KR20220019961A - Self-Driving Cleaner For Recovering Fallen Coal - Google Patents

Abstract

The present invention relates to a self-driving cleaner for recovering fallen coal, comprising: a mainframe having a driving wheel installed on a lower side and a power supply unit placed inside; a cleaner head unit installed on a front side of the mainframe, having a moving wheel and an inlet placed on a lower side for absorbing fallen coal on the floor, and having a motor inside for rotating the moving wheel; a connection unit placed between the mainframe and the cleaner head unit and connecting the mainframe and the cleaner head unit; and a pipe unit installed over the mainframe and the cleaner head unit and discharging the fallen coal absorbed through the inlet of the cleaner head unit to the outside through the mainframe. According to the present invention, the self-driving cleaner for recovering fallen coal can rapidly and efficiently recover fallen coal, sludge, and the like accumulated on the floor, and can be available even in a complex structure, thereby preventing damage and reducing cost.

Description

Self-Driving Cleaner For Recovering Fallen Coal

The disclosed content is composed of a main body connected to a pipe, a cleaner head that sucks camels or sludge, and a connection part connecting the main body and the cleaner head, so that various types of camel generated during various coal transfer sections can be automatically recovered and processed. It relates to an autonomous driving cleaning device for recovering camels.

Unless otherwise indicated herein, the contents described in this identification are not prior art to the claims of this application, and the description in this identification is not admitted to be prior art.

In a thermal power plant, since a generator is operated through thermal power using coal or petroleum, it is common to move coal raw materials using a belt conveyor or the like.

However, in moving coal, there is a risk of damage to machinery or a fire in a building due to the impact of the self-vibration or wind of the conveyor belt, and the like.

In order to prevent this risk, camel is recovered or removed. Existing devices for recovering camel include Drag Chain, Air Brush Cleaner, manual washing operation, and Vaccum System.

The drag chain recovery and processing device is installed under the belt conveyor that transports raw materials such as coal and is the most used technology to recover the fallen camels through the return belt due to external shocks or vibrations.

Korean Patent Laid-Open No. 10-2016-0053250 (published on May 13, 2016) discloses a recovery hopper installed below a belt conveyor that transports coal to a silo and into which camel is introduced; a camel transport means installed in the recovery hopper to transport the accumulated camels; A housing installed at the lower part of the recovery hopper and extending to the inside of the silo, a rotating shaft installed in the longitudinal direction inside the housing, a blade spirally formed on the outer circumferential surface of the rotating shaft, and a driving unit for rotating the rotating shaft, characterized in that A camel recovery device is disclosed.

However, it can be installed in a large and complex structure, but cannot be installed in an inclined section or a narrow space, so there is a problem in that additional manpower is required to recover the camel in this section.

In this manual water washing operation, water is sprayed on the fallen camel from the return belt and the inspector directly uses a shovel to dispose of it into the drain, but the amount of outflow is considerable and water pollution is occurring.

In addition, when the amount of generated camel is large, direct treatment by manpower takes a lot of time and money, and there are problems in environmental pollution and health deterioration due to scattering dust, and safety accidents that may occur during removal work.

1. Korean Patent Publication No. 10-2018-0037806 (published on April 13, 2018) 2. Korean Patent Publication No. 10-2016-0053250 (published on May 13, 2016)

The present invention was derived to supplement the limitations of the prior art, and it is possible to increase work productivity by reducing the time and cost required to process camel, and to protect from harmful effects on the human body as automation is introduced in a human-directed method And we want to provide a function that can recover camels to a complex space that cannot be processed by existing facilities.

In addition, it is not limited to the technical problems as described above, and it is obvious that another technical problem may be derived from the following description.

The disclosed contents include a main body having a driving wheel installed at the lower portion and a power supply unit provided therein; a cleaner head part installed in front of the main body and provided with a moving wheel and a suction port for sucking camels on the floor at the lower part, and including a motor for rotating the moving wheel inside; a connection part provided between the main body and the cleaner head to connect the main body and the cleaner head; and a pipe part installed over the main body and the cleaner head part and discharging the camel sucked through the suction port of the cleaning head part to the outside through the main body; do.

