KR101411200B1 - Docking apparatus - Google Patents

Abstract

In an embodiment of the present invention, a docking apparatus that is disposed in an outer wall climbing apparatus, on which maintenance means disposed on an outer wall of a building for cleaning the outer wall of the building while moving along the outer wall of the building is mounted, and allows the maintenance means to dock with the outer wall climbing apparatus includes a maintenance means body where a side docking pin is provided on one side surface, an upper docking pin is provided on an upper surface, a lower docking pin is provided on a lower surface, and the maintenance means is mounted on a surface toward the outer wall of the building; a side docking portion that is disposed on an inner side surface of the outer wall climbing apparatus and is coupled with the side docking pin so that the maintenance means body docks and is coupled with the outer wall climbing apparatus; an upper docking portion that is disposed on an upper inner surface of the outer wall climbing apparatus and is coupled with the upper docking pin so that the maintenance means body docks and is coupled with the outer wall climbing apparatus; and a lower docking portion that is disposed on a lower inner surface of the outer wall climbing apparatus and is coupled with the lower docking pin so that the maintenance means body docks and is coupled with the outer wall climbing apparatus. It is preferable that a docking groove, which is inserted into and coupled with a docking pin receiving groove of the side docking portion, be provided on an outer circumferential surface of the side docking pin.

Description

DOCKING APPARATUS

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a docking apparatus, and more particularly, to a docking apparatus capable of stably mounting maintenance means such as a cleaning tool in a horizontal movement module.

Generally, as the architectural paradigm changes, there are more and more buildings with a height of more than 100 stories and a height of more than 500 meters, and the architectural style is also becoming diverse. However, in the case of high-rise buildings and skyscraper buildings, maintenance and management after completion of the construction as well as construction are costly and time-consuming.

These problems are accompanied by a great deal of difficulty in maintenance, maintenance, and maintenance of the exterior wall of the skyscraper, which is accompanied by a great deal of difficulty in securing economical efficiency, stability, and workability in the outer wall construction. Most of the work is high.

Especially, maintenance works such as painting and cleaning of skyscrapers are mainly performed by rope work by manpower and gondola method. Such work manpower is caused by bad weather such as strong wind and gust Such as a fall caused by industrial accidents.

In addition, in the case of conventional workforce, due to the limited space and technical ability, the increase in repeatability of the work and the difference in the ability to acquire skills according to the craftsman shows a lot of time and cost difference in maintenance, Degradation may be a concern.

In order to solve the above problems, a method of using an unmanned robot for maintenance of an outer wall of a skyscraper has been proposed. In other words, research on the development of various robotic systems considering the stability in various building environments, the accuracy of work, and the application of the field in exterior wall painting, cleaning and condition inspection work is continuing.

Among the basic technologies of the robot system for maintenance of the outer wall of the building, the outer wall climbing technology that guarantees that the unmanned robot moves on the outer wall of the building is recognized as an important part, and the unlimited track type A moving technology such as a walking type, a wheel driving type, and a mounting technique such as a magnet type, an absorbing pad type, and a biometric model related to a method of attaching to a building outer wall are recognized as important constituent technologies of outer wall climbing technology.

The climbing mechanism of the robot is one of the most basic technologies for maintenance of the super high-level maintenance. As the moving method, the infinite track type, the walking type, and the wheel drive type have been developed, and as the mounting method on the wall, It is divided into two types. The existing exterior wall maintenance system is mostly composed of gondola type systems, and semi-automatic type system is predominant even though it is built-in guide type. In order to improve this, it is necessary to develop a built-in guide-type robot capable of performing both vertical and horizontal movement of a fully automatic type.

In addition, when a cleaning tool is mounted on the built-in guide type robot, a technique is required to stably mount the cleaning tool on the robot when the robot moves along the outer wall of the building.

On the other hand, Korean Unexamined Patent Publication No. 2008-0068165 discloses an infinite-orbit-type mobile unit on which an outer wall of a building and a window cleaning robot are equipped with a pressing means by an attaching technique. The pressing means disclosed in Korean Patent Laid-Open Publication No. 2008-0068165 includes a pair of upper and lower pivot shafts rotating in accordance with vertical movement of the main body, coaxial left shafts rotating in the left and right directions, A caterpillar of the track rail, a plurality of suction suckers formed on the outer side of the caterpillar, and a vacuum pump for providing a vacuum force to the suction sucker.

Korean Patent No. 0878880 discloses a biomimetic type moving means in which a plurality of adsorption pads are attached to a supporting leg by an attaching technique to a glass window cleaning robot on the outside of a building. A plurality of adsorption pads are adsorbed on the outer surface of a building glass window So that they can freely move.

