JP2018138722A - Oscillation correction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device with a small size at low cost which can prevent a bridge mechanism from damage and provide a safe access to an object even if a wave motion due to sporadic disturbance is generated.SOLUTION: An oscillation correction device 1 is provided with an oscillation correction mechanism 3 which correctively controls a table 4 in a horizontal manner by a hexapod structure of a six-axial system so as to restore the oscillation due to wave motion. The bridge mechanism 5 is connected to the table 4, and the bridge mechanism 5 is made to be rotatable in a vertical direction by a hinge part 12. A laser sensor 18 for measuring vertical and horizontal distances with respect to an offshore facility is installed on the undersurface of a tip end part 5a of the bridge mechanism 5. The oscillation correction mechanism 3 and the bridge mechanism 5 are controlled in terms of the operations thereof by the control means 10 based on the measurement data in vertical and horizontal directions with respect to the offshore facility measured by the laser sensor 18 so that the bridge mechanism 5 and the offshore facility are retained within the acceptable range to allow a non-contact access.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a shake correction apparatus that enables an object such as an offshore facility to be accessed without contact from a ship or the like.

  Conventionally, when an operator moves from a ship etc. to an offshore facility such as an offshore wind power generation facility or a submarine mineral drilling platform, if the wave is relatively gentle to a height of about 1 m to 1.5 m, the ship Can be easily crossed by connecting the bridge girder part to offshore facilities such as offshore wind power generation facilities. However, the days when the waves are relatively gentle are about 100 to 150 days per year, and if the waves are higher than this, it is difficult to safely access the offshore facilities.

  For example, a device described in Patent Document 1 has been proposed as a shake correction device such as a movable jetty that can be safely accessed from a ship offshore even when waves are high. This movable jetty has a bridge girder connected to a top plate installed on a 6-DOF motion base such as a hexapod. It is said that an operator or the like can move from the ship to the offshore facility by attracting and connecting the magnet provided at the tip of the bridge girder to the offshore facility.

  This movable pier can keep the top plate horizontal against the swaying of the ship on the ocean with a 6-DOF motion base. Even if the ship is swung by a wave, it is controlled so as to cancel the shake generated in the ship by controlling the expansion and contraction of each actuator. In addition, the movable jetty is constructed by connecting the bridge girder with a plurality of divided bodies, and a horizontal rotation mechanism and a vertical rotation mechanism are separately installed at the connection of each divided body, so that even if unexpected unexpected waves occur This is designed to suppress the swing of the movable jetty.

Japanese Patent Laying-Open No. 2015-137451

However, in the movable pier described in Patent Document 1 described above, the tip of the bridge girder part of the movable pier placed on the ship is attracted and connected to the offshore equipment by a magnet, and the connection part between the divided parts of the bridge girder part is connected. Since it has the structure which installed the horizontal rotation mechanism and the up-and-down rotation mechanism, there existed a problem that an installation enlarged and it was expensive.
Moreover, when a sudden disturbance wave is generated, the tip of the bridge girder is connected to the offshore equipment with a magnet, so that the tip of the bridge girder or the connection between the divided bodies may be damaged.

  The present invention has been made in view of such a problem, and is small and low in cost, and even if a sudden disturbance wave occurs, the bridging mechanism is prevented from being damaged and can be safely handled as an object. An object of the present invention is to provide a shake correction device that can be accessed.

The shake correction apparatus according to the present invention eliminates the shake given from the outside by the hexapod configuration and can move horizontally, a table installed in the shake correction mechanism, a table connected to the table, and a vertical direction A bridging mechanism that is rotatable, a distance measuring sensor that is installed in the bridging mechanism and measures a distance in the horizontal direction and / or up and down direction of the object, and a horizontal direction of the object measured by the distance measuring sensor and And / or a control means for controlling the operation of at least one of the vibration correcting mechanism and the bridging mechanism so as to maintain the bridging mechanism within an allowable range in close contact with the object based on the measurement data of the distance in the vertical direction. It is characterized by having.
According to the present invention, even if a ship or the like is shaken by disturbances such as waves, the table can be kept horizontal by the shake correction mechanism, and by measuring the distance between the bridging mechanism and the object with the distance measuring sensor, Whether the measurement data in the horizontal direction and / or the vertical direction is within a preset allowable range is determined by the control means so that the bridging mechanism is maintained within the allowable range close to the object without contact. It is possible to correct the cross-linking mechanism within an allowable range by controlling the operation of at least one of the vibration correcting mechanism and the cross-linking mechanism.

