JP2009154722A - Power assist device for on-board working - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power assist device for on-board working which assists on-board working using a rod-like body with relatively large force while ensuring accuracy of the work. <P>SOLUTION: The power assist device for the on-board working includes a support member 2 for supporting the rod-like body extending toward the outside of the vessel; a standing/falling mechanism 10 having an actuator 41 and rotating the support member 2 around a horizontal axis; and a control device for controlling the actuator 41 such that torque detected by standing/falling sensors 32, 32 for detecting torque around the horizontal axis applied from an operator to the support member 2 is increased and the support member 2 is rotated around the horizontal axis by the torque after increase. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an onboard work power assist device that is mounted on a ship and assists an operator's work on board.

  Ships are used not only for transporting crew members and passengers to destinations, but also for various purposes. Therefore, in various scenes, crew members, passengers, and the like may perform work on the ship.

  Patent Document 1 below describes a marine rescue operation that rescues a person drifting in the sea as an onboard operation. Patent Document 1 describes a human outboard apparatus including a crane having a crane beam extending horizontally toward the outside of the ship and a rope suspended from the crane beam. According to this outboard device for human beings, a rescuer who is caught on a rope is drawn by a crane and rescued on board.

The following Patent Document 2 describes matters relating to fishing as a work on board. Patent Document 2 describes a fishing reel for the purpose of enjoying the feeling of manual winding when a fish is caught while maintaining the convenience of the electric reel. The electric fishing reel has a human power detecting means for detecting the magnitude of the human power generated when the fishing line is wound up, and a motor for supplying an auxiliary driving force at a predetermined ratio to the detected value. Is controlled to rotate.
Special table 2001-501152 gazette JP 11-308949 A

  By the way, since the ship floats on the water surface, and the ship floating on the sea surface is often shaken by waves, the work on the ship is always exposed to an unstable state unlike the work on the ground. However, there are cases where both a large force and accuracy of work are required as in the above-described ship work.

  As described above, the human outboard apparatus described in Patent Document 1 mechanically pulls a rescuer by a crane. However, machines such as cranes cannot be operated delicately like humans, and the rope cannot be operated delicately according to the movement of a person drifting in the sea. For this reason, it is difficult to say that the work accuracy is sufficiently satisfactory.

  The electric fishing reel described in Patent Document 2 only winds a fishing line and does not assist the operation of the fishing rod itself. Therefore, it is difficult to perform an accurate operation while exerting a great force with respect to a fishing rod operation (for example, a pumping operation described later).

  Thus, conventionally, there is no device that assists onboard work using a rod-like body (in the above example, a crane beam or a fishing rod) that extends toward the outside of the ship with a relatively large force while ensuring the accuracy of the work. It was.

  The present invention has been made in view of the above points, and the object of the present invention is to assist onboard work using a rod-shaped body extending toward the outside of the ship with a force greater than human power while ensuring the accuracy of the work. An object is to provide a power assist device for onboard work.

  An onboard work power assist device according to the present invention is an onboard work power assist device mounted on a ship, and includes a support member that supports a rod-like body extending toward the outside of the ship, and an actuator, and the support member A undulation mechanism for rotating the undulation sensor around the horizontal axis, a undulation sensor for detecting a rotative force around the horizontal axis applied by the operator to the support member, and amplifying the rotative force detected by the undulation sensor to rotate after amplification And a control device that controls the actuator so that the support member rotates about a horizontal axis by force.

  Here, the “ship” refers to a person traveling on the water with a person or an object, and includes, for example, a boat, a small ship in a narrow sense, a large ship, a flying boat, a seaplane, and the like. The “rotational force applied from the operator to the support member” may be a rotational force directly applied from the operator to the support member. When the operation member is provided on the support member, this operation unit It may be a rotational force applied indirectly through the like. In addition, when the operator operates by grasping the rod-shaped body, the rotational force from the operator to the support member is indirectly applied via the rod-shaped body.