The present invention relates to a docking device capable of preventing the fall of a trowel repairing means such as a cleaning tool which can be generated in the process of maintaining a high level of a building by stably mounting a maintenance means such as a cleaning tool in a horizontal movement module The purpose is to provide.

In an embodiment of the present invention, an outer wall climbing device installed on an outer wall of a building and equipped with maintenance means for moving an outer wall of the building while cleaning the outer wall of the building moves the maintenance means to the outer wall climbing device The docking device includes a maintenance means body having a side handle, a king pin on one side, a king pin on the upper side, and a king pin on the lower side, the maintenance means being mounted on a surface facing the outer wall of the building; A side docking portion provided on an inner side of the outer wall climbing device and coupled with the side pin so as to dock the maintenance means body to the outer wall climbing device; An upper docking unit installed on an upper inner surface of the outer wall climbing device and coupled to the upper portion of the king pin to dock the maintenance means body to the outer wall climbing device; And a lower docking portion provided on a lower inner surface of the outer wall climbing device and coupled to the lower docking pin for docking the maintenance means body to the outer wall climbing device and the outer peripheral surface of the side docking pin is fitted into the docking pin seating groove of the side docking portion It is preferable that a docking groove is provided.

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In one embodiment of the present invention, the side docking portion includes: a side docking stationary plate coupled to the inner side of the outer wall climbing device; A docking pin seating portion provided on one side of the side docking fixing plate and having a docking pin seating groove formed thereon and covering a part of the space of the side docking fixing plate; And a side trigger connected to one side of the seating portion of the docking pin to prevent disengagement of the side wall and the king pin when the side docking pin is connected to the docking pin seating portion.

In an embodiment of the present invention, an outer wall climbing device installed on an outer wall of a building and equipped with maintenance means for moving an outer wall of the building while cleaning the outer wall of the building moves the maintenance means to the outer wall climbing device A docking device comprising: a maintenance means body having a side handle, a king pin on one side, a king pin on an upper side, and a king pin on a lower side, the maintenance means being mounted on a surface facing the outer wall of the building; A side docking portion provided on an inner side of the outer wall climbing device and coupled with the side pin so as to dock the maintenance means body to the outer wall climbing device; An upper docking unit installed on an upper inner surface of the outer wall climbing device and coupled to the upper portion of the king pin to dock the maintenance means body to the outer wall climbing device; And a lower docking portion provided on a lower inner surface of the outer wall climbing device and coupled to the lower docking pin for docking the maintenance means body to the outer wall climbing device, wherein the upper docking portion and the lower docking portion have upper, A docking body portion provided with a docking pin engagement portion for receiving the docking pin and a guide roller rotatably installed on the other side; When the upper pinch pin or lower pinch pin is connected to the docking pin latching portion, the upper portion of the upper pinch pin or the lower pinch pin is operated to close the open space of the docking pin latching portion, Docking hook provided to prevent escape; And a detachable guiding part provided on the docking main body so as to be interlocked with the docking hook in operation of the docking hook, the detachable guiding part inducing detachment of the upper part of the docking hook against the king pin or the lower king pin.

In one embodiment of the present invention, the docking body includes a first body plate having a first guide groove through which a first guide wheel of the detachable guide unit is inserted, A second body plate spaced apart from the first body plate by a predetermined distance and connected to the first body plate so as to have a first installation space; A third body plate having a second guide groove into which a second guide wheel of the detachable guide portion is inserted, And a fourth body plate connected to the third body plate so as to be spaced apart from the first body plate by a predetermined distance and provided with a second installation space, wherein the docking pin latching portion is formed in a shape of a hook in a first body plate and a second body plate The first and second installation spaces are provided with a first docking pin engagement portion and a second docking pin engagement portion formed on the third body plate and the fourth body plate in a claw shape. And a guide roller is rotatably installed in a third installation space provided between the second main body plate and the fourth main body plate.

In one embodiment of the present invention, the detachable guiding portion includes: a first detachable guiding plate provided with a first guide wheel on one surface thereof and installed to be able to contact the docking hook in the first mounting space; A second detachable guide plate provided with a second guide wheel on one surface thereof and provided so as to be able to contact the docking hook in the second installation space; A fixing member provided between the first detachable guide plate and the second detachable guide plate and having a docking rotation axis; A first detachable induction bar rotatably installed on a docking rotary shaft and having one end connected to the first detachable induction plate; A second detachable induction bar rotatably installed on the docking rotary shaft and having one end connected to the second detachable induction plate; A handle connecting the other end of the first detachable guide bar and the other end of the second detachable guide bar; A detachable induction fixing shaft fixed between the second body plate and the fourth body plate in the third installation space by a predetermined distance from the handle; And an elastic bar which is located in the third installation space and which generates elastic force when one end is connected to the handle and the other end is connected to the attachment and detachment induction fixing shaft and a force is applied to the handle.

