the joining operation, based on the driving force. Therefore, it is possible to determine any connection abnormalities between the pipe insertion port and the socket of the pipe to be joined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the pipe to be performed efficiently.

[0026] In the eighth configuration, the method further includes a pipe position detection step of detecting the position of the pipe relative to the pipe to be joined by a pipe position detection unit. In the determination step, if the driving force detected by the driving force detection unit at the pipe position detected by the pipe position detection unit is outside the allowable range of the driving force, it is determined that the joining state between the pipe insertion opening and the pipe socket is abnormal (ninth configuration).

[0027] In the above configuration, when joining a pipe insertion port and a socket of a target pipe, the connection status between the pipe insertion port and the socket of the target pipe is determined by the driving force for each position of the pipe relative to the target pipe. In other words, the control unit determines the connection status inside the socket of the target pipe, which cannot be visually confirmed during the joining operation, by using a driving force corresponding to the joining stage between the socket of the target pipe and the pipe insertion port. Therefore, connection abnormalities between the pipe insertion port and the socket of the target pipe can be accurately determined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the target pipe to be performed efficiently.

[0028] In the eighth configuration, the method further includes a pipe position detection step of detecting the position of the pipe relative to the pipe to be connected by a pipe position detection unit. In the determination step, if the rate of change in driving force per unit pipe movement distance calculated from the pipe position detected by the pipe position detection unit and the driving force detected by the driving force detection unit at the pipe position is not within the allowable range of the rate of change in driving force, the method determines that the connection state between the pipe insertion opening and the pipe socket is abnormal (tenth configuration).

[0029] In the above configuration, when joining a pipe insertion port and a socket of a target pipe, the connection status between the pipe insertion port and the socket of the target pipe is determined based on the rate of change in the driving force for each unit distance traveled by the pipe relative to the target pipe. In other words, the control unit determines the connection status between the socket of the target pipe and the pipe insertion port, which cannot be visually confirmed during the joining operation, based on the rate of change in the driving force corresponding to the stage of joining between the socket of the target pipe and the pipe insertion port. Therefore, connection abnormalities between the pipe insertion port and the socket of the target pipe can be accurately determined in real time during the joining operation. This allows the joining operation between the pipe insertion port and the socket of the target pipe to be performed efficiently.

[0030] In any one of the eighth to tenth configurations, the method further includes a signal output step of outputting a control signal to the moving unit by a signal output unit, wherein the signal output step transmits a control signal to the moving unit to stop movement of the connected pipe attachment portion and the pipe gripping portion when the determination step determines that the connection state between the pipe insertion port and the connected pipe socket is abnormal (eleventh configuration).

[0031] In the above configuration, if the connection between the pipe insertion port and the socket of the pipe to be connected is abnormal, the connecting operation between the pipe insertion port and the socket of the pipe to be connected by the moving unit is stopped. Therefore, the pipe insertion port can be easily removed from the socket of the pipe to be connected and the connecting operation can be restarted. This allows the connecting operation between the pipe insertion port and the socket of the pipe to be connected to be performed efficiently.

[0032] In the eleventh configuration, the method further includes a manual operation switching step of switching, by a manual operation switching unit, to a manual operation mode in which a control signal can be transmitted from the operation unit to the moving unit.

[0033] In the manual operation switching process, when the signal output unit outputs a control signal to the moving unit to stop the movement of the joined pipe mounting portion and the pipe gripping portion, the operation mode is switched to the manual operation mode (12th configuration).

[0034] In the above configuration, when a control signal for stopping the movement of the connected pipe attachment portion and the pipe gripping portion is output to the moving unit, the operation mode is switched to a manual operation mode in which the moving unit is operated based on an operator's operation instruction to the moving unit. This allows, for example, an operator to perform a separation operation of separating the pipe insertion end from the pipe socket by operating the moving unit. This eliminates the need to remove the pipe gripping portion from the pipe insertion end and perform the separation operation manually by the operator. This allows the pipe insertion end and the pipe socket to be joined efficiently.

[0035] In the twelfth configuration, in the manual operation switching process, when the manual operation mode is switched to, 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 the manual operation mode is selected, only the control signal input by the operator from the operation unit is transmitted to the moving unit. Therefore, the pipe connecting device does not connect the pipe insertion port and the pipe socket by any control signal other than the control signal input by the operator. This allows the pipe insertion port and the pipe socket to be connected more reliably.

[0037] In the eighth configuration, the method further includes a joining completion determination step in which a joining completion determination unit determines completion of joining between the pipe insertion opening and the socket of the to-be-joined pipe, and an evaluation step in which an evaluation unit evaluates the joining state between the pipe insertion opening and the socket of the to-be-joined pipe based on a history of the driving force of the moving unit detected by the driving force detection unit from the start of joining between the pipe insertion opening and the socket of the to-be-joined pipe. In the evaluation step, when it is determined by the joining completion determination step that joining between the pipe insertion opening and the socket of the to-be-joined pipe is completed, the joining state between the pipe insertion opening and the socket of the to-be-joined pipe is evaluated (fourteenth configuration).

[0038] In the above-described configuration, the evaluation unit evaluates the connection state between the pipe insertion end and the socket of the pipe to be joined based on the driving force history of the moving unit detected by the driving force detection unit from the start of joining the pipe insertion end and the socket of the pipe to be joined until the joining is completed. In other words, after the joining of the pipe insertion end and the socket of the pipe to be joined is completed, the evaluation unit comprehensively evaluates the connection state inside the socket of the pipe to be joined based on the driving force history of the moving unit. Therefore, it is possible to evaluate the connection state between the pipe insertion end and the socket of the pipe to be joined not only based on the connection state during the joining operation, but also to evaluate the connection state between the pipe insertion end and the socket of the pipe to be joined. This allows the joining operation of the pipe insertion end and the socket of the pipe to be joined to be performed efficiently.

[0039] A pipe joining device according to one embodiment of the present invention comprises a joined pipe mounting portion that is attached to the receiving port side of the joined pipe; a pipe gripping portion that grips the insertion port side of the pipe; a moving portion that moves at least one of the joined pipe 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 joined pipe; a driving force detection portion that detects the driving force of the moving portion when moving at least one of the joined pipe mounting portion and the pipe gripping portion in the axial direction; and a judgment portion that judges the joining state between the insertion port of the pipe and the receiving port of the joined pipe based on the driving force of the moving portion detected by the driving force detection portion.

