A multi-hydraulic robot system for precise girder installation

Abstract

The present invention provides a multi-hydraulic robot system for accurately installing a beam, comprising: four hydraulic robots, coupled to the upper two ends of a beam installed between bridge piers, connected to both sides of two connecting platforms of cables connected to a crane, to move the beam in the horizontal and vertical directions; a hydraulic system, driving a driving part of the four hydraulic robots; and a control part, controlling the four hydraulic robots operating through remote operation through a synchronous control algorithm, to accurately control the installation position of the beam.

Description

Technical Field

[0001] The present invention relates to a multiple hydraulic robot system for precisely installing a girder, and more particularly to a multiple hydraulic robot system comprising multiple manipulator robots installed around the girder to precisely move the girder's position when a heavy girder is installed on a bridge pier using a crane. Background Art

[0002] At bridge construction sites, installing girders requires workers to climb high onto bridge piers to communicate with the crane that moves the girders. They also have to visually observe the target location next to the heavy girders during installation, placing significant safety risks on the workers.

[0003] The typical process for installing a beam on a bridge pier is as follows: First, the beam, located above ground, is connected to two cranes at both ends and moved to the vicinity of the target location on the pier where it will be installed. Next, workers on the pier visually confirm the beam's position and communicate with the cranes to slowly move it to the target location and lower the beam for installation. If necessary, workers use various tools to precisely install the beam before it is fully installed. This operation, which requires workers to reach the height of the pier and directly or indirectly handle heavy objects, presents a significant safety risk.

[0004] Robot technology can be used to replace human workers at the girder installation site. However, due to the girder's large size (approximately 50 meters) and heavy weight (approximately 150 tons), conventional manipulators cannot complete the work.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Publication No. 10-2012-0118696 Summary of the Invention

[0008] Issues to be addressed

[0009] The object of the present invention is to provide a multi-hydraulic robot system for accurately installing a beam, which is installed around the beam and accurately moves the beam position when a heavy beam is installed on a bridge pier using a crane, and includes multiple manipulator robots.

[0010] Problem Solutions

[0011] To achieve the above-mentioned purpose, the present invention provides a multi-hydraulic robot system for accurately installing beams, comprising: four hydraulic robots, coupled to the upper two ends of the beam installed between the piers, each connected to the two sides of the two connecting platforms of the cable connected to the crane, two forming a pair, to move the above-mentioned beam in the horizontal and vertical directions; a hydraulic system, driving the driving part of the above-mentioned four hydraulic robots; and a control part, controlling the above-mentioned four hydraulic robots running by remote operation through a synchronous control algorithm, so as to accurately control the installation position of the above-mentioned beam.

[0012] The above-mentioned hydraulic robot includes: a first horizontal driving part, which moves the first driving link rotatably coupled to one side of the above-mentioned connecting platform; a second horizontal driving part, which moves the second driving link rotatably coupled to one side of the above-mentioned connecting platform and is rotatably coupled to the side of the above-mentioned first horizontal driving part; a vertical driving part, which is coupled to one end of the above-mentioned first horizontal driving part and moves up and down; a vertical shaft, which guides the up and down movement of the above-mentioned vertical driving part; and a support platform, which is rotatably coupled to the lower end of the above-mentioned vertical shaft.

[0013] The four hydraulic robots can precisely adjust the installation position of the beam with six degrees of freedom, namely, movement along the x-axis, movement along the y-axis, yaw, movement along the z-axis, roll, and pitch.

[0014] The hydraulic system includes: a hydraulic supply device for supplying flow into the hydraulic system; a hydraulic valve device for individually controlling the flow to the driving unit; and three hydraulic cylinders individually connected to the hydraulic valve device.

[0015] The hydraulic supply device includes a pressure sensor and a flow sensor to provide a flow control function through load sensing.