In one embodiment of the present invention, the docking hook is rotatably connected at one side to the first body plate and the second body plate at a predetermined angle by the first rotation axis, and the other side is contactable with the first detachable induction plate A first docking hook installed in the first installation space; A first elastic member provided at both ends of the first rotation shaft and restricting rotation of the first docking hook; A second docking hook which is rotatably connected to the third body plate and the fourth body plate by a second rotation axis at a predetermined angle and the other of which is provided in the second installation space so as to be in contact with the second attachment and detachment plate; And a second elastic member provided at both ends of the second rotation shaft and restricting rotation of the second docking hook.

The present invention stably mounts the maintenance means such as the cleaning tool to the horizontal movement module, thereby preventing the fall of the upper level maintenance means such as the cleaning tool that can occur during the maintenance of the high level of the building.

In addition, the present invention prevents a fall of a maintenance means that may occur during maintenance of a high-rise building, thereby preventing unexpected accidents that might occur to a passerby passing through a maintenance building.

FIG. 1 schematically shows an installation state of an outer wall climbing device equipped with a docking device according to an embodiment of the present invention.
FIG. 2 is a view schematically showing an installation state of a docking device mounted on a horizontal movement module according to an embodiment of the present invention.
Fig. 3 schematically shows a cross-section of the portion cut along AA in Fig.
FIG. 4 schematically shows a configuration of an upper docking unit or a lower docking unit according to an embodiment of the present invention.
FIG. 5 is a schematic view illustrating an operation state of an upper docking unit or a lower docking unit according to an embodiment of the present invention.
FIG. 6 is a schematic view showing an installation state of a side docking unit according to an embodiment of the present invention.
7 is a schematic diagram illustrating an operating state of a side docking unit according to an embodiment of the present invention.

Hereinafter, a docking apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings. Here, in describing the embodiments according to the present invention, the same reference numerals are used for the same constituent elements, and the description thereof may be omitted if necessary.

As the building becomes taller and the exterior walls of the building are reinforced with tempered glass to improve the lighting effect, there is a need for a device to maintain the exterior walls of the building.

In order to clean or maintain the outer wall of the building, a device for maintaining the outer wall of the building (hereinafter referred to as maintenance means) must be moved up and down along the outer wall of the building. To this end, the outer wall climbing device 1 is used . The maintenance means may be coupled to the horizontal movement module 10 of the outer wall climbing device 1 by means of a docking device 100 according to an embodiment of the present invention.

The outer wall climbing apparatus 1 includes a horizontal rail 11, a vertical rail 21, a horizontal movement module 10 for moving the horizontal rail 11, a movement module for moving the vertical rail 21, (20).

The horizontal movement module 10 is a device provided to maintain the outer wall of a building while horizontally moving along a pair of horizontal rails 11 installed on an outer wall of the building. As shown in FIG. 1, the pair of horizontal rails 11 are sequentially installed in the vertical direction on the exterior wall of the building.

Here, the horizontal movement module 10 moves up and down according to the elevation movement of the vertical movement module 20 in a state of being docked with the vertical movement module 20 located in the corner area of the outer wall of the building, The entire outer wall of the building can be moved horizontally sequentially. Accordingly, the horizontal movement module 10 can maintain the entire exterior wall of the building by providing a robot for cleaning, painting, or the like.

However, as the building is made high-level, the robot installed in the horizontal movement module 10 and moving in the horizontal direction with respect to the bottom surface of the building must be moved in the vertical direction with respect to the bottom surface of the building, At this time, the vertical movement module 20 described above is used to move the horizontal movement module 10 in the vertical direction of the building.

The vertical movement module 20 is a device for moving the horizontal movement module 10 along an outer wall of a building while moving up and down along a pair of vertical rails 21 installed on an outer wall of a building. Here, the pair of vertical rails 21 guiding the vertical movement of the vertical movement module 20 are formed so as to be vertically spaced apart from each other at one corner of the building, as shown in Fig.

Hereinafter, the docking apparatus 100 for docking the maintenance means on the horizontal movement module 10 of the outer wall climbing apparatus 1 installed on the outer wall of the building will be described.