[0040] The pipe joining device having the above-mentioned configuration can detect a connection abnormality between the pipe escaping opening and the socket of the pipe to be joined in real time during the joining operation between the pipe escaping opening and the socket of the pipe to be joined, thereby enabling the joining operation between the pipe escaping opening and the socket of the pipe to be joined to be performed efficiently.

[0041] FIG. 1 is a side view showing the schematic configuration of a pipe connecting device according to an embodiment of the present invention. FIG. 2 is a top view showing the schematic configuration of the pipe connecting device. FIG. 3 is a view of the pipe connecting device viewed axially from the side of the pipe to be connected. FIG. 4 is a functional block diagram showing the schematic configuration of a pipe moving mechanism in the pipe connecting device. FIG. 5 is a flowchart showing a pipe connecting method using the pipe connecting device. FIG. 6 is a view equivalent to FIG. 3 showing a state in which a pair of attachment members at a pipe to be connected attachment portion are in an open state. FIG. 7 is a view showing a state in which a gripping device attached to the tip of an arm portion of a working machine grips the pipe connecting device and transports it to a pipe to be connected in a groove. FIG. 8 is a side view showing a state in which a pipe to be connected attachment portion of the pipe connecting device is attached to a pipe to be connected. FIG. 9 is a view equivalent to FIG. 3 showing a state in which a pair of attachment members at a pipe to be connected attachment portion is closed by an attachment member drive unit. FIG. 10 is a side view showing a state in which a pipe is supported at a predetermined height by multiple support stands and aligned with respect to the pipe to be connected. FIG. 11 is a top view showing a state in which a pair of pipe gripping members grip the outer circumferential surface of the pipe on the insertion side. FIG. 12 is a top view showing how the axial movement unit moves to pull the insertion port of the pipe toward the socket port of the pipe to be joined via a pair of pipe grippers. FIG. 13 is a side view showing how the pipe joining device is lifted by a work machine or the like to separate the pipe and the pipe to be joined. FIG. 14 is a flowchart illustrating the joining state determination process of the flowchart shown in FIG. 5. FIG. 15 is a functional block diagram showing a schematic configuration of a pipe movement mechanism of a pipe joining device according to a second embodiment. FIG. 16 is a flowchart illustrating a joining state determination process of a determination unit. FIG. 17 is a graph showing an allowable range of driving force determined for each pipe position. FIG. 18 is a functional block diagram showing a schematic configuration of a pipe movement mechanism of a pipe joining device according to a third embodiment. FIG. 19 is a functional block diagram showing a schematic configuration of a pipe movement mechanism of a pipe joining device according to a fourth embodiment.

[0042] Each embodiment will be described below with reference to the drawings. In each drawing, the same parts are designated by the same reference numerals, and the description of the same parts will not be repeated. Note that the dimensions of the components in each drawing do not faithfully represent the actual dimensions of the components and the dimensional ratios of the components.

[0043] In the following description, the axial direction refers to the direction in which the axis L2 of the joined pipe W2 extends. The left-right direction refers to the horizontal direction and a direction perpendicular to the axial direction. The horizontal direction includes not only the strictly horizontal direction but also a direction intersecting the up-down direction.

[0044] Furthermore, in the following description, the expressions "fix," "connect," and "attach" (hereinafter referred to as "fixing") include not only cases where members are directly fixed to each other, but also cases where members are fixed via other members. In other words, in the following description, the expression "fixing" includes both direct and indirect fixing of members to each other.

[0045] [Embodiment 1] (Pipe connecting device) Fig. 1 is a side view showing a schematic configuration of a pipe connecting device 1 according to an embodiment of the present invention. Fig. 2 is a top view showing a schematic configuration of the pipe connecting device 1. Fig. 3 is a view of the pipe connecting device 1 as seen in the axial direction from the side of the pipe to be connected W2.

[0046] The pipe joining device 1 is a device for inserting 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 trench where the pipe W1 and the pipe to be joined W2 are laid. The pipe joining device 1 is installed in the trench by, for example, a work machine. The pipe joining device 1 is sized so that it can be installed in the trench.

[0047] The pipe W1 and the connected pipe W2 are, for example, water pipes. The pipe W1 and the connected pipe W2 may be pipes other than water pipes, such as sewer pipes, agricultural water pipes, gas pipes, etc. The pipe W1 and the connected pipe W2 may be ductile cast iron pipes, pipes made of other metals, or pipes made of resin.

[0048] The pipe connecting device 1 adjusts the position of the insertion port W1a of the pipe W1 relative to the axis L2 of the socket W2a of the pipe to be connected W2, and inserts the insertion port W1a of the pipe W1 close to the socket W2a of the pipe to be connected W2. More specifically, as shown in FIG. 1 , the pipe connecting device 1 has a pipe to be connected mounting portion 10 and a pipe moving mechanism 30.

[0049] The to-be-joined pipe mounting portion 10 is attached to the socket W2a side of the to-be-joined pipe W2. Specifically, the to-be-joined pipe mounting portion 10 is attached to the socket W2a side of the straight pipe section W2b of the to-be-joined pipe W2. As a result, when the moving section 36 pulls the insertion port W1a of the pipe W1 toward the socket W2a of the to-be-joined pipe W2, as described below, the to-be-joined pipe mounting portion 10 comes into contact with the socket W2a of the to-be-joined pipe W2, and the reaction force generated during the pulling can be received by the socket W2a of the to-be-joined pipe W2.

[0050] 3, the joined pipe mounting portion 10 has a pair of mounting members 11, 12 and a mounting member drive unit 13. The pair of mounting members 11, 12 are attached to the straight pipe portion W2b of the joined pipe W2 by sandwiching the straight pipe portion W2b between them. The pair of mounting members 11, 12 have pipe mounting portions 11a, 12a and drive force input portions 11b, 12b.

[0051] The pipe mounting portions 11a, 12a have a semicircular shape that fits along the outer peripheral surface of the straight pipe portion W2b of the to-be-joined pipe 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 to-be-joined pipe 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 to-be-joined pipe W2 is sandwiched between an open state in which the pipe mounting portions 11a, 12a are spaced apart from the straight pipe portion W2b of the to-be-joined pipe W2 by a driving force input from the mounting member drive unit 13. In this 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 connected rotatably around an axis extending in the axial direction by, for example, a rotating shaft at the connection portion between the pipe mounting portions 11a, 12a and the driving force input portions 11b, 12b.

