JP3087449B2 - Long object suspension device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for suspending a long object such as a pipe from a floating body at sea.

[0002]

2. Description of the Related Art Conventionally, when a long object such as a pipe is vertically suspended from a floating body on the sea such as a ship, FIG.
As shown in (1), a method is employed in which the upper end of a long object c is simply connected to a support mechanism b on a floating body a and suspended.

[0003]

However, in the above-mentioned conventional suspension system, when the floating body a moves up and down due to waves or the like, the upper end of the long object c suspended from the floating body a is forcibly moved up and down. In other words, if the mass of the long object c is large, a large inertial force is generated, so that a large load is applied to the connection portion d at the upper end of the long object c, which may lead to breakage of the long object. Further, a cushion mechanism (spring mechanism) may be inserted into the support mechanism b on the floating body a to absorb the vertical displacement of the floating body a. In this case, however, the spring is reversed near the natural period of the cushion mechanism. Movement in tune and power will be amplified together. If the natural period is made sufficiently large by reducing the force of the spring to avoid this, the vertical displacement of the long object c will increase with respect to the steady force (gravity, tidal force, etc.). .

In view of the above, the present invention is intended to reduce the design load in the strength design of a suspended long object by keeping both the vertical displacement amount and the suspension force of the long object within appropriate ranges, and to improve the safety of work. Is to be able to improve.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a long object suspending device for suspending a long object vertically from a floating body so as to be able to expand and contract in a vertical direction. The long object is suspended and supported by the long object support mechanism installed on the floating body via the cord, and the extension amount of the cord is changed by expansion and contraction of the long object support mechanism, and the long object is changed. The elongate object supporting device has a spring function and generates a reaction force in the elongate object support device that is proportional to the amount of vertical displacement of the floating body and the elongate object. An active control force generating device connected to the object support mechanism and the device, both devices are provided on the floating body, and a sensor for detecting the vertical displacement of the floating body, and the vertical displacement of the long object Sensor that detects the amount of cable pull-out at the time, and each sensor from both sensors A controller for calculating the vertical movement speed of the long object based on the value is provided on the floating body, and further, a command from the controller is sent to the active control force generation device, and the length obtained by the controller is obtained. A force proportional to the vertical movement speed of the measuring object is applied from the active control force generation device to the device.

[0006]

When the floating body and a long object suspended from the floating body are relatively displaced in the vertical direction, a support connected in proportion to the relative displacement (extending amount of the cord-like object) by a device connected to the long object supporting mechanism. Force is generated by the long object support mechanism, and the actively controlled force is added to this support reaction force, so that both the relative displacement of the floating body and the long object and the suspension force are within the appropriate range. You can put it inside.

[0007]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention, in which a support frame 2 is installed on a floating body 1, a pulley 3 is mounted on the support frame 2 via a bracket 4, and a pipe or the like is provided. A cylinder 7 as a long object support mechanism for suspending and supporting a long object 5 via a rope 6 is attached in a vertical state, and the rope 6 is wound around sheaves 8 and 9 attached to upper and lower ends of the cylinder 7. After hanging the end of
The long object 5 is attached to the upper end of the long object 5 and the length of the rope 6 is changed by extending and contracting the cylinder 7 in the vertical direction so that the long object 5 can be displaced up and down.

The cylinder 7 is connected to the oil chamber 12 of a hydraulic pressure generator 10 which is divided into an oil chamber 12 and an air chamber 13 by a partition plate 11 slidably housed therein. The effect of the air spring, which is inversely proportional to the capacity of the air tank 14 by connecting the air tank 14 via a remote control valve 15 so that air is led from an air supply / discharge line (not shown), To work in
A resistance force (proportional) is generated in accordance with the relative displacement of the floating body 1 and the long object 5 in the vertical direction, and the partition plate 11 is further moved by a resistance force proportional to the vertical movement speed of the long object 5. Control force generating cylinder 16 for actively generating pressure
, So that the oil pressure in the cylinder 7 as a long object support mechanism is adjusted via the oil pressure generator 10. The spring constant of the air spring acting on the hydraulic pressure generator 10 can be changed by opening and closing the remote control valve 15 to adjust the capacity of the air tank 14, and the pressure in the air tank 14 is changed. It can also be adjusted by an air supply / discharge line not shown.

Further, a floating body vertical movement speed sensor 17 for detecting the vertical movement speed of the floating body 1 is installed on the floating body 1, and the stroke amount of the cylinder, that is, the relative distance between the floating body 1 and the long object 5 is set. A cylinder displacement sensor 18 for detecting displacement (amount of the rope 6 extended) is provided.
A controller 19 for calculating the vertical movement speed of the long object 5 based on the detection values from the detectors 7 and 18 is installed on the floating body 1, and a command from the controller 19 is sent to the active control force generating cylinder 16. Then, a force proportional to the vertical movement speed of the long object 5 calculated by the controller 19 is applied to the partition plate 11 from the active control force generation cylinder 16.

Reference numeral 20 denotes a device for preventing the long object 5 from rolling.

The floating body 1 moves up and down due to waves and the like. This up and down movement is detected by a sensor 17, and the long object 5 is moved up and down via a rope 6 which is extended or retracted by the expansion and contraction of a cylinder 7. But this movement is
8 is detected. The detected values of the sensors 17 and 18 are input to the controller 19, and the vertical movement speed of the long object 5 is calculated.