[0016] The hydraulic valve device supports the load sensing function of the load of the driving part, and includes: a solenoid-based proportional directional control valve for accurately driving the driving part; and a pressure reducing valve to protect the hydraulic cylinder under high load conditions and external forces.

[0017] The two hydraulic systems mentioned above form a pair and further include a redundant valve device connected between the pair of hydraulic valve devices.

[0018] The redundant valve device includes: an ON / OFF lift valve that selectively shares the hydraulic supply line of the pair of hydraulic valve devices; a directional control valve that remotely activates or deactivates the redundant function; and a reversing valve and a check valve that selectively share the load sensing pressure according to the ON / OFF status of the ON / OFF lift valve.

[0019] The control unit includes a horizontal controller for controlling the x, y, and θz (=yaw) displacements of the beam; and a vertical controller for controlling the z, θx (=roll), and θy (=pitch) displacements of the beam.

[0020] In the above-mentioned horizontal direction controller, the controller of the first hydraulic robot calculates the control values ​​of the first horizontal drive unit and the second horizontal drive unit; the controller of the second hydraulic robot feeds back the status information of the first hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit; the controller of the third hydraulic robot feeds back the status information of the first hydraulic robot and the second hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit; the controller of the fourth hydraulic robot feeds back the status information of the first hydraulic robot, the second hydraulic robot and the third hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit.

[0021] In the above-mentioned vertical direction controller, the controller of the first hydraulic robot calculates the control value of the vertical drive part; the controller of the second hydraulic robot feeds back the status information of the first hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive part; the controller of the third hydraulic robot feeds back the status information of the first hydraulic robot and the second hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive part; the controller of the fourth hydraulic robot feeds back the status information of the first hydraulic robot, the second hydraulic robot and the third hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive part.

[0022] Effects of the Invention

[0023] According to the multi-hydraulic robot system for accurately installing a beam, when a heavy beam is installed on a bridge pier, the system can be installed around the beam and accurately move the beam position.

[0024] In addition, a pair of connecting platforms are combined on the beam and a pair of manipulator hydraulic robots in the form of cantilever beams are installed on both sides of each connecting platform, so that the beam can be accurately moved with six degrees of freedom for installation.

[0025] In addition, a selective redundant hydraulic system is applied between multiple hydraulic robots. Even if one hydraulic generating device fails, hydraulic source can be supplied to other hydraulic generating devices. By deactivating the redundant valve device, the negative impact of each hydraulic system according to different load conditions is minimized, thereby enabling the precise operation of multiple hydraulic robots.

[0026] In addition, when controlling the driving parts of each hydraulic robot, the control unit of the present invention feeds back the status information of other hydraulic robots to synchronously compensate for the robot position and force, thereby more accurately controlling the hydraulic robots.

[0027] Summary of the Figures

[0028] Figure 1 is an oblique view of a multi-hydraulic robot system for accurately installing a beam according to an embodiment of the present invention;

[0029] Figure 2 is an oblique view of the connecting platform coupled to the beam;

[0030] Figure 3 is an oblique view of a hydraulic robot coupled to both sides of a connection platform;

[0031] Figure 4 For Figure 3 An oblique view of a hydraulic robot in which a vertical drive unit and two horizontal drive units are driven;

[0032] Figure 5 The top diagram shows four hydraulic robots moving the beam horizontally with three degrees of freedom;

[0033] Figure 6 A side view of four hydraulic robots moving the beam in three degrees of freedom in the vertical direction;

[0034] Figure 7 A circuit diagram of a pair of hydraulic systems of a hydraulic robot according to an embodiment of the present invention;

[0035] Figure 8 For Figure 7 a circuit diagram of the hydraulic system and redundant valve device of the first (or third) hydraulic robot;

[0036] Figure 9 For Figure 7 The circuit diagram of the hydraulic system of the second (or fourth) hydraulic robot;

[0037] Figure 10 A schematic diagram of using four hydraulic robots to move the beam to the target horizontal position;

