JP2932518B2 - Structure reaction force management method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention manages a reaction force at a support point of a structure, and supports the structure in a posture of a natural body in which a manufacturing error appears. The reaction force management method.

[Prior art] In a structure such as a long bridge main tower block that is vertically aligned and assembled or a bridge block that is horizontally aligned and assembled, a long bridge main tower that is finally assembled is used. To meet the strict construction accuracy of
It is necessary to accurately inspect the shape inherent to the structure before construction.

Therefore, the present applicant previously applied for a reaction force management method for a structure that manages a reaction force at a support point of the structure and supports the structure in a posture of a natural body in which an error in manufacturing appears. Japanese Patent Application No. 63
-261120).

[Problems to be Solved by the Invention] The present invention has been made in connection with the above-described method of managing a reaction force of a structure, and is a structure capable of managing the reaction force of the structure with relatively simple control. The purpose of the present invention is to provide a reaction force management method.

[Means for Solving the Problems] In order to solve the above problems, in the present invention, a structure to be managed is placed and supported on four supporting devices located on a horizontal plane, and manufactured without error. Assuming an ideal structure at the time of the above, a theoretical target reaction force applied to at least one of the four support devices is obtained based on the weight distribution of the ideal structure. Only the push-up force of one support device selected as the force calculation target is controlled so as to be equal to the target reaction force, and the structure to be managed is supported in the posture of the natural body in which an error in manufacturing has appeared. .

In this case, in order to more accurately converge the reaction force applied to each support device to the target reaction force, it is preferable that the control of the push-up force of the one support device be repeated a plurality of times so as to match the target reaction force.

[Operation] The present invention utilizes the following basic principle.

For example, if a structure is floating in outer space,
Since the structure is not constrained at all by the surroundings, if the structure has a natural shape unique to the structure, that is, if there is a manufacturing error in the structure, the error appears. The present invention is to reproduce such a natural shape in a pseudo manner on the ground.

Assuming that the structure is manufactured without error (hereinafter referred to as "ideal") and that the bottom surface is a perfect plane having no curvature and no distortion, the bottom surface of the structure has a plurality of points, for example, four points. In the case of supporting at the support points, the support reaction force at each support point is theoretically obtained from the position of each support point and the weight distribution of the structure.
When the structure is actually supported at the same support point positions and support reaction forces as described above, the structure is supported in its own unique state without being restrained by twisting or the like from the support reaction force. Will be done. However, on the ground, the gravity causes deflection between the support points, but this can be minimized by adjusting the position of each support point and making the rigid point in the structure a support point. In addition, it is possible to feed back to the shape recognition of the structure by analyzing the amount of deflection.

Based on such a principle, even if there is a manufacturing error in the structure, if the structure is supported by the same support point position and support reaction force as described above, the structure is not restricted by twisting or the like from the support reaction force, Manufacturing errors appear, and the unique form of the device is reproduced. In the present specification, the reproduction of the unique form of the structure is hereinafter referred to as "unstressed natural body" as appropriate, assuming that stress such as torsion does not act on the structure due to the supporting reaction force.

By the way, when a structure is placed on a surface plate (a rigid body and the mounting surface is flat), the structure is in a state of being adjusted to the surface plate by its own weight. Due to stress, even if there is a manufacturing error, it does not appear on the outer shape. Therefore, if the structure is simply supported at a plurality of points, the structure is supported in a state where it is adjusted to the respective support points, as in the case where the structure is mounted on the surface plate. As a result, even if there is a manufacturing error, the structure does not appear on the outer shape.

The present invention reproduces the unique form of the structure itself. According to the above configuration, the remaining force is increased by matching the pushing force of one supporting device to the target reaction force value applied to the supporting device. The reaction force values of the two support devices change, and these pushing forces converge on the target reaction force, so that the structure is supported in a stress-free natural posture.

Then, by repeating the control of the pushing force of the one supporting device a plurality of times, the influence of mechanical friction or the like of the supporting device is eliminated, and the pushing force of each supporting device is more accurately converged to the target reaction force. Can be.

Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

In this embodiment, a long main bridge block W is used as a structure. Therefore, the main bridge block W of the long bridge is briefly described first.

As shown in FIG. 1 and FIG. 3, the long main tower block (hereinafter abbreviated as a block) W includes one inner cell W1 having a rectangular cross section and two outer cells W2 having a convex cross section.
It is assembled by bolting W2 and
Each cell W1, W2, W2 itself is welded. The blocks W constitute a long bridge main tower by connecting a plurality of blocks with the Z-axis direction being the vertical direction, and the upper and lower surfaces of the blocks W that are vertically overlapped are touch surfaces that abut against each other. This touch surface is Z of block W
It is formed by cutting processing based on the axial block core, and by connecting the block W in the vertical direction by abutting the upper and lower touch surfaces, to meet the strict construction accuracy in the final long main bridge main tower. It has become.

