Unmanned cleaning system for processing waste sludge in sealed storage tank

Abstract

An intelligent unmanned cleaning system for processing waste sludge in a sealed storage tank according to the present invention comprises: an autonomous robot; and an autonomous robot control unit for controlling the movement of the autonomous robot, wherein the autonomous robot includes: a frame; first, second, and third forks rotatably installed on support blocks installed on the lower surface of the frame and arranged in a triangular shape; first, second, and third screw-shaped moving wheels rotatably installed on each of the first, second, and third forks and rotated by first, second, and third hydraulic motors; a driving unit installed on the frame and the first, second, and third forks so as to rotate each of the first, second, and third forks relative to the support blocks to expand or contract the moving wheels radially, thereby adjusting the height of the frame; and a suction nozzle installed on the frame so as to suck up sludge for cleaning, and wherein the autonomous robot control unit includes: a camera installed above a sealed area for cleaning so as to photograph an area for removing waste sludge and the autonomous robot; and a hydraulic control unit that controls, on the basis of an image monitored in real time by the camera, the supply of hydraulic fluid to the first, second, and third hydraulic motors of the first, second, and third moving wheels to move the autonomous robot to a waste sludge processing area.

Description

Unmanned cleaning system for treating waste sludge in sealed storage tanks

[0001] The present invention relates to a cleaning system for industrial sealed storage tanks, and more specifically, to an unmanned cleaning system for treating waste sludge inside a sealed storage tank that can remove waste sludge, foreign substances, etc., deposited on the bottom of the storage tank using a transport robot, which poses a risk of flammability, suffocation, and explosion.

[0002] Generally, industrial storage tanks, such as fluid storage tanks that store fluids including raw materials in the form of crude oil or chemical reactants, waste sludge, wastewater mixed with foreign substances, or ordinary water, require periodic maintenance.

[0003] Since flammable substances such as oil vapors and combustible gases may remain inside sealed storage tanks, the use of cleaning equipment and devices that utilize electrical devices or devices that generate static electricity is extremely restricted.

[0004] In particular, storage tanks intended for flammable materials or chemicals have limited manhole sizes for inserting cleaning devices, making it difficult to insert relatively large cleaning devices.

[0005] Korean Patent Publication No. 10-2013-0019286 discloses a robot cleaner for a water tank that enters the interior of the water tank and removes foreign substances settled on the bottom surface of the water tank.

[0006] Korean Registered Patent Publication No. 10-753950 discloses a water tank internal cleaning device using high-pressure water equipped with a cleaning device inside the water tank. The cleaning device has the advantage of not requiring a worker to be involved and can clean the walls and ceiling, but it has the disadvantage of being difficult to apply to existing industrial storage tanks.

[0007] Korean Registered Patent No. 10-1522904 discloses an oil storage tank cleaning device and a method for cleaning an oil storage tank using the same.

[0008] Meanwhile, wheels used to move the device for removing sand, mud, and relatively low-viscosity sediments accumulated inside the storage tank—namely caterpillars or wheels on two endless tracks—have relatively poor mobility and directional maneuverability, making smooth sediment removal difficult.

[0009] Korean Registered Patent No. 10-1439771 discloses a cleaning robot. The disclosed cleaning robot is equipped with a driving means that moves the device frame while rotating perpendicularly to the direction of movement of the device frame, and a foreign matter removal means mounted on the device frame to remove foreign matter from the periphery of the device frame. The driving means includes a driving drive unit positioned at the top of the device frame and a spiral rotating member positioned at the bottom of the device frame, connected to the driving drive unit by a gear unit, and rotated perpendicularly to the direction of movement of the device frame.

[0010] The conventional driving drive unit configured as described above uses parallel spiral rotating members, which imposes many restrictions on the direction of movement.

[0011] The present invention aims to solve the aforementioned conventional problems by providing an unmanned cleaning system for treating waste sludge inside a sealed storage tank, which can prevent the occurrence of explosions or fires during cleaning inside a storage tank where flammable substances remain, and allows for easy directional control of an autonomous transport robot to suck up and discharge sediments such as waste sludge, sand, and soil.