[0052] The mounting member drive unit 13 is provided between the driving force input units 11b and 12b so as to be able to transmit driving force to the driving force input units 11b and 12b. The mounting member drive unit 13 applies driving force to the driving force input units 11b and 12b to switch the pipe mounting units 11a and 12a between the open state and the closed state. In this embodiment, the mounting member drive unit 13 expands and contracts to change the distance between the driving force input units 11b and 12b, thereby switching the pipe mounting units 11a and 12a between the open state and the closed state. The mounting member drive unit 13 is, for example, a hydraulic cylinder.

[0053] With the above configuration, the pair of mounting members 11, 12 can be switched between a closed state in which the pipe mounting portions 11 a, 12 a sandwich the straight pipe portion W2 b of the to-be-joined pipe W2, and an open state in which the pipe mounting portions 11 a, 12 a are spaced apart from the straight pipe portion W2 b of the to-be-joined pipe W2, by the driving force generated by the mounting member drive unit 13. When the to-be-joined pipe mounting portion 10 is attached to the straight pipe portion W2 b of the to-be-joined pipe W2, the pair of mounting members 11, 12 sandwich the straight pipe portion W2 b.

[0054] The pipe moving mechanism 30 grips the insertion port W1a side of the pipe W1 and moves it toward the socket W2a of the pipe to be joined W2, thereby inserting the insertion port W1a into the socket W2a. The pipe moving mechanism 30 has a pair of pipe gripping units 31, 32, a moving unit 36, a driving force detection unit 61, and a control unit 70.

[0055] The pair of tube gripping portions 31, 32 clamp the insertion port W1a side of the tube W1. The pair of tube gripping portions 31, 32 are attached to the tip ends of a pair of axially moving portions 37, 38 of the moving portion 36 (described later) via connecting portions 33, 34, and are configured to be engageable with the insertion port protrusion W1c located at the axial tip of the insertion port W1a of the tube W1. The pair of tube gripping portions 31, 32 are arc-shaped plate members that fit along the outer peripheral surface of the insertion port W1a side of the tube W1 when viewed in the axial direction. The pair of plate-shaped tube gripping portions 31, 32 are attached so as to extend from the tip ends of the pair of axially moving portions 37, 38 toward the base end.

[0056] The thickness of the pair of pipe gripping portions 31, 32 is equal to or smaller than the radial protrusion height of the insertion port protrusion W1c, which prevents the pair of pipe gripping portions 31, 32 from interfering with the socket W2a when the insertion port W1a of the pipe W1 is inserted into the socket W2a of the pipe to be joined W2 while the pair of pipe gripping portions 31, 32 grip the insertion port W1a side of the pipe W1, as described below.

[0057] The connecting portions 33, 34 connect the tips of the pair of axially movable portions 37, 38 to the pair of tube gripping portions 31, 32 so that they can rotate about an axis extending in the vertical direction. That is, the connecting portions 33, 34 are connected to the tips of the pair of axially movable portions 37, 38 so that they can rotate about the axis. The pair of tube gripping portions 31, 32 are also connected to the connecting portions 33, 34. The left-right spacing between the connecting portions 33, 34 is equal to the outer diameter of the insertion port W1a of the tube W1 when parallel in a top view. When the connecting portions 33, 34 are rotated about the axis relative to the tips of the pair of axially movable portions 37, 38, it is smaller than the outer diameter of the insertion port W1a of the tube W1. The pair of tube gripping portions 31, 32 are elastically supported by an elastic member (not shown) relative to the connecting portions 33, 34 or the pair of axially movable portions 37, 38 so that they can move toward each other.

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

[0059] The pair of pipe gripping portions 31, 32 may be configured to generate an elastic restoring force toward the outer peripheral surface of the pipe W1 on the insertion port W1a side.

[0060] 1 and 2, the moving unit 36 ​​axially moves the pair of pipe gripping units 31, 32, which grip the insertion port W1a side of the pipe W1, toward the socket W2a of the pipe to be joined W2, based on a control signal output from the control unit 70. More specifically, the moving unit 36 ​​has a pair of axial moving units 37, 38 and a movement support unit 39.

[0061] The pair of axial movement units 37, 38 are each configured so that a tip end thereof can move in the axial direction relative to the movement support unit 39. The pair of axial movement units 37, 38 may be, for example, a hydraulic cylinder that expands and contracts in the axial direction, or a mechanism that can move in the axial direction, such as a rack and pinion. The base end sides of the pair of axial movement units 37, 38 are supported by the movement support unit 39.

[0062] The movement support part 39 is connected to the joined pipe mounting part 10. The movement support part 39 may be connected to, for example, a rotation shaft that rotatably connects the pair of mounting members 11, 12 in the joined pipe mounting part 10, or may be connected to the mounting member drive part 13.

[0063] The driving force detection unit 61 detects the driving force of the moving unit 36 ​​when the axial moving unit 37 moves the tube gripping unit 31 in the axial direction. The driving force detection unit 61 is configured with a sensor such as a pressure sensor or torque sensor that can detect the driving force of the moving unit 36. In detail, the driving force detection unit 61 detects the driving force when the axial moving unit 37 moves in the axial direction together with the tube gripping unit 31. The driving force detection unit 61 outputs the detected driving force to the determination unit 63 of the control unit 70.

[0064] The control unit 70 generates and outputs a control signal for the moving unit 36. The control unit 70 will be described in detail below.

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

[0066] The determination unit 71 determines the connection state between the insertion port W1a of the pipe W1 and the socket W2a of the connected pipe W2 based on the driving force of the moving unit 36 ​​detected by the driving force detection unit 61. For example, if 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 connection state between the insertion port W1a of the pipe W1 and the socket W2a of the connected pipe W2 is abnormal.

[0067] The determination unit 71 may determine that the joining state is abnormal if the driving force detected by the driving force detection unit 61 is equal to or greater than the upper limit of a predetermined tolerance range. In this case, the insertion port W1a of the pipe W1 may not be inserted smoothly into the socket port W2a of the joined pipe W2. In addition, in this case, the rubber seal may not be properly installed.

[0068] Furthermore, the determination unit 71 may determine that the connection state is abnormal if the driving force detected by the driving force detection unit 61 is equal to or lower than the lower limit of a predetermined tolerance range. In this case, the resistance when inserting the pipe W1 may be too small. Therefore, in this case, there is a possibility that a rubber seal may have been forgotten to be inserted.

