JP5227548B2 - Center of gravity position calculation method, weight acquisition method, and center of gravity position calculation device - Google Patents

Description

The present invention relates to a center-of-gravity position measuring method for calculating a center-of-gravity position of an object to be measured, a weight acquisition method for acquiring the weight of the object to be measured, and a center-of-gravity position calculating apparatus for calculating the position of the center of gravity of the object to be measured .

As an apparatus for calculating the position of the center of gravity of the object to be measured, Patent Document 1 proposes a center of gravity measuring apparatus including three or more support parts, a load cell arranged on the support part, and a tiltable mounting table. ing. In this apparatus, the work of inclining is performed several times while the object to be measured is placed on the mounting table, and the center of gravity position of the object to be measured is calculated based on the inclination angle at that time and the load detection value of the load cell.
JP-A-6-123669

  However, in the method described in Patent Document 1, it is difficult to place the object to be measured on the mounting table when the object to be measured is large, and if the object to be measured increases, the apparatus itself needs to be enlarged. For this reason, in the method described in Patent Document 1, when the object to be measured becomes large to some extent, there is a case where measurement is substantially impossible.

Accordingly, an object of the present invention is to provide a center-of-gravity position calculation method that can easily calculate the center- of- gravity position even when the object to be measured is large.

The present invention has been made in view of the circumstances as described above, and the center-of-gravity position calculation method according to the present invention is a center-of-gravity position calculation method for calculating the center-of-gravity position of the object to be measured. A first load measuring step of slightly lifting a first measurement point in the horizontal plane with a first axis in a horizontal plane as a support axis, and measuring a first load that is a load at the first measurement point at this time; A second measurement point that is a load at the second measurement point at this time is measured by slightly lifting the second measurement point in the horizontal plane with the second axis in the horizontal plane at the bottom of the object to be measured as a support shaft. and 2 load measuring step, the weight obtaining step of obtaining the weight of the object to be measured, the weight of the object to be measured, said first load, and the first measurement is the distance from the first axis to the first measurement point Based on the point distance, horizontal from the first axis in the horizontal plane A first centroid distance calculating step of calculating a first centroid distance to the center of gravity, the weight of the object to be measured, said second load, and the second measuring point is the distance from the second axis to the second measurement point A second center-of-gravity distance calculating step of calculating a second center-of-gravity distance from a second axis to a horizontal-plane center of gravity in the horizontal plane based on the distance; and the object to be measured based on the first center-of-gravity distance and the second center-of-gravity distance A horizontal plane centroid position calculating step of calculating a horizontal plane centroid position in the horizontal plane.

  Here, the above “slightly lifting” means lifting so that a change in load at each measurement point can be ignored. According to said structure, the gravity center position of a to-be-measured object is computable, without using the mounting base etc. for mounting to-be-measured object.

The center-of-gravity position calculation method may further include a first measurement point distance measurement step for measuring the first measurement point distance and a second measurement point distance measurement step for measuring the second measurement point distance. May be.

  In the center-of-gravity position calculation method, the object to be measured is supported by the three points of the first measurement point, the second measurement point, and the third measurement point, and is within the horizontal plane at the bottom of the object to be measured. A third load measuring step of slightly lifting the third measurement point in the horizontal plane with the third axis as a support axis and measuring a third load that is a load at the third measurement point at this time The axis passing through the second measurement point and the third measurement point is the first axis, the axis passing through the first measurement point and the third measurement point is the second axis, and the first measurement point. The axis passing through the second measurement point is the third axis, and in the weight acquisition step, the first load, the second load, and the third load are added together to acquire the weight of the object to be measured. You may make it do.

  According to such a configuration, it is possible to calculate the position of the center of gravity of the object to be measured by measuring the load at three points.

  In the center-of-gravity position calculation method, the object to be measured is supported by a rectangular surface, and one of a pair of opposing sides among the sides forming the rectangle is the first axis. Then, the first measurement point is located on the side facing this, and one side of the other set facing the other is the second axis, and the second measurement point is located on the side facing this. In the weight acquisition step, the weight of the object to be measured may be acquired by adding the first load and the second load.

  According to such a configuration, even when the object to be measured is supported by a rectangular surface, the position of the center of gravity of the object to be measured can be calculated similarly.

  In the center-of-gravity position calculation method, the object to be measured is supported by a line forming a rectangle or a point on the line, and one of a pair of opposing lines among the lines forming the rectangle is The first measurement point is located on a line facing the first axis and the other side of the other set facing the second axis is the second axis on the line facing the second axis. A measurement point may be located, and the weight of the object to be measured may be acquired by adding the first load and the second load in the weight acquisition step.

  According to such a configuration, even when the object to be measured is supported by a line forming a rectangle or a point on this line, the position of the center of gravity of the object to be measured can be calculated in the same manner.

  Further, in the center of gravity position calculation method, the first measurement point is lifted to a predetermined lifting height with the first axis as a support shaft, and the lifting load that is the load at the first measurement point at this time is measured. Based on the lifting load measurement step, the weight of the object to be measured, the first load, the first measurement point distance, the lifting height, and the lifting load, the center of gravity position in the height direction is calculated. A height centroid calculating step, and a three-dimensional centroid position calculating step for calculating a three-dimensional centroid position of the object to be measured based on a horizontal plane centroid position in the horizontal plane and a centroid position in the height direction. May be.