In addition, the control means includes an input means for inputting horizontal and / or vertical distance measurement data between the object measured by the distance measuring sensor and the bridge mechanism, and the bridge mechanism and the object are close to each other without contact. Tolerance range storage means for storing tolerance range data for the horizontal and / or vertical distance in advance, and horizontal and / or vertical measurement data compared with horizontal and / or vertical tolerance data It is preferable to include a determination unit that determines, and a drive instruction unit that drives at least one of the shake correction mechanism and the bridging mechanism when at least one measurement data in the horizontal direction and the vertical direction is out of the allowable range data.
The fluctuation correcting apparatus according to the present invention determines whether or not the measurement data from the distance measuring sensor is within the range of the horizontal and / or vertical allowable range data stored in advance in the allowable range storage unit, and determines from the allowable range. When it comes off, at least one of the shake correction mechanism and the bridging mechanism is driven by the drive instructing means so as to be within an allowable range.
In this case, when the measurement data is out of the allowable range in the horizontal direction (XY axis direction), correction is performed by the shake correction mechanism, and when the measurement data is out of the allowable range in the vertical direction (Z axis direction), correction is performed by the bridging mechanism. . In the present invention, by limiting the function of each member, it is possible to reduce the number of parts and achieve a reduction in size and weight.

Moreover, it is preferable that the shake correction apparatus is installed in the ship at sea.
When the shake correction device is installed on a ship at sea, even if at least one or both of the shake correction device and the object are displaced due to sudden waves, etc., the distance from the object is within the allowable range by the control means. The movement of the crosslinking mechanism is controlled so as to be located at

According to the fluctuation correcting device of the present invention, since the bridging mechanism connected to the table can be controlled to a position that is non-contacting and close to the object, access between the bridging mechanism and the object can be reliably performed.
In addition, even if the relative position between the shake correction device and the object suddenly changes due to, for example, a sudden wave on the ocean, the bridging mechanism collides with the object because the object is not in contact with the object. It is possible to prevent damage to each other. In addition, since the fluctuation correcting device according to the present invention limits the functions and the number of parts of each member, it can achieve a reduction in size and weight and is low in cost.

1 is a schematic perspective view of a shake correction device according to an embodiment of the present invention. It is a principal part perspective view which shows the electric cylinder of the bridge | crosslinking mechanism of the fluctuation correction apparatus shown in FIG. It is explanatory drawing which shows the laser sensor and offshore facility which were provided in the front-end | tip of the bridge | bridging mechanism shown in FIG. It is explanatory drawing which shows the ranging state of the laser sensor of a bridge | bridging mechanism, and an offshore facility, (a) is a figure in case an offshore facility is below, (b) is the case where an offshore facility has shifted | deviated to the horizontal direction horizontal side FIG. It is a block diagram of a control means. It is a flowchart for adjusting the distance of the laser sensor and offshore facility by a control means in tolerance level.

Hereinafter, with reference to the attached drawings, a description will be given of a fluctuation correcting apparatus 1 according to an embodiment of the present invention.
As shown in FIGS. 1 and 2, the fluctuation correcting device 1 according to the present embodiment is installed on a ship 2, for example, and an offshore facility 19 such as an offshore wind power generation facility installed on the sea as an object. The operator can get on and off between the two (see FIG. 3). The shake correction device 1 includes, for example, a hexapod type (6-axis system) shake correction mechanism 3 fixed to the deck of a ship 2, a table 4 installed on the upper part of the shake correction mechanism 3, and a pier connected to the table 4. And a cross-linking mechanism 5.
In addition, although the fence is installed in the table 4 and the bridge | bridging mechanism 5, you may abbreviate | omit.

The vibration correction mechanism 3 having a hexapod type configuration is a six-axis system having six degrees of freedom including a base portion 7 and six extendable actuators 8. 4 is installed. Each actuator 8 is formed of an electric cylinder, for example, and can be individually controlled by the control means 10 via the wiring tube 9.
Moreover, even if the ship 2 swings back and forth, left and right, or up and down due to the wave, the shake correction mechanism 3 detects this by the control means 10 and controls the actuators 8 to expand and contract independently to horizontally extend the table 4. It can be maintained and the shaking can be eliminated. That is, the surge (forward / backward), sway (left / right), heave (up / down), and roll (roll), pitch (pitch) that occur in the ship 2 in the sea wave ), Each actuator 8 is expanded and contracted so as to cancel each swing of yaw (head swing).

The swing range of the table 4 by the swing correction mechanism 3 is, for example, in a range of ± 300 mm to 400 mm with respect to the center of the table 4 in the horizontal direction (XY axis direction) in the front-rear direction and the left-right direction, that is, 600 mm to 800 mm in diameter. It is set to the extent of a circle. The swing range in the vertical direction (Z-axis direction) is set to a range of ± 200 mm with respect to the height of the table 4, that is, a total range of 400 mm.
Moreover, the fluctuation correction mechanism 3 is used when the tip of the bridging mechanism 5 is too far apart or too close to the offshore facility 19 due to the wave, or the height difference is too large or too close. As will be described later, the actuators 8 are adjusted by extending and contracting each actuator 8 so that it can be maintained within an appropriate short range while maintaining a non-contact state with the offshore facility 19, that is, within an allowable range in which access, delivery of goods, etc. can be maintained. it can.

