KR102554033B1 - Watergate for preventing reversal of gate - Google Patents

Abstract

In the present invention, disclosed is a watergate for preventing the reversal of a gate, comprising a first winding unit (110) having an electric motor (112), a second winding unit (120) interlocked with the first winding unit (110), a lifting unit (130), which is raised and lowered in a rack bar type by the first winding unit and the second winding unit (120), a skid frame (140) on which the first winding unit (110) and the second winding unit (120) are installed, a gate (150) coupled to the lower end of the lifting unit (130) to open and close the waterway, and a control unit. The watergate can stably raise and lower the gate (150), performs emergency braking, and prevents the reversal of the gate.

Description

Water gate for preventing gate overturn {WATERGATE FOR PREVENTING REVERSAL OF GATE}

The present invention relates to a sluice gate for preventing a gate from overturning, which stably raises and lowers a gate, performs emergency braking, and prevents a gate from overturning.

As is well known, the gate system is installed on a waterway of a desalination facility or storage facility such as a dam, river embankment, embankment, reservoir, etc. to control the amount of drainage and prevent backflow, thereby artificially adjusting the freshwater rate or storage rate, and preventing flooding. To ensure the stability of the equipment structure.

The structure of such a gate system consists of a gate and a hoisting device that lifts the gate. When the gate is opened, the hoisting device is driven manually or electrically to raise the rack bars connected to the center or both sides of the gate, thereby lifting the gate When the discharge path of the waterway is opened and the gate is closed, the raised gate is lowered by its own weight or driven by a hoisting device.

For example, when the gate is raised, the brake means of the lifting device operates to prevent reverse rotation of the pinion, thereby supporting the raised gate, and when the gate is lowered, the brake means is released and the gate is lowered by the lifting device. Close the outlet of the water canal.

However, there is a problem in that the opening and closing of the gate is not smooth when the hoisting device malfunctions or when water pressure equal to or higher than the hoisting capacity acts on the waterway.

Therefore, even if water pressure higher than the lifting capacity acts on the waterway, a technology is required to stably lift the gate, perform emergency braking, and prevent the gate from overturning while preventing overload of the electric motor by sharing the lifting capacity.

Korean Registered Patent Publication No. 10-1065780 (Sluice gate for preventing gate conduction, 2011.09.20)

A technical problem to be achieved by the spirit of the present invention is to provide a water gate for preventing a gate from overturning, which stably raises and lowers the gate, performs emergency braking, and prevents the gate from overturning.

In order to achieve the above object, an embodiment of the present invention is formed in the inner space of the first case, an electric motor driven by power supply, a first gear stage geared to decelerate by engaging with the electric motor, and the first A first main shaft meshing with one end of a gear stage, a second main shaft meshing with the other end of the first gear stage, and an emergency braking module for emergency braking the rotational driving of the first main shaft and the second main shaft; A first winding portion composed of a handle for manually manipulating one main shaft; A linkage shaft formed in the inner space of the second case and extending from the first spindle, a third spindle that interlocks with the first spindle by engaging with one end of a second gear stage that engages with the linkage shaft, and A second winding portion composed of a fourth main shaft meshing with the other end of the second gear stage; One side meshes with the pinion gear of the first main shaft, the other side meshes with the pinion gear of the second main shaft, and the first leg bar of a certain height that moves up and down, one side meshes with the pinion gear of the third main shaft, and the other side A lifting unit composed of a second leg bar having a predetermined height that engages with the pinion gear of the fourth main shaft and moves up and down; a skid frame fixed to the ground so that the first hoisting part and the second hoisting part are installed; Coupled to the lower end of the lifting unit, through toothed rollers formed on both sides, the waterway is opened and closed by moving along the side guides of a pair of rack gear structures formed to face the inner surface of the waterway, and the rollers are equipped with brakes A gate that enables emergency braking; and a control unit for controlling the electric motor and the emergency braking module.

Here, fixing holes may be formed on both side surfaces of the gate in a horizontal direction, and fixing rods may be formed in the side guides to slide in and out of the fixing holes by sliding back and forth.

In addition, a buoyancy control module may be formed on the lower surface of the gate.

In addition, a vision camera installed on the bottom of the gate to detect foreign substances accumulated on the bottom of the waterway, and a spraying module for pumping and spraying high-pressure water in a direction of a passage passing through the gate, wherein the control unit is controlled by the vision camera. When a foreign substance obstructing the descent of the gate is detected, high-pressure water may be injected through the injection module to remove the foreign substance.