[0038] Figure 11 Schematic diagram of the control algorithm for each hydraulic robot to obtain horizontal state information of other hydraulic robots to compensate for the robot position and thus synchronize the hydraulic robots;

[0039] Figure 12 A schematic diagram of using four hydraulic robots to move the beam to the target vertical displacement;

[0040] Figure 13Schematic diagram of the control algorithm for each hydraulic robot to obtain vertical state information of other hydraulic robots to compensate for robot position and force, thereby synchronizing the hydraulic robots. DETAILED DESCRIPTION

[0041] The present invention is susceptible to various modifications and embodiments. Below, specific embodiments are illustrated in the accompanying drawings and described in detail. However, the present invention is not limited to the specific embodiments and is intended to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0042] The terms used in this specification are intended to describe specific embodiments and are not intended to limit the present invention. Unless otherwise apparent in the context, the singular includes the plural. In this specification, terms such as "including," "having," and "comprising" indicate the presence of a feature, number, step, action, structure, component, or combination thereof, and do not preclude the presence or possibility of one or more other features, numbers, steps, actions, structures, components, or combinations thereof.

[0043] A preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings. Identical elements are represented by identical symbols throughout the drawings whenever possible. Existing structures and functions that might obscure the key points of the present invention are omitted. Similarly, some elements in the drawings are exaggerated, omitted, or schematically represented.

[0044] Figure 1 is an oblique view of a multi-hydraulic robot system for accurately installing a beam according to an embodiment of the present invention; Figure 2 is an oblique view of the connecting platform coupled to the beam; Figure 3 is an oblique view of a hydraulic robot coupled to both sides of a connection platform; Figure 4 For Figure 3 An oblique view of a hydraulic robot in which a vertical drive unit and two horizontal drive units are driven; Figure 5 The top diagram shows four hydraulic robots moving the beam horizontally with three degrees of freedom; Figure 6 Side view of four hydraulic robots moving the girder in three degrees of freedom in the vertical direction.

[0045] According to one embodiment, a multi-hydraulic robot system for accurately installing a beam includes: two connecting platforms 120, which are coupled to the upper ends of a beam 20 installed between piers 10 and connected to a cable connecting a crane; four hydraulic robots 130, which are connected to both sides of the two connecting platforms and move the beam in the horizontal and vertical directions; a hydraulic system 200, which drives the driving parts of the above-mentioned four hydraulic robots; and a control part 350, which controls the above-mentioned four hydraulic robots operating through remote operation through a synchronous control algorithm to accurately control the installation position of the beam.

[0046] The bridge pier 10 is a reinforced concrete structure constructed on site and supporting the bridge.

[0047] Girders 20 are steel frames or reinforced concrete structures installed between two piers 10 to support the upper deck of the bridge. Girders 20 can be precast concrete structures prefabricated in a factory. The size of girders 20 can vary depending on site conditions, i.e., the design of the bridge. For example, girders 20 can be approximately 50 meters long and weigh approximately 150 tons.

[0048] like Figure 2 As shown, the connecting platform 120 can be detachably coupled to both ends of the upper portion of the beam 20. A cable connection portion 121 in the form of a hook for connecting the cable 112 of the crane 110 can be integrally formed on the upper portion of the connecting platform 120. Four connecting rod connections 124 can be rotatably coupled to the connecting rods of the hydraulic robot 130 on the side of the connecting platform 120.

[0049] The crane 110 is a mobile crane with a built-in motor and may include multiple cantilever beams, a retractable support platform, a hydraulic cylinder for adjusting the support platform's tilt angle, and a cable 112 wound by a winch, i.e., a hoist line. In the present invention, two cranes 110 can lift a single girder 20.

[0050] A pair of hydraulic robots 130 can be symmetrically connected to both sides of the connecting platform 120 to move the beam 20 horizontally and vertically. Therefore, in order to accurately adjust the installation position of a beam 20, four hydraulic robots 130 can be installed.