  In general, the most necessary force in ship work using a rod-shaped body is an operation of raising and lowering the rod-shaped body. In the above-mentioned power assist device for on-board work, when the operator undulates the rod-like body supported by the support member, the rotational force around the horizontal axis accompanying the undulation is detected by the undulation sensor. Then, the rotational force is amplified by the actuator, and the rod-like body is undulated by the amplified rotational force. In this way, since the undulation operation by the operator is assisted, the operator does not have to work hard to exert a great force, and can concentrate on working accurately. Therefore, an operation requiring a relatively large force can be performed accurately.

  The shipboard power assist device includes an actuator, a turning mechanism for rotating the support member around a vertical axis, a turning sensor for detecting a rotational force around the vertical axis applied to the support member by an operator, The control device amplifies the rotational force detected by the turning sensor, and controls the actuator of the turning mechanism so that the support member rotates about the vertical axis by the amplified rotational force. There may be.

  As a result, the accuracy of the operation can be improved while exerting a relatively large force even with respect to the turning operation of the rod-shaped body.

  The shipboard power assist device further includes an operation member that is provided on the support member and is operated by an operator, and force sense presentation means that transmits a force sense of the rod-like body to the operation member. Is preferred.

  Thus, the operator can feel the force sense of the rod-like body through the operation member. Therefore, the operator can easily perform a delicate operation corresponding to the force applied to the rod-shaped body. Therefore, a delicate operation according to the situation can be easily performed, and the accuracy of the work can be further improved.

  The control device may execute a damper control that applies a resistance force to a rotational force around a horizontal axis applied to the support member when the rod-shaped body is raised and lowered.

  As a result, when the operator performs an abrupt operation, the rod-shaped body can be prevented from reacting sensitively to the operation. For example, when a rescue operation is performed using a rod-shaped body, when the operator suddenly raises the rod-shaped body, it is possible to prevent the rescuer from being pulled suddenly and receiving an impact. Further, for example, when fishing is performed using a fishing rod as a rod-shaped body, it is possible to prevent an impact from being applied to an operator when a large fish pulls a fishing line suddenly.

  It is preferable that the control device includes an assist adjustment unit that can adjust at least an assist force by an actuator of the hoisting mechanism and a resistance force in the damper control.

  Thereby, at least the assist force by the actuator of the hoisting mechanism and the resistance force in the damper control can be arbitrarily adjusted. Therefore, the convenience of the onboard work power assist device can be improved. In addition, the said control apparatus may be comprised so that adjustment of the assist force by the actuator of a turning mechanism is possible.

  The rod-shaped body may be a part or all of a rescue tool for water rescue.

  A large amount of power is required for rescue work such as lifting a rescuer floating on the water to the ship. On the other hand, in the rescue of water, it is necessary to delicately operate the rescue equipment according to the state of the rescuer. This is because a rough operation or a sudden operation contrary to the situation of the rescuer is unfavorable because it gives a shock to the rescuer. In addition, a rescue tool may be pulled at a timing unintended by the rescuer, which requires careful operation. Therefore, according to the above-mentioned power assist device for on-board work, the above-described effects are remarkably exhibited. According to the above-mentioned power assist device for on-board work, it is possible to favorably assist a water rescue that requires a large force and accuracy of work.

  The rod-shaped body may be a fishing rod.

  In fishing, not only the winding of the fishing line but also the operation of the fishing rod is important. When fishing a relatively large fish, a so-called pumping operation is required in which the fishing rod is repeatedly raised and pulled down. According to the above-mentioned power assist device for on-board work, the pumping operation is facilitated when a relatively large fish is caught, and the fishing rod can be accurately operated with a large force. Therefore, even a person who is unfamiliar with fishing on board or a person with poor power can fully enjoy fishing on board.

  As described above, according to the present invention, it is possible to realize an onboard work power assist device that assists onboard work using a rod-like body extending toward the outside of the ship with a force greater than human power while ensuring the accuracy of the work. Can do.

  In the following description, first, the configuration of the onboard work power assist device according to the present embodiment will be described, and then the use form of the onboard work power assist device will be described.