  According to such a configuration, it is possible to calculate not only the centroid position of the horizontal plane but also the three-dimensional centroid position including the centroid position in the height direction.

  Further, in the center-of-gravity position calculation method, each load measurement step at each measurement point is performed using a lifting weighing device, and the lifting weighing device includes a jack portion that is a power source for lifting each measurement point; A load detection unit that detects a load, and a control unit that calculates a load at each measurement point based on the load detected by the load detection unit, wherein one of the jack unit and the load detection unit is the other You may arrange | position so that it may support.

  According to this configuration, since the lifting and weighing apparatus includes the jack portion and the load detection portion, it is possible to perform load measurement and lifting work at a time.

Further, in the center-of-gravity position calculation method, the load measuring step and the lifting load measuring step at each measurement point are performed using a lifting weighing device, and the lifting weighing device is configured to lift each measurement point. A jack portion that is a power source of the power source, a load detection portion that detects a load, a control portion that calculates a load at each measurement point based on the load detected by the load detection portion, and a rising stroke of the jack portion. An ascending stroke detecting means for detecting, and one of the jack part and the load detecting part is arranged to support the other, and the control part is based on the ascending stroke detected by the ascending stroke detecting means. Thus, the lifting height may be calculated.

According to such a configuration, the value can be acquired without directly measuring the lifting height.

  Further, in the center-of-gravity position calculation method, the lifting weighing device further includes a load receiving portion for receiving the measurement points of the object to be measured, and the load receiving portion is connected to the jack portion or the load detection portion. A measurement-side portion to be supported; a measurement-side portion that is lower than the measurement-side portion and located near the ground plane; and a connection portion that connects the measurement-side portion and the measurement-side portion. May be.

  According to such a configuration, even if the jack portion or the load detection portion has a certain thickness, the bottom portion of the object to be measured can be easily lifted by using the load receiving portion.

  Furthermore, the weight acquisition method according to the present invention is a weight acquisition method for measuring the weight of an object supported by at least three fulcrums, and slightly lifts each fulcrum and measures the load at each measurement point. A load measurement step, and a weight acquisition step of acquiring the weight of the object to be measured by adding the loads at the respective measurement points obtained in the load measurement step.

  According to this configuration, the weight of the object to be measured can be measured without using a mounting table or the like for placing the object to be measured.

  Furthermore, the weight acquisition method according to the present invention is a weight acquisition method for acquiring the weight of an object to be measured which is supported by a surface having two parallel sides and whose horizontal center of gravity is located between the two sides. Then, the points located on the two sides are slightly lifted, the load measuring step for measuring the load at both points, and the load at both points obtained in the load measuring step are added together to add the weight of the object to be measured. Obtaining a weight.

  Furthermore, the weight acquisition method according to the present invention is a weight that is supported by two parallel lines or points located on the two lines, and that acquires the weight of the object to be measured whose horizontal center of gravity is located between the two lines. It is an acquisition method, each of the points located on the line 2 is slightly lifted, a load measuring step for measuring the load at both points, and the load at both points obtained in the load measuring step are added together to be measured A weight acquisition step of acquiring the weight of the object.

Furthermore, the center-of-gravity position calculation apparatus according to the present invention includes a numerical value input unit that can input a predetermined value from the outside, and a calculation unit that can perform a calculation based on the input predetermined value. The predetermined value is obtained by slightly lifting the first measurement point in the horizontal plane with the first axis in a horizontal plane at the bottom of the object to be measured as a support shaft, and the load at the first measurement point at this time A first load and a second measurement point in the horizontal plane slightly lifted with the second axis in the horizontal plane at the bottom of the object to be measured as a support axis, and a load at the second measurement point at this time 2 loads, the weight of the object to be measured, a first measurement point distance that is a distance from the first axis to the first measurement point, and a second that is a distance from the second axis to the second measurement point. Measurement point distance, and the calculation unit calculates the weight of the object to be measured. Based on the first load and the first measurement point distance, a first center-of-gravity distance from the first axis to the horizontal plane center of gravity in the horizontal plane is calculated, and the weight of the object to be measured, the second load, and the second measurement are calculated. Based on the point distance, a second centroid distance from the second axis to the horizontal plane centroid in the horizontal plane is calculated, and a horizontal plane centroid position in the horizontal plane of the object to be measured is calculated based on the first centroid distance and the second centroid distance. calculate.

Further, in the center-of-gravity position calculating device, the predetermined value is determined by lifting the first measurement point to a predetermined lifting height with the first axis as a support shaft, and the load at the first measurement point at this time. A lifting load and the lifting height are further included, and the calculation unit includes a weight of an object to be measured, the first load, the first measurement point distance, the lifting height, and the lifting load. The center-of-gravity position in the height direction may be calculated based on the above, and the three-dimensional center-of-gravity position of the measurement object may be calculated based on the horizontal plane center-of-gravity position and the center-of-gravity position in the height direction.