According to a preferred feature of the disclosed subject matter, the main body includes a movable part including a power source for generating suction force therein and a driving motor for rotating the driving wheel; a control unit for controlling to stop driving of the movable unit in response to a change amount of movement sensed therein is out of a reference range; a sensing unit for guiding the movement direction while the movable unit is driven; a communication unit for receiving a self-cleaning command in response to a call command transmitted from a remote controller for instructing self-cleaning by making a wireless call; and a memory unit storing control program data for controlling the cleaning device.

According to a preferred feature of the disclosure, the main body includes a water storage tank for storing and discharging water, and a spray nozzle for receiving water from the water storage tank and spraying water from the front end of the lower portion is coupled to the cleaner head.

According to a preferred feature of the disclosure, a main brush for moving the sludge to the inside is located at the lower rear end, and a crusher part for decomposing the sludge is formed in connection with the main brush, and the sludge adhered using rotational force and water is formed on the side of the spray nozzle. A side brush for floating is combined.

According to a preferred feature of the present disclosure, the crusher unit includes two crusher rollers having a crushing protrusion attached to the outside, coupled to the outside to rotate, and a suction head for moving the crushed sludge.

According to a preferred feature of the disclosure, a first power unit, a second power unit, and a third power unit for driving the main brush, the crusher roller, and the side brush are coupled to the cleaner head unit therein.

According to a preferred feature of the disclosed subject matter, the connecting portion is composed of an arm, and a hinge that is vertically rotatable coupled to the main body and the cleaner head, so that the cleaner head can be tilted.

According to a preferred feature of the disclosed subject matter, a cylinder is connected to the main body, and a cylinder rod is connected to one side of the connection part, so that the cleaner head part can be tilted.

According to a preferred feature of the disclosure, the pipe part includes a suction pipe coupled to the upper part of the cleaner head, a reservoir located inside the body and storing the sucked sludge, and a discharge pipe connected to the body and moving the stored sludge to the outside do.

According to a preferred feature of the present disclosure, the pipe part includes a cyclone part for separating the sludge sucked through the suction pipe inside the main body, and a processing part for storing and discharging the slurry separated from the lower side of the cyclone part. .

According to the present invention, there is an effect that can prevent environmental pollution, reduce wastewater generation cost, and minimize machine damage by effectively removing camel generated during coal movement.

In addition, since it is capable of autonomous driving, it is possible to replace manpower when removing the camel, and a lot of time and effort required for direct processing by manpower is reduced, thereby increasing work productivity in a short time.

In particular, unlike existing coal and dust removal facilities, it can be applied in sloped sections and sections with complex structures, thereby increasing the efficiency of camel removal.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of an autonomous driving cleaning apparatus for recovering camels according to an embodiment of the disclosed subject matter.
2 is a plan cross-sectional view of an autonomous driving cleaning apparatus for recovering camels according to an embodiment of the disclosed subject matter.
3 is a side cross-sectional view of an autonomous driving cleaning device for recovering camels according to an embodiment of the disclosed subject matter.
4 is a cross-sectional view in normal operation of a 'cleaner head unit' of an autonomous driving cleaning device for recovering camels according to an embodiment of the disclosure;
5 is a side cross-sectional view showing 'when the inclined surface is operated' of the autonomous driving cleaning device for recovering camels according to an embodiment of the disclosed subject matter.
6 is a block diagram illustrating components of an autonomous driving cleaning apparatus for recovering camels according to an embodiment of the disclosed subject matter.

Hereinafter, the configuration, operation, and effect of the preferred embodiment will be described with reference to the accompanying drawings. For reference, in the following drawings, each component is omitted or schematically illustrated for convenience and clarity, and the size of each component does not reflect the actual size. In addition, throughout the specification, the same reference numerals refer to the same components, and reference numerals for the same components in individual drawings will be omitted.

As shown in FIGS. 1 to 3 , the autonomous driving cleaning apparatus for recovering camels according to an embodiment of the present disclosure includes a movable unit 110 , a control unit 120 , a sensing unit 130 , a power supply unit 140 , and a communication unit ( 150) and the memory unit 160, the main body 100, the cleaner head 200 for sucking the camel or sludge accumulated on the floor while moving, and the piping unit 300 for moving, storing and discharging the sucked sludge ), a connection part 400 connecting the main body 100 and the cleaner head 200, and a cylinder ( 500), and a driving unit 700 for moving the cleaner.

