JP5989367B2 - Center of gravity height measuring device - Google Patents

Description

  The present invention relates to a center-of-gravity height measuring device that measures the center-of-gravity height of an object.

  In recent years, major accidents have frequently occurred due to the rollover of cargo trucks. If the position of the center of gravity of the cargo truck increases due to the load, etc., the possibility of rollover on the curved road increases even at low speeds. Measurement of the height of the center of gravity of the cargo truck is important in preventing the cargo truck from overturning.

  Conventionally, as a technique for measuring the height of the center of gravity of a transport vehicle such as a cargo truck, there is a technique for displacing a platform on which the vehicle is mounted and calculating the height of the center of gravity of the vehicle based on a change in load accompanying the displacement of the platform. Are known. For example, Patent Document 1 discloses a technique for obtaining a displacement and acceleration of a platform necessary for measuring the height of the center of gravity by vibrating a platform on which a transport vehicle is placed.

JP 2011-53206 A

  By the way, in general, a vehicle is provided with a suspension for ride comfort and handling stability. The suspension includes a spring that supports the vehicle weight and absorbs the shock, and elastically supports the vehicle body with respect to the wheels. Thereby, it has the buffer function which does not transmit the vibration of the tire by the unevenness | corrugation of a road surface to a vehicle body.

  However, when measuring the height of the center of gravity by displacing the conventional platform on which the vehicle is mounted, the elasticity of the suspension generates unwanted vibration on the platform on which the vehicle is mounted, and the influence causes the center of gravity. There was a problem that the measurement accuracy of the height was lowered.

  Such a problem is also a problem common to an object to be measured in which the part to be measured is elastically supported with respect to the base.

  The present invention has been made in order to solve such a problem, and the center-of-gravity height measurement capable of improving the measurement accuracy of the center-of-gravity height of the object to be measured elastically supported with respect to the base. It is an object of the present invention to provide an apparatus and a method for measuring the height of the center of gravity.

In order to solve the above-described problems, a center-of-gravity height measuring apparatus according to an aspect of the present invention is configured to elastically support a part to be measured, a base placed on a placement surface, and the part to be measured with respect to the base. An apparatus for measuring the height of the center of gravity of an object to be measured including an elastic support part that supports the table on which the object to be measured is placed and the table described above, and the object to be measured is placed on the table A plurality of load cells that respectively detect the load of the mounting table, a mounting table displacement device that vibrates the vertical table in the horizontal direction or inclines in the vertical direction, and vibration or inclination of the mounting table by the previous table displacement device And a center-of-gravity height calculator for calculating the center-of-gravity height of the object to be measured based on a change in load detected by the load cell and the elasticity of the part to be measured by the elastic support part of the object to be measured comprising a elastic support offset mechanism of offsetting Do support, wherein the bullet The support-attenuating mechanism reduces the elastic support by pressing the measured part from above toward the table or by pushing up the measured part from below to lift the base from the table. that kill.

According to the said structure, a to- be-measured part is pressed down from the top toward a mounting base, or a to-be-measured part is pushed up from the bottom, and a base floats from a mounting base. Thus, it is possible to elastically support the part to be measured by the elastic support portion of the object to be measured is attenuated by the elastic support attenuation mechanism, the object to be measured in a state close to a rigid body. As a result, in the measurement of the height of the center of gravity, it is possible to reduce the influence of the elastic support portion on the measurement target's elastic support, thereby improving the accuracy. Further, when the mounting table is vibrated or tilted by the elastic support attenuation mechanism, the movement of the object to be measured on the mounting table is suppressed, so that more accurate measurement is possible.

  Here, “rigid body” means “completely rigid body” in which deformation due to external force does not occur at all, and even if slight deformation due to external force occurs, the influence on the measurement of the center of gravity height due to the deformation is extremely small, and it can be regarded as a completely rigid body. "Deemed rigid body" is not included.

In the configuration in which the elastic support attenuation mechanism pushes up the measured portion from below and floats the base from the above-mentioned table to reduce the elastic support, the measured object is used as the measured portion. It is a transport vehicle including a vehicle body and a wheel as the base placed on the ground and a suspension that elastically supports the vehicle body with respect to the wheel, and the elastic support attenuation mechanism is placed on the table described above, A plurality of jacks for supporting the vehicle body may be used.

  According to the above configuration, when the object to be measured is a transport vehicle, the vehicle body of the transport vehicle on the platform is lifted from below by a plurality of jacks placed on the platform and the wheels are lifted off the mounting surface. The elastic support of the suspension is reduced, and the transport vehicle can be brought into a state close to a rigid body.

In the configuration in which the elastic support attenuation mechanism reduces the elastic support by pressing the measured part from above toward the table, the measured object is placed on the vehicle body and the ground as the measured part. A vehicle that includes a wheel as a base that is placed and a suspension that elastically supports the vehicle body with respect to the wheel, wherein the elastic support and attenuation mechanism is provided on the table, and the vehicle body of the vehicle is It may be a device that presses against the wheel from above.

  According to the above configuration, when the object to be measured is a transport vehicle, by providing a device for pressing the vehicle body of the transport vehicle against the wheels from above, the elastic support of the suspension is reduced. It can be in a state close to a rigid body. For example, the transport vehicle may be pressed from above by an apparatus having a plurality of arms.

  The above-described table displacement device in the center-of-gravity height measuring device detects either or both of a vibration generating unit that freely vibrates the above-mentioned table in the horizontal direction and a displacement and acceleration of the above-mentioned table in the free vibration state. A vibration state detection unit that calculates a center of gravity height of the object to be measured based on a detection signal from the vibration state detection unit and a detection signal from the load cell. May be.

  According to the above configuration, either or both of the displacement and acceleration of the platform required for obtaining the height of the center of gravity can be obtained by freely vibrating the platform on which the object to be measured is placed in the horizontal direction. Therefore, the height of the center of gravity of the object to be measured can be measured.

  The above-described table displacement device in the center-of-gravity height measuring device includes an inclination unit that inclines the above-mentioned table and an inclination angle acquisition unit that acquires an inclination angle with respect to a reference posture of the object to be measured in a state where the above-mentioned table is inclined. The center of gravity height calculator is obtained when the tilt angle acquired by the tilt angle acquisition unit, the detection signal from the load cell in the reference posture of the object to be measured, and the table described above are tilted. The height of the center of gravity of the object to be measured may be calculated based on the detection signal from the load cell.

  According to the above configuration, by tilting the platform on which the object to be measured is tilted, the tilt angle of the platform required for obtaining the height of the center of gravity can be obtained. Can be measured.

A center-of-gravity height measurement method according to another aspect of the present invention includes a measurement target, a base placed on a placement surface, and an elastic support portion that elastically supports the measurement target with respect to the base. A method for measuring the height of the center of gravity of an object to be measured, wherein the object to be measured is placed on a mounting table, and elastic support of the part to be measured by the elastic support part in the object to be measured is reduced. And detecting the load of the platform on which the object to be measured on which the elastic support of the measured portion by the elastic support portion has been reduced is detected, and then the above-mentioned table in the horizontal direction. Oscillating or tilting in the vertical direction, calculating the center-of-gravity height of the object to be measured based on the detected change in the load on the table, which is caused by the vibration or tilt of the table described above, and , only contains, the elastic support, toward the portion to be measured to the platform By pressing from above, or by floating the said base from the platform to the measured portion by pushing up from below, to diminish.

