JPH05106762A - Pipe inserting direction control method for pipe joining device - Google Patents

Abstract

PURPOSE:To facilitate the insertion of a pipe by automatically judging an 'offset' state of the pipe in a pipe joining device, and moving the spigot of the pipe horizontally and vertically to avoid the offset. CONSTITUTION:When a pipe is joined to an other pipe, the magnitude and direction of a force acting on a hydraulic cylinder 18 for driving a spigot clamping device 14 for clamping the spigot 20 of the pipe are detected by a six-components measuring device 21, and when the horizontal and vertical components of the force are large, the adjusted amount of direction of inserting the spigot by the spigot clamping device 14 is determined from the relationship between the detected results of force preliminarily inputted to a CPU and the amount of control of turning movement of the spigot clamping device 14. Then, a horizontally turning cylinder 24 and a vertically turning cylinder 25 are driven in accordance with the adjusted amount to turn the spigot clamping device 14 horizontally and vertically, and thus adjust the direction of inserting the spigot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe insertion direction control method in a pipe joining apparatus for joining pipes when laying the pipes.

[0002]

2. Description of the Related Art Conventionally, when laying a pipe in a groove, a pipe joining device for sequentially joining pipes arranged in an opening / closing groove has been used. As the pipe joining device, a wire rope type is used. It is typical. In this thing, a wire rope was hung over both the pipe to be joined and the pipe to be joined, and this was pulled by hand with a lever block or the like. In this case, there is a problem that skill is required for centering and joining of both tubes.

As a solution to this problem, a pipe joining device having a structure as shown in FIG. 5 has already been proposed. In this pipe joining device, a first clamp device is fixed to a frame, a second clamp device that is movable toward and away from the first clamp device is provided, and a side to be joined to the second clamp device is provided. The tube on the side connected to the first clamping device, the second clamping device is moved toward the first clamping device, and the insertion of the pipe on the side to be joined Is inserted into the socket of the pipe to be joined and joined.

In FIG. 5, reference numeral 1 is a frame arranged along the tube axis direction of the tube 2, 3 is a first clamp device with a centripetal function fixed to one end of the frame 2, and 4 is the other of the frame 2. A second clamp device 6 with a centripetal function, which is movably attached along a slide rail 5 fixed to the end and parallel to the tube axis direction, is provided at the lower end of the first clamp device 3, and A pair of pipe clamp claws 7 for holding and positioning the pipe 2 in the horizontal direction by approaching and separating from each other by an appropriate mechanism in the clamp device 3, are provided at the lower end of the second clamp device 4, and similarly the second clamp device 7 is provided. A pair of pipe clamp claws 8 for holding and positioning the pipe 2 in the horizontal direction by approaching and separating from each other by an appropriate mechanism in the clamp device 4 are interposed between the frame 1 and the second clamp device 4, and Clamp device 4 of the first A hydraulic cylinder for moving to the side of the flop device 3.

When pipes are joined using the pipe joining device having such a structure, as shown in FIG. 6 (a), the pipe 2 on the side joined by the pipe clamp claws 6 of the first clamp device 3 is joined. The receptacle 9 is clamped, the insertion opening 10 of the tube 2 on the side to be joined is clamped by the tube clamp claw 7 of the second clamp device 4, and then the hydraulic cylinder 8 is inserted as shown in FIG. 6 (b). Is driven to move the second clamp device 4 to the first clamp device 3 side, and the insertion opening 10 is inserted into the receiving opening 9 to be joined. At this time, the insertion opening 10 and the receiving opening 9 are in a state of being centered by the tube clamp claws 7 and 6, and the joining thereof can be performed only by moving the second clamp device 4.

[0006]

However, in the pipe joining apparatus having the above-mentioned structure, it is strictly impossible to center the receiving side and the inserting side, and as shown in FIG. A part of the pipe end of the insertion port 10 inserted into the connector 9 hits one end of the rubber ring 28 attached to the receiving port 9 before the pipe is joined, and "rubbers" the rubber ring 28.
As a result, there are problems that the insertion opening 10 cannot be inserted and the rubber ring 28 is dropped from the mounting position. In such a case, when joining manually, the insertion opening 10 was inserted while swinging the insertion opening 10 up, down, left and right to release the "kneaded" state by trial and error. This could not be done with automatic joining.