In addition, a bottom cleaning unit composed of a rotating shaft formed on the bottom surface of the side guide, a foreign matter removing rod extending in a normal direction from the rotating shaft, and a motor for forward and reverse rotation of the rotating shaft; further comprising the controller, When foreign matter deposited by the motor is sensed, the foreign matter deposited on the bottom of the motor can be lifted and moved in the flow direction.

In addition, a lubricating oil supply module formed inside the first case and the second case and spraying and supplying lubricating oil to the first and second rec bars, respectively, and upper surfaces of the first case and the second case It is formed on the first leg bar and the second leg bar and further includes a vision camera for identifying an object by capturing images, and the control unit can control the lubricating oil supply module by analyzing an image by the vision camera.

In addition, the pinion gear of the first main shaft and the pinion gear of the second main shaft are formed at different heights and rotate in opposite rotational directions to lift the first leg bar, and the pinion gear of the third main shaft and the fourth main shaft The pinion gear may be formed at different heights and rotate in opposite rotational directions to elevate the second leg bar.

In addition, the first leg bar and the second leg bar are composed of a pair of opposing lifting shafts and a plurality of lifting pins spaced apart from each other and coupled to each other at a predetermined distance between the lifting shafts. A vision camera for detecting the attachment of foreign matter to the lifting shaft and the lifting pin on each upper surface of the first case and the second case where the second leg bar is exposed, and removing the foreign matter detected by the vision camera by blowing at high pressure. and a foreign matter removal unit composed of a blower module, wherein the control unit periodically elevates and lowers the first and second level legs to remove foreign matter by the foreign matter removal unit.

Further, the linkage shaft support unit includes a guide ring for guiding rotation of the linkage shaft, and a fixed ring spaced apart from the outside of the guide ring. And, a support plate formed at the lower end of the fixed ring to be supported, a coil spring arranged symmetrically in a radial direction between the guide ring and the fixed ring, and disposed between the coil springs to elastically contract and extend It may consist of a plunger.

In addition, a first rope connected to the upper end of the gate, a second rope connected to the lower end of the gate, and a first winder for winding the first rope by rotating in a first direction in conjunction with the linkage shaft, and the linkage A winding unit composed of a second winder for winding the second rope by rotating in the second direction in conjunction with the shaft; may further include.

According to the present invention, the gate is raised and lowered stably, emergency braking is performed, and the overturning of the gate is prevented, and even when water pressure equal to or higher than the winding capacity is applied to the waterway, the winding capacity is shared through the winding unit and the winding unit, thereby overloading the electric motor. There is an effect of preventing and opening and closing the gate smoothly by pulling the gate with a rope through the winding unit even in the event of a malfunction of the winding unit.

1 and 2 each show a water gate for preventing gate inversion according to an embodiment of the present invention.
FIG. 3 illustrates a side view of a water gate for preventing gate inversion of FIG. 2 .
FIG. 4 is a separate view of the recv bar of the sluice gate for preventing the gate from falling in FIG. 2 .
FIG. 5 illustrates the shock absorption module of the floodgate for preventing the gate from falling in FIG. 2 .
FIG. 6 illustrates a cross-sectional structure of a linkage shaft support of a water gate for preventing a gate from falling in FIG. 2 .
FIG. 7 illustrates the lifting and lowering of a water gate to prevent the gate from falling in FIG. 2 .
FIG. 8 illustrates a buoyancy control module of a sluice gate for preventing the gate from falling in FIG. 2 .
FIG. 9 is a separate view of the roller and the side guide of the water gate for preventing the gate from falling in FIG. 2 .

Hereinafter, embodiments of the present invention having the above-described characteristics will be described in more detail with reference to the accompanying drawings.

The water gate for preventing the gate inversion according to the embodiment of the present invention, as a whole, includes a first winch 110 having an electric motor 112 and a second winch 120 interlocking with the first winch 110 , The skid frame in which the lifting part 130, the first winding part 110 and the second winding part 120 are installed by the first winding part 110 and the second winding part 120 to move up and down in a lever type. 140, a gate 150 coupled to the lower end of the elevating unit 130 to open and close the waterway, and a control unit to stably elevate the gate 150, perform emergency braking, and prevent fall. do.

