Component placement system, finished product assembly method

Abstract

To provide a material arrangement system and a complete body assembly method using the same which solve the problems of the prior art and with which a worker in charge of jack adjustment is not assigned and a worker in charge of measurement is not assigned.SOLUTION: A material arrangement system of the present invention is a system in which each individual member is arranged at an appropriate position in order to assemble a complete body composed of two or more individual members, and comprises: an adjustment jack; model storage means; and control means. Of these, the control means obtains the difference between a 3D model and measured data by comparing the 3D model read from the model storage means with the measured data obtained by measuring the positions of the provisionally arranged individual members, and controls the adjustment jack according to the difference.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a technique for assembling two or more individual components, and more specifically, to a component arrangement system that automatically arranges individual components in appropriate positions and a method for assembling a completed product using the same. [Background technology]

[0002] A bridge is mainly composed of a substructure, such as abutments and piers, and a superstructure, such as girders and decks. The girders may be constructed directly on the substructure, or may be assembled elsewhere and then erected on the substructure. In this way, when constructing a structure, the finished product may be preassembled in a yard or factory, for example, and then installed at the correct location. The method of assembling the finished product elsewhere is called "on-site assembly."

[0003] For example, when assembling a main girder on the ground, two or more individual components manufactured in a factory are connected in a yard near the substructure. The completed product with the specified length is then erected on top of the pier, etc. Of course, when connecting the individual components to assemble the finished product, the finished product is managed to ensure that it has the dimensions and shape as planned.

[0004] Conventionally, the as-built management during the ground assembly of the main girders was based on measurements performed by workers. Specifically, the "total length" was managed by measuring the individual connected components with a steel tape or similar, the "alignment" was managed by measuring the distance from the reference string to the individual connected components, and the "warping" was managed by measuring the staff placed in a designated position on the individual connected components with a spirit level. Then, the position was adjusted with jacks placed under the individual components so that the finished product would have the planned dimensions and shape.

[0005] To carry out this series of work, a pair of workers were in charge of measurements, and another pair of workers were in charge of adjusting the jacks, meaning that four workers were needed. However, considering the recent labor shortage in the construction industry, it is not desirable to have four workers to manage the finished product of the ground assembly. In addition, the conventional method has the disadvantage that it is largely dependent on the judgment of the workers, which is prone to human error. Furthermore, during the day, the temperature of the components is easily affected by direct sunlight, etc., and temperature unevenness can cause component deformation. Therefore, ground assembly work is generally carried out outside of working hours (i.e., early morning or night) when the effect of temperature unevenness is small, and overtime work was unavoidable.

[0006] Therefore, it is conceivable to automate the work related to the finished product management of the ground assembly to reduce the labor. For example, Patent Document 1 proposes a technology to remotely operate an actuator for moving a controlled object in order to align the controlled object. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2003-341985 A Summary of the Invention [Problem to be solved by the invention]

[0008] The technology disclosed in Patent Document 1 controls the actuators by remote control, so it is possible to eliminate the need for workers to directly operate the actuators, which means that labor savings can be achieved. However, the technology disclosed in Patent Document 1 is only for aligning the controlled object as a single unit, and is not for managing the finished form of the ground assembly. Therefore, even if the worker in charge of adjusting the jacks can be eliminated, two workers in charge of measurements are still required.

[0009] The object of the present invention is to solve the problems associated with the conventional technology, that is, to provide a component placement system that does not require the assignment of a worker to adjust the jacks, and also does not require the assignment of a worker to take measurements, and a method of assembling a completed product using the same. [Means for solving the problem]

[0010] The present invention was made by focusing on the point that a 3D model of the finished product is compared with position measurement data of individual components and adjustments are automatically made with jacks based on the results, and is an invention based on an unprecedented idea.

[0011] The component placement system of the present invention is a system for placing each individual component in an appropriate position to assemble a completed body consisting of two or more individual components, and is equipped with an adjusting jack, a model storage means, and a control means. Among these, the adjusting jack can move the placed individual component in three directions, and the model storage means is a means for storing a three-dimensional model of the completed body. The control means is a means for finding a difference between the three-dimensional model and the actual measurement data by comparing the three-dimensional model read from the model storage means with actual measurement data obtained by measuring the positions of the provisionally placed individual components, and for controlling the adjusting jack in accordance with this difference. The control means then controls the adjusting jack, and the individual components are moved in three directions by the difference, thereby placing them in the appropriate positions.