As is clear from the above description, according to the center-of-gravity position calculation method according to the present invention, the center-of-gravity position of the object to be measured can be calculated without using a mounting table for placing the object to be measured. Therefore, according to the present invention, it is possible to provide a center-of-gravity position calculation method that can easily calculate the center- of- gravity position even when the object to be measured is large.

  Embodiments according to the present invention will be described below with reference to the drawings.

  The center-of-gravity position calculation method according to the present embodiment is a center-of-gravity position calculation method for calculating the center-of-gravity position of an object to be measured, and includes a first load measurement step, a lifting load measurement step, a second load measurement step, 3 load measurement process, weight acquisition process, first measurement point distance measurement process, second measurement point distance measurement process, first centroid distance calculation process, second centroid distance calculation process, and horizontal plane centroid position calculation process And a center-of-gravity height calculation step and a three-dimensional center-of-gravity position calculation step. Hereinafter, each process is demonstrated in order.

  Prior to the description of each process, the DUT M according to this embodiment will be described. FIG. 1 is a diagram showing an object M to be measured according to the present embodiment. The object to be measured M is indeterminate, and the density may not be uniform throughout. However, the object to be measured M is supported by three points, that is, a first measurement point P1, a second measurement point P2, and a third measurement point P3, which are located at the bottom thereof (the parts other than these three points are grounded). Absent.). The fact that the object to be measured is supported by the three points P1, P2, and P3 means that the horizontal center of gravity of the object to be measured M exists inside the triangle having these three points P1, P2, and P3 as vertices. Become. When the object to be measured M is supported by the entire bottom surface portion, three legs for supporting the object to be measured M are provided. When the object to be measured M is supported by four or more points, the thickness of the bottom of the three points is increased. The object to be measured may be supported at three points by laying a certain member or the like. In this case, the tip end portion of the leg and the bottom portion of the member become the first measurement point P1, the second measurement point P2, and the third measurement point P3, respectively.

  The first load measurement step is a step of measuring the load at the first measurement point P1. First, the first measurement point P1 is slightly lifted with the first axis C1 at the bottom of the object to be measured M as a support shaft. The first axis P1 in the present embodiment is an axis that passes through the second measurement point P2 and the third measurement point P2. The first axis C1 and the first measurement point P1 are in the same horizontal plane. Further, in a state where the first measurement point P1 is slightly lifted, the first load W1 that is the load at the first measurement point P1 is measured. Further, it is desirable that the height at which the first measurement point P1 is lifted is as low as possible, and it is desirable that the height of the center of gravity G of the object M to be measured hardly changes.

  The lifting load measurement step is a step of lifting the first measurement point to a predetermined height and measuring the load at that time. Specifically, the first measurement point P1 is lifted to a predetermined lifting height h with the first axis C1 at the bottom of the object M to be measured as a support shaft. In this state, the lifting load Wh that is the load at the first measurement point P1 is measured. In the lifting load measurement process, the first measurement point P1 is raised to a position sufficiently higher than that in the first load measurement process. Here, the lifting height h at which the first measurement point P1 is lifted may be determined from the beginning, and the first measurement point P may be lifted up to that height, or the first measurement point P1. The height measured after lifting up may be used as the lifting height h. For example, when lifting the first measurement point P1 with a jack, if the height lifted in one stroke is constant and the value is known, it is not necessary to directly measure the lifting height h.

  In the present embodiment, when lifting the first measurement point P1, the lifting weighing device 1 as shown in FIG. 2 is used. FIG. 2 is an exploded perspective view of the lifting and weighing apparatus 1. As shown in FIG. 2, the lifting and weighing apparatus 1 includes a jack portion 2 that is a power source for lifting a measurement point, a load detection portion (load cell) 3 that detects a load, and a load receiver that receives a portion to be measured. It has the part 4 and the control part 5 (refer FIG. 4). In the present embodiment, the load detection unit 3 is disposed so as to support the jack unit 2. However, as shown in FIG. 3, the jack part 2 may be arranged so as to support the load detection part 3A. The load receiving portion 4 is mainly composed of a measurement side portion 6, a measured side portion 7, and a connection portion 8. The measurement side portion 6 is located above the jack portion 2 and has a plate shape parallel to the upper surface of the jack portion 2. The measurement side portion 6 and the upper surface of the jack portion 2 have screw holes 9 and 10 at corresponding positions, and the measurement side portion 6 is fixed to the upper surface of the jack portion 2 using screws (not shown). It can be done. The part 7 to be measured is lower than the part 6 to be measured and is located near the ground plane. The part 7 to be measured is a part in contact with the object M to be measured, and has a horizontal flat plate shape. By placing the measurement object M on the measurement-side portion 7, the measurement object M can be lifted. The connecting portion 8 is a portion extending in the vertical direction, and has a role of connecting the measuring side portion 6 and the measured side portion 7. With this connecting portion 8, the load received by the measured side portion 7 can be transmitted to the measuring side portion 6 and further transmitted to the load detecting portion 3 via the jack portion 2.