First, referring to FIGS. 1 and 2, the first winding portion 110 is formed in the inner space of the first case 111, which has a waterproof structure and can be opened and closed for maintenance of the internal structure, supplied from the outside. An AC or DC type electric motor 112 driven by a power supply, a first gear stage (not shown) geared to decelerate by engaging with the driving shaft of the electric motor 112, and engaging one end of the first gear stage A first main shaft (not shown), a second main shaft (not shown) meshing with the other end of the first gear stage, and a disc brake type emergency braking module (not shown) for emergency braking of the rotation drive of the first and second main shafts. ), a handle 113 for manually manipulating the first spindle, a handle locking module (not shown), an opening degree indicator 114, a self-weight lowering lever (not shown), and a self-weight lowering locking module (not shown) It is configured to provide a driving force for driving the elevation unit 130 up and down.

Next, referring to FIGS. 1 and 2, the second winding portion 120 is formed in the inner space of the second case 121, which has a waterproof structure and can be opened and closed for maintenance of the internal structure, and the first main shaft. A linking shaft 122 extending concentrically from the linking shaft 122, a third main shaft (not shown) meshing with one end of a second gear stage (not shown) meshing with the connecting shaft 122 and interlocking with the first main shaft, and a second Consisting of a fourth main shaft (not shown) meshing with the other end of the gear stage, the first main shaft of the first winding unit 110 and the third main shaft of the second winding unit 120 rotate in conjunction with each other to rotate the lifting unit 130 The first leg bar 133 and the second leg bar 136 of ) can be moved up and down in conjunction.

Next, referring to FIGS. 1, 2 and 4, the elevating unit 130, one side meshes with the pinion gear 131 of the first main shaft, and the other side meshes with the pinion gear 132 of the second main shaft In this case, the first leg bar 133 of a certain height that is raised and lowered by the first winding part 110, one side meshes with the pinion gear 134 of the third main shaft, and the other side meshes with the pinion gear 135 of the fourth main shaft ), and is composed of a second leg bar 136 of a certain height that is moved up and down by the second hoisting part 120.

That is, the pinion gears 131 and 132 rotating in conjunction with both sides of the first leg bar 133 are meshed with each other, and the pinion gears 134 and 135 rotating in conjunction with both sides of the second leg bar 136 are meshed with each other. , The first leg bar 133 and the second leg bar 136 can be stably moved up and down without shaking, and can be moved up and down even when a pinion gear meshing with either side is damaged.

Here, as illustrated in FIG. 4, the pinion gear 131 of the first main shaft and the pinion gear 132 of the second main shaft are formed at different heights and rotate in opposite rotational directions to lift the first leg bar 133. And, the pinion gear 134 of the third main shaft and the pinion gear 135 of the fourth main shaft are formed at different heights and rotate in opposite rotational directions to raise and lower the second leg bar 136, so that they are formed at the same height Compared to the structure to be, it is also possible to improve the durability of the lifting pin (B) by distributing the torque applied to the lifting pin (B) to be described later.

For example, referring to FIGS. 1 and 4, the first leg bar 133 and the second leg bar 136 are between a pair of lifting shafts A in the form of opposite extension plates and the lifting shaft A It may be composed of a plurality of lifting pins (B) spaced apart from each other and coupled.

On the other hand, referring to FIG. 3, the lifting shaft A and the lifting shaft A are provided on the upper surfaces of the first case 111 and the second case 121 where the first and second leg bars 133 and 136 are exposed. It further includes a foreign matter removal unit composed of a vision camera 171 that detects the attachment of foreign matter to the pin B, and a blowing module 172 that blows and removes the foreign matter detected by the vision camera 171 at high pressure, and the control unit The first leg bar 133 and the second leg bar 136 are moved up and down periodically or according to weather conditions such as fine dust concentration, dew, precipitation, and snow to remove foreign substances by the foreign matter removal unit, so that the pinion gear It is also possible to ensure smooth engagement with the lifting shaft (A) and the lifting pin (B) to prevent contamination, and to minimize corrosion by removing moisture.

In addition, a lubricating oil supply module (not shown) formed inside the first case 111 and the second case 121 to inject and supply lubricating oil to the first rec bar 133 and the second rec bar 136, respectively. Including, the first rec bar 133 and the second rec bar 136 are photographed through the vision camera 171 to identify the object, and the control unit analyzes the image by the vision camera 171, When it is determined that the lubricating oil is insufficient, the lubricating oil supply module may be controlled and sprayed to prevent corrosion and ensure smooth engagement.

