JP2015215333A - Three-dimensional displacement measuring device and three-dimensional displacement measuring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a three-dimensional displacement amount, accurately following to displacement of a probe.SOLUTION: A three-dimensional displacement measuring device 1 is configured to attach a sensor body 2 to a lower base plate and to cause a displacement meter 10 to rotate in two directions, by a first rotation shaft 9 and a second rotation shaft 11 which are orthogonal each other of a gimbal mechanism. The other end of a measuring wire 16 extending from the displacement meter 10 and capable of extending and shrinking is attached to a probe 3, and the probe 3 is rotatably supported to an upper base plate. An extending amount and shrinking amount of the measuring wire 16 are measured by the displacement meter 10. Pantagraph state arms 18 for connecting the displacement meter 10 and probe 3 are arranged around the measuring wire 16, and following to displacement of the probe 3, the displacement meter 10 can rotate. A rotation angle of the measuring wire 16 in orthogonal two shaft directions is detected by a first angle detector 13 and second angle detector 14. Based on the extending amount and shrinking amount of the measuring wire 16 and the rotation angle in two directions, relative three-dimensional displacement of the lower and upper base plates is measured.

Description

  The present invention relates to a three-dimensional displacement measuring device and a seismic isolation device including the same, and for example, a seismic isolation damper attached to one and the other of objects to be measured that are relatively displaced in various buildings such as buildings and bridges. The present invention relates to a three-dimensional displacement measuring apparatus and a three-dimensional displacement measuring system configured to detect a deformation amount.

  Conventionally, in preparation for earthquakes, seismic isolation dampers are installed as seismic isolation devices between the lower structure installed on the ground side and the upper structure installed on the structure side in various buildings such as buildings and bridges. What is installed is known. As a seismic isolation damper, for example, a U-shaped damper 100 as shown in FIG. 13 is installed, and the upper and lower base plates (support bases) 101 and 102 are connected to both ends of a substantially U-shaped damper 100 in the horizontal direction. For example, it is installed at intervals of 90 degrees or 60 degrees. The upper base plate 101 is installed in the upper structure, and the lower base plate 102 is installed in the lower structure.

  Then, the strain generated in the U-shaped damper against the deformation caused by vibration in the direction of 360 degrees during an earthquake is dispersed and plasticized throughout the U-shaped damper without locally concentrating, and the seismic energy is utilized using the plastic history. To improve the earthquake resistance and vibration control performance of buildings. Since the U-type damper 100 is greatly deformed by 30 cm or more in the event of a large earthquake, the U-type damper 100 is used severely in an extremely low cycle fatigue region that is repeated with the strain of the U-type damper 100 being about 10%.

The U-type damper for seismic isolation repeats steel deformation at the time of the earthquake occurrence. To ensure the soundness of the U-type damper, replace it when the maximum deformation amount or cumulative deformation amount reaches a predetermined value. Yes. Therefore, it is necessary to grasp and detect the deformation amount of the U-shaped damper.
Conventionally, a non-contact displacement measurement system using ultrasonic waves, light, laser light, or the like is known as a system that dynamically measures relative displacement between two points using three-dimensional coordinates. These displacement measurement systems have the disadvantages of being expensive and high in size while being able to obtain high accuracy.

Further, as a displacement measuring apparatus provided with a relatively inexpensive contact type displacement meter, for example, those described in Patent Documents 1 and 2 have been proposed. In the displacement measuring system described in Patent Document 1, a rod is provided on a rotating body having a vertical axis and a horizontal axis, the tip of the rod is locked to a pipe, and a wire is connected to the rear end. Then, the linear movement of the wire and the rotation angles of the horizontal axis and the vertical axis are measured with a potentiometer.
In addition, the displacement measuring device described in Patent Document 2 has a sensor body provided with a gimbal mechanism having a horizontal axis and a vertical axis attached to one object to be measured, and a measuring element connected to the tip of a connecting rod is connected to the other measuring object. Attach to the variable part of the measurement object. When the probe receives vibration or displacement from the variable part, it rotates about the horizontal and vertical axes, and the connecting rod also expands and contracts to follow the vibration and displacement of the variable part and detect the displacement. I have to.

Japanese Unexamined Patent Publication No. Hei 8-23369 JP 2007-315815 A

  By the way, since the U-type damper has a narrow space between the upper and lower base plates 101 and 102 of about 200 mm to 300 mm and a large deformation amount of about ± 800 mm, it can measure displacement of a long stroke in a narrow space between the upper and lower base plates 101 and 102. Sensor is necessary. On the other hand, in the devices described in Patent Documents 1 and 2, each rod needs to be short and have a multi-stage structure to extend long, so that the structure is complicated, and the manufacturing is difficult and the manufacturing cost is expensive. . Further, when the rod is configured in multiple stages, the diameter of the rod on the base side becomes large, and the rod not only obstructs the movement of the sensor, but also has a risk of damaging the sensor by contacting with the deformed damper.

  On the other hand, as shown in FIGS. 14 and 15, in the three-dimensional displacement measurement system shown in Patent Document 2, in order to improve the above-described problem, the wire 106 is installed instead of the rod, and the upper end of the wire 106 is A three-dimensional displacement measuring device 108 in which a measuring element 105 provided on the upper base plate 101 is connected and a sensor main body 107 is connected to the lower end is installed on the lower base plate 102.

  According to such a three-dimensional displacement measuring apparatus 108, the structure is simplified and the possibility of contact with the damper 100 is reduced. However, the inertia of the weight of the sensor body 107 with respect to the movement of the probe 105 and the wire 106, the friction of the sliding portion of each rotary member having a horizontal axis and a vertical axis, and the followability of the sensor body 107 due to the tension of the wiring cable Therefore, the rotation of the sensor body 107 provided with a rotating member, a displacement meter, etc. is delayed (see FIGS. 15A and 15B), and the sensor body 105 and the wire 106 are displaced from the extended line, resulting in measurement accuracy. There was a problem of getting worse.