According to the above method, the part to be measured is pressed from the top toward the mounting base, or the base to be measured is lifted from the mounting base by being pushed up from the bottom. Thereby, the elastic support of the part to be measured by the elastic support part in the object to be measured is reduced , and the object to be measured can be brought into a state close to a rigid body. As a result, in the measurement of the height of the center of gravity, it is possible to reduce the influence of the elastic support portion on the measurement target's elastic support, thereby improving the accuracy. Further, by reducing the elastic support, when the platform is vibrated or inclined, the movement of the object to be measured on the platform is suppressed, so that more accurate measurement is possible.

The object to be measured includes a tow vehicle and a towed vehicle each including a vehicle body as the measured portion, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. It is a transport vehicle, and the elastic support can be reduced by pushing up the measured part from below and lifting the base from the stand. It may be put out.

  According to the above method, when the object to be measured is a towing vehicle and a transport vehicle including the towed vehicle, the towed vehicle on the platform is obtained by placing the chassis leg of the towed vehicle on the platform. When the vehicle body is lifted from below and the wheel is lifted from the mounting surface, the elastic support of the suspension is reduced, and the object to be measured can be brought into a state close to a rigid body.

The object to be measured includes a tow vehicle and a towed vehicle each including a vehicle body as the measured portion, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. It is a transport vehicle, and the elastic support can be reduced by pushing up the measured part from below and lifting the base from the stand. It may be that the towing vehicle is stopped outside the above-mentioned table as well as being raised.

  According to the above method, when the object to be measured is a towing vehicle and a transport vehicle including the towed vehicle, the chassis leg of the towed vehicle is put on the platform, and the towed vehicle is mounted on the platform described above. If the vehicle body of the towed vehicle on the platform is lifted from below and the wheels are lifted from the mounting surface by stopping outside, the elastic support of the towed vehicle's splint on the platform will be reduced and the loading will be reduced. Since the influence of the elastic support of the suspension of the towing vehicle stopped outside the platform is excluded, the transport vehicle can be brought into a state closer to a rigid body.

The object to be measured is a transport vehicle including a vehicle body as the measurement target part, a wheel as the base part placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. To reduce the support by pushing up the part to be measured from below and lifting the base from the table, the vehicle body is supported by a plurality of jacks placed on the table. May be.

  According to the above method, when the object to be measured is a transport vehicle, the vehicle body of the transport vehicle on the platform is lifted from below by a plurality of jacks placed on the platform and the wheels are lifted from the mounting surface. The elastic support of the suspension is reduced, and the transport vehicle can be brought into a state close to a rigid body.

The object to be measured is a transport vehicle including a vehicle body as the measurement target part, a wheel as the base part placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. Even if the support is attenuated by pressing the measured part from above toward the table described above, the vehicle provided on the table above may be pressed against the wheel from above by the device provided on the table. Good.

  According to the above method, when the object to be measured is a transport vehicle, by providing a device for pressing the vehicle body of the transport vehicle against the wheels from above, the elastic support of the suspension is reduced. It can be in a state close to a rigid body.

The “mounting surface” in the claims and the specification means a surface on which an object to be measured is placed. More specifically, for example, a mounting surface, a ground surface, a floor surface, or the like of a mounting table is applicable.

  The present invention has a configuration as described above, and can provide a center-of-gravity height measuring device that can reduce the influence of suspension elasticity in measuring the center-of-gravity height of a vehicle and improve the accuracy of measuring the center-of-gravity height. There is an effect.

Fig.1 (a) is a top view which shows the structure of the gravity center height measuring apparatus based on the 1st Embodiment of this invention, FIG.1 (b) is an AA arrow directional view of Fig.1 (a). It is a BB line arrow directional view of Drawing 1 (a). FIG. 2 is a perspective view showing a structure of a vehicle suspension. It is sectional drawing which shows the support structure of a mounting base. It is theory explanatory drawing of generation | occurrence | production of restoring force. It is a schematic system block diagram of the control system of the gravity center height measuring apparatus of 1st Embodiment. It is a functional block diagram of a control device. It is theory explanatory drawing (1) of how to obtain | require a gravity center height. It is theory explanatory drawing (2) of how to obtain | require a gravity center height. It is a flowchart explaining the processing content of the gravity center height measurement program performed with the gravity center height measurement apparatus of 1st Embodiment. It is a time chart of measurement operation | movement of the gravity center height measuring apparatus of 1st Embodiment. It is the schematic diagram which showed typically the gravity center height measuring apparatus which concerns on the 2nd Embodiment of this invention. It is a front view which shows typically the measuring object of the standard posture in center-of-gravity height measurement. It is a front view which shows typically the measuring object of the inclination posture in a gravity center height measurement. It is a schematic system block diagram of the control system of the gravity center height measuring apparatus of 2nd Embodiment. It is a flowchart explaining the gravity center height measurement process performed with the gravity center height measuring apparatus of 2nd Embodiment. It is the top view and arrow view which simplified the gravity center height measuring apparatus which concerns on a 1st modification. It is the top view and arrow view which simplified the gravity center height measuring apparatus which concerns on a 2nd modification. It is the top view and arrow view which simplified the gravity center height measuring apparatus which concerns on a 3rd modification. It is the top view and arrow view which simplified the gravity center height measuring apparatus which concerns on a 4th modification.

  Embodiments of the present invention will be described with reference to the drawings. Below, the same code | symbol is attached | subjected to the element which is the same or it corresponds through all the drawings, and the overlapping description is abbreviate | omitted.

(First embodiment)
<Description of schematic configuration of center of gravity height measuring device>
As shown in FIGS. 1 and 2, the center-of-gravity height measuring device 1 includes a weighing platform 3 assembled on an installation base 2. The weighing table 3 includes a loading table 5 made of a rectangular plate-like member on which a measurement object 4 that is an object of measuring the height of the center of gravity can be placed, and four load cells that support the four corners of the loading table 5 from below. 11, 12, 13, and 14, and a vehicle pressing device 500 provided on the platform 5. The center-of-gravity height measuring device 1 serves both as a device for measuring the weight of the measurement object 4 (track scale) and a device for measuring the height of the center of gravity of the measurement object 4. Examples of the installation base 2 include pits formed by digging down the ground surface and floor members laid on the ground surface.

<Description of the configuration of the transport vehicle>
As shown in FIGS. 1 and 2, in this embodiment, the measurement object 4 is a transport vehicle. The transport vehicle is composed of a tow vehicle and a towed vehicle carrying cargo. Each vehicle includes a vehicle body as a part to be measured, a wheel as a base portion placed on the mounting surface of the mounting base 5, and a suspension that elastically supports the vehicle body with respect to the wheel. The tow vehicle is configured with one wheel on each of the left and right as the front and rear wheels, and the towed vehicle is configured with three wheels on each of the left and right.

  FIG. 3 shows the structure of the suspension of the transport vehicle. As shown in FIG. 3, the suspension 100 includes a lower arm 102, a spring 104, and a shock absorber 105. The spring 104 absorbs shock and vibration from the road surface. The shock absorber 105 stops excessive shaking of the spring 104. The lower arm 102 has a function of holding the wheel at a predetermined correct position with respect to the vehicle body. The lower arm 102 and the shock absorber 105 include a connecting portion that is connected to the vehicle body when the suspension 100 is mounted on the vehicle. Forces such as tire vibration, vehicle driving force, braking force, and centrifugal force are transmitted to the vehicle body as the axial force of the suspension 100 via the respective connecting portions. With such a configuration, the suspension 100 elastically supports the vehicle body of the transport vehicle with respect to the wheels.

