KR101852300B1 - Integrated lifting device with self-load balancing function, and method for lifting bridge top plate based on the same - Google Patents

Abstract

The present invention relates to an integrated elevation unit with a self-load balancing function and a bridge-top plate lifting method based on the same. The integrated elevation unit with a self-load balancing function comprises: a bridge; at least two abutments installed at a lower end of the bridge to form a lower structure of the bridge; bridge seats positioned between each abutment and the bridge; an integrated elevation unit capable of moving along a side wall of each abutment and having a self-load balance function; and a movement rail providing a path allowing the integrated elevation unit to be moved up and down. The integrated elevation unit comprises: a center elevation means positioned in the center of a planar plate, having a structure where a first side elevation means and second side elevation means are arranged on both sides, and having a piston positioned on an upper end thereof and a hydraulic cylinder driving the piston; a first side elevation means having a piston positioned on the upper end thereof and a hydraulic cylinder for driving the piston; a second side elevation means having a piston positioned on the upper end thereof and a hydraulic cylinder for driving the piston. The present invention has an effect to prevent the bridge from being twisted by dispersing a range in contact with the bridge.

Description

Technical Field [0001] The present invention relates to an integrated elevating and lowering unit having a self-load balancing function and an integrated lifting unit-based bridge lifting unit having self-load balancing function,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an integrated elevating and lowering unit having a self-load balancing function and an integrated elevating unit-based bridge elevating unit having a self-load balancing function. More specifically, An integrated elevating and lowering unit with its own load balancing function for precisely controlling the horizontal (balanced) state by simultaneously controlling the load, distance and height to prevent deformation and breakage of the bridge, and an integrated elevating and lowering Unit-based bridge roof elevation method.

The top plate of the bridge is installed on the bridge. Between the bridges and the piers, a bridge is installed to allow mutual displacement and vibration.

The timber is worn by the relative displacement and vibration between the bridge and the pier. Maintenance and replacement of the timber are required after a certain period of time.

Conventionally, a bridge lifting system was used to lift the bridge to replace the bridge with the bridge raised.

Since bridges are very large and heavy, only a slight center-of-gravity error can lead to a major accident where the load is directed to one side.

Therefore, the bridge lifting system described above should be installed in a space between a bridge and a bridge to control all lifting devices supporting the bridge to move to the same displacement in lifting the bridge.

In view of this, conventionally, a lifting device supporting a bridge is constituted of a hydraulic cylinder, a displacement at which the bridge is lifted is measured at each lifting device installation position, and the hydraulic cylinder is operated so that the displacements are all the same.

On the other hand, Korean Patent Registration No. 10-1243232 entitled " ascending or descending device of the bridge upper block ", which is secured by using a mechanical automatic lifting device and a safety stopper, When the main jack for raising and lowering the bridge top plate is raised and lowered at the same time, the auxiliary jack is supported and supported by the top plate, and the auxiliary jack is firmly supported by the malfunction of the main hydraulic jack, The present invention relates to a mechanical lifting device for easily and safely replacing a gyration device installed between a bridge top plate and a bridge pier (including alternation), and a bridge top plate lifting device using a safety stopper.

Next, Korean Patent Registration No. 10-0977061 entitled " Bridge ", which is a conventional technique, is disclosed in Korean Patent Publication No. 10-0977061 entitled " The PC-beam restitution system and the method "is a lifting device for replacing and repairing a quadrature system. It is used to install a tensioning device in the lifting device in consideration of waste factors due to the repair and removal of the quadrature device. As well as reinforcement of the sea beam, it is possible to reinforce the upper structure of the piers in preparation for the earthquake, and the pulling and tensioning device is installed at all times to increase the passing load during the bridge use period, A bridge repair system for repairing bridges, and a bridge raising and repairing method using the same. I want to do it.