The table 4 is formed in a substantially hexagonal plate shape, for example, and a bridging mechanism 5 is connected to one side of the table 4 via a hinge portion 12. The bridging mechanism 5 is composed of one jetty and can be turned up and down by a hinge portion 12. FIG. 2 is a main part perspective view of the connecting portion between the table 4 and the bridging mechanism 5 as viewed from below. An electric cylinder 13 is installed on the back surface of the table 4. Note that a hydraulic cylinder or the like may be employed instead of the electric cylinder 13.
The electric cylinder 13 is provided with a piston rod 15 that can be moved back and forth with respect to a cylinder tube 14 fixed to the back surface of the table 4. The tip of the piston rod 15 is connected to the lower surface of the bridging mechanism 5. Therefore, when the piston rod 15 is extended, the bridging mechanism 5 is rotated upward from the hinge portion 12 to correct upward, and when the piston rod 15 is contracted, the bridging mechanism 5 is rotated downward from the hinge portion 12 to downward. Can be corrected. The bridging mechanism 5 is not provided with a horizontal rotation mechanism.

  2 and 3, for example, a laser sensor 18 is installed as a distance measuring sensor on the back surface of the distal end portion 5 a of the bridging mechanism 5. By measuring the distance from the offshore facility 19 that is the object by the laser sensor 18, the tip 5a of the bridging mechanism 5 is not in contact with the offshore facility 19, and an operator or the like is between the bridging mechanism 5 and the offshore facility. Then, adjustment is made so that the allowable range L is close enough to allow access from one to the other, delivery of goods, and the like.

The allowable range (distance) L between the bridging mechanism 5 and the offshore facility 19 controlled by the control means 10 is appropriately set to an upper limit value and a lower limit value according to various conditions such as the ship 2, the offshore facility 19 and the state of the sea. it can. An example of installing the bridging mechanism 5 within the permissible range L is as shown in FIG. 3, in which the tip 5a of the bridging mechanism 5 is at the same height in the Y-axis direction with respect to the offshore facility 19 that is the object. The allowable distance L is set. Alternatively, as shown in FIG. 4 (a), when the tip 5a of the bridging mechanism 5 is set on the upper side (or lower side) with respect to the offshore facility 19, in FIG. 4 (b), the offshore facility 19 (a For example, a case where the tip 5a of the bridging mechanism 5 is displaced in the horizontal direction can be assumed.
The allowable range L between the bridging mechanism 5 and the offshore facility 19 is set, for example, to the width of a shoe.

  The control means 10 shown in FIG. 5 has the following configuration. That is, the input means 21 for inputting the measurement data of the distance between the distal end portion 5a of the bridging mechanism 5 measured by the laser sensor 18 and the offshore facility 19, and the allowable ranges XL in the horizontal direction X and the Y direction in the allowable range L. , YL and Z range (height direction) allowable range ZL data is set and stored.

  Then, the X-axis, Y-axis, and Z-axis direction distances in the measurement data measured by the laser sensor 18 and the permissible ranges XL, YL, and ZL in the X, Y, and Z-axis directions are compared by the discrimination means 23 and measured. It is determined whether or not the data is included in the allowable ranges XL, YL, and ZL. In the discriminating means 23, measurement data out of the allowable range in the X, Y, and Z axis directions is extracted, and either one or both of the vibration correcting mechanism 3 and the electric cylinder 13 of the bridging mechanism 5 are passed through the drive instructing means 24. A drive instruction signal is output to the control signal so that the measurement data measured by the laser sensor 18 is included in the allowable ranges XL, YL, and ZL.

The fluctuation correcting apparatus 1 according to the present embodiment has the above-described configuration, and the operation method thereof will be described with reference to the flowchart shown in FIG.
When the ship 2 accesses the offshore facility 19, for example, a large ship approaches the offshore facility 19, and a small ship attempts to access by bringing the tip into contact with the offshore facility 19. In any of these states, the bridging mechanism 5 of the fluctuation correcting device 1 is brought close to the offshore facility 19, and the distance from the tip of the offshore facility 19 is measured by the laser sensor 18 of the tip 5a (S101).
Then, the discrimination means 23 compares whether or not the distances in the X-axis, Y-axis, and Z-axis directions of the measurement data by the laser sensor 18 are within the permissible ranges XL, YL, ZL stored in the permissible range storage means 22 in advance. to decide.