<Description of the elastic support attenuation mechanism>
As shown in FIGS. 1 and 2, the vehicle pressing device 500 includes six arms provided on the mounting table 5. Each arm is composed of a main body part that can be expanded and contracted in the vertical direction and an upper arm part for pressing the vehicle from above. With such a configuration, the vehicle pressing device 500 can press the two upper parts of the body of the tow vehicle, the two front parts of the body of the towed vehicle, and the two rear parts of the vehicle body against the wheel from above. With such a configuration, the vehicle pressing device 500 functions as an elastic support reducing mechanism that reduces the elastic support of the vehicle body by the suspension 100 in the transport vehicle.

<Description of basic structure of load cell>
As shown in FIG. 4, the load cells 11 to 14 are double convex loading column type load cells, and include an elastic body 15 and a sealed casing 16.
The elastic body 15 is made of, for example, a metal such as an aluminum alloy or stainless steel and is formed in a substantially cylindrical shape, and is arranged upright with its axis line directed in the vertical direction.

  The elastic body 15 has a strain generating portion 17 formed at the central portion in the axial direction, an upper convex surface 18 formed at the upper end, and a lower convex surface 19 formed at the lower end. Both the upper convex surface 18 and the lower convex surface 19 are formed in a partial spherical shape having a predetermined radius of curvature R.

  The elastic body 15 is incorporated in the sealed casing 16 in a state in which the strain generating portion 17 is hermetically housed in the sealed casing 16 and the upper end portion and the lower end portion are exposed from the sealed casing 16, respectively.

<Description of Load Cell Upper Receiving Member and Lower Receiving Member>
An upper receiving member 20 is interposed between the upper end portion of the elastic body 15 and the mounting table 5. The upper receiving member 20 has a horizontal seating surface 21, and is fixed to the mounting table 5 with the horizontal seating surface 21 being in contact with the upper convex surface 18 of the elastic body 15.

  A lower receiving member 22 is interposed between the lower end of the elastic body 15 and the installation base 2. The lower receiving member 22 has a horizontal seating surface 23 and is fixed to the installation base 2 in a state where the horizontal seating surface 23 is in contact with the lower convex surface 19 of the elastic body 15.

<Description of basic configuration of restoring force generation mechanism>
The restoring force generating mechanism includes an upper convex surface 18 of the elastic body 15 and a horizontal seating surface 21 of the upper receiving member 20, and a lower convex surface 19 of the elastic body 15 and a horizontal seating surface 23 of the lower receiving member 22. . The restoring force generating mechanism generates a restoring force F with respect to the horizontal displacement y ₀ of the mounting table 5. This restoring force F will be described below with reference to FIG.

<Theoretical explanation of the generation of restoring force>
FIG. 5 shows a state in which the elastic bodies 15 of the load cells 11 to 14 are moved by y _{0 in the} horizontal direction from the vertical state and tilted by θ along with the horizontal displacement y ₀ of the mounting table 5. Symbols in the figure are defined as follows.
y ₀ : Movement amount of the upper part of the elastic body 15 S: Contact point length between the upper and lower parts of the elastic body 15 H: Height of the elastic body 15 (height of the load cells 11 to 14)
A: radius of curvature of upper convex surface 18 (= R)
B: radius of curvature of lower convex surface 19 (= R)
N: vertical load acting on the elastic body 15 θ: inclination angle of the elastic body 15 In FIG. 5, if the value of the inclination angle θ of the elastic body 15 is very small, the following expression (1) is established.
tan θ≈y ₀ / H (1)
Further, the contact point length S between the upper and lower portions of the elastic body 15 can be expressed by the following equation (2).
S≈A · tan θ + (B−H) tan θ
= (A + B−H) · y ₀ / H (2)
The ratio K between the vertical load N and the restoring force F can be expressed by the following equation (3).
K = F / N≈S / H = (A + B−H) · y ₀ / H ² (3)
From the above equation (3), the restoring force F can be expressed by the following equation (4).
F = N · (A + B−H) · y ₀ / H ² (4)

<Description of actuator giving initial conditions for free vibration>
As shown in FIG. 2, a hydraulic cylinder 24 is arranged in the vicinity of the stage 5 on the side where the load cells 13 and 14 are installed. The hydraulic cylinder 24 may apply a horizontal displacement and speed to the mounting table 5 by applying a horizontal force to the mounting table 5 by pushing the side surface of the mounting table 5 with the piston rod 25 during the extension operation. It has become. The hydraulic cylinder 24 functions as an actuator that gives an initial condition of free vibration to the mounting table 5. Instead of the hydraulic cylinder 24, for example, a pneumatic cylinder or a magnetic fluid cylinder can be used. Here, the “initial condition” is a concept including “initial displacement” and “initial velocity”, and is a collective term for these.

<Description of hydraulic circuit of hydraulic cylinder>
The hydraulic cylinder 24 is connected to a hydraulic pump 27 via an electromagnetic valve 26. When the hydraulic pump 27 is driven by the operation of the electric motor 28, the pressure oil from the hydraulic pump 27 is supplied to the head side oil chamber or the bottom side oil chamber of the hydraulic cylinder 24 according to the switching operation of the electromagnetic valve 26. It has become.

<Description of hydraulic cylinder operation>
When a valve switching signal indicating an extension command of the hydraulic cylinder 24 is transmitted from the control device 40 described later to the electromagnetic valve 26, the electromagnetic valve 26 performs the following oil path switching operation in accordance with the valve switching signal. That is, the solenoid valve 26 supplies the pressure oil from the hydraulic pump 27 to the bottom side oil chamber of the hydraulic cylinder 24 and at the same time returns the oil inside the head side oil chamber of the hydraulic cylinder 24 to the tank 29. Switch. As a result, the hydraulic cylinder 24 is extended, the side surface of the mounting table 5 is pushed by the piston rod 25, and a horizontal displacement and speed are given to the mounting table 5.

  On the other hand, when a valve switching signal indicating a contraction command for the hydraulic cylinder 24 is transmitted from the control device 40 described later to the electromagnetic valve 26, the electromagnetic valve 26 performs the following oil path switching operation in accordance with the valve switching signal. Execute. That is, the solenoid valve 26 supplies the pressure oil from the hydraulic pump 27 to the head side oil chamber of the hydraulic cylinder 24 and at the same time returns the oil in the bottom side oil chamber of the hydraulic cylinder 24 to the tank 29. Switch. As a result, the hydraulic cylinder 24 is contracted and the contact between the mount 5 and the piston rod 25 is released.

<Description of free vibration of the platform>
In order to freely oscillate the mounting table 5 in the horizontal direction (y direction), first, initial conditions (initial displacement and initial speed) are given to the mounting table 5 by the expansion / contraction operation of the hydraulic cylinder 24. A restoring force F from a restoring force generating mechanism for horizontal displacement is applied to the mounting table 5. Thus, by applying the restoring force F to the horizontal displacement of the mounting table 5, the mounting table 5 can be freely vibrated in the horizontal direction.

<Description of displacement sensor>
A displacement sensor 30 is arranged in the vicinity of the side on which the load cells 11 and 12 are installed in the mounting table 5 so as to face the hydraulic cylinder 24. The displacement sensor 30 functions as a displacement detection means for detecting the displacement of the mounting table 5 in the free vibration state. Note that various types of displacement sensors 30 can be employed, and examples thereof include an optical displacement sensor, an eddy current displacement sensor, and a differential transformation displacement sensor.