[0012] Another objective of the present invention is to provide an unmanned cleaning system for treating waste sludge in a sealed storage tank, wherein the driving of three moving wheels arranged in a triangular configuration and having a screw shape is controlled by hydraulic fluid supplied and discharged by a hydraulic control unit.

[0013] The unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention for achieving the above objective comprises a frame; first, second, and third forks rotatably installed on support blocks installed on the lower surface of the frame and arranged in a triangular shape; first, second, and third screw-shaped moving wheels rotatably installed on each of the first, second, and third forks and rotated by first, second, and third hydraulic motors; a driving unit installed on the frame and the first, second, and third forks to rotate each of the first, second, and third forks relative to the support blocks to expand or contract the moving wheels radially, thereby adjusting the height of the frame; and an autonomous robot equipped with a suction nozzle installed on the frame for sucking in sludge for cleaning.

[0014] The autonomous robot control unit is characterized by controlling the movement of the autonomous robot and comprising a camera installed above a sealed area for cleaning to photograph the area for removing waste sludge and the autonomous robot, and a hydraulic control unit that controls the supply of hydraulic fluid to the first, second, and third hydraulic motors of the first, second, and third moving wheels to move the autonomous robot to the waste sludge treatment area based on images monitored in real time by the camera.

[0015] In the present invention, the hydraulic control unit is installed on the frame and comprises first, second, third, and fourth control valves that are each controlled by a signal transmitted from the autonomous robot control unit to control the first, second, third, and fourth hydraulic motors by diverting hydraulic fluid supplied from a single hydraulic supply pipe to control the first, second, and third hydraulic motors and the fourth hydraulic motor of the driving unit.

[0016] The above driving unit comprises a rotating member connected by the first, second, and third forks and the first, second, and third connecting links, and a fourth hydraulic motor for rotating the rotating member in forward and reverse directions.

[0017] Alternatively, the above-described driving unit comprises first, second, and third fixed links each installed on first, second, and third forks rotatably installed on a support block, fourth, fifth, and sixth connecting links hinged to one side of the first, second, and third fixed links, a lifting member connected to the other end of each of the fourth, fifth, and sixth connecting links by a hinge shaft, and a driving cylinder installed on the frame to lift the lifting member to rotate the first, second, and third forks to expand or contract radially.

[0018] The above suction nozzle is supported by a suction nozzle support member having a lifting guide member and a fixing bracket installed on the lifting guide member and fixed to the suction nozzle, wherein the support link installed on the frame is movably installed and is supported by a suction nozzle support member.

[0019] The above-mentioned fixed bracket is installed on a frame, surrounds a lifting member, and is slidably installed on a cover member, with one side connected to the other side of a lifting shaft supported on the upper surface of the lifting member.

[0020] The unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention can fundamentally prevent the risk of explosion or fire caused by residual flammable gases or flammable substances during cleaning in a sealed place, i.e., a storage tank, and can improve the treatment efficiency of waste sludge by controlling the movement of the autonomous robot using an autonomous robot control unit.

[0021] In addition, the unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention can control hydraulic motors and actuators by distributing hydraulic fluid supplied through a single hydraulic line, thereby simplifying operation.

[0022] FIG. 1 is a drawing showing the state of cleaning a storage tank by an unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention.

[0023] FIG. 2 is a perspective view showing the autonomous robot illustrated in FIG. 1.

[0024] FIG. 3 is an exploded perspective view of the autonomous robot shown in FIG. 2.

[0025] FIG. 4 is a partially cutaway perspective view showing the installation state of a moving wheel installed on a fork,

[0026] FIG. 5 is a bottom view of the autonomous robot shown in FIG. 2.

[0027] FIG. 6 is a perspective view showing a hydraulic drive unit of the autonomous robot control unit illustrated in FIG. 2.

[0028] FIG. 7 is a partially cut-off perspective view showing another embodiment of an autonomous robot drive unit,

[0029] FIG. 8 is an exploded view of the drive unit shown in FIG. 7.

[0030] FIG. 9 is a bottom view of an autonomous robot with the drive unit shown in FIG. 7 installed thereon,

[0031] Examples of an unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention are shown in FIGS. 1 to 6.