  FIG. 4 is a diagram illustrating a signal flow of the lifting and weighing apparatus 1. As shown in FIG. 4, the jack section 2 has a rising stroke detecting means 11 that detects the rising stroke, and can output a signal 12 about the rising stroke to the control section 5. The load detection unit outputs a signal 13 about the load to the control unit. Then, the control unit 5 calculates the loads W1, W2, W3, and Wh at each measurement point based on the load detected by the load detection unit 3, and based on the ascending stroke detected by the ascending stroke detection means 11. The lifting height h can be calculated. As described above, by using the lifting weighing device 1 according to the present embodiment, these values can be acquired without directly measuring the load and the lifting height.

  The second load measurement step is a step of measuring the load at the second measurement point P2. The second load measurement process is substantially the same process as the first load measurement process. Specifically, in the second load measuring step, the second measurement point P2 is slightly lifted with the second axis C2 at the bottom of the object M to be measured as a support shaft. The second axis C2 in the present embodiment is an axis that passes through the first measurement point P1 and the third measurement point P3. The second axis C2 and the second measurement point P2 are in the same horizontal plane. Further, a second load W2 that is a load at the second measurement point P2 is measured in a state where the second measurement point P2 is slightly lifted. In addition, it is desirable that the height at which the second measurement point P2 is lifted is as low as possible, and it is desirable that the height of the center of gravity G of the object to be measured M be hardly changed. The lifting of the second measurement point P2 is performed using the lifting and weighing apparatus 1 as in the case of the first measurement point P1.

  The third load measurement step is a step of measuring the load at the third measurement point P3. The third load measurement process is also substantially the same as the first load measurement process. Specifically, in the third load measurement step, the third measurement point P3 is slightly lifted with the third axis C3 at the bottom of the object to be measured M as a support shaft. The third axis C3 in the present embodiment is an axis that passes through the first measurement point P1 and the second measurement point P2. The third axis C3 and the third measurement point P3 are in the same horizontal plane. Further, in a state where the third measurement point P3 is slightly lifted, a third load W3 that is a load at the third measurement point P3 is measured. In addition, it is desirable that the height at which the third measurement point P3 is lifted is as low as possible, and it is desirable that the height of the center of gravity G of the object to be measured M be hardly changed. The lifting of the third measurement point P3 is performed using the lifting weighing device 1 as in the case of the first measurement point P1 and the first measurement point P2.

  The weight acquisition step is a step of acquiring the weight of the measurement object M. The weight acquisition process may be any method as long as the weight Wg of the DUT M can be acquired. In the present embodiment, the weight acquisition step is calculated based on the first load W1, the second load W2, and the third load W3. Specifically, as shown in the following first formula, the first load W1, the second load W2, and the third load W3 are added together to obtain the weight Wg of the object M to be measured. The reason why the first equation is satisfied is as follows. The object to be measured M is supported at a predetermined ratio (weight distribution) at the three points P1, P2, and P3. And if the height of the center of gravity is hardly changed, the ratio does not change. Then, before and after slightly lifting a certain point, the load at that point hardly changes. Therefore, each point is lifted in order and the load is measured, and if it is added, the weight Wg of the object to be measured M is obtained.

  The first measurement point distance measuring step is a step of measuring the first measurement point distance L1 from the first axis C1 to the first measurement point P1. Specifically, as shown in FIG. 1, a perpendicular line PE1 is drawn from the first measurement point P1 to the first axis C1, and the distance from the first axis C1 to the first measurement point is measured along the perpendicular line PE1. . This length is the first measurement point distance L1.

  The second measurement point distance measuring step is a step of measuring the second measurement point distance L2 from the second axis C1 to the second measurement point P2. The second measurement point distance measurement step is also substantially the same as the first measurement point distance measurement step. Specifically, as shown in FIG. 1, a perpendicular line PE2 is drawn from the second measurement point P2 to the second axis C2, and the distance from the second axis C2 to the second measurement point P2 is measured along the perpendicular line PE2. To do. This length is the second measurement point distance L2.

  The first center-of-gravity distance calculation step calculates a first center-of-gravity distance a1 from the first axis C2 on the horizontal plane to the horizontal plane center-of-gravity G based on the weight Wg of the object to be measured, the first load W1, and the first measurement point distance L2. It is a process to do. Hereinafter, calculation formulas used in the first centroid distance calculation step will be described. In order to simplify the description, consider a triangle having apexes at the first measurement point, the second measurement point, and the third measurement point. FIG. 5 is a diagram of a triangle whose apexes are the first measurement point, the second measurement point, and the third measurement point. Assume that the object to be measured is placed on the entire triangle in FIG. 5, and the point denoted by the reference symbol G ′ is the horizontal plane center of gravity of the object to be measured in the horizontal plane.

  Referring to FIG. 5, when the object M is lifted with the first axis C1 as a support shaft, the moment when the object M is lifted at the first measurement point P1 is equal to the moment when the object M is lifted at the position of the horizontal plane center of gravity G ′. Therefore, the relationship of the following second formula is established. The first center of gravity distance a1 is calculated using this second equation. Here, W1 is the load at the first measurement point P1 (first load), Wg is the load at the horizontal plane center of gravity G ′ (weight of the object to be measured), and L1 is the distance from the first axis to the first measurement point (first (Measurement point distance), a1 is the distance from the first axis to the center of gravity (first center of gravity distance).

