JP2024049494A - Vibration simulation system - Google Patents

Abstract

[Problem] To provide a motion simulation system that enables transfer training from a ship to an offshore facility and performance evaluation tests of various devices to be conducted on land. [Solution] The motion simulation system 1 includes a first structure side motion device 2 having a first simulated structure 21, and a second structure side motion device 3 having a second simulated structure 31 and installed adjacent to the first structure side motion device. The first structure side motion device and the second structure side motion device include movement mechanisms 22, 32 that move the first simulated structure and the second simulated structure relatively. The movement mechanisms 22, 32 include a translation mechanism 33 that translates the second simulated structure in three linear directions that are mutually perpendicular, a rotation mechanism 24 that rotates the first simulated structure around two mutually perpendicular axes, and a rotation mechanism 34 that rotates the second simulated structure around three mutually perpendicular axes. [Selected Figure] FIG.

Description

The present invention relates to a motion simulation system.

Patent Document 1 discloses a flight training device for training aircraft to take off and land on a ship. Patent Document 1 also discloses a method for simulating the motion of a ship on which aircraft take off and land.

Japanese Patent Application Laid-Open No. 62-203189

Meanwhile, at sea, workers may access floating offshore facilities (offshore structures) such as offshore wind power generation facilities (e.g., floating offshore wind turbines) and seabed mineral drilling platforms from a ship and transfer from the ship to the offshore facilities. It is preferable that the transfer from the ship to the offshore facilities can be trained on land.
There is also a demand to be able to conduct performance evaluation tests on land for various devices installed on ships and offshore facilities, such as offshore facility access gangways (e.g., the "motion compensation device" described in JP 2018-138722 A) that assist workers in transferring from ships to offshore facilities.

The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a motion simulation system that enables transfer training from a ship to an offshore facility and performance evaluation tests of various devices to be conducted on land.

The motion simulation system according to one aspect of the present invention comprises a first structure side motion device having a first simulated structure, and a second structure side motion device having a second simulated structure and installed adjacent to the first structure side motion device. At least one of the first structure side motion device and the second structure side motion device comprises a movement mechanism for moving the first simulated structure and the second simulated structure relatively. The movement mechanism includes a translation mechanism for translating at least one of the first simulated structure and the second simulated structure in at least one of three mutually orthogonal linear directions, and/or a rotation mechanism for rotating at least one of the first simulated structure and the second simulated structure around at least one of three mutually orthogonal axes.

In the motion simulation system configured as above, the first and second simulated structures are moved relatively (translation and/or rotation) by the movement mechanism, thereby reproducing the relative motion between the ship and the offshore structure in a marine environment. This allows the transfer of an operator from the first simulated structure to the second simulated structure to be conducted as transfer training from the ship to the offshore structure. In addition, by providing various devices on the first and second simulated structures, performance evaluation tests of the various devices can also be conducted. Therefore, transfer training from the ship to the offshore structure and performance evaluation tests of the various devices can be conducted on land.

In the motion simulation system, the relative movement of the first simulated structure and the second simulated structure caused by the moving mechanism may be reproduced as the relative motion of the ship and the offshore structure caused by waves.

In the motion simulation system, the translation mechanism may be provided by the first structure side motion device or the second structure side motion device, and may include a vertical movement mechanism that translates the first simulated structure and the second simulated structure relatively in the vertical direction. The rotation mechanism may be provided by the first structure side motion device or the second structure side motion device, and may include a two-axis rotation mechanism that rotates the first simulated structure and the second simulated structure relatively in the vertical direction and about two axes that are perpendicular to each other.

The vertical movement mechanism has a simpler structure than the six-axis motion base, and can move the first and second simulated structures vertically relative to each other with a large stroke. Also, the two-axis rotation mechanism has a simpler structure than the six-axis motion base, and can rotate the first and second simulated structures relative to each other at a large angle.

In addition, the relative up and down movement between the first and second simulated structures by the up and down movement mechanism, and the relative two-axis rotational movement (roll movement, pitch movement) between the first and second simulated structures by the two-axis rotation mechanism are the dominant movement elements of the relative movement between the hull and the offshore structure at sea. Therefore, even if the motion simulation system does not include other movements (left and right movement, fore and aft movement, yaw movement), it is possible to adequately reproduce the relative movement between the hull and the offshore structure at sea.

