JPH07311033A - Three-dimensional measuring device for structure - Google Patents

Abstract

PURPOSE:To enable operations from measuring a variety of structural members to marking to be performed rationally with high accuracy by attaching a sensor or a marking device to a measuring shaft which can travel horizontally, move vertically, and rotate and is attached to a cross girder that travels horizontally on frames. CONSTITUTION:A system controller 6 performs control by combining the horizontal travel of a cross girder 3, the horizontal travel of an entire measuring shaft 4, the vertical motion of an internal shaft 12, the rotation of a sensor head 13, and the rotation of a touch sensor 5 according to data on measuring requirements transferred from an external computer, and then moves the probe 16 of the sensor 5 at a desired angle to a desired position inside a space surrounded by a pair of frames 2. The end of the probe 16 is brought into contact with the bridge block B of a structure to be measured which is mounted between the frames 2, so as to measure three-dimensional coordinates. After the measurement, automatic change 22 of the head 13 with a marking head 23 is performed to provide a marking for aligning adjacent blocks B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a large-scale structural member such as a bridge block which is assembled by being connected,
The present invention relates to a three-dimensional measuring device that accurately measures data regarding the shape, size, etc. of each structural member required when performing numerical temporary assembly of adjacent structural members.

[0002]

2. Description of the Related Art For example, in a structural member such as a bridge block which is assembled by being connected or a long tower main tower block which is assembled by being connected in a longitudinal direction, each manufactured individual structural member is ideal as designed. Since it is inevitable that some error will occur in the shape, the structure is designed so that the error will be the smallest when compared to the ideal overall shape of the entire structure when assembled on site. It is necessary to connect the members. For that purpose, the quality assurance for the on-site construction has been conventionally performed by temporarily assembling the structural members manufactured in the factory.

As a method of this temporary assembly, various problems caused by actually temporarily assembling large structural members of the order of several meters to several tens of meters such as a bridge block, for example, a great deal of time and labor are required for work. In order to solve the problems such as the necessity, a numerical temporary assembly method using computer simulation is being studied. When the numerical temporary assembly is performed, the twists and bends unique to the individual structural members produced as data to be input to the computer, the positions of bolt holes, the dimensions of each part, etc. are precisely set to, for example, 0. It is necessary to measure with high accuracy of the order of 1 mm or more.

Therefore, as a measuring device for measuring the shape and size of the above-mentioned structural member, conventionally, there is an angle measuring type using a CCD camera, a distance measuring type using a theodolite, or an angle measuring type. What is called a triangulation type measuring device is used, and an operator operates these measuring devices to measure the structural members.

On the other hand, when the structural members are transported to the construction site for actual construction after performing the numerical temporary assembly using the measured values, the adjacent structural members are vertically, horizontally, and vertically ( A so-called centering work is required such as what kind of positional relationship and twist relationship are to be connected in the (X, Y, Z directions). Therefore, after the numerical provisional assembly is performed, marking is performed as a mark for alignment. In other words, after the numerical provisional assembly of the adjacent structural members is completed, one worker uses the transit or the like while the other worker paints on the target position, and then the marking needle is used to draw the marking line. I was trying to pull.

[0006]

As described above, the conventional structural member measuring method uses a non-contact triangulation type measuring device, and avoids coordinate distortion in the X, Y, and Z directions. Therefore, there is variation in the measurement error in each of the X, Y, and Z directions, and there is a limit in improving the measurement accuracy. And, the problem that the target manufacturing error and the installation error are included to attach the target to the measurement point, the problem that the indirect error occurs by measuring the point offset from the measurement point when direct collimation cannot be performed, the target to the measurement point There were many problems such as the problem that it takes time to perform the measurement preparation work such as installation of a sickle and putting in a scratch, and the problem that a sufficiently large work space must be secured. Further, in terms of work, there is a problem that this measuring work requires skill and labor of the worker and a great amount of work time.

On the other hand, in the marking operation, it is difficult to improve the accuracy of the marking position, the labor and the working time of the operator are very large, and the position to be marked obtained from the measurement result is directly measured from the measuring device side. In order to carry out scribing by the method instructed, there is a problem that it is necessary to prepare equipment and instruments different from the measuring device. That is, the measuring and marking operations of the structural members have many technical, precision, and operational problems, and it has been desired to provide means for eliminating these problems.