The docking apparatus 100 according to an embodiment of the present invention includes an outer wall climbing device 1 installed on an outer wall of a building and equipped with maintenance means 35 for moving the outer wall of the building while moving along the outer wall of the building And the maintenance means 35 is docked to the outer wall climbing device 1. [

Here, the maintenance means 35 is mounted on the horizontal movement module 10 as shown in Fig. 1, with the maintenance means 35 mounted on the maintenance means body 30. In this embodiment, as the maintenance means 35, a cleaning tool may be used, and at this time, the cleaning tool may be a roller type as shown in Fig.

2 and 3, the maintenance means body 30 is provided with a side view pin pin 33 on one side, a top pin pin 31 on the upper surface thereof, And a lower locking pin 32 is provided on the lower surface.

Here, the side view docking pin 33 is a docking pin docked to the side docking portion 100b, the upper docking pin 31 is a docking pin docked to the upper docking portion 100c, And is a docking pin docked to the docking portion 100a. The side docking portion 100b is installed on the inner side of the horizontal movement module 10 and is coupled to the side pinion 33 to dock the side surface of the maintenance means body 30 to the horizontal movement module 10. [ to be.

3, the upper docking unit 100c is installed on the upper inner surface of the horizontal movement module 10 and is coupled to the upper docking pin 31 to provide maintenance means 35 To prevent the body of the maintenance means 35 from being dislodged from the horizontal movement module 10.

The lower docking part 100a is installed on the lower inner surface of the horizontal movement module 10 and is coupled with the lower docking pin 32 so that the body of the maintenance means 35 And is prevented from being detached from the horizontal movement module 10.

The lower docking part 100a is different from the upper docking part 100c only in the installation position, and the configuration and operation are the same. Therefore, in the embodiment of the present invention, for the sake of convenience, the configuration and operation of the upper docking unit 100c will be omitted, and the lower docking unit 100a will be described.

Hereinafter, a configuration of a lower docking unit 100a according to an embodiment of the present invention will be described with reference to FIG.

In the present embodiment, the lower docking unit 100a includes a docking body 110, a docking hook 150, and a detachable guide 130.

Here, the docking main body 110 is installed in the horizontal movement module 10. The docking body 110 includes a first body plate 111, a second body plate 112, a third body plate 113, a fourth body plate 114, and a guide roller 110a. The first body plate 111, the second body plate 112, the third body plate 113 and the fourth body plate 114 are provided with hook-shaped docking pin catching portions to which the lower dead pin 32 is caught.

However, in an embodiment of the present invention, for convenience of explanation, the docking pin catches provided on the first body plate 111 and the second body plate 112 are referred to as 'first docking pin catches 118' And the docking pin latching portion provided on the third body plate 113 and the fourth body plate 114 will be referred to as a 'second docking pin latching portion 119'.

A first docking pin engaging portion 118 is formed on one side of the first main body plate 111 and a second docking pin engaging portion 118 is formed on one side of the first main body plate 111 to receive the first guide wheel 131a of the detachable / 1 guide grooves 111a are provided. Here, the first guide groove 111a is a groove for guiding the movement of the first guide wheel 131a.

The second body plate 112 according to an embodiment of the present invention includes a first body plate 111 and a second body plate 112 so that a first installation space 115 into which a first docking hook 151, And are spaced apart from each other by a predetermined distance.

In this embodiment, the first main body plate 111 and the second main body plate 112 are connected to each other by a roller rotation axis supporter 110c connected to the roller rotation axis 110b. Here, the roller rotation shaft 110b directly connects the second body plate 112 and the fourth body plate 114 as a rotation shaft to which the guide roller 110a is rotatably connected, and the second body plate 112 and the 4 body plate 114, as shown in Fig.

The roller rotation shaft support 110c is disposed on both side surfaces of the roller rotation shaft 110b and has one end connected to the roller rotation shaft support 110c and the other end connected to the first body board 111 or the third body board 113 by bolting Lt; / RTI >

The guide roller 110a is rotatably connected to a third installation space 117 provided between the second main plate 112 and the fourth main plate 114 so that the maintenance means body 30 is moved horizontally Is a member for guiding the maintenance means body (30) when mounted on the module (10).

In this embodiment, the third body plate 113 has the same shape as the first body plate 111 and is spaced apart from the second body plate 112 by a predetermined distance. A second docking pin latching part 119 is formed on one side of the third body plate 113 and a second guide wheel 132a of the detachable guide part 130 is inserted into one side of the third body plate 113 The second guide groove 113a is formed. Here, the second guide groove 113a is a groove for guiding the movement of the second guide wheel 132a.