<Description of acceleration sensor>
An acceleration sensor 31 is disposed in the vicinity of the side on which the load cells 11 and 12 are installed in the mounting table 5 so as to face the hydraulic cylinder 24. The acceleration sensor 31 functions as an acceleration detection unit that detects the acceleration of the mounting base 5 in a free vibration state. Various types of acceleration sensors 31 can be employed, such as a capacitance type acceleration sensor, a metal strain gauge type acceleration sensor, a semiconductor strain gauge type acceleration sensor, and a piezoelectric acceleration sensor. It is done.

<Description of system configuration of control system of center of gravity height measuring device>
As shown in FIG. 6, the center-of-gravity height measuring device 1 includes a control device 40, an operation device 41, and a display device 42.

<Overview of control device>
The control device 40 is mainly composed of an amplifier 43, a low-pass filter 44, a multiplexer 45, an A / D converter 46, an I / O circuit 47, a memory 48, and a microprocessor (MPU) 49. Yes.

  The amplifier 43 has a function of amplifying a signal to be sent to a size that can be A / D converted and sending it out.

The low-pass filter 44 has a function of passing only a low frequency as a signal.
The multiplexer 45 has a function of selectively sending out a plurality of signals to be sent based on a command of the selection control signal.

  The A / D converter 46 has a function of converting an analog signal from the multiplexer 45 into a digital signal.

  The I / O circuit 47 has a function of exchanging various signals and data among the A / D converter 46, the operation device 41, the display device 42, the memory 48, and the MPU 49.

  The memory 48 includes a PROM, a RAM, and the like, and has a function of storing a predetermined program, basic data, and the like for a long period of time, and temporarily storing various data, numerical values for calculation, and the like.

  The MPU 49 receives a necessary signal through the I / O circuit 47 and receives necessary data from the memory 48 in accordance with an instruction of a predetermined program stored in the memory 48, and performs an operation based on the received signal and data. Has the function to execute.

<Overview of operating device>
The operation device 41 includes operation switches and numerical keys, and is used in various operations such as measurement start / end operations, zero point adjustment operations, use mode switching operations, and numerical value setting operations.

<Overview of display device>
The display device 42 is composed of a liquid crystal display, for example, and displays measurement results and various data input / output screens.

<Outline of processing operation of control system of center of gravity height measuring device>
In the control system of the center-of-gravity height measuring device 1, the signals of the load cells 11 to 14, the displacement sensor 30 and the acceleration sensor 31 are supplied to the amplifier 43, the low-pass filter 44, the multiplexer 45, the A / D converter 46 and the I / D converter 46, respectively. It is sent to the MPU 49 via the O circuit 47. The MPU 49 takes in a signal from the I / O circuit 47 according to a predetermined program stored in the memory 48, reads various data stored in the memory 48, and based on these signals and data, the measurement object 4 plane center-of-gravity coordinates and center-of-gravity height are calculated. The calculation result is displayed on the display device 42.

<Functional explanation of MPU>
In the MPU 49, by executing a predetermined program, the functions of the planar barycentric coordinate calculation unit 50 and the barycentric height calculation unit 51 shown in FIG. 7 are realized.

<Theoretical explanation of how to obtain the plane coordinates (x _G , y _G ) of the center of gravity G>
Next, using FIG. 8 and FIG. 9, when the planar center-of-gravity coordinates of the measuring object 4, that is, the center of gravity G of the measuring object 4 placed on the platform 5 is projected onto the horizontal plane (o-xy plane). A method for obtaining the coordinates (x _G , y _G ) of the center of gravity G on the surface will be described.

In order to simplify the explanation of the theory, the stage 5 is assumed to be a rectangular parallelepiped having a constant density. The origin of the coordinate system o-xyz is set at the center of the platform 5. Assume that the outputs of the load cells 11 to 14 are adjusted to zero when there is no load. The meanings of the symbols in FIGS. 8 and 9 and the symbols used in the theoretical formula are defined as follows.
G: Center of gravity G ₀ of the measurement object 4: Center of gravity of the platform 5 a: Distance between the load cell 11 (13) and the load cell 12 (14) b: Between the load cell 11 (12) and the load cell 13 (14) Distance c: height of mounting base 5: height of load cells 11-14 (height of elastic body 15)
W _i : Static load acting on each of the load cells 11 to 14 (i = 1, 2, 3, 4)
W: Weight of the measuring object 4 (= W ₁ + W ₂ + W ₃ + W ₄ )
W ₁₂ : W ₁ + W ₂
W ₂₄ : W ₂ + W ₄
Of the above symbols, a, b, c, H, and R are known values, and these values are stored in the memory 48 in advance.

<Theoretical explanation of how to obtain the plane coordinates (x _G , y _G ) of the center of gravity G>
The following equations (5) and (6) hold as the balance condition of moment.

W ₂₄ · a−W · (a / 2 + x _G ) = 0 (5)
_{W 12 · b-W · (} b / 2 + y G) = 0 ··· (6)
From the above equations (5) and (6), the following equations (7) and (8) are obtained.

x _G = a · (W ₂₄ / W−1 / 2) (7)
y _G = b · (W ₁₂ / W−1 / 2) (8)
Therefore, the plane coordinates (x _G , y _G ) of the center of gravity G can be obtained by substituting the calculated values of W ₂₄ , W ₁₂ and W into the above formulas (7) and (8) and calculating.

<Theoretical explanation of how to determine the center of gravity height h of the measurement object>
Next, how to obtain the height h of the center of gravity of the measurement object 4 will be described below mainly using FIG. In the following theoretical explanation, it is assumed that the stage 5 on which the measurement object 4 is placed is in a free vibration state. An initial condition of free vibration is given by the hydraulic cylinder 24 and a restoring force F from the restoring force generating mechanism is applied to cause the platform 5 on which the measurement object 4 is placed to freely vibrate in the horizontal direction (y direction). Let In FIG. 9, the y coordinate y _G of the center of gravity G of the measurement object 4 at rest is represented by d. The o-yz coordinate system is a coordinate system fixed in space.

Here, a new symbol used in the following description is defined.
m: Mass m ₀ of the measurement object 4: Mass M of the mount 5 M: m + m ₀ (= W / g)
e: Distance W _i from the lower surface of the platform 5 to the center of gravity G ₀ (t): Dynamic load acting on the load cells 11 to 14 (i = 1, 2, 3, 4)
ΔW _i (t): variation component of W _i (t) from static load W _i (= P _i (t) −P _i )
ΔW ₁₂ (t): ΔW ₁ (t) + ΔW ₂ (t)
ΔW ₃₄ (t): ΔW ₃ (t) + ΔW ₄ (t)
ΔW (t): ΔW ₁₂ (t) + ΔW ₃₄ (t)
y ₀ (t): displacement in the y direction of the center of gravity G ₀
: Acceleration in the y direction of the center of gravity G ₀ z ₀ (t): displacement of the center of gravity G _{0 in} the z direction
: Acceleration y _{G in} the z direction of the center of gravity G ₀ (t): displacement of the center of gravity G in the y direction
: Acceleration of center of gravity G in y direction z _G (t): displacement of center of gravity G in z direction
: Acceleration of center of gravity G in z direction δ (t): relative displacement of center of gravity G with respect to center of gravity G ₀ (= y _G (t) −y ₀ (t))
F ₁₂ (t): Sum of forces acting on the platform 5 from the load cells 11 and 12 in the horizontal direction F ₃₄ (t): Sum of forces acting on the platform 5 from the load cells 13 and 14 in the horizontal direction F (t) : F ₁₂ (t) + F ₃₄ (t)
Of the above symbols, m ₀ and e are known values, and these values are stored in the memory 48 in advance.