The main body 100 has a water storage space 610 for supplying water to the spray nozzle 220 installed in the cleaner head 200, and the storage space includes a drain pipe 630 for receiving water from the outside and a spray nozzle. A power unit 620 capable of moving water through a pipe connected to A water jet pump is used to separate the sludge adhered to the floor by jetting water at ultra-high pressure. The controller 120 supplies water to the spray nozzle 220 of the cleaner head by controlling the power unit 620 and the water jet pump supplied to the spray nozzle. A valve 640 is disposed at the connection portion between the drain pipe and the storage space and is used to control water supply through a signal from the controller 120 .

The movable part 110 is composed of a power device for generating a suction force and a device for driving a cleaning device.

The control unit 120 controls the power devices to be driven to be stopped in response to the amount of change in the sensed movement being out of the reference range. The memory unit 160 may store data for controlling the cleaner. The control unit 120 controls the overall operation of the cleaning apparatus based on the control program data stored in the memory unit 160 .

The sensing unit 130 provides a movement direction guide while the cleaner is operating. It includes a proximity sensor, a temperature sensor, an acceleration sensor, a gyro sensor, an inclination angle sensor, a signal detection sensor, and a water level sensor. An obstacle located in the vicinity of the driving direction of the cleaning device can be detected through the proximity sensor.

The power supply unit 140 supplies operating power of the cleaning device using a battery.

The remote control 155 may instruct the cleaning device to self-clean wirelessly. The communication unit 150 receives a command and an autonomous cleaning command wirelessly transmitted from the remote control 155 . In response to an autonomous driving cleaning command through the communication unit 150 , the controller 120 controls the autonomous driving in a prescribed driving manner.

As shown in FIG. 4 , the cleaner head 200 includes a spray nozzle 220 that sprays water to the sludge adhered to the floor, and a main brush 230 that rotates to suck the sludge separated from the floor into the inside. ) and a side brush 210 disposed on the side of the spray nozzle 220 and rotating to remove the sludge in contact with water from the floor is provided.

The cleaner head 200 includes a first power unit 27 and a third power unit 29 for supplying rotational force of the main brush and the side brush therein. The power unit may use a motor, an engine, or the like.

The spray nozzle 220 and the side brush 210 are positioned on both sides of the lower front end of the cleaner head to widen an area in contact with the floor.

A crusher unit 240 is positioned inside the cleaner head 200, one side of which is connected to the main brush 230, and includes crusher rollers that have crushing protrusions on the outside and are engaged with each other.

The crusher roller is rotated by the second power unit 28 located inside the cleaner head to reduce the size of sludge or camel particles using the crushing protrusion, and the suction head 250 connected to one side of the crusher roller is connected to the vacuum power unit. It uses suction power to move sludge or camel to the body. In response to the signal transmitted from the controller 120 , the power units 27 , 28 , and 29 of the cleaner head are driven.

As shown in FIG. 3 , the suction head 250 is connected to the suction pipe 310 of the piping located above the cleaner head, and sludge or camel is stored in the storage 320 located inside the main body through the suction pipe. do. At this time, the discharge pipe 330 through which the hose is protruded to the outside of the body is connected to the reservoir to discharge sludge or camel to the outside.

The reservoir separates the particles from the vacuum sucked sludge using a filter while the cyclone 321 rotates, discharges the solid-liquid slurry to the lower side of the cyclone, collects it in the storage 322, and a slurry pump connected to the storage A (323) action directs the slurry to a connected discharge pipe (330).

As shown in Figure 5, the connecting portion 400 is coupled to the hinges 410 and 430 in a vertically rotatable structure where the main body and the cleaner head are connected, and the cleaner head is inclined as the arm 420 moves. It can be moved in a variety of structures.

3 and 5, a cylinder 500 is installed in the body to make the arm 420 move, and the cylinder rod part is connected to one side of the arm to move the arm as the cylinder 500 moves up and down. It acts to drive (420). As an embodiment of the cylinder 500, a hydraulic cylinder or an electric cylinder may be used.

The inclination angle of the cleaning section is sensed through the inclination sensor, the inclination angle is received, and a corresponding control signal is output. According to the control signal, the power devices are not operated and the cylinder 500 is driven to automatically adjust the angle of the cleaner head.

A driving wheel 710 and a moving wheel 710 for moving the camel recovery autonomous driving cleaning device are disposed under the main body and the cleaner head, and the driving device for generating a rotational force to rotate the wheel is the main body and the cleaner It is located inside the head part. The driving device receives a signal generated from the sensing unit 130 and the operating direction and speed are adjusted by the control unit 120 .