[0012] The component placement system of the present invention may further include a surveying instrument that automatically tracks reflectors installed at key locations on two or more individual components and measures the coordinates of the reflectors. In this case, the control means compares the actual measurement data measured by the surveying instrument with the three-dimensional model.

[0013] The component arrangement system of the present invention may further include a suitability determining means for comparing the difference with a tolerance (which may also be called a "standard value"). If the difference is outside the range of the tolerance, the suitability determining means causes the control means to control the adjusting jack.

[0014] The component placement system of the present invention may further include two or more temperature detection means (temperature sensors). In this case, the component placement system of the present invention automatically starts when the temperatures measured by the two or more temperature detection means become approximately uniform (including uniform).

[0015] The method for assembling a completed body of the present invention is a method for assembling a completed body consisting of two or more individual components, and includes a temporary placement step, a measurement step, and an adjustment step. In the temporary placement step, the individual components (individual components to be adjusted) are temporarily placed by placing them on a plurality of adjustment jacks that can be moved in three directions, and in the measurement step, the coordinates of key points of the individual components are measured to obtain actual measurement data. In the adjustment step, a three-dimensional model of the completed body is compared with the actual measurement data to determine the difference between the three-dimensional model and the actual measurement data, and the adjustment jacks are controlled using a control means. The control means then controls the adjustment jacks in accordance with the difference, and the individual components are moved in three directions by the difference to place them in the appropriate positions, and the completed body is then assembled.

[0016] The method for assembling a completed product of the present invention may further include a step of judging suitability, in which actual measurement data is obtained again after the adjustment step, and the actual measurement data is compared with the three-dimensional model to determine a difference, and the difference is compared with a tolerance.

[0017] The method for assembling a completed product of the present invention can also be a method for measuring the coordinates of reflectors installed at key points of individual components using a surveying instrument that automatically tracks the reflectors. In this case, in the adjustment process, the actual measurement data measured by the automatic tracking surveying instrument is compared with the 3D model. Then, in the suitability determination process, if the difference is within the allowable range, the completed product is assembled, and if the difference is outside the allowable range, the adjustment process is repeated.

[0018] The method of assembling a completed structure of the present invention can also be used to complete the main girders of a bridge by assembly on the ground. The completed main girders are then installed on the substructure. Effect of the Invention

[0019] The component placement system and the completed assembly method of the present invention have the following advantages. (1) Since there is no need to assign workers to adjust the jacks, and no need to assign workers to take measurements, this method significantly reduces the number of workers required compared to conventional methods. (2) The system automatically compares the 3D model of the finished product with the positions of the individual components that have been provisionally placed, and the jack automatically adjusts its position based on the difference between the two. This reduces the dependency on the worker's judgment, which means that human error can be avoided. (3) Since measurement and position adjustment are left to the machine, work can be done at any time of the day or night. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a block diagram showing a main configuration of a component placement system according to the present invention. [Diagram 2] FIG. 2 is a flowchart showing a main process flow of the component placement system of the present invention. [Diagram 3] A model diagram showing a schematic diagram of a situation in which surveying equipment measures the coordinates of key points of individual components. [Figure 4] (a) is a model diagram that shows a schematic diagram of the situation when actual measurement data is arranged in a three-dimensional coordinate system, and (b) is a model diagram that shows a schematic diagram of a three-dimensional model of the completed body. [Diagram 5] FIG. 2A is a partial perspective view showing an adjusting jack that is placed on a frame and supports individual components, and FIG. 2B is a partial perspective view showing an adjusting jack that expands and contracts independently in three axial directions. [Figure 6] FIG. 4A is a side view showing an individual component before position adjustment, and FIG. 4B is a side view showing an individual component after position adjustment. [Figure 7] FIG. 2 is a flow chart showing the flow of main steps of the completed assembly method of the present invention. [Figure 8] FIG. 1 is a flow diagram showing the procedure for creating a 3D model based on a temporary completed body formed by actually assembling individual components. [Figure 9] FIG. 1 is a flow diagram showing the procedure for creating a 3D model based on a provisional completed body formed by virtually assembling individual components. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] An example of the component placement system and the method for assembling a completed structure of the present invention will be described with reference to the drawings. The component placement system and the method for assembling a completed structure of the present invention can be applied to various objects assembled from two or more independent parts (hereinafter referred to as "individual components"), but for convenience, an example will be described here that targets the main girder of a bridge. An assembly of two or more individual components will be referred to as a "completed structure" here. In other words, an "individual component" is a part obtained by dividing the main girder in the direction of the bridge axis or perpendicular to the bridge axis, and a "completed structure" is a structure in which at least two such individual components are connected, and a completed structure is not necessarily one in which only individual components are connected over the length of the bridge.