[0069] The signal output unit 72 generates and outputs a control signal that controls the movement unit 36. The signal output unit 72 generates a control signal that causes the axial movement units 37 and 38 to move the pair of pipe gripping units 31 and 32 in the axial direction, and outputs the control signal to the movement unit 36. Furthermore, when the determination unit 71 determines that the joining state between the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 is abnormal, the signal output unit 72 generates a control signal that stops the movement of the pipe gripping units 31 and 32 and outputs the control signal to the movement unit 36.

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

[0071] 6 to 13 are diagrams illustrating a pipe joining method S1 using the pipe joining device 1. Specifically, FIG. 6 is a diagram equivalent to FIG. 3 showing a pair of mounting members 11, 12 at the to-be-joined pipe mounting portion in an open state. FIG. 7 is a diagram showing the pipe joining device 1 being gripped by a gripping device X attached to the tip of the arm portion Ma of the work machine M and transported to the to-be-joined pipe W2 in the groove. FIG. 8 is a side view showing the to-be-joined pipe mounting portion 10 of the pipe joining device 1 attached to the to-be-joined pipe W2. FIG. 9 is a diagram equivalent to FIG. 3 showing the to-be-joined pipe mounting portion 10 being closed by the mounting member drive unit 13. FIG. 10 is a side view showing the pipe W1 supported at a predetermined height by multiple support stands T and aligned with the to-be-joined pipe W2. FIG. 11 is a top view showing the pair of pipe gripping members 31, 32 gripping the outer circumferential surface of the pipe W1 on the insertion port W1a side. Fig. 12 is a top view showing how the insertion port W1a of the pipe W1 is pulled toward the socket W2a of the pipe W2 to be joined via the pair of pipe gripping portions 31, 32 by the movement of the axial moving portions 37, 38. Fig. 13 is a side view showing how the pipe joining device 1 is lifted by a work machine or the like to separate the pipe W1 and the pipe W2 to be joined.

[0072] In step S11 of the flow chart shown in FIG. 5, the to-be-connected pipe mounting portion 10 of the pipe connecting device 1 is mounted on the to-be-connected pipe W2.

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

[0074] The work machine M can perform various construction works and tasks by changing the attachment connected to the tip of the arm portion Ma. In this embodiment, the work machine M is, for example, a mini backhoe, which is a construction machine for excavation. However, the work machine M may be a construction machine other than a mini backhoe, such as a truck crane.

[0075] 9, the pair of mounting members 11, 12 of the to-be-joined pipe mounting portion 10 are closed by the mounting member drive unit 13. In this embodiment, the mounting member drive unit 13 extends to drive the pair of mounting members 11, 12 so that the pipe mounting portions 11a, 12a of the pair of mounting members 11, 12 come into contact with the outer circumferential surface of the straight pipe portion W2b of the to-be-joined pipe W2. This allows the to-be-joined pipe mounting portion 10 to be mounted on the socket W2a side of the to-be-joined pipe W2.

[0076] Next, in step S12 of the flow chart shown in FIG. 5, the pipe W1 is held at a predetermined height by the support T and positioned relative to the pipe to be joined W2.

[0077] Specifically, as shown in Figure 10, with the to-be-connected pipe mounting portion 10 attached to the socket W2a side of the to-be-connected pipe W2, the pipe W1, which is held at a predetermined height by multiple support stands T, is positioned relative to the to-be-connected pipe W2. The multiple support stands T support the pipe W1 at multiple locations in the axial direction. The support stands T are configured so that the support height can be changed. The support stand T is configured, for example, as a bag body whose support height can be changed depending on the amount of fluid to be placed inside. As a result, the axis L1 of the insertion opening W1a of the pipe W1 is aligned with the axis L2 of the socket W2a of the to-be-connected pipe W2.

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

[0079] Specifically, with the pipe W1 positioned relative to the pipe to be joined W2, as shown in FIG. 11 , the pair of pipe gripping portions 31, 32 rotate about a rotation axis extending vertically at the connection portions 33, 34 to contact the outer circumferential surface of the insertion port W1a side of the pipe W1. As a result, the insertion port W1a side of the pipe W1 is gripped by the pair of pipe gripping portions 31, 32. The pair of pipe gripping portions 31, 32 are pressed against the outer circumferential surface of the insertion port W1a side of the pipe W1 by a spring member (not shown). A rubber seal is attached to the inner circumferential surface of the socket W2a. A lubricant may be supplied to the inner circumferential surface of the rubber seal to facilitate insertion of the pipe W1.

[0080] Furthermore, when the insertion port W1a side of the pipe W1 is gripped by the pair of pipe gripping portions 31, 32, the pipe W1 is located at a movement start position PS1 that is a distance L in the axial direction of the pair of axial movement portions 37, 38 and the connection portions 33, 34 from one end of the movement support portion 39. For ease of explanation, the movement start position PS1 is based on the tips of the pair of axial movement portions 37, 38 below, but is not limited to this. The movement start position PS1 may also 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 Figure 5, the pair of pipe gripping portions 31, 32 are moved axially by the moving portion 36, thereby bringing the insertion port W1a of the pipe W1 closer to the receiving port W2a of the pipe to be joined W2 and inserting it.

[0082] Specifically, as shown in Figure 12, the pair of axial moving parts 37, 38 of the moving part 36 are moved axially. At this time, the tips of the pair of pipe gripping parts 31, 32 connected to the ends of the pair of axial moving parts 37, 38 come into contact with the insertion port protrusion W1c of the insertion port W1a of the pipe W1. Therefore, by the axial movement of the above-mentioned axial moving parts 37, 38, the insertion port W1a of the pipe W1 is drawn toward the socket W2a of the joined pipe W2 via the pair of pipe gripping parts 31, 32. When the insertion port W1a of the pipe W1 is inserted into the socket W2a of the joined pipe W2, the pair of pipe gripping parts 31, 32 are inserted into the socket W2a together with the insertion port W1a. In step S14, the determination unit 71 determines the connection state between the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2 based on the position of the pipe W1 and the driving force of the moving unit 36. Details of the connection state determination process by the determination unit 71 will be described later. By moving the pipe W1 axially while there is no abnormality in the connection state, the insertion port W1a of the pipe W1 is inserted into the socket W2a of the joined pipe W2 up to a predetermined movement completion position PS2. This completes the insertion of the pipe W1 into the joined pipe W2.

[0083] Finally, in step S15 of the flow chart shown in FIG. 5, the pair of mounting members 11, 12 of the joined pipe mounting portion 10 are opened, and the pipe joining device 1 is removed from the joined pipe W2.