Next, the skid frame 140 is stably fixed by maintaining a balance on the upper ground of the terrain where the waterway is formed so that the first hoisting part 110 and the second hoisting part 120 are installed.

Specifically, referring to FIGS. 3 and 5, the skid frame 140 is a fixed frame 141 to which the first and second winding parts 110 and 120 are welded or bolted to be seated, on the ground It is composed of a ground frame 142 seated and fixed, and a plurality of shock absorbing modules 143 interposed between the fixed frame 141 and the ground frame 142 to absorb shocks caused by external forces such as earthquakes, Deformation of the leg bar 133 and the second leg bar 136 may be prevented.

Here, the shock absorbing module 143, as shown in FIG. 5, is a bolt 143a bolted to the fastening hole of the ground frame 142 from the through hole of the fixing frame 141, and the bolt 143a Consisting of a coil spring 143b surrounding the outer circumferential surface and a shock absorbing pad 143c surrounding the outer circumferential surface of the coil spring 143b, vibration in the vertical direction is absorbed by the coil spring 143b, and vibration in the horizontal direction is impact By absorbing the shocks applied to the first leg bar 133 and the second leg bar 136 by absorbing the absorbent pad 143c, the shock applied to the first leg bar 133 and the second leg bar 136 can be mitigated so as to move up and down in the correct position.

Next, the gate 150 is coupled to the lower end of the elevating unit 130 and guided by a pair of opposing side guides 151 formed on the inner surface of the waterway to move up and down to open and close the waterway. Specifically, FIG. 2, 5 and 9, the waterway is opened and closed by lifting along the side guides 151 of a pair of rack gear structures formed to face the inner surface of the waterway through the toothed rollers 152 formed on both sides, A brake may be provided on the roller 152 to perform emergency braking in case of an emergency, so as to limit abnormal descent or elevation of the gate 150 .

Here, as illustrated in FIGS. 5 and 7, fixing holes 153 are formed through the horizontal direction on both sides of the gate 150, and the fixing holes 153 are formed in the side guides 151 by hydraulic cylinders or electric motors. ) is formed with a fixing bar 154 that slides in and out by sliding back and forth, so that when the gate 150 is lifted, the fixing bar 154 is withdrawn from the fixing hole 153 so that it does not interfere with the lift, and the gate ( 150) descends and touches the bottom surface of the waterway, the fixing rod 154 is drawn into the fixing hole 153 to prevent the gate 150 from being overturned by strong water pressure, or the gate 150 rises An unexpected drop of the gate 150 may be prevented when the waterway is partially or completely opened.

In addition, referring to FIG. 8, a buoyancy control module 155 is formed on the bottom surface of the gate 150 so that when the gate 150 rises, buoyancy is generated by air inflow so that the gate 150 rises more smoothly. You may.

Next, the winding unit 160, referring to FIGS. 1, 2 and 5, the first rope 161 connected to the upper end of the gate 150 and the second rope 162 connected to the lower end of the gate 150 ), and the first winder 163 for winding the first rope 161 by rotating in the first direction in conjunction with the linkage shaft 122, and rotating in the second direction in conjunction with the linkage shaft 122 to wind the first rope 161. It is composed of a second winder (not shown) that winds the second rope 162, and the second rope 162 is changed in direction through a pulley 164 buried in the bottom of the waterway to form a first winding part 110 and It may be configured to be wound by a second winder formed inside the second winding portion 120 .

Through this, while the gate 150 is raised and lowered by lifting the first leg bar 133 and the second leg bar 136 by the first hoisting part 110 and the second hoisting part 120, By pulling the gate 150 through the winder 163 and the second winder, the gate 150 can be smoothly opened and closed by reinforcing the lifting force even when water pressure equal to or higher than the lifting capacity acts.

Here, as shown in FIG. 7, even when the operation of the first hoisting part 110 and the second hoisting part 120 is abnormal, the engagement between the first and second leg bars 133 and 136 and the pinion gear is maintained. It is released, and the gate 150 is lifted by pulling the gate 150 through the first winder 163 and the second winder, so that the waterway can be opened and closed in an emergency.

Next, the control unit (not shown) controls the electric motor 112 of the first winding unit 110 and the emergency braking module, and controls the operation of the first winding unit 110 and the second winding unit 120 when the operation is abnormal. The first winder 163 and the second winder may be driven.

