JP2003220994A - Crane type heave damper - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a crane type heave damper having a good response without increasing accumulator pressure. <P>SOLUTION: This crane type heave damper comprises a swivel base 12 supported swivelably around a vertical axis for a hull, a swivel motor 13 that drives the base 12, a main boom 21 fallingly and risingly supported for the base 12, a main cylinder 25 for falling and raising the boom 21, a sub boom 22 turnably connected to the main boom 21, a heave cylinder 31 for turning the sub boom 22, an accumulator 32 for pressurizing within the heave cylinder 31, a sheave 9 supported at the sub boom 22, a wire 4 wound around the sheave 9 and hanging an underwater device and a winch for taking up the wire 4. The heave cylinder 31 rotates the sub boom 22 by pressure introduced from the accumulator 32 and applies tension to the wire 4. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane for suppressing the shaking of an underwater device such as an underwater observation ship which is suspended from the mother ship such as an ocean observation ship into the sea by a wire or a water sampler for collecting ocean water. Type heave damper device.

[0002]

2. Description of the Related Art When an undersea device of this type is suspended from a mother ship into the sea by a wire, the tension of the wire is prevented in order to prevent the sway of the mother ship due to waves from being transmitted to the undersea device through the wire. Should be kept approximately constant.

As a heave damper device for this purpose, for example, a ram tensioner device is known in which sheaves are attached to both ends of a main cylinder connected to an accumulator, and a wire connecting a mother ship and an undersea device is hung between the sheaves. (JP-A-1-104596, JP-A-61-86392, JP-A-60-219192)
Issue, see).

Conventionally, there has been a crane-type heave damper device having a function of a crane in addition to the function of the ram tensioner device. This type of crane-type heave damper device is a wire for suspending the undersea device, a winch for feeding and winding the wire, a sheave for guiding the wire, and a boom mechanism for rotating the sheave with respect to the hull,
A main cylinder that raises and lowers the boom mechanism, and an accumulator that pressurizes the inside of the main cylinder are provided.
The pressure introduced from the accumulator causes the main cylinder to make the spacing between both ends of the sheave expandable and contractible according to the wire load, that is, the wire tension, so that the shaking of the mother ship due to the wave is not transmitted to the undersea device via the wire.

[0005]

However, in such a conventional crane type heave damper device, it is necessary to make the boom length of the boom mechanism as long as possible so that the undersea device does not collide with the hull during the work. By that amount, the boom mechanism has a large storage height and the center of gravity is high.
There was a problem that the stability of the mother ship deteriorates.

As a solution to this problem, a boom mechanism having two folded booms has been proposed, but this has a dual structure in which the main cylinder has a heave damper function. When the heave damper is activated, the mass driven by the main cylinder becomes large, so that the accumulator pressure needs to be increased accordingly, and further there is a problem that the responsivity of expanding and contracting according to the wire tension cannot be sufficiently increased due to the restriction on strength.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane-type heave damper device having excellent responsiveness without increasing the accumulator pressure.

[0008]

According to a first aspect of the present invention, in a crane type heave damper device, a swivel supported so as to swivel around a vertical axis with respect to a hull, and swivel drive means for driving the swivel, A main boom that is supported so that it can rise and fall with respect to this swivel base, a main cylinder that raises and lowers the main boom, a sub boom that is rotatably connected to the main boom, and a heave cylinder that rotates the sub boom with respect to the main boom. And an accumulator that pressurizes the inside of the heave cylinder, a sheave supported by the sub-boom, a wire that is hung on the sheave and that suspends an undersea device, and a take-up winch for this wire. It is characterized in that the sub-boom is rotated to apply tension to the wire. It was.

In a second aspect based on the first aspect, a tip sheave attached to the tip of the sub-boom and a guide boom attached to the upper part of the main boom are provided, and a wire is hung over the tip sheave and the guide boom. It is characterized by being placed above the boom mechanism.

In a third aspect based on the first or second aspect, a sub boom is provided with a catcher that is swingably suspended via a joint, and a sheave for suspending an undersea device is connected to this catcher via a wire. It was characterized as having done.

[0011]

According to the first aspect of the present invention, since the heave cylinder has a structure in which only the sub-boom is rotated without raising the entire boom mechanism, the mass driven by the heave cylinder when the heave damper is activated is reduced, The responsiveness for swinging the boom mechanism in the opposite phase with respect to the hull side according to the tension can be enhanced.

Further, since the mass driven by the heave cylinder is reduced, the accumulator can be downsized.