The present invention solves the above problems, and in the pipe joining apparatus as proposed above, automatically determines the "cold" state of the pipe when the insertion opening is inserted, and avoids this. It is an object of the present invention to provide a pipe insertion direction control method that enables the insertion of a pipe by rotating the insertion clamp device as described above.

[0008]

In order to solve the above-mentioned problems, the pipe insertion direction control method of the present invention is characterized in that in the pipe joining device, the insertion-clamping device which can be moved toward and away from the receiving-clamping device is arranged on the left and right sides. When the pipe is joined, the magnitude and the direction of the force acting on the cylinder device through the insertion clamp device are detected, and when the force components in the horizontal direction and the vertical direction are large, the cylinder device The amount of correction in the insertion insertion direction by the insertion clamp device is determined from the relationship obtained in advance between the detection result of the force acting on and the rotation control amount of the insertion clamp device, and the insertion clamp device is adjusted according to this correction amount. It is rotated right and left and up and down to correct the insertion direction of the insertion slot.

[0009]

With the above structure, when the insertion end hits the rubber ring at the time of pipe joining, the magnitude and direction of the force acting on the cylinder device is detected by, for example, a 6-minute force meter, and the horizontal direction and vertical direction at that time are detected. When the force component in the direction is large, it is determined to be a "knee" state, and the insertion clamp device is rotated to the left and right and up and down according to the force component, so the "knee" state is automatically avoided. , The same effect as the conventional trial and error operation can be obtained.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 (a) and 1 (b) are partially cutaway plan views and partially omitted side views showing an example of a pipe joining device used in a pipe insertion direction control method according to an embodiment of the present invention. FIG. 3B is a schematic diagram for explaining the connection between the hydraulic cylinder and the insertion port clamp device in the pipe joining device, and FIG. 3 is a block diagram of the control system in the pipe joining device.

In FIGS. 1 (a) and 1 (b), 11 is a frame, 12 is a tube, 13 is an inlet clamp device, 14 is an insertion clamp device, and 15
Is a slide rail, 16 and 17 are pipe clamp claws, 18 is a hydraulic cylinder, 19 is a receiving port, and 20 is an inserting port, which correspond to 1 to 10 in FIGS. 5 and 6, respectively.

Reference numeral 21 denotes a 6-component force meter for detecting the magnitude and direction of the force acting on the hydraulic cylinder 18 at the time of pipe joining, as shown in FIG.
As shown in (b), one end is connected to the rod of the hydraulic cylinder 18, and the other end is connected to the insertion opening clamp device 14 by the universal joint 22, and x, y, z obtained from the detected force. It outputs signals for directional forces and respective moments. Further, the insertion opening clamp device 14 is movable on the slide rail 15 so that it can be rotated left and right and up and down about the fulcrum A by the universal joint 22.
The movable body 23 is held by 23 and can follow the movement of the insertion clamp device driven by the hydraulic cylinder 18. Alternatively, the moving body 23 may be directly moved in association with the rod of the hydraulic cylinder 18.

As shown in FIG. 1 (a), reference numeral 24 is a cylinder for turning left and right, which is interposed between the moving body 23 and one of the left and right ends of the insertion clamp device 14, and the insertion clamp device 14 Can be rotated left and right around the fulcrum A by the universal joint 22. 25 is, as shown in FIG. 1 (b),
With the vertically rotating cylinder interposed between the moving body 23 and the center lower end of the insertion clamp device, the insertion clamp device 14 can be rotated up and down about the fulcrum A by the universal joint 22.