[0032] Referring to the drawings, the unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention is intended to remove waste sludge from a storage tank (100) in which oil vapor and combustible gas remain, such as a storage tank installed in a petroleum or chemical plant, and includes an autonomous robot (10) inserted through a manhole (110) and positioned on the bottom surface of the storage tank (100), and a pumping unit (200) connected by a suction nozzle (50) installed on the autonomous robot and a discharge pipe (201).

[0033] In addition, an autonomous robot control unit (400) is provided to control the driving of the autonomous robot (10) by controlling the hydraulic drive unit (410) of the autonomous robot (10) using a video that is monitored in real time using a video captured from a camera (300) installed inside the storage tank (100) or on the autonomous robot (10).

[0034] As illustrated in FIGS. 2 and FIGS. 3 and 4, the autonomous robot (10) comprises a plate-shaped frame (11), first, second, and third forks (31), (32), and (33) which are each rotatably installed on at least three first, second, and third support blocks (12), (13), and (14) arranged in a triangular shape on the lower surface of the frame (11), and screw-shaped first, second, and third moving wheels (20), (21), and (22) which are installed on each of the first, second, and third forks (31), (32), and (33) and arranged in a triangular shape. It is preferable that the first, second, and third moving wheels (20), (21), and (22) be installed at 120-degree intervals. Each of the first, second, and third moving wheels (20), (21), and (22) has a drum-shaped wheel body part having a hollow portion and a spiral screw part on the outer surface of the wheel body part.

[0035] And the frame (11) of the above-mentioned autonomous robot (10) is provided with a driving unit (30) connected to each of the first, second, and third forks (31)(32)(33) to rotate the first, second, and third forks (31)(32)(33) relative to each of the first, second, and third support blocks (12)(13)(14) to expand or contract the first, second, and third moving wheels (20)(21)(22) supported thereon in a radial direction. The expansion and contraction of the first, second, and third moving wheels (20)(21)(22) can raise the frame (11) and raise the suction nozzle (50) installed thereon.

[0036] The first, second, and third moving wheels (20)(21)(22), each installed on the first, second, and third forks (31)(32)(33), are individually rotated by the first, second, and third hydraulic motors (41)(42)(43) as shown in FIG. 4. The first, second, and third hydraulic motors (41)(42)(43) are inserted into the hollow portions formed in the first, second, and third moving wheels (20)(21)(22) and are supported by the first, second, and third forks (31)(32)(33), respectively. In this case, the first, second, and third moving wheels (20)(21)(22) are each coupled to the rotation axis of the first, second, and third hydraulic motors and are rotatably supported by the first, second, and third forks (31)(32)(33), respectively.

[0037] As shown in FIGS. 3 and 5, the above-described drive unit (30) comprises a rotating member (37) connected by the first, second, and third forks (31)(32)(33) and the first, second, and third connecting links (34)(35)(36), and a first hydraulic motor (38) for rotating the rotating member (37) in forward and reverse directions. The rotating member (37) is formed in a structure in which the ends of the first, second, and third connecting links (34)(35)(36) are ball-jointed while maintaining the same spacing distance from the rotation center of the rotating member (37). The first, second, and third connecting links (34)(35)(36) and the first, second, and third forks (31)(32)(33) each have a structure connected by a hinge shaft.

[0038] A reduction gear (39) may be installed between the fourth hydraulic motor (38) and the rotating member (37).

[0039] Meanwhile, as illustrated in FIGS. 7 to 9, the driving unit (60) has a structure in which a lifting member (62) that is raised by a driving cylinder (61) is installed in the center of the frame (11), and is connected to first, second, and third fixed links (64)(65)(66) and fourth, fifth, and sixth connecting links (67)(68)(69) installed on each first, second, and third fork (31)(32)(33). That is, one side of each fourth, fifth, and sixth connecting link (67)(68)(69) is connected to one side of each first, second, and third fixed link (67)(68)(69) by a hinge shaft, and the other side of each fourth, fifth, and sixth connecting link (67)(68)(69) is connected to the lifting member (62) by a hinge shaft.