《Configuration of power assist device for onboard work》
As shown in FIG. 1, a power assist device for on-board work (hereinafter simply referred to as a power assist device) 1 is a rod-like body (not shown in FIG. 1, see rod 70 in FIG. 5 and fishing rod 81 in FIG. 8 described later). .) Is provided. The supporting member 2 is sufficient if it supports the rod-shaped body, and the shape thereof is not particularly limited. In the present embodiment, the support member 2 is formed by an elongated block body extending obliquely upward and forward. A grip 3 as an operation unit is provided on the side of the support member 2. In the power assist device 1 according to this embodiment, the grip 3 is provided on the right side of the support member 2, but the grip 3 may be provided on the left side of the support member 2, and is provided on both the left and right sides. May be. It is also possible to provide the grip 3 in another part of the support member 2. On the base side of the grip 3, a force sensor 31 that detects an operation force applied to the grip 3 is provided.

  A hoisting mechanism 10 that rotates the support member 2 around a horizontal axis (see a virtual horizontal axis Y in FIG. 1) is disposed below the support member 2. The hoisting mechanism 10 includes a horizontally extending rotary shaft 11 formed on the lower side of the support member 2 and brackets 12 that rotatably support both ends of the rotary shaft 11. A undulation sensor 32 that detects a rotational force around the horizontal axis of the support member 2 is attached to the right bracket 12. An actuator 41 that rotates the rotating shaft 11 is attached to the left end of the rotating shaft 11.

  Below the hoisting mechanism 10 is disposed a turning mechanism 15 that rotates the support member 2 around the vertical axis (see the virtual vertical axis Z in FIG. 1) via the hoisting mechanism 10. The turning mechanism 15 includes a turntable 16 that can rotate around a vertical axis. A turn sensor 33 that detects the rotational force applied to the hoisting mechanism 10 is attached to the lower side of the turntable 16. Therefore, the turning sensor 33 can detect the rotational force around the vertical axis applied to the support member 2 via the undulation mechanism 10. An actuator 42 that rotates the turntable 16 is provided below the turntable 16. The types of the actuators 41 and 42 are not particularly limited, and for example, an electric motor, a hydraulic motor, or the like can be suitably used.

  FIG. 2 is a block diagram showing the control device 50 of the power assist device. The control device 50 includes an assist adjustment unit 53 that adjusts the assist force, a first assist control law unit 51 that sets a force amplification factor (that is, a power assist gain) in the undulation operation and the turning operation of the support member 2, and a support And a second assist control law portion 52 that sets a ratio of the resistance force in the undulation operation and the turning operation of the member 2. D1 and D2 are drivers for driving the actuators 41 and 42, respectively.

  As described above, the first assist control law unit 51 is a part for setting a power amplification factor (that is, a power assist gain) in the undulation operation and the turning operation of the support member 2. That is, in the first assist control law unit 51, the amplification factor of the force of the undulation operation and the turning operation of the support member 2 is set. The amplification factor of the force of the undulation operation and the turning operation of the support member 2 may be set independently, or may be set in association with each other. The amplification factor of the force for the hoisting operation and the amplification factor of the force for the turning operation may be the same or different.

In the present embodiment, when a sudden force is applied to the support member 2, a resistance force is applied to the support member 2 so as to suppress a sudden movement of the support member 2. The second assist control law portion 52 is a portion for setting a resistance force in the undulation operation and the turning operation of the support member 2. In the present embodiment, the second assist control law unit 52 gives a negative output feedback of −K _V · y using a negative gain (−K _V ) to the operation force of the operator, thereby responding to the operation force. Give resistance. In the present embodiment, the second assist control law unit 52 sets the gain of resistance based on the angular velocity around the horizontal axis and the angular velocity around the vertical axis of the support member 2. The second assist control law unit 52 detects the angular velocity in the direction to be lowered when the angular velocity is detected in the direction of raising / lowering operation of the support member 2 (for example, in the plus direction). when (e.g., negative direction) is the gain of the resistance and -K _V. Thereby, a resistance force can be applied when the support member 2 is lowered (pulled) without feeling resistance when the support member 2 is raised.

