KR102645841B1 - Auto loader - Google Patents

Abstract

The present invention relates to an autoloader, which includes a frame with an access road formed so that a transport vehicle equipped with a storage tank capable of accommodating a large amount of powder can enter, and the transport vehicle for the access road to the frame on the upper part of the access road. A supply hopper installed to be movable along the entry direction or a direction intersecting the entry direction, and provided with a receiving space for receiving the powder or granular material supplied from the powder or granular supply unit, and a driving unit that moves the supply hopper with respect to the frame; , a discharge member installed in the supply hopper so as to discharge the powder or granular material contained in the receiving space to the transport vehicle entering the access road, and a powder formed on the upper part of the receiving tank of the transport vehicle entering the access road. It is equipped with a sensor unit that detects the position of the inlet and a control unit that controls the drive unit to move the supply hopper so that the part where the powder or granular material is discharged from the discharge member is located in the corresponding powder inlet based on the detection information provided by the sensor unit. do.
The autoloader according to the present invention can detect the powder inlet of a parked transport vehicle and automatically set the discharge nozzle to the powder inlet to supply powder to the receiving tank of the transport vehicle, thus reducing the time required for powder supply work. There is an advantage that manpower can be saved, and even if the worker is unskilled, the powder supply work can be performed without loss of the powder or grain.

Description

Auto loader

The present invention relates to an autoloader, and more specifically, to an autoloader that can automatically supply powders such as cement to a storage tank of a transport vehicle.

Bulk vehicles are vehicles that transport powders such as cement, feed, grains, chemicals, and food in their actual form rather than in bags. The lower part is a closed tank structure that is loaded from the top and discharges the powder loaded in the tank using a screw type, pneumatic feed type, dump type, or a combination of these. These vehicles are called cement transport vehicles, feed transport vehicles, grain transport vehicles, etc. depending on the load. Cement transport vehicles are the largest, followed by feed transport vehicles, and in food, the proportion used to transport flour is increasing. From a logistics perspective, these vehicles can be said to be very reasonable vehicles in terms of omitting packaging and mechanizing unloading.

The above bulk vehicles are also called bulk lorry or tank lorry. The interior of a typical bulk tank is divided by a plurality of partition walls, and a manhole is provided at the top of the partitioned space. The loading capacity of such a bulk tank is approximately 15 to 25 tons, and the tank is filled by dropping the powder or granular material from the top using an autoloader and injecting the powder or granular material into the powder inlet of the tank.

However, the conventional autoloader requires the worker to visually check the powder inlet provided in the tank of the parked transport vehicle and then move the discharge nozzle that discharges the powder to the powder inlet, which is cumbersome and causes accidents such as falls of the worker. There is a risk, and if the operator is an unskilled person, there is a disadvantage in that the powder may be lost during the supply operation to the tank.

Registered Utility Model Publication No. 20-0350667: Vehicle mobile unloader

The present invention was created to improve the above problems, and is capable of detecting the powder inlet of a parked transport vehicle and automatically setting the discharge nozzle to the powder inlet to supply powder to the receiving tank of the transport vehicle. The purpose is to provide an autoloader.

The autoloader according to the present invention for achieving the above object includes a frame with an access road formed so that a transport vehicle equipped with a storage tank capable of accommodating a large amount of powder can enter, the frame at the top of the access road, and the access road. A supply hopper installed to be movable along the entry direction of the transport vehicle or a direction intersecting the entry direction, and provided with a receiving space for receiving the powder or granule supplied from the powder or granule supply unit, and the supply hopper with respect to the frame. A driving unit for moving, a discharge member installed in the supply hopper to discharge the powder and granular material stored in the receiving space to the transport vehicle entering the access road, and the receiving tank of the transport vehicle entering the access road. A sensor unit detects the position of the powder inlet formed at the top, and controls the drive unit to move the supply hopper so that the part where the powder or granular material is discharged from the discharge member is located at the powder inlet based on the sensing information provided by the sensor unit. It is provided with a control unit that

The sensor unit includes a laser sensor installed in the supply hopper to output a laser beam downward and receive a laser beam reflected from the transport vehicle, and the supply hopper through the laser beam output time and laser beam reception time of the laser sensor. a distance calculation module that calculates the separation distance from the vehicle, and a driving unit that operates the supply hopper to move the laser beam so that the laser beam is uniformly applied to the receiving tank of the transport vehicle entering the access road, provided by the distance calculation module. It is equipped with an information calculation module that calculates the location of the powder inlet as the area where the separation distance from the supply hopper increases beyond a preset reference range based on the calculated information.

The discharge member is installed in the supply hopper, has a discharge passage communicating with the receiving space, has a loading chute extending a predetermined length below the supply hopper, is installed at the lower end of the loading chute, and has the separation device at the bottom. It is provided with a discharge nozzle having an outlet through which the sieve is discharged, and a lift unit that raises and lowers the discharge nozzle.

The driving unit includes at least one moving rail extending along the moving direction of the supply hopper on the frame at the upper part of the access road, a traveling wheel rotatably installed on the supply hopper so that an outer circumferential surface is in contact with the moving rail, and A traveling motor is installed in the supply hopper and rotates the corresponding traveling wheel.

The control unit operates the drive unit to move the supply hopper so that the discharge nozzle is located above the powder inlet, and then controls the lift unit to lower the discharge nozzle so that the lower end of the discharge nozzle is drawn into the powder inlet. can do.

In addition, the autoloader according to the present invention includes a plurality of contact detection sensors installed at the lower end of the discharge nozzle and spaced apart from each other along the edge of the discharge port to detect contact with the receiving tank of the transport vehicle, and the contact detection sensor. When contact with the receiving tank is detected, it is determined that the discharge nozzle is not inserted into the powder inlet, and an auxiliary moving part may be further provided to move the discharge nozzle so that the discharge nozzle can be introduced into the powder inlet. there is.