If the measured object 4 is rigid, the relative displacement in the Z-direction between the center of gravity G ₀ of the center of gravity G and the platform 5 of the measuring object 4 is zero. When the measurement object 4 is a non-rigid body, the relative displacement is not zero, but the amount is very small. Therefore, the amount of the relative displacement is ignored in the following equation of motion. That is, Z ₀ (t) = Z _G (t) is set. At this time, the equation of motion of the system is expressed by the following equations (9) and (10).

  The above formulas (9) and (10) hold regardless of whether or not the measurement object 4 is a rigid body.

  Further, the following equation (11) is obtained as a balance condition of the overturning moment.

Here, [delta] is the relative displacement in the y direction relative to the center of gravity G ₀ of the center of gravity G. Since δ is very small compared to (b / 2−d), it is ignored in the following equation modification.
From above equation (9)
From the above equation (10)
Ask them
Considering this, when substituting into the above equation (11), the following equation (12) is obtained.

From the above equation (12), the following equation (13) for obtaining the center of gravity height h of the measurement object 4 is obtained.

  In the equation (4) for obtaining the restoring force F described above, the vertical load N acting on the elastic body 15 is Mg (g: gravitational acceleration), and the radii of curvature A and B of the upper convex surface 18 and the lower convex surface 19 of the elastic body 15 are Since both have the predetermined radius R, the restoring force F of the mounting table 5 supported by the load cells 11 to 14 can be expressed by the following equation (14).

  When h is rewritten by substituting the above equation (14) into the above equation (13), the following equation (15) is obtained.

However, k is represented by following Formula (16).

As is clear from the above equation (15), if the value of the parameter included in this equation (15) is known, the center of gravity height h is a variable y ₀ (t),
, ΔW (t) and ΔW ₃₄ (t).

The above equation (15) is an effective equation even if the measurement object 4 is not only a rigid body but also a non-rigid body. However, if the measurement object 4 is limited to a rigid body, the above equation (10) is substituted into the above equation (13), and
By doing so, the following equation (17) can be obtained. Furthermore, it is obtained by the above formulas (10), (14), and (16).
Substituting the expression using y ₀ (t) of the above into the following expression (17), the following expression (17) ′ is obtained.

  Here, “rigid body” means “perfect rigid body” in which deformation due to external force does not occur at all, and even if slight deformation due to external force occurs, the influence on the measurement of the center of gravity height due to the deformation is extremely small, and it can be regarded as a complete rigid body. It includes “deemed rigid bodies” that have no problem. The “non-rigid body” is a generic expression of objects that are deformed by an external force and whose influence cannot be ignored in measuring the height of the center of gravity.

As is clear from the equations (17) and (17) ′,
Alternatively, it can be seen that only one of y ₀ (t) is necessary.

<Description of correction of load signal detected by load cell>
By the way, with the free vibration of the mounting table 5 in the horizontal direction, the load cells 11 to 14 are oscillated. As a result, the load acting in the axial direction of the load cells 11 to 14 is a function of the rotation angle θ. Now, it is assumed that the load W _i ′ (t) detected by the load cells 11 to 14 is the above-described axial load.

At this time, W _i ′ (t) can be expressed by the following equation (18).

  However, Fi (t) and θ are represented by the following equations (19) and (20), respectively.

Here, F _i (t) is obtained by reversing the sign of the restoring force F generated in each of the load cells 11 to 14.
The following equation (21) is obtained from the above equation (18).

It can be seen from Equation (21) that W _i (t) is obtained from W _i ′ (t) and y ₀ (t).

When a digital load cell with tilt correction is used, the output is W _i (t), and thus the above correction is not necessary.

<Explanation of measuring operation of center of gravity height measuring device>
The measurement operation of the center-of-gravity height measuring apparatus 1 configured as described above will be described below mainly using the functional block diagram of FIG. 7, the flowchart of FIG. 10, and the time chart of FIG. In FIG. 10, the symbol “S” represents a step.
The following description of the measurement operation is an example in the case where the measurement object 4 is a transport vehicle carrying a load.

<Description of processing contents of steps S1 to S4>
Wait until the transport vehicle that has entered the platform 5 stops (S1).

After the time (t ₁ + Δt) when the minute time Δt has elapsed from the time t ₁ at which the transport vehicle is stopped, the planar gravity center calculator 50 receives the static load signal W _i (i = 1, 2, 1, 2) from the load cells 11-14. 3,4) with read, seek read mass static load signal _{W i} measured from the object 4 (by weight) (S2).

In addition, the planar center-of-gravity calculation unit 50 calculates k based on the following equation (16) (S3), and the plane coordinates (G) of the center of gravity G of the measurement object 4 based on the following equations (7) and (8). x _G , y _G ) is calculated (S4).

x _G = a · (W ₂₄ / W−1 / 2) (7)
y _G = b · (W ₁₂ / W−1 / 2) (8)

<Description of processing content of step 5>
The vehicle pressing device 500 is activated (S5). As a result, the entire transport vehicle is sandwiched between the device 500 and the platform 5 and the elastic support of the suspension 100 is diminished, so that the measurement object 4 can be brought into a state close to a rigid body.

<Description of Processing Contents of Step S6>
At time t ₂ , the control device 40 (I / O circuit 47) transmits a valve switching signal indicating the extension operation of the hydraulic cylinder 24 to the electromagnetic valve 26. As a result, the hydraulic cylinder 24 is extended, the side surface of the mounting table 5 is pushed by the piston rod 25, and a horizontal displacement and speed are given to the mounting table 5. Thereafter, at a predetermined displacement, the control device 40 transmits a valve switching signal indicating a contraction operation of the hydraulic cylinder 24 to the electromagnetic valve 26. As a result, the hydraulic cylinder 24 is contracted, the contact between the mount 5 and the piston rod 25 is released, and an initial condition of free vibration is given to the mount 5. And since the restoring force F from the restoring force generation mechanism with respect to the displacement in the horizontal direction acts on the mounting table 5, the mounting table 5 vibrates freely in the horizontal direction (y direction).

  At this time, since the vehicle is pressed by the vehicle pressing device 500 and the measurement object 4 is in a state close to a rigid body, the influence of elastic vibration by the vehicle itself is not easily transmitted to the mounting 5. As a result, in the measurement of the height of the center of gravity, it is possible to reduce the influence caused by the elastic support of the vehicle body of the vehicle by the suspension 100, and thus the measurement accuracy can be improved. Further, when the mounting table 5 is vibrated by the vehicle pressing device 500, the movement of the measurement object 4 on the mounting table 5 is suppressed, so that more accurate measurement is possible.

<Description of processing contents of steps S7 and S8>
From time _{t 2} after the time that has elapsed minute time Δt _{(t 2} + Δt), height of center of gravity position calculating unit 51, the displacement _y 0 of the platform 5 in a free vibration state (t), acceleration
The dynamic load signals W _i (t) of the load cells 11 to 14 are read (S6). The read operation is performed until time t ₃ when the can acquire more waveform data predetermined threshold (S7).

<Description of Processing Contents of Step S9>
In a period from the platform 5 is time t ₄ after the still time t _5, the height of the center of gravity calculating section 51, a static load signal obtained in step S2 W _i and the dynamic load signal and Shutoku in step S7 W _{i (t)} Based on the above, ΔW (t) and ΔW ₃₄ (t) are respectively calculated.