  Among these, the load (first load) W1 at the first measurement point P1 is measured by the first load measurement step, and the load (weight of the object to be measured) Wg at the horizontal plane center of gravity G ′ is obtained from the above-described first equation. Since the distance (first measurement point distance) L1 from the first axis C1 to the first measurement point P1 is measured by the first measurement point distance measurement process, these are substituted into the second equation. For example, the distance (first centroid distance) a1 from the first axis C1 to the horizontal plane centroid G ′ can be obtained.

  The second center-of-gravity distance calculation step calculates a second center-of-gravity distance a2 from the second axis C2 to the horizontal plane center-of-gravity G ′ based on the weight Wg of the object to be measured M, the second load W1, and the second measurement point distance L2. It is a process to do. Similarly to the first center-of-gravity distance calculation step, referring to FIG. 5, when lifting the object M with the second axis C2 as a support shaft, the moment when the object M is lifted at the second measurement point P2, and the horizontal plane center of gravity G ′ Since the moments when lifted at the same position are equal, the relationship of the following third formula is established. The second center-of-gravity distance a2 is calculated using this third equation. Here, W2 is the load at the second measurement point P2 (second load), L2 is the distance from the second axis C2 to the second measurement point P2 (second measurement point distance), and a2 is the center of gravity in the horizontal plane from the second axis C2. This is the distance (second centroid distance) to G ′.

  Among these, the load (second load) W2 at the second measurement point P2 is measured by the second load measurement step, and the load (weight of the object to be measured) Wg at the horizontal plane center of gravity G ′ is obtained from the above-described first equation. Since the distance (second measurement point distance) L2 from the second axis C2 to the second measurement point P2 is measured by the second measurement point distance measurement step, these are substituted into the third equation. For example, the distance (second centroid distance) a2 from the second axis C2 to the horizontal plane centroid G ′ can be obtained.

  The horizontal plane center-of-gravity position calculating step is a step of calculating the horizontal plane center-of-gravity position in the horizontal plane of the measurement object M based on the first center-of-gravity distance a1 and the second center-of-gravity distance a2. Specifically, a point M to be measured is a point where a straight line PL1 parallel to the first axis C1 and separated from the first center of gravity distance a1 by a straight line PL2 parallel to the second axis C2 and separated from the second center of gravity distance a2 intersects. The position of the center of gravity of the horizontal plane in the horizontal plane. Thereby, the horizontal plane gravity center position of the member to be measured in the horizontal plane can be calculated.

  The center-of-gravity height calculation step is a step of calculating the center-of-gravity height z based on the first load W1, the weight Wg of the object to be measured, the first measurement point distance L1, the lifting height h, and the lifting load Wh. is there. Hereinafter, a method for deriving a calculation formula used in the center-of-gravity height step will be described with reference to FIG. FIG. 6 is a schematic view of a longitudinal section of the measurement object M that passes through the center of gravity G of the measurement object M and is perpendicular to the first axis C1. In FIG. 6, a first state in which the first measurement point P1 of the object to be measured M is slightly lifted (portion drawn with a solid line; in FIG. 6, the first measurement point P1 appears to be grounded, but in reality it is slightly And a second state (portion drawn with a two-dot chain line) which is lifted up to a predetermined lifting height h and inclined by θ. In addition, let the point to which the code | symbol G was attached | subjected in a figure be a gravity center of to-be-measured object.

  First, paying attention to the second state in FIG. 6 (portion drawn with a two-dot chain line), the distance a1 from the first axis C1 to the horizontal plane center of gravity G ′ is two, a11 and a12, depending on the vertical line passing through the center of gravity G. The relationship shown in the following fourth formula is established from the relationship with the inclination θ. Here, ah is the distance from the first axis C1 to the vertical line passing through the center of gravity G, and z is the height of the center of gravity of the object M to be measured.

  When attention is paid to the moment in the second state (portion drawn with a two-dot chain line) in FIG. 6, when the first axis C1 is a support shaft, the moment at the center of gravity G is equal to the moment at the first measurement point P1. Thus, the following fifth equation is established. Here, Wh is a load (lifting load) at the first measurement point P1 when the first measurement point P1 is lifted to the lifting height h.

  Further, focusing on the first state (portion drawn with a solid line) in FIG. 6, as described in the first center-of-gravity distance calculation step, the above-described second equation holds. Sin θ has the relationship of the following sixth equation.

  By organizing the second, fourth, fifth, and sixth expressions, the seventh expression can be calculated. Using this seventh equation, the center-of-gravity position (center-of-gravity height) z in the height direction is calculated.

  Of these, the first load W1 is measured in the first load measurement process, the lifting load Wh is measured in the lifting load measurement process, the weight Wg of the object to be measured in the second state is measured in the weight acquisition process, Since one measurement point distance L1 is measured in the first measurement point distance measurement process and the lifting height h is also a known value, if these are substituted into the seventh equation, the position of the center of gravity (the center of gravity height in the height direction) ) Z can be calculated.