The auxiliary moving unit includes a state determination module that determines that the discharge nozzle is not inserted into the powder inlet when contact with the receiving tank is detected by the contact detection sensor, and the state determination module determines that the discharge nozzle is in the powder inlet. If it is determined that the discharge nozzle is not inserted into the powder inlet, the part of the discharge nozzle corresponding to the installation position of the contact detection sensor where the contact of the receiving tank is detected is moved to the center of the powder inlet so that the discharge nozzle can be introduced into the powder inlet. It is provided with an auxiliary operation module that operates the driving unit to move it.

Meanwhile, the auxiliary moving unit includes a state determination module that determines that the discharge nozzle is not inserted into the powder inlet when contact with the receiving tank is detected by the contact detection sensor, and the state determination module determines that the discharge nozzle is not inserted into the powder inlet. If it is determined that the discharge nozzle is not inserted into the inlet, an auxiliary movement unit may be provided to forcibly move the discharge nozzle so that the discharge nozzle can be introduced into the powder inlet.

The auxiliary moving units are installed on the outer peripheral surface of the discharge nozzle at a position where one end is spaced upward with respect to the discharge port, spaced apart from each other along the circumferential direction, and an injection space is formed therein so that air can be injected, and the injection space is formed therein. When the air is injected into the space, it expands radially based on the center of the discharge nozzle, and the other end expands to the lower side of the discharge nozzle so that the discharge nozzle can be forced to move by interfering with the outer peripheral surface of the receiving tank. The expansion tube, the gas injection part connected to the expansion tubes to inject the air into the expansion tubes, and the contact where the contact of the receiving tank is detected so that the discharge nozzle can be introduced into the corresponding powder inlet. It is provided with an expansion control module that controls the gas injection unit so that the air is injected into the expansion tube adjacent to the detection sensor.

The auxiliary moving unit includes a plurality of interference blocks installed on the outer peripheral surface of the lower end of the discharge nozzle, spaced apart from each other in the circumferential direction and capable of advancing and retreating radially with respect to the center of the discharge nozzle, and a lower portion of the interference block. When the discharge nozzle is in contact with the outer peripheral surface of the receiving tank, a plurality of contact pads are in contact with the outer peripheral surface of the receiving tank and provide a predetermined friction force to the interference block and the outer peripheral surface of the receiving tank, and the interference blocks. An advance/retract unit is installed to advance and retract the interference blocks independently of each other, and the interference block adjacent to the contact detection sensor detects the contact of the receiving tank so that the discharge nozzle can be introduced into the corresponding powder inlet from the discharge nozzle. It may also be provided with an advance/retract control module that controls the advance/retract unit to move in a direction away from the unit.

The autoloader according to the present invention can detect the powder inlet of a parked transport vehicle and automatically set the discharge nozzle to the powder inlet to supply powder to the receiving tank of the transport vehicle, thus reducing the time required for powder supply work. There is an advantage in that manpower can be saved, and even if the worker is unskilled, the powder supply work can be performed without loss of the powder or grain.

1 and 2 are conceptual diagrams showing the operating state of an autoloader according to an embodiment of the present invention,
Figure 3 is a block diagram of the autoloader of Figure 1;
4 is a partial side view of an autoloader according to another embodiment of the present invention;
Figure 5 is a rear view of the discharge nozzle of the autoloader of Figure 4;
Figure 6 is a block diagram of the autoloader of Figure 4,
7 is a cross-sectional view of an autoloader according to another embodiment of the present invention;
8 is a cross-sectional view of an autoloader according to another embodiment of the present invention;
Figure 9 is a cross-sectional view of an autoloader according to another embodiment of the present invention.

Hereinafter, an autoloader according to an embodiment of the present invention will be described in detail with reference to the attached drawings. Since the present invention can be subject to various changes and can have various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components. In the attached drawings, the dimensions of the structures are enlarged from the actual size for clarity of the present invention.

Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

1 to 3 show an autoloader 100 according to the present invention.

Referring to the drawing, the autoloader 100 includes a frame 200 with an access road 201 formed so that a transport vehicle 10 equipped with a storage tank 11 capable of holding a large amount of powder can enter, It is installed on the frame 200 above the access road 201 to be movable along the entry direction of the transport vehicle 10 with respect to the access road 201 or the corresponding entry direction, and is supplied from the powder supply unit 330. A supply hopper 300 provided with a receiving space in which the powder or granular material is accommodated, a driving unit 400 that moves the supply hopper 300 with respect to the frame 200, and the powder or granular material accommodated in the receiving space is provided in the access road. A discharge member 500 installed in the supply hopper 300 to enable discharge to the transport vehicle 10 entering the access road 201, and receiving the transport vehicle 10 entering the access road 201. A sensor unit 600 that detects the position of the powder inlet 12 formed at the top of the tank 11, and a portion of the discharge member 500 where the powder is discharged based on the detection information provided by the sensor unit 600. It is provided with a control unit 700 that controls the driving unit 400 to move the supply hopper 300 to be positioned at the corresponding powder inlet 12.

Although not shown in the drawings, the frame 200 forms a square structure in which a plurality of framing members extending in the up-down, left-right, and front-to-back directions are fixed to each other. Here, an access road 201 is formed at the bottom of the frame 200 to penetrate in the forward and backward directions. The transport vehicle 10 enters the front of the access road 201, receives powder and granular material in the receiving tank 11, and then advances to the rear of the access road 201.

Here, the transport vehicle 10 is operated by a transport worker, and is connected to a receiving tank 11 for accommodating the powder or grain to move the corresponding accommodating tank 11, which is conventionally used to transport the powder or grain. Since the commonly used transport vehicle 10 is applied, detailed description will be omitted. The receiving tank 11 has an internal space in which the powder or grain is accommodated, and a powder inlet 12 is formed on the upper side to allow the powder or grain to be injected into the inner space. Although not shown in the drawing, the receiving tank 11 is equipped with an automatic opening and closing device to automatically open and close the corresponding powder inlet 12.