Since the main cylinder for raising and lowering the entire boom mechanism is provided independently of the heave cylinder, the structure of the main cylinder is simplified and the hydraulic circuit for supplying and discharging hydraulic oil to the main cylinder is simplified. be able to.

According to the second aspect of the invention, since the wire is arranged above the boom mechanism, the wire does not interfere with the operator on the deck and is safe.

According to the third invention, by driving the winch during operation of the boom mechanism to hold the wire in the winding direction, the wire restrains the catcher and the undersea device from shaking, and the undersea device interferes with the hull. Or, the interference between the wire and the catcher can be prevented.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings.

In FIGS. 1A and 1B, 1 is a mother ship, 2 is an undersea device, and 3 is a crane type heave damper device. The undersea device 2 is, for example, an underwater observation ship or measuring instrument for ocean research or seabed exploration, a manipulator device, a water sampler for collecting ocean water, and the like.

The crane-type heave damper device 3 includes a wire 4 for suspending the undersea device 2, a winch (not shown) for feeding and winding the wire 4, and sheaves 5, 6, 7, 9 for guiding the wire 4. And a bi-folding boom mechanism 20 that moves the sheave 9 at the tip with respect to the hull, and the boom mechanism 20 and the winch are actuated to hang the underwater device 2 from the mother ship 1 to the sea by the wire 4 It also has the function of a tensioner compensator for keeping the tension of the wire 4 substantially constant, and the sway of the mother ship 1 due to waves is not transmitted to the undersea device 2 via the wire 4.

The boom mechanism 20 includes a frame 11 fixed to the hull, a swivel base 12 supported so as to swivel around a vertical axis with respect to the frame 11, a swivel motor 13 for driving the swivel base 12, and a swivel motor. A main boom 21 that is supported so as to be able to rise and fall about a horizontal axis with respect to the platform 12, a main cylinder 25 that raises and lowers this main boom 21, and a sub-boom 2 that rotatably projects from the tip of the main boom 21.
2, and a heave cylinder 31 for rotating the sub boom 22.
Further, the sub-boom 22 is provided with a catcher 41 and the like for suspending the undersea device 2 at the tip thereof.

Incidentally, the revolving base 12 is not limited to be driven by the revolving motor 13, but a hydraulic cylinder may be provided, for example.

As shown in FIG. 1A, the boom mechanism 2
The swivel base 12 is 20 ° rearward from the center position where 0 is swung orthogonally from the port side, and 1 is also forward from the center position.
Turn in the range of 80 °.

A pair of arms 14 are erected on the swivel base 12, and the main boom 2 is attached to the arms 14 via pins 15.
The base end of 1 is rotatably connected.

The main cylinder 25 has its cylinder base end rotatably connected to the swivel base 12, and its rod tip end rotatably connected to the main boom 21. The boom mechanism 20 rises when the main cylinder 25 extends, while the boom mechanism 20 descends when the main cylinder 25 contracts.

The sub-boom 22 has a pair of branch portions 26 that branch in a Y shape and extend. A pair of pins 2 is provided in the middle of the tip portion of the main boom 21 and each branch portion 26 of the sub boom 22.
It is rotatably connected via 8.

The tip of each branch 26 and the main boom 21
A pair of heave cylinders 31 are provided between them. Each heave cylinder 31 has a cylinder base end portion which is the main boom 2.
1 is rotatably connected, and its rod tip end is rotatably connected to the tip end of each branch portion 26 of the sub boom 22. When each heave cylinder 31 is extended, the sub-boom 22 is lowered and the boom mechanism 20 is folded. On the other hand, when the heave cylinder 31 is contracted, the sub-boom 22 is raised and the boom mechanism 20 is deployed.

An accumulator 32 is provided alongside each heave cylinder 31, and the pressure of the accumulator 32 is guided to the heave cylinder 31 via a hydraulic circuit to be described later, so that the heave cylinder 31 keeps the tension of the wire 4 substantially constant. Acts as a tensioner compensator.

The catcher 41 is suspended from the tip of the sub boom 22 via a joint 42. The joint 42 has its upper end rotatably connected to the sub-boom 22 via a pin 43, and its lower end via a pin 44 to the catcher 41.
Is rotatably connected to the upper end of the. Pin 43 and pin 44
Are arranged so as to be orthogonal to each other, and the catcher 41 is suspended from the sub boom 22 so as to be swingable in two axial directions.