The present invention allows transfer training from ships to offshore facilities and performance evaluation tests of various devices to be conducted on land.

1 is a conceptual diagram showing a vibration simulation system according to a first embodiment of the present invention. FIG. 2 is a perspective view showing a specific example of the motion simulation system of FIG. 1. FIG. 2 is a side view showing a specific example of the motion simulation system of FIG. 1. FIG. 2 is a side view showing a first example of use of the motion simulation system of FIG. 1. FIG. 2 is a side view showing a second example of use of the motion simulation system of FIG. 1. FIG. 2 is a side view showing a third example of use of the motion simulation system of FIG. 1. FIG. 4 is a conceptual diagram showing a vibration simulation system according to a second embodiment of the present invention. FIG. 13 is a conceptual diagram showing a vibration simulation system according to a third embodiment of the present invention. FIG. 13 is a conceptual diagram showing a vibration simulation system according to a fourth embodiment of the present invention. FIG. 13 is a conceptual diagram showing a vibration simulation system according to a fifth embodiment of the present invention.

First Embodiment
A first embodiment of the present invention will now be described with reference to FIGS.
The motion simulation system according to this embodiment is a system that assumes the relative movement between a ship and a floating offshore structure (e.g., a floating offshore wind turbine) that floats on the sea. As shown in Figures 1 to 3, the motion simulation system 1 includes a ship-side motion device 2 (first structure-side motion device) and an offshore structure-side motion device 3 (second structure-side motion device) that are installed next to each other. The motion simulation system 1 also includes a control device 4 that controls the operation of the ship-side motion device 2 and the offshore structure-side motion device 3.

In this embodiment, the vessel side motion device 2 and the offshore structure side motion device 3 are arranged next to each other on a single flat installation surface G (see FIG. 3 in particular). Note that the installation surface G is not limited to a single flat surface. For example, the first area surface on which the vessel side motion device 2 is arranged and the second area surface on which the offshore structure side motion device 3 is arranged of the installation surface G may be located at different heights or may be inclined relative to each other. In addition, the first area surface and the second area surface of the installation surface G may be structurally separated.

The hull-side motion device 2 has a simulated hull section 21 (first simulated structure) and a movement mechanism 22 (hull-side movement mechanism 22). The simulated hull section 21 may be a part or whole of a ship. The simulated hull section 21 shown in Figs. 2 and 3 has a simulated deck 211 that simulates a part of the deck of a ship, and a simulated handrail 212 that simulates a handrail. The simulated handrail 212 is provided at both ends of the simulated deck 211 in the left-right direction. The hull-side movement mechanism 22 moves the simulated hull section 21 relative to the simulated offshore structure 31 of the offshore structure-side motion device 3 described below.

The hull-side movement mechanism 22 in this embodiment has a rotation mechanism 24 (hull-side rotation mechanism 24) that rotates the simulated hull section 21 around a specific axis among three mutually orthogonal axes. In this embodiment, the hull-side rotation mechanism 24 is a two-axis rotation mechanism 110 that rotates the simulated hull section 21 around two axes that are perpendicular to the up-down direction and mutually orthogonal. In other words, the two-axis rotation mechanism 110 causes the simulated hull section 21 to perform roll and pitch rotational motions.

The "up-down direction" mentioned above is the vertical direction, which in this embodiment is a direction perpendicular to the installation surface G. Furthermore, in this embodiment, the "two axes" perpendicular to the up-down direction are two axes parallel to the fore-aft direction and the left-right direction, respectively. The fore-aft direction and the left-right direction are directions perpendicular to the up-down direction, which in this embodiment are horizontal directions parallel to the installation surface G. The fore-aft direction is the direction in which the simulated hull section 21 and the simulated offshore structure 31 are aligned. The left-right direction is a direction perpendicular to the fore-aft direction.
The axis for rotating the simulated hull section 21 in the rotation mechanism 24 may be inclined with respect to, for example, the up-down direction, the front-rear direction, or the left-right direction.

