JP6336280B2 - Movable pier - Google Patents

Description

  The present invention relates to a movable pier, and more particularly, to a movable pier excellent in stability capable of suppressing the shaking of a bridge girder portion even in response to unexpected and unexpected waves.

  When a person on board a ship moves to an object such as a structure projecting on land or water, for example, a movable jetty extending from the ship is bridged between the ship and the object. Move across a movable jetty. Since the ship constantly rocks due to the wave motion, the movable jetty will also rock. Therefore, the movable jetty becomes unstable when the waves are rough.

  Therefore, for example, a parallel link mechanism (six-degree-of-freedom motion base) having six actuators is installed on the ship, and the movable jetty is extended from the top plate supported by the six-degree-of-freedom motion base. It becomes possible to suppress movement. The six-degree-of-freedom motion base has six or three actuators that extend and contract independently, and by controlling the expansion and contraction of these actuators, the top plate can always be maintained in a horizontal stationary state ( For example, see Patent Document 1).

  Therefore, the movable type extended from the ship is detected by detecting the swing of the ship (the swing of the movable jetty) by the sensor and controlling the actuator constituting the 6-DOF motion base based on the detected data. The swing of the pier can be suppressed. Here, since it takes some time to detect the swing of the ship until the actuator is operated, a so-called follow-up delay occurs. Therefore, an autoregressive model can be created using the detected ship rocking data, and the result of predicting the ship rocking using this model can be fed forward. By performing such feed-forward control and the like on the actuator constituting the 6-DOF motion base, the follow-up delay is improved, which is advantageous for suppressing the swing of the movable jetty extending from the ship. become. However, on the actual sea, not only a wave that can be expected due to feedforward or the like, but also an unexpected and unexpected wave occurs. If the wave can be expected to some extent, a 6-DOF motion base can be used to obtain a considerable swing prevention effect, but the swing of the movable jetty caused by an unexpected and unexpected wave cannot be suppressed. There is.

JP-A-5-257922

  An object of the present invention is to provide a movable jetty excellent in stability capable of suppressing the fluctuation of a bridge girder portion even when unexpected and unexpected waves are generated.

In order to achieve the above object, the movable jetty of the present invention includes a six-degree-of-freedom motion base installed on a ship, a top plate supported by the six-degree-of-freedom motion base, and a lateral extension from the top surface of the top plate In the movable pier having a bridge girder section , a sensor for sequentially detecting the swing of the ship, and a control section to which the swing data detected by the sensor is sequentially input , the bridge girder section is divided into a plurality of parts. Comprising at least one horizontal rotation mechanism configured to connect the bodies adjacent to each other in the longitudinal direction, and at least one vertical rotation mechanism configured to connect the segments adjacent to each other in the longitudinal direction. , on the basis of the swing data, the 6 so as to maintain the flexibility ceiling plate motion base is supported horizontally, to constitute the 6 DOF motion base by the control unit With expansion and contraction of the actuator is sequentially controlled, and around the horizontal rotation mechanism allows rotating the divided body which is connected via the horizontal rotating mechanism horizontally, the vertical rotation about the vertical rotation mechanism The divided body connected through the mechanism is configured to be rotatable in the vertical direction.

  According to the present invention, the bridge girder constituting the movable jetty is extended laterally from the top surface of the top plate supported by the six-degree-of-freedom motion base. The swing of the bridge girder can be suppressed against the generated wave. In addition, the bridge girder part is constructed by connecting a plurality of divided bodies in the longitudinal direction, and the divided body connected via the horizontal rotating mechanism can be rotated in the horizontal direction around the horizontal rotating mechanism and rotated up and down. Since the split body connected via the vertical rotation mechanism can be rotated in the vertical direction around the mechanism, the horizontal rotation mechanism and the vertical rotation mechanism are mainly used for unexpected and unexpected waves. By rotating the divided body, it is possible to suppress the shaking of the bridge girder. Therefore, excellent stability can be secured as compared with the conventional movable jetty.

  Here, the bridge girder part can be extended and contracted by moving the at least one divided body in the longitudinal direction with respect to the other divided body connected adjacently in the longitudinal direction. The horizontal rotation range angle of the divided body by the horizontal rotation mechanism is set to 150 ° or more, and one divided body connected to each other so as to be rotatable around the horizontal rotation mechanism is moved to a position near the other divided body. It can also be set as the structure which can be folded by rotating in a horizontal direction. According to these structures, when not using a bridge girder part, it can accommodate compactly.