  The present invention has been made in view of such circumstances, and includes a three-dimensional displacement measuring apparatus and a three-dimensional displacement measuring system that can accurately measure a three-dimensional displacement amount following the displacement of a probe. The purpose is to provide.

A three-dimensional displacement measuring apparatus according to the present invention is supported by a sensor main body attached to one of objects to be measured that are relatively displaced, and a gimbal mechanism that is provided on the sensor main body and is rotatable in two axial directions perpendicular to each other. Displacement meter, a measuring wire that can measure the amount of expansion and contraction by the displacement meter, and a measurement that is connected to the other end of the object to be measured and connected to the other end of the measuring wire An auxiliary guide member that is connected to the displacement meter and the measuring element directly or via the other of the object to be measured, and that integrally displaces and expands the measuring wire in synchronization with the displacement of the measuring element, A first angle detector and a second angle detector for respectively detecting rotation angles of the measurement wire in the two axial directions perpendicular to each other, and the first angle detector and the second angle detector respectively. The relative three-dimensional displacement of the object to be measured is measured based on the rotation angle of the measurement wire measured and the amount of expansion / contraction of the measurement wire measured by the displacement meter. Features.
According to the present invention, when one and the other objects to be measured are displaced relative to each other due to an earthquake or the like, if the probe attached to the other object to be measured is relatively displaced along the other objects to be measured, the displacement meter The measurement wire provided in the gimbal mechanism follows a two-axis direction orthogonal to the gimbal mechanism and rotates at a required angle, and further, the measurement wire extends from the displacement meter for a required length, and an auxiliary guide member is provided around the measurement wire. Since the displacement gauge is displaced and rotated in synchronization with the relative displacement of the measuring wire and the rotation in the two axial directions, the three-dimensional displacement of the measuring wire is detected by the first angle detector and the second angle. It can be transmitted to the detector and displacement meter for accurate measurement.

A three-dimensional displacement measuring apparatus according to the present invention includes a sensor main body attached to one of the objects to be measured that are relatively displaced, and a gimbal mechanism that is provided in the sensor main body and is rotatable in two axial directions perpendicular to each other. A supported displacement meter, a measuring wire capable of measuring the amount of expansion / contraction by the displacement meter, and an expandable / contractable measuring wire, connected to the other end of the measuring wire and attached to the other of the object to be measured A plurality of pulling wires connected to the displacement meter and having a predetermined tension, and guided to the pulling wires and attached to the other of the objects to be measured or the measuring points. The plurality of pulleys, the plurality of traction winding means capable of pulling and feeding the traction wire through the pulley, and the two axes of the measurement wire orthogonal to each other A first angle detector and a second angle detector for detecting the rotation angle of the measuring wire, respectively, and the rotation angle of the measuring wire measured by the first angle detector and the second angle detector, and the displacement meter, respectively. The relative three-dimensional displacement of the object to be measured is measured based on the amount of expansion / contraction of the measurement wire measured in step (1).
According to the present invention, when a probe attached to the other object to be measured is relatively displaced along the other object to be measured due to an earthquake or the like, the measurement wires provided on the displacement meter are orthogonal to each other by the gimbal mechanism. The measuring wire is rotated by the required angle following the axial direction, and the measuring wire extends from the displacement meter for the required length. In addition, a pulling wire and a pulley having high tension are provided in the vicinity of the measuring wire, and the pulling winding means is provided. By securing the tension with the displacement meter, the displacement meter is displaced and rotated in synchronization with the relative displacement of the measuring wire and the rotation in the biaxial direction, so that the three-dimensional displacement of the measuring wire is detected by the first angle detector and It can be accurately transmitted by transmitting to the second angle detector and the displacement meter.
The pulling wire, the pulley, and the pulling winding means are included in the auxiliary guide member.

Moreover, it is preferable that the traction winding means pulls the traction wire using an elastic return means such as a mainspring.
Accordingly, since the pulling wire can be pulled by the elastic return means of the pulling winding means, the measuring wire can be displaced together with the pulling wire in synchronism with the relative displacement of one of the objects to be measured.

A three-dimensional displacement measuring apparatus according to the present invention is supported by a sensor main body attached to one of objects to be measured that are relatively displaced, and a gimbal mechanism that is provided in the sensor main body and is rotatable in two axial directions orthogonal to each other. A displacement meter, a measuring wire capable of measuring the amount of expansion / contraction by the displacement meter, a measuring wire connected to the other end of the measuring object connected to the other end of the measuring wire, and a displacement A first arm detector and a second angle detector for detecting respective rotation angles of the measuring wire in two axial directions orthogonal to each other; Measures the relative three-dimensional displacement of the object to be measured based on the rotation angle of the measuring wire measured by the angle detector and the second angle detector and the amount of expansion / contraction of the measuring wire measured by the displacement meter. Do And said that there was Unishi.
According to the present invention, when a probe attached to the other object to be measured is displaced along the other object to be measured due to an earthquake or the like, the measurement wires provided on the displacement meter are two axes orthogonal to each other by the gimbal mechanism. The measurement wire is rotated by the required angle following the direction, and the measurement wire extends from the displacement meter for the required length. Furthermore, the auxiliary arm is provided around the wire, so that the displacement meter can move relative to the measurement wire relative to the two axes. Since the displacement and the rotation follow the direction in synchronization with the rotation of the direction, the three-dimensional displacement of the measurement wire can be transmitted to the first angle detector, the second angle detector, and the displacement meter for accurate measurement. The auxiliary arm is included in the auxiliary guide means.

Moreover, it is preferable that a plurality of auxiliary arms can be bent in a pantograph shape and are arranged so as to surround the circumference of the measuring wire.
Since the pantograph-shaped auxiliary arm can follow the two axes of the displacement meter and the measuring wire in accordance with the displacement of the probe, the three-dimensional displacement of the probe can be measured with high accuracy.