[0051] Hydraulic system 200 (see Figure 7 ) can precisely adjust the installation position of the beam 20 by controlling the driving parts of the four hydraulic robots 130. The specific structure of the hydraulic system 200 will be described later.

[0052] like Figure 3 and Figure 4 As shown, the hydraulic robot 130 may include a first horizontal driving part 133 that moves and rotatably couples to a first driving link 134 on one side of the connecting platform 120, a second horizontal driving part 135 that moves and rotatably couples to a side of the connecting platform 120 and is rotatably connected to the side of the first horizontal driving part 133, a vertical driving part 137 that is coupled to one end of the first horizontal driving part 133 and moves up and down, a vertical shaft 132 that guides the up and down movement of the vertical driving part 137, and a support platform 131 that is rotatably coupled to the lower end of the vertical shaft.

[0053] The support platform 131 may be fixedly disposed on the upper surface of the beam 20 by a portion of the weight of the beam 20. The support platform 131 may be formed in a cylindrical shape.

[0054] The vertical shaft 132 is rotatable along the direction of gravity on the support platform 131. That is, the vertical shaft 132 is rotatable about the z-axis located at the center of the support platform 131, but cannot move up and down.

[0055] The vertical drive unit 137 is provided on the outer peripheral surface of the vertical shaft 132 so as to be movable up and down. The vertical drive unit 137 is formed in the form of a rectangular tube and is driven up and down by a hydraulic cylinder provided between the vertical shaft 132 and the vertical drive unit 137.

[0056] The first horizontal drive unit 133 is coupled to the side of the vertical drive unit 137, and a first drive link 134 is retractably connected to the inside thereof. The first horizontal drive unit 133 can be formed as a rectangular tube. One end of the first drive link 134 is formed as a rectangular column to be inserted into the first horizontal drive unit 133, and the other end has a connection end that is rotatably coupled to the link connection portion 124 of the connecting platform 120.

[0057] One end of the second horizontal drive unit 135 is connected to a side surface of the first horizontal drive unit 133 so as to be freely rotatable within a predetermined angular range. The middle portion of the first horizontal drive unit 135 can be formed in a cylindrical shape. One end of the second drive connecting rod 136 is formed in the form of a circular tube for insertion into the outer circumference of the second horizontal drive unit 135, and the other end has a connection end that is rotatably coupled to the connecting rod connecting portion 124 of the connecting platform 120.

[0058] The first and second horizontal drive units 133 and 135 move the connecting platform 120 and the connected beam 20 horizontally on the xy plane, while the vertical drive unit 137 moves the beam 20 along the z-axis. As the first and second horizontal drive units 133 and 135 are driven, the connecting ends of the first and second drive links 134 and 136, as well as the vertical shaft 132, rotate about the z-axis.

[0059] The four hydraulic robots 130 can precisely adjust the installation position of the beam 20 using six degrees of freedom: movement along the x-axis, movement along the y-axis, yaw, movement along the z-axis, roll, and pitch.

[0060] like Figure 5 As shown, as the first horizontal driving part 133 and the second horizontal driving part 135 of the four hydraulic robots 130 move the two connecting platforms 120 in the horizontal direction, the beam 20 can be moved with three degrees of freedom of yaw motion, namely, moving along the x-axis, moving along the y-axis, and rotating relative to the z-axis.

[0061] like Figure 6 As shown, as the vertical driving parts 137 of the four hydraulic robots 130 move the two connecting platforms 120 in the vertical direction, the beam 20 can be moved with three degrees of freedom: movement along the z-axis, roll motion relative to the x-axis, and pitch motion relative to the y-axis.

[0062] Figure 7 A circuit diagram of a pair of hydraulic systems of a hydraulic robot according to an embodiment of the present invention; Figure 8 For Figure 7 a circuit diagram of the hydraulic system and redundant valve device of the first (or third) hydraulic robot; Figure 9 For Figure 7 Circuit diagram of the hydraulic system of the second (or fourth) hydraulic robot.