[0084] Specifically, after the insertion port W1a of the pipe W1 is inserted into the receiving port W2a of the to-be-joined pipe W2, the pair of mounting members 11, 12 of the to-be-joined pipe mounting portion 10 are opened. Then, as shown in Figure 13, the pipe joining device 1 is lifted by a work machine or the like to separate the joined pipe W1 and the to-be-joined pipe W2.

[0085] Thereafter, the flow shown in FIG. 5 ends (END).

[0086] (Connection State Determination Process) FIG. 14 is a flowchart illustrating the connection state determination process in step S14 of the flowchart shown in FIG.

[0087] As shown in Figure 14, when the process for determining the joining state is started (START), in movement step S141, the moving unit 36 ​​moves a pair of pipe gripping units 31, 32 in the axial direction so as to join the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined in the axial direction.

[0088] Next, in a driving force detection step S142, the driving force detection unit 61 detects the driving force of the moving unit 36 ​​when moving the pair of tube gripping units 31, 32 in the axial direction.

[0089] Next, in a determination step S143, the determination unit 71 determines the connection state between the insertion port W1a of the pipe W1 and the socket 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 and the position of the pipe W1 detected by the pipe position detection unit 62. If the connection state is normal (NO in step S144), the flow returns to the movement step S141, and the moving unit 36 ​​further moves the pair of pipe gripping units 31, 32 in the axial direction.

[0090] On the other hand, if the joining state is abnormal (YES in step S144), the flow proceeds to signal output step S145. In signal output step S145, signal output unit 72 transmits a control signal to movement unit 36 ​​to stop the movement of pair of tube gripping units 31, 32. As a result, the movement of pair of tube gripping units 31, 32 is stopped.

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

[0092] In the pipe joining device 1 and pipe joining method S1 described above, when joining the insertion port W1a of the pipe W1 to the socket W2a of the pipe to be joined W2, the determination unit 71 determines the connection status between the insertion port W1a of the pipe W1 and the socket 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. In other words, the determination unit 71 indirectly determines the connection status inside the socket W2a of the pipe to be joined W2, which is not visible during the joining operation, using the driving force. Therefore, it is possible to determine any connection abnormalities between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 in real time during the joining operation. This allows the joining operation between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 to be performed efficiently.

[0093] Furthermore, with the above-described configuration, if the joining state between the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 is abnormal, the joining operation between the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 by the moving unit 36 ​​is stopped. Therefore, the insertion port W1a of the pipe W1 can be easily removed from the socket port W2a of the joined pipe W2, and the joining operation can be restarted. This allows the joining operation between the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 to be performed efficiently.

[0094] [Embodiment 2] (Schematic configuration) Figure 15 is a functional block diagram showing a schematic configuration of the pipe moving mechanism 30 of the pipe connecting device 2 according to embodiment 2. The pipe connecting device 2 according to embodiment 2 differs from the pipe connecting device 1 according to embodiment 1 in that it has a pipe position detection unit 62. In the following explanation, the same components as those in embodiment 1 are given the same reference numerals and explanations thereof will be omitted, and only the parts that differ from embodiment 1 will be explained.

[0095] 15 , the pipe moving mechanism 30 of the pipe joining device 2 includes a pair of pipe gripping units 31, 32, a moving unit 36, and a driving force detecting unit 61. The pair of pipe gripping units 31, 32, the moving unit 36, and the driving force detecting unit 61 are the same as those in the first embodiment, and therefore will not be described again below. The pipe moving mechanism 30 includes a pipe position detecting unit 62 and a control unit 700.

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

[0097] The control unit 700 has a determination unit 710 and a signal output unit 72. The determination unit 710 determines the joining state between the insertion port W1a of the pipe W1 and the socket 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 and the position of the pipe W1 detected by the pipe position detection unit 62.

[0098] (Connection State Determination Process) Fig. 16 is a flowchart illustrating the connection state determination process of the determination unit 710. Fig. 17 is a graph showing the allowable range R1 of the driving force determined for each position of the pipe.

[0099] First, the movement step S141 and the drive force detection step S142 performed after the joining state determination process S140 is started (START) are similar to the movement step S141 and the drive force detection step S142 in the first embodiment, and therefore will not be described again here.

[0100] Next, in a pipe position detection step S1403, the pipe position detection unit 62 detects the position of the pipe W1 relative to the pipe to be joined W2.

[0101] Next, in judgment step S1404, the judgment unit 710 judges the connection state between 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 and the position of the pipe W1 detected by the pipe position detection unit 62.

[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 within the permissible range R1 of driving force, which is indicated by diagonal lines in Fig. 17. If the driving force at a certain position is equal to or greater than the upper limit or equal to or less than the lower limit of the permissible range R1, the determination unit 710 determines that the joining state is abnormal. For example, the open circles in Fig. 17 show an example of a plot of 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 during the joining operation.

[0103] At the movement start position PS1, the driving force TQ1 is within the allowable range R1. Furthermore, at position PS11, midway between the movement start position PS1 and the movement completion position PS2, the driving force TQ11 is also within the allowable range R1. When the pipe W1 moves from position PS11 to the movement completion position PS2 without the driving force detected by the driving force detection unit 61 being outside the allowable range R1, the insertion of the pipe W1 into the pipe to be joined W2 is complete. The driving force TQ2 at the movement completion position PS2 is within the allowable range R1. On the other hand, when a driving force TQ12 exceeding the upper limit of the allowable range R1 is detected at position PS12, the determination unit 710 determines that the joining state is abnormal.

[0104] The allowable range R1 can be determined based on, for example, sampled data of the position of the pipe W1 and the driving force at that position in a past joining operation. The allowable range R1 may be determined by providing a predetermined buffer range for the profile curve PR1 calculated based on the sampled data. The profile curve PR1 may be calculated using an arithmetic mean value, minimum value, maximum value, median value, or regression analysis such as the least squares method. Furthermore, the determination unit 710 may be configured using a trained model obtained as a result of machine learning based on training data in which sampled data of the position of the pipe W1 and the driving force at that position are labeled as normal or abnormal.

[0105] If the joining state is abnormal (YES in step S1405), the flow proceeds to signal output step S145, where the movement of the pair of tube gripping portions 31, 32 is stopped.

[0106] On the other hand, if the joining state is normal (NO in step S1405), in completion determination step S1406, the determination unit 710 determines whether the pair of tube gripping units 31, 32 have moved to movement completion position PS2. If the pair of tube gripping units 31, 32 have moved to movement completion position PS2 (YES in completion determination step S1406), the flow proceeds to signal output step S145, where the movement of the pair of tube gripping units 31, 32 is stopped. On the other hand, if the pair of tube gripping units 31, 32 have moved to movement completion position PS2 (NO in completion determination step S1406), the flow returns to movement step S141, where the pair of tube gripping units 31, 32 are further moved in the axial direction.