In the hull-side motion control device 2 shown in Figures 1 to 3, the two-axis rotation mechanism 110 includes a support pillar 118, a universal joint 119, two rotation actuators 111, 112, and links 113, 114, all of which are mounted on a base 117. The base 117 is placed on an installation surface G. The support pillar 118 extends upward from the base 117. The universal joint 119 is provided between the tip of the support pillar 118 and the simulated hull section 21. This allows the simulated hull section 21 to rotate about two axes parallel to each other in the fore-aft and lateral directions relative to the base 117 and the support pillar 118.

Each of the link sections 113, 114 connects each of the rotary actuators 111, 112 to the simulated hull section 21. Each of the link sections 113, 114 is composed of two links 115 that are rotatably connected.
Of the two rotation actuators 111, 112, the first rotation actuator 111 is rotatable about a first axis A1 extending in the fore-aft direction relative to the support column 118. A first link portion 113 connecting the first rotation actuator 111 and the simulated hull section 21 is connected to the simulated hull section 21 at a position offset from the support column 118 in the left-right direction. As a result, as the first rotation actuator 111 rotates, the portion of the simulated hull section 21 supported by the first link portion 113 moves up and down. This allows the simulated hull section 21 to rotate about an axis parallel to the fore-aft direction.

Of the two rotation actuators 111, 112, the second rotation actuator 112 is rotatable about a second axis A2 extending in the left-right direction relative to the support column 118. A second link portion 114 connecting the second rotation actuator 112 and the simulated hull portion 21 is connected to the simulated hull portion 21 at a position offset from the support column 118 in the fore-aft direction. As a result, as the second rotation actuator 112 rotates, the portion of the simulated hull portion 21 supported by the second link portion 114 moves up and down. This allows the simulated hull portion 21 to rotate about an axis parallel to the fore-aft direction.
It should be noted that the specific configuration of the two-axis rotation mechanism 110 is not limited to the above-described rotation actuators 111 and 112 and link portions 113 and 114 .

The offshore structure side motion device 3 has a simulated offshore structure 31 (second simulated structure) and a moving mechanism 32 (structure side moving mechanism 32). The simulated offshore structure 31 may be a part or whole of an offshore structure (offshore facility) such as an offshore wind power generation facility or a seabed mineral drilling platform. The simulated offshore structure 31 may be a structure (e.g., a floor or a column) on which an operator stands or on which an observation device 7 (see FIG. 6) or the like is installed. The simulated offshore structure 31 illustrated in FIGS. 2 and 3 has a simulated ladder 311 that imitates a ladder provided on the offshore structure and a simulated boat landing 312 that imitates a boat landing. The simulated boat landing 312 (boat landing) is a part against which the simulated hull section 21 (hull) is pressed, and is provided to protect the simulated ladder 311 (ladder).
The structure-side moving mechanism 32 moves the simulated offshore structure 31 relative to the simulated hull section 21 of the hull-side motion control device 2 .

In this embodiment, the structure-side movement mechanism 32 has a translation mechanism 33 (structure-side translation mechanism 33) and a rotation mechanism 34 (structure-side rotation mechanism 34). The structure-side translation mechanism 33 translates the simulated offshore structure 31 in three mutually orthogonal linear directions. The structure-side rotation mechanism 34 rotates the simulated offshore structure 31 around three mutually orthogonal axes.

The "three linear directions" in this embodiment are the up-down direction, the front-back direction, and the left-right direction. Also, in this embodiment, the "three axes" are three axes that are parallel to each of the "three linear directions" described above. Note that the "three linear directions" may be, for example, linear directions that are inclined with respect to the up-down direction, the front-back direction, and the left-right direction.

Specifically, the structure-side translation mechanism 33 and the structure-side rotation mechanism 34 described above are composed of a six-axis motion base 120 with six degrees of freedom. The six-axis motion base 120 translates the simulated offshore structure 31 in three mutually orthogonal linear directions, i.e., causes the simulated offshore structure 31 to perform translational motion in the forward/backward, left/right, and up/down directions. The six-axis motion base 120 also rotates the simulated offshore structure 31 around three mutually orthogonal axes, i.e., causes the simulated offshore structure 31 to perform roll, pitch, and yaw rotational motions.

The six-axis motion base 120 shown in Figures 1 to 3 has a base 123 placed on an installation surface G, a number of extendable and retractable actuators 121 installed on the base 123, and a table 122 provided on the top of the number of extendable actuators 121. In the six-axis motion base 120, the number of extendable actuators 121 can appropriately extend and retract to allow the table 122 to move in parallel in three mutually orthogonal linear directions, and to rotate around three mutually orthogonal axes. Note that the specific configuration of the six-axis motion base 120 is not limited to this.