  The operation unit 5 of the power assist device 1 is a part operated by an operator. The operation unit 5 includes the above-described grip 3 and the input device 4 that is operated when adjusting the assist force and the resistance force. The operator can freely set the assist force by inputting a desired amplification factor to the input device 4. For example, when a numerical value “2” is input to the input device 4 as an amplification factor, an adjustment command is transmitted from the input device 4 to the assist adjustment unit 53, and the assist adjustment unit 53 adjusts the power assist gain to “2”. To do. In addition, by inputting a desired resistivity to the input device 4, it is possible to freely set a resistance force, a condition for generating the resistance force, and the like.

  In the power assist device 1 according to the present embodiment, when a force is applied from the outside, the support member 2 undulates and turns according to the magnitude of the force. That is, in this power assist device 1, when a force is applied from the outside to a rod-like body (not shown in FIGS. 1 and 2) supported by the support member 2, the support member 2 also moves as the rod-like body moves. To do. Therefore, the grip 3 attached to the support member 2 also moves following the rod-shaped body. As a result, the sense of force of the rod-shaped body is transmitted to the grip 3 through the support member 2 and is transmitted to the operator. As described above, the power assist device 1 according to the present embodiment includes force sense presenting means for transmitting the force sense of the rod-like body to the grip 3 of the operation unit 5. An input X in FIG. 2 indicates a force sense transmitted to the grip 3.

In FIG. 2, u represents the input of the system, and u = u _h + K _usr · u _h + u _V. Here, u _h represents the operating force of the operator, K _usr represents the power assist gain, and u _V represents a negative output feedback for the controlled object. If the resistance gain (negative output feedback gain) is K _V and the system output is y, then u _V = −K _V · y.

  The above is the configuration of the control device 50. Depending on the state of control, the direction of the operator's operating force and the direction of operation of the support member 2 driven by the actuators 41 and 42 may be opposite to each other. Therefore, if these directions are reversed, it is assumed that the system is in an unstable state, and stabilization control for restricting the operation of the support member 2 until the system is stabilized may be performed.

For example, by applying a control system as shown in FIG. 3 (see Japanese Patent No. 3809614), the stability of the power assist state is improved based on “variable weight W _usr ” or “variable weight W _V ” in the control system. You may make it judge.

In this control system, the input / output of the system (in this case, the input is the operation force u _h of the operator and the output is the angular velocity y) is observed by the virtual power monitor 55, and the stability of the system is evaluated from the observation result Pv. To do. The stability is evaluated by virtual energy calculated from the observation result Pv. Based on the virtual energy, the variable weight W _usr and / or the variable weight W _V in the following formula (1) is used as the virtual power limiter 56. The system will be stabilized by adjusting at.

u：システムの入力 u = u_h + W_usrK_usru_h
+ u_dis + W_vu_v
u_h：人間の操作力
u_dis：外乱などの未知の入力
u_v：制御対象に接続される負の出力フィードバック u_v = −K_vy
y：システムの出力
K_usr：パワーアシストゲインを表わす正の対角行列
K_v：負の出力フィードバックゲインを表わす正の対角行列
W_usr：仮想パワーリミッタを構成する可変重みを表わす正の対角行列
W_v：仮想パワーリミッタを構成する可変重みを表わす正の対角行列
E_v0：設計者が定める任意の定数
P_v：仮想パワーモニタにおける観測量 P_v = y^T×u_h

u: System input u = u _h + W _usr K _usr u _h
+ u _dis + W _v u _v
u _h : Human operating power
u _dis : Unknown input such as disturbance
u _v : Negative output feedback connected to the controlled object u _v = −K _v y
y: System output
K _usr : Positive diagonal matrix representing power assist gain
K _v : positive diagonal matrix representing negative output feedback gain
W _usr : a positive diagonal matrix representing the variable weights that make up the virtual power limiter
W _v: positive diagonal matrix representing the variable weight constituting the virtual power limiter
E _v0 : Arbitrary constant determined by the designer
P _v : Observed quantity in virtual power monitor P _v = y ^T × u _h

  That is, in this control system, since the stability of the system is determined by virtual energy, this virtual energy may be regarded as a parameter for determining the stability of the power assist state.

  When unstable virtual energy is indicated, the variable weight Wusr or the variable weight Wv is used to stabilize the system by decreasing the variable weight Wusr or increasing the variable weight Wv so as to satisfy the expression (1). Or both of them can be regarded as parameters for determining the power assist state.