[0022] 1.Overview The present invention makes it possible to control the placement of individual components at a location different from where the individual components are to be placed. For example, an on-site yard is set up near an already constructed substructure, individual components are placed at this on-site yard, and the placement of the individual components is controlled from a management office or the like that is separate from the on-site yard. Of course, as will be described later, the placement of individual components can also be adjusted at the on-site yard by using a mobile terminal or the like.

[0023] 2. Component placement system Next, the component placement system of the present invention will be described in detail. The completed product assembling method of the present invention is a method of assembling a completed product using the component placement system of the present invention. Therefore, the component placement system of the present invention will be described first, and then the completed product assembling method of the present invention will be described.

[0024] 1 is a block diagram showing the main components of a component placement system 100 according to the present invention. As shown in this figure, the component placement system 100 according to the present invention is configured to include control means 101, an adjusting jack 102, and model storage means 103, and can also be configured to further include surveying equipment 104, suitability determination means 105, and display means 106 such as a display.

[0025] The control means 101 and the suitability determination means 105 constituting the component placement system 100 can be manufactured as dedicated ones, or a general-purpose computer device can be used. This computer device is equipped with a processor such as a CPU, a memory such as a ROM or a RAM, an input means such as a mouse or a keyboard, and a display (display means 106), and can be configured by a personal computer (PC), a tablet PC such as an iPad (registered trademark), a mobile terminal including a smartphone, or the like. When using a computer device, the computer device can be placed in a location different from the individual components, such as a management office, or, particularly when a tablet PC or a mobile terminal is used, the computer device can be carried by a worker. When installing a computer device in a management office or the like, it is advisable to provide a wireless communication (or wired communication) means for sending a signal to the adjustment jack 102 or for data communication with the surveying instrument 104, as described below.

[0026] The model storage means 103 can be a storage device of a general-purpose computer, or can be built in a database server. When built in a database server, it can be placed in a local network (LAN: Local Area Network), or can be a cloud server that stores data via the Internet (i.e., wireless communication).

[0027] Below, the main processes performed using the component placement system 100 will be described in detail, mainly with reference to Fig. 2. Fig. 2 is a flow diagram showing the flow of main processes in the component placement system 100 of the present invention. In these flow diagrams, the action to be performed is shown in the center column, the things necessary for that action are shown in the left column, and the things resulting from that action are shown in the right column.

[0028] First, steel materials such as H-shaped steel are laid out to install a stand, and adjusting jacks 102 are placed at key points (for example, at the four corners of the individual components). Then, the first individual component is placed on the multiple adjusting jacks 102, and then the second individual component is placed on the multiple adjusting jacks 102. When connecting three or more individual components, the third, fourth, etc. are placed in sequence. As will be described later, it is possible to not adjust the position of the individual component that is used as a reference, so that one individual component (for example, the first individual component) is not placed on the adjusting jack 102 (i.e., the adjusting jack 102 is not placed under the one individual component). Here, the position of the individual components placed on the adjusting jack 102 does not need to be accurate, and is merely temporary. In addition, it is preferable to temporarily connect the first individual component and the second individual component placed on the adjusting jack 102 with a temporary tightening bolt.