 Such a block W has the following special features.

The block W is slightly twisted and deformed by the influence of distortion during processing such as welding generated in the three cells W1, W2, and W2 themselves. Naturally, the twist of the block W due to those deformations is unique and cannot be calculated. Hereinafter, the twist is referred to as “manufacturing twist”.

When the block W is placed vertically as shown in FIG. 4A, that is, when the Z-axis direction of the block W is set as the vertical direction, the block W shrinks by a small amount Δl in the Z-axis direction. Not externally restrained. Therefore, the "manufacturing twist" appears as it is. However, in the figure, the block W is simplified as a rectangular parallelepiped.

When the block W is placed horizontally as shown in FIG. 4 (b), that is, when the Z-axis direction of the block W is placed in the horizontal direction, between the left and right support points as shown in the center line of FIG. Calculated deflection as a beam spanned over However, since the block W has many webs and flange materials that can resist as a support beam, when the block W is symmetrically supported at a plurality of points, the deflection as the beam is extremely small, and the "twist in production" In this case, the effect on construction accuracy is extremely small. In the following, the deflection is referred to as "beam deflection". Also in the figure, the block W is simplified as a rectangular parallelepiped.

In the case of the present embodiment, such a block W is supported by an analyzer S shown in FIG. 1 in a posture of a stress-free natural body.

In this figure, reference numeral 1 denotes an NC surface plate (mounting table), and 2 denotes an electro-hydraulic servo cylinder (support device) that supports the block W on the surface plate 1.

The servo cylinder 2 supports the block W with a rod 2b that expands and contracts from a cylinder tube 2a. The servo driver (servo valve) 4, which controls expansion and contraction of the rod 2b, and a protrusion output of the rod 2b described later. A pressure sensor for detection and a stroke sensor for detecting the amount of protrusion of the rod 2b are provided. The pressure sensor has a minimum detectable pressure of 0.25 kg / cm ² , and the resolution of the stroke sensor is 0.05 mm.

A total of four servo cylinders 2 are provided one by one at the positions in contact with the four corners of the lower surface of the block W, and are controlled by the system controller 3.

As shown in FIG. 2, the system controller 3 controls the servo cylinder 2 via the servo driver 4 and is connected to a total of four three-dimensional coordinate measuring devices 5 provided around the NC surface plate 1. I have. The system controller 3 is configured to operate by a structural analysis program 3a and a system control program 3b.

That is, the structural analysis program 3a calculates a load acting on each servo cylinder 3 by inputting drawing information and inputting the position of each servo cylinder 2 with respect to the block W.

On the other hand, the system control program 3b once controls the rods 2b of each servo cylinder 2 to extend to the same height to support the block W, and then selects one of the servo cylinders 2 from these servo cylinders 2. The pressure of the hydraulic oil supplied to the servo cylinder 2 is controlled so that the reaction force acting on the block W from the rod 2b matches the target reaction force value.

The three-dimensional coordinate measuring device 5 includes an electronic theodolite 5a.
And a data processing device 5b, and confirms the shape of the block W with three-dimensional coordinates.

Next, a method for managing the reaction force of the block W in the analyzer S configured as described above will be described with reference to FIG.

First, the ideal shape and weight of the block W on the drawing are input from the drawing information (step S1), and based on the information, the theoretical load (supporting reaction force) acting on each servo cylinder 2 and each servo The deflection (corresponding to "the deflection as a beam") due to the support position of the cylinder 2 and the load distribution is calculated (step S2). Further, the calculation result and the position are printed out (step S3). Then NC
The receiving position of the block W is determined on the surface plate 1 and the servo cylinder 2 is installed (step S4), and thereafter, the block W is placed via a jack for temporary placement (for example, a board) (step S5). .

After installing the block W, the rod 2b of each servo cylinder 2
Is gradually raised with the height of each upper end from the NC platen 1 being matched, and the block W is lifted horizontally. At this time, the loads received by the respective servo cylinders 2 are summed up, and the actual value of the block W is calculated. The weight is obtained (step S6).