  The three-dimensional center-of-gravity position calculating step is a step of calculating the three-dimensional center-of-gravity position of the measurement object based on the horizontal plane center-of-gravity position on the horizontal plane of the measurement object M and the center-of-gravity height h. Specifically, the position of the center-of-gravity height h on the vertical line of the horizontal center-of-gravity position of the object to be measured is the three-dimensional center-of-gravity position of the object to be measured.

  The above is the description of the center-of-gravity position calculation method according to the present embodiment. As described above, according to the center-of-gravity position calculation method according to the present embodiment, the center-of-gravity position of the measurement object M can be calculated without placing the entire measurement object M on a mounting table or the like. Therefore, even when the object to be measured M is large, the center of gravity position can be easily calculated without requiring a large measuring device.

  In addition, the control part 5 which concerns on the said embodiment can input the measured value calculated | required by measurement from the outside, and the calculating part which can perform the calculation using said 1st-7th formula The center of gravity position of the object to be measured may be calculated by inputting a predetermined measurement value. In addition to this, as shown in FIG. 7, the control unit 5 is provided in the jack unit 2 and the control unit 5 has a wireless communication unit 14, and a signal about the rising stroke and a signal about the load are transmitted wirelessly. The data may be transmitted to the computing device 15 grounded at a remote place, and the computing device 15 may compute the position of the center of gravity of the object to be measured. Generally, since the wireless communication unit 14 is small and light, even if the control unit 5 is provided in the jack unit 2, the overall weight does not increase, and conversely, the jack unit 2 and the load detection unit 3 are made independent from the arithmetic unit 15. Therefore, the mobility of the jack part 2 and the load detection part 3 can be improved. Therefore, according to the said structure, it can be set as the lifting weighing apparatus optimal for on-site measurement.

  In the above embodiment, the method of calculating the horizontal center of gravity is described for the case where the object to be measured M is supported by three measurement points P1, P2, and P3. However, the object to be measured has four or more fulcrums. If the weight Wg of the object to be measured M is already known, the horizontal plane center of gravity position on the horizontal plane can be calculated by the same method as in the above embodiment. In this case, among the four or more fulcrums, one fulcrum to be lifted and two fulcrums that will form the fulcrum are selected. However, the horizontal plane center of gravity of the object to be measured is positioned inside a triangle whose apexes are one fulcrum to be lifted and two fulcrum that will form a support shaft. Then, one fulcrum is lifted to calculate the distance from the support shaft to the horizontal center of gravity. Furthermore, if the process is performed using another fulcrum, it is possible to calculate the horizontal plane centroid position on the horizontal plane of the measurement object.

  Furthermore, even if the object to be measured is supported by a line instead of a point, if the line is a straight line, or even if the object to be measured is supported by a surface, If the side forming the surface is a straight line, the horizontal center of gravity position of the object to be measured can be calculated as in the above embodiment. For example, if the container has a rectangular bottom surface, the horizontal center of gravity position can be calculated. At this time, the load is measured by lifting near the center of the front side with the back side of the bottom surface as a support shaft, and the distance from the back side to the horizontal plane center of gravity is calculated. Similarly, the load is measured by lifting the vicinity of the center of the left side using the right side as a support shaft, and the distance from the right side to the horizontal plane center of gravity is calculated. And the horizontal-plane gravity center position of a container can be calculated from each calculated distance.

  If the opposite sides of the sides forming the bottom are parallel and the horizontal center of gravity of the object to be measured is between the opposite sides, the load obtained by slightly lifting these sides is added to the This is the weight of the object to be measured. In the case of the above container, the load measured by slightly lifting near the center of the front side with the back side of the bottom as a support axis and the center of the back side with the side of the front side of the bottom as a support axis The weight of the container is the sum of the lifted and slightly measured loads. In the case of the container described above, the lifting load can be easily measured by further lifting the vicinity of the center of the front side of the bottom surface. Therefore, if the load is measured by lifting three points near the center of the back side of the bottom, near the center of the front side, and near the center of the left side, the 3D of the container can be measured without using a large device. The center of gravity position can be calculated. The same applies to the case where the object to be measured is supported by a parallel line or a point on this line instead of a surface. That is, if the “side forming the bottom surface” is replaced with a “parallel line”, the three-dimensional barycentric position can be similarly calculated.

  In the above embodiment, the method for obtaining the weight Wg of the measurement object M for the measurement object M supported by the three measurement points P1, P2, and P3 has been described. However, the measurement object is bent to some extent. In such a case, even if the object to be measured is supported by four or more points, the weight of the object to be measured can be measured by the same method as in the above embodiment. For example, as shown in FIG. 7A, if the object to be measured is bent to some extent even if it is supported at 4 points, even if the point A is slightly lifted (to the point A ′), the points B and C Point and point D remain grounded. Therefore, the load at points A to D hardly changes before and after the point A is lifted. Therefore, the weight of the whole object to be measured can be acquired by adding up the values of the loads measured by sequentially lifting the points A to D that support the object to be measured. Further, in such a case, when it is difficult to lift point A, as shown in FIG. 7 (b), it is parallel to a straight line passing through points B and D and is on a straight line passing through point A. It is desirable to perform lifting and load measurement of A point from two A ″ points. By doing so, measurement errors (moment errors) can be reduced. At this time, by preparing a member that passes two A ″ points and placing the A point on the member, the load at the A point can be easily measured.