[0040] It is preferable that three fourth, fifth, and sixth connecting links (67)(68)(69) connecting the lifting member (62) and the first, second, and third fixed links (64)(65)(66) are installed uniformly at intervals of 120 degrees so that the first, second, and third forks (31)(32)(33) can be rotated when the lifting member (62) is lifted.

[0041] The suction nozzle (50) is installed so as to be vertically movable by a guide member (51) installed on the frame (11) as shown in FIG. 3, and is raised by a lifting cylinder (52) installed on the frame (11).

[0042] As described above, the lifting of the suction nozzle (50) connected by the discharge pipe (201) and the pumping unit (200) installed outside the storage facility is not limited to the above-described embodiment, and as shown in FIGS. 7 and 8, it may be achieved by a lifting shaft (56) connecting the suction nozzle support (80) and the lifting member (62) so that the position can be varied for the suction of waste sludge or foreign matter.

[0043] The above suction nozzle support member (55) is installed to be vertically movable by a support link (57) installed on a frame (11) and is equipped with a lifting guide member (58) and a fixing bracket (59) installed on the lifting guide member (58) to fix to the suction nozzle (50).

[0044] The above fixed bracket (59) is installed on the frame (11) to surround the lifting member (62) and is installed so as to be slidably on the cover member (55), and one side is connected to the other side of the lifting shaft (56) which is supported on the upper surface of the lifting member (62).

[0045] And the suction nozzle (50) is connected to a suction pump (202) connected to a discharge pipe (201) so as to discharge sludge as described above. It is preferable to use a vacuum suction pump for the suction pump (202).

[0046] Meanwhile, the above-mentioned autonomous robot control unit (400) is for controlling an autonomous robot (10) that is introduced into the bottom of a storage tank (100) to remove waste sludge, and is equipped with a camera (300) installed on the top or frame of the storage tank (100), a hydraulic control unit (410) installed on the frame (11) of the autonomous robot (10), a hydraulic fluid supply unit (420) for supplying hydraulic fluid to the hydraulic control unit (410), and a control unit (430) for controlling movement by analyzing video data captured in real time by the camera (300) and controlling the hydraulic control unit (410).

[0047] The above camera (300) preferably uses an infrared camera capable of acquiring images in dark places, and multiple cameras may be installed for accurate image analysis.

[0048] And the hydraulic control unit (410) installed on the frame (11) is equipped with first, second, third, fourth, and fifth control valves (401-405) for controlling the first, second, and third hydraulic motors (38) (41-43), the lifting cylinder (52), and the fourth hydraulic motor (38), respectively, and support blocks (406) having lines formed for supplying and discharging hydraulic fluid supplied and discharged from the hydraulic supply unit (420) through a hydraulic supply pipe (421) and a hydraulic discharge pipe (422) to the first, second, third, fourth, and fifth control valves (401-405).

[0049] However, not limited thereto, the support block (406) may be equipped with a supply tank and a discharge tank for supplying and discharging hydraulic fluid to the first, second, third, fourth, and fifth control valves (401-405). In this case, a supply and discharge space serving as a supply tank and a discharge tank may be formed in the support block (405).

[0050] The above first, second, third, fourth, and fifth control valves (401-405) may be sequence valves driven by solenoid valves. However, they are not limited thereto, and two-port two-position control valves may be used.

[0051] Meanwhile, as shown in FIGS. 7 and FIGS. 9 above, when the driving unit (60) includes a driving cylinder (61), hydraulic pressure controlled by the fifth control valve (405) for driving the fourth hydraulic motor (38) can be supplied to the driving cylinder (61).

[0052] And the controller (430) transmits a control signal to the hydraulic control unit (410) to control the first, second, third, fourth, and fifth control valves (401-405) for movement in the direction of movement for processing waste sludge using the image signal acquired from the camera (300).

[0053] It is preferable that the above control signal be transmitted from the control unit (430) to the hydraulic control unit (410) via a wire, and it is preferable that the hydraulic control unit (410) be sealed so as to be isolated from the outside air within the storage space.