The present invention has been made in order to solve the above problems, and provides a three-dimensional measuring apparatus for a structure which can rationally perform work ranging from measurement of various structural members to marking. The purpose is to

[0009]

In order to achieve the above-mentioned object, the three-dimensional measuring device for a structure according to claim 1 is connected to each other to form various structural members such as a bridge. Is a device for measuring arbitrary points as three-dimensional coordinates using the constituent member as an object to be measured in order to grasp the size and shape of the object. A pair of frames to be placed, and a cross girder that is erected on the pair of frames and is capable of traveling from one end to the other end of the measured object while being positioned above the measured object. A measurement shaft attached to the cross girder, capable of traveling horizontally along the cross girder, capable of moving up and down, and rotatable about its own axis, and rotatably attached to the measurement shaft; Orthogonal to each other A touch sensor that detects the coordinates of the contact point by contacting the tip of a probe extending in five directions with the object to be measured, and a control device that controls the operation of the cross girder, the measurement axis, and the touch sensor. It is characterized by that.

Further, in a three-dimensional measuring apparatus for a structure according to a second aspect, the pair of frames, the cross girder and the measuring shaft are covered with a heat insulating material except for their sliding surfaces, and they themselves. It is characterized by comprising a temperature control means for controlling the temperature of the.

A three-dimensional structure measuring apparatus according to a third aspect of the invention is formed of a material having the same linear expansion coefficient as that of the object to be measured, and corrects an error in a measured value due to a temperature change of the object to be measured. It is characterized in that it is provided with a scale bar that serves as a reference when performing.

Further, the three-dimensional measuring apparatus for a structure according to claim 4 is provided with an interference preventing means for preventing the measuring axis from interfering with the object to be measured or another obstacle. It is characterized by.

Further, in the three-dimensional measuring apparatus for a structure according to claim 5, the interference prevention means forms a light-emitting portion and a light-receiving portion around which an optical protection means is formed around the outer surface of the measurement shaft by a predetermined dimension. And is configured to prevent interference between the measurement axis and the object to be measured or an obstacle by detecting the presence or absence of interruption of the optical protection means.

Further, in a three-dimensional structure measuring apparatus according to a sixth aspect of the present invention, the interference prevention means has a CCD camera attached so that an angle can be changed with respect to the measurement axis, and the CC
By controlling the operation of the measurement axis based on the image data of the object to be measured or the obstacle obtained from the D camera,
It is characterized in that it is configured so as to prevent interference between the measurement axis and the object to be measured or an obstacle.

Further, in the three-dimensional measuring apparatus for a structure according to a seventh aspect, when the adjacent structural members are butted to the measuring axis, the predetermined three-dimensional measuring object is used as a mark for centering each other. A marking device for marking the location is attached so as to be replaceable with the touch sensor by an automatic replacement device.

Further, in the three-dimensional measuring apparatus for a structure according to claim 8, the marking device is of an ink jet type or a marking needle type for ejecting ink to the object to be measured. To do.

Further, a three-dimensional structure measuring apparatus according to a ninth aspect is characterized in that a cleaning apparatus for automatically cleaning the probe of the touch sensor is provided.

[0018]

In the three-dimensional measuring apparatus for a structure according to claim 1, the cross girder is provided on the pair of frames under the control of the controller for the object to be measured placed between the pair of frames. By moving, the measurement axis runs horizontally with respect to the cross girder, moves up and down, or rotates around its own axis, and the touch sensor attached to the measurement axis rotates, so that the measurement position of the measured object is reached. One of the probes extending in five directions of the touch sensor comes into contact. Then, the three-dimensional coordinates of this contact point are detected.

Further, in the three-dimensional structure measuring apparatus according to the second aspect of the present invention, the pair of frames, the cross girder and the heat insulating material covering the measuring shaft block heat from the outside, and the temperature control means has a pair. By controlling the temperatures of the frame, the cross girder, and the measuring shaft, the pair of frames, the cross girder, and the measuring shaft are kept at a constant temperature, and expansion and contraction due to changes in these temperatures are prevented.

Further, in the three-dimensional structure measuring apparatus according to claim 3, when the object to be measured expands or contracts due to temperature change, accurate dimensions have been measured in advance and the same line as the object to be measured is used. By using the scale bar having the expansion coefficient as a reference, the error of the measurement value due to the temperature change of the measured object is corrected.

Further, in the three-dimensional structure measuring apparatus according to the fourth aspect, the interference prevention means has, for example, a large deformation of the measured object or an unexpected obstacle in the moving range of the measuring axis. In this case, it is possible to prevent the measurement axis from interfering with the object to be measured or the obstacle.

Further, in the three-dimensional measuring apparatus for a structure according to claim 5, the light emitting portion and the light receiving portion form an optical protection means around the measurement axis, and the optical protection means is an object to be measured or an obstacle. When it is blocked by an object, the operation of the measuring axis is stopped by detecting the block.