[0029] When the planned number of individual components (for convenience, the case of two components will be described here) are placed on the adjustment jack 102, the coordinates of the key points (e.g., corners, etc.) of the individual components DE are measured as shown in FIG. 3 (Step 10 in FIG. 2). FIG. 3 is a model diagram that shows a schematic diagram of a situation in which the surveying instrument 104 measures the coordinates of the key points of the individual components DE. The surveying instrument 104 can be a normal total station (TS), an automatic tracking total station, a camera for photogrammetry, a laser scanner, a measurement method for acquiring three-dimensional coordinates without using a reflector using a 3D-TOF (Time of Flight) camera, or other various surveying means that have been used conventionally. When an automatic tracking total station is used as the surveying instrument 104, a surveying prism (also called a mirror or target) is installed at a key point of the individual components DE. That is, the automatic tracking surveying instrument 104 automatically detects the surveying prism and acquires the position (three-dimensional coordinates) of the surveying prism. The coordinates of the surveying prism measured by the automatic tracking surveying instrument 104 (hereinafter referred to as "measurement data") are transmitted to the control means 101 via wireless communication (or wired communication) means, and the control means 101 receives this measurement data.

[0030] When the actual measurement data is obtained, the control means 101 reads out the three-dimensional model from the model storage means 103 and compares the actual measurement data with the three-dimensional model (Step 20 in FIG. 2). Here, the "three-dimensional model" is a model of a completed body in which a plurality of individual members DE are connected in a correct arrangement, and is a three-dimensional shape (i.e., three-dimensional) model created in a virtual space of a computer. This three-dimensional model can be created directly from a design drawing, or can be created based on a "provisional completed body" in which the individual members DE are temporarily assembled according to the design drawing. When creating directly from a design drawing, for example, a three-dimensional model can be created from design drawing data by operating 3D-CAD (Computer-Aided Design). On the other hand, when creating based on a provisional completed body, the individual members DE are actually temporarily assembled according to the design drawing data, and a provisional completed body is completed so that the difference from the design drawing data is minimized. Then, reference holes (pilot holes) and reference lines are installed so that the shape can be reproduced at the actual site, and the three-dimensional model can be created based on the three-dimensional coordinates obtained by measuring the shape of the provisional completed body. Alternatively, the shape of each individual component DE is measured to obtain three-dimensional coordinates, and the individual components DE are virtually assembled (simulated) on a 3D-CAD computer, for example, based on these three-dimensional coordinates, to create a three-dimensional model. Since the actual measurement data is also in three-dimensional coordinates, the actual measurement data and the three-dimensional model can be compared (for example, superimposed) by adjusting the coordinate system. Fig. 4(a) shows a state in which the actual measurement data is arranged in a three-dimensional coordinate system, and Fig. 4(b) shows a three-dimensional model of the completed body. It is advisable to create the three-dimensional model in advance and store it in the model storage means 103.

[0031] When comparing the actual measurement data with the 3D model, it is a good idea to set up a coordinate system based on the actual measurement data. For example, the key point of the first individual component DE (the surveying prism) is set as the origin, the component axis direction of the individual component DE (or the bridge axis direction) is set as the X axis, the direction perpendicular to the component axis of the individual component DE (or the bridge axis direction) is set as the Y axis, and the vertical axis is set as the Z axis. Of course, the position of the origin and the axis directions can be set as appropriate.

[0032] However, since the individual component DE is temporarily placed, the position of the individual component DE should not be as planned at this stage. Therefore, when the actual measurement data and the three-dimensional model are placed in the same coordinate system, a difference (deviation) occurs between them. More specifically, the actual measurement data and the three-dimensional model of the individual component DE (e.g., the first individual component DE) for which the coordinate system is set are approximately consistent, but a difference occurs between the actual measurement data and the three-dimensional model of another individual component DE (e.g., the second individual component DE). Therefore, the control means 101 obtains the coordinate difference (dX, dY, dZ) in the three-axis directions between the actual measurement data and the three-dimensional model as the difference.

[0033] When the difference between the actual measurement data and the three-dimensional model is obtained, the control means 101 adjusts the position of the individual member DE by controlling the adjusting jack 102 (Step 30 in FIG. 2). The adjusting jack 102 is placed on a stand TR on which steel materials such as H-beams are laid out as shown in FIG. 5(a), and supports the individual member DE at key points. The adjusting jack 102 can move the individual member DE independently in three axial directions as shown in FIG. 5(b). More specifically, the control means 101 transmits a control signal to the electric pump EP via wireless communication (or wired communication) means, and the electric pump EP, having received the control signal, extends and retracts the adjusting jack 102 in the three axial directions according to the control signal. At this time, the control means 101 transmits a control signal such that the individual member DE moves by the difference (dX, dY, dZ) between the actual measurement data and the three-dimensional model.