The fourth body plate 114 according to an embodiment of the present invention has the same shape and structure as the second body plate 112 and has a second installation space in which a second docking hook 152, And is spaced apart from the third body plate 113 by a predetermined distance so that the second body plate 116 is provided. The fourth body plate 114 is connected to the third body plate 113 by a roller shaft support 110c connected to the roller rotation shaft 110b.

Hereinafter, the docking hook 150 and the detachable guide 130 will be described.

The docking hook 150 is operated when the lower locking pin 32 provided on the maintenance means body 30 is engaged with the first docking pin latching portion 118 and the second docking pin latching portion 119 Thereby preventing the lower pin pin 32 from being separated from the first docking pin latching portion 118 and the second docking pin latching portion 119. [

The docking hook 150 includes a first docking hook 151, a second docking hook 152, a first rotation shaft 153, a first elastic member 154, a second rotation shaft 155 and a second elastic member 156 ).

The first docking hook 151 is connected to the first docking pin latching portion 118 in the first installation space 115 and the second docking hook 152 is connected to the second docking hook portion 118 in the second installation space 116. [ And is connected to the pin catch 119.

The first docking hook 151 is attached to the first body plate 111 and the second body plate 112 at a predetermined angle by the first rotation shaft 153 in the first installation space 115 And is rotatably connected. In this embodiment, one side of the first docking hook 151 preferably has a hook shape.

At this time, one side of the first docking hook 151 is connected to the first rotation shaft 153, and the other side of the first docking hook 151 is in contact with the first detachable guide plate 131 of the detachable guide 130, . A first elastic member 154 for restricting the rotation of the first docking hook 151 is installed at both ends of the first rotation shaft 153.

The second docking hook 152 is attached to the third body plate 113 and the fourth body plate 114 at a predetermined angle by the second rotation shaft 155 in the second installation space 116 And is rotatably connected. In this embodiment, one side of the second docking hook 152 preferably has a hook shape.

At this time, one side of the second docking hook 152 is connected to the second rotation shaft 155, and the other side of the second docking hook 152 is in contact with the second detachable induction plate 132 of the detachable induction unit 130 . A second elastic member 156 for restricting rotation of the second docking hook 152 is installed at both ends of the second rotation shaft 155. The manner of operation of the first docking hook 151 and the second docking hook 152 according to the present embodiment will be described later while explaining the manner of operation of the detachable guiding unit 130. [

The detachable guiding portion 130 may be installed on the docking body portion 110 to be operatively associated with the docking hook 150 when the docking hook 150 operates, And is a member for inducing detachment of the docking pin (31) or the lower locking pin (32).

The detachable induction unit 130 includes a first detachable induction plate 131, a second detachable induction plate 132, a fixing member 133, a first detachable induction bar 134, a second detachable induction bar 135, 136, a detachable induction fixing shaft 137, and an elastic bar 138.

In this embodiment, the first detachable induction plate 131 is provided with a first guide wheel 131a on one surface thereof and is connected to the first body plate 111. [ The first detachable guide plate 131 is connected to the first body plate 111 in a state where the first guide wheel 131a is inserted into the first guide groove 111a of the first body plate 111. [ At this time, the first guide wheel 131a is moved along the first guide groove 111a when the first detachable guide plate 131 is moved.

In this embodiment, the first detachable guide bar 134 is connected to one side of the first detachable guide plate 131. The first detachable guide plate 131 is positioned so that the other side of the first detachable guide plate 131 is in contact with the first docking hook 151 in the first mounting space 115.

The second detachable induction plate 132 has a second guide wheel 132a on one surface thereof and is connected to the third body plate 113. [ Here, the second detachable induction plate 132 is connected to the third body plate 113 in a state where the second guide wheel 132a is inserted into the second guide groove 113a of the third body plate 113. At this time, the second guide wheel 132a is moved along the second guide groove 113a when the second detachable guide plate 132 is moved.

In this embodiment, the second detachable guide bar 135 is connected to one side of the second detachable guide plate 132. The other side of the second detachable induction plate 132 is located in the second installation space 116 so as to be in contact with the second docking hook 152.

In this embodiment, the first detachable induction plate 131 and the second detachable induction plate 132 are connected to the fixing member 133. The first detachable guide plate 131 is linked to the fixed member 133 by a first detachable guide bar 134 and the second detachable guide plate 132 is connected to the second detachable guide bar 135 And is linked to the fixing member 133 in a linkable manner.