In this embodiment, the structure-side translation mechanism 33 is also configured with a vertical movement mechanism 130 in addition to the six-axis motion base 120. The vertical movement mechanism 130 translates the simulated offshore structure 31 in the vertical direction.
1 to 3, the vertical movement mechanism 130 has a rail 131 attached to the table 122 of the six-axis motion base 120 and extending in the vertical direction, and a slider 132 attached so as to be vertically movable relative to the rail 131. The simulated offshore structure 31 is fixed to the slider 132. In the vertical movement mechanism 130, the vertical movement length of the simulated offshore structure 31 can be set according to the length of the rail 131. Therefore, the vertical movement mechanism 130 can move the simulated offshore structure 31 in the vertical direction by a greater amount than the six-axis motion base 120.

The control device 4 controls the moving mechanisms 22, 32 according to an arbitrary motion pattern or time series data of actual sea conditions such as waves. The control device 4 synchronously controls the relative motion of the simulated hull section 21 and the simulated offshore structure 31 by the hull-side moving mechanism 22 and the structure-side moving mechanism 32 by inputting an arbitrary motion pattern or time series data showing the motion of the ship and the offshore structure due to waves to the hull-side moving mechanism 22 and the structure-side moving mechanism 32. Specifically, the control device 4 controls the operation of the rotation actuators 111, 112 of the hull-side moving mechanism 22 and the telescopic actuator 121 of the structure-side moving mechanism 32. As a result, in the motion simulation system 1, the relative motion of the simulated hull section 21 and the simulated offshore structure 31 by the moving mechanisms 22, 32 (the hull-side moving mechanism 22 and the structure-side moving mechanism 32) can be reproduced as the relative motion of the ship and the offshore structure due to waves.

Next, three examples of use of the vibration simulation system 1 of this embodiment will be described with reference to FIGS.
4 is an example in which the motion simulation system 1 is used as training for a worker W to transfer from a ship to an offshore structure. In this example, the worker W transfers from the simulated hull 21 to the simulated offshore structure 31 as training for transferring from a ship to an offshore structure. The motion simulation system 1 may also be used, for example, as training for transferring from an offshore structure to a ship.

The second use example shown in Figure 5 is an example in which the motion simulation system 1 is used for performance evaluation testing of an offshore facility access gangway 6 that is installed on a ship and assists in the transfer of workers from the ship to an offshore structure (offshore facility).
5 includes a base section 601 installed on a ship (simulated hull section 21), a pier section 602 rotatably connected to the base section 601, and a correction mechanism (not shown) for correcting the rotation angle of the pier section 602 relative to the base section 601. In the offshore facility access gangway 6, even if the ship is swayed by waves, the correction mechanism adjusts the rotation angle of the pier section 602 so that the tip of the pier section 602 is located close to the offshore structure, thereby facilitating the transfer of workers from the ship to the offshore structure.
In the second usage example, the offshore facility access gangway 6 is installed on a mock hull 21 that imitates a ship, so that performance evaluation tests such as the ease of transfer of workers can be conducted. In addition, the offshore facility access gangway 6 can also be used for training on transfer of workers.

The third use example shown in FIG. 6 is an example in which the motion simulation system 1 is used for a performance evaluation test of an observation device 7 provided on an offshore structure.
The observation device 7 has the function of non-contact observation, for example, of the position and speed of a ship approaching an offshore structure, and the amount of motion of the ship due to waves (the amount of up and down movement and angle of inclination of the ship relative to the offshore structure).
In the third use example, the observation device 7 is installed on a simulated offshore structure 31 that imitates an offshore structure. Then, while moving the simulated hull section 21 that imitates a ship and the simulated offshore structure 31 relative to each other, the observation device 7 observes the position and speed of the simulated hull section 21 and the amount of motion of the simulated hull section 21, thereby enabling a performance evaluation test of the observation device 7 to be performed.