[0107] In the pipe joining method including the pipe joining device 2 and the joining condition determination process S140, when joining the insertion port W1a of the pipe W1 to the socket W2a of the joined pipe W2, the joining condition between the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2 is determined by the driving force for each position of the pipe W1 relative to the joined pipe W2. In other words, the control unit determines the joining condition inside the socket W2a of the joined pipe W2, which is not visible during the joining operation, by the driving force corresponding to the joining stage between the socket W2a of the joined pipe W2 and the insertion port W1a of the pipe W1. Therefore, during the joining operation between the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2, it is possible to accurately determine any joining abnormality between the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2 in real time. This allows the joining operation between the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2 to be performed efficiently.

[0108] [Embodiment 3] (Schematic configuration) Figure 18 is a functional block diagram showing a schematic configuration of the pipe moving mechanism 30 of the pipe connecting device 3 according to embodiment 3. The pipe connecting device 3 according to embodiment 3 differs from the pipe connecting device 2 according to embodiment 2 in that it has a manual operation switching unit 73 that switches to a manual operation mode. In the following explanation, the same components as those in embodiment 2 are given the same reference numerals and explanations thereof will be omitted, and only the parts that differ from embodiment 2 will be explained.

[0109] 18 , the pipe connection management system SYS1 includes a pipe connection device 3, an information processing terminal 92, and a server device 91. In the pipe connection management system SYS1, the pipe connection device 3, the information processing terminal 92, and the server device 91 are connected to each other via a communication network so as to be able to communicate with each other.

[0110] The information processing terminal 92 transmits operation instructions to the pipe connecting device 3 for performing various operations on the moving unit 36 ​​of the pipe connecting device 3. The information processing terminal 92 may be configured as a remote controller dedicated to the pipe connecting device 3. The information processing terminal 92 may be configured as a mobile terminal such as a tablet terminal, a smartphone, or a notebook PC. The information processing terminal 92 may transmit operation instructions to the pipe connecting device 3 via the server device 91.

[0111] The server device 91 provides various information relating to the pipe joining work to the information processing terminal 92 .

[0112] The pipe moving mechanism 30 of the pipe joining device 3 includes a pair of pipe gripping units 31, 32 (not shown), a moving unit 36, a driving force detecting unit 61, and a pipe position detecting unit 62. The pair of pipe gripping units 31, 32, the moving unit 36, the driving force detecting unit 61, and the pipe position detecting unit 62 have been described above, and therefore their description will not be repeated here. As shown in Figure 18, the pipe moving mechanism 30 includes a control unit 701. The control unit 701 has a communication unit 81, a determination unit 710, a signal output unit 721, a manual operation switching unit 73, and an operation instruction receiving unit 74.

[0113] The communication unit 81 is a communication interface for communication between the pipe connecting device 3, the server device 91, and the information processing terminal 92 via a communication network. For example, the pipe connecting device 3 and the information processing terminal 92 may be communicably connected via a wireless communication network. Alternatively, the information processing terminal 92 and the server device 91 may be communicably connected via the Internet. The communication unit 81 may receive the above-described allowable range R1 and 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 between the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 is abnormal, the signal output unit 721 generates a control signal to stop the movement of the pipe gripping units 31, 32 and outputs it to the movement unit 36, and also sends a notification that the joining state is abnormal to the information processing terminal 92 via the communication unit 81. This allows the worker to confirm that the joining state is abnormal using the information processing terminal 92.

[0115] The manual operation switching unit 73 switches between an automatic operation mode and a manual operation mode. The automatic operation mode is a mode in which the pipe connecting device 3, for example, receives a start operation instruction for the moving unit 36 ​​of the pipe connecting device 3 from the information processing terminal 92, and then axially moves the pair of axial moving units 37, 38 of the moving unit 36 ​​so as to axially join the insertion port W1a of the pipe W1 and the socket port W2a of the pipe to be connected W2. Note that in the automatic operation mode, the above-mentioned joining state determination process S140 (see FIG. 16 ) is executed. The manual operation mode is a mode in which the pipe connecting device 3, for example, receives an operation instruction for the moving unit 36 ​​of the pipe connecting device 3 from the information processing terminal 92, and then manually operates the moving unit 36 ​​of the pipe connecting device 3. An example of an operation instruction in the manual operation mode is a pull-out operation instruction to axially move the pair of axial movement parts 37, 38 of the movement part 36 so that the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 are separated in the axial direction. However, the present invention is not limited to this, and operation instructions other than the pull-out operation instruction may be possible as operation instructions in the manual operation mode.

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

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

[0118] Furthermore, if an abnormality in the joined state occurs, as described above, the worker can confirm that the joined state is abnormal using the information processing terminal 92. In response, the worker performs an operation on the information processing terminal 92 to send a pull-out operation instruction. In response to this operation, the information processing terminal 92 sends a pull-out operation instruction to the pipe joining device 3. Furthermore, if 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, in response to receiving the pull-out operation instruction from the information processing terminal 92, generates a pull-out control signal that moves the pair of axial moving units 37, 38 of the moving unit 36 ​​in the axial direction so as to move the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 away from each other in the axial direction. The operation instruction receiving unit 74 outputs the generated pull-out control signal to the moving unit 36.

[0119] When a pull-out control signal is input from the operation instruction receiving unit 74, the moving unit 36 ​​moves the pair of axial moving units 37, 38 in the axial direction so that the insertion port W1a of the pipe W1 and the socket W2a of the joined pipe W2 are separated in the axial direction. This allows the insertion port W1a of the pipe W1 to be separated from the socket W2a of the joined pipe W2.

[0120] In the above-described pipe joining device 3 and pipe joining method using the pipe joining device 3, when a control signal for stopping the movement of the pair of pipe gripping parts 31, 32 is output to the moving part 36, the system switches to a manual operation mode in which the moving part 36 is operated based on an operation instruction from an operator to the moving part 36. As a result, for example, a separation operation can be performed in which the insertion port W1a of the pipe W1 is separated from the socket W2a of the pipe W2 to be joined, based on an operation instruction from the operator to the moving part 36. Therefore, it is not necessary to remove the pair of pipe gripping parts 31, 32 from the insertion port W1a of the pipe W1 and perform the separation operation manually by the operator. This eliminates the need to efficiently join the insertion port W1a of the pipe W1 to the socket W2a of the pipe W2.