Since the cylinder 7 is provided with a hydraulic pressure generator 10 connected to an air tank 14 serving as an air spring, when the floating body 1 and the long object 5 are relatively displaced, the relative vertical displacement (rope 6 Of the cylinder 7, a supporting reaction force applied by the hydraulic pressure generating device 10 is generated in proportion to the cylinder feed amount. At the same time, the vertical movement speed sensor 17
And a force proportional to the vertical movement speed of the long object obtained from each detection value of the displacement sensor 18 of the cylinder 7 is generated by the control of the cylinder 16 as an active control force generator. Is applied to the cylinder 7 via the partition plate 11 of the above, and is added to the support reaction force. As a result, both the vertical displacement amount of the long object 5 and the suspension force of the long object 5 can be kept within appropriate ranges, and the design load in the strength design of the long object can be reduced.

The spring constant of the air spring mechanism can be changed by opening and closing the remote control valve 15 to adjust the capacity of the air tank 14, so that the constant of the external force and the period of the floating body sway are based on the constant. The spring constant can be set as appropriate.

The present invention is not limited to the above embodiment. For example, a hydraulic pressure generating device 10 is connected as a spring mechanism to the cylinder 7 as a long object supporting mechanism, 10 shows a case in which an active control force generation cylinder 16 and an air tank 14 are connected as an active control force generation device. However, only the cylinder 16 may be used as the active control force generation device. Needless to say, the active control may be directly performed, and various changes may be made without departing from the spirit of the present invention.

[0016]

As described above, according to the long object suspending apparatus of the present invention, a long object suspending apparatus that suspends and supports a long object vertically from a floating body can expand and contract vertically. As described above, a long object is suspended and supported by a long object support mechanism installed on the floating body via a cord, and the extension amount of the cord is changed by expansion and contraction of the long object support mechanism, thereby lengthening the length. A device that allows the long object to be displaced up and down and has a spring function to generate a reaction force in the long object support device that is proportional to the relative displacement amount of the floating body and the long object in the vertical direction. A sensor connected to the long object support mechanism, and an active control force generating device connected to the device, the two devices being provided on the floating body, and a sensor for detecting vertical displacement of the floating body; A sensor that detects the extension of the cord during vertical displacement, and each sensor from both sensors A controller for calculating the vertical movement speed of the long object based on the value is provided on the floating body, and further, a command from the controller is sent to the active control force generation device, and the length obtained by the controller is obtained. A force proportional to the vertical movement speed of the long object is provided from the active control force generator to the above-mentioned device, and when the vertical displacement of the floating body and the long object occurs, the long object Since the force proportional to the vertical movement speed of the long object can be added to the support reaction force generated by the support mechanism, the following excellent effects can be obtained. (i) A long object suspended vertically from the floating body is connected to a long object support mechanism connected to a device that generates a reaction force proportional to the relative displacement of the floating body and the long object in the vertical direction. The long object support device generates a reaction force proportional to the relative displacement between the floating body and the long object, so that the relative displacement between the floating body and the long object is kept within an appropriate range. be able to. (ii) Actively generate a force proportional to the vertical movement speed of a long object, and add it to the support reaction force that causes this to be generated by the long object support mechanism, so that the vertical movement speed of the long object Can be controlled so as not to become large, thereby increasing the effect of suppressing the vertical movement of the long object and the fluctuation of the supporting force. In particular, the spring function provided to the device connected to the long object supporting mechanism is provided. There is a great effect in suppressing the tuning near the natural period. (iii) Since the vertical displacement and the suspension force of the long object can both be kept within the appropriate ranges, the design load for the strength design of the long object can be reduced, and the safety of work can be reduced. Improvement can be achieved.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an embodiment of a long object hanging apparatus of the present invention.

FIG. 2 is a schematic view of a conventional long object hanging device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Floating body 5 Long object 6 Rope (cord-like object) 7 Cylinder (long object support mechanism) 10 Hydraulic pressure generator (device) 14 Air tank (active control force generator) 16 Cylinder for active control force generation (active control force) Generating device) 17 Floating body vertical movement speed sensor 18 Cylinder displacement sensor (Category feed amount sensor) 19 Controller

────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-1-110498 (JP, A) JP-A-2-283591 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13 / 22,23 / 52,23 / 53 B63B 35 / 00,35 / 03 B65G 47/90 F16L 1/04

Claims (1)

(57) [Claims] An elongate object suspending device for suspending an elongate object from a floating body in a vertical state and supporting the elongate object in a vertical state. Is suspended through a cord-like object, the extension amount of the cord-like object is changed by expansion and contraction of a long object support mechanism, and the long object can be displaced up and down. And a device for causing the long object support device to generate a reaction force proportional to the vertical relative displacement amount of the long object and the long object support mechanism, and generating an active control force on the device. A device for connecting the devices, the two devices are provided on the floating body, and a sensor for detecting the vertical displacement of the floating body, a sensor for detecting the extension amount of the cord-like object at the time of the vertical displacement of the long object, A controller that calculates the vertical movement speed of a long object based on each detection value from the sensor The apparatus is provided on a floating body, and further sends a command from the controller to the active control force generator to generate a force proportional to the vertical movement speed of the long object determined by the controller. A long object suspending apparatus, characterized in that the apparatus has a structure adapted to be applied to the above apparatus.