Next, a conventional control system of the Korean Patent Registration No. 10-0555247 entitled " Computer-controlled lifting system for synchronous lifting of heavy structures < RTI ID = 0.0 > The multi-point and lifting method of bridge using the system "allows the structure to be raised or lowered at the same time with minimum tolerances at multiple points, and it is possible to control and adjust instantaneous load changes. The present invention relates to a computer control system for raising a center of gravity, generating an alarm when a dangerous situation is predicted, and controlling and maintaining the same at a remote site, and a bridge raising method using the same.

Next, the conventional Korean Utility Model Application No. 20-2002-0032757 entitled "Apparatus for pulling up a bridge composed of inner and outer brackets using a steel plate " ) "Is to install several inside and outside brackets at the bridge pier and alternate pier, then connect the inner and outer brackets of the unit using steel rods to form the bridge pull-up device, and then lift the bridge beam using the hydraulic jack to repair the bridge It is easy to install because it is light in weight due to small size of inner and outer brackets of each unit by using reinforcement or method of exchanging the calibration device. It is very simple and also disassembly which does not require mobilization of separate heavy equipment when connecting each unit bracket Which is a time-consuming operation.

However, the conventional techniques 1, 2 and 4 all correspond to the technology for the manpower and the time efficiency for the single bridge rise, but there is a limit in not providing the replacement method for the simultaneous multiple timetable. The conventional technique 3 is related to a multi-point simultaneous raise of a bridge structure, but it differs from the technical features proposed by the present invention in a method of controlling by an arithmetic operation at a remote place rather than a method of controlling an autonomous pull- There is a limit to the precision that can not be achieved by performing a three-dimensional analysis on each teaching point.

Korean Patent Registration No. 10-1243232 "A ascending or descending device of the bridge upper block " using a mechanical automatic lifting device and a safety stopper, Korean Patent Registration No. 10-0977061 "A device for restoring a fish beam mold with a lifting device for replacing and repairing a bridge of a bridge, and a bridge elevating method using the same laying PC-beam restitution system and the method) Korean Patent Registration No. 10-0555247 entitled " Computer-controlled lifting system for synchronous lifting of multi-point and lifting method of bridge " using the system) " Korean Utility Model Application No. 20-2002-0032757 entitled "Apparatus for pulling up a bridge composed of inside and outside bracket unit using steel plate "

Disclosure of the Invention The present invention has been made to solve the above problems, and it is an object of the present invention to prevent the deformation and breakage of a bridge by precisely controlling the horizontal (balanced) state by simultaneously controlling the real time displacement, load, And an integrated elevating and lowering unit-based bridge deck elevating method having a self-load balancing function.

Further, according to the present invention, one piston and a hydraulic cylinder structure are separated from each other at one point and further auxiliary auxiliary lifting means are provided on the left and right sides of the central elevating and lowering means, whereby one or two or more auxiliary An integrated elevating and lowering unit having a self-load balancing function for dispersing a range in contact with the bridge by operating the elevating and lowering means to prevent the bridge from being tilted, and a bridge elevating unit based on an integrated elevating and lowering unit having a self- .

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an integrated lifting unit-based bridge deck lifting apparatus having a self-load balancing function, including: a bridge; Two or more alternations installed at the bottom of the bridge as a substructure of the bridge; A diagonal positioned between each of said alternations and said bridge; An integrated elevating and lowering unit having a self-load balancing function capable of being moved on each of the alternate side walls; And a moving rail for providing a path through which the integrated ascending / descending unit moves up and down; Wherein the integrated lift-and-lowering unit is located at the center of the flat plate and has first and second lifting means and second lifting means disposed on both sides thereof, and drives the piston and the piston at the upper end thereof A center ascending / descending means having a hydraulic cylinder; And a hydraulic cylinder which is located on the right side (one side) around the center ascending and descending means formed on the flat plate and drives a piston and a piston at an upper end thereof, Way; And a second lifting / descending means located on the left side (the other side) around the center ascending / descending means formed on the flat plate and having a hydraulic cylinder for driving the piston and the piston at an upper end thereof; And a control unit.