On the other hand, referring to FIGS. 2 and 3 , the vision camera 173 is installed on the lower surface of the gate 150 or the inner lower end of the side guide 151 to detect foreign substances accumulated on the bottom surface of the waterway, and passes through the gate 150. and a spraying module 174 for pumping and spraying high-pressure water in the direction of the flow path, and the control unit transmits high-pressure water through the spraying module 174 when a foreign substance obstructing the gate 150 is detected by the vision camera 173. By spraying water to remove foreign substances, the gate 150 can be completely closed.

Alternatively, as illustrated in FIG. 2, the rotary shaft 175 formed on the bottom surface of the side guide 151, a plurality of foreign matter removal rods 176 extending in the normal direction from the rotary shaft 175, and the rotary shaft 175 Further includes a bottom cleaning unit composed of a motor (not shown) that rotates forward and backward, and when the control unit detects a foreign material deposited by the vision camera 171, it controls the motor to rotate the foreign material removal rod 176 in the flow direction. By doing so, the foreign substances deposited on the bottom of the waterway are lifted and moved in the direction of the flow rate, thereby removing obstacles when the gate 150 descends to prevent overload of the electric motor 112 and completely close the gate 150. can do.

In addition, referring to FIGS. 1 and 6, a linkage shaft support 180 for preventing shaft deformation due to external force while supporting the linkage shaft 122 is further included, and specifically, the linkage shaft support 180 has a bearing structure. A guide ring 181 that guides the rotation of the linkage shaft 122 through a guide ring 181, a fixed ring 182 spaced apart from the outside of the guide ring 181, and a support plate formed at the lower end of the fixed ring 182 to be supported ( 183), a coil spring 184 radially symmetrically arranged between the guide ring 181 and the fixing ring 182, and a plunger 185 disposed between the coil spring 184 and elastically contracted and extended. ) can be configured.

Accordingly, vibration transmitted to the link shaft 122 through the coil spring 184 and the plunger 185 may be absorbed to maintain the concentric axis of the link shaft 122 .

In addition, referring to FIG. 7 , the first cover 191 surrounding the first leg bar 133 exposed to the top of the first case 111 and the second leg exposed to the top of the second case 121 It further includes a second cover 192 surrounding the bar 136, and the first cover 191 and the second cover 192 are respectively lifting and lowering the first leg bar 133 and the second leg bar 136. It is possible to prevent and protect the first leg bar 133 and the second leg bar 136 from external contamination by moving them up and down in conjunction with each other.

Here, the first cover 191 and the second cover 192 move up and down in conjunction with the elevation of the first leg bar 133 and the second leg bar 136, or are folded so that the height is adjusted so that the first leg bar 133 and the second leg bar 136 are adjusted in height. 133 and the second leg bar 136 can be protected.

Therefore, by the configuration of the water gate for preventing gate overturn as described above, the gate is raised and lowered stably, emergency braking is performed, and the gate is prevented from overturning. The winding capacity is shared through the winding unit to prevent overload of the electric motor, and even when the winding unit is out of order, the gate can be opened and closed smoothly by pulling the gate with a rope through the winding unit.

The embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents that can replace them at the time of this application. It should be understood that there may be waters and variations.

110: Part 1 of Volume 111: Case 1
112: electric motor 113: handle
114: Opening indicator 120: Volume 2
121: second case 122: linkage axis
130: lift part 131,132: pinion gear
133: first leg bar 134,135: pinion gear
136: second leg bar 140: skid frame
141: fixed frame 142: ground frame
143: shock absorbing module 150: gate
151: side guide 152: roller
153: fixing hole 154: fixing bar
155: buoyancy control module
160: winding unit 161: first rope
162: second rope 163: first winding machine
164: pulley 171: vision camera
172: blowing module 173: vision camera
174: injection module 175: rotational shaft
176: foreign matter removal rod 180: linkage shaft support
181: guide ring 182: fixed ring
183: support plate 184: coil spring
185: plunger 191: first cover
192: second cover

Claims (10)