  It can also be configured to include a regulating member that regulates the vertical rotation range angle of the divided body by the vertical rotation mechanism to 90 ° or less. According to this structure, it can prevent that the division body rotated up and down centering on an up-and-down rotation mechanism droops greatly. Therefore, it is possible to reduce the labor for returning the suspended divided body to the horizontal position.

  It can also be set as the structure provided with the magnet for connecting this bridge girder part to a connection target object at the front-end | tip of the said bridge girder part. According to this structure, the front-end | tip of a bridge girder part can be easily fixed or temporarily fixed to a connection target object, and can also be removed from a connection target object easily.

It is a front view which illustrates the movable jetty of this invention. It is a top view of the movable jetty of FIG. It is explanatory drawing which illustrates the 6 degree-of-freedom motion base of FIG. It is explanatory drawing which illustrates the horizontal direction rotation range of the division body by a horizontal rotation mechanism by planar view. It is explanatory drawing which illustrates the up-down direction rotation range of the division body by an up-down rotation mechanism by a side view. It is explanatory drawing which illustrates the state which is extending the bridge girder part by a side view. It is explanatory drawing which illustrates the state which has extended the bridge girder part by planar view. It is explanatory drawing which illustrates the state which accommodated the bridge girder part by planar view. It is explanatory drawing which illustrates the state which accommodated the bridge girder part in another embodiment by planar view.

  Hereinafter, the movable jetty of the present invention will be described based on the embodiments shown in the drawings.

  The embodiment of the movable jetty 1 of the present invention illustrated in FIGS. 1 to 3 is disposed on a ship 12. The movable pier 1 includes a 6-DOF motion base 2 installed between the top plate 6a and the substrate 6b, and a bridge girder portion 7 that extends laterally from the top surface of the top plate 6a. A support plate may be placed on the top plate 6a, and the bridge girder portion 7 may be extended from the support plate.

  The six-degree-of-freedom motion base 2 controls six actuators 3a to 3f, drive units 4a to 4f that expand and contract the respective actuators 3a to 3f, and operations of these actuators 3a to 3f (drive units 4a to 4f). Part 5. As the actuators 3a to 3f, hydraulic cylinders capable of obtaining a high output may be used. Each of the actuators 3a to 3f has an upper end portion rotatably connected to the top plate 6a via a rotation link, and a lower end portion rotatably connected to the substrate 6b via the rotation link. It can be expanded and contracted.

  Further, a sensor 5a such as a gyro sensor that sequentially detects the swing of the ship 12 is also provided. The swing data detected by the sensor 5a is sequentially input to the control unit 5. Expansion / contraction (expansion / contraction amount) of each of the actuators 3a to 3f is sequentially controlled by the control unit 5 based on the input swing data.

  Even if the ship 12 is swung by a wave, the top plate 6a supported by the 6-DOF motion base 2 can be kept horizontal by controlling the expansion and contraction of the actuators 3a to 3f. That is, so as to counteract each swing of the surge (forward / backward), sway (left / right), heave (up / down), roll (side), pitch (pitch), yaw (head). The top plate 6a can be kept horizontal by extending and contracting each of the actuators 3a to 3f.

  The bridge girder portion 7 serving as a passage through which people pass is configured by connecting a plurality of divided bodies 7A, 7B, 7C in the longitudinal direction. In this embodiment, the number of divided bodies is three, but the number can be an appropriate number such as two or four. The divided bodies 7A, 7B, and 7C have a telescopic structure, and the bridge girder portion 7 is configured to expand and contract. Handrails are provided on both side surfaces of each divided body 7A, 7B, 7C.

  A magnet 11 that functions as a connection fixture for connecting the bridge girder portion 7 to a connection object 13 or the like protruding on the water is provided at the tip of the split body 7A that is the most advanced. The magnet 11 is preferably an electromagnetic magnet capable of obtaining a strong fixing force. Instead of the magnet 11 or in addition to the magnet 11, another connection fixture can be provided.

  In this embodiment, the division bodies 7B and 7C adjacent in the longitudinal direction are connected to each other via the horizontal rotation mechanism 8, and the division bodies 7A and 7B adjacent to each other in the longitudinal direction are connected to each other via the vertical rotation mechanism 9. . The horizontal rotation mechanism 8 and the vertical rotation mechanism 9 are not limited to one, and a plurality of horizontal rotation mechanisms 8 and vertical rotation mechanisms 9 can be provided. Further, although the vertical rotation mechanism 9 is disposed on the distal end side of the bridge girder unit 7 with respect to the horizontal rotation mechanism 8, the horizontal rotation mechanism 8 may be disposed on the distal end side with respect to the vertical rotation mechanism 9.