In this case, the bridge lifting unit based on the integrated elevating and lowering unit having the self-load balancing function according to another embodiment of the present invention is characterized in that the integrated elevating and lowering unit operates through a power source supplied from the outside through a power supply unit, A second position-up / down unit, a sensor module, a position adjusting module for adjusting the position of the upper and lower parts on the moving rail, and a communication unit for transmitting and receiving signals and data to / from the outside Arduino board that performs overall control and power supply to the module; And further comprising:

In the bridge lifting unit based on the integrated elevating unit having the self-load balancing function according to still another embodiment of the present invention, the sensor module may include the central elevating / lowering means, the first elevating / lowering means, And the second side raising and lowering means is formed in at least one of the inside, the outside, the flat plate, or the lower end of the hydraulic cylinder in the hydraulic cylinder.

In the bridge lifting unit based on the integrated elevating unit having the self-load balancing function according to still another embodiment of the present invention, the sensor module may include the central elevating / lowering means, the first elevating / lowering means, A displacement detecting sensor for measuring the displacement of the piston provided on at least one of the second ascending / descending means to generate displacement information, and providing the displacement information to the ascreen board; And a control unit.

In the bridge lifting unit based on the integrated elevating unit having the self-load balancing function according to still another embodiment of the present invention, the sensor module may include the central elevating / lowering means, the first elevating / lowering means, A load measuring sensor for generating load information by measuring a load of the bridge acting on the piston or the hydraulic cylinder provided on at least one of the first and second ascending / descending means, and providing the load information to the ascreen board; And further comprising:

The integrated elevating and lowering unit having a self-load balancing function and the integrated elevating unit-based bridge deck elevating unit having a self-load balancing function according to the embodiment of the present invention are capable of real-time displacement and load , The distance and the height are simultaneously controlled to precisely control the horizontal (balanced) state, thereby preventing deformation and breakage of the bridge.

In addition, the integrated elevating and lowering unit having its own load balancing function according to another embodiment of the present invention, and the integrated elevating unit-based bridge deck raising method having its own load balancing function, And one or more auxiliary lift-up and -down means provided on the left and right sides of the central elevating and lowering means based on the removed hydraulic cylinder structure. By operating one or more auxiliary lift-up / down means depending on the position, There is an effect that the bridge can be prevented from being broken.

1 is a view showing an integrated elevating unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention.
FIG. 2 is a plan view of the bridge lifting unit-based bridge lifting unit 1 having the self-load balancing function of FIG. 1 except for the bridge 100 at the top.
3 is an enlarged view of an integrated elevating and lowering unit 400 having a self-load balancing function among the integrated elevating and lowering unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention.
4 is a block diagram showing the components of an integrated elevating / lowering unit 400 having a self-load balancing function among the integrated elevating / lowering-unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention to be.
FIG. 5 is a block diagram showing a configuration of a central elevation sensor module 450a, a first sensor module 450b, a second sensor module 450b, and a second sensor module 450b among the integrated elevating and lowering unit-based bridge deck lifting apparatus 1 having its own load balancing function according to an embodiment of the present invention. Module 450b of FIG.
Fig. 6 is a diagram showing the components of the integrated elevating and lowering unit 400 having the self-load balancing function of Fig. 4 as an integrated elevating unit-based bridge deck lifting system 1 having its own load balancing function as shown in Fig. (100). ≪ / RTI >

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a view showing an integrated elevating unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention. FIG. 2 is a plan view of the bridge lifting unit-based bridge lifting unit 1 having the self-load balancing function of FIG. 1 except for the bridge 100 at the top.

1 and 2, a bridge lifting unit-based bridge lifting unit-based bridge lifting device 1 having a self-load balancing function is constructed by a first type shift 200a installed at the lower end of a bridge with a lower structure of the bridge 100, 200a and 200b and a bridge 300 located between the bridge 200 and the bridge 200 in addition to the second type alternation 200b and the side walls of the alternations 200a and 200b, A unit 400, and a moving rail 500.