The first detachable guide bar 134 and the second detachable guide bar 135 are spaced apart from each other by a predetermined distance and are rotatably connected to a docking rotary shaft provided on the fixing member 133. A first detachable guide plate 131 is connected to one end of the first detachable guide bar 134 and a handle 136 is connected to the other end of the first detachable guide plate 131. A second detachable guide bar 132 is connected to one end of the second detachable guide bar 135 and a handle 136 is connected to the other end of the second detachable guide bar 135.

The handle 136 is a member that directly connects the first detachable guide bar 134 and the second detachable guide bar 135 and is provided for the user to easily operate the detachable guide portion 130. In this embodiment, an elastic bar 138 is connected to the handle 136.

The elastic bar 138 is connected between the attaching / detaching induction fixing shaft 137 and the handle 136 in the third installation space 117 so that when the handle 136 is not subjected to a force, Is a member that applies an elastic force to the first detachable guide plate (131) and the second detachable guide plate (132) so that the first detachable guide plate (131) and the second detachable guide plate (132) In the present embodiment, the attachment / detachment guide shaft 137 is spaced apart from the handle 136 by a predetermined distance so as to be positioned between the second body plate 112 and the fourth body plate 114 in the third installation space 117 Respectively.

Hereinafter, with reference to FIG. 5, a description will be given of how the lower docking unit 100a operates when the maintenance means body 30 according to an embodiment is mounted on the lower docking unit 100a do.

5 (a), as the lower end of the maintenance means body 30 is moved in the first arrow direction F1 (F1) along the guide roller 110a, The lower docking pin 32 is engaged with the first docking hook 151 connected to the first docking pin hooking portion 118 and the second docking pin hooking portion 118 is connected to the first docking pin hooking portion 118, The first docking hook 151 and the second docking hook 152 contact with one side of the first docking hook 151 and the second docking hook 152 connected to the second docking pin latch 119.

When the first docking hook 151 is in contact with the lower docking pin 32, the first docking hook 151 is rotated counterclockwise around the first rotating shaft 153, The other side of the first docking hook 151 located in the first installation space 115 is released from contact with the first attachment and detachment plate 131 and the first installation space 115).

5 (c), when the first detachable guide plate 131 is released from contact with the first docking hook 151, the restoring force of the elastic bar 138 causes the first detachable guide plate 131, The first docking hook 151 is moved in the direction F1 and the second docking hook 151 is in contact with the other side of the first docking hook 151 as shown in Figure 5 (d) Thereby locking the king pin 32 to the first docking pin latching portion 118.

Similarly, when one side of the second docking hook 152 is in contact with the lower docking pin 32, the second docking hook 152 is rotated counterclockwise around the second rotation shaft 155, The other side of the second docking hook 152 located in the space 116 is released from contact with the second detachable induction plate 132 and the second installation space 116 is opened as shown in FIG. As shown in FIG.

5 (c), the second detachable guide plate 132 is moved in the reference position P1 by the restoring force of the elastic bar 138 when the second detachable guide plate 132 is released from contact with the second docking hook 152, The second docking hook 152 is moved in the direction F1 while being in contact with the other side of the second docking hook 152 to fix the position of the second docking hook 152 as shown in FIG. ) To the second docking pin latching portion (119).

The operation state of the lower docking unit 100a will be described below when the maintenance means body 30 mounted on the horizontal movement module 10 is separated from the horizontal movement module 10. [

When the handle 136 is pushed in a direction opposite to the first arrow direction F1 when the maintenance means body 30 is docked to the lower docking portion 100a, The first detachable guide plate 131 and the second detachable guide plate 132 are moved to the reference position P1 while the second detachable guide bar 134 and the second detachable guide bar 135 are linked.

The first docking hook 151 is disengaged from the first detachable guide plate 131 on the other side of the first docking hook 151 so that one side of the first docking hook 151 is connected to the first The other side of the first docking hook 151 is positioned in the first installation space 115 and is operated to come in contact with the first detachable induction plate 131 after being rotated clockwise by the elastic force of the elastic member 154. Here, the other side of the first detachable induction plate 131 is positioned at the reference position P1. In this state, the lower hook pin 32 is disengaged from the first docking hook 151, so that the lower hook pin 32 can be separated from the first docking pin hook portion 118.

The second docking hook 152 according to the present embodiment is operated in the same manner as the first docking hook 151 described above, and its operation is as follows.

The other end of the second docking hook 152 is disengaged from the second detachable guide plate 132 and the other end of the second docking hook 152 is engaged with the second elastic member 156. [ As shown in Fig.