A wire 4 extending from a winch (not shown) is hung on sheaves 5, 6, 7 and 9 and connected to the undersea device 2. The sheave 5 is connected to the frame 11 and the sheave 6
Is connected to the swivel base 12. The wire 4 spanning between the sheave 5 and the sheave 6 is arranged on the rotary shaft of the swivel base 12 so that the wire 4 is not pulled in along with the swivel of the swivel base 12.

A sheave 9 for suspending the undersea device 2 via a wire 4 is connected to a catcher 41. Catcher 4
By driving the winch with the undersea device 2 suspended in 1 to hold the wire 4 in the winding direction, the wire 4 suppresses the sway of the catcher 41 and the undersea device 2, and the undersea device 2 interferes with the hull. It is possible to prevent the wire 4 from interfering with the catcher 41. In other words, when the catcher 41 swings in the direction away from the sheave 6 together with the sheave 9, tension is exerted on the wire 4 spanned between the sheave 6 and the sheave 9, and the subsea device 2 is prevented from significantly swinging in the port side. . On the other hand, when the sheave for suspending the undersea device is fixed to the sub-boom, the catcher is free to swing, and therefore the wire hung on the sheave cannot suppress the shaking of the catcher and the undersea device.

The sheave 7 is connected to the upper portion of the main boom 21, and the wire 4 hung on the sheave 7 is connected to the boom mechanism 2.
It is located above 0. The wire 4 extending from the sheave 6 to the sheave 7 passes through the opening 38 formed in the main boom 21, and the wire 4 extending from the sheave 7 to the sheave 9 is between the branch portions 26 or between the branch portions 39 of the main boom 21. Is arranged through.

FIG. 3 shows a hydraulic circuit and a pneumatic circuit provided in the crane type heave damper device 3.

The hydraulic circuit includes a manual switching valve 61 for switching the rotary operation of the hydraulic motor 13, an electromagnetic switching valve 62 for switching the expansion / contraction operation of each canning cylinder 54, and a manual switching valve 63 for switching the expansion / contraction operation of the main cylinder 25. A manual switching valve 64 for switching the expansion / contraction operation of the heave cylinder 31 is provided.

The pinning cylinder 54 drives a pinning device (not shown) that detachably connects the undersea device 2 to the catcher 41.

As shown in FIG. 4, each heave cylinder 3
Each oil chamber is connected to each supply / discharge passage 65 for supplying / discharging the hydraulic oil via each manual switching valve 64. When the manual switching valve 64 is switched to the position a, the pressurized hydraulic oil from the hydraulic unit is supplied to each heave cylinder 31, and each heave cylinder 31 operates.

When the manual switching valve 64 is switched to the position b, the working oil pressure from the hydraulic unit is introduced as a pilot pressure for opening the counter balance valve 66, and the working oil of each heave cylinder 31 is returned to the hydraulic unit. , Each heave cylinder 31 contracts.

The oil chamber of each heave cylinder 31 is connected to the hydraulic chamber of the accumulator 32 via an opening / closing valve 67, and is energized by the oil pressure introduced from the accumulator 32 when the opening / closing valve 67 is opened. Accumulator 32
A predetermined air pressure is introduced from the air pressure supply unit 70 into the air pressure chamber.

During operation of the heave damper, when the sub-boom 22 reaches a predetermined rotation angle, the manual switching valve 64 is switched to the neutral position. Along with this, each counterbalance valve 66 is closed, and each supply / discharge passage 65 is shut off.
In this way, after the driving of the sub-boom 22 is stopped, when the open / close valve 67 is opened to establish a communication state, the heave cylinder 3
By keeping the hydraulic pressure in 1 substantially constant by the accumulator 32, the heave cylinder 31 moves to the sub boom 2
Force 2 to always push up under the set load pressure. That is, the heave cylinder 31 folds the boom mechanism 20 when the tension (load) of the wire 4 increases, and unfolds the boom mechanism 20 when the tension (load) of the wire 4 decreases. As a result, the position of the sheave 9 is changed up and down in response to the change in tension so that the shaking of the mother ship 1 due to the waves is not transmitted to the undersea device 2 via the wire 4.

FIG. 2 shows an operating state of the crane type heave damper device 3. (A) The figure shows the range in which the boom mechanism 20 is elevated when the crane operates. In this case, while raising the main cylinder 25, the sub boom 2
By raising 2 up, a sufficient working stroke is secured, and the undersea device 2 can be moved sufficiently away from the hull.

FIG. 6B shows the storage state. In this stored state, the main cylinder 25 is raised and the sub-boom 22 is folded and pulled near the swivel base 12.