3 is an enlarged view of an integrated elevating and lowering unit 400 having a self-load balancing function among the integrated elevating and lowering unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention. 4 is a block diagram showing the components of an integrated elevating / lowering unit 400 having a self-load balancing function among the integrated elevating / lowering-unit-based bridge deck lifting apparatus 1 having a self-load balancing function according to an embodiment of the present invention to be. FIG. 5 is a block diagram showing a configuration of a central elevation sensor module 450a, a first sensor module 450b, a second sensor module 450b, and a second sensor module 450b among the integrated elevating and lowering unit-based bridge deck lifting apparatus 1 having its own load balancing function according to an embodiment of the present invention. Module 450b of FIG. Fig. 6 is a diagram showing the components of the integrated elevating and lowering unit 400 having the self-load balancing function of Fig. 4 as an integrated elevating unit-based bridge deck lifting system 1 having its own load balancing function as shown in Fig. (100). ≪ / RTI >

3 to 6, the integrated up-down unit 400 having its own load balancing function includes a central up-down unit 410, a first up-down unit 420, a second up-down unit 430, A central sensor module 450a, a first side sensor module 450b, a second side sensor module 450b, a position adjustment module 460 and a communication module 470 .

The central elevating and lowering means 410 is located at the center of the flat plate 400a of the integrated elevating and lowering unit 400 and includes a first elevating and lowering means 420 and a second elevating and lowering means 430, And a hydraulic cylinder 410b driving the piston 410a and a piston 410a at the upper end of the hydraulic cylinder 410b and the inner and outer sides of the hydraulic cylinder 410b and the flat plate 400a and / 410b may be formed with a central sensor module 450a.

The first side up / down means 420 is located on the right side (one side) around the center ascending / descending means 410 formed on the flat plate 400a of the integrated ascending / descending unit 400, And a hydraulic cylinder 420b for driving the piston 420a and the first side sensor module 450b and the second side sensor module 450b are provided at the lower ends of the inside and outside of the hydraulic cylinder 420b and / May be formed.

The second side lifting means 430 is located on the left side (the other side) around the center lifting means 410 formed on the flat plate 400a of the integrated lifting and lowering unit 400, And a hydraulic cylinder 430b for driving the piston 430a and the second side sensor module 450c is provided at the lower end of the hydraulic cylinder 430b, the inside, the outside, the flat plate 400a, and / or the hydraulic cylinder 430b. May be formed.

The arcuate board 440 is operated through a power supplied from the outside through a power supply unit and includes a central elevating / lowering means 410, a first side elevating / lowering means 420, a second side elevating / lowering means 430, It is possible to perform overall control and power supply to the sensor module 450a, the first side sensor module 450b, the second side sensor module 450b, the position adjustment module 460 and the communication module 470.

5, the central sensor module 450a, the first side sensor module 450b and the second side sensor module 450c are provided with a displacement detection sensor 451, a load measurement sensor 452, a distance measurement sensor 453, And a height measurement sensor 454.

The displacement detection sensor 451 measures the displacement of the pistons 410a, 420a and 430a of the central elevating / lowering means 410, the first elevating / lowering means 420 and the second elevating / lowering means 430, And generates displacement information.

The load measuring sensor 452 is connected to the pistons 410a, 420a and 430a of the central up-down means 410, the first up-down means 420 and the second up-down means 430 or the hydraulic cylinders 410b and 420b And 430b, and generates load information by measuring the load by the bridge 100 acting as a center.

The distance measuring sensor 453 is disposed on at least one of the central elevating and lowering means 410, the first elevating and lowering means 420 and the second elevating and lowering means 430, And the distance measurement information is generated by measuring the mutual distance in the relation of the integrated up-down unit 400 having another self-load balancing function facing in the integrated up-down unit 400 having one self-load balancing function do.

The height measurement sensor 454 is also mounted on at least one of the central elevating means 410, the first elevating means 420 and the second elevating means 430, Plane, and can generate height information from the altitude of the integrated elevating and lowering unit 400 having a self-load balancing function.