Further, in the three-dimensional structure measuring apparatus according to the sixth aspect of the present invention, the interference prevention means includes a CCD camera attached so that the angle can be changed with respect to the measurement axis. Image data of an object to be measured or an obstacle is obtained, and the operation of the measuring axis is controlled based on this data.

Further, in the three-dimensional measuring apparatus for a structure according to claim 7, after the measurement of the measured object is completed, the touch sensor attached to the measuring axis is automatically marked by the operation of the automatic exchange device. The marking device is replaced with a device, and the marking device performs marking at a predetermined position of the object to be measured, which is a mark for alignment of the adjacent structural members.

Further, in the three-dimensional measuring device for a structure according to claim 8, marking is performed by an ink jet type or marking needle type marking device ejecting ink on the surface of the object to be measured or marking a marking line. Do.

Further, in the three-dimensional measuring apparatus for a structure according to claim 9, when dust or the like adheres to the probe of the touch sensor during repeated use of the apparatus, the cleaning device uses the probe of the touch sensor. To wash automatically.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a three-dimensional measuring device 1 of this embodiment.
2 is a diagram showing the overall configuration of FIG.
Reference numeral 3 is a cross girder, 4 is a measurement axis, 5 is a touch sensor, 6 is a system controller (control device), and B is a bridge block (structural member) that is an object to be measured.

A pair of frames 2 and 2 are erected parallel to each other on the floor of the factory with a certain distance therebetween. Each frame 2 has a ladder shape, and guide rails 7 are fixed to the upper surface of each frame 2. A cross girder 3 is installed between the pair of frames 2 and 2, and the cross girder 3 is connected to a cross girder drive mechanism (not shown) via a cable bear 8.
Therefore, the cross girder 3 is horizontally moved along the guide rail 7 on the frame 2 by the operation of the cross girder drive mechanism.

Further, a bellows-shaped cover 9 is provided on the upper portion of each frame 2 so as to cover the guide rail 7, and the end portion of the cover 9 is fixed to the end portion of each frame 2. The cross girder 3 side is fixed to both side surfaces of the cross girder 3. Therefore, when the cross girder 3 travels on the pair of frames 2 and 2, one side of the cover 9 that sandwiches the cross girder 3 expands and the other side contracts, so that the cross girder 3 can move without hindrance. Has become. The cover 9 prevents dust and the like from accumulating on the sliding surface between the frame 2 and the cross girder 3 and allows the cross girder 3 to always travel smoothly.

The cross girder 3 is provided with a measuring shaft 4 which is orthogonal to the cross girder 3 and extends in the vertical direction. The measuring shaft 4 is connected to a measuring shaft drive mechanism (not shown) via a cabel bear 10, and is horizontally moved along the cross girder 3 by the operation of the measuring shaft drive mechanism. The measuring shaft 4 is composed of a column 11, an internal shaft 12 that is inserted into the column 11 and extends below the column 11, and a sensor head 13. It is possible to ascend and descend by (not shown). Further, at the lower end of the inner shaft 12, the sensor head 13
Is an internal shaft 1 by a sensor head rotation mechanism (not shown).
It is attached to 2 so as to be rotatable in a horizontal plane and replaceable with a marking device described later.

A touch sensor 5 is attached to a lower portion of the sensor head 13 so as to be rotatable about a fulcrum 14 in a vertical plane by a touch sensor rotating mechanism (not shown). The touch sensor 5 has a probe 16 extending in five directions of front, top, bottom, right, and left, which are orthogonal to each other when viewed from the side of the support portion 15 connected to the fulcrum 14 in the state shown in FIG. The three-dimensional coordinates of the contact point can be detected by the tip of the contacting object to be measured.

Each of the cross girder drive mechanism, the measurement axis drive mechanism, the internal axis elevating mechanism, the sensor head rotating mechanism, and the touch sensor rotating mechanism is electrically connected to the system controller 6 installed outside the frame 2. Are connected to each other, and the operations of these mechanisms are all performed under the control of the system controller 6.
Further, the system controller 6 includes the three-dimensional measuring device 1
Data relating to various measurement conditions such as measurement points and measurement routes are transferred from an external computer (not shown). Therefore, according to the judgment of the system controller 6 based on the transferred data, the horizontal movement of the cross girder 3, the horizontal movement of the entire measurement shaft 4, the vertical movement of the inner shaft 12, the rotation of the sensor head 13, and the rotation of the touch sensor 5 are performed. By combining the respective operations, the probe 16 of the touch sensor 5 can reach an arbitrary position within a movable range of a space surrounded by the pair of frames 2, 2 at an arbitrary angle.