[0063] like Figures 7 to 9 As shown, the hydraulic system 200 according to one embodiment of the present invention may include hydraulic supply devices 210, 220 for supplying flow to the driving part of the hydraulic robot 130, hydraulic valve devices 230, 240 that individually control the flow to the driving part, and three hydraulic cylinders 250, 260, 270, 280, 290, 300 that are individually connected to the hydraulic valve devices.

[0064] Figure 7 2 shows a hydraulic system 200 that controls the supply of fluid to the first (or third) hydraulic robot 130-1 and the second (or fourth) hydraulic robot 130-2. Specifically, a first hydraulic supply device 210 supplies fluid to the first (or third) hydraulic robot 130-1 via a first hydraulic valve device 230, while a second hydraulic supply device 220 supplies fluid to the second (or fourth) hydraulic robot 130-2 via a second hydraulic valve device 240.

[0065] like Figure 8 As shown, the first hydraulic supply device 210 includes a hydraulic motor and various valves, enabling high-pressure supply of incompressible fluid to the drive unit of the first (or third) hydraulic robot 130-1 and the hydraulic cylinders 250, 260, and 270. The first hydraulic supply device 210 includes a pressure sensor 212 and a flow sensor 214, enabling load-sensing flow control, i.e., load-dependent hydraulic supply device control. The pressure sensor 212 measures the pressure of the fluid supplied by the hydraulic motor, while the flow sensor 214 measures the flow rate of the supplied fluid.

[0066] like Figure 9As shown, the second hydraulic supply device 220 also includes a hydraulic motor and various valves, enabling high-pressure supply of incompressible fluid to the drive unit of the second (or fourth) hydraulic robot 130-2 and the hydraulic cylinders 280, 290, and 300. The second hydraulic supply device 220 includes a pressure sensor 222 and a flow sensor 224, enabling load-sensing flow control, i.e., load-dependent hydraulic supply device control. The pressure sensor 222 measures the pressure of the fluid supplied by the hydraulic motor, while the flow sensor 224 measures the flow rate of the supplied fluid.

[0067] like Figure 8 As shown, the first hydraulic valve assembly 230 supports load sensing of the drive unit's load and may include a solenoid-based proportional directional control valve 235 for precise actuation of the drive unit and a pressure-increasing valve 237 to protect the hydraulic cylinder from high-load conditions. The proportional directional control valve 235 is a precision solenoid-based 7 / 3 proportional directional control valve that precisely controls the hydraulic cylinders of each drive unit. The pressure-reducing valve 237 is a safety valve that protects the system from internal hydraulic system pressure exceeding a specified pressure.

[0068] Pressure sensors 252 , 262 , 272 are respectively provided at the inlet and outlet ends of the hydraulic cylinders 250 , 260 , 270 of the first (or third) hydraulic robot 130 - 1 to sense the load applied to each hydraulic cylinder.

[0069] like Figure 9 As shown, the second hydraulic valve assembly 240 also supports load sensing of the drive unit's load. It includes a solenoid-based proportional directional control valve 245 for precise actuation of the drive unit and a pressure-increasing valve 247 to protect the hydraulic cylinder from high-load conditions. The proportional directional control valve 245 is a precision solenoid-based 7 / 3 proportional directional control valve that precisely controls the hydraulic cylinders of each drive unit. The pressure-reducing valve 247 is a safety valve that protects the system from internal hydraulic system pressure exceeding a specified pressure.

[0070] Pressure sensors 282 , 292 , 302 are respectively provided at the inlet and outlet ends of the hydraulic cylinders 280 , 290 , 300 of the second (or fourth) hydraulic robot 130 - 2 to sense the load applied to each hydraulic cylinder.