The position adjusting module 460 is a moving device for moving on the moving rail 500. The position adjusting module 460 is located at the rear side of the vertical plate 400b and includes a moving rail 500 and an alternating 200, ) And the second type alternation 200b), a stopper for preventing the movement of the position adjustment module 460 to the following region where the movable rail 500 is installed is preferably formed.

The communication module 470 may be formed for point-to-point communication between the integrated up-down units 400 having a self-load balancing function or may be formed by a short-range wireless communication function such as Bluetooth, ZigBee, UWB, Communication can be performed.

On the other hand, when the elevation board 440 receives the elevation control command from the external control terminal 2, it controls the position adjustment module 460 so that the elevation board 440 is generated by the height measurement sensor 454 on the moving rail 500 And the position adjusting module 460 controls the position adjusting module 460 to be positioned at a designated height included in the lift control command in order to obtain the height information in the gravity field in relation to the integrated elevating and lowering unit 400 having another self- Perform horizontal control to make the gravity-receiving surface equilibrium.

Thereafter, the adonyno board 440 controls the distance measuring sensor 453 through interaction with the distance measuring sensor 453 of the integrated up-down unit 400 having another self-load balancing function located on the front side through the distance measuring sensor 453, Or the designated distance included in the area.

2 and 6, when the integrated ascending / descending unit having the self-load balancing function provided with the adonyno board 440 is denoted by reference numeral 400-1, integration with its own load balancing function Descent unit 400-1, an integrated ascending / descending unit 400 having its own load balancing function located on its front side, an integrated ascending and descending unit 400-3 having its own load balancing function located on the entire diagonal, 4 < / RTI >

Here, the adonaboard 440 of the integrated ascending / descending unit 400-1 having the self-load balancing function is controlled to determine whether it is located at a specified distance in the relationship of the integrated ascending / descending unit 400-3 having its own load balancing function By performing the analysis, a primary process for the integrated up-down unit 400-3, 400-4 having two self-load balancing functions with respect to the longitudinal direction is performed.

That is, when the position of the board 440 is within the designated distance range, it is analyzed that the control for the position adjustment module 460, which moves on the movable rail 500, has been performed and the first and second Embodiments may be performed simultaneously or sequentially.

Here, the adonyno board 440 receives the moving displacement information of the piston 410a generated by the displacement sensor 451 in real time, and transmits it to the hydraulic cylinder 410b of the central up / , It is possible to control to control the piston 410a to a predetermined lifting position included in the lifting control command. In addition to the integrated lifting and lowering unit 400-1 having its own load balancing function, It is preferable that the elevating position control is performed when all of them belong to the designated distance range by the integrated elevating and lowering units 400-2 to 400-3 having the function.

On the other hand, when at least one does not belong to the specified distance range, the adoon-eye board 440 displays a detailed description of moving on the moving rail 500 in a fine range for correction to the specified distance received from the distance measuring sensor 453 It is possible to perform the control on one position adjustment module 460, which can be independently performed in the integrated up / down units 400-1 to 400-3 having its own load balancing function.

The distance measuring sensor 453 may include a light emitting portion and a light receiving portion so that the light emitting portion can be a laser light source and the distance can be measured by sensing the light source irradiated from the light emitting portion on one side by the light receiving portion located on the other side , An ultrasonic sensor, or the like.

≪ Embodiment 1 >

After receiving the load information generated in real time by the load measuring sensor 452 after the primary lifting position control for the central elevating and lowering means 410, the arduino board 440 loads the load included in the lifting control command Analyze whether it is within information range.

As a result of the analysis, if the load information is not included in the load information range and exceeds the predetermined load information range, the board 440 can be installed in the integrated ascending / descending unit 400 having three different self- The load information of the integrated up-down unit 400 (here, the integrated up-down unit 400-2 having the self-load balancing function of Figs. 2 and 6) having one other self-load balancing function located on one of the right and left sides .