At this time, the other side of the second docking hook 152 is located in the second installation space 116 and is brought into contact with the second attachment / detachment guide plate 132 so that the other side of the second attachment / detachment plate 132 is positioned at the reference position P1 . In this state, the lower dock pin 32 is released from contact with the second docking hook 152, so that the lower docking pin 32 can be separated from the second docking pin holding portion 119.

Hereinafter, the side docking unit 100b according to an embodiment of the present invention will be described with reference to FIGS. 3, 6, and 7. FIG.

3, the side docking portion 100b according to the present embodiment is installed on the inner side surface of the horizontal movement module 10, and the side docking portion 100b coupled to one side surface of the maintenance means body 30 33 to dock one side of the maintenance means body 30 to the horizontal movement module 10. In the present embodiment, the side view dog pin 33 has a structure in which a docking groove is fitted to the outer side of the side docking portion 100b.

In the present embodiment, the side docking portion 100b is made up of the side docking fixing plate 171, the docking pin seating portion 173, and the side trigger 175.

The side docking fixing plate 171 is a member coupled to the inner side surface of the horizontal movement module 10. The side docking fixing plate 171 can be bolted to the horizontal movement module 10. [ A docking pin seating portion 173 is provided on one side of the side docking fixing plate 171.

 The docking pin seating portion 173 is provided with a docking pin seating groove 174 on one side and is installed on the side docking fixing plate 171 to cover a part of the space of the side docking fixing plate 171. [ The docking pin seating groove 174 has a U-shaped structure. When the side docking pin 33 is inserted into the docking pin seating portion 173, the docking pin seating groove 174 is a portion into which the docking groove of the side key pin 33 is fitted.

When the side view docking pin 33 is connected to the docking pin receiving portion 173 in the side docking portion 100b according to the embodiment of the present invention, the side view docking pin 33 is separated from the docking pin receiving portion 173 A side trigger 175 is provided to prevent the side trigger 175 from leaking.

Here, one side of the side trigger 175 is hingedly connected to the docking pin seating portion 173. The other side of the side trigger 175 is bolted to the docking pin seating portion 173 when the side or king pin 33 is connected to the docking pin seating portion 173 so that the docking pin seating portion 173 The side trigger 175 can be prevented from being detached from the docking pin receiving portion 173 by closing the open space of the docking pin receiving groove 174. [

6 (a), the side pins provided on one side of the maintenance means body 30 are connected to the docking pin receiving portion 173 along the moving direction of the maintenance means body 30, When the side docking pin 33 is fitted into the docking pin receiving groove 174 of the docking pin receiving portion 173 as shown in Figure 6B, Is connected to the docking pin seating portion 173 so as to cover the open space of the docking pin seating groove 174 as shown in Figure 6 (d) while being hinged as shown in Figure 6 (c) And is coupled to the docking pin seating portion 173 by a bolt.

Meanwhile, in one embodiment of the present invention, the maintenance means body 30 can be separated from the horizontal movement module 10 while the bolt engagement of the bolt coupled to the side trigger 175 is released.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope of the appended claims, The genius will be so self-evident. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: docking apparatus 100a: lower docking unit
100b: side docking portion 100c: upper docking portion
110: docking body part 111: first main body plate
112: second body plate 113: third body plate
114: fourth body plate 115: first installation space
116: first installation space 117: third installation space
118: first docking pin latching part 119: second docking pin latching part
130: detachment inducing part 131; The first detachable induction plate
132; Second detachable guide plate 133: fixing member
134: first detachable guiding bar 135: second detachable guiding bar
136: Handle 137: Retractable guide shaft
138: Elastic bar 150: Docking hook
151: first docking hook 152: second docking hook
171: side docking fixing plate 173: docking pin mounting portion
174: Docking pin seating groove 175: Side trigger

Claims (7)