  In the above embodiment, the case where the lifting weighing device 1 shown in FIG. 2 is used when measuring the load Wg of the object to be measured M by lifting the measurement points P1, P2, and P3 has been described. Instead of this, each measurement point may be once lifted by a crane or the like and placed on the load cell. If the thickness of the load cell is sufficiently thin, the load on the object to be measured can be measured as in the above embodiment. If the object to be measured is about the size of a grand piano or a table, it is convenient to use a simple weighing device without a jack part. For example, if a weighing device having a control unit that automatically calculates the weight of the object to be measured from the number of measurements and the measured value is used, the weight of the object to be measured can be easily measured. It can also be made inexpensive.

As described above, according to the present invention, it is possible to provide a center-of-gravity position calculation method that can easily calculate the center- of- gravity position even when the object to be measured is large. Therefore, the present invention is useful in the technical field of gravity center position calculation.

It is the figure which showed the to-be-measured object which concerns on embodiment of this invention. It is a disassembled perspective view of the lifting measuring apparatus which concerns on embodiment of this invention. It is a disassembled perspective view of the lifting measuring apparatus which concerns on other embodiment of this invention. It is the figure which showed the flow of the signal of the lifting weighing apparatus which concerns on embodiment of this invention. It is a figure of the triangle which makes the measurement point which concerns on embodiment of this invention the vertex. It is the schematic of the longitudinal cross-section of the to-be-measured object which concerns on embodiment of this invention. It is the figure which showed other embodiment about the to-be-measured object of this invention. It is the figure which showed other embodiment about the lifting measurement apparatus of this invention.

M object to be measured P1 first measurement point P2 second measurement point P3 third measurement point G center of gravity G 'horizontal plane center of gravity C1 first axis C2 second axis C3 third axis W1 first load W2 second load W3 third load Wg Weight h Lifting height Wh Lifting load L1 First measurement point distance L2 Second measurement point distance a1 First center of gravity distance a2 Second center of gravity distance 1 Lifting weighing device 2 Jack unit 3 Load detection unit 4 Load receiving unit 5 Control Part 6 Measuring side part 7 Measured side part 8 Connection part 11 Ascending stroke detection means

Claims (14)