When the measurement data deviates from the permissible ranges XL and YL in the X-axis and Y-axis directions (S102), the drive instruction means 24 outputs a correction instruction to the shake correction mechanism 3 to drive the six-axis actuators 8. By doing so, it correct | amends until the front-end | tip part 5a of the bridge | crosslinking mechanism 5 reaches the tolerance | permissible_range XL, YL (S103).
If the measurement data deviates from the allowable range ZL in the Z-axis (height) direction (S104), the driving cylinder 24 of the bridging mechanism 5 is driven by the drive instructing means 24 and the bridging mechanism is centered on the hinge portion 12. 5 is adjusted (S105).

By such an operation, the tip 5a of the bridging mechanism 5 is adjusted so as to be within an accessible allowable range L that is close to the offshore facility 19 without contact. In addition, it is possible to correct the displacement in the height direction by the bridging mechanism 5 while keeping the table 4 horizontal by the fluctuation correcting mechanism 3.
Then, after elapse of a predetermined time, for example, 50 mmsec, the process returns to S101, and the distance from the offshore facility 19 is measured again by the laser sensor 18 and is repeatedly adjusted so that the distal end portion 5a of the bridging mechanism 5 is located within the allowable range L. To do.

As described above, according to the fluctuation correction apparatus 1 according to the present embodiment, the distance between the distal end portion 5a of the bridging mechanism 5 and the offshore facility 19 can be safely accessed in a non-contact manner based on the measurement data obtained by the laser sensor 18. Can be corrected.
Further, in the present embodiment, since the bridging mechanism 5 and the offshore facility 19 are not in contact with each other, it is possible to prevent the bridging mechanism 5 and the offshore facility 19 from colliding with each other and being damaged due to a sudden wave or the like.
Moreover, since the bridging mechanism 5 consists of a single jetty and is simply provided with an electric cylinder 13 that can be tilted in the vertical direction, the number of parts can be reduced by reducing the number of parts by limiting the function of the member, thereby achieving a reduction in size and weight. it can.

  The fluctuation correcting apparatus 1 according to the present invention is not limited to the above-described embodiment, and various replacements and modifications can be applied without departing from the gist of the present invention. Although the modification of this invention is demonstrated below, it demonstrates using the same code | symbol for the part and member which are the same as or similar to embodiment mentioned above.

For example, in the above-described embodiment, the laser sensor 18 is installed as a distance measuring sensor. However, the present invention is not limited to the laser sensor 18 and an appropriate distance measuring sensor such as an image sensor, an infrared sensor, or an ultrasonic sensor is adopted. it can.
In the above-described embodiment, one pier is installed as the bridging mechanism 5, but a plurality of piers may be installed via hinges.

Further, the fluctuation correcting mechanism 3 having a hexapod type configuration is a six-axis system having six degrees of freedom including six extendable actuators 8, but is not necessarily limited to six in the XY direction and the vertical direction. There is no need to adjust in the axial direction. Any one or more axes may be adjusted.
In the above-described embodiment, the vibration correcting mechanism 3 and the bridging mechanism 5 are installed so that the displacement in both the XY direction and the vertical direction can be corrected. However, only one of the vibration correcting mechanism 3 and the bridging mechanism 5 is used. Needless to say, the distance between the object and the bridging mechanism 5 may be adjusted.

DESCRIPTION OF SYMBOLS 1 Shake correction apparatus 2 Ship 3 Shake correction mechanism 5 Bridging mechanism 5a Tip part 8 Actuator 10 Control means 12 Hinge part 13 Electric cylinder 18 Laser sensor 22 Permissible range storage means 23 Discrimination means

Claims (2)

A shake correction mechanism that eliminates externally applied shake by the hexapod configuration and can move horizontally.
A table installed in the shake correction mechanism;
A bridging mechanism connected to the table and rotatable in the vertical direction;
A distance measuring sensor that is installed in the bridging mechanism and measures a distance in a horizontal direction and / or a vertical direction from an object;
Based on the measurement data of the distance in the horizontal direction and / or the vertical direction with respect to the object measured by the distance measuring sensor, the oscillation is performed so that the bridging mechanism is held within an allowable range in non-contact proximity with the object. Control means for controlling the operation of at least one of the correction mechanism and the bridging mechanism;
An oscillation correction apparatus characterized by comprising: The control means includes
Input means for inputting measurement data of the distance in the horizontal direction and / or the vertical direction between the object measured by the distance measuring sensor and the bridging mechanism;
Tolerance range storage means for preliminarily storing tolerance range data that is the distance in the horizontal direction and / or the vertical direction in which the bridging mechanism and the object are close to each other without contact;
A discriminating means for comparing and discriminating between the measurement data in the horizontal direction and / or the vertical direction and the allowable range data in the horizontal direction and / or the vertical direction;
Drive instruction means for driving at least one of the fluctuation correction mechanism and the bridging mechanism when the measurement data in at least one of the horizontal direction and the vertical direction is out of the allowable range data. The described shake compensation device.

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