Then, the board 440 displays the load information of the integrated up-down unit 400 (the integrated up-down unit 400-2 having its own load balancing function) having another self-load balancing function that provides the received load information In order to attenuate the excess load information of the integrated up-down unit 400 having its own load balancing function when the load information is not within the load information range included in the lift control command, The piston 420a and / or the piston 430a are controlled by controlling at least one of the hydraulic cylinder 420b of the ascending / descending means 420 and the hydraulic cylinder 430b of the second ascending / descending means 430, It is possible to perform a control of operating the center up / down means 410 up to the movement displacement of the piston 410a.

In addition, the arduino board 440 is connected to the integrated up / down unit (not shown) having its own load balancing function different from the overload information of the integrated up / down unit 400 having its own load balancing function, The central lifting unit 410, the first side lifting unit 420, the second side lifting unit 420, and the second side lifting unit 420 of the integrated up-down unit 400 having another self-load balancing function by transmitting the under- It is possible to notify that the correction process using the means 430 is performed.

On the other hand, the board 440 is connected to the load measuring sensor 452 during the correction process of the integrated up-down unit 400 (the integrated up-down unit 400-2 having its own load balancing function) When the load information generated in real time is received and analyzed as to whether or not the load information is within the load information range included in the lift control command, the hydraulic cylinder 420b of the first up / It is possible to perform control to operate the moving displacement to the default position with respect to the piston 420a and / or the piston 430a through the control of at least one of the hydraulic cylinders 430b of the descending means 430 have.

≪ Embodiment 2 >

In another embodiment of the present invention, the adonaboard 440 may be controlled in real time by the load measuring sensor 452 after the single primary lift position control for the central elevating means 410, After receiving the generated load information, it analyzes whether it is within the load information range included in the lift control command.

On the other hand, if the analysis result does not fall within the load information range and falls below the predetermined load information range, the board 440 may include an integrated ascending / descending unit 400 having three different self-load balancing functions (Integrated up-down unit 400-2 having its own load balancing function) having one of its own self-load balancing functions located on one of the left and right sides of the load / unload unit 400. [

Then, the board 440 displays the load information of the integrated up-down unit 400 (the integrated up-down unit 400-2 having its own load balancing function) having another self-load balancing function that provides the received load information The first up / down unit 420, the first up / down unit 420, and the second up / down unit 420 to attenuate the underload information when the load information is not included in the load information range included in the up / 420b, and 430b) of the second side lifting means 430 through the simultaneous control of the hydraulic cylinders 410a, 420a, and 430a, Down operation.

Here, the ascending / descending operation of the first ascending / descending unit 420 and the second ascending descending unit 430 is performed instead of the descent operation of the central ascending and descending unit 410 Is to prevent the bridge 100 from being twisted through the dispersion of the force against the downward pressure through the contact surface abutting the bridge 100.

Subsequently, the pistons 410a and 420b (not shown) are controlled simultaneously through the central elevating / lowering means 410, the first side elevating / lowering means 420 and the second side elevating / lowering means 430 to the hydraulic cylinders 410a, 420a and 430a And 430b) and the load information generated in real time by the own load measurement sensor 452, as well as the load information generated in real time The load information generated in real time by the load measuring sensor 452 during the correction process of the integrated ascending / descending unit 400 having the balancing function (the integrated ascending and descending unit 400-2 having the self-load balancing function) When at least one of the hydraulic cylinder 420b of the first up-down and down-shift means 420 and the hydraulic cylinder 430b of the second up-down and down-shift means 430 has reached the load information range included in the control command The piston 420a and / It may perform a control for operating the displacement to the stone home position (default position) to (430a).

