JPH0565978A - Inserted variable control method of pipe joiner - Google Patents

Abstract

PURPOSE:To make an inserting port insertable into a socket with an accurate inserted variable by measuring a distance between a socket end of an opposite existing pipe and an inserting port end of a new pipe, and setting the sum total of the inserted variable of the inserting port, and the said distance down to a manipulated variable for movement. CONSTITUTION:A pipe shell at the side of a socket of an existing pipe 1 is held by a first clamper 7 of a pipe joiner 5, while a pipe shell at the side of an inserting port of a new pipe 2 is held by a second clamper 8. In this state, a distance between a socket end of the opposed existing pipe 1 and an inserting port end of the new pipe is measured by a telecamera 11 and an image processor 12. The sum total of an inserted variable of an inserting port 4 to be inserted into a socket 3 and the said distance is set down to a manipulated variable, and thereby the second clamper 8 at the inserting port side is traveled toward the first clamper 7 at the socket side. With this constitution, the manipulated variable of the clamper can be determined by merely measuring the distance, so that the inserting port is joinable in the socket with an accurate inserted variable.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an insertion amount in a pipe joining device.

[0002]

2. Description of the Related Art Conventionally, there is a method of sequentially joining pipes by a pipe joining device when the pipes are laid by a cutting method. This is the insertion of a new pipe that is to be laid by gluing the pipe body on the receiving side of the existing pipe already installed or buried in the burying groove with one clamp device of the pipe joining device and joining it to the existing pipe. By grasping the mouth side tube body with the other clamp device of the pipe joining device and bringing the other clamp device close to the one clamp device, insert the new pipe into the receptacle of the existing pipe and insert the pipe. It is to join.

At this time, when the joint portion of the pipe to be buried forms a seismic resistant joint, it is necessary to secure an expansion and contraction allowance, and it is necessary to join the insertion port of the new pipe with a predetermined insertion amount into the receiving port of the existing pipe. was there. For this reason, the amount of insertion of the new pipe into the receptacle of the existing pipe is controlled as follows.

Before joining, in a state in which the existing pipe and the new pipe to be joined are gripped by the clamp devices, the insertion amount of the new pipe to be inserted into the receptacle of the existing pipe is measured on the insertion port, and the insertion port is inserted. A white line is displayed at a position separated from the end by a distance commensurate with the insertion amount, and the insertion amount is detected by detecting the white line with an optical sensor while moving the clamping device on the insertion side toward the clamping device on the receiving side. He recognized and stopped the insertion motion.

[0005]

However, in the above-described conventional structure, there are problems that the white line becomes dirty due to mud or the like and detection by the optical sensor becomes difficult, or that the white line itself is forgotten to be displayed.

The present invention is intended to solve the above-mentioned problems, and it is possible to insert the insertion opening into the receiving opening with an accurate insertion amount without causing an error in the insertion amount due to dirt on the tube surface or forgetting to apply the white line. It is an object of the present invention to provide a method of controlling the insertion amount of a pipe joining device that can perform the above.

[0007]

In order to solve the above-mentioned problems, a method of controlling the insertion amount of a pipe joining device of the present invention grasps a pipe barrel on the receiving side of an existing pipe by one clamp device of the pipe joining device. Then, the distance measuring means measures the distance L between the receiving end portion of the existing pipe and the inserting end portion of the new pipe which are opposed to each other in a state in which the other side clamping device holds the tubular body on the insertion side of the new pipe. The clamp device on the insertion side is moved toward the clamping device on the receiving side by using the sum of the insertion amount Z of the insertion port to be inserted into the receiving port and the distance L as an operation amount. Is.

[0008]

In the above structure, the operation amount is the distance L and the operation amount Z.
Since the insertion amount Z is constant, the operation amount is determined only by measuring the distance L, and there is no difficulty in the mark detection work due to dirt on the pipe surface or the work of setting the mark, and The insertion port is joined with an accurate insertion amount.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, the pipes 1, which are connected to each other,
2 is a slip-on type, and a receiving port 3 is formed at the end of one pipe 1 and an insertion port 4 is formed at the end of the other pipe 2. Normally, the side of one pipe 1 is The other pipe 2 which is already placed or buried in the excavation groove
Is in the state of being newly connected.