Further, all the outer surfaces of the members constituting the pair of frames 2, 2, the cross girder 3, and the measuring shaft 4 except the sliding surfaces are covered with a heat insulating material, and a heater ( A temperature control means) and a thermostat (temperature control means) for controlling the temperature of the heater are embedded. FIG. 2 is a cross-sectional view showing an upper member of the frame 2 as an example, but a guide rail 7 is installed, and side surfaces and a lower surface other than an upper surface which is a sliding surface with the cross girder 3 are covered with a heat insulating material 17. . Further, the heater 18 is embedded along the outer peripheral portion, and a thermostat 19 is connected to the heater 18. The temperature of each member can be set to an arbitrary temperature within the range of 40 ± 5 ° C., and the temperature of the members within the range of ± 1 ° C. is set by the action of the heater 18 and the thermostat 19. Can be heat controlled.

Further, as shown in FIG. 3, the laser emitting section 20 (interference preventing means) and the laser receiving section 21 (interference preventing means) are respectively provided at the corners of the lower surface of the column 11 of the measuring shaft 4 and the upper surface of the sensor head 13. ) Is installed and laser light is emitted between them during operation of the device, so that a laser barrier S (optical protection means) is provided along the longitudinal direction of the measurement axis 4.
Are formed. When the laser light receiving unit 21 is connected to the system controller 6 and the laser barrier S is blocked by the bridge block B, an obstacle, or the like while the measurement axis 4 is moving, the system controller 6 causes the measurement axis 4 to move. Is configured to stop operating.

Further, as shown in FIG. 1, a sensor head exchanging device 22 (automatic exchanging device) is installed below one end of one frame 2. The sensor head replacement device 22 is for automatically replacing the sensor head 13 attached to the lower portion of the measuring shaft 4 with an ink jet type marking head 23 (marking device) as shown in FIG. Then, after the measurement of the bridge block B is completed, the marking head 23 corresponds to the conventional marking operation on the bridge block B, that is, the marking that should be a mark for centering the adjacent bridge blocks B,
This is done by ejecting ink onto the surface of the bridge block B.

Further, as shown in FIG. 1, a scale bar 24 is fixed near the ends of the pair of frames 2, 2. The scale bar 24 is made of a material having the same linear expansion coefficient as that of the bridge block B, and an accurate dimension at a reference temperature is measured in advance, and before and after the actual measurement of the bridge block B, that is, the bridge block B is measured. By measuring the dimensions again in the same condition as the measurement environment, it is used as a reference scale when correcting the error in the measurement value due to the temperature change of the bridge block B.

On the other hand, in the vicinity of the end of the frame 2, the ultrasonic generator 25 and the cleaning tank 2 containing the cleaning liquid placed on the ultrasonic generator 25 are disposed.
6, a probe cleaning device 27 (cleaning device) is installed. This probe cleaning device 27
When dust or the like adheres to the probe 16 of the touch sensor 5, the measurement accuracy decreases. Therefore, after the three-dimensional measuring device 1 finishes measuring for a certain period of time or a certain number of measuring points, it is automatically instructed by the system controller 6. This is for moving the touch sensor 5 to the position of the probe cleaning device 27 and performing ultrasonic cleaning in the cleaning tank 26.

The procedure of measuring the bridge block B using the three-dimensional measuring apparatus 1 having the above-mentioned configuration will be described below with reference to the flowcharts of FIGS. 5 and 6. First, the original size data of the bridge block B is input to the computer of the system in advance (step S1 in FIG. 5), and the measurement data such as the reference, the allowable value, and the measurement route are created (step S in FIG. 5).
2) Transfer the measurement data to the system controller 6 of the three-dimensional measuring device 1.

Then, the bridge block B is carried in between the pair of frames 2 and 2 of the three-dimensional measuring apparatus 1 (step S3 in FIG. 5), a thermometer is attached to the bridge block B, and then the change in the measuring environment is monitored. In order to do so, the air temperature, the device temperature and the bridge block temperature are measured respectively (step S4 in FIG. 5). After that, the touch sensor 5 is manually operated by the operator.
Moves to measure the three-dimensional coordinates of a reference point in the bridge block B, for example, a reference point such as four corners on the bottom surface (step S5 in FIG. 5). Coordinate conversion is performed so that B corresponds to the actual position and orientation (step S6 in FIG. 5).