The supply hopper 300 is installed on the frame 200 on the upper side of the access road 201, and is preferably installed so that the lower end is exposed to the access road 201. At this time, the supply hopper 300 is installed to be able to slide in the forward and backward direction along the moving rail 410 of the driving unit 400, which will be described later. Meanwhile, the supply hopper 300 is not limited to this, but may be installed on the frame 200 so as to be able to slide in a direction that intersects the entry direction of the transport vehicle 10 to the corresponding access road 201, for example, in the left and right directions. .

The above-mentioned supply hopper 300 has a predetermined left and right width, extends in the front and rear directions, and has an open top so that the powder or granule supplied from the powder supply unit 330 can be easily accommodated in the receiving space. In addition, the supply hopper 300 is connected to a discharge member 500 at the lower end, and is formed so that the width of the receiving space in the front and rear directions decreases toward the bottom so that the powder or grain can be easily discharged into the discharge member 500.

In addition, the supply hopper 300 has an auxiliary hopper 310 installed at the bottom, where the discharge member 500 is installed. The auxiliary hopper 310 has a communication space inside it that communicates with the receiving space of the supply hopper 300, and extends a predetermined length downward with respect to the supply hopper 300. Although not shown in the drawing, an intermittent valve unit may be installed at the lower end of the auxiliary hopper 310 to control the supply of powder or grain to the discharge member 500. Since the conventional opening and closing means installed in the hopper is applied to the control valve unit in order to open and close the discharge passage of the hopper through which the powder contained inside the hopper is discharged, a detailed description is omitted.

Meanwhile, a covering belt 320 is installed in the supply hopper 300 to cover the open upper part. The covering belt 320 is formed to have an area corresponding to the upper surface of the supply hopper 300, and front and rear ends are set to the supply hopper 300 by the belt tension spring 321, respectively. The belt tension spring 321 is installed at the front and rear of the supply hopper 300, respectively, and tensions the covering belt 320 to maintain the covering belt 320 covering the open upper part of the supply hopper 300. provides. The covering belt 320 is installed and dismantled by the worker. When the supply of powder or grain from the powder supply unit 330 to the receiving space is completed, it is installed by the worker to block foreign substances from entering the receiving space and to block the powder or grain from entering the receiving space. When the powder or granular material is supplied from the supply unit 330 to the supply hopper 300, it is separated from the supply hopper 300 by an operator and the upper part of the supply hopper 300 is opened.

The powder or grain supply unit 330 includes a feeding member 331 installed on the frame 200 on the upper side of the supply hopper 300, a supply silo 332 in which a large amount of powder or grain is accommodated, and the powder or grain in the supply silo 332. A feeding pipe 333 connected between the feeding member 331 and the supply silo 332 to supply to the feeding member 331, and a feeding pipe 333 installed on the feeding pipe 333 to open and close the feeding pipe 333. It is provided with an automatic valve (334).

The feeding member 331 is installed on the frame 200 at a position spaced upward with respect to the supply hopper 300. The feeding member 331 is provided with a feeding space inside to allow the powder or granular material supplied through the feeding pipe 333 to be input, and the lower part is formed to be open so that the powder or granular material in the feeding space is discharged downward.

The supply silo 332 is supported on the frame 200 at a position spaced upward with respect to the feeding member 331. The supply silo 332 is for accommodating a large amount of powder, and since a silo commonly used in the related art is applied, detailed description will be omitted.

The upper end of the feeding pipe 333 is connected to the supply silo 332, and the lower end is connected to the feeding member 331. The feeding pipe 333 is provided with a powder flow path (not shown) inside so that the powder or grain of the supply silo 332 can flow, and the lower end is connected in communication with the feeding space of the feeding member 331. The powder in the supply silo 332 is supplied into the feeding member 331 through the powder flow path of the feeding pipe 333.

The automatic valve 334 is installed at the lower end of the feeding pipe 333 and opens and closes the powder flow path inside the feeding pipe 333. The automatic valve 334 opens and closes the powder flow path of the feeding pipe 333 according to an operation signal input by the operator.

Meanwhile, the supply hopper 300 is equipped with a flow guide unit 340 that flows the powder and granular material contained in the receiving space toward the auxiliary hopper 310 so that the powder can be easily discharged to the discharge member 500. .

The flow guide unit 340 includes a plurality of air conditioner bays 345 that are installed inside the supply hopper 300 to flow the powder or grain by the supplied air, and an air supply unit 341 that supplies air to the air conditioner bay. is provided.

A plurality of air conditioner carriers 345 are installed on the floor inside the supply hopper 300. Although the air conditioner conveyor 345 is not shown in the drawing, a detailed description of the air conveyor 345 is omitted because an air conveyor device commonly used in the related art is used to transport fine particle objects using supplied air. It is preferable that two air conveyors 345 described above are installed to cover the gently sloping surface of the lower part of the supply hopper 300.

The air supply unit 341 is connected to an airline 342, one end of which is connected to the air conditioner carriers 345, and the other end of the airline 342, to supply air to the air conditioner carrier 345 through the corresponding air supply pipe. A ring blower (343) is provided.

One end of the airline 342 is branched and connected to the respective air conditioner carriers 345, and an air flow path through which air flows is formed therein. The ring blower 343 is installed in the front of the supply hopper 300 and injects external air into the air line 342. Since the ring blower 343 is a conventionally used blower to forcibly blow outside air, a detailed description will be omitted. The above-mentioned flow guide unit 340 uses the air supplied from the air supply unit 341 to flow the powder or granular material in the supply hopper 300 to the auxiliary hopper 310, so that the powder or granular material can be smoothly discharged to the discharge member 500. You can.