Further, the auxiliary arm may have a magic hand shape.
Since the magic hand-shaped auxiliary arm can follow the two axes of the displacement meter and the measurement wire in synchronization with the displacement of the probe, the three-dimensional displacement of the probe can be accurately measured.

The gimbal mechanism includes a first rotation axis and a second rotation axis orthogonal to the first rotation axis. The first rotation axis rotatably supports the displacement meter and the second rotation axis. The rotating shaft may support the displacement meter rotatably.
Depending on the relative displacement of the probe, the displacement meter can be rotated by the required amount along the first and second rotation axes of the gimbal mechanism, and the displacement meter and measuring wire can follow the relative displacement of the probe. Is expensive.

  The first angle detector and the second angle detector may be a potentiometer using a resistance element or a Hall element. Alternatively, the first angle detector and the second angle detector may be rotary encoders.

  Further, the displacement meter may be a direct acting displacement meter or a wire type displacement meter.

The three-dimensional displacement measurement system according to the present invention includes any one of the above-described three-dimensional displacement measurement devices, and analogizes displacement information output from the first angle detector, the second angle detector, and the displacement meter. An A / D converter that converts a signal into a digital signal, and an arithmetic unit that converts a digital signal output from the A / D converter into three-dimensional coordinates to calculate a displacement direction and a displacement amount. Features.
According to the three-dimensional displacement measurement system of the present invention, the A / D converter and the calculation are performed based on the displacement information of the rotation angles in the biaxial directions orthogonal to the expansion / contraction amount of the measurement wire measured by the three-dimensional displacement measurement device. By calculating the three-dimensional coordinates by means, the displacement direction and the displacement amount can be calculated.

A three-dimensional displacement measuring system according to the present invention includes the above-described three-dimensional displacement measuring device described above, and one of the objects to be measured is a lower base plate attached to a lower structure of a building, and the other is An upper base plate to be attached to an upper structure, and a seismic isolation damper is installed between the lower base plate and the upper base plate.
According to the present invention, the relative displacement amount of the lower structure and the upper structure in the building is detected based on the biaxial rotation angle orthogonal to the measurement wire expansion / contraction amount measured by the three-dimensional displacement measurement device. be able to.

According to the three-dimensional displacement measuring apparatus and the three-dimensional displacement measuring system according to the present invention, the followability of the measuring wire and the displacement meter can be favorably maintained by the auxiliary guide member with respect to the probe that can be displaced in the three-dimensional direction. It is possible to accurately measure the three-dimensional displacement direction and displacement amount between one and the other of the objects to be measured.
Further, the three-dimensional displacement measuring apparatus and the three-dimensional displacement measuring system according to the present invention provide a measuring wire by using a pulling wire and a pulley and a pulling winding means or an auxiliary arm for a probe that can be displaced in a three-dimensional direction. Therefore, it is possible to accurately measure the displacement direction and the displacement amount in the three-dimensional direction between one and the other of the measurement objects.

It is a principal part perspective view of the three-dimensional displacement measuring apparatus by 1st embodiment of this invention. It is the figure seen from the 2nd rotating shaft direction which shows the initial position of the three-dimensional displacement measuring apparatus shown in FIG. It is the figure seen from the 2nd rotating shaft direction which shows the position which the measuring element of the three-dimensional displacement measuring apparatus shown in FIG. 1 displaced. It is a block diagram of the three-dimensional displacement measuring system measured with a three-dimensional displacement measuring device. It is a conceptual diagram which shows the state which projected the three-dimensional coordinate position of the measuring element on the three-plane figure. It is a figure which shows the principal part of the three-dimensional displacement measuring device by 2nd embodiment of this invention, (a) is a front view, (b) is a side view. It is a side view which shows the state which the wire and the multistage arm displaced according to the displacement of an upper base plate in the three-dimensional displacement measuring device by 2nd embodiment, (a) is a state with small displacement, (b) is a state with large displacement FIG. It is a principal part perspective view of the three-dimensional displacement measuring device by 3rd embodiment. (A), (b) is a comparison figure which shows the direction orthogonal to a rotating shaft direction and the rotating shaft direction of the pulley of the three-dimensional displacement measuring apparatus shown in FIG. 8, and the fixing member of a pulley. It is a figure which shows the three-dimensional displacement measuring apparatus shown in FIG. 9, (a) is an initial state, (b) is a figure which shows a displacement state. It is a principal part perspective view of the three-dimensional displacement measuring device by 4th embodiment. It is a principal part block diagram of the three-dimensional displacement measuring apparatus by a modification. It is a side view which shows the displacement at the time of the earthquake of the U type damper installed between the upper and lower baseplates of a building, (a) is an initial state, (b) is a figure which shows the displacement state by an earthquake. It is a figure which shows the state which installed the three-dimensional displacement measuring apparatus relevant to a prior art in a U-shaped damper. FIG. 15 shows the three-dimensional displacement measuring apparatus shown in FIG. 14, where (a) shows an initial state and (b) shows a deformed state due to an earthquake.

Hereinafter, a three-dimensional displacement measuring apparatus and a three-dimensional displacement measuring system according to each embodiment of the present invention will be described with reference to the accompanying drawings. The same members as those in the above-described conventional technology will be described using the same reference numerals. .
The three-dimensional displacement measuring apparatus 1 according to the first embodiment shown in FIGS. 1 to 3 is installed, for example, between the lower base plate 102 and the upper base plate 101 of the U-shaped damper 100, and the maximum deformation amount of the U-shaped damper 100 is It is used for estimating the replacement time of the U-shaped damper 100 by measuring the accumulated deformation amount and the like. The three-dimensional displacement measuring apparatus 1 includes a sensor body 2 installed on a lower base plate 102, and by measuring the relative displacement between two points of the sensor body 2 and a probe 3 installed on the upper base plate 101, The relative displacement of the base plate 101, 102 is measured in three-dimensional coordinates.