The pipe joining device 5 is supported by the tip of a drive arm such as a power shovel. This pipe joining device 5 has a main body frame 6 arranged along the axial direction of the pipes of both pipes 1 and 2, and the main body frame 6 has a pipe barrel on the receiving side of one pipe 1. There is provided a first clamp device 7 for gripping and a second clamp device 8 for gripping the tube barrel on the insertion side of the other tube 2. Further, the first clamp device 7 is fixed to the main body frame 6, and the second clamp device 8 is provided so as to be capable of reciprocating in the tube axial direction along the linear guides 9 provided on both sides of the main body frame 6. There is. Further, between the main body frame 6 and the second clamp device 8, a cylinder device 10 for driving the second clamp device 8 toward and away from the first clamp device 7 is provided.

The main body frame 6 is provided with an industrial television camera 11 located between both linear guides 9. The television camera 11 is an image processing device 12.
It is connected to the. Further, the image processing device 12 is connected to the control device 13 of the cylinder device 10.

The operation of the above configuration will be described. Inside the excavation groove to be laid, some of the pipes 1 to be already laid are arranged or buried. And the first of the pipe joining device 5
In the state where the clamp device 7 grips the receiving-side tube barrel of the existing pipe 1 and the second clamping device 7 grips the new-pipe 2 insertion-side tube barrel, the existing pipes 1 facing each other are opposed to each other.
Between the end of the receiving port 3 and the end of the insertion port 4 of the new tube 2 is imaged by the television camera 11 which is the distance measuring means, and the imaged image is processed by the image processing device 12 and the space between the two. The distance L of is measured.

Then, the data of the measured distance L is sent to the control device 13, and the sum of the insertion amount Z of the insertion port 4 to be inserted into the receiving port 3 and the distance L is obtained as the operation amount M. Further, the control device 13 extends the cylinder device 10 until the operation amount M is reached, and moves the second clamp device 8 on the insertion side along the linear guide 9 toward the first clamp device 7 on the reception side, The insertion opening 4 is inserted into the receiving opening 3 with a predetermined insertion amount Z.

At this time, the operation amount M is the sum of the distance L and the operation amount Z, and the insertion amount Z is constant, so that the operation amount M is determined only by measuring the distance L. Therefore, unlike the conventional case, the insertion opening 4 is joined to the inside of the receiving opening 3 with an accurate insertion amount without the difficulty of the mark detection work due to the dirt on the surfaces of the pipes 1 and 2 and the work of setting the mark. ..

As shown in FIG. 3, the distance L is measured by measuring the slit light 2 emitted from the light source 21 on the surfaces of the tubes 1 and 2.
2 may be imaged by the television camera 11, and the discontinuous distance of the slit light 22 at the separated portions of the tubes 1 and 2 may be measured.

As shown in FIG. 4, a caliper 31 with a built-in displacement gauge may be provided as a distance measuring means to measure the distance between the tubes 1 and 2 by contacting a gauge.

[0017]

As described above, according to the present invention, the operation amount of the clamp device can be determined only by measuring the distance L, which makes it difficult to detect a mark due to stains on the pipe surface and set the mark. The insertion opening can be joined to the receiving opening with an accurate insertion amount without any work.

[Brief description of drawings]

FIG. 1 is an overall perspective view of a pipe joining apparatus showing an embodiment of the present invention.

FIG. 2 is an overall front view of the pipe joining device in the same embodiment.

FIG. 3 is a schematic diagram of distance measuring means in another embodiment of the present invention.

FIG. 4 is a schematic diagram of distance measuring means in another embodiment of the present invention.

[Explanation of symbols]

 1, 2 Pipe 3 Receiving port 4 Inserting port 5 Pipe joining device 7 First clamp device 8 Second clamp device 11 Television camera

Claims (1)

[Claims] 1. A state in which a clamp device of one side of a pipe joining device grips a barrel of an existing pipe on a receiving side and a clamp device of another clamps a barrel of a new pipe on an inlet side,
The distance L between the receiving end portion of the existing pipe and the inserting end portion of the new pipe, which face each other, is measured by a distance measuring means, and the insertion amount Z of the insertion port to be inserted into the receiving port and the distance L are measured. A method of controlling the insertion amount of a pipe joining device, wherein the summing operation amount is used to move the insertion side clamping device toward the reception side clamping device.