Then, the actual weight of the block W is compared with the ideal weight of the block W obtained in the previous step S1, and the theoretical reaction force calculated in the previous step S2 is corrected and recalculated ( Step S7). For example, the theoretical reaction force is increased or decreased by an amount corresponding to the ratio between the actual weight of the former and the weight of the latter, and is set as the target reaction force. After that, of each servo cylinder 2, any 3
While selecting one servo cylinder 2 and keeping these rods 2b in the horizontal position, the remaining one servo cylinder 2
, The actual reaction force acting on the block W is calculated based on the output signal of the pressure sensor that detects the working oil pressure of the servo cylinder 2, and the detection data and the servo cylinder 2 should act on the block W. The rod 2b is delicately expanded and contracted by comparing the target reaction force value and adjusting the hydraulic oil pressure supplied to the servo cylinder 2 so that they match each other (step S8).

The procedure of step S8 will be described in more detail with reference to FIG. Here, for convenience, each servo cylinder 2
C1 to C4 are attached to distinguish them. The block W is shown in a simplified rectangular parallelepiped shape.

In FIG. 6, the actual reaction force values of the servo cylinders C1 to C4 are P1 to P4, the theoretical reaction force values are T1 to T4, the actual load of the block W is Ma, and the theoretical load is Mt. For example, when the servo cylinders C1 to C4 are receiving the block W in a horizontal state, the target reaction force values R1 to R4 of the servo cylinders C1 to C4 are the actual load Ma and the theoretical load Mt of the block W. Rn = Tn · Ma / Mt (n = 1 to 4).

For this reason, when the block W is supported in a horizontal state, each of the servo cylinders C1 to C4 is to
H4 is expressed as follows: Hn = Pn−Tn · Ma / Mt (n = 1 to 4).

Therefore, in step S8, each of the servo cylinders C1 to
If the servo cylinder C1 is to be driven from a horizontal state, the actual reaction force value P1 of the servo cylinder C1 is calculated from the detection signal of the pressure sensor, and thereafter, the correction value is applied to the servo cylinder C1. A pressure signal corresponding to H1, that is, H1 = P1−T1 · Ma / Mt is transmitted to make the reaction force value P1 of the servo cylinder C1 coincide with the target reaction force value R1. Thereby, the reaction force values P2 to P4 of the remaining servo cylinders C2 to C4 also match the respective target reaction force values R2 to R4.

If the reason is described, since the block W is high in rigidity as described above, the block W is inclined from the horizontal plane by expanding and contracting only one of the servo cylinders C1 to C4 from the horizontal state. However, the center of gravity G of the block W does not move. Therefore, of the servo cylinders C1 to C4 at the four corners of the block W, for example, the sum of the reaction force values P1 and P2 of the two servo cylinders (C1 and C2) is always constant. C3), (C3, C4),
Regarding any combination of (C4, C1), the sum of these reaction force values P1 to P4 is always constant.

Therefore, if the reaction force value P1 of one servo cylinder C1 matches the target reaction force value R1, the reaction force value P2 of the servo cylinder C2 also matches the target reaction force value R2 from the combination with the servo cylinder C1, Hereinafter, similarly, the reaction force value P of the servo cylinders C3 and C4
3, P4 also matches the target reaction force values R3, R4.

As described above, by the operation in step S8, all the reaction force values acting on the block W from the rod 2b of each servo cylinder 2 converge to the target reaction force value. The block W is slightly moved up and down from the horizontal state in accordance with the change in the value, and the block W is supported in a posture of a stressless natural body.

When the pressure control of the servo cylinder 2 is performed in the process of step S8, the output signal from the pressure sensor is 1 kgf / c due to the vibration of several μm of the positioning limit cycle.
sometimes swings m ² a width of about. For this reason, in order to improve the accuracy of pressure control, it is desirable to sample the output signal from the pressure sensor a plurality of times (about 10 to 20 times) and determine the average value thereof as the pressure value.

In step S8, one servo cylinder 2 to be subjected to pressure control is selected. For example, the servo cylinder 2 located at a position where the expansion and contraction of the rod 2b can be easily viewed is selected. May be selected as appropriate according to the actual reaction force value detected at the stage where the block W is first supported horizontally, and the one that is closest to the previously obtained target reaction force value is selected. Then, there is an advantage that the width of the pressure control is reduced and the control is performed more quickly.

Next, the processing after step S8 will be described with reference to FIG. 5. After the support of the block W is completed, the protrusion amount of the rod 2b of each servo cylinder 2 by the stroke sensor of each servo cylinder 2, that is, the block W is pushed up. The amount is detected (step S9). Then, from the detected value of the pushing amount, the shape of the block W, that is, the “torsion in manufacturing”
The shape of the lower surface unique to the block W due to the above is obtained and displayed on the display screen (step S10).

Thereafter, the coordinates of the peripheral surface of the block W are detected by four three-dimensional coordinate measuring devices 5 provided around the NC surface plate 1 (step S11), and the coordinates are input to the system controller 4 as the coordinate data of the block W. (Step S12).
Then, the system controller 4 recognizes the shape unique to the real block W based on the input coordinate data of the block W (step S13), and displays the recognized shape unique to the real block W and the shape of the ideal block on the display screen. Is displayed three-dimensionally (step S14).