The sensor body 2 has a substrate 6 fixed on a lower base plate 102, and a rectangular frame-shaped frame body 8 is provided between a pair of column portions 7 on the substrate 6, and the frame body 8 has a pair of opposed frame portions 8a and The first rotation shaft 9 provided on each of the column portions 7 can rotate at any angle in the φ direction. A displacement meter 10 is provided between the other pair of opposite frame portions 8b of the frame body 8, and the displacement meter 10 is supported by the second rotation shaft 11 penetrating the pair of frame portions 8b so as to be rotatable at any angle in the θ direction. Has been. The first rotating shaft 9 and the second rotating shaft 11 are disposed, for example, in directions orthogonal to each other in the same plane.
Therefore, the sensor body 2 supports the displacement meter 10 so as to be rotatable around each axis by the first rotation axis 9 and the second rotation axis 11 orthogonal to each other, and one extension line of each axis 9, 11 is provided. The gimbal mechanism 12 is a mechanism that intersects with each other.

  A first angle detector 13 for detecting the rotation angle φ of the displacement meter 10 is installed at one end of the first rotation shaft 9, and the rotation angle of the displacement meter 10 is installed at one end of the second rotation shaft 11. A second angle detector 14 for detecting θ is installed. The 1st angle detector 13 and the 2nd angle detector 14 are equipped with the potentiometer which used the resistance element or the Hall element for the 1st rotating shaft 9 and the 2nd rotating shaft 11, or may be provided with the rotary encoder. The first angle detector 13 can measure the rotation angle φ of the first rotation shaft 9 as a φ component with reference to the horizontal position of the displacement meter 10 and the frame 8. The second angle detector 14 can measure the rotation angle θ of the second rotating shaft 11 as a θ component with reference to the horizontal position of the displacement meter 10.

Further, the displacement meter 10 is provided with a support portion 15 on the upper surface, the measurement wire 16 can be pulled out from the support portion 15, and the distal end portion of the measurement wire 16 is connected to the probe 3. In the housing 10a of the displacement meter 10, a winding drum capable of winding the measuring wire 16 and a spiral spring that urges the measuring wire 16 in the winding direction are incorporated. The measuring wire 16 can be expanded and contracted by the displacement of the upper base plate 101 to which 3 is attached. The measuring element 3 is rotatably supported on the upper base plate 101 by, for example, a universal joint.
In addition, the displacement meter 10 includes a wire displacement meter or a linear displacement meter that rotates integrally with the rotating shaft of the take-up drum in the housing 10a, and detects the drawing length of the measuring wire 16 as an r component. It is possible. The extension line of the measurement wire 16 is an origin that intersects the extension lines of the first rotation shaft 9 and the second rotation shaft 11 at one point, and the first rotation shaft 9, the second rotation shaft 11, and the measurement wire 16 are one piece. A three-dimensional polar coordinate system comprising a moving radius (drawing length) r and two declination angles (rotation angles) θ and φ is constructed. This three-dimensional polar coordinate system can be converted into a three-dimensional orthogonal coordinate system composed of three axes of X axis, Y axis, and Z axis orthogonal to each other (see FIG. 5).

  Arbitrary plural, for example, four bendable arms 18 are arranged between the support portion 15 of the displacement meter 10 and the measuring element 3 around the measuring wire 16 so that the arm 18 can expand and contract in a pantograph shape. Is formed. Each arm 18 can be freely bent by a shaft portion 18a at the center in the longitudinal direction, and is arranged around the measurement wire 16 at a predetermined interval, for example, an interval of 90 degrees. The arm 18 is formed of a high-strength member having high rigidity such as metal, and both ends of each arm 18 are connected to the support portion 15 and the measuring element 3 by, for example, bearings.

  Therefore, in the initial position shown in FIG. 2, the upper and lower base plates 101 and 102 are not displaced, and the measuring wire 16 is positioned in a direction perpendicular to the upper base plate 101. When the upper base plate 101 moves relative to the lower base plate 102 at the time of an earthquake, the displacement meter 10 of the sensor body 2 is tilted around the first and second rotating shafts 9 and 11. In the example shown in FIG. 3, the second rotating shaft 11 is inclined at an angle θ, and the measuring wire 16 is extended as it moves following the horizontal movement of the probe 3, so that the surrounding arm 18 is bent. Deforms into a shape with large corners and a straight line.

As shown in FIG. 4, the first angle detector 13 that measures the tilt angle φ of the first rotating shaft 9 provided in the three-dimensional displacement measuring apparatus 1 and the second that measures the tilt angle θ of the second rotating shaft 11. An angle detector 14 and a sensor unit 21 including a displacement meter 10 that measures the length of the r component orthogonal to the first and second rotating shafts 9 and 13 are provided.
In addition, a measurement recording unit 23 is electrically connected to the sensor unit 21 of the three-dimensional displacement measuring apparatus 1, and φ output from the first angle detector 13, the second angle detector 14, and the displacement meter 10, An A / D converter 24 that inputs A / D conversion by inputting displacement information of each component of θ and r, a calculation unit 25 that calculates each signal converted into a digital signal, and information of the calculation result are obtained in, for example, a three-dimensional form. And a recording unit 26 for recording and printing as an orthogonal coordinate system (x, y, z). Furthermore, a power supply unit 27 that supplies power to the sensor unit 21 is provided.
A three-dimensional displacement measuring system 20 is configured including the three-dimensional displacement measuring apparatus 1 including the sensor unit 21 and the measurement recording unit 23.

