JP2932519B2 - 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.

Accordingly, the present applicant has previously filed an application 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 a manufacturing error has appeared ( Japanese Patent Application No. 63
-261120).

[Problem 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 has a structure capable of supporting the structure in a posture of a natural body in which a manufacturing error has appeared. The purpose is to provide a reaction force management method.

[Means for Solving the Problems] In order to solve the above problems, according to the present invention, a structure to be managed is placed and supported on rods of a plurality of hydraulic cylinders located on a horizontal plane, and an error is generated. Assuming an ideal structure at the time of manufacture, the theoretical target reaction force acting on the rod of each hydraulic cylinder is determined from the weight distribution of the ideal structure, and each rod of each hydraulic cylinder is structured. The hydraulic oil pressure of each hydraulic cylinder is simultaneously controlled so that the force for pushing up the object becomes equal to the target reaction force, thereby supporting the structure to be managed in the posture of the natural body in which an error in manufacturing appears.

In this case, in order to more accurately converge the reaction force applied to the rod of each hydraulic cylinder to the target reaction force, it is preferable that the pressure control of each hydraulic cylinder is repeated a plurality of times 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, a difference appears thereafter. 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 above, the structure is supported by its own unique form 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 number or position of the support points, or by using a rigid part in the structure as a support point. It is possible to feed back to the shape recognition of the structure by analyzing the deflection amount.

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, and according to the above configuration, by simultaneously controlling the hydraulic pressures for operating the respective hydraulic cylinders, the force by which these rods push up the structure at a time is targeted. Since the reaction force converges, the processing time is short, and the structure is quickly supported in the posture of a stress-free natural body.

Then, by repeating each hydraulic cylinder pressure control a plurality of times, it is possible to eliminate the influence of mechanical friction and the like of each hydraulic cylinder, and more accurately converge the pushing force of each rod to the target reaction force.

Embodiment An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

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 FIGS. 1 and 3, the main tower block (hereinafter, abbreviated as a block) W is composed of 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 that supports the block W on the surface plate 1.

The servo cylinder 2 supports the block W by a rod 2b that expands and contracts from a cylinder tube 2a.
A servo driver (servo valve) 4, which will be described later, for controlling the expansion and contraction of the rod 2b, a pressure sensor for detecting the protrusion output of the rod 2b, and a stroke sensor for detecting the protrusion amount 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, after 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, the reaction force acting on the block W from the rods 2b of these servo cylinders 2 The pressure of the hydraulic oil supplied to each servo cylinder 2 is controlled so as to match the target reaction force.

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. Then, the actual reaction force acting on the block W from each servo cylinder 2 is
Calculated based on the output signal of the pressure sensor that detects the hydraulic oil pressure of the servo cylinder, and compares the detected data with a target reaction force value to be applied to the block W from each servo cylinder 2 so as to match each other so that they match. The hydraulic oil pressure supplied to the servo cylinder 2 is simultaneously adjusted (step S8). This allows
The reaction force values acting on the block W from the rod 2b of each servo cylinder 2 all converge on the previously obtained target reaction force value, and the block W is supported in a stress-free natural posture.

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.

After the processing in step S8 is completed, the protrusion amount of the rod 2b of each servo cylinder 2, that is, the pushing amount of the block W is detected by the stroke sensor of each servo cylinder 2 (step S9). Then, the shape of the block W, that is, the shape of the lower surface unique to the block W due to "manufacturing twist" is obtained from the detected value of the push-up amount and is 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 analyzer S configured as described above, in the process of supporting the block W, the pressure control of each servo cylinder 2 is performed simultaneously, so that the servo cylinder 2 Since the actual reaction force acting on the servo cylinder 2 is simultaneously converged to the target reaction force, the processing time is shorter than in a case where the individual servo cylinders 2 are individually controlled in order. It can be supported by the natural posture of stress.

In the present embodiment, the control of the reaction force value 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 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 step S8 once, the actual reaction force value of each servo cylinder 2 is detected again and compared with the target reaction force value. It is desirable to repeat the control of step S8 until the value falls within the predetermined range.

At this time, since the control of each servo cylinder 2 is performed simultaneously, the processing time is greatly reduced as compared with the case where the pressure control of all the servo cylinders 2 is repeatedly performed in order.

In the above embodiment, the servo cylinder 2
Although the number is four, the present invention is not limited to this, and three or five or more may be appropriately selected according to the shape of the structure to be managed.

[Effects of the Invention] As described above, according to the reaction force management method of the present invention, by simultaneously controlling the hydraulic oil pressure of each hydraulic cylinder, the force by which each rod pushes up the structure matches the target reaction force. Because of this, the time required for control is short, and therefore, there is an effect that the structure can be quickly supported in a stress-free posture of a natural body.

Then, by repeatedly performing the pressure control of each of the hydraulic cylinders a plurality of times, it is possible to eliminate the influence of mechanical friction and the like of each hydraulic cylinder and manage the reaction force of the structure more accurately.

[Brief description of the drawings]

1 to 5 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 schematic 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. Is a schematic perspective view when the main tower block of the long bridge is placed horizontally, and FIG.
FIGS. 7A to 7C are flowcharts showing the procedure of the reaction force management method. 2… Servo cylinder, 2b… Rod, W …… Structure (long tower block).

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Masaaki Matsuba 3-2-16-1 Toyosu, Koto-ku, Tokyo Ishikawa-jima-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 No. 504 (58) Field surveyed (Int. Cl. ⁶ , DB name) E01D 21/00 E01D 19/02 G01M 19/00 E04H 12/08

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, in which the structure to be managed is mounted and supported on rods of a plurality of hydraulic cylinders located on a horizontal plane, and assuming an ideal structure when manufactured without error, From the weight distribution of the ideal structure, a theoretical target reaction force applied to the rod of each of the hydraulic cylinders is determined, and the force by which each rod of the hydraulic cylinder pushes up the structure is equal to the target reaction force. And controlling the hydraulic oil pressure of each of the hydraulic cylinders at the same time to support the structure to be managed in the posture of the natural body. 2. The method according to claim 1, wherein the pressure control of each of the hydraulic cylinders is repeated a plurality of times so that the push-up force of each rod coincides with the target reaction force.