[0034] FIG. 6 is a model diagram showing a schematic diagram of the situation in which the position of the individual member DE is adjusted, where (a) shows a side view of the individual member DE before the position adjustment, and (b) shows a side view of the individual member DE after the position adjustment. In the example of this figure, a coordinate system is set with the key point of the individual member A (the individual member DE on the left side in the figure) as the origin, and therefore the position of the individual member B (the individual member DE on the right side in the figure) is adjusted. That is, since the individual member B shown in FIG. 6(a) is inclined upward to the right with respect to the planned arrangement (here, the horizontal arrangement), the adjustment jack 102 on the individual member B side is shortened in the vertical direction by the difference (dZ), so that the individual member B is adjusted to the planned arrangement as shown in FIG. 6(b). Note that in this figure, the position of the individual member DE is adjusted only in the vertical direction, but of course, when a difference (dX, dY) occurs in the horizontal direction as well, the adjustment jack 102 is controlled to expand and contract by the difference (dX, dY).

[0035] Even if the position of the individual component DE is adjusted by the difference (dX, dY) calculated by the control means 101, the individual component DE may still not be positioned as planned. Therefore, it is preferable that the suitability determination means 105 determines whether the position of the individual component DE after adjustment is suitable. In this case, actual measurement data of the individual component DE after adjustment is sent to the control means 101. When an automatic tracking type total station is used, the surveying instrument 104 automatically detects the surveying prism, so the coordinates of the individual component DE are continuously measured without the operator having to perform any special operation.

[0036] When the actual measurement data of the individual component DE after the movement is obtained by remeasurement, the control means 101 calculates the difference (dX, dY, dZ) between the actual measurement data and the three-dimensional model again and compares it with a predetermined allowable value (which may be a "standard value"). This allowable value should be set within a range including positive and negative values ​​(for example, "-10 mm or more and 10 mm or less"). If the difference in any one of the three axes is outside the allowable range (No in Step 40 in FIG. 2), the suitability determination means 105 sends a signal to the control means 101 to readjust the position of the individual component DE. Then, upon receiving this signal, the control means 101 controls the adjustment jack 102 to expand or contract by the difference (dX, dY, dZ) obtained by remeasurement. On the other hand, if the differences in all three axes are within the allowable range (Yes in Step 40 in Figure 2), the suitability determination means 105 outputs information such as "Completed" to the display means 106, for example, and stops the measurement of the automatic tracking surveying instrument 104 via the control means 101.

[0037] The component placement system 100 of the present invention can be designed to be activated by an operator's operation. That is, when the operator gives a predetermined instruction (such as a click), a series of processes by the component placement system 100 is started. However, as described above, the temperature of the components is likely to change during the day due to the influence of direct sunlight, etc., and component deformation due to temperature unevenness may occur. Under such circumstances, it is difficult for the component placement system 100 to appropriately place the individual components DE. Therefore, it is preferable to install sensors that detect temperature at predetermined positions of the individual components DE (for example, above and below the individual components DE), and to automatically activate the system when the respective temperatures (for example, the temperatures at the top and bottom) become approximately uniform (including uniformity) (for example, when the temperature difference between the top and bottom becomes equal to or less than a predetermined threshold). Specifically, the individual components DE are temporarily placed during the day, and when it becomes nighttime when the temperature is stable, the component placement system 100 is automatically activated and performs a series of processes (for example, measuring the individual components to controlling the adjustment jack). Alternatively, a preset time can be used as a trigger for activation regardless of the temperature (i.e., without installing a temperature sensor). In this case, component placement system 100 is provided with a timer, and the system automatically starts up at a predetermined time (for example, 10 p.m.).

[0038] 3. How to assemble the finished product Next, the completed body assembling method of the present invention will be described with reference to Fig. 7. Note that the completed body assembling method of the present invention is a method for assembling a completed body using the component placement system 100 described up to this point, and therefore, we will avoid explanations that overlap with the contents explained in the component placement system 100, and will only explain the contents unique to the completed body assembling method of the present invention. In other words, the contents not described here are the same as those explained in "2. Component placement system".