The driving unit 400 is mounted on the frame 200 at the upper part of the access road 201, has a plurality of moving rails 410 extending along the moving direction of the supply hopper 300, and has an outer peripheral surface connected to the moving rail 410. A plurality of traveling wheels 420 rotatably installed on the supply hopper 300 so as to contact each other, and a traveling motor 430 installed on the supply hopper 300 to rotate the corresponding traveling wheels 420. Equipped with

The moving rail 410 is installed on the frame 200 on the upper side of the access road 201 and extends a predetermined length in the front and rear direction. Here, a plurality of moving rails 410 are installed to be spaced apart from each other in the left and right directions by a distance longer than the left and right width of the supply hopper 300. Meanwhile, in the illustrated example, two moving rails 410 are shown installed on the frame 200, but this is not limited to this, and one or three or more moving rails 410 are installed depending on the size of the supply hopper 300. It could be.

The traveling wheel 420 is rotatably installed on the supply hopper 300 by a support bracket 421. Here, the traveling wheel 420 is installed on the front left and right sides and the rear left and right sides of the supply hopper 300, respectively, so that the lower outer peripheral surface is supported by the moving rail 410. The traveling wheel 420 is formed to have a width corresponding to the width of the moving rail 410. Meanwhile, although not shown in the drawing, the traveling wheel 420 has separation prevention protrusions formed on its left and right ends. The separation prevention protrusion protrudes in the direction in which the outer diameter of the traveling wheel 420 expands and extends along the circumferential direction of the traveling wheel 420. The separation prevention protrusion interferes with the left or right side of the moving rail 410 to prevent the corresponding traveling wheels 420 from being separated from the moving rail 410.

The traveling motor 430 is installed on the traveling wheel 420 and rotates the traveling wheel 420 in the forward or reverse direction. The traveling motor 430 is preferably an electric motor that generates rotational force by applied power, but is not limited to this, and any rotation means that can rotate the traveling wheel 420 can be applied. do. Meanwhile, in the illustrated example, the traveling motor 430 is installed on only one of the traveling wheels 420, but the present invention is not limited to this and may be installed on multiple traveling wheels 420.

The discharge member 500 is installed in the supply hopper 300, has a discharge passage communicating with the receiving space, and includes a loading chute 510 extending a predetermined length below the supply hopper 300, and It is installed at the lower end of the loading chute 510 and is provided with a discharge nozzle 520 formed at the bottom through which the powder or grain is discharged, and a lift unit 530 that raises and lowers the discharge nozzle 520.

The loading chute 510 extends in the vertical direction, and its upper end is connected to the auxiliary hopper 310 of the supply hopper 300. The loading chute 510 is preferably connected in communication with the interior of the auxiliary hopper 310. Here, the loading chute 510 is folded when the discharge nozzle 520 is raised by the lift unit 530 and unfolded when the discharge nozzle 520 is lowered.

The discharge nozzle 520 is installed at the lower end of the loading chute 510, and is provided with a communication passage (not shown) communicating with the discharge passage of the loading chute 510, and has an outlet on the lower surface through which powder or grain is discharged. It is formed. Here, the discharge nozzle 520 extends downward with respect to the loading chute 510, and the lower end is formed so that the outer diameter decreases downward so that it can be easily inserted into the powder inlet 12 of the receiving tank 11. desirable.

Meanwhile, at the lower end of the discharge nozzle 520, a level switch 521 is installed to detect the amount of powder or granular material filled in the receiving space of the receiving tank 11. The level switch 521 is introduced into the receiving tank 11 together with the lower end of the discharge nozzle 520 and measures the level, that is, the height, of the powder or granular material contained in the receiving tank 11. Since the level switch 521 is a level sensor commonly used in the related art to measure the water level or height of the filling inside the tank, detailed description will be omitted.

Although not shown in the drawing, the lift unit 530 includes a winding drum rotatably installed in the lower part of the auxiliary hopper 310, a traction wire with one end wound around the winding drum and the other end connected to the discharge hopper, and A lifting motor 531 is installed on the winding drum and rotates the winding drum in the direction in which the traction wire is wound or unwound. The traction wire is supported by a support roller installed inside the auxiliary hopper 310, passes through the inside of the loading chute 510, and is connected to the discharge hopper. Meanwhile, the lift unit 530 is not limited to this, and any lifting means that can raise and lower the discharge nozzle 520 can be applied.

The sensor unit 600 includes a laser sensor 610 installed in the supply hopper 300 to output a laser beam downward and receive a laser beam reflected from the transport vehicle 10, and the laser sensor 610. A distance calculation module 620 that calculates the separation distance from the supply hopper 300 through the laser beam output time and laser beam reception time, and the powder inlet 12 based on the information provided by the distance calculation module 620. It is provided with an information calculation module 630 that calculates the location of.

The laser sensor 610 is installed at the lower part of the supply hopper 300 spaced forward from the discharge member 500. Although not shown in the drawing, the laser sensor 610 includes a laser output module that outputs a pulsed laser beam downward from the supply hopper 300, and a laser beam output from the laser output module and reflected from the top of the transport vehicle 10. It is equipped with a laser receiving module that receives. Since the laser sensor 610 uses a conventional laser sensing means that uses a laser beam to measure the separation distance, detailed description will be omitted.

The distance calculation module 620 calculates the separation distance between the supply hopper 300 and the transport vehicle 10 using the output time when the laser beam is output from the laser output module and the reception time when the laser beam is received from the laser reception module. Calculate The distance calculation module 620 provides the calculated information to the information calculation module 630.

When the transport vehicle 10 enters the access road 201 and stops, the information calculation module 630 uniformly irradiates the laser beam to the storage tank 11 of the transport vehicle 10 entering the access road 201. The driving unit 400 is operated to move the supply hopper 300 as much as possible. Here, when the transport vehicle 10 stops at the access road 201, the worker opens the powder inlet 12 of the receiving tank 11, inputs a parking completion signal to the information calculation module 630, and calculates the corresponding information. When the parking completion signal is input, the module 630 controls the drive unit 400 while operating the laser sensor 610 to reciprocate the supply hopper 300 in the forward and backward directions.