Next, the scale bar 24 is measured before measuring the bridge block B (step S in FIG. 5).
7) After performing the temperature correction calculation, start measuring the bridge block B. At this time, the touch sensor 5 moves in accordance with the measurement points and the measurement route previously input by the instruction of the system controller 6 to measure the three-dimensional coordinates corresponding to the designated number of points (step S8 in FIG. 5).
After that, the scale bar 24 is measured after the bridge block B is measured (step S9 in FIG. 5), the temperature correction calculation is performed again, and then the air temperature, the device temperature, and the bridge block temperature are measured (step S10 in FIG. 5). ).

Next, with respect to the ideal predetermined position (coordinates) given by the original size data, the bridge block B is set so that the bridge block B on which the three-dimensional measurement is performed can be housed in the positional relationship with the smallest error as a whole. A so-called optimization calculation (automatic centering) for arranging the coordinates is performed (step S11 in FIG. 5). Then, for the bridge block adjacent to the bridge block B for which the measurement has been completed, the measurement is performed by the same procedure as described above, and then numerical temporary assembly is performed using the measurement data after the optimization calculation of the adjacent bridge blocks. To do. Although the detailed description of the data processing of the numerical provisional assembly is omitted, it will be performed in the procedure of the arrangement adjustment of the adjacent bridge blocks (step S12 of FIG. 5) and the structural analysis (step S13 of FIG. 5).

After the numerical temporary assembly, the bridge block B
It is determined whether or not the shape is appropriate (step S14 in FIG. 5).
If the deviation of the actual shape from the ideal shape of is outside the allowable range, a rework instruction is issued (step S15 in FIG. 5) and the bridge block B is carried out (step in FIG. 5). (S16), reworking is performed (step S17 in FIG. 5), the process returns to step S3 in FIG. 5, and the measurement is performed again.

Further, when the shape of the bridge block B is proper, it is judged whether or not to mark the alignment mark of the bridge block B obtained by the optimization calculation (FIG. 6).
Step S18), when performing marking,
As shown in FIG. 4, the sensor head 13 that has been attached to the measuring shaft 4 is replaced by the sensor head changing device 2
After being replaced by the marking head 23 in step 2, the marking head 23 is moved to a predetermined position on the bridge block B according to an instruction from the system controller 6 to perform marking (step S19 in FIG. 6). After all the work is completed in this way, the bridge block B is carried out from the three-dimensional measuring device 1 (step S20 in FIG. 6).

After that, various measurement results are output.
That is, while outputting the measurement result table for each bridge block B (step S21 in FIG. 6), it is necessary for the hole processing of the splice plate for connecting the adjacent bridge blocks calculated from the hole measurement data of the bridge block B. Data is output (step S22 in FIG. 6). Then, it is determined whether or not to output the numerical temporary assembly result (step S23 in FIG. 6), and if it is to be output, the temporary assembly result table is output (step S25 in FIG. 6) and displayed on the display screen. After confirming the temporary assembly status (step S26 in FIG. 6), various data are saved (step S27 in FIG. 6) and all the processes are terminated. When the numerical temporary assembly result is not output, it is determined whether or not the next bridge block is to be measured (step S24 in FIG. 6), and when it is continuously measured, the process returns to step S3 in FIG. , Perform measurement again in the same procedure. On the other hand, when not measuring,
The data is saved (step S27 in FIG. 6) and all the processes are completed.

In the three-dimensional measuring apparatus 1 of this embodiment,
Since the touch sensor 5 that detects the coordinates by directly contacting the surface of the bridge block B is used as a means for detecting the three-dimensional coordinates of the measurement point in the bridge block B, the conventional non-contact triangulation measurement device. Unlike
Coordinate distortion in the X, Y, and Z directions is extremely small, and indirect errors such as target manufacturing error, installation error, and marking operation error are small, and stable and highly accurate measurement can be performed. Further, since the touch sensor 5 can reach an arbitrary position at an arbitrary angle by the mutual movements of the cross girder 3, the measuring axis 4, the sensor head 13, the touch sensor 5, etc., it can be seen from the surface. Unlike the conventional triangulation type measuring device, where it was difficult to measure the missing points, the touch sensor 5 is the bridge block B as long as it is within the movement range.
It is possible to enter the inside of the car and easily measure the place.

The touch sensor 5 is also based on the data transferred from the computer to the system controller 6.
Automatically moves, so during long-term measurement, especially with a three-dimensional measuring device, to avoid temperature changes in the measured object as much as possible, it is possible to perform measurements at night when there is little change in outside air temperature. In some cases, it is not necessary for the worker to be attached to the measuring device. That is, it is possible to realize a rational measuring device by unmanning the work.