Although not shown, the motion simulation system 1 may be used, for example, for performance evaluation testing of communication devices installed on offshore structures.
The communication device has the function of transmitting oceanographic observation data to other communication devices installed on ships approaching offshore structures, for example, by communicating with other communication devices, and issuing instructions for the ship to dock at the offshore structure.
In order to carry out a performance evaluation test of the communication device using the motion simulation system 1, the communication device to be evaluated may be installed on a simulated offshore structure 31 that imitates an offshore structure. Then, while moving the simulated hull section 21 that imitates a ship and the simulated offshore structure 31 relative to each other, a performance evaluation test of the communication device installed on the simulated offshore structure 31 can be carried out by testing intercommunication between the communication device installed on the simulated offshore structure 31 and another communication device installed on the simulated hull section 21.

As described above, in the motion simulation system 1 of this embodiment, the simulated hull section 21 and the simulated offshore structure 31 are moved relatively by the moving mechanisms 22, 32, so that the relative motion between the ship and the offshore structure in the marine environment can be reproduced. This allows the transfer of workers from the simulated hull section 21 to the simulated offshore structure 31 to be carried out as transfer training from the ship to the offshore structure. In addition, by providing various devices such as the offshore facility access gangway 6 and the observation device 7 on the simulated hull section 21 and the simulated offshore structure 31, performance evaluation tests of various devices can also be carried out. Therefore, transfer training from the ship to the offshore structure and performance evaluation tests of various devices can be carried out on land.

In the first embodiment, the structure-side movement mechanism 32 may be configured, for example, by only the six-axis motion base 120. In this case, the simulated offshore structure 31 of the offshore structure-side motion device 3 may be configured, for example, by the table 122 of the six-axis motion base 120.

Second Embodiment
Next, a second embodiment of the present invention will be described with reference to Fig. 7. In the following description, components common to those already described will be given the same reference numerals and duplicated description will be omitted.

As shown in FIG. 7, in the second embodiment of the motion simulation system 1A, as in the first embodiment, the structure side movement mechanism 32 of the offshore structure side motion device 3 includes a six-axis motion base 120 and a vertical movement mechanism 130. On the other hand, the hull side movement mechanism 22 of the hull side motion device 2 includes a two-axis rotation mechanism 110 as the hull side rotation mechanism 24, as well as a vertical movement mechanism 140 as the translation mechanism 23 (hull side translation mechanism 23). The vertical movement mechanism 140 included in the hull side movement mechanism 22 translates the simulated hull section 21 in the vertical direction.

In the hull-side movement mechanism 22 in FIG. 7, the vertical movement mechanism 140 is provided between the base 117 (or installation surface G) and the two-axis rotation mechanism 110. The vertical movement mechanism 140 is composed of multiple links 141 rotatably connected to each other, and an expandable and contractible actuator 142. The two-axis rotation mechanism 110 and the simulated hull section 21 move in parallel in the vertical direction as the expandable actuator 142 expands and contracts. The vertical movement mechanism 140 can move the simulated hull section 21 in the vertical direction to a greater extent than the six-axis motion base 120. The operation of the expandable actuator 142 of the vertical movement mechanism 140 is controlled by the control device 4.

According to the vibration simulation system 1A of the second embodiment, the same effects as those of the first embodiment are achieved.
In the motion simulation system 1A of the second embodiment, the simulated hull section 21 moves up and down by the vertical movement mechanism 140. This allows a worker who boards the simulated hull section 21 for transfer training to directly get the sensation of a ship moving up and down on the sea.

Third Embodiment
Next, a third embodiment of the present invention will be described with reference to Fig. 8. In the following description, components common to those already described will be given the same reference numerals and duplicated description will be omitted.

As shown in FIG. 8, in the motion simulation system 1B of the third embodiment, the hull-side movement mechanism 22 of the hull-side motion device 2 is equipped with only a two-axis rotation mechanism 110 as the hull-side rotation mechanism 24, similarly to the first embodiment.
On the other hand, the structure-side movement mechanism 32 of the offshore structure-side motion device 3 only includes a vertical movement mechanism 130 as a structure-side translation mechanism 33. The vertical movement mechanism 130 includes a rail 131 and a slider 132 similar to those in the first embodiment. The rail 131 of the vertical movement mechanism 130 is fixed to the base 123 (or the installation surface G) by a fixed frame 35.

In the motion simulation system 1B of FIG. 8, the simulated hull section 21 can be rotated around two mutually perpendicular axes parallel to the installation surface G by the two-axis rotation mechanism 110. In addition, the simulated offshore structure 31 can be moved only in the vertical direction by the vertical movement mechanism 130.