Here, in the three-dimensional displacement measuring apparatus 1 shown in FIG. 1, the three-dimensional movement center of the sensor body 2, that is, the intersection of the extended lines of the first rotating shaft 9, the second rotating shaft 11, and the measuring wire 16 is the origin. Taking a polar coordinate system, the center of the probe 3 connected to the tip of the measuring wire 16 (or the center if the universal joint is a ball joint) is taken as the measurement point.
In FIG. 5, the angle φ detected by the first angle detector 13, the angle θ detected by the second angle detector 14, and the expansion / contraction length r of the measuring wire 16 detected by the displacement meter 10 are measured as needed. Thus, the position of the measurement point in the three-dimensional polar coordinate system can be specified. Further, the values x, y, and z from the origin are obtained by projecting the measured values r, θ, and φ on the XZ coordinate plane and the YZ coordinate plane in the three-dimensional orthogonal coordinate system, respectively. By calculating at any time, it is possible to convert the measurement point into a position in the three-dimensional orthogonal coordinate system.

The three-dimensional displacement measuring apparatus 1 according to the present embodiment has the above-described configuration. Next, a method for using the three-dimensional displacement measuring apparatus 1 will be described.
The three-dimensional displacement measuring apparatus 1 according to the present embodiment is installed on a lower base plate 102 of a U-shaped damper 100 that is a seismic isolation device, and the measuring element 3 is rotatably supported on the upper base plate 101. When an earthquake occurs, buildings such as buildings and bridges are deformed in a 360 ° horizontal direction in all directions, and the distortion generated in the U-shaped damper 100 is dispersed and plasticized without being concentrated locally. The plastic history is used to absorb the seismic energy and improve the seismic control performance of the building. The three-dimensional displacement measurement system 20 measures such distortion, plastic deformation amount, and cumulative deformation amount of the damper 100.

  1 and 2, the upper and lower base plates 101 and 102 are not displaced, the first and second rotary shafts 9 and 11 have the displacement gauge 10 in a horizontal state, and the measurement wire 16 is in the upper base plate 101. It extends in a direction perpendicular to. As shown in FIG. 3, when the upper base plate 101 moves relative to the lower base plate 102 when an earthquake occurs, the probe 3 follows and moves relative to the upper base plate 101.

  For example, when the upper base plate 101 is relatively displaced with respect to the lower base plate 102 in a direction perpendicular to the first rotation axis 9, the measurement wire 16 of the displacement meter 10 is pulled out through the support portion 15 in conjunction with the measuring element 3. At the same time, the pantograph-like highly rigid arm 18 that surrounds the measuring wire 16 integrally with the movement of the measuring element 3 is inclined while extending to the measuring wire 16 in a shape close to a substantially linear shape along the extension and inclination. . Therefore, the displacement meter 10 including the support portion 15 on which the lower end portion of the arm 18 is supported is pulled by the arm 18 and rotates about the second rotation shaft 11 by the required angle θ.

For example, when the upper base plate 101 is relatively displaced with respect to the lower base plate 102 in an arbitrary direction, the measuring wire 16 of the displacement meter 10 is pulled out through the support portion 15 in conjunction with the measuring element 3 and the measuring element 3 The pantograph-like highly rigid arm 18 surrounding the measurement wire 16 integrally with the movement follows and inclines while extending the bent portion along the extension and inclination of the measurement wire 16. Therefore, the displacement meter 10 provided with the support portion 15 on which the lower end portion of the arm 18 is supported is pulled by the arm 18, and the required angle in a direction orthogonal to each other about the first rotation shaft 9 and the second rotation shaft 11. Rotates φ and θ. Therefore, the measuring element 3, the measuring wire 16, the arm 18, and the displacement meter 10 are inclined in synchronization with each other while maintaining a substantially linear arrangement.
Therefore, the inertia due to the weight of the displacement meter 1 in the sensor main body 2, the rotation delay of the displacement meter 10 due to the friction of the sliding portion when the displacement meter 10 rotates, and the like do not occur.

  As described above, when the displacement gauge 10 having the first and second rotating shafts 9 and 11 and the measurement wire 16 are relatively displaced by the earthquake vibration, the first angle is detected in the sensor unit 21 shown in FIG. The detector 13, the second angle detector 14, and the displacement meter 10 can simultaneously detect the inclination angles φ and θ and the expansion / contraction length r of the measurement wire 16 with high accuracy. These measurement data are input as analog signals to the measurement recording unit 23 installed outside the sensor unit 21, A / D converted by the A / D converter 24, and calculated by the calculation unit 25 according to the following expression. The coordinates (x, y, z) of the measuring point of the measuring element 3 in the three-dimensional orthogonal coordinate system, the displacement direction and the displacement amount can be obtained.

As described above, according to the three-dimensional displacement measuring apparatus 1 and the three-dimensional displacement measuring system 20 according to the first embodiment, the measuring wire 16 and the arm 18 are used as the expansion and contraction components that connect the measuring element 3 and the displacement meter 10. As a result, the inclination angles φ and θ and the expansion / contraction length r of the measuring wire 16 can be measured, and further, the coordinates (x, y, z) of the measuring point of the measuring element 3, the displacement direction and the displacement amount can be obtained.
In addition, a pantograph-shaped arm 18 is attached around the measurement wire 16 so that the displacement meter 10 follows in synchronization with the relative displacement of the probe 3 and rotates around the first and second rotary shafts 9 and 11. Therefore, the displacement of the measuring element 3 in the three-dimensional direction can be measured accurately in a short time. Therefore, it is possible to accurately estimate the maximum deformation amount and cumulative deformation amount of the damper 100 and estimate the replacement time with high accuracy. In addition, the measuring wire 16 is used instead of the rod, and the surrounding arm 18 is reduced in diameter in the direction close to the measuring wire 16 if the displacement of the probe 3 is large. There is no possibility of contact, and there is no possibility of damaging the three-dimensional displacement measuring apparatus 1.