Further, the three-dimensional measuring device 1 itself basically needs only to have a size that can carry in structural members such as the bridge block B, so that the three-dimensional measuring device can be used for measurement. The space in the factory required for measurement can be reduced as compared with the large work space required. Also,
Unlike the conventional device, no illumination is required, and the measurement can be performed at night without any problem without using illumination.

Further, in the three-dimensional measuring apparatus 1 of this embodiment, the pair of frames 2, 2, the cross girder 3, and the measuring shaft 4 are covered with the heat insulating material 17, and the heater 18 and the heater 18 are provided inside each member. The thermostat 19 is buried,
Since the temperature control of the member is performed with an accuracy of within ± 1 ° C, even if the outside air temperature changes significantly, the member is kept at a constant temperature to prevent expansion and contraction and ensure measurement stability. can do. Further, in the factory, the temperature may rise to about 35 ° C. in the summer, but in the case of this embodiment, the temperature of each member is about 40 ° C. by adopting the heater heating which is lower in cost than the cooling. Since it is configured to control the temperature of the measuring device, the cost required for controlling the temperature of the measuring device can be reduced.

As described above, the temperature of the measuring device is kept constant to ensure the stability of the measurement from the device side, and the measured value of the bridge block B is temperature-corrected using the scale bar 24 as a reference scale. Therefore, compared to the method of theoretically calculating the correction value from the bridge block temperature and the linear expansion coefficient of the material, the behavior is closer to the actual behavior with respect to the thermal deformation of the bridge block B. Since the correction can be performed with a small error in the shape, the accuracy regarding the temperature correction can be sufficiently improved.

Further, the measuring axis 4 and the touch sensor 5
Is operating based on the full-scale data previously input to the system controller 6, but, for example, when the deformation of the bridge block B is large or when there is an unexpected obstacle in the moving range of the measuring axis 4, etc. When the measurement axis 4 interferes with or collides with the bridge block B or an obstacle, the touch sensor 5 may be damaged or the measurement accuracy may be extremely reduced. However, in the device of the present embodiment, the measurement axis 4 is provided with the pair of laser emitting section 20 and laser receiving section 21, and
Since the interference prevention means is configured by forming the laser barrier S around the periphery of the, the measurement axis 4 interferes with the bridge block B and the obstacle even if the above-mentioned abnormality occurs.
It is possible to reliably prevent a collision. Therefore, it is possible to make the device unmanned in that the device does not need to be monitored.

Further, in the three-dimensional measuring apparatus 1 of this embodiment, the touch sensor 5 at the tip of the measuring shaft 4 and the marking head 23 can be automatically exchanged by the sensor head exchanging device 22, so that the present device can be used. Can perform not only the measurement work of the bridge block B but also the marking work, and these works can be continuously performed by one device. Therefore, unlike the case of the conventional marking work, which is performed by two workers performing the transit operation and painting, respectively, the marking work is unmanned, the marking position accuracy is improved, and the marking work time is shortened. You can get the benefits of. That is,
According to this embodiment, a rational device can be realized through both the measurement work and the marking work of the bridge block B. Further, in the case of this embodiment, the marking head 2
Since 3 is an ink jet type, it has advantages that the line width of marking can be made constant and printing can be performed.

The measuring device 1 is also equipped with a touch sensor 5
Probe cleaning device 27 for automatically cleaning the probe 16 of the apparatus every fixed time or every measurement of a fixed number of measurement points
Therefore, it is possible to prevent the measurement accuracy from deteriorating due to dust or the like adhering to the probe 16 of the touch sensor 5, and to perform stable and highly accurate measurement even when the device is used repeatedly. You can

The three-dimensional measuring apparatus 1 of this embodiment is provided with a pair of laser emitting section 20 and laser receiving section 21 as means for preventing interference of the measuring axis 4, and a laser barrier S is formed around the measuring axis 4. However, in addition to the laser light, general visible light or the like can be used. Further, instead of this configuration, a configuration using a CCD camera (interference prevention means) may be used. That is, as shown in FIG.
A CCD camera 28 is attached to the side surface of the column 11 of the measurement axis 4 so that the angle can be changed, and
It is configured to move together with the information and collect the information such as the arrangement, shape, and presence of obstacles of the bridge block B while changing the angle, and then transfer the data to the system controller 6 via the computer. Then, in the system controller 6, the measurement axis 4 created by the computer
The measurement axis 4 is controlled based on the movement control data. Three
If the dimension measuring device 1 is configured in this way, the touch sensor 5 can be moved more smoothly by adding the movement control data obtained from the CCD camera 28 based on the original size data.