An electric motor formed in the inner space of the first case and driven by power supply; Consisting of a second spindle meshing with the other end of the first gear stage, an emergency braking module for emergency braking of the rotational drive of the first and second spindles, and a handle for manually manipulating the first spindle, Volume 1 adoptive father;
A linking shaft formed in the inner space of the second case and extending from the first main shaft, a third main shaft meshing with one end of a second gear stage meshing with the linking shaft and interlocking with the first main shaft, and A second winding portion composed of a fourth main shaft meshing with the other end of the second gear stage;
One side meshes with the pinion gear of the first main shaft, the other side meshes with the pinion gear of the second main shaft, and the first leg bar of a certain height that moves up and down, one side meshes with the pinion gear of the third main shaft, and the other side A lifting unit composed of a second leg bar having a predetermined height that engages with the pinion gear of the fourth main shaft and moves up and down;
a skid frame fixed to the ground so that the first hoisting part and the second hoisting part are installed;
Coupled to the lower end of the lifting part, the toothed roller formed on both sides moves along the side guide of a pair of rack gear structures formed to face the inner surface of the waterway to open and close the waterway, and the roller is provided with a brake A gate that enables emergency braking;
a control unit controlling the electric motor and the emergency braking module; and
A linkage shaft support for preventing shaft deformation due to external force while supporting the linkage shaft; including,
The linkage shaft support includes a guide ring for guiding rotation of the linkage shaft, a fixing ring spaced apart from the outside of the guide ring, a support plate formed at a lower end of the fixing ring to be supported, and a space between the guide ring and the fixing ring. Characterized in that it consists of a coil spring arranged symmetrically in the radial direction and a plunger disposed between the coil springs and elastically contracted and extended.
Sluice gate to prevent gate overturn.
According to claim 1,
Characterized in that fixing holes are formed in the horizontal direction on both sides of the gate, and fixing rods are formed in the side guides to be drawn in and out by sliding back and forth in the fixing holes.
Sluice gate to prevent gate overturn.
According to claim 1,
Characterized in that a buoyancy control module is formed on the bottom surface of the gate,
Sluice gate to prevent gate overturn.
According to claim 1,
A vision camera installed on the bottom of the gate to detect foreign substances accumulated on the bottom of the waterway, and a spraying module for pumping and spraying high-pressure water in the direction of a passage passing through the gate,
Characterized in that the control unit injects high-pressure water through the injection module to remove the foreign matter when the vision camera detects a foreign matter obstructing the lowering of the gate.
Sluice gate to prevent gate overturn.
According to claim 4,
A bottom cleaning unit composed of a rotational shaft formed on the bottom surface of the side guide, a foreign matter removal rod extending in a normal direction from the rotational shaft, and a motor for forward and reverse rotation of the rotational shaft; further comprising,
Characterized in that, when the control unit detects the foreign matter deposited by the vision camera, it lifts the foreign matter deposited on the bottom of the motor and moves it in the flow direction,
Sluice gate to prevent gate overturn.
According to claim 1,
A lubricating oil supply module formed inside the first case and the second case to inject and supply lubricating oil to the first and second rack bars, respectively, and formed on the upper surfaces of the first case and the second case, respectively And further comprising a vision camera for identifying an object by capturing images of the first and second leg bars,
Characterized in that the control unit controls the lubricant supply module by analyzing the image by the vision camera,
Sluice gate to prevent gate overturn.
According to claim 1,
The pinion gear of the first main shaft and the pinion gear of the second main shaft are formed at different heights and rotate in opposite rotational directions to lift the first leg bar,
Characterized in that the pinion gear of the third main shaft and the pinion gear of the fourth main shaft are formed at different heights and rotate in opposite rotational directions to lift the second leg bar,
Sluice gate to prevent gate overturn.
According to claim 7,
The first leg bar and the second leg bar are composed of a pair of opposing lifting shafts and a plurality of lifting pins spaced apart and coupled at a predetermined distance between the lifting shafts,
A vision camera for detecting attachment of foreign substances to the lifting shaft and the lifting pin on each upper surface of the first case and the second case where the first and second leg bars are exposed, and a vision camera detected by the vision camera. It further includes; a foreign matter removal unit made of a blowing module for blowing and removing foreign matter at high pressure;
Characterized in that the controller periodically lifts the first leg bar and the second leg bar to remove foreign substances by the foreign substance removal unit,
Sluice gate to prevent gate overturn.
delete According to claim 1,
A first rope connected to the upper end of the gate, a second rope connected to the lower end of the gate, a first winder for winding the first rope by rotating in a first direction in conjunction with the linkage shaft, and the linkage shaft characterized in that it further comprises; a winding unit composed of a second winder for interlockingly rotating in the second direction and winding the second rope;
Sluice gate to prevent gate overturn.

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