In addition, this invention is not limited to the above-mentioned 1st embodiment, In the range which does not change the summary of this invention, the structure of embodiment mentioned above can be changed suitably or can be substituted. These configurations are also included in the scope of the present invention.
For example, in the three-dimensional displacement measuring apparatus 1 according to the above-described embodiment, the substrate 6 of the sensor body 2 is installed on the lower base plate 102, and the measuring element 3 is installed on the upper base plate 101. A configuration in which the substrate 6 of the sensor body 2 is installed on the base plate 101 and the measuring element 3 is installed on the lower base plate 102 may be adopted. In this case, since the displacement meter 10 installed in the sensor body 2 is separated from the lower base plate 102 provided on the ground or the like, the displacement meter 10 is separated from the ground surface or the like, and malfunction or damage of the displacement meter 10 due to moisture or the like is caused. There are advantages that do not occur easily. The same applies to other embodiments and modifications described later.

Next, the three-dimensional displacement measuring apparatus according to the second embodiment of the present invention will be described with reference to FIGS. 6 and 7. Components, members, etc. used in the first embodiment will be described using the same reference numerals.
The three-dimensional displacement measuring device 30 according to the second embodiment includes a gimbal mechanism 31 of the sensor body 2 on the lower base plate 102, and the gimbal mechanism 31 is orthogonal to the first rotating shafts 9 as in the first embodiment. The second rotation shaft 11 is provided, and the displacement meter 10 can be rotated in the vertical direction perpendicular to each other, but is simplified in FIGS. 6 and 7.

6 and 7, it is assumed that the connecting member 32 that connects the upper base plate 101 and the measuring element 3 includes a universal joint at the connecting portion with the measuring element 3. The first arm receiving member 34 is connected to the support portion 15 on the upper surface of the displacement meter 10, and the second arm receiving member 35 is also connected to the measuring element 3.
A magic hand-shaped multi-stage arm 36 is attached between the first and second arm receiving members 34, 35, and a pair of arm portions 37a, 37b are crossed so as to be rotatable on a central support shaft 37c. A large number of supported ones are connected to each other at both ends so as to be sequentially rotatable by shaft pins 37d. In this embodiment, two sets of multistage arms 36 are provided on both sides of the first and second arm receiving members 34 and 35, but only one set may be used as long as the strength is high.

Moreover, as shown in FIG. 7, at one end (displacement meter 10 side) of the multi-stage arm 36, the pin 39 of one arm portion 37a is rotatably supported by the first arm receiving member 34, and the other arm portion 37b. The pin 40 is slidably supported in a groove 34 a formed in the first arm receiving member 34. Further, at the other end of the multi-stage arm 36 (the measuring element 3 side), the pin 41 of one arm portion 37b is rotatably supported by the second arm receiving member 35, and the pin 42 of the other arm portion 37a is the second arm. It is slidably supported in a groove 35 a formed in the receiving member 35.
Further, the multistage arm 36 extends and contracts while maintaining a state substantially parallel to the measuring wire 16, thereby causing the displacement meter 10 to follow the first rotating shaft 9 and The second rotating shaft 11 can be inclined by the required angles φ and θ.
Further, as in the first embodiment, the extension lines of the measurement wires 16 are arranged on the X, Y, and Z axes shown in FIG. 5 that intersect with the first rotating shaft 9 and the second rotating shaft 11 at the origin. Configure a three-dimensional Cartesian coordinate system.

  Therefore, in the three-dimensional displacement measuring device 30 according to the present embodiment, in the initial state where there is no displacement, as shown in FIGS. 6A and 6B, the multistage arm 36 is compressed with the arm portions 37a and 37b close to each other. Is in a state. In the event of an earthquake, if the displacement is relatively small as shown in FIG. 7A, the displacement meter 10 rotates about the first and second rotary shafts 9 and 11 by predetermined angles φ and θ, respectively. The multi-stage arm 36 is inclined along the slight extension and inclination of the measuring wire 16 with the arm portions 37a and 37b being slightly separated from each other.

When the displacement is relatively large, as shown in FIG. 7B, the displacement meter 10 rotates about the first and second rotating shafts 9 and 11 by predetermined angles φ and θ, respectively, and further for measurement. As the wire 16 is inclined and greatly extended, the multi-stage arm 36 is inclined in a state where each pair of arm portions 37a and 37b is extended so as to form a relatively small crossing angle.
Moreover, the coordinates (x, y, z) of the measuring element 3 in the three-dimensional orthogonal coordinate system can be calculated by the measurement recording unit 23 based on the measured values φ, θ, r measured by the sensor unit 21.

  Thus, according to the three-dimensional displacement measuring device 30 and the three-dimensional displacement measuring system 20 according to the second embodiment, the displacement meter 10 is measured by the multistage arm 36 having both ends connected to the support 15 and the measuring element 3. It can be made to follow the wire 16 with high precision, and has the same effect as the first embodiment.

Next, a three-dimensional displacement measuring apparatus 50 according to a third embodiment of the present invention will be described with reference to FIGS. 8, 9, and 10. The three-dimensional displacement measuring apparatus 1 used in the first embodiment and the second embodiment described above. , 30 parts and members that are the same or similar will be described using the same reference numerals.
The three-dimensional displacement measuring apparatus 50 according to the third embodiment includes the gimbal mechanism 12 of the sensor body 2 on the lower base plate 102, and the gimbal mechanism 12 is orthogonal to the first rotation shafts 9 that are orthogonal to each other as in the first embodiment. And the second rotation shaft 11, and the displacement meter 10 can be rotated in the vertical direction perpendicular to each other.

In FIG. 8, the measuring element 3 is connected to the upper base plate 101 by a universal joint. Two pulleys 51 and 52 are provided on both sides of the measuring element 3. As shown in FIGS. 9 and 10, these pulleys 51 and 52 are rotatably supported by fixing members 53 and 54 supported by the upper base plate 101, and the pulleys 51 and 52 are supported by the fixing members 53 and 54. It can be rotated around a rotation axis. The pulleys 51 and 52 are rotatable with respect to the fixing members 53 and 54, and the rotation direction of the pulleys 51 and 52 is, for example, the A direction.
In the vicinity of the pulleys 51 and 52, the mainspring units 55 and 56 are supported by the upper base plate 101 as traction winding means. The pulling wire 57 fed from the mainspring units 55 and 56 is guided downward through the pulleys 51 and 52, extends downward along both sides of the measuring wire 16, and is connected to the support portion 15. .