[0071] Preferably, the pair of hydraulic systems 200 of the present invention further include a redundant valve assembly 320 connected between the pair of hydraulic valve assemblies 230 and 240 and having a load sensing function. Even if the hydraulic supply assembly of one hydraulic system fails, the redundant valve assembly 320 can still obtain a hydraulic source supply from the hydraulic supply assembly of the other hydraulic system. By deactivating the redundant valve assembly, the negative impact of different load conditions on each hydraulic system is minimized, thereby enabling the precise operation of multiple hydraulic robots.

[0072] like Figure 8 As shown, the redundant valve device 320 may include an ON / OFF lift valve 322 that selectively shares the hydraulic supply line of the pair of hydraulic valve devices 230, 240, a directional control valve 326 that remotely activates or deactivates the redundant function, and a reversing valve 324 and a one-way valve 325 that selectively share the load sensing pressure.

[0073] The hydraulic lines of each hydraulic valve device can be interconnected between the ON / OFF poppet valves 322 to selectively share the hydraulic supply lines of the two hydraulic valve devices 230, 240. To achieve selective redundancy, the ON / OFF poppet valves 322 can be remotely interconnected or disconnected via the directional control valve 326.

[0074] To remotely activate or deactivate the redundant function, a solenoid-based 4 / 2 directional control valve 326 can be used. In addition, to selectively share the load sensing pressure between the two hydraulic valve devices 230 and 240 via the 4 / 2 directional control 326, a circuit consisting of a reversing valve 324 and a non-return valve 325 can be used.

[0075] If redundant valve devices 320 are used, even if one hydraulic valve device fails, flow can be supplied through the remaining hydraulic valve devices to drive the hydraulic cylinders in the connected hydraulic system. However, this redundancy function is shared only between the two hydraulic valve devices connected to one docking station 120 and is not shared between two hydraulic valve devices connected to a plurality of docking stations 120 on the opposite side.

[0076] Figure 10 A schematic diagram of using four hydraulic robots to move the beam to the target horizontal position; Figure 11 Schematic diagram of the control algorithm for each hydraulic robot to obtain horizontal state information of other hydraulic robots to compensate for the robot position and thus synchronize the hydraulic robots; Figure 12 A schematic diagram of using four hydraulic robots to move the beam to the target vertical displacement; Figure 13 Schematic diagram of the control algorithm for each hydraulic robot to obtain vertical state information of other hydraulic robots to compensate for robot position and force, thereby synchronizing the hydraulic robots.

[0077] The control unit 350 of the present invention includes a horizontal controller that can control the x, y, θz (=yaw) displacement of the beam and a vertical controller that controls the z, θx (=roll), θy (=pitch) displacement of the beam.

[0078] like Figure 10 As shown, the horizontal direction controller controls the first horizontal driving unit 133 and the second horizontal driving unit 135 of each of the four hydraulic robots 130-1, 130-2, 130-3, and 130-4, thereby moving the beam 20 to the horizontal target position. That is, the horizontal direction controller can control the beam 20 to move along the x-axis, move along the y-axis, and rotate about the z-axis in yaw (θ z ) displacement.

[0079] like Figure 12 As shown, the vertical direction controller controls the vertical driving parts 137 of the four hydraulic robots 130-1, 130-2, 130-3, and 130-4, so as to move the beam 20 to the vertical target position. That is, the vertical direction controller can control the beam 20 to move along the z-axis and rotate around the x-axis in a yaw (θ x ) displacement, pitch (θ y ) displacement.

[0080] like Figure 11 As shown, in the horizontal direction controller, the controller of the first hydraulic robot (robot #1) calculates the control values ​​of the first horizontal drive unit (drive unit 1) and the second horizontal drive unit (drive unit 2); the controller of the second hydraulic robot (robot #2) feeds back the state information of the first hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit; the controller of the third hydraulic robot (robot #3) feeds back the state information of the first hydraulic robot and the second hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit; the controller of the fourth hydraulic robot (robot #4) feeds back the state information of the first hydraulic robot, the second hydraulic robot and the third hydraulic robot to compensate for the robot position used for synchronization, thereby calculating the control values ​​of the first horizontal drive unit and the second horizontal drive unit.