In FIG. 3, 31 is an amplifier for amplifying the output of the 6-minute force meter 21 and 32 is A / for converting the output of the 6-minute force meter 21 to A / D.
D converter 33 is a CPU (AI system) in which the relation between the detection result of the force acting on the hydraulic cylinder 18 and the rotation control amount of the insertion clamp device 14 is input in advance. The / D-converted 6-component force meter 21 output is input, and a control signal for controlling the rotation amount of the insertion opening clamp device 14 is output to the servo amplifier 34. Reference numeral 35 denotes a servo valve, which opens the valves of the cylinder 24 for horizontal rotation and the cylinder 25 for vertical rotation by the output of the servo amplifier 34, and the cylinder 24 for horizontal rotation and the cylinder 25 for vertical rotation are respectively opened by the pressure oil from the hydraulic unit 36. To drive. 37 and 38 are rotation angle detectors that detect the horizontal rotation angle and the vertical rotation angle of the insertion opening clamp device 14 by the horizontal rotation cylinder 24 and the vertical rotation cylinder 25, respectively.
When this rotation angle coincides with the rotation amount control signals for the left / right rotation cylinder 24 and the up / down rotation cylinder 25 output from the CPU 33, the valves of the respective rotation cylinders 24, 25 are closed.

Next, a method of controlling the tube insertion direction by the CPU will be described with reference to the flowchart of FIG. Hydraulic cylinder
The insertion of the tube is started by the extension of 18 (step 41), the contact of the tip of the insertion opening with the rubber ring 28 is detected by the indicated value of the 6-component force meter 21 (step 42), and the control of the tube insertion direction is started (step 42). Step 43). Next, the indicated value of the 6-component force meter 21 is read (step 44), and it is judged whether or not the force components in the horizontal direction and the vertical direction are large (step 45). If large, C
From the relationship between the detection result of the force of the 6-component force meter 21 and the rotation control amount of the insertion clamp 14, which is input in advance in the PU 33,
The correction amount in the tube insertion direction is determined (step 46), the tube insertion direction is corrected using the left / right rotation cylinder 24 and the up / down rotation cylinder 25 (step 47), and the process returns to step 44. If the horizontal and vertical force components are not large, continue tube insertion (step 48) and use an ultrasonic probe to
Determine whether the insertion slot has reached the specified insertion amount (step 4
9) If not reached, the process returns to step 44, and if reached, the insertion is stopped (step 50).

[0016]

As described above, according to the present invention, the state of the "knot" of the pipes at the time of joining the pipes is automatically judged, and the insertion clamp device is rotated left and right and up and down so as to avoid it. As a result, it becomes possible to perform trial and error operations in the same way as when inserting manually, and it becomes possible to automatically join the pipes by the pipe joining device.

[Brief description of drawings]

FIG. 1 is a partially cutaway plan view and a partially omitted side view showing an example of a pipe joining device in a pipe insertion direction control method according to an embodiment of the present invention.

FIG. 2 is a schematic diagram for explaining the connection between the hydraulic cylinder and the insertion port clamp device in the pipe joining device.

FIG. 3 is a block diagram of a control system in the diagram tube joining apparatus.

FIG. 4 is a flowchart illustrating a method for controlling the tube insertion direction.

FIG. 5 is a perspective view of a conventional pipe joining device.

FIG. 6 is a diagram for explaining centering and pipe insertion operations during pipe joining by a conventional pipe joining apparatus.

FIG. 7 is a diagram for explaining a “knee” state due to the insertion port during pipe joining.

[Explanation of symbols]

 12 Pipe 13 Receptacle clamp device 14 Insertion clamp device 15 Slide rail 18 Hydraulic cylinder 21 6 Component force meter 22 Universal joint 23 Moving body 24 Horizontal rotation cylinder 25 Vertical rotation cylinder

Claims (1)

[Claims] 1. A receptacle clamp device for clamping a pipe receptacle, an insert clamp device for clamping a pipe insert member so as to approach and separate from the receptacle clamp device, and a cylinder for driving the insert clamp device. A method for controlling a pipe insertion direction of a pipe joining device including a device, wherein the magnitude and direction of a force acting on the cylinder device at the time of pipe joining is detected, and when the force components in the left-right direction and the vertical direction are large, The amount of correction of the insertion direction by the insertion clamp device is determined from the relationship between the detection result of the force acting on the cylinder device and the rotation control amount of the insertion clamp device, and the insertion clamp is determined according to this correction amount. A pipe insertion direction control method for a pipe joining device, which corrects the insertion direction of an insertion opening by rotating the device left and right and up and down.