<Description of Processing Contents of Step S10>
In a period from after time t ₅ at time t _6, the height of the center of gravity calculating section 51 calculates the center of gravity height h of the center of gravity G of the measured object 4 based on the following equation (15). Note that the measured value of h is the average value of h calculated by Equation (15) at each sampling time within a predetermined time interval.

<Description of Processing Contents of Step S11>
And the control apparatus 40 (I / O circuit 47) transmits the display signal which displays the value of the gravity center height h obtained as a result of the calculation of step S10 to the display apparatus 42. Thereby, the value of the center-of-gravity height h obtained by the calculation in step S10 is displayed on the display device 42.

<Summary of Center of Gravity Height Measurement Apparatus of First Embodiment>
According to the center-of-gravity height measuring device 1 of the first embodiment, it is necessary to obtain the center-of-gravity height of the measuring object 4 by freely vibrating the mounting table 5 on which the measuring object 4 is placed in the horizontal direction. The horizontal displacement and acceleration of the mounting table 5 are obtained, and the height of the center of gravity of the measuring object 4 is determined based on the change in the detection signal from the load cells 11 to 14 caused by the vibration of the mounting table 5. Measure at position. In such measurement of the height of the center of gravity, the vehicle pressing device 500 provided on the mounting table 5 pushes the entire vehicle in the vertical direction between the device 500 and the mounting table 5, and the elasticity of the vehicle by the suspension 100. Since the support is reduced, the measurement object 4 can be brought into a state close to a rigid body. As a result, the influence of the elastic support of the vehicle body of the vehicle by the suspension 100 can be reduced, and as a result, the measurement accuracy can be improved.

  In the operation of measuring the height of the center of gravity in the first embodiment, after the static load signal Wi is detected by the load cells 11 to 14 (S2), the vehicle pressing device 500 is operated (S5), and then the load cell 11 The dynamic load signal Wi (t) is generated by ~ 14 (S7), but after the vehicle pressing device 500 is operated, the static load signal Wi and the dynamic load signal Wi (t) are detected by the load cells 11-14. It may be.

(Second Embodiment)
Next, the center-of-gravity height measuring apparatus according to the second embodiment of the present invention will be described. In addition, in the center-of-gravity height measuring apparatus 1A of the second embodiment, the same or similar parts as those of the center-of-gravity height measuring apparatus 1 of the first embodiment are given the same reference numerals in the drawings and detailed description thereof will be given. In the following, the description will focus on the differences from the center-of-gravity height measurement apparatus 1 of the first embodiment.

  FIG. 12 is a schematic view schematically showing a center-of-gravity height measuring apparatus according to the second embodiment of the present invention. In FIG. 12, the figure which looked at the conveyance vehicle as the measuring object 4 from back is shown. Also in the present embodiment, as in the first embodiment, the platform 5 is provided with a vehicle pressing device 500 that presses the transport vehicle from above.

  As shown in FIG. 12, the center-of-gravity height measuring apparatus 1 </ b> A includes a pit 200 formed by digging the ground surface as an installation base 2, an inclined plate 201 disposed in an opening of the pit 200, and an inclination thereof A support base 202 that supports the plate 201 on the bottom surface of the pit 200 and a lifting device 203 that has one end connected to the bottom surface of the pit 200 and the other end connected to the inclined plate 201 are provided.

  The pit 200 is a part for securing a movable range when the inclined plate 201 is inclined, and the dimensions of the opening in the longitudinal direction (perpendicular to the paper surface in FIG. 12) and the width direction (the lateral direction in FIG. 12) are measured objects. A rectangular parallelepiped space larger than 4 is formed in the ground. The inclined plate 201 is formed in a rectangular plate shape having a rectangular shape when viewed from above, having dimensions in the longitudinal direction (perpendicular to the paper surface in FIG. 12) and in the width direction (lateral direction in FIG. 12) larger than the measurement object 4. Has been. Load cells 11 to 14 are arranged between the inclined plate 201 and the mounting table 5. The load cells 11 and 12 are arranged corresponding to the front and rear wheels on the right side of the transport vehicle via the platform 5, and the load cells 13 and 14 are arranged corresponding to the front and rear wheels on the left side of the transport vehicle. Has been. The support table 202 rotatably holds a shaft portion 201a that is pivoted along the longitudinal direction of the inclined plate 201. As a result, the inclined plate 201 is pivotally supported by the support base 202 so as to be tilted about the shaft portion 201a.

  The elevating device 203 is an actuator for inclining the inclined plate 201 and is constituted by a hydraulic cylinder. The elevating device 203 is disposed on one side in the width direction of the inclined plate 201 (right side in FIG. 12), and the inclined plate 201 can be inclined by expanding and contracting the rod by hydraulic pressure. In this embodiment, the lifting device 203 is disposed on one side in the width direction of the inclined plate 201 (right side in FIG. 12), but is disposed on the other side in the width direction of the inclined plate 201 (left side in FIG. 12). It may be arranged on both the one side and the other side. With such a configuration, the center-of-gravity height measurement apparatus 1A can tilt the mounting table 5 in the vertical direction, and can detect a change in load caused by the tilt by the load cells 11-14.

<Theoretical explanation of how to determine the center of gravity height h of the measurement object>
Next, a method for calculating the center of gravity height by the center of gravity height measuring apparatus 1A according to the present embodiment will be described. As the measurement posture of the measurement object 4 in the calculation of the center of gravity position, the reference posture and the tilt posture are adopted. The reference posture refers to a state in which the measurement object 4 is stationary on the platform 5. The tilted posture refers to a state in which one end side (right side in FIG. 12) is tilted with respect to the reference posture of the measurement object 4 so as to be higher than the other end side (left side in FIG. 12).

  13 and 14 are front views (views seen from the Y direction) schematically showing the measurement object 4 of FIG. 12, in which FIG. 13 shows a reference posture and FIG. 14 shows an inclined posture.

As shown in FIG. 13, the distance between fulcrums in the X direction is L, the center of gravity position in the X direction is x1, and the height of the center of gravity is h. Further, the weight calculated based on the load applied to the right end of the measuring object 4 in the reference posture is W ₁₂ , and the weight calculated based on the load applied to the left side is W ₃₄ . Furthermore, as shown in FIG. 14, the movement distance on the right side of the measuring object 4 when the attitude is changed from the reference attitude to the inclined attitude is H, and the inclination angle of the measuring object 4 is θ. Further, the weight calculated based on the load applied to the right end of the measurement object 4 in the tilted posture is set to W ₃₄ ′ based on the load applied to the left side of W ₁₂ ′. Furthermore, x2, x3, and defines x4 as shown in FIG. 14, the total weight to calculate the W _G based on the weight of the entire measurement object 4. Then, the following formula is established first.
x1 = x3 + x4 = (x2 / cos θ) + h · tan θ (2-1)
sin θ = H / L (2-2)
In FIG. 13, the following equation holds when considering the balance of moments.
x1 · W _G = L · W ₁₂ (2-3)
In FIG. 14, the following equation holds when considering the balance of moments.
x2 · W _G = L · cos θ · W ₁₂ '(2-4)
From equations (2-1) to (2-4), an equation for obtaining the center of gravity height Z is derived.
_{h = ((W 12 '-W} 12) / W G) · (L / H) · (L 2 -H 2) 1/2 ··· (2-5)

Among the parameters of the formula (2-5), _{W G} can be determined by the load that the load cell 11 to 14 is detected in the reference posture of the measuring object 4. W ₁₂ can be obtained from the load detected by the load cells 11 and 12 corresponding to the right side of the vehicle in the reference posture of the measurement object 4. W ₁₂ ′ can be obtained from the load detected by the load cells 11 and 12 on the right side of the vehicle in the inclined posture of the measurement object 4. L is a known value if it is the distance between wheels of the transport vehicle. If the inclination angle θ is known, H can be obtained by Expression (2-2). Therefore, the center-of-gravity height h of the object to be measured can be calculated by solving Equation (2-5) based on the values of these parameters.