According to the vibration simulation system 1B of the third embodiment, the same effects as those of the first embodiment are achieved.
In the third embodiment, the motion simulation system 1B employs the vertical movement mechanism 130 and the two-axis rotation mechanism 110 as the movement mechanisms 22 and 32, and does not employ the six-axis motion base 120. As described above, the vertical movement mechanism 130 has a simpler structure than the six-axis motion base 120 and can relatively move the simulated hull section 21 and the simulated offshore structure 31 in the vertical direction with a large stroke. In addition, the two-axis rotation mechanism 110 has a simpler structure than the six-axis motion base 120 and can relatively rotate the simulated hull section 21 and the simulated offshore structure 31 at a large angle. That is, the motion simulation system 1B has a simpler structure than the six-axis motion base 120, but can reproduce large relative movements between the hull and the offshore structure on the sea caused by larger waves.

In addition, the relative vertical translational motion between the simulated hull section 21 and the simulated offshore structure 31 by the vertical movement mechanism 130, and the relative two-axis rotational motion (roll and pitch rotational motion) between the simulated hull section 21 and the simulated offshore structure 31 by the two-axis rotation mechanism 110 are the dominant movement elements of the relative motion between the hull and the offshore structure at sea. Therefore, even if the motion simulation system 1B does not include other motions (left-right translational motion, fore-aft translational motion, yaw rotational motion), it is possible to sufficiently reproduce the relative motion between the hull and the offshore structure at sea.

In addition, in the third embodiment of the motion simulation system 1B, the vertical movement mechanism 130 and the two-axis rotation mechanism 110 are provided separately for the offshore structure side motion device 3 and the hull side motion device 2. Therefore, compared to a case where the vertical movement mechanism 130 and the two-axis rotation mechanism 110 are provided together on either the offshore structure side motion device 3 or the hull side motion device 2, it is possible to simplify each of the devices on the offshore structure side motion device 3 and the hull side motion device 2.

In the third embodiment, for example, the structure-side movement mechanism 32 of the offshore structure-side motion device 3 may include only a two-axis rotation mechanism 110 as the structure-side rotation mechanism 34, and the hull-side movement mechanism 22 of the hull-side motion device 2 may include only a vertical movement mechanism 130 as the hull-side translation mechanism 23. Even with such a configuration, the same effects as those described above can be achieved.

In addition, in the third embodiment, for example, one of the offshore structure side motion device 3 and the hull side motion device 2 may have a vertical movement mechanism 130 as a translation mechanism and a two-axis rotation mechanism 110 as a rotation mechanism. The other of the offshore structure side motion device 3 and the hull side motion device 2 may not have a movement mechanism. That is, the other of the offshore structure side motion device 3 and the hull side motion device 2 may have the simulated hull section 21 or the simulated offshore structure 31 fixed to the installation surface G. Even with such a configuration, the effect described above is achieved, that is, the relative movement between the hull and the offshore structure at sea can be sufficiently reproduced despite the simple structure.

Fourth embodiment
Next, a fourth embodiment of the present invention will be described with reference to Fig. 9. In the following description, components common to those already described will be given the same reference numerals and duplicated description will be omitted.

As shown in FIG. 9, in the fourth embodiment of the motion simulation system 1C, as in the third embodiment, the hull-side movement mechanism 22 of the hull-side motion device 2 has only a two-axis rotation mechanism 110 as the hull-side rotation mechanism 24. On the other hand, the structure-side movement mechanism 32 of the offshore structure-side motion device 3 has a horizontal movement mechanism 150 in addition to the vertical movement mechanism 130 as the structure-side translation mechanism 33.

The horizontal movement mechanism 150 moves the simulated offshore structure 31 in the horizontal direction (the direction perpendicular to the up-down direction). Note that the "horizontal direction" includes at least one of two linear directions (i.e., the aforementioned front-back and left-right directions) that are perpendicular to each other along a plane (e.g., the installation surface G) perpendicular to the up-down direction.