《Example of use 1: Marine rescue》
Next, an example in which the power assist device 1 according to the present embodiment is used for marine rescue will be described with reference to FIGS. The power assist device 1 described below is slightly different in configuration from the power assist device 1 described above, but the basic configuration is the same. Therefore, the same parts as those of the power assist device 1 described above are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIGS. 4 and 5, the power assist device 1 is installed in a ship 100. The support member 2 of the power assist device 1 supports the rod 70 of the rescue tool 72. The rescue tool 72 has a net 71 attached to the distal end side of the rod 70. The rescuer 75 scoops the rescuer 76 drifting in the sea with the net 71 and rescues it on the ship.

  As shown in FIG. 6, the support member 2 is provided with a fixture 2 a that fixes the rod 70 of the rescue tool 72. The rod 70 is fixed by the fixture 2 a in a state of being inserted between the support members 2. Thereby, the rod 70 moves integrally with the support member 2.

  In the rescue operation, the rescuer 75 on the ship grasps the grip 3, raises or lowers the grip 3, raises the support member 2, and pushes the grip 3 forward or pulls the support member 2 backward. Turn. At this time, the force applied to the grip 3 by the rescuer 75 is amplified by the control device 50 (see FIG. 2) and the actuators 41 and 42. Then, the rescue tool 72 fixed to the support member 2 is undulated and swiveled with the amplified force.

  Therefore, by using the power assist device 1, the rescuer 75 can rescue the rescuer 76 on the ship using the rescue tool 72 without exerting a great force. The ship 100 floats on the sea surface, and the work on the ship is performed in an unstable state. However, by using the power assist device 1, the rescue work can be accurately performed. That is, the rescuer 75 is not bothered by exerting great force and can concentrate on performing the work accurately, so that the rescue work can be performed more accurately. Further, the rescuer 75 can rescue the rescuer 76 with a force that is greater than his own power, and the burden on the rescuer 75 can be reduced.

  Further, the power assist device 1 includes force sense presenting means for transmitting the force sense of the rod-shaped body (the rod 70 of the rescue tool 72 in the above-described use example 1) to the grip 3 of the operation unit 5. Therefore, the rescuer 75 can feel the force sense of the rescue tool 72 through the grip 3. Thereby, the rescuer 75 can easily perform a delicate operation corresponding to the force applied to the rescue tool 72, and can easily perform a delicate operation corresponding to the situation of the rescuer 76. For example, when the rescue requester 76 forcibly pulls the rescue tool 72, it is possible to prevent an operation that opposes the movement and to prevent the rescue requester 76 from being shocked. . Therefore, it becomes easy to perform an appropriate operation according to the situation, and the accuracy of work can be further improved.

  The power assist device 1 also provides resistance to at least the rotational force around the horizontal axis applied to the support member 2 when the rescuer 75 pulls up or pulls down the rod 70 of the rescue tool 72 using the support member 2. The given damper control is executed. Thereby, when the operator performs an abrupt operation, the rescue tool 72 can be prevented from reacting sensitively to the operation. Therefore, when the rescuer 76 is holding the rescue tool 72 and the operator suddenly raises the rod 70 of the rescue tool 72, the rescuer 76 is prevented from being suddenly pulled and subjected to an impact. can do.

  The control device 50 of the power assist device 1 includes an assist adjustment unit 53 that can arbitrarily adjust the assist force of the actuator 41 of the hoisting mechanism 10, the assist force of the actuator 42 of the turning mechanism 15, and the resistance force in damper control. ing. Therefore, the operator can arbitrarily adjust the assist force and resistance force. Therefore, the convenience of the power assist device 1 can be improved.

<< Example 2: Fishing >>
Next, an example in which the power assist device 1 is used for fishing will be described with reference to FIGS. The power assist device 1 described below is slightly different from the power assist device 1 described above, but the basic configuration is the same. Therefore, the same parts as those of the power assist device 1 described above are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 8, the power assist device 1 is installed in a ship 100. A fishing rod 81 is supported on the support member 2 of the power assist device 1 as a rod-shaped body. Although illustration is omitted, a fishing line is attached to the fishing rod 81.