[0081] To precisely move a single girder using four hydraulic robots, the control unit 350 employs a synchronized control algorithm in both the horizontal and vertical directions. This means that the control unit 350 can function as either a horizontal or vertical controller. This algorithm automatically controls the four robots based on the girder's position and movement information from a remote operator. The synchronized control algorithm prioritizes the robots, controlling the next robot in turn based on the status of the higher-ranked robot.

[0082] In order to accurately move the beam to the target installation position, the horizontal controller is responsible for the horizontal position and direction control of the beam. z The controller of the robot with the highest priority can first calculate the control values ​​for actuators 1 and 2 based on the (yaw) displacement information. After calculating the target position of the robot, the control values ​​for actuators 1 and 2 can be calculated using inverse kinematics. If the target position of actuators 1 and 2 is input, the hydraulic valve controller drives actuators 1 and 2 to the target position. The current position of actuators 1 and 2 is then controlled through feedback to correct position errors, thereby achieving precise control. Furthermore, state information for robots with a relatively high priority can be obtained through sequential step-by-step feedback to compensate for the robot position used for synchronization and calculate the control values ​​for actuators 1 and 2.

[0083] like Figure 13 As shown, in the vertical direction controller, the controller of the first hydraulic robot (robot #1) calculates the control value of the vertical drive unit (drive unit 3); the controller of the second hydraulic robot (robot #2) feeds back the state information of the first hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive unit; the controller of the third hydraulic robot (robot #3) feeds back the state information of the first and second hydraulic robots to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive unit; the controller of the fourth hydraulic robot (robot #4) feeds back the state information of the first, second and third hydraulic robots to compensate for the robot position and force used for synchronization, thereby calculating the control value of the vertical drive unit.

[0084] The vertical controller is responsible for placing the beam in front of the bridge pier and maintaining a large number of height and posture movements. x (=roll), θ y(=pitch) displacement information, the controller of the robot with the highest priority can first calculate the control value of the drive unit 3. After calculating the target position of the robot, the control value of the drive unit 3 can be calculated by inverse kinematics. If the target position of the drive unit 3 is input, the hydraulic valve controller drives the drive unit 3 to move to the target position, and corrects the position error by feedback controlling the current position of the drive unit 3, thereby achieving precise control. In addition, the state information of the robot with a relatively high order can be obtained according to the sequential step-by-step feedback to compensate for the robot position and force used for synchronization, and calculate the control value of the drive unit 3. Here, the difference from the horizontal direction controller is that in the case of the vertical direction controller, because it is controlled while bearing a high weight and a large amount of load, it is necessary to control the position and force at the same time.

[0085] The hydraulic system of the present invention obtains feedback of status information of other hydraulic robots when controlling the driving parts of each hydraulic robot, so as to synchronously compensate for the robot position and force, thereby being able to control the hydraulic robots more accurately.

[0086] The above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Those skilled in the art should understand that the present invention can be modified, deformed or replaced by equivalents without departing from the spirit and scope of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-hydraulic robot system for precise girder installation, comprising: Four hydraulic robots, attached to the upper ends of the beam installed between the piers, are connected to the two sides of the two connecting platforms of the crane cables, forming a pair of two to move the beam horizontally and vertically. A hydraulic system, driving the driving parts of the four hydraulic robots; and The control unit controls the four hydraulic robots operated by remote operation through a synchronous control algorithm to accurately control the installation position of the beam.