A centroid position calculation method for calculating a centroid position of an object to be measured,
A first measurement point that is a load at the first measurement point at this time is measured by slightly lifting the first measurement point in the horizontal plane with a first axis in a horizontal plane at the bottom of the object to be measured as a support shaft. 1 load measurement process,
A second measurement point that is a load at the second measurement point at this time is measured by slightly lifting the second measurement point in the horizontal plane with the second axis in the horizontal plane at the bottom of the object to be measured as a support shaft. 2 load measurement process;
A weight acquisition step for acquiring the weight of the object to be measured ;
Based on the weight of the object to be measured, the first load, and the first measurement point distance which is the distance from the first axis to the first measurement point , the first from the first axis to the horizontal plane center of gravity in the horizontal plane. A first centroid distance calculating step of calculating a centroid distance;
Based on the weight of the object to be measured, the second load, and the second measurement point distance which is the distance from the second axis to the second measurement point , the second from the second axis to the horizontal plane center of gravity in the horizontal plane. A second centroid distance calculating step of calculating a centroid distance;
A centroid position calculation method comprising: a horizontal plane centroid position calculation step of calculating a horizontal plane centroid position of the measurement object in the horizontal plane based on the first centroid distance and the second centroid distance. A first measurement point distance measuring step for measuring the first measurement point distance;
The center-of-gravity position calculation method according to claim 1, further comprising a second measurement point distance measurement step of measuring the second measurement point distance. The object to be measured is supported by three points, the first measurement point, the second measurement point, and the third measurement point,
The third measurement point in the horizontal plane is lifted slightly with the third axis in the horizontal plane at the bottom of the object to be measured as a support shaft, and a third load that is a load at the third measurement point at this time is measured. A third load measuring step;
An axis passing through the second measurement point and the third measurement point is the first axis,
An axis passing through the first measurement point and the third measurement point is the second axis,
An axis passing through the first measurement point and the second measurement point is the third axis,
The center-of-gravity position calculation method according to claim 1, wherein, in the weight acquisition step, the weight of the object to be measured is acquired by adding the first load, the second load, and the third load. The object to be measured is supported by a rectangular surface,
Of the sides forming the rectangle, one side of one set facing each other is the first axis, and the first measurement point is located on the side facing the first axis, and one side of the other set facing each other Is the second axis, and the second measurement point is located on the side opposite to the second axis,
The center-of-gravity position calculation method according to claim 1, wherein, in the weight acquisition step, the weight of the object to be measured is acquired by adding the first load and the second load. The object to be measured is supported by a line forming a rectangle or a point on the line,
Among the lines forming the rectangle, one line of one set facing each other is the first axis, and the first measurement point is located on the line facing the first axis, and one of the other set facing each other An edge is the second axis, and the second measurement point is located on a line facing the second axis.
The center-of-gravity position calculation method according to claim 1, wherein, in the weight acquisition step, the weight of the object to be measured is acquired by adding the first load and the second load. Lifting load measuring step of lifting the first measurement point to a predetermined lifting height with the first axis as a support shaft, and measuring a lifting load that is a load at the first measurement point at this time;
A center-of-gravity height calculation step of calculating a center-of-gravity position in the height direction based on the weight of the object to be measured, the first load, the first measurement point distance, the lifting height, and the lifting load;
Said horizontal center-of-gravity position, on the basis of the center of gravity position in the height direction, further having a three-dimensional center-of-gravity position calculating step of calculating a three-dimensional position of the center of gravity of the object to be measured, which of the claims 1 to 5 The center-of-gravity position calculation method according to any one item. Each load measurement step at each measurement point is performed using a lifting weighing device, and the lifting weighing device includes a jack portion that is a power source for lifting each measurement point, and a load detection portion that detects a load. And a control unit that calculates a load at each measurement point based on the load detected by the load detection unit, and one of the jack unit and the load detection unit is arranged to support the other. The center-of-gravity position calculation method according to any one of claims 1 to 6 . The load measurement step and the lifting load measurement step at each measurement point are performed using a lifting weighing device, and the lifting weighing device is a jack portion that is a power source for lifting each measurement point; and includes a load detection unit for detecting a load, and a control unit for calculating the load at each measuring point on the basis of the load detected by the load detecting unit, and a rise stroke detecting means for detecting a rising stroke of the jack portion ,
One of the jack part and the load detection part is arranged to support the other,
The center-of-gravity position calculation method according to claim 6 , wherein the control unit calculates the lifting height based on a rising stroke detected by the rising stroke detection unit. The lifting weighing device further includes a load receiving portion for receiving the measurement points of the object to be measured, and the load receiving portion is supported by the jack portion or the load detecting portion, and the measurement side portion, The center-of-gravity position according to claim 7 or 8 , comprising a measurement-side portion that is lower than the measurement-side portion and located near the ground plane, and a connection portion that connects the measurement-side portion and the measurement-side portion. Calculation method.   A weight acquisition method for acquiring the weight of an object supported by at least three fulcrums, wherein a load measurement step for slightly lifting each fulcrum and measuring a load at each measurement point is obtained in the load measurement step. And a weight acquisition step of acquiring the weight of the object to be measured by adding the loads at the respective measurement points.   A weight acquisition method for acquiring the weight of an object to be measured that is supported by a surface having two parallel sides and whose horizontal plane center of gravity is located between the two sides, the point being located on the two sides A weight measuring step of measuring the load at both points slightly, and a weight acquiring step of acquiring the weight of the object to be measured by adding the loads at both points obtained in the load measuring step. Acquisition method.   A weight acquisition method for acquiring the weight of an object to be measured that is supported by two parallel lines or a point located on the two lines and that has a horizontal center of gravity located between the two lines. A load measuring step for slightly lifting each of the positioned points and measuring the load at both points; a weight acquiring step for acquiring the weight of the object to be measured by adding the loads at both points obtained in the load measuring step; A weight acquisition method. Numerical input means capable of inputting a predetermined value from the outside,
An operation unit capable of performing an operation based on the input predetermined value,
The predetermined value includes
The first measurement point in the horizontal plane is lifted slightly with the first axis in a horizontal plane at the bottom of the object to be measured as a support shaft, and a first load that is a load at the first measurement point at this time;
The second measurement point in the horizontal plane is lifted slightly with the second axis in the horizontal plane at the bottom of the object to be measured as a support shaft, and a second load that is a load at the second measurement point at this time;
The weight of the object to be measured;
A first measurement point distance which is a distance from the first axis to the first measurement point;
A second measurement point distance that is a distance from the second axis to the second measurement point, and
The computing unit is
Based on the weight of the object to be measured, the first load, and the first measurement point distance, a first center-of-gravity distance from the first axis to the horizontal center of gravity in the horizontal plane is calculated,
Based on the weight of the object to be measured, the second load, and the second measurement point distance, a second center-of-gravity distance from the second axis to the center of the horizontal plane in the horizontal plane is calculated,
A center-of-gravity position calculation device that calculates a horizontal plane center-of-gravity position of the object to be measured in the horizontal plane based on the first center-of-gravity distance and the second center-of-gravity distance. The predetermined value includes
Lifting the first measurement point to a predetermined lifting height with the first axis as a support shaft, a lifting load that is a load at the first measurement point at this time;
The lifting height further includes:
The computing unit is
Based on the weight of the object to be measured, the first load, the first measurement point distance, the lifting height, and the lifting load, the center of gravity position in the height direction is calculated,
The center-of-gravity position calculation apparatus according to claim 13, wherein a three-dimensional center-of-gravity position of the object to be measured is calculated based on the horizontal plane center-of-gravity position and the center-of-gravity position in the height direction.

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