Next, the information calculation module 630 determines the position of the powder inlet 12 of the receiving tank 11 based on the calculation information provided by the distance calculation module 620. . The laser sensor 610 irradiates a laser beam downward from the supply hopper 300, and since the powder inlet 12 of the receiving tank 11 is opened by the operator, the laser sensor 610 is connected to the powder inlet 12. When passing through the upper side, the laser beam is irradiated to the bottom of the receiving tank 11 through the powder inlet 12 and reflected. Therefore, at the powder inlet 12, the difference between the output time and the reception time of the laser beam of the laser sensor 610 becomes relatively large. Therefore, the information calculation module 630 calculates the area where the separation distance from the supply hopper 300 increases beyond the preset reference range as the position of the powder inlet 12. Here, the reference range can be set in various ways by the operator depending on the storage tank 11 of the transport vehicle 10.

Here, the information calculation module 630 is configured from the initial point when the separation distance from the supply hopper 300 increases beyond the standard range to the point when the distance from the supply hopper 300 decreases beyond the standard range after the initial point. It is desirable to determine the area up to the corresponding powder inlet 12. The information calculation module 630 provides location information about the determined powder inlet 12 to the control unit 700.

Meanwhile, although not shown in the drawing, the sensor unit 600 may include a parking detection unit for detecting the transport vehicle 10 entering the access road 201. The parking detection unit includes a camera installed on the frame 200 to photograph the access road 201, and an image analysis member that analyzes the image captured by the camera to determine whether the transport vehicle 10 is parked. The image analysis member identifies the transport vehicle 10 from the image captured by the camera, and when the transport vehicle 10 stops after entering the access road 201, it is determined that parking is completed and the information calculation module 630 ) can also transmit a parking completion signal. The parking detection unit described above can detect the transport vehicle 10 entering the access road 201 and automatically transmit a parking completion signal to the information calculation module 630, so even if the operator does not monitor the parking status of the transport vehicle 10. The sensor unit 600 can be easily operated.

The control unit 700 operates the drive unit 400 to allow the discharge nozzle 520 to enter the powder inlet 12 of the transport vehicle 10 based on the position information about the powder inlet 12 provided by the information calculation module 630. and controls the discharge member 500. That is, the control unit 700 discharges the powder based on the location information of the powder inlet 12 provided by the information calculation module 630 and the previously stored information about the location of the discharge nozzle 520 with respect to the supply hopper 300. The driving unit 400 is operated to move the supply hopper 300 so that the nozzle 520 is located above the powder inlet 12. Next, when the movement of the supply hopper 300 is completed, the control unit 700 operates the lift unit 530 to lower the discharge nozzle 520 so that the lower end of the discharge nozzle 520 is drawn into the powder inlet 12. ) is controlled.

The operation of the autoloader 100 of the present invention configured as described above will be described in more detail as follows.

First, when the transport vehicle 10 enters the access road 201 of the frame 200 and completes parking, the worker operates the automatic opening and closing device installed on the receiving tank 11 of the transport vehicle 10 to open the receiving tank 11. ) Open the powder inlet (12). Then, the worker inputs a parking completion signal into the information calculation module 630.

When the parking completion signal is input, the information calculation module 630 controls the drive unit 400 while operating the laser sensor 610 to reciprocate the supply hopper 300 in the forward and backward directions. Here, the information calculation module 630 determines the area where the separation distance from the supply hopper 300 increases beyond the reference range as the powder inlet 12 based on the calculation information provided by the distance calculation module 620, Position information about the determined powder inlet 12 is provided to the control unit 700.

The control unit 700 moves the supply hopper 300 so that the discharge nozzle 520 is located above the powder inlet 12 based on the position information of the powder inlet 12 provided by the information calculation module 630. The driving unit 400 is operated, and the lift unit 530 is controlled so that the discharge nozzle 520 is lowered so that the lower end of the discharge nozzle 520 is drawn into the powder inlet 12. When the lowering of the discharge nozzle 520 is completed, the control unit 700 operates the automatic valve 334 or the control valve unit of the powder supply unit 330 so that the powder is injected into the receiving tank 11 through the discharge nozzle 520. I order it. That is, the control unit 700 opens the feeding pipe 333 by operating the automatic valve 334 so that the powder or granular material is supplied from the supply silo 332 to the supply hopper 300 and into the receiving space of the supply hopper 300. The powder supplied to the supply hopper 300 through the feeding pipe 333 is received into the receiving tank 11 through the discharge chute and discharge nozzle 520.

The autoloader 100 according to the present invention configured as described above detects the powder inlet 12 of the parked transport vehicle 10 and automatically sets the discharge nozzle 520 to the corresponding powder inlet 12 to separate the powder. Since the sieve can be supplied to the receiving tank 11 of the transport vehicle 10, the time and manpower required for powder supply work can be reduced, and even if the worker is unskilled, the powder supply work can be performed without loss of powder or granule. It has the advantage of being able to be performed.

Meanwhile, Figures 4 to 6 show an autoloader 800 according to another embodiment of the present invention.

Elements that perform the same function as those in the previously shown drawings are denoted by the same reference numerals.

Referring to the drawing, the autoloader 800 is installed at the lower end of the discharge nozzle 520, spaced apart from each other along the edge of the discharge port, and detects contact with the receiving tank 11 of the transport vehicle 10. When contact between the receiving tank 11 is detected by a plurality of contact detection sensors 810 and the contact detection sensor 810, it is determined that the discharge nozzle 520 is not inserted into the powder inlet 12. In addition, an auxiliary moving part 820 is further provided to move the discharge nozzle 520 so that the discharge nozzle 520 can be introduced into the powder inlet 12.