The horizontal movement mechanism 150 shown in FIG. 9 moves the simulated offshore structure 31 in the front-rear and left-right directions. The horizontal movement mechanism 150 includes a front-rear movement mechanism 151 and a left-right movement mechanism 152. The front-rear movement mechanism 151 has a rail 1511 extending in the front-rear direction and a slider 1512 attached to the rail 1511 so as to be movable in the front-rear direction. The left-right movement mechanism 152 has a rail 1521 extending in the left-right direction and a slider 1522 attached to the rail 1521 so as to be movable in the left-right direction. The left-right movement mechanism 152 is provided above the front-rear movement mechanism 151. Specifically, the rail 1521 of the left-right movement mechanism 152 is fixed to the slider 1512 of the front-rear movement mechanism 151. And the rail 131 of the up-down movement mechanism 130 is fixed to the slider 1522 of the left-right movement mechanism 152.

As a result, the horizontal movement mechanism 150 is configured to move the simulated offshore structure 31 in both the forward/backward and left/right directions. Note that the horizontal movement mechanism 150 may be configured, for example, to move the simulated offshore structure 31 only in the left/right direction, or to move the simulated offshore structure 31 only in the forward/backward direction. Furthermore, the horizontal movement mechanism 150 may be configured, for example, to move the simulated offshore structure 31 only in a direction that tilts in both the forward/backward and left/right directions in the horizontal direction.

The horizontal movement mechanism 150 described above allows the horizontal movement length of the simulated offshore structure 31 to be set according to the length of the rails 1511, 1521. Therefore, the horizontal movement mechanism 150 allows the simulated offshore structure 31 to move horizontally to a greater extent than the six-axis motion base 120.

According to the vibration simulation system 1C of the fourth embodiment, the same effects as those of the first embodiment are achieved.
In the fourth embodiment, the motion simulation system 1C employs the vertical movement mechanism 130, the horizontal movement mechanism 150, and the two-axis rotation mechanism 110 as the movement mechanisms 22 and 32, and does not employ the six-axis motion base 120. As described above, the vertical movement mechanism 130 has a simpler structure than the six-axis motion base 120 and can move the simulated hull section 21 and the simulated offshore structure 31 relatively in the vertical direction with a large stroke. In addition, the horizontal movement mechanism 150 has a simpler structure than the six-axis motion base 120 and can move the simulated hull section 21 and the simulated offshore structure 31 relatively in the horizontal direction with a large stroke. Furthermore, the two-axis rotation mechanism 110 also has a simpler structure than the six-axis motion base 120 and can rotate the simulated hull section 21 and the simulated offshore structure 31 relatively at a large angle. In other words, the motion simulation system 1C has a simpler structure than the six-axis motion base 120, but is able to reproduce the large relative movements between the ship hull and the offshore structure at sea that accompany larger waves.

In the fourth embodiment, for example, the horizontal movement mechanism 150 may be provided in the hull-side motion device 2. In this case, the horizontal movement mechanism 150 may be provided, for example, between the base 117 (or the installation surface G) and the two-axis rotation mechanism 110.

In addition, in the fourth embodiment, for example, the vertical movement mechanism 130, the horizontal movement mechanism 150, and the two-axis rotation mechanism 110 may be provided together on either the offshore structure side motion device 3 or the hull side motion device 2.

Fifth embodiment
Next, a fifth embodiment of the present invention will be described with reference to Fig. 10. In the following description, components common to those already described will be given the same reference numerals and duplicated description will be omitted.

As shown in FIG. 10, in the fifth embodiment of the motion simulation system 1D, the hull-side movement mechanism 22 of the hull-side motion device 2 only includes a 6-axis motion base 120 as the hull-side translation mechanism 23 and the hull-side rotation mechanism 24. The simulated hull section 21 is formed by the table 122 of the 6-axis motion base 120. On the other hand, the offshore structure-side motion device 3 does not include a movement mechanism (structure-side movement mechanism). For this reason, the simulated offshore structure 31 of the offshore structure-side motion device 3 is fixed on the installation surface G by a fixed frame 36.

In the fifth embodiment of the motion simulation system 1D, the simulated hull section 21 moves parallel and rotationally on the installation surface G by the six-axis motion base 120, so that the simulated hull section 21 and the simulated offshore structure 31 move relative to each other.