  As shown in FIGS. 9 and 10, the support member 2 is provided with a fixture 2 a for fixing the fishing rod 81. And the fishing rod 81 is being fixed with the fixing tool 2a in the state inserted between the support members 2. FIG. As a result, the fishing rod 81 moves integrally with the support member 2.

  The angler (that is, the operator) grasps the grip 3, raises or lowers the grip 3 to raise and lower the support member 2, and pushes the grip 3 forward or pulls the support member 2 by turning backward. At this time, the force applied from the angler to the grip 3 is amplified by the control device 50 (see FIG. 2) and the actuators 41 and 42. Then, the fishing rod 81 fixed to the support member 2 is raised and lowered by the amplified force.

  Note that the fishing rod 81 may not be provided with a reel for winding up the fishing line, but may be provided with a manual or electric reel.

  As described above, by using the power assist device 1, the angler can catch a fish with a relatively small force. Therefore, for example, even when the ship 100 is swaying in the waves, the angler does not have to work hard to produce a large force under unstable conditions, and operates the fishing rod 81 as desired. It becomes possible to do. Therefore, it is possible to concentrate on the operation of the fishing rod 81 and enjoy the pleasure of fishing. By using this power assist device 1, even those who are unfamiliar with fishing on the boat (so-called beginners) or those who are inferior in power (for example, children or elderly people) can fully enjoy fishing on the boat. Will be able to.

  By the way, when fishing a relatively large fish, a so-called pumping operation that repeats the raising and lowering of the fishing rod 81 is required. However, a large force is required for the pumping operation. However, according to the present power assist device 1, a large force is not required as described above, and in particular, a pumping operation is facilitated. Therefore, by using the power assist device 1, even a person with poor power can easily catch large fish such as marlin, tuna and bonito.

  The power assist device 1 includes force sense presenting means. Therefore, the angler can feel the sense of force of the fishing rod 81 (and eventually the fishing line attached to the fishing rod 81) via the grip 3. As a result, the angler can easily perform a delicate operation corresponding to the movement of the fish on the fishing line, and can fully enjoy the so-called Atari sensation and enjoy the best of fishing.

  Further, the power assist device 1 executes a damper control that gives resistance to at least the rotational force about the horizontal axis applied to the support member 2 when the angler pulls up or down the fishing rod 81 using the support member 2. To do. Therefore, even if the fish catches the fishing line suddenly with a large force after the fish is caught on the fishing line, it is possible to prevent a large impact from being applied to the angler.

<< Modification 1 >>
In the said embodiment, the grip 3 of the operation part 5 is provided in the support member 2, and the support member 2 and the grip 3 are comprised so that it may move integrally. When a force from the outside is applied to the rod-shaped body, the support member 2 is moved by the movement of the rod-shaped body, and as a result, the grip 3 is also moved following the rod-shaped body. Therefore, the force sense of the rod-shaped body is transmitted to the operator via the support member 2 and the grip 3. As a result, force sense presenting means is inherent in the power assist device 1. However, the operation unit 5 and the support member 2 can be separated, and a force sense presentation mechanism including a hydraulic circuit such as a hydraulic circuit can be provided between them.

  For example, as shown in FIG. 11, the power assist device 1 may be a master / slave power assist device. In this modification, the power assist device 1 includes a master unit 65B and a slave unit 65A.

  The slave portion 65A is provided with a rotary actuator 61 for raising and lowering the support member 2 and turning in place of the grip 3 in the power assist device 1 of the above embodiment. On the other hand, the master unit 65B includes an operation member 2B having substantially the same configuration as the support member 2 of the above embodiment, a rotation shaft 11B that supports the operation member 2B so as to be rotatable about a horizontal axis, and the operation member 2B. The rotary table 16B is rotatably supported around the rotary table 62, and the rotary actuator 62 is used for raising and lowering the operating member 2B. A grip 3 is provided on the operation member 2B. As the rotary actuators 61 and 62, one set each for raising and lowering is provided. However, in FIG. 11, only one rotary actuator 61, 62 is shown.