  As illustrated in FIG. 4, the divided bodies 7 </ b> B and 7 </ b> C are connected so as to be rotatable in the horizontal direction around the horizontal rotation mechanism 8. That is, the divided body 7B can be rotated in any circumferential direction around a rotation axis orthogonal to the divided bodies 7B and 7C. As the horizontal rotation mechanism 8, for example, a rotary table or a similar mechanism can be used. The rotation range angle A in the horizontal direction of the divided body 7B around the horizontal rotation mechanism 8 is preferably 30 ° or more. For example, the angle A is 30 ° or more and 180 ° or less. Each of the horizontal left direction and the horizontal right direction can be rotated at least 15 ° or more.

  As illustrated in FIG. 5, the divided bodies 7 </ b> A and 7 </ b> B are connected so as to be rotatable in the vertical direction around the vertical rotation mechanism 9. That is, the divided body 7A can be rotated in any circumferential direction around a rotation axis that is orthogonal to the divided bodies 7A and 7B. As the vertical rotation mechanism 9, for example, a so-called hinge mechanism or a similar mechanism can be used.

  The rotation range angle B in the vertical direction of the divided body 7A centering on the vertical rotation mechanism 9 is, for example, 30 ° or more and 90 ° or less. It is possible to turn at least 20 ° in each of the upward and downward directions. If the vertical rotation range is excessive, the divided body 7A drastically hangs down. Therefore, a great amount of labor (man-hours) is required to return the divided body 7A to the horizontal position. Therefore, it is preferable to provide a regulating member 10 that regulates the vertical rotation range of the divided bodies 7A and 7B by the vertical rotation mechanism 9 to 90 ° or less. In this embodiment, a restricting member 10 is projected in the longitudinal direction at the tip of the divided body 7B, and the lower surface of the divided body 7A comes into contact with the restricting member 10 and cannot be rotated any further.

  Next, the method of using this movable jetty 1 is to move a person on board the connection target 13 using the base of a wind power generator protruding from the ship 12 on the water as the connection target 13. Will be described as an example.

  First, the ship 12 is stopped with a predetermined interval from the connection target 13. Next, as illustrated in FIGS. 6 and 7, the bridge girder portion 7 in a contracted state is extended by advancing the divided bodies 7 </ b> A and 7 </ b> B toward the connection target 13 along the longitudinal direction. In this embodiment, the horizontal rotation mechanism 8 is fixed to the lower surface of the divided body 7B, and the horizontal rotation mechanism 8 moves forward together with the divided body 7B. That is, the horizontal rotation mechanism 8 is configured to be movable in the longitudinal direction of the bridge girder portion 7 together with the divided body 7B.

  When the leading end of the bridge girder 7 reaches the connection object 13, the bridge girder part 7 is connected by connecting the leading end of the bridge girder 7 to the connection object 13 via the magnet 11 as illustrated in FIGS. Fixed to the object 17 or temporarily fixed. By using the magnet 11, the bridge girder part 7 and the connection object 13 can be easily and quickly attached and detached. When the fixing force of the magnet 11 is insufficient, the bridge girder portion 7 is connected to and fixed to the connection object 13 by using another connection fixture in place of the magnet 11 or in addition to the magnet 11.

  After the ship 12 and the connection object 13 are connected by the bridge girder part 7, a person who has boarded the ship travels between the ship 12 and the connection object 13 through the bridge girder part 7. The ship 12 is swung by a periodic wave in the sea area, and the bridge girder 7 is swung accordingly. Here, in the movable pier 1 of the present invention, the expansion and contraction of the respective actuators 3a to 3f is performed so as to cancel the swing of the top plate 6a due to the wave based on the swing data of the ship 12 detected by the sensor 5a. To control the posture of the top plate 6a. Thereby, the top plate 6a is maintained substantially horizontal, and accordingly, the swing of the bridge girder portion 7 is suppressed.

  Since it takes some time until the actuators 3a to 3f actually extend and contract after the sensor 5a detects the swing of the ship 12, a so-called following delay occurs. Therefore, it is preferable to create an autoregressive model using the swing data of the ship 12 detected by the sensor 5a, and feed forward the result of predicting the swing of the ship 12 using this model. By performing such feed-forward control or the like on the actuators 3a to 3f, the follow-up delay is improved, so that the swinging of the bridge girder portion 7 can be further suppressed. That is, by using the 6-degree-of-freedom motion base 2, it is possible to suppress the swing of the bridge girder portion 7 with respect to a wave that can be expected to some extent.