2. The multi-hydraulic robot system for precise beam installation according to claim 1, characterized in that: The above hydraulic robot comprises: a first horizontal driving unit for moving a first driving link rotatably coupled to a side surface of the connecting platform; a second horizontal driving unit that moves a second driving link rotatably coupled to a side surface of the connecting platform and is rotatably coupled to a side surface of the first horizontal driving unit; a vertical driving unit coupled to one end of the first horizontal driving unit and moving up and down; A vertical shaft, guiding the vertical drive unit to move up and down; The support platform is rotatably coupled to the lower end of the vertical shaft.

3. The multi-hydraulic robot system for precise beam installation according to claim 2, characterized in that: The four hydraulic robots can precisely adjust the installation position of the beam with six degrees of freedom, namely, movement along the x-axis, movement along the y-axis, yaw, movement along the z-axis, roll, and pitch.

4. The multi-hydraulic robot system for precise beam installation according to claim 3, characterized in that: The hydraulic system comprises: A hydraulic supply device, supplying flow to the above hydraulic system; a hydraulic valve device for individually controlling the flow to the above-mentioned drive parts; Three hydraulic cylinders are individually connected to the hydraulic valve device.

5. The multi-hydraulic robot system for precise installation of beams according to claim 4, characterized in that: The hydraulic supply device includes a pressure sensor and a flow sensor to provide a flow control function through load sensing.

6. The multi-hydraulic robot system for precise beam installation according to claim 5, characterized in that: The hydraulic valve device supports a load sensing function for the load of the driving part, including: Solenoid-based proportional directional control valves for precise actuation of actuators; Pressure reducing valves protect hydraulic cylinders from external forces during high load conditions.

7. The multi-hydraulic robot system for precise installation of beams according to claim 6, characterized in that: The two hydraulic systems mentioned above form a pair and further include a redundant valve device connected between the pair of hydraulic valve devices.

8. The multi-hydraulic robot system for precise installation of beams according to claim 7, characterized in that: The redundant valve device comprises: an ON / OFF poppet valve that selectively shares a hydraulic supply line with the pair of hydraulic valve devices; Directional control valves, remote activation or deactivation of redundant functions; The reversing valve and the check valve selectively share the load sensing pressure according to the ON / OFF state of the ON / OFF poppet valve.

9. The multi-hydraulic robot system for precise installation of beams according to claim 4, characterized in that: The control unit includes: Horizontal direction controller, controls the x, y, θ of the above beam z (=yaw) displacement; Vertical direction controller, controls the z and θ of the above beam x (=roll), θ y (=pitch) displacement.

10. The multi-hydraulic robot system for precise installation of beams according to claim 9, characterized in that: In the horizontal direction controller, the control values ​​for the first horizontal driving part and the second horizontal driving part are calculated by the controller of the first hydraulic robot; The controller of the second hydraulic robot feeds back the state information of the first hydraulic robot to compensate the robot position for synchronization, thereby calculating the control values ​​for the first horizontal drive unit and the second horizontal drive unit; The controller of the third hydraulic robot obtains state information of the first hydraulic robot and the second hydraulic robot through feedback to compensate for the robot positions used for synchronization, thereby calculating control values ​​for the first horizontal drive unit and the second horizontal drive unit; The controller of the fourth hydraulic robot feeds back status information of the first, second and third hydraulic robots to compensate for robot positions for synchronization, thereby calculating control values ​​for the first and second horizontal drive parts.

11. The multi-hydraulic robot system for precise installation of beams according to claim 9, characterized in that: In the vertical direction controller, the control value of the vertical drive unit is calculated by the controller of the first hydraulic robot; The controller of the second hydraulic robot feeds back the state information of the first hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value for the vertical drive unit; The controller of the third hydraulic robot receives feedback on the status information of the first and second hydraulic robots to compensate for the robot positions and forces used for synchronization, thereby calculating a control value for the vertical drive unit. The controller of the fourth hydraulic robot feeds back the status information of the first hydraulic robot, the second hydraulic robot and the third hydraulic robot to compensate for the robot position and force used for synchronization, thereby calculating the control value for the vertical drive unit.

Images