A plurality of the contact detection sensors 810 are arranged on the lower surface of the discharge nozzle 520 to be spaced apart from each other along an annular orbit centered on the discharge port. Since the contact detection sensor 810 uses a conventionally commonly used contact detection means to detect contact, detailed description will be omitted.

The auxiliary moving unit 820 is a state determination module ( 821 and an auxiliary operation module 822 that operates the driving unit 400 according to the judgment information of the state determination module 821.

The state determination module 821 is connected to a plurality of contact detection sensors 810 and receives detection information from the contact detection sensors 810. Here, when the state determination module 821 detects contact with the receiving tank 11 at the contact detection sensor 810, the lower surface of the discharge nozzle 520 is not inserted into the powder inlet 12, but is connected to the receiving tank 11. It is determined that the discharge nozzle 520 is not inserted into the powder inlet 12 after colliding with the upper surface of .

When it is determined that the discharge nozzle 520 is not inserted into the powder inlet 12, the auxiliary operation module 822 operates the receiving tank so that the discharge nozzle 520 can be inserted into the powder inlet 12. Supply by operating the drive unit 400 so that the part of the discharge nozzle 520 corresponding to the installation position of the contact detection sensor 810 where the contact of (11) is detected is moved toward the center of the powder inlet 12. Move the hopper 300. For example, when contact is detected by the contact detection sensors 810 installed at the rear of the discharge hopper, the auxiliary operation module 822 operates the drive unit 400 so that the supply hopper 300 moves a predetermined distance forward. At this time, it is preferable that the auxiliary operation module 822 operates the corresponding drive unit 400 until all of the contact detection sensors 810 are in a non-detected state.

The autoloader 800 described above moves the discharge nozzle 520 toward the center of the powder inlet 12 when the discharge nozzle 520 contacts the upper part of the receiving tank 11 by the auxiliary moving part 820. There is an advantage in that the discharge nozzle 520 allows the powder inlet 12 to enter more easily, thereby improving work efficiency.

Meanwhile, Figure 7 shows an auxiliary moving unit 830 according to another embodiment of the present invention.

Referring to the drawing, the auxiliary moving unit 830, instead of the auxiliary operation module 822, is operated when the state determination module 821 determines that the discharge nozzle 520 is not inserted into the powder inlet 12. , and further includes an auxiliary moving unit 840 that forcibly moves the discharge nozzle 520 so that the discharge nozzle 520 can be introduced into the powder inlet 12.

The auxiliary movement unit 840 includes a plurality of auxiliary wheels 841 installed on the outer peripheral surface of the discharge nozzle 520, a wheel operating unit (not shown) that independently rotates the auxiliary wheels 841, and a status determination module. A wheel control module (not shown) is provided based on the judgment information provided at 821.

A plurality of the auxiliary wheels 841 are rotatably installed on the lower portion of the outer peripheral surface of the discharge hopper adjacent to each contact detection sensor 810. Here, the auxiliary wheel 841 is installed to rotate around an imaginary center line extending in a direction perpendicular to the radial direction of the outlet. In addition, the auxiliary wheel 841 is preferably set in the discharge hopper so that its lower outer peripheral surface is located at the same height as the contact detection sensor 810.

Although not shown in the drawing, the wheel operating unit includes a plurality of rotation motors installed on each of the auxiliary wheels 841 to rotate the auxiliary wheels 841. At this time, it is preferable that the rotation motor rotates the auxiliary wheel 841 in a direction in which a moving force is generated toward the center of the outlet.

If the status determination module 821 determines that the discharge nozzle 520 is not inserted into the powder inlet 12, the wheel control module allows the discharge nozzle 520 to be inserted into the powder inlet 12. The wheel operating unit is controlled so that the auxiliary wheel 841 adjacent to the contact detection sensor 810, which detects contact with the receiving tank 11, rotates. At this time, it is preferable that the auxiliary operation module 822 operates the wheel operation unit so that the auxiliary wheel 841 rotates until all of the contact detection sensors 810 are in a non-detected state.

The auxiliary movement unit 840 configured as described above provides a moving force to the discharge nozzle 520 when the discharge nozzle 520 contacts the upper part of the receiving tank 11, so that the discharge nozzle 520 can be more stably moved to the powder inlet. It can be introduced into (12).

Meanwhile, Figure 7 shows an auxiliary mobile unit 850 according to another embodiment of the present invention.

Referring to the drawing, the auxiliary moving unit 850 includes a plurality of expansion tubes 851 installed on the outer peripheral surface of the discharge nozzle 520, and expansion tubes 851 to inject air into the expansion tubes 851. It is provided with a gas injection unit 852 connected to and an expansion control module (not shown) that controls the gas injection unit 852 based on detection information from the contact detection sensors 810.

The expansion tube 851 is installed on the outer peripheral surface of the discharge nozzle 520 with one end spaced upward from the discharge port, and a plurality of expansion tubes are installed spaced apart from each other along the circumferential direction. In addition, the expansion tube 851 has an injection space formed inside it so that air can be injected, and when air is injected into the injection space, it is formed to expand radially based on the center of the discharge nozzle 520. . In addition, the air interferes with the upper outer peripheral surface of the receiving tank 11 when expanded, so that the other end is preferably formed to be inclined so as to expand downward to the discharge nozzle 520 so that the discharge nozzle 520 can be forced to move.

The gas injection unit 852 can open and close a plurality of injection pipes 853 installed in each of the expansion tubes 851 to inject air into the injection space of the expansion tube 851, and the injection pipe 853. It is provided with a plurality of opening and closing valves respectively installed on the injection pipes 853, and an expansion blower connected to the injection pipe 853 and forcibly blowing outside air into the injection pipe 853. The operation of the opening/closing valves and the expansion blower is controlled by an expansion control module. Meanwhile, the gas injection unit 852 is not limited to this, and any gas injection means that can independently inject air into each expansion tube 851 can be applied.