  Therefore, as shown in FIG. 9A, when the upper base plate 101 is displaced, the pulleys 51 and 52 receiving the tension of the pulling wire 57 when receiving the force in the rotation axis direction of the pulleys 51 and 52, that is, the A direction. By rotating and tilting, the pulling wire 57 can be fed out from each of the mainspring units 55 and 56. 9B and 10, when the upper base plate 101 is displaced in a direction perpendicular to the rotation axis of the pulleys 51 and 52 (referred to as B direction), the pulleys 51 and 52 slide along the pulling wire 57. The pulling wire 57 is fed out from the mainspring units 55 and 56.

  Further, springs (not shown) are stored in the mainspring units 55 and 56, and each pulling wire 57 is pulled with a large tension by the elastic return force of the mainspring. At this time, the tension of the pulling wire 57 is set to be larger than the tension of the measuring wire 16 of the displacement meter 10, and the tension of the two pulling wires 57 is adjusted to be equal to each other. Further, the two sets of mainspring units 55 and 56, the pulleys 51 and 52, and the fixing members 53 and 54 are arranged symmetrically on both sides of the measuring element 3 therebetween.

In the three-dimensional displacement measuring apparatus 50 according to the third embodiment, when the upper base plate 101 is relatively displaced in the A direction in relation to the lower base plate 102, as shown in FIG. The mainspring units 55 and 56 move together in the A direction. Then, the pulling wire 57 is pulled out from the mainspring units 55, 56, and the pulleys 51, 52 rotate around the rotation axis according to the pulling length of each pulling wire 57, and the pulley 51 is pulled by the tension of the pulling wire 57. , 52 are tilted by rotating in the direction A with respect to the fixing members 53, 54.
When the displacement of the upper base plate 101 is restored, the pulling wires 57 are rewound onto the mainspring units 55 and 56, and the pulleys 51 and 52 rotate in accordance with the length of the traction wires 57 to be rewound. At the same time, the pulleys 51 and 52 with respect to the fixing members 53 and 54 also return to the original vertical posture from the inclined state.

  As shown in FIGS. 9B and 10, when the upper base plate 101 is displaced in the direction orthogonal to the rotation axis of the pulleys 51 and 52, that is, in the B direction, the pulleys 51 and 52 and the fixing members 53 and 54 are It moves with the upper base plate 101. As a result, the pulling wire 57 is pulled out from the mainspring units 55 and 56, and the pulleys 51 and 52 rotate according to the length of the pulling wire 57 pulled out. When the displacement of the upper base plate 101 is restored, the respective pulling wires 57 are rewound onto the mainspring units 55 and 56, and the pulleys 51 and 52 are rotated according to the length of the respective pulling wires 57 being unwound.

  Therefore, in the three-dimensional displacement measuring apparatus 50 according to the third embodiment, in the initial state where there is no displacement, the measuring wire 16 is moved to the upper and lower base plates 101 and 102 by the tension of the pulling wire 57 as shown in FIG. It extends in the vertical direction. In the event of an earthquake, as shown in FIG. 10B, the pulling wire 57 and the measuring wire 16 are stretched and tilted while maintaining a substantially parallel state, and the displacement meter 10 is moved in the first and second directions. Coordinates in the three-dimensional orthogonal coordinate system of the probe 3 are measured by the measurement recording unit 23 on the basis of the measured values φ, θ, r measured by the sensor unit 21 and rotated by predetermined angles φ, θ around the rotation axes 9, 11. (X, y, z) can be calculated.

  As described above, according to the three-dimensional displacement measuring apparatus 50 according to the present embodiment, the pulleys 51 and 52, the fixing members 53 and 54, and the spring units 55 and 56 are arranged symmetrically around the measuring element 3, The two pulling wires 57 pull the displacement meter 10 in a well-balanced manner, and the pulling wire 57 and the measuring wire 16 expand and contract while maintaining a substantially parallel state, thereby synchronizing with the displacement of the upper base plate 101. The displacement meter 10 can be made to follow. Moreover, by setting the tension of the pulling wire 57 to be higher than that of the measuring wire 16, the followability of the displacement meter 10 against an earthquake or the like can be improved and the responsiveness is further improved.

  As the tension of the pulling wire 57 increases, the followability of the displacement meter 10 improves. However, since the strength of each component constituting the main body sensor 2 needs to be increased, an appropriate tension is selected. In the present embodiment, two sets of the pulling wire 57, the pulleys 51 and 52, and the mainspring units 55 and 56 are provided, but three or more sets may be provided.

Next, a three-dimensional displacement measuring device 60 according to the fourth embodiment of the present invention will be described with reference to FIG.
In the present embodiment, the two pulleys 51 and 52 are fixed to the opposing surfaces of the measuring element 3 and are arranged symmetrically. These two pulleys 51 and 52 guide two pulling wires 57 that are pulled out from the two mainspring units 55 and 56 and connected to the support portion 15 of the displacement meter 10.
The three-dimensional displacement measuring device 60 according to the present embodiment also has the same effects as the third embodiment.

  Further, as a modification of the three-dimensional displacement measuring devices 50 and 60 according to the third embodiment and the fourth embodiment described above, the mainspring units 55 and 56 are attached to the sensor main body 2 as shown in FIG. It may be fixed directly to the upper base plate 101.