[0054] The above hydraulic oil supply unit (420) is equipped with a hydraulic oil tank (423) in which hydraulic oil is stored, a pump (424) for pumping hydraulic oil in the hydraulic oil tank (423), a hydraulic oil supply pipe (421) and a hydraulic oil discharge pipe (422) for supplying hydraulic oil to a hydraulic control unit (410).

[0055] In order to clean waste sludge or foreign matter accumulated on the bottom surface of a sealed storage tank using the unmanned cleaning system for waste sludge treatment in a sealed storage tank according to the present invention configured as described above, an autonomous robot (10) connected by a suction nozzle (50), a hydraulic supply unit (420), a hydraulic oil supply pipe (421), and a hydraulic oil discharge pipe (422) is inserted through the manhole (110) of the storage tank (100) and positioned on the bottom of the storage tank (100).

[0056] Then, to check the position of the autonomous robot (10), the camera (300) connected to the control unit (430) is used to photograph the interior, especially the bottom part, of the storage tank (100) for processing waste sludge.

[0057] In this state, the hydraulic supply unit (420) is driven to proportionally control the first, second, and third control valves (401)(402)(403) of the hydraulic control unit (410) of the autonomous robot (10), thereby controlling the rotational speed of the first, second, and third moving wheels (20)(21)(22) to move the autonomous robot (10) to an area for processing waste sludge.

[0058] In this way, during the process of the autonomous robot (10) moving, the waste accumulated on the bottom of the storage tank (100) is sucked up through the suction nozzle (50) installed therein and discharged to the outside of the storage tank (100). During this process, the autonomous robot (10) is moved in the manner described above using the autonomous robot control unit (400).

[0059] That is, the first, second, and third hydraulic motors (41)(42)(43) of the three first, second, and third moving wheels (20)(21)(22) arranged in a triangular shape are proportionally controlled to selectively rotate them in the forward or reverse direction, thereby controlling the direction and moving them to a desired position.

[0060] In this process, when the waste sludge has a relatively low viscosity, it is very difficult to move. However, since the first, second, and third moving wheels (20)(21)(22) have a spiral screw section formed on their outer surface, the screw section moves while leaving a spiral trajectory in the waste sludge, thereby increasing mobility.

[0061] In particular, since the direction and movement are controlled by individually controlling the first, second, and third moving wheels (20)(21)(22), mobility and direction control are easier compared to conventional catapillars or wheels on crawler tracks.

[0062] Meanwhile, if the inlet side of the suction nozzle (50) for sucking sludge or foreign matter is relatively far from the bottom surface of the storage tank (100) and the suction of slurry is not smooth, the fourth hydraulic motor (38) of the drive unit (30) can be controlled to extend the first, second, and third forks (31)(32)(33) radially to lower the frame (11).

[0063] The lowering of the suction nozzle (50) can be achieved by operating the driving cylinder (61) of the driving unit (60) to lower the lifting member (62) connected thereto, as shown in FIGS. 7 and 9. The lowering of the lifting member (62) is achieved by rotating the first, second, and third forks (31)(32)(33) outwardly by means of the first, second, and third fixed links (64)(65)(66) respectively connected to the lifting member (62) and the fourth, fifth, and sixth connecting links (67)(68)(69), thereby expanding the first, second, and third moving wheels (20)(21)(22). Accordingly, the height of the frame (11) is lowered.

[0064] In this process, the lifting shaft (56) installed on the lifting member (62) descends together with the lifting member (62), and the lifting guide member (58), which is connected to the end of the member and supported to be movable on the rotating link (57) installed on the frame (11), descends, thereby causing the suction nozzle (50) to descend.

[0065] With the operation described above, the height of the frame (11) is lowered, and the suction nozzle (50) installed on the frame is lowered further to suck up and discharge the slurry located on the bottom surface, thereby increasing the efficiency of removing slurry from the bottom surface of the storage tank.

[0066] And if it is necessary to lower or raise the height of the suction nozzle (50), the suction nozzle (50) can be raised relative to the frame (11) using a lifting cylinder (52).

[0067] As explained above, the intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention can clean the bottom surface of a sealed storage tank—that is, a storage tank where combustible gases and harmful gases remain—by ​​having an autonomous robot move and suck up the waste sludge through a suction pipe.