  On the other hand, for sudden waves that cannot be anticipated due to feedforward or the like, the split bodies 7B and 7C rotate horizontally around the horizontal rotation mechanism 8 and the split body 7A around the vertical rotation mechanism 9. , 7B rotate up and down. Since the swinging of the bridge girder part 7 due to the sudden wave motion is absorbed to some extent by the rotation of the divided bodies 7A and 7B, the swinging of the bridge girder part 7 can be suppressed without using a complicated mechanism. It becomes possible. Therefore, excellent stability can be secured as compared with the conventional movable jetty.

  When the bridge girder part 7 is not used, as shown in FIG. 8, the divided bodies 7A and 7B can be retracted in the longitudinal direction so that the bridge girder part 7 is contracted. Therefore, the space occupied by the bridge girder portion 7 can be reduced, which is very beneficial for the ship 12 having severe restrictions on the space.

  Instead of or in addition to this configuration in which the divided bodies 7A and 7B are advanced and retracted in the longitudinal direction to expand and contract the bridge girder portion 7, as in the embodiment illustrated in FIG. It is also possible to adopt a configuration in which the horizontal rotation range angle A of the divided body 7B is 150 ° or more. In this way, if the horizontal rotation range angle A is set to 150 ° or more and 180 ° or less and one of the divided bodies 7B can be rotated to a position near the other divided body 7C, the bridge girder portion 7 is Can be folded and stored compactly. In addition, when the handrail provided in 7 C of divisions becomes obstructive when folding the bridge girder part 7, the handrail is made into the specification which can be attached or detached, for example.

  After folding the bridge girder part 7 as described above or before folding it, if the divided bodies 7A and 7B are retracted along the longitudinal direction of the divided body 7C (moving in the direction closer to the ship), the bridge girder part 7 becomes more compact. Can be accommodated.

  The six-degree-of-freedom motion base 2 used in the present invention is not limited to the one exemplified in the embodiment, and can give all the movements of six degrees of freedom so that the top plate 6a can always be maintained in a horizontal stationary state. I just need it.

DESCRIPTION OF SYMBOLS 1 Movable pier 2 6 degrees-of-freedom motion base 3a-3f Actuator 4a-4f Drive part 5 Control part 5a Sensor 6a Top plate 6b Substrate 7 Bridge girder part 7A, 7B, 7C Divided body 8 Horizontal rotation mechanism 9 Vertical rotation mechanism 10 Restriction member 11 Magnet (connection fixture)
12 Ship 13 Connection object

Claims (5)

6-degree-of-freedom motion base installed on the ship, a top plate supported by the 6-degree-of-freedom motion base, a bridge girder extending laterally from the top surface of the top board, and the swing of the ship are sequentially detected. In a movable jetty equipped with a sensor that performs and a controller to which swing data detected by the sensor is sequentially input ,
The bridge girder part is configured by connecting a plurality of divided bodies in the longitudinal direction, and at least one horizontal rotating mechanism for connecting the adjacent divided bodies in the longitudinal direction and at least one for connecting the divided bodies adjacent in the longitudinal direction. Two vertical rotation mechanisms,
Based on the swing data, expansion and contraction of the actuators constituting the 6-DOF motion base is sequentially controlled by the control unit so as to keep the top plate supported by the 6-DOF motion base horizontal. In addition, the divided body connected through the horizontal rotation mechanism about the horizontal rotation mechanism can be rotated in the horizontal direction, and the division body connected through the vertical rotation mechanism about the vertical rotation mechanism. A movable jetty characterized in that the body can be rotated in the vertical direction.   The movable pier according to claim 1, wherein the bridge girder portion is configured to expand and contract by moving at least one divided body in the longitudinal direction with respect to a counterpart divided body connected adjacently in the longitudinal direction. .   The horizontal rotation range angle of the divided body by the horizontal rotation mechanism is set to 150 ° or more, and one divided body connected to each other so as to be rotatable around the horizontal rotation mechanism is moved to a position near the other divided body. The movable jetty according to claim 1 or 2, wherein the movable jetty is configured to be folded by rotating in a horizontal direction.   The movable jetty according to any one of claims 1 to 3, further comprising a regulating member that regulates a vertical rotation range angle of the divided body by the vertical rotation mechanism to 90 ° or less.   The movable pier in any one of Claims 1-4 provided with the magnet for connecting this bridge girder part to a connection target object at the front-end | tip of the said bridge girder part.

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