[0121] Furthermore, in the above-described pipe connecting device 3 and pipe connecting method using the pipe connecting device 3, when the manual operation mode is switched to, the operation instruction receiving unit 74 generates a control signal in response to an operation instruction from the operator. Furthermore, only the control signal for the moving unit 36 ​​generated by the operation instruction receiving unit 74 is output to the moving unit 36. Therefore, the pipe connecting device 3 does not perform the joining operation between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 based on control signals other than the control signal generated in response to the operation instruction from the operator. This ensures that the separation operation between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 can be performed reliably.

[0122] [Embodiment 4] (Schematic configuration) Figure 19 is a functional block diagram showing a schematic configuration of a pipe moving mechanism 30 of a pipe connecting device 4 according to embodiment 4. The pipe connecting device 4 according to embodiment 4 differs from the pipe connecting device 3 according to embodiment 3 in that it has a function for evaluating the connecting state. In the following explanation, the same components as those in embodiment 3 are given the same reference numerals and explanations thereof are omitted, and only the parts different from embodiment 3 will be explained.

[0123] 19 , the pipe connection management system SYS1 includes a pipe connecting 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 receiving unit 74, a memory 82, a connecting 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 position from the start of joining the insertion port W1a of the pipe W1 to the receiving port W2a of the pipe to be joined to the completion of the joining.

[0125] The joining completion determination unit 83 determines the completion of joining between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2. Specifically, the joining completion determination unit 83 determines whether the pair of pipe gripping units 31, 32 of the moving unit 36 ​​have moved to the movement completion position PS2. If the pair of pipe gripping units 31, 32 have moved to the movement completion position PS2, the joining completion determination unit 83 determines that the joining between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 has been completed. In addition, the joining completion determination unit 83 links 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 position, and adds the linked information to the history H1 in the memory 82.

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

[0127] For example, in history H1, the evaluation unit 84 determines whether the driving force associated with the position of each pipe W1 from the start of joining the insertion port W1a of the pipe W1 to the receiving port W2a of the pipe to be joined W2 to the completion of the joining is within the allowable range R1 of the driving force shown by diagonal lines in Figure 17.

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

[0129] The evaluation unit 84 transmits the evaluation result of the bonding 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 pipe joining method using the pipe joining device 4, the evaluation unit 84 evaluates the joining condition between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 based on the driving force history H1 of the moving unit 36 ​​detected by the driving force detection unit 61 from the start of joining the insertion port W1a of the pipe W1 to the socket W2a of the pipe to be joined W2 until the joining is completed. In other words, after the joining of the insertion port W1a of the pipe W1 to the socket W2a of the pipe to be joined W2 is completed, the evaluation unit 84 comprehensively evaluates the joining condition inside the socket W2a of the pipe to be joined W2 based on the driving force history of the moving unit 36. Therefore, it is possible to evaluate the joining condition between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 not only based on the joining condition during the joining operation, but also to evaluate the joining condition between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2. This allows the joining operation between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 to be performed efficiently.

[0131] While the embodiments of the present invention have been described above, 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 can be practiced by appropriately modifying the above-described embodiments within the scope of the spirit thereof.

[0132] In each of the above-described embodiments, the attachment member drive unit 13 is, for example, a hydraulic cylinder. However, the attachment member drive unit may also be an expandable actuator such as a piezoelectric element. The attachment member drive unit may have any configuration as long as it generates a drive force capable of switching the pipe attachment unit between an open state and a closed state.

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

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

[0135] In each of the above-described embodiments, the driving force detection unit 61 detects the driving force of the moving unit 36 ​​when axially moving the pipe gripping units 31, 32. However, the driving force detection unit may also detect the driving force of the moving unit when axially moving the joined pipe mounting unit.

[0136] In each of the above embodiments, the pipe connecting device 1 connects the insertion port W1a of the pipe W1 to the socket W2a of the pipe to be connected W2 so that the axis L1 of the insertion port W1a of the pipe W1 coincides with the axis L2 of the socket W2a of the pipe to be connected W2. However, the pipe connecting device may connect the insertion port of the pipe to the socket of the pipe to be connected so that the axis of the insertion port of the pipe intersects the axis of the socket of the pipe to be connected. In other words, the pipe connecting device may connect the pipe and the pipe to be connected in a bent state.

[0137] In each of the above-described embodiments, the driving force detection unit 61 detects the driving force of the moving unit 36 ​​when the tube gripping unit 31 is moved in the axial direction by the axial moving unit 37. However, the driving force detection unit may detect the driving force of either or both of the pair of axial moving units.

[0138] Although not specifically described in the above embodiments, the pipe connecting device 1 may have a pipe holding portion that holds the pipe W1. Furthermore, the pipe W1 and the pipe W2 may be aligned by the holding portion.

[0139] In each of the above embodiments, the pipe movement mechanism 30 moves the insertion port W1a of the pipe W1 to the socket W2a of the connected pipe W2. However, the pipe movement mechanism may also move the socket of the connected pipe relative to the pipe insertion port. That is, the movement unit of the pipe movement mechanism may move the connected pipe attachment unit so as to pull it toward the pair of gripping units that grip the pipe insertion port side. The pipe movement mechanism may be configured to be able to move at least one of the pipe insertion port and the socket of the connected pipe.

[0140] In each of the above embodiments, the pipe connecting device 1 is carried into a trench where the pipe W1 is laid by the work machine M and attached to the pipe to be connected W2. However, the pipe connecting device may be carried into the trench while attached to the pipe insertion port. Also, the pipe connecting device may be attached to both the receiving port of the pipe to be connected and the pipe insertion port. In this case, the pipe connecting device to be attached to the pipe insertion port may be carried into the trench while attached to the pipe insertion port.

[0141] In the second and third embodiments, the pipe position detection unit 62 detects the amount of movement of the axial movement unit 37. However, the pipe position detection unit may detect the amount of movement of either one of the pair of axial movement units, or may detect the amount of movement of both of them.

[0142] In the second to fourth embodiments, 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 within the allowable range R1 of the driving force. However, in the pipe joining device and the pipe joining method using the pipe joining device, the determination unit may determine that the joining state between the pipe insertion port and the pipe socket is abnormal if the rate of change in the driving force detected by the driving force detection unit is not within the allowable range of the driving force change. The allowable range of the rate of change in the driving force is the rate of change in the driving force per unit movement distance of the pipe, determined based on the position of the pipe.