If the state determination module 821 determines that the discharge nozzle 520 is not inserted into the powder inlet 12, the expansion control module allows the discharge nozzle 520 to be inserted into the powder inlet 12. An opening/closing valve of the gas injection unit 852 to inject air into the expansion tube 851 so that the expansion tube 851 adjacent to the contact detection sensor 810, which detects contact with the receiving tank 11, expands. and operate the expansion blower. For example, when contact is detected by the contact detection sensors 810 installed at the rear of the discharge hopper, the expansion control module expands only the expansion tube 851 adjacent to the contact detection sensor 810 where the contact was detected. The opening/closing valve of the injection pipe 853 connected to (851) is operated to open the injection pipe 853, and then the expansion blower is operated. At this time, air is injected into the expansion tube 851 through the open injection pipe 853 to expand the expansion tube 851, and when the expansion tube 851 is expanded, it interferes with the upper part of the receiving tank 11 and is discharged. Move the hopper to the powder inlet (12).

Meanwhile, when no contact is detected by the contact detection sensor 810, the expansion control module determines that the movement of the discharge hopper toward the powder inlet 12 has been completed and moves the expansion tube 851 within the expansion tube 851 to shrink the expansion tube 851. The corresponding expansion blower may be activated to expel air.

Meanwhile, Figure 9 shows an auxiliary mobile unit 860 according to another embodiment of the present invention.

Referring to the drawing, the auxiliary movement unit 860 includes a plurality of interference blocks 861 installed to move forward and backward on the outer peripheral surface of the discharge nozzle 520, and a plurality of contact pads installed on the lower part of the interference blocks 861. It is provided with (862), an advance/retract unit 863 installed on the interference blocks 861 to advance/retract the interference blocks 861 independently of each other, and an advance/retract control module for controlling the advance/retract unit 863.

The interference block 861 is installed to be able to advance and retreat radially based on the center of the discharge nozzle 520 by the advance and retreat unit 863. A plurality of interference blocks 861 are set on the outer peripheral surface of the lower end of the discharge nozzle 520 to be spaced apart from each other along the circumferential direction. In addition, the interference block 861 is preferably set in the discharge hopper so that its lower surface is located at a height corresponding to the contact detection sensor 810.

The contact pad 862 is formed to cover the lower surface of the interference block 861. Here, the contact pad 862 is in contact with the outer peripheral surface of the receiving tank 11 when the discharge nozzle 520 is in contact with the outer peripheral surface of the receiving tank 11, thereby forming the interference block 861 and the receiving tank 11. ) A material with a predetermined coefficient of friction, such as rubber, is applied to provide a predetermined friction force to the outer peripheral surface. Meanwhile, although not shown in the drawing, the lower surface of the contact pad 862 may be formed to be rough to prevent slipping with the outer peripheral surface of the receiving tank 11.

The advance and retreat units 863 are installed on the outer peripheral surface of the discharge nozzle 520 at a position spaced upward with respect to the discharge port, spaced apart from each other along the circumferential direction, and expand and contract radially based on the center of the discharge nozzle 520. It is provided with a plurality of actuators 864 and a plurality of interference brackets 865, each of which is installed at the other end of the actuators 864, and an interference block 861 is installed at the bottom.

The number of actuators 864 corresponding to the interference blocks 861 is installed on the corresponding discharge nozzle 520, and an extension means that extends and contracts in the longitudinal direction, such as a hydraulic cylinder or screw jack, is applied. The interference bracket 865 is fixed to the other end of the actuator 864 and includes a first extension part extending downward of the actuator 864, a second extension part extending from the end of the first extension towards the discharge hopper, and , It extends downward from the end of the second extension part and consists of a third extension part at the bottom of which the interference block 861 is fixed.

If the state determination module 821 determines that the discharge nozzle 520 is not inserted into the powder inlet 12, the advance/retract control module allows the discharge nozzle 520 to be inserted into the powder inlet 12. The advance/retract unit 863 is controlled so that the interference block 861 adjacent to the contact detection sensor 810, which detects contact with the receiving tank 11, moves in a direction away from the discharge nozzle 520. For example, when contact is detected by the contact detection sensor 810 installed at the rear of the discharge hopper, the advance and retreat control module moves the interference block 861 adjacent to the contact detection sensor 810 where the contact was detected to the rear. Actuator 864 connected to block 861 is operated. Since the interference block 861 interferes with the receiving tank 11 by the contact pad 862, the discharge nozzle 520 moves toward the powder inlet 12 by expanding and contracting the actuator 864. Accordingly, all of the powder discharged from the discharge nozzle 520 is input into the powder inlet 12 without loss.

The description of the presented embodiments is provided to enable any person skilled in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not limited to the embodiments presented herein, but is to be construed in the broadest scope consistent with the principles and novel features presented herein.

100: Otter Loader 200: Frame
300: Supply hopper 310: Auxiliary hopper
320: covering belt 330: powder supply unit
331: Feeding member 332: Supply silo
333: Feeding pipe 334: Automatic valve
340: Flow guide unit 341: Air supply unit
342: Airline 343: Ring blower
400: driving unit 410: moving rail
420: traveling wheel 430: traveling motor
500: discharge member 510: loading chute
520: Discharge nozzle 530: Lift unit
600: Sensor unit 610: Laser sensor
620: Distance calculation module 630: Information calculation module
700: Control unit

Claims (10)