A docking device installed in an outer wall climbing device mounted on an outer wall of the building and equipped with maintenance means for moving the outer wall of the building to clean the outer wall of the building and docking the maintenance means to the outer wall climbing device, ,
A maintenance means body provided with a side wall pin on one side, a king pin on the upper side, and a king pin on the lower side, the maintenance means being mounted on a surface facing the outer wall of the building;
A side docking unit installed on the inner side of the outer wall climbing device and coupled to the side docking pin to dock the maintenance means body to the outer wall climbing device;
An upper docking unit installed on an upper inner surface of the outer wall climbing device and coupled to the upper docking pin to dock the maintenance means body to the outer wall climbing device; And
And a lower docking portion provided on a lower inner surface of the outer wall climbing device and coupled to the lower docking pin to dock the maintenance means body to the outer wall climbing device,
Wherein a docking groove is formed on an outer circumferential surface of the side view docking pin so as to be fitted into a docking pin seating groove of the side docking portion.
delete The apparatus according to claim 1, wherein the side docking unit comprises:
A side docking stationary plate coupled to an inner surface of the outer wall climbing apparatus;
A docking pin seating part provided on the side docking station plate to cover a part of the space of the side docking station plate; And
And a side trigger connected to one side of the docking pin seating portion to prevent the side docking pin from departing when the side view docking pin is connected to the docking pin seating portion.
A docking device installed in an outer wall climbing device mounted on an outer wall of the building and equipped with maintenance means for moving the outer wall of the building to clean the outer wall of the building and docking the maintenance means to the outer wall climbing device, ,
A maintenance means body provided with a side wall pin on one side, a king pin on the upper side, and a king pin on the lower side, the maintenance means being mounted on a surface facing the outer wall of the building;
A side docking unit installed on the inner side of the outer wall climbing device and coupled to the side docking pin to dock the maintenance means body to the outer wall climbing device;
An upper docking unit installed on an upper inner surface of the outer wall climbing device and coupled to the upper docking pin to dock the maintenance means body to the outer wall climbing device; And
And a lower docking portion provided on a lower inner surface of the outer wall climbing device and coupled to the lower docking pin to dock the maintenance means body to the outer wall climbing device,
The upper docking unit and the lower docking unit may include:
A docking main body portion provided with a docking pin latching portion on one side for receiving the upper hexagon pin or the lower hexagon pin pin and a guide roller rotatably mounted on the other side;
Wherein the upper pinch pin or the lower pinch pin is operated to close the open space of the docking pin latching portion when the upper pinch pin or the lower pinch pin is connected to the docking pin latching portion, A docking hook provided so as to prevent dislodgement of the docking pin from the docking pin engagement portion; And
And a detachable guiding part installed on the docking main body to interlock with the docking hook during operation of the docking hook and to guide detachment of the upper part of the docking hook to the king pin or the lower locking pin. Lt; / RTI >
5. The apparatus of claim 4, wherein the docking body portion
A first body plate having a first guide groove through which a first guide wheel of the detachable guide portion is inserted;
A second body plate connected to the first body plate such that the first body plate is spaced apart from the first body plate by a predetermined distance;
A third body plate provided on one surface thereof with a second guide groove into which the second guide wheel of the detachable guide portion is inserted;
And a fourth body plate connected to the third body plate such that the second body space is spaced apart from the first body plate by a predetermined distance,
Wherein the docking pin engagement portion includes a first docking pin engagement portion formed on the first body plate and the second body plate in a claw shape and a second docking pin engagement portion formed on the third body plate and the fourth body plate in a claw shape, ego,
Wherein the first installation space and the second installation space are provided with the docking hooks rotatably at predetermined angles and the third installation space provided between the second main plate and the fourth main plate is provided with the guide rollers Wherein the docking device is rotatably installed.
6. The apparatus according to claim 5,
A first detachable guide plate provided on one surface of the first guide wheel and installed to be able to contact the docking hook in the first installation space;
A second detachable guide plate provided on the one surface of the second guide wheel and installed to be able to contact the docking hook in the second installation space;
A fixing member provided between the first detachable guide plate and the second detachable guide plate and having a docking rotation axis;
A first detachable guide bar rotatably installed on the docking rotary shaft and having one end connected to the first detachable guide plate;
A second detachable guide bar rotatably installed on the docking rotary shaft and having one end connected to the second detachable guide plate;
A handle for connecting the other end of the first detachable guiding bar to the other end of the second detachable guiding bar;
A detachment induction fixing shaft spaced apart from the handle by a predetermined distance and fixed between the second body plate and the fourth body plate in the third installation space; And
And an elastic bar which is located in the third installation space and has one end connected to the handle and the other end connected to the attachment and detachment induction fixing axis and generates an elastic force when a force is applied to the handle, .
7. The apparatus of claim 6, wherein the docking hook comprises:
And the other end of which is rotatably connected to the first body plate and the second body plate at a predetermined angle by a first rotation axis, Docking hook;
A first elastic member provided at both ends of the first rotation shaft to restrict rotation of the first docking hook;
One end of which is rotatably connected to the third body plate and the fourth body plate at a predetermined angle by a second rotation axis and the other end of which is rotatably connected to the second attachment space by a second rotation axis, Docking hook;
And a second elastic member provided at both ends of the second rotation shaft for restricting rotation of the second docking hook.

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