According to the reaction force management method using the analysis device S configured as described above, in the process of supporting the block W, 4
By merely controlling the pressure of any one of the servo cylinders 2, the actual reaction force values of all the servo cylinders 2 are made to converge to the target reaction force value, and the block W is made of a stress-free natural body. , The control is simpler than in the case where the pressures of all the servo cylinders 2 are individually controlled, and there is an excellent effect that the processing is completed in a short time.

In the present embodiment, the pressure control of the servo cylinder 2 is particularly completed once, but it is preferable to perform the control a plurality of times in order to perform a more accurate reaction force management.

That is, if the sliding resistance of the rod 2b of the servo cylinder 2 is negligible,
There is no problem because the reaction force value of each servo cylinder 2 almost converges to the target reaction force value by one control in S8. However, especially when the large-diameter cylinder is driven with a small pressure, the sliding of the rod 2b is not necessary. The dynamic resistance or the like may become relatively large, and an error that cannot be ignored may occur.

Therefore, in such a case, after performing the control in the above step S8 once, the actual reaction force value of the servo cylinder 2 selected again as the control target is detected and compared with the target reaction force value, It is desirable to repeat the control of step S8 until these differences fall within a predetermined range.

At this time, the servo cylinder 2 to be controlled is also
Therefore, the control is simpler than in the case where the reaction force values of all the servo cylinders 2 are repeatedly controlled, and the processing time can be greatly reduced.

Further, in the present embodiment, the target reaction force of all the servo cylinders 2 is obtained especially before the pressure control of the servo cylinder 2 is performed. However, the present invention is not limited to this.
In the case where the servo cylinders 2 to be subjected to pressure control are always limited to the same servo cylinder 2, it is sufficient to obtain only the target reaction force of the servo cylinder 2.

[Effects of the Invention] As described above, according to the reaction force management method of the present invention, only the push-up force of one support device is controlled to be equal to the target reaction force, and the push-up forces of all the support devices are controlled. Can be converged to the target reaction force, and the structure can be supported in the posture of a stress-free natural body, so control is simpler than when individually controlling the lifting force of each supporting device, and the processing time is reduced. This has the effect that it can be significantly reduced.

Then, by repeatedly performing the control of the pushing force of the one support device a plurality of times, it is possible to eliminate the influence of the mechanical friction and the like of the support device and more accurately manage the reaction force of the structure.

[Brief description of the drawings]

1 to 6 show an embodiment of the present invention. FIG. 1 is a perspective view showing a main tower block of a long bridge installed in an analyzer, and FIG. 2 is a system controller and its periphery. FIG. 3 is a perspective view showing the structure of the main tower block of the long bridge, FIG. 4 (a) is a schematic perspective view when the main tower block of the long bridge is installed vertically, and FIG. FIG. 5 (a) to FIG. 5 (c) are flow charts showing the procedure of the reaction force management method, and FIG. 6 supports the long bridge main tower block. FIG. 3 is a plan view showing an arrangement of a servo cylinder. 2 ... Servo cylinder (supporting device), W ... Structure (main tower block of long bridge).

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masaaki Matsuba 3-2-16-1 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries, Ltd. Toyosu General Office (72) Inventor Sumio Asano 5-chome Mitsumachi, Kure-shi, Hiroshima Prefecture No. 17 Ishikawajima-Hari Ma Heavy Industries Co., Ltd.Kure Shingu Factory (72) Inventor Takayoshi Tadashi Chopsticks 1 Shinnakahara-cho, Isogo-ku, Yokohama, Kanagawa Prefecture Ishikawajima-Harima Heavy Industries Co., Ltd. 4-19-30 Kita-suna 4-chome, House 504

Claims (2)

(57) [Claims] In order to inspect the shape of an individual structure, a reaction force at a support point of the structure is managed, and the structure is supported in a posture of a natural body in which a manufacturing error appears. A force management method, wherein a structure to be managed is placed and supported on four support devices located on a horizontal plane, and an ideal structure when manufactured without error is assumed. A theoretical target reaction force applied to at least one of the support devices based on the weight distribution of the general structure, and only the push-up force of one of the support devices for which the target reaction force is obtained is set to the target. A reaction force management method for a structure, wherein the structure is controlled to be equal to the reaction force, and the structure to be managed is supported by the posture of the natural body. 2. The structure reaction force management method according to claim 1, wherein the control of the lifting force of said one support device is repeated a plurality of times to match the target reaction force.