  In the center-of-gravity height measuring apparatus 1A that measures the center-of-gravity height by inclining such a measurement object, the center-of-gravity height can be obtained with high accuracy by lifting one side of the measurement object higher during the inclination. However, when the object to be measured is a transport vehicle, it can be seen that if one of the objects to be measured is lifted high, the elasticity of the suspension of the vehicle will cause unwanted vibrations on the platform on which the vehicle is placed. ing. Therefore, by operating the vehicle pressing device 500 also in the center-of-gravity height measuring device 1A according to the present embodiment, it is possible to reduce the elastic vibration of the measurement object.

<Explanation of measuring operation of center of gravity height measuring device>
The measurement operation of the center-of-gravity height measurement apparatus 1A according to the present embodiment will be described with reference to FIGS. FIG. 15 is a schematic system configuration diagram of a control system of the center-of-gravity height measuring apparatus 1A. In the present embodiment, the memory 48 stores in advance parameters such as the distance L between the wheels of the vehicle, the inclination angle θ when the platform 5 is inclined, and the movement distance H of the measurement object 4 corresponding to the inclination angle θ. ing. The MPU 49 calculates the height of the center of gravity of the measurement object 4 based on the detection signals from the load cells 11 to 14 and the parameter values stored in the memory 48.

  FIG. 16 is a flowchart for explaining the center-of-gravity height measurement process executed by the center-of-gravity height measurement apparatus 1A.

<Description of processing contents of steps S1 and S2>
Wait until the transport vehicle that has entered the platform 5 stops (S1).

Next, the MPU 49 reads the static load signals W ₁₂ and W ₃₄ from the load cells 11 to 14 in the reference posture and the read static load signal W ₁₂ after the time when the minute time has elapsed from the time when the transport vehicle stops. , The mass (weight) WG of the measurement object 4 is obtained from W ₃₄ (S2).

<Description of processing contents of step S3>
Next, the vehicle pressing device 500 operates (S3). As a result, the entire transport vehicle is sandwiched between the device 500 and the platform 5 and the elastic support of the suspension 100 is diminished, so that the measurement object 4 can be brought into a state close to a rigid body.

<Description of Processing Contents of Step S4>
Next, the control device 40 (I / O circuit 47) operates the lifting device 203 to tilt the tilting table 203 up and down by a moving distance H corresponding to the tilt angle θ stored in advance in the memory 48 (S4). ). At this time, since the vehicle is pressed by the vehicle pressing device 500 and the measurement object 4 is in a state close to a rigid body, the influence of elastic vibration by the vehicle itself is not easily transmitted to the mounting 5. As a result, in the measurement of the height of the center of gravity, it is possible to reduce the influence caused by the elastic support of the vehicle body of the vehicle by the suspension 100, and thus the measurement accuracy can be improved. Further, when the mounting table 5 is tilted by the vehicle pressing device 500, the movement of the measurement object 4 on the mounting table 5 is suppressed, so that more accurate measurement is possible.

<Description of processing contents of step S5>
The MPU 49 acquires parameters such as the vehicle wheel distance L, the inclination angle θ, and the movement distance H of the measurement object 4 corresponding to the inclination angle θ, which are stored in the memory 48. On the other hand, the detection signals W ₁₂ ′ and W ₃₄ ′ from the load cells 11 to 14 in the inclined posture are acquired.

<Description of Processing Contents of Step S6>
MPU49 the detection signal _W 12 from the load cell _{11~14, W 12 ', W G} and the value L of the parameters stored in the memory 48, based on the H to calculate the equation (2-5), the measurement object 4 Calculate the height of the center of gravity.

<Description of Processing Contents of Step S7>
And the control apparatus 40 (I / O circuit 47) transmits the display signal which displays the value of the gravity center height h obtained as a result of the calculation of step S6 to the display apparatus 42. Thereby, the value of the center-of-gravity height h obtained by the calculation in step S6 is displayed on the display device 42.

<Summary of Center of Gravity Height Measurement Device of Second Embodiment>
Therefore, also in the second embodiment, in the measurement of the height of the center of gravity, the vehicle pressing device 500 provided on the mounting table 5 is used to measure the distance between the device 500 and the mounting table 5 as in the first embodiment. Thus, the entire vehicle is pushed in the vertical direction, and the elastic support of the vehicle by the suspension 100 is diminished, so that the measurement object 4 can be brought into a state close to a rigid body. As a result, the influence of the elastic support of the vehicle body of the vehicle by the suspension 100 can be reduced, and as a result, the measurement accuracy can be improved.

  In the operation of measuring the height of the center of gravity in the second embodiment, after the static load signal is detected by the load cells 11 to 14 (S2), the vehicle pressing device 500 is operated (S3), and then the load cells 11 to 11 are operated. 14, the load signal in the tilted posture is detected (S 5), but after the vehicle pressing device 500 is operated, the load cells 11 to 14 detect the static load signal and the load signal at the time of tilting. Good.

  Hereinafter, modified examples of the elastic support attenuation mechanism in the embodiment of the present invention will be described. In this modification as well, the measurement object 4 includes a vehicle body of a transport vehicle as a part to be measured, a wheel as a base placed on the mounting surface, and a suspension that elastically supports the vehicle body with respect to the wheel. Including transport vehicles. The transport vehicle is composed of a tow vehicle and a towed vehicle carrying cargo.

(Modification 1)
FIG. 17 is a simplified plan view and arrow view of the center-of-gravity height measurement apparatus according to the first modification. In each of the above embodiments, the elastic support attenuation mechanism is the vehicle pressing device 500 provided on the mounting table 5. However, the elastic support attenuation mechanism of this modification is the some wire 501 provided in the mounting base 5, as FIG. 17 shows. Here, for example, six wires 501 each having one end fixed at six locations including the four corners of the platform 5, two left and right locations in front of the towing vehicle, two left and right locations of the connecting portion of the vehicle, and a towed vehicle Fix the left and right two places on the back of the.

  With such a configuration, the vehicle body of the transport vehicle is fixed to the platform 5, the elastic support of the suspension of the transport vehicle is reduced, and the measurement object 4 is in a state close to a rigid body. Can be played. In addition, the present modification can be realized inexpensively and easily as compared with a large-scale device such as the vehicle pressing device of the above embodiment. For example, one end of the wire 501 can be easily fixed to the vehicle body by using a vehicle pulling hook or the like provided in the transport vehicle.

(Modification 2)
FIG. 18 is a simplified plan view and arrow view of the center-of-gravity height measurement apparatus according to the second modification. As shown in FIG. 18, the elastic support attenuation mechanism of the present modification is a plurality of jacks 502 placed on the mounting table 5. Here, for example, four jacks 502 are provided on the mounting surface to support the four corners of the body of the tow vehicle from below, and four jacks 502 are provided on the mounting surface to support the four corners of the body of the towed vehicle from below. Is placed. When the vehicle body of the transport vehicle on the platform is lifted from the bottom by the eight jacks 502 placed on the platform 5 in this way and the wheels are lifted from the platform, the elastic support of the suspension is reduced, and the object to be measured The object 4 can be brought into a state close to a rigid body. Therefore, the same effect as the above embodiment can be obtained.