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms have been used, they have been used only in a general sense to easily describe the technical contents of the present invention and to facilitate understanding of the invention , And are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

1: Integrated lifting unit-based bridge top plate lifting equipment with self-load balancing function
100: Bridge
200a: 1st type shift
200b: 2nd type shift
300: Professor
400: Integrated up / down unit with self-load balancing function
410: Central elevating means
420: first side up / down means
430: second side up / down means
440: Arduino board
450a: central sensor module
450b: first side sensor module
450c: second side sensor module
460: Positioning module
470: Communication module
500: moving rail

Claims (5)

Bridge; Two or more alternations installed at the bottom of the bridge as a substructure of the bridge; A diagonal positioned between each of said alternations and said bridge; An integrated elevating and lowering unit having a self-load balancing function capable of being moved on each of the alternate side walls; And a moving rail for providing a path through which the integrated ascending / descending unit moves up and down; Wherein the integrated up-down unit includes:
A central elevating and lowering means having a structure in which first and second lifting means and second lifting means are disposed at both sides of the flat plate, and a hydraulic cylinder for driving the piston and the piston at the upper end;
And a hydraulic cylinder which is located on the right side (one side) around the center ascending and descending means formed on the flat plate and drives a piston and a piston at an upper end thereof, Way; And
Second side raising and lowering means located on the left side (the other side) about the center ascending and descending means formed on the flat plate and having a hydraulic cylinder for driving the piston and the piston at the upper end;
And a control unit that operates through a power source supplied from the outside via a power supply unit and controls the center up / down unit, the first side up / down unit, the second side up / down unit, the sensor module, An adjustment board, an adjustment board, and an external board for performing overall control and power supply to a communication module performing transmission and reception of signals and data with the outside; / RTI >
In the sensor module,
Wherein the hydraulic cylinder is formed at least on at least one of the central elevating and lowering means, the first side elevating and lowering means, and the second elevating and lowering means at an inner side of the hydraulic cylinder, an outer flat plate,
Wherein the moving-displacement information is generated by measuring a displacement of the piston provided on at least one of the central ascending / descending means, the first ascending / descending means, and the second ascending / descending means, Displacement detection sensor;
The load information is generated by measuring the load by the bridge acting on the piston or the hydraulic cylinder provided on at least one of the central elevating and lowering means, the first side elevating and lowering means, and the second elevating and lowering means A load measuring sensor provided on the arduino board;
Wherein said first and second lifting and lowering means are provided at least on at least one of said central lifting means, said first lifting means and said second lifting means, or in a front central portion of said flat plate, A distance measuring sensor for measuring the distance between the integrated elevating and lowering units having different self-load balancing functions to generate distance measuring information; And
Wherein the first and second lifting and lowering means are disposed on at least one of the central elevating and lowering means, the first side elevating and lowering means, and the second elevating and lowering means, or the front elevation or lower surface of the flat plate, A height measurement sensor for generating height information from the plane of the unit; / RTI >
When receiving an elevation control command from an external control terminal, the adouno board controls the position adjustment module to receive height information generated by the height measurement sensor on the moving rail in real time, The position control module controls the position adjusting module so as to be positioned at the designated height, and performs horizontal control so that the surface receiving the gravity in the gravity field is in equilibrium in relation to the integrated elevating and lowering unit having another self-load balancing function, The controller analyzes whether the vehicle is located at a specified distance included in the lift control command through interaction with the distance measuring sensor of the integrated elevating and lowering unit having another self load balancing function located on the front side through the sensor,
When an integrated elevating / lowering unit having a directionality and having a different self-load balancing function is located around the integrated elevating / lowering unit having the self-load balancing function provided with the above-mentioned adoon-board, the integrated elevating / A first process for the integrated elevating and lowering unit having another self-load balancing function in the longitudinal direction is analyzed by analyzing whether it is located at a specified distance in the relation of the integrated elevating and lowering unit having another self-load balancing function located at the front of the unit Performing a first mode or a second mode simultaneously or sequentially by analyzing that the control for the position adjustment module moving on the moving rail is performed, if it is located within a specified distance range,
The control means controls the hydraulic cylinder of the central elevating and lowering means based on the feedback action so that the piston is moved up and down by controlling the hydraulic cylinder of the central acting means based on the feedback action in a manner of receiving the displacement displacement information of the piston located at the center of the center ascending / To a predetermined lift position included in the control command,