When the boom mechanism 20 is on the deck, since the wire 4 is arranged above the boom mechanism 20 via the sheave 7, it does not interfere with the operator on the deck. On the other hand, in the case of the conventional device, since the wire is arranged below the boom mechanism, there is an undeniable possibility that it will interfere with the operator on the deck.

FIG. 6 (c) shows the range in which the sub boom 22 rotates when the heave damper operates. In this case, the main boom 21 is raised to the maximum, and the sub boom 22 is rotated to a position that extends substantially horizontally, whereby the sub boom 22 is rotated.
Provides a working stroke required to offset the fluctuations h ₁ and h ₂ of the mother ship 1, and rotates to follow the fluctuation of the mother ship 1 due to waves to adjust the tension of the wire 4 constant.

Since the heave cylinder 31 has a structure in which only the sub-boom 22 is rotated without raising the entire boom mechanism 20, the mass driven by the heave cylinder 31 at the time of operation of the heave damper is small, and the sheave is adjusted according to the tension of the wire 4. The responsiveness of moving 9 can be sufficiently enhanced.

Further, since the mass driven by the heave cylinder 31 is reduced, the accumulator 32 can be downsized.

Since the main cylinder 25 for raising and lowering the boom mechanism 20 is provided independently of the heave cylinder 32, the main cylinder 25 and the hydraulic circuit for supplying / discharging hydraulic oil to / from the main cylinder 25 can be simplified.

Next, another embodiment of the crane type heave damper device 3'shown in FIGS. 5 (a) and 5 (b) will be described. The same components as those in the above embodiment are designated by the same reference numerals.

A wire 4 extending from a winch (not shown) is hung on sheaves 5, 6, 7, 8 and 9 and connected to the undersea device 2. That is, the tip sheave 8 attached to the tip of the sub-boom 22 and the guide boom 7 attached to the upper part of the main boom 21 are provided, and the wire 4 is hung over the tip sheave 8 and the guide boom 7 to make the boom mechanism 2
It is located above 0.

When the boom mechanism 20 is on the deck, the wire 4 is arranged above the boom mechanism 20 so that it does not interfere with the operator on the deck, which is most preferable in terms of safety. On the other hand, in the case of the previous embodiment,
Since a part of the wire 4 hung from the sheave 7 to the sheave 9 is arranged below the boom mechanism 20, there is an undeniable possibility that it will be an obstacle to an operator on the deck.

It is obvious that the present invention is not limited to the above-mentioned embodiments and various modifications can be made within the scope of the technical idea thereof.

[Brief description of drawings]

FIG. 1 shows a crane-type heave damper device according to an embodiment of the present invention, in which (a) is a plan view and (b) is a front view.

FIG. 2 is an operation explanatory diagram of the same.

FIG. 3 is a hydraulic circuit diagram of the same.

FIG. 4 is a hydraulic circuit diagram in which a part of FIG. 3 is also enlarged.

FIG. 5 shows a crane-type heave damper device of another embodiment, (a) is a plan view and (b) is a front view.

[Explanation of symbols]

1 mother ship 2 Undersea device 3,3 'Crane type heave damper device 4 wires 5-9 sheaves 12 swivel base 13 Swing motor 20 Boom mechanism 21 Main Boom 22 Sub-boom 25 Main cylinder 31 heave cylinder 32 Accumulator 41 Catcher 42 joint 67 on-off valve

Claims (3)

[Claims] 1. A swivel supported so as to swivel around a vertical axis with respect to a hull, a swivel drive means for driving the swivel, and a main boom supported so as to be able to rise up against the swivel. A main cylinder that raises the main boom,
A sub boom that is rotatably connected to the main boom, a heave cylinder that rotates the sub boom with respect to the main boom, an accumulator that pressurizes the inside of the heave cylinder, a sheave supported by the sub boom, and a sheave that is hung on the sheave. A crane-type heave damper device comprising a wire for hanging an undersea device and a winding winch for the wire, wherein the heave cylinder is configured to rotate the sub-boom by the pressure guided from the accumulator to apply tension to the wire. 2. A tip sheave attached to the tip of the sub-boom, and a guide boom attached to the upper part of the main boom, wherein the wire is hung over the tip sheave and the guide boom and arranged above the boom mechanism. The crane-type heave damper device according to claim 1, wherein 3. A sub-boom is provided with a catcher which is swingably suspended via a joint, and a sheave for suspending an undersea device is connected to the catcher via the wire. Crane type heave damper device described in.