[0068] In particular, since hydraulic pressure is used to drive the hydraulic motors installed on the actuators and moving wheels, it is possible to fundamentally prevent ignition or explosion of flammable materials or gases inside the storage tank caused by static electricity or electrical sparks during cleaning. Furthermore, by minimizing manual work during the cleaning of the storage tank, the risk of safety accidents can be fundamentally prevented.

[0069] In addition, the present invention enables smooth direction control and movement in an autonomous robot by having three movement wheels arranged in a triangular configuration and each individually driven by a hydraulic motor. Although hydraulic fluid must be supplied and discharged by connecting the autonomous robot to multiple hydraulic pipes from the outside of the storage tank to drive each of the movement wheels by a hydraulic motor, the structure can be simplified and slimmed down by installing a distributor and individual control valves on the frame, allowing for smooth inflow and discharge into and out of a manhole of limited size.

[0070] The unmanned cleaning system for treating waste sludge in a sealed storage tank according to the present invention can be applied to the removal of flammable dust as well as sediment in the storage tank, and to dredging operations underwater.

[0071] The present invention has been described with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. An autonomous robot comprising a frame, first, second, and third forks rotatably installed on support blocks installed on the lower surface of the frame and arranged in a triangular shape, first, second, and third screw-shaped moving wheels rotatably installed on each of the first, second, and third forks and rotated by first, second, and third hydraulic motors, a driving unit installed on the frame and the first, second, and third forks to rotate each of the first, second, and third forks relative to the support blocks to expand or contract the moving wheels radially, thereby adjusting the height of the frame, and a suction nozzle installed on the frame for sucking sludge for cleaning. An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized by having an autonomous robot control unit that controls the movement of the autonomous robot, the unit comprising a camera installed above a sealed area for cleaning to photograph the area for removing waste sludge and the autonomous robot, and a hydraulic control unit that controls the supply of hydraulic fluid to the first, second, and third hydraulic motors of the first, second, and third moving wheels to move the autonomous robot to the waste sludge treatment area based on images monitored in real time by the camera.

2. In Paragraph 1, An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized in that the hydraulic control unit is installed on the frame and comprises first, second, third, and fourth control valves, each controlled by a signal transmitted from the autonomous robot control unit to control the first, second, third, and fourth hydraulic motors by branching hydraulic fluid supplied from a single hydraulic supply pipe for controlling the first, second, and third hydraulic motors and the fourth hydraulic motor of the drive unit.

3. In Paragraph 1, An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized in that the above-described driving unit comprises a rotating member connected by the first, second, and third forks and the first, second, and third connecting links, and a fourth hydraulic motor for rotating the rotating member in forward and reverse directions.

4. In Paragraph 1, An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized in that the first, second, and third moving wheels each have a drum-shaped wheel body part having a hollow portion and a spiral screw part on the outer surface of the wheel body part.

5. In Paragraph 1, The above-described driving unit comprises first, second, and third fixed links respectively installed on first, second, and third forks rotatably installed on a support block; fourth, fifth, and sixth connecting links hinge-connected at one end to the first, second, and third fixed links; a lifting member connected to the other end of each of the fourth, fifth, and sixth connecting links by a hinge shaft; and a driving cylinder installed on the frame to lift the lifting member to rotate the first, second, and third forks to expand or contract radially.

6. In Paragraph 5, The above suction nozzle is supported by a suction nozzle support member having a lifting guide member and a fixing bracket installed on the lifting guide member and fixed to the suction nozzle, wherein the support link installed on the frame is movably installed and is supported by a suction nozzle support member. An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized in that the above-mentioned fixed bracket is installed on a frame, surrounds a lifting member, is installed to be slidably on a cover member, and one side is connected to the other side of a lifting shaft supported on the upper surface of the lifting member.

7. In Paragraph 1, An intelligent unmanned cleaning system for treating waste sludge in a sealed storage tank, characterized in that the suction nozzle is installed to be vertically movable by a guide member installed on a frame and is raised by a lifting cylinder installed on the frame.

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