In the three-dimensional displacement measuring apparatus 1, 30, 50, 60 according to the above-described embodiments, the first rotating shaft 9 and the second rotating shaft 11 are in the same plane as the rotating shaft of the displacement meter 10 provided in the sensor body 2. The displacement of the probe 3 can be measured by arranging the measurement wires 16 in directions orthogonal to each other in the directions perpendicular to each other. In place of this, a rotating shaft and a vertical axis are installed, a measuring wire 16 orthogonal to the rotating shaft and the vertical axis is arranged to be extendable, and a measuring element 3 is provided at the tip of the measuring wire 16 to measure. You may comprise the wire 16 for inclination and expansion-contraction in arbitrary directions. In this case, a gimbal mechanism in which the displacement meter 10 can be displaced in two directions orthogonal to each other by a rotation axis and a vertical axis may be configured. Note that the gimbal mechanism is not limited to one configured with two axes orthogonal to each other. For example, a spherical shape may be used.
In the present invention, the arm 18 and the multistage arm 36 constitute an auxiliary arm.
The arm 18, the measurement wire 16, the pulleys 51 and 52, and the mainspring units 55 and 56 constitute an auxiliary guide member.

1, 30, 50, 60 Three-dimensional displacement measuring device 2 Sensor body 3 Measuring element 9 First rotating shaft 10 Displacement meter 11 Second rotating shaft 12, 31 Gimbal mechanism 13 First angle detector 14 Second angle detector 15 Support Unit 16 Measuring wire 18 Arm 20 Three-dimensional displacement measuring unit 21 Sensor unit 23 Measurement recording unit 34 First arm receiving member 35 Second arm receiving member 36 Multistage arm 51, 52 Pulley 53, 54 Fixing member 55, 56 Mainspring unit 57 Towing wire 100 U-shaped damper 101 Upper base plate 102 Lower base plate

Claims (11)

A sensor body attached to one of the objects to be measured that are relatively displaced;
A displacement meter provided in the sensor body and supported by a gimbal mechanism that is rotatable in two axial directions orthogonal to each other;
A measuring wire capable of measuring the amount of expansion and contraction by the displacement meter and capable of expanding and contracting,
A probe connected to the other end of the object to be measured and connected to the other end of the measurement wire;
An auxiliary guide member that is connected to the displacement meter and the measuring element directly or via the other of the object to be measured, and that integrally displaces and expands and contracts the measuring wire in synchronization with the displacement of the measuring element;
A first angle detector and a second angle detector for detecting rotation angles in the two axial directions perpendicular to each other of the measurement wire;
Based on the rotation angle of the measurement wire measured by the first angle detector and the second angle detector and the amount of expansion / contraction of the measurement wire measured by the displacement meter, A three-dimensional displacement measuring device characterized by measuring a typical three-dimensional displacement. A sensor body attached to one of the objects to be measured that are relatively displaced;
A displacement meter provided in the sensor body and supported by a gimbal mechanism that is rotatable in two axial directions orthogonal to each other;
A measuring wire capable of measuring the amount of expansion and contraction by the displacement meter and capable of expanding and contracting,
A probe connected to the other end of the object to be measured and connected to the other end of the measurement wire;
A plurality of pulling wires coupled to the displacement meter and having a predetermined tension;
A plurality of pulleys for guiding the pulling wire and attached to the other or measuring element of the object to be measured;
A plurality of traction winding means capable of pulling and pulling the traction wire through the pulley;
A first angle detector and a second angle detector for detecting rotation angles in the two axial directions perpendicular to each other of the measurement wire;
Based on the rotation angle of the measurement wire measured by the first angle detector and the second angle detector and the amount of expansion / contraction of the measurement wire measured by the displacement meter, A three-dimensional displacement measuring device characterized by measuring a typical three-dimensional displacement.   The three-dimensional displacement measuring apparatus according to claim 2, wherein the pulling and winding means pulls the pulling wire using an elastic return means such as a mainspring. A sensor body attached to one of the objects to be measured that are relatively displaced;
A displacement meter provided in the sensor body and supported by a gimbal mechanism that is rotatable in two axial directions orthogonal to each other;
A measuring wire capable of measuring the amount of expansion and contraction by the displacement meter and capable of expanding and contracting,
A probe connected to the other end of the object to be measured and connected to the other end of the measurement wire;
An auxiliary arm that is connected to the displacement meter and a measuring element to extend and contract, and
A first angle detector and a second angle detector for detecting rotation angles of the measurement wire in two axial directions perpendicular to each other;
Based on the rotation angle of the measurement wire measured by the first angle detector and the second angle detector and the amount of expansion / contraction of the measurement wire measured by a displacement meter, the relative measurement object is measured. A three-dimensional displacement measuring apparatus characterized by measuring a three-dimensional displacement.   5. The three-dimensional displacement measuring device according to claim 4, wherein a plurality of the auxiliary arms can be bent in a pantograph shape and are arranged so as to surround the circumference of the measuring wire.   The three-dimensional displacement measuring apparatus according to claim 4, wherein the auxiliary arm has a magic hand shape.   The gimbal mechanism includes a first rotating shaft and a second rotating shaft orthogonal to the first rotating shaft, and the first rotating shaft rotatably supports the displacement meter and the second rotating shaft, The three-dimensional displacement measuring device according to any one of claims 1 to 6, wherein the second rotation shaft rotatably supports the displacement meter.   The three-dimensional displacement measuring device according to any one of claims 1 to 7, wherein the first angle detector and the second angle detector are a potentiometer using a resistance element or a Hall element, or a rotary encoder.   The three-dimensional displacement measuring apparatus according to any one of claims 1 to 8, wherein the displacement meter is a direct acting displacement meter or a wire displacement meter. A three-dimensional displacement measuring device according to any one of claims 1 to 9,
An A / D converter for converting displacement information output from the first angle detector, the second angle detector and the displacement meter from an analog signal to a digital signal;
A three-dimensional displacement measurement system comprising: an arithmetic means for calculating a displacement direction and a displacement amount by converting a digital signal output from the A / D converter into three-dimensional coordinates. A three-dimensional displacement measuring device according to any one of claims 1 to 9,
One of the objects to be measured is a lower base plate to be attached to a lower structure of a building, and the other is an upper base plate to be attached to an upper structure, and a seismic isolation damper is installed between the lower base plate and the upper base plate. Characteristic 3D displacement measurement system.

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