Performing the primary process to perform control on the position adjustment module that moves on a moving rail in a fine range to correct a specified distance received from the distance measuring sensor when the moving distance does not fall within a specified distance range,
In the first mode,
After the first ascending / descending position control of the central elevating and lowering means, the arduino board receives the load information generated in real time by the load measuring sensor and analyzes whether or not the load information is included in the load information range included in the ascending and descending control command And when it is not included in the load information range as a result of the analysis and exceeds a predetermined load information range, the other integrated load ascending / descending unit having one self set load balancing function acting as one set The load information of the integrated elevating and lowering unit having another self-load balancing function that provides the received load information is received within the load information range included in the elevating control command after receiving the load information of the integrated elevating and lowering unit having the load balancing function And does not fall within the preset load information range, the self load balancing function The control unit controls at least one of the hydraulic cylinder of the first up / down unit and the hydraulic cylinder of the second up / down unit to attenuate the excess load information of the integrated up-down unit, Down means for the at least one piston among the lifting means, to a moving displacement at which the piston is located,
Through the communication module, information on the excess load of the integrated elevating and lowering unit having its own load balancing function and information of underload of the integrated elevating and lowering unit having a different own load balancing function, The central elevating and lowering means of the integrated elevating and lowering unit, the first elevating and lowering means, and the second elevating and lowering means,
When it is included by receiving the load information generated in real time by the load measuring sensor during the correction process of the integrated up-down unit having other self-load balancing function and analyzing whether the load information is within the load information range included in the lift control command, And the hydraulic cylinders of the second up-down means and the hydraulic cylinders of the second up-down means, the hydraulic cylinder of the up-down means, and the hydraulic cylinders of the second up-down means, to a default position with respect to at least one of the first and second side- Performs control to operate the movable displacement,
The second mode includes:
After the adonaboard has received the load information generated in real time by the load measuring sensor after the primary primary lift control of the central elevating and lowering means, it is included in the load information range included in the lift control command And when it is not included in the load information range as a result of the analysis and falls below a preset load information range, it is determined that one of the integrated up-down and down-load units having other self- The load information of the integrated elevating / lowering unit having another self load balancing function of the integrated elevating /
When the load information of the integrated elevating / lowering unit having another self-load balancing function that provides the received load information is not included in the load information range included in the lift control command and exceeds the preset load information range, The piston of the central elevating and lowering means, the first side and the second side of the hydraulic cylinder of the central elevating and lowering means are simultaneously controlled by simultaneous control of the hydraulic cylinder of the central elevating and lowering means, the hydraulic cylinder of the first side elevating and lowering means, A step-down operation is performed so that the excess load information and the underload information on the piston of the up-down means are attenuated so that the first up-down means and the second up- Performing a simultaneous lowering action on the lowering means is accomplished by distributing the force against the downward pressure through the contact surface abutting the bridge, Prevents teuleojineun,
The piston of the central elevating and lowering means, the first side, and the second side elevating and lowering means through the simultaneous control of the hydraulic cylinder of the central elevating means, the hydraulic cylinder of the first elevating and lowering means, and the hydraulic cylinder of the second elevating- The load information generated in real time by the own load measuring sensor and the integration with other self-load balancing function is performed in addition to the load information generated in real time by the own load measuring sensor while performing the operation of stepping down the excess load information and the underload information for the piston of the piston When the load information generated in real time by the load measuring sensor is received during the correction process of the ascending / descending unit and all of the load information is included within the load information range included in the ascending / descending control command, the hydraulic cylinder of the first up / The piston of the first up-down means and the second up-down means of the second up / down means are controlled through at least one of the hydraulic cylinders of the up / Wherein the control unit performs control to operate the movable displacement to a default position with respect to the piston.
The distance measuring apparatus according to claim 1,
Wherein the light emitting unit is provided with a light emitting unit and a light receiving unit, and the light emitting unit is a laser light source, and the light source irradiated by the light emitting unit on one side is sensed by a light receiving unit located on the other side, Bridge elevation lifting unit based on integrated elevating unit.
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