[0143] In particular, the determination unit calculates a rate of change of the driving force per unit moving distance of the pipe, which is calculated from 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. If the calculated rate of change of the driving force is not within an allowable range of the rate of change of the driving force, the determination unit determines that the connection state between the pipe insertion opening and the socket of the connected pipe is abnormal.

[0144] In the above-described pipe joining device and pipe joining method using the pipe joining device, when joining the insertion port W1a of the pipe W1 to the socket port W2a of the pipe to be joined W2, the joining condition between the insertion port W1a of the pipe W1 and the socket port W2a of the pipe to be joined W2 is determined based on the rate of change of the driving force for each unit movement distance of the pipe W1 relative to the pipe to be joined W2. In other words, the determination unit determines the joining condition between the socket W2a of the pipe to be joined W2 and the insertion port W1a of the pipe W1, which cannot be visually confirmed during the joining operation, based on the rate of change of the driving force corresponding to the joining stage between the socket W2a of the pipe to be joined W2 and the insertion port W1a of the pipe W1. Therefore, it is possible to accurately determine an abnormal connection between the insertion port W1a of the pipe W1 and the socket W2a of the pipe to be joined W2 in real time during the joining operation. This allows the joining operation between the insertion port W1a of the pipe W1 and the receiving port W2a of the pipe to be joined W2 to be carried out efficiently.

[0145] The determination unit may determine the connection state based on one of a predetermined upper limit value or a predetermined lower limit value of the driving force or the rate of change. That is, the determination unit may determine that the connection state between the pipe insertion end and the socket of the connected pipe is abnormal if the driving force or the rate of change is equal to or greater than a predetermined upper limit value of the driving force or the rate of change. The determination unit may also determine that the connection state between the pipe insertion end and the socket of the connected pipe is abnormal if the driving force or the rate of change is equal to or less than a predetermined lower limit value of the driving force or the rate of change.

[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 a read-only memory of the pipe connecting 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 also obtain an operation instruction in response to a button operation on a control panel provided in the pipe connecting 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 the operation mode is switched to the manual operation mode, the operation instruction receiving unit 74, in response to receiving a pull-out operation instruction from the information processing terminal 92, generates a pull-out control signal that causes the pair of axial moving units 37, 38 of the moving unit 36 ​​to move axially so that the insertion port W1a of the pipe W1 and the socket port W2a of the joined pipe W2 are separated in the axial direction. However, the operation instruction receiving unit may also, in response to receiving a restart operation instruction from the information processing terminal, generate a resume control signal that causes the pair of axial moving units of the moving unit to operate again in the automatic operation mode in response to receiving a start operation instruction. Note that the information processing terminal may request confirmation from the operator when sending the restart operation instruction.

[0150] Although not specifically described in the second to fourth embodiments, the determination unit and the joining completion determination unit may determine the completion of joining between the pipe insertion port and the socket of the pipe to be joined by a contact sensor. The contact sensor is provided, for example, at a position where the pipe insertion port and the socket of the pipe to be joined come into contact when they have moved a predetermined distance. The contact sensor can be configured, for example, by a limit switch.

[0151] INDUSTRIAL APPLICABILITY The present invention can be used in a pipe connecting device for connecting a spigot of a pipe to a socket of a pipe to be connected to the pipe.

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

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, comprising: a pipe to be joined mounting 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 mounting 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 detecting portion for detecting a 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 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 detecting portion.

2. The pipe joining device according to claim 1, further comprising a pipe position detecting portion for detecting a position of the pipe with respect to the pipe to be joined, wherein 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 when the driving force detected by the driving force detecting portion at the position of the pipe detected by the pipe position detecting portion is not within an allowable range of the driving force determined for each position of the pipe.

3. The pipe joining device according to claim 1, further comprising a pipe position detecting portion for detecting a position of the pipe with respect to the pipe to be joined, wherein 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 when a change rate of the driving force per unit movement distance of the pipe calculated based on the position of the pipe detected by the pipe position detecting portion and the driving force detected by the driving force detecting portion at the position of the pipe is not within an allowable range of the change rate of the driving force determined based on the position of the pipe.

4. 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, wherein the signal output portion outputs a control signal for stopping the movement of the pipe to be joined mounting portion and the pipe gripping portion to the moving 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.

5. The pipe joining device according to claim 4, further comprising: an operation instruction receiving 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 receiving unit to the moving unit according to the operation instruction, wherein the manual operation switching unit switches to the manual operation mode when a control signal for stopping the movement of the pipe mounting portion to be joined and the pipe gripping portion with respect to the moving unit is output by the signal output unit. Pipe joining device.

6. The pipe joining device according to claim 5, wherein the manual operation switching unit is configured to output only the control signal for the moving unit generated by the operation instruction receiving unit to the moving unit when switched to the manual operation mode. Pipe joining device.

7. The pipe joining device according to claim 1, further comprising: a joining completion determination unit that determines completion of joining between the insertion port of the pipe and the receiving port of the pipe to be joined; and an evaluation unit that evaluates 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, wherein the evaluation unit evaluates the joining state between the insertion port of the pipe and the receiving port of the pipe to be joined when it is determined by the joining completion determination unit that the joining between the insertion port of the pipe and the receiving port of the pipe to be joined is completed. Pipe joining device.

8. A pipe joining method for joining an insertion port of a pipe to a receiving port of a pipe to be joined to the pipe, comprising: a step of attaching a pipe mounting portion to be joined to the receiving port side of the pipe to be joined; a step of gripping the insertion port side of the pipe by a pipe gripping portion; a moving step of moving at least one of the pipe mounting portion to be joined and the pipe gripping portion 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 a moving unit; a driving force detection step of detecting the driving force of the moving unit when moving at least one of the pipe mounting portion to be joined and the pipe gripping portion in the axial direction by a driving force detection unit; and a determination step of determining 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 unit detected by the driving force detection unit by a determination unit. Pipe joining method.

9. 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 detector, wherein 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 detector at the position of the pipe detected by the pipe position detector 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. 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 detector, wherein 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, when the change rate of the driving force per unit displacement distance of the pipe calculated by 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 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. 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 part by a signal output part, wherein 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 with respect to the moving part is transmitted. Pipe joining method.

12. 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 part that generates a control signal according to an operation instruction to the moving part by a manual operation switching part, wherein 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 with respect to the moving part is output by the signal output part, 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 part generated by the operation instruction receiving part is output to the moving part. Pipe joining method.

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

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