  The rotary actuator 61 of the slave unit 65A and the rotary actuator 62 of the master unit 65B are connected via a hydraulic pipe 63. Thus, a hydraulic force sense presentation mechanism 65 is configured. According to this modification, the raising / lowering operation and the turning operation of the support member 2 of the slave unit 65A are transmitted as the raising / lowering operation and the turning operation of the operation member 2B of the master unit 65B via hydraulic pressure.

  Thus, according to this modification, the operation part (that is, master part 65B) and the drive part (that is, slave part 65A) can be separated. Therefore, the application range of the power assist device 1 is expanded, and the convenience of the power assist device 1 can be improved.

<< Modification 2 >>
The power assist device 1 according to the usage example 1 and the power assist device 1 according to the usage example 2 may be different or the same. For example, by providing versatility to the fixture 2 a of the support member 2, a plurality of types of rod-shaped bodies can be selectively attached to the same power assist device 1. Thus, the power assist device 1 may be configured such that the rod-like body attached to the support member 2 is replaceable. As a result, the convenience of the power assist device 1 can be further improved.

  INDUSTRIAL APPLICABILITY According to the present invention, it is useful for an onboard work power assist device that assists an operator's work on board.

It is a perspective view of the power assist apparatus for ship work. It is a block diagram of the control system of the power assist apparatus for ship work. It is a block diagram of the other control system of the power assist apparatus for ship work. It is a perspective view of a power assist device for on-board work used for marine rescue. It is a side view of the power assist apparatus for onboard work used for maritime rescue. It is a top view of the power assist apparatus for on-board work used for maritime rescue. It is a front view of the power assist apparatus for on-board work used for a marine rescue. It is a perspective view of the power assist device for on-board work used for fishing. It is a top view of the power assist apparatus for ship work used for fishing. It is a front view of the power assist device for on-board work used for fishing. It is a perspective view of the power assistance apparatus for ship work concerning a modification.

Explanation of symbols

1 Onboard power assist device 2 Support member 3 Grip (operation member)
DESCRIPTION OF SYMBOLS 10 Lifting mechanism 15 Turning mechanism 32 Lifting sensor 33 Turning sensor 41 Actuator 42 Actuator 50 Control device 53 Assist adjustment part 70 Rescue tool stick (rod-like body)
81 Fishing rod (bar)

Claims (7)

A power assist device for onboard work mounted on a ship,
A support member for supporting a rod-shaped body extending toward the outside of the ship;
An undulation mechanism having an actuator and rotating the support member around a horizontal axis;
An undulation sensor for detecting a rotational force around a horizontal axis applied to the support member by an operator;
A control device that amplifies the rotational force detected by the undulation sensor and controls the actuator so that the support member rotates about a horizontal axis with the amplified rotational force;
Power assist device for onboard work with The power assist device for onboard work according to claim 1,
A turning mechanism having an actuator and rotating the support member around a vertical axis;
A rotation sensor for detecting a rotational force around a vertical axis applied from the operator to the support member, and
The control device amplifies the rotational force detected by the turning sensor, and controls the actuator of the turning mechanism so that the support member rotates about the vertical axis with the amplified rotational force. apparatus. The power assist device for on-board work according to claim 1 or 2,
An operation member provided on the support member and operated by an operator;
Force sense presenting means for transmitting the force sense of the rod-shaped body to the operation member;
A power assist device for onboard work, further comprising: In the shipboard power assist device according to any one of claims 1 to 3,
The said control apparatus is a power assist apparatus for ship work which performs damper control which gives resistance with respect to the rotational force around the horizontal axis applied to the said supporting member, when raising and lowering the said rod-shaped body. The power assist device for onboard work according to claim 4,
The said control apparatus is a power assist apparatus for ship work provided with the assist adjustment part which can adjust at least the assist force by the actuator of the said hoisting mechanism, and the resistance force in the said damper control. In the shipboard power assist device according to any one of claims 1 to 5,
The rod-shaped body is a power assist device for on-board work, which is a part or all of a rescue tool for rescue of water. In the shipboard power assist device according to any one of claims 1 to 5,
The power assist device for on-board work, wherein the rod-shaped body is a fishing rod.

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