[0039] First, steel materials such as H-shaped steel are laid out to install the frame TR, and adjustment jacks 102 are placed at key points (for example, at the four corners of the individual members DE) (Step 101 in FIG. 7). A three-dimensional model is also created in advance. As described above, the three-dimensional model can be created directly from the design drawing, or can be created based on a "provisional completed body" in which the individual members DE are temporarily assembled according to the design drawing. When creating directly from the design drawing, for example, a three-dimensional model can be created from the design drawing data by operating a 3D-CAD. On the other hand, when creating based on a provisional completed body, it can be created by the procedure shown in FIG. 8 or FIG. 9. In the case of FIG. 8, first, the individual members DE are actually temporarily assembled according to the design drawing data (Step 101a in FIG. 8), and compared with the design drawing data. When the difference with the design drawing data is minimized, the provisional completed body is completed (Step 101b in FIG. 8). Then, pilot holes and reference lines are installed so that the shape can be reproduced at the actual site, and the shape of the provisionally completed body is measured (Step 101c in FIG. 8), and a three-dimensional model is created based on the three-dimensional coordinates obtained here (Step 101d in FIG. 8). In the case of FIG. 9, the shape of each individual member DE is first measured to obtain three-dimensional coordinates (Step 101e in FIG. 8), and based on these three-dimensional coordinates, a virtual assembly (simulation) of the individual members DE is performed on, for example, a 3D-CAD computer (Step 101f in FIG. 8), and a three-dimensional model is created based on the provisionally completed body formed by this virtual assembly (Step 101d in FIG. 8). Then, the first individual member DE is placed on a plurality of adjustment jacks 102, and then the second individual member DE is also placed on a plurality of adjustment jacks 102 (Step 102 in FIG. 7). At this time, the individual member DE (e.g., the first individual member DE) serving as a reference may not be placed on the adjusting jack 102 (i.e., the adjusting jack 102 may not be placed under one of the individual members DE). Note that the position of the individual member DE placed on the adjusting jack 102 here does not need to be accurate and is merely temporary. The first individual member DE and the second individual member DE placed on the adjusting jack 102 are temporarily connected by a temporary tightening bolt (Step 103 in FIG. 7).

[0040] When the planned number of individual members DE (for convenience, the case of two members will be described here) are placed on the adjusting jacks 102, the coordinates of key points of the individual members DE are measured (Step 104 in FIG. 7). More specifically, the auto-tracking surveying instrument 104 automatically detects the surveying prisms installed at key points of the individual members DE, and then obtains the positions (three-dimensional coordinates) of the surveying prisms, i.e., actual measurement data.

[0041] When the actual measurement data is obtained, the control means 101 is used to compare the actual measurement data with the three-dimensional model, and the difference (dX, dY, dZ) between the actual measurement data and the three-dimensional model is calculated (Step 105 in FIG. 7). Then, the control means 101 is used to control the adjusting jack 102 to adjust the position of the individual member DE (Step 106 in FIG. 7).

[0042] After adjusting the position of the individual component DE, the coordinates of the key points of the individual component DE are measured again (Step 107 in FIG. 7). When an automatic tracking total station is used, the surveying instrument 104 automatically detects the surveying prism, so that the coordinates of the individual component DE after it has been moved can be measured again without the operator having to perform any special operations.

[0043] When the actual measurement data of the individual component DE after the movement is obtained by remeasurement, the difference (dX, dY, dZ) between the actual measurement data and the three-dimensional model is calculated again, and the suitability determination means 105 compares this difference with the allowable value (Step 108 in FIG. 7). If the difference in any one of the three axes is outside the allowable value range (No in Step 108 in FIG. 7), the position of the individual component DE is adjusted again. On the other hand, if the difference in all three axes is within the allowable value range (Yes in Step 108 in FIG. 7), the first individual component DE and the second individual component DE are connected (the bolts are tightened) to construct a completed body (Step 109 in FIG. 7), and this completed body is erected in a specified position on the abutment or pier (Step 110 in FIG. 7). [Industrial Applicability]