The operation of the present invention configured in this way will be described as follows.

The sludge adhered to the floor is floated by a water jet, sucked, and separated to discharge the slurry, effectively recovering the camel and preventing environmental pollution and fire. In addition, due to the autonomous driving system, the manpower and cost required to process camels can be reduced, and since it is possible to move freely on an inclined section, it can be used in various spaces such as flat land as well as inclined surfaces.

Although preferred embodiments of the present invention have been described with reference to the accompanying drawings, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and represent all of the technical spirit of the present invention. Therefore, it should be understood that there may be various equivalents and modifications that can be substituted for them at the time of filing the present application. Therefore, the embodiments described above are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the following claims rather than the detailed description, and the meaning and scope of the claims and their All changes or modifications derived from the concept of equivalents should be construed as being included in the scope of the present invention.

100: body 110: movable part
120: control unit 130: sensing unit
140: power supply 150: communication unit
155: remote control 160: memory unit
200: vacuum cleaner head
210: side brush 220: spray nozzle
230: main brush 240: crusher roller
250: suction head 300: piping
310: suction pipe 321: cyclone and filter
322: slurry reservoir 323: slurry pump
330: slurry discharge pipe 410, 430: hinge
420: arm 500: cylinder
610: water storage space 620: power unit
630: drain pipe 640: valve
710: driving wheel, moving wheel

Claims (10)

a main body having a driving wheel installed at a lower portion and a power supply unit provided therein;
a cleaner head part installed in front of the main body and provided with a moving wheel and a suction port for sucking camels on the floor at the lower part, and including a motor for rotating the moving wheel inside;
a connection part provided between the main body and the cleaner head to connect the main body and the cleaner head; and
a pipe part installed over the main body and the cleaner head part and discharging the camel sucked through the suction port of the cleaner head part to the outside through the main body;
A self-driving cleaning device for recovering camels comprising a. The method according to claim 1,
The main body includes a movable part including a power source for generating suction force therein and a driving motor for rotating the driving wheel;
a control unit for controlling to stop driving of the movable unit in response to a change amount of movement sensed therein is out of a reference range;
a sensing unit for guiding the movement direction while the movable unit is driven;
a communication unit for receiving a self-cleaning command in response to a call command transmitted from a remote controller for instructing self-cleaning by making a wireless call; and
A memory unit for storing control program data for controlling the cleaning device; Self-driving cleaning device for recovering camels, comprising: The method according to claim 1,
The body includes a water storage tank for storing and discharging water,
An autonomous driving cleaning device for recovering camels, characterized in that the lower front end of the cleaner head is coupled with a spray nozzle that receives water from the water storage tank and sprays it on the floor The method according to claim 1,
A main brush for moving sludge or camel to the inside by using a rotational force is located at the lower rear end of the cleaner head, and a first power device for driving the main brush is included inside the cleaner head. driving cleaning device 5. The method according to claim 4,
The cleaner head part is connected to the main brush and includes two crusher rollers that are externally coupled to each other to rotate while the grinding protrusions are formed on the outside, and a suction head for moving the crushed sludge; and
An autonomous driving cleaning device for recovering camels, characterized in that it includes a second power unit for driving the crusher unit inside. 4. The method according to claim 3,
The cleaner head unit includes a side brush disposed on the side of the spray nozzle to float sludge adhered to the floor using rotational force and sprayed water, and a third power unit for rotating the side brush inside Self-driving cleaning device for camel recovery featuring The method according to claim 1,
The autonomous driving cleaning apparatus for recovering camels, characterized in that the connection part comprises an arm, and a hinge that can be rotated up and down coupled to the main body and the cleaner head so that the cleaner head can be moved in an inclined manner. The method according to claim 1,
A cylinder is connected to the main body, and a cylinder rod is connected to one side of the connection part, so that the cleaner head part is capable of inclining movement. The method according to claim 1,
The pipe unit may include: a suction pipe coupled to an upper portion of the cleaner head;
a reservoir located inside the body and storing the sucked sludge; and
Self-driving cleaning device for camel recovery, characterized in that it comprises a discharge pipe connected to the main body to move the stored sludge to the outside The method according to claim 1,
The pipe part includes a cyclone part for separating the suctioned sludge inside the main body, and a processing part for storing and discharging the separated slurry from the lower side of the cyclone part.

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