In this embodiment, the pair of frames 2,
2, the heater 18 and the thermostat 19 are used as the temperature control means for the cross girder 3 and the measuring shaft 4, but the heating control is not limited to this. For example, a cooling pipe is embedded inside these members. However, the cooling control may be performed in the opposite manner to the present embodiment. And
As the marking device, a marking needle type marking device may be used instead of the usual ink jet type marking device. Further, as the probe cleaning device of the touch sensor 5, various types of devices such as a probe cleaning device by ultrasonic cleaning and dust removal by high pressure air may be applied. Further, it goes without saying that the design of the shape of each part, the drive mechanism, and the like over the entire three-dimensional measuring apparatus 1 of the present embodiment can be appropriately changed. Also,
In the present embodiment, the case where the three-dimensional measuring device 1 is applied to the measurement of the bridge block B has been described as an example, but the measurement target is not limited to the bridge block B, and various measurement objects such as a secondary connecting member and a splice plate can be used. It is possible to apply to constituent members.

[0055]

As described above in detail, the first aspect of the present invention is as follows.
Since the three-dimensional measuring apparatus for a structure described above employs a touch sensor that detects coordinates by directly contacting the object to be measured as means for detecting the three-dimensional coordinates of an arbitrary point on the object to be measured, Unlike the conventional non-contact triangulation type measuring device, set the target at the point to be measured,
Since it is not necessary to carry out scribing, the coordinate distortion is extremely small, and indirect errors such as target manufacturing error, installation error, and scribing work error are small, and stable and highly accurate measurement can be performed. Also, cross girder,
Due to the mutual movement of the measurement axis and the touch sensor, the touch sensor can reach an arbitrary position at an arbitrary angle, so unlike the conventional triangulation type measuring device, it was difficult to measure a portion that cannot be seen from the surface. The touch sensor can also measure the internal location of the measured object. Further, since the above-mentioned respective parts are automatically moved by the control device, unmanned work can be achieved and a rational measuring device can be realized. Further, the space required for measurement can be reduced as compared with the large space required for measurement in the case of the conventional triangulation type measurement device.

In the three-dimensional structure measuring apparatus according to the second aspect of the present invention, the pair of frames, the cross girder and the measuring shaft are covered with a heat insulating material, and these members are provided with temperature control means. The temperature of these members can be kept constant and the stability of measurement can be ensured by preventing expansion and contraction.

Further, in the three-dimensional structure measuring apparatus according to the third aspect, the temperature of the measured value is corrected with reference to the scale bar having the same linear expansion coefficient as the object to be measured. Compared with the method that theoretically calculates the temperature correction value from the temperature and the linear expansion coefficient of the material, it is possible to perform correction with less error in a form closer to the actual behavior for thermal deformation of the measured object. The accuracy regarding temperature correction can be sufficiently improved.

Further, since the three-dimensional measuring apparatus for a structure according to claim 4 is provided with the interference preventing means of the measuring axis,
For example, it is possible to reliably prevent the measurement axis from interfering with the object to be measured or the obstacle even when the deformation of the bridge block is large or there is an unexpected obstacle in the movement range of the measurement axis. Therefore, it is possible to make the device unmanned in that it is not necessary to monitor the device.

Further, in the three-dimensional measuring apparatus for a structure according to the fifth aspect, since the interference preventing means having the light emitting portion and the light receiving portion capable of forming the optical protection means is provided around the measuring axis, the optical measuring means is provided. It is possible to reliably prevent the measurement axis from interfering with the object to be measured or the obstacle by detecting whether or not the physical protection means is cut off.

Further, in the three-dimensional measuring apparatus for a structure according to the sixth aspect, since the interference preventing means provided with the CCD camera is configured, based on the image data of the object to be measured or the obstacle from the CCD camera. By controlling the operation of the measuring axis, it is possible to reliably prevent the measuring axis from interfering with the object to be measured or the obstacle.

Further, in the three-dimensional measuring apparatus for a structure according to claim 7, since the touch sensor at the tip of the measuring shaft and the marking device can be automatically exchanged by the automatic exchanging device, this device is not covered. Not only the measurement work of the measurement object but also the marking work can be performed, and these works can be continuously performed by one device. Therefore,
Different from the case of the conventional marking work, which is performed by two workers while operating the transit and painting, various advantages such as unmanned marking work, improvement of marking position accuracy, reduction of marking work time, etc. Can be obtained. Therefore, a rational device can be realized through both the measurement work and the marking work of the object to be measured.

Further, in the three-dimensional measuring apparatus for a structure according to the eighth aspect, since the marking device is constituted by an ink jet type or a scribing needle type for ejecting ink to the object to be measured, the line width of the marking can be reduced. It can be kept constant or the accuracy can be improved.