[0044] The component placement system and completed assembly method of the present invention can be used for bridges of all kinds, such as road bridges, railway bridges, and pipeline bridges, and can also be used in various cases to complete long objects other than the main girders of bridges. Considering that the present invention solves the problem of labor shortages in the construction industry, it can be said to be an invention that can be expected to not only be used industrially, but also to make a great contribution to society. [Explanation of symbols]

[0045] 100 Component placement system of the present invention 101 (Component placement system) control means 102 (Component placement system) Adjusting jack 103 (Component placement system) model storage means 104 (Component placement system) surveying equipment 105 (Means for determining suitability of component placement system) 106 Display means (for component placement system) EP Electric Pump DE individual parts TR mount

Claims

1. A system for assembling a completed product consisting of two or more individual components, the system using one individual component as a reference to position another individual component in an appropriate position, an adjustment jack placed under the other individual member and capable of moving the other individual member in three directions; A model storage means for storing a three-dimensional model of the completed body; a control means for determining a difference between the three-dimensional model read from the model storage means and actual measurement data obtained by measuring the positions of the other individual components temporarily placed by comparing the three-dimensional model read from the model storage means and controlling the adjusting jack in accordance with the difference; the control means sets a coordinate system having a coordinate axis corresponding to a member axis direction with a key point of the individual member serving as a reference as an origin, aligns a key point of the three-dimensional model with the origin and aligns a member axis of the three-dimensional model with the coordinate axis, and then determines the difference between the three-dimensional model and the actual measurement data relating to the other individual members; The control means controls the adjusting jack so that the other individual members are moved in three directions by the difference, thereby placing the individual members in the proper positions. A component placement system comprising:

2. A surveying instrument is further provided for automatically tracking a reflector installed at a key point of the individual member and measuring the coordinates of the reflector, The control means compares the actual measurement data measured by the surveying instrument with the three-dimensional model.

2. The component placement system according to claim 1.

3. The apparatus further includes a suitability determining means for comparing the difference with a tolerance, If the difference is outside a range of an allowable value, the suitability determination means causes the control means to control the adjusting jack.

3. The component placement system according to claim 1 or 2.

4. Further comprising two or more temperature detection means installed at predetermined positions of the individual components, The temperature sensor is automatically activated when the temperatures measured by the two or more temperature detection means become uniform or approximately uniform.

4. The component placement system according to claim 1, wherein the component placement system is a component placement system for placing a component on a substrate.

5. A method for assembling a completed product consisting of two or more individual components, comprising the steps of: using one individual component as a reference to position another individual component in an appropriate position; a temporary placement step of placing the other individual components to be adjusted on a plurality of adjustment jacks that can be moved in three directions, thereby temporarily placing the other individual components; a measuring step of measuring coordinates of key points of the individual members to obtain actual measurement data; and an adjustment process for determining a difference between the three-dimensional model of the completed body and the actual measurement data by comparing the three-dimensional model and the actual measurement data, and controlling the other adjusting jacks using a control means. In the adjustment process, a coordinate system is set with an origin at a key point of the individual component serving as a reference and with coordinate axes corresponding to the component axial directions, and the key point of the three-dimensional model is aligned with the origin and the component axes of the three-dimensional model are aligned with the coordinate axes, and then the difference between the three-dimensional model and the actual measurement data relating to the other individual components is calculated. the control means controls the adjusting jack in accordance with the difference, and moves the other individual members in three directions by the difference to place the individual members in appropriate positions, and then assembles the completed product. A method for assembling a completed product.

6. In the measuring step, a surveying instrument is used to automatically track a reflector installed at a key point of the individual component and measure the coordinates of the reflector, In the adjustment step, the actual measurement data measured by the surveying instrument is compared with the three-dimensional model.

6. The method for assembling a completed product according to claim 5.

7. a suitability determining step of obtaining the actual measurement data again after the adjustment step, comparing the actual measurement data with the three-dimensional model to obtain the difference, and comparing the difference with a tolerance; In the suitability determination step, if the difference is within a tolerance range, the completed product is assembled, and if the difference is outside the tolerance range, the adjustment step is repeated.

7. The method for assembling a completed product according to claim 5 or 6.

8. The completed body is the main girder of a bridge, and the main girder completed by ground assembly is installed on the substructure.

8. A method for assembling a completed product according to claim 5, wherein the method comprises the steps of:

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