A frame formed with an access road so that a transport vehicle equipped with a storage tank capable of accommodating a large amount of powder can enter;
It is installed on the frame at the upper part of the access road to be movable along the entry direction of the transport vehicle to the access road or a direction intersecting the entry direction, and is provided with a receiving space in which the powder or granular material supplied from the powder or granular supply unit is accommodated. hopper;
a driving unit that moves the supply hopper relative to the frame;
a discharge member installed in the supply hopper to discharge the powder and granular material accommodated in the receiving space to the transport vehicle entering the access road;
A sensor unit that detects the position of the powder inlet formed at the upper part of the receiving tank of the transport vehicle entering the access road; and
A control unit that controls the drive unit to move the supply hopper so that the part where the powder or granular material is discharged from the discharge member is located at the corresponding powder inlet based on the detection information provided by the sensor unit,
The sensor unit
A laser sensor installed in the supply hopper to output a laser beam downward and receive a laser beam reflected from the transport vehicle;
a distance calculation module that calculates the separation distance from the supply hopper through the laser beam output time and laser beam reception time of the laser sensor; and
The driving unit is operated to move the supply hopper so that the laser beam is uniformly irradiated to the receiving tank of the transport vehicle entering the access road, and the separation distance from the supply hopper is based on the calculation information provided by the distance calculation module. An information calculation module that calculates the area that increases beyond the preset reference range as the location of the powder inlet,
Autoloader.
delete According to paragraph 1,
The discharge member is
a loading chute installed in the supply hopper, forming a discharge passage communicating with the receiving space, and extending a predetermined length below the supply hopper;
A discharge nozzle installed at the lower end of the loading chute and having an discharge port at the bottom through which the powder or granular material is discharged; and
Provided with a lift unit that raises and lowers the discharge nozzle,
Autoloader.
A frame formed with an access road so that a transport vehicle equipped with a storage tank capable of accommodating a large amount of powder can enter;
It is installed on the frame at the upper part of the access road to be movable along the entry direction of the transport vehicle to the access road or a direction intersecting the entry direction, and is provided with a receiving space in which the powder or granular material supplied from the powder or granular supply unit is accommodated. hopper;
a driving unit that moves the supply hopper relative to the frame;
a discharge member installed in the supply hopper to discharge the powder and granular material accommodated in the receiving space to the transport vehicle entering the access road;
A sensor unit that detects the position of the powder inlet formed at the upper part of the receiving tank of the transport vehicle entering the access road; and
A control unit that controls the drive unit to move the supply hopper so that the part where the powder or granular material is discharged from the discharge member is located at the corresponding powder inlet based on the detection information provided by the sensor unit,
The driving part
At least one moving rail extending along the moving direction of the supply hopper on the frame above the access road;
a traveling wheel rotatably installed on the supply hopper so that its outer circumferential surface is in contact with the moving rail;
Provided with a traveling motor installed in the supply hopper and rotating the corresponding traveling wheel,
Autoloader.
According to paragraph 3,
The control unit operates the drive unit to move the supply hopper so that the discharge nozzle is located above the powder inlet, and then controls the lift unit to lower the discharge nozzle so that the lower end of the discharge nozzle is drawn into the powder inlet. doing,
Autoloader.
According to clause 5,
A plurality of contact detection sensors installed at the lower end of the discharge nozzle and spaced apart from each other along the edge of the discharge port to detect contact with the receiving tank of the transport vehicle; and
An auxiliary moving part that determines that the discharge nozzle is not inserted into the powder inlet when contact with the receiving tank is detected by the contact detection sensor and moves the discharge nozzle so that the discharge nozzle can be introduced into the powder inlet; Further comprising,
Autoloader.
According to clause 6,
The auxiliary moving part
a state determination module that determines that the corresponding discharge nozzle is not inserted into the powder inlet when the contact detection sensor detects contact with the receiving tank; and
If the state determination module determines that the discharge nozzle is not inserted into the powder inlet, the installation position of the contact detection sensor where the contact of the receiving tank is detected is corresponded to allow the discharge nozzle to be inserted into the powder inlet. An auxiliary operating module that operates the driving unit to move the portion of the discharge nozzle toward the center of the powder inlet,
Autoloader.
According to clause 6,
The auxiliary moving part
a state determination module that determines that the corresponding discharge nozzle is not inserted into the powder inlet when the contact detection sensor detects contact with the receiving tank; and
When the state determination module determines that the discharge nozzle is not inserted into the powder inlet, an auxiliary movement unit forcibly moves the discharge nozzle so that the discharge nozzle can be introduced into the powder inlet.
Autoloader.
According to clause 8,
The auxiliary mobile unit is
One end is installed on the outer peripheral surface of the discharge nozzle at a position spaced upward with respect to the discharge port, spaced apart from each other along the circumferential direction, and an injection space is formed therein so that air can be injected, and the air is injected into the injection space. A plurality of expansion tubes that, when injected, expand radially based on the center of the discharge nozzle, with the other end expanding downward to the discharge nozzle so that the discharge nozzle can be forcibly moved by interfering with the outer peripheral surface of the receiving tank;
a gas injection unit connected to the expansion tubes to inject air into the expansion tubes; and
An expansion control module that controls the gas injection unit to inject the air into the expansion tube adjacent to the contact detection sensor that senses contact with the receiving tank so that the discharge nozzle can be introduced into the corresponding powder inlet.
Autoloader.
According to clause 8,
The auxiliary mobile unit is
A plurality of interference blocks installed on the outer peripheral surface of the lower end of the discharge nozzle, spaced apart from each other along the circumferential direction, but capable of advancing and retreating radially with respect to the center of the discharge nozzle;
It is installed at the lower part of the interference block, and when the discharge nozzle is in contact with the outer peripheral surface of the receiving tank, a plurality of contacts are in contact with the outer peripheral surface of the receiving tank to provide a predetermined friction force between the interference block and the outer peripheral surface of the receiving tank. pad;
an advance/retract unit installed on the interference blocks to advance/retract the interference blocks independently of each other;
an advance/retract control module that controls the advance/retract unit to move the interference block adjacent to the contact detection sensor, which senses contact with the receiving tank, in a direction away from the discharge nozzle so that the discharge nozzle can be introduced into the corresponding powder inlet; Equipped with,
Autoloader.

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