In the motion simulation system 1D of the fifth embodiment, the control device 4 controls only the movement of the simulated hull section 21 by the hull-side movement mechanism 22. The control device 4 controls the relative movement of the simulated hull section 21 and the simulated offshore structure 31 by the hull-side movement mechanism 22 by inputting an arbitrary operation pattern or time series data indicating the movement of the ship and offshore structure due to waves to the hull-side movement mechanism 22. In this way, the motion simulation system 1D can reproduce the relative motion of the ship and offshore structure due to waves.

The fifth embodiment of the motion simulation system 1D provides the same effects as the first embodiment.

In the fifth embodiment, for example, the structure-side movement mechanism 32 of the offshore structure-side motion device 3 may only include a six-axis motion base 120 as the structure-side translation mechanism 33 and the structure-side rotation mechanism 34, and the hull-side motion device 2 may not include a movement mechanism (hull-side movement mechanism). In other words, the simulated hull section 21 of the hull-side motion device 2 may be fixed onto the installation surface G.

The present invention has been described in detail above, but the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

In the present invention, the ship-side motion device 2 and the offshore structure-side motion device 3 are not limited to being installed on the installation surface G, and may be installed, for example, so as to be placed on a mobile cart. The ship-side motion device 2 and the offshore structure-side motion device 3 may be placed on the same mobile cart, or may be placed on different mobile carts. In addition, the ship-side motion device 2 and the offshore structure-side motion device 3 may be installed so as to be suspended from a wall surface or ceiling, for example.

The motion simulation system of the present invention may be configured to translate at least one of the simulated hull section 21 and the simulated offshore structure 31 in at least one of three mutually orthogonal linear directions and/or rotate around at least one of three mutually orthogonal axes. The relative motion between the ship and the offshore structure can be partially reproduced simply by translating the simulated hull section 21 and the simulated offshore structure 31 in only one linear direction relative to each other, or by rotating the simulated hull section 21 and the simulated offshore structure 31 around one axis relative to each other. This allows simple transfer training and performance evaluation tests of various devices to be performed on land.

The motion simulation system of the present invention is not limited to being composed of a ship-side motion device 2 designed for a ship and an offshore structure-side motion device 3 designed for an offshore structure, but may be composed of, for example, two ship-side motion devices 2 designed for a ship (first and second structure-side motion devices). The motion simulation system of the present invention may also be composed of, for example, two offshore structure-side motion devices 3 designed for an offshore structure (first and second structure-side motion devices).

1, 1A, 1B, 1C, 1D Motion simulation system 2 Ship side motion device (first structure side motion device)
3. Offshore structure side motion device (second structure side motion device)
4 Control device 21 Simulated hull section (first simulated structure)
22 Hull side movement mechanism (movement mechanism)
23 Hull side translation mechanism (translation mechanism)
24 Hull side rotation mechanism (rotation mechanism)
31. Simulated offshore structure (second simulated structure)
32 Structure side movement mechanism (movement mechanism)
33 Structure side translation mechanism (translation mechanism)
34 Structure side rotation mechanism (rotation mechanism)
110 Two-axis rotation mechanism 130, 140 Up-down movement mechanism G Installation surface

Claims (3)

A first structure side motion device having a first dummy structure;
a second structure side vibration device having a second dummy structure and installed adjacent to the first structure side vibration device,
At least one of the first structure side motion device and the second structure side motion device includes a movement mechanism that moves the first simulated structure and the second simulated structure relatively to each other,
The moving mechanism includes:
a translation mechanism for translating at least one of the first simulated structure and the second simulated structure in at least one of three linear directions perpendicular to each other;
and/or
A motion simulation system including a rotation mechanism that rotates at least one of the first simulated structure and the second simulated structure about at least one of three mutually perpendicular axes. The motion simulation system of claim 1, which reproduces the relative movement of the first simulated structure and the second simulated structure caused by the moving mechanism as the relative motion of the ship and the offshore structure caused by waves. the translation mechanism is provided in the first structure side motion device or the second structure side motion device, and has a vertical movement mechanism for relatively moving the first simulated structure and the second simulated structure in parallel in a vertical direction;
The motion simulation system described in claim 1 or claim 2, wherein the rotation mechanism is provided on the first structure side motion device or the second structure side motion device, and has a two-axis rotation mechanism that rotates the first simulated structure and the second simulated structure relatively around two axes that are perpendicular to the up-down direction and perpendicular to each other.

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