  Note that the jack 502 may be fixed to the platform 5. In this case, the height of the center of gravity can be measured in a state where the transport vehicle is more stable.

(Modification 3)
FIG. 19 is a simplified plan view and arrow view of the center-of-gravity height measuring apparatus according to the third modification. A method of reducing the elastic support of the present modification is to place the chassis leg 503 of the towed vehicle on the platform 5 as shown in FIG. As a result, when the vehicle body of the towed vehicle on the platform 5 is lifted from below and the wheels are lifted from the mounting surface, the elastic support of the suspension is diminished and the object to be measured can be brought into a state close to a rigid body. Therefore, the same effect as the above embodiment can be obtained.

(Modification 4)
FIG. 20 is a plan view and an arrow view illustrating a simplified center-of-gravity height measurement apparatus according to the fourth modification. As shown in FIG. 20, the method for reducing the elastic support of the present modification is such that the chassis leg 503 of the towed vehicle is placed on the mounting 5 and the towing vehicle is stopped outside the mounting 5. It is to let you. Here, the towing vehicle is stopped on the installation base 2. As a result, when the vehicle body of the towed vehicle on the platform 5 is lifted from below and the wheels are lifted from the mounting surface, the elastic support of the suspension of the towed vehicle on the platform 5 is diminished and the outside of the platform is removed. Since the influence of the elastic support of the suspension of the stopped towing vehicle is excluded, the measurement object 4 can be made closer to a rigid body. Therefore, the same effect as the above embodiment can be obtained.

(Other variations)
As another modified example, the vehicle body and the wheel of the transport vehicle may be directly connected to each other, and the elastic support of the suspension may be reduced by compressing the vehicle body and the wheel. Further, the elastic support of the suspension may be reduced by inserting a spacer into the spring of the vehicle suspension.

  From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  INDUSTRIAL APPLICABILITY The present invention is useful as a center-of-gravity height measuring apparatus that can reduce the influence of suspension elasticity in measuring the center of gravity of a vehicle and improve the accuracy of measuring the center of gravity.

1, 1A Center-of-gravity height measuring device 2 Installation base 4 Measurement object 5 Platform 11 to 14 Load cell 15 Elastic body 18 Upper convex surface 19 Lower convex surface 20 Upper receiving member 21 Horizontal seating surface 22 Lower receiving member 23 Horizontal seating surface 24 Hydraulic cylinder 30 Displacement sensor 31 Acceleration sensor 50 Planar center-of-gravity coordinate calculation unit 51 Center-of-gravity height calculation unit 100 Suspension 102 Lower arm 104 Spring 105 Shock absorber 200 Pit 201 Inclined plate 202 Supporting base 203 Lifting device 500 Vehicle pressing device 501 Wire 502 Jack 503 Chassis legs (trailer trailer)

Claims (14)

An apparatus for measuring the height of the center of gravity of an object to be measured including a measured part, a base placed on a mounting surface, and an elastic support part that elastically supports the measured part with respect to the base,
A mounting table on which the object to be measured is mounted;
A plurality of load cells that support the table and detect a load of the table on which the object to be measured is mounted;
A platform displacement device that vibrates the table in the horizontal direction or inclines in the vertical direction;
A center-of-gravity height calculator that calculates the center-of-gravity height of the object to be measured based on a change in the load that occurs with the vibration or inclination of the table described above by the table displacement device and that is detected by the load cell;
An elastic support reducing mechanism for reducing the elastic support of the measured part by the elastic support part in the measured object,
The elastic support / attenuating mechanism is elastically supported by pressing the part to be measured from above toward the table or by lifting the part to be measured from below and floating the base from the table. It offsets the center of gravity height measuring device.   The center-of-gravity height measurement device according to claim 1, wherein the elastic support attenuation mechanism reduces the elastic support by pressing the measured portion from above toward the table. The object to be measured is a transporting vehicle including a vehicle body as the measured part, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel,
The center-of-gravity height measurement device according to claim 2 , wherein the elastic support attenuation mechanism is a device that is provided on the table and presses the vehicle body of the transport vehicle against a wheel from above.   The center-of-gravity height measuring device according to claim 1, wherein the elastic support attenuation mechanism pushes up the measured portion from below and floats the base from the table, thereby reducing elastic support. The object to be measured is a transporting vehicle including a vehicle body as the measured part, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel,
The center-of-gravity height measuring device according to claim 4 , wherein the elastic support and attenuation mechanism is a plurality of jacks that are placed on the table and support the vehicle body. The table displacement device described above is
A vibration generator that freely vibrates the table in the horizontal direction;
A vibration state detector that detects either or both of the displacement and acceleration of the table in the free vibration state,
The height of the center of gravity calculator, the detection signal from the vibration state detection unit, and any one of claims 1 to 5 for calculating a center of gravity height of the object to be measured based on a detection signal from the load cell The center of gravity height measuring device described in 1. The table displacement device described above is
An inclined part for inclining the table,
An inclination angle acquisition unit for acquiring an inclination angle with respect to a reference posture of the object to be measured in a state where the table is inclined,
The center-of-gravity height calculator includes the inclination angle acquired by the inclination angle acquisition unit, the detection signal from the load cell in the reference posture of the object to be measured, and the load cell when the table is inclined. The center-of-gravity height measuring device according to any one of claims 1 to 5, wherein the center-of-gravity height of the object to be measured is calculated based on a detection signal. A method of measuring the height of the center of gravity of an object to be measured including a measured part, a base placed on a placement surface, and an elastic support part that elastically supports the measured part with respect to the base,
Placing the object to be measured on a platform;
Diminishing the elastic support of the measured part by the elastic support part in the measured object;
Detecting the load of the mounting table on which the object to be measured on which the elastic support of the measured part by the elastic supporting part is attenuated is placed;
After that, the aforementioned table is vibrated in the horizontal direction or tilted in the vertical direction,
Calculating the center-of-gravity height of the object to be measured based on the detected change in the load on the table described above, which is caused by the vibration or inclination of the table described above;
Only including,
The center of gravity is reduced by pressing the elastic support by pressing the measured part from above toward the table or by lifting the measured part from below and floating the base from the table. Height measurement method. The center-of-gravity height measurement method according to claim 8, wherein the elastic support is reduced by pressing the portion to be measured toward the table described above from above. The object to be measured is a transporting vehicle including a vehicle body as the measured part, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel,
The center-of-gravity height measurement method according to claim 9 , wherein reducing the elastic support is pressing a vehicle body of the transport vehicle against a wheel from above by an apparatus provided on the table.   The center-of-gravity height measurement method according to claim 8, wherein the elastic support is reduced by pushing up the portion to be measured from below and floating the base portion from a mounting base. The object to be measured includes a tow vehicle and a towed vehicle each including a vehicle body as the measured portion, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. A transport vehicle,
The center-of-gravity height measurement method according to claim 11 , wherein reducing the elastic support includes putting a chassis leg of the towed vehicle on the table. The object to be measured includes a tow vehicle and a towed vehicle each including a vehicle body as the measured portion, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel. A transport vehicle,
The reduction in the elastic support means that the chassis leg of the towed vehicle is placed on the above described table and the tow vehicle is stopped outside the above described table. The center-of-gravity height measurement method according to 11 . The object to be measured is a transporting vehicle including a vehicle body as the measured part, a wheel as the base placed on the ground, and a suspension that elastically supports the vehicle body with respect to the wheel,
The center-of-gravity height measurement method according to claim 11 , wherein reducing the elastic support is supporting the vehicle body by a plurality of jacks placed on the table.