Further, since the three-dimensional measuring apparatus for a structure according to claim 9 is provided with the cleaning device for automatically cleaning the probe of the touch sensor, dust and the like are attached to the probe of the touch sensor. It is possible to prevent a decrease in measurement accuracy, and to perform stable and highly accurate measurement even when the device is used repeatedly.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a three-dimensional measuring apparatus that is an embodiment of the present invention.

FIG. 2 is a diagram showing a sectional structure of a frame of the apparatus.

FIG. 3 is a perspective view showing a main part of a measuring shaft of the apparatus.

FIG. 4 is a perspective view showing a state in which a marking head is attached to the measurement shaft.

FIG. 5 is a first half portion of a flowchart showing a procedure of performing measurement and marking work using the same apparatus.

FIG. 6 is the latter half.

FIG. 7 is a perspective view showing a state in which a CCD camera is attached to the measurement axis.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Three-dimensional measuring device 2 Frame 3 Cross girder 4 Measuring axis 5 Touch sensor 6 System controller (control device) 16 Probe 17 Heat insulating material 18 Heater (temperature control means) 19 Thermostat (temperature control means) 20 Laser emission part (interference prevention means) ) 21 laser light receiving part (interference prevention means) 22 sensor head replacement device (automatic replacement device) 23 marking head (marking device) 24 scale bar 27 probe cleaning device (cleaning device) 28 CCD camera (interference prevention device) B bridge block ( Components) S laser barrier (optical protection means)

Claims (9)

[Claims] 1. In order to grasp the dimensions and shapes of various constituent members that constitute a structure such as a bridge by being connected to each other, the constituent members are measured and the arbitrary points are measured as three-dimensional coordinates. And a pair of frames on which an object to be measured is placed, and a pair of frames which are placed facing each other with a certain distance therebetween, and which are located above the object to be measured. A cross girder that can travel from one end to the other end of the measured object in a state, and a cross girder attached to the cross girder that enables horizontal travel along the cross girder, ascend / descend, and center around its own axis. And a coordinate of the contact point by contacting the tip of a probe, which is rotatably attached to the measurement axis and extends in five directions orthogonal to each other, with the object to be measured. A touch sensor for detecting the cross girder, three-dimensional measurement apparatus of the structure, characterized in that the control device and is provided for controlling the operation of the measurement axis and a touch sensor. 2. The three-dimensional structure measuring apparatus according to claim 1, wherein the pair of frames, the cross girder, and the measuring axis are
A three-dimensional measuring apparatus for a structure, which is covered with a heat insulating material except for those sliding surfaces and is provided with a temperature control means for controlling the temperature of each of them. 3. The three-dimensional structure measuring device according to claim 1, wherein the structure is made of a material having the same linear expansion coefficient as that of the object to be measured, and an error in a measured value due to a temperature change of the object to be measured. A three-dimensional measuring apparatus for a structure, comprising a scale bar serving as a reference for correcting 4. The three-dimensional structure measuring apparatus according to claim 1, wherein the measuring axis prevents the measuring axis from interfering with the object to be measured or another obstacle. A three-dimensional structure measuring apparatus for a structure, comprising: 5. The three-dimensional measuring apparatus for a structure according to claim 4, wherein the interference prevention unit forms an optical protection unit around an outer side of the measurement shaft by a predetermined dimension and a light receiving unit. And a structure for preventing the interference between the measurement axis and the object to be measured or the obstacle by detecting whether or not the optical protection means is interrupted. Dimension measuring device. 6. The three-dimensional measuring apparatus for a structure according to claim 4, wherein the interference prevention unit has a CCD camera attached so that an angle can be changed with respect to the measurement axis, and the interference prevention unit can be obtained from the CCD camera. By controlling the operation of the measurement axis based on the image data of the measured object or obstacle that has been measured, it is configured to prevent interference between the measurement axis and the measured object or obstacle. 3D measuring device for structures. 7. The three-dimensional measuring apparatus for a structure according to claim 1, wherein when the adjacent structural members are abutted with each other on the measuring axis, the measuring axes are used as marks for centering each other. A marking device for marking a predetermined portion of the measured object,
A three-dimensional measuring device for a structure, wherein the three-dimensional measuring device is attached so as to be replaceable with the touch sensor by an automatic changing device. 8. The three-dimensional measuring device for a structure according to claim 7, wherein the marking device is of an ink jet type or a marking needle type that ejects ink onto the object to be measured. 3D measuring device for structures. 9. The three-dimensional measuring device for a structure according to claim 1, further comprising a cleaning device for automatically cleaning the probe of the touch sensor. Three-dimensional measuring device for structures.