JPH0352636Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a marine balancer device, and more particularly to a marine balancer device for an ultra-small boat driven by remote control operation.

[Conventional technology]

In general, for ships, regardless of the size of the ship, it is essential for navigation to constantly and stably control the inclination of the ship and the position of the center of gravity.

For this reason, heavy objects or cargo such as sand or water are used as ballast in one conventional ship balancer device.

[Problem that the invention attempts to solve]

However, in the case of ultra-small ships that are driven by remote control, the ballast must be operated unmanned on the ship, so it is necessary to use sand, water, etc., which have traditionally been used. Since it is difficult to apply ballast as is, and space on the ship is limited, installing a ballast device separately from each drive device has the disadvantage of reducing the loading capacity accordingly. Ta.

[Purpose of invention]

The present invention takes into account the disadvantages of the conventional example, and aims to provide a balancer device for a ship that can effectively utilize the space of the ship's hull and automatically control the attitude.

[Means for solving problems]

Therefore, in the present invention, a ballast moving and holding means is installed on a small boat that uses batteries as a propulsion power source and holds the batteries as ballast so as to be movable in the longitudinal direction of the boat, and the device detects the inclination angle of the boat in the longitudinal direction. An inclination angle detection control means sets the amount of movement of the ballast by the ballast movement and holding means according to the size of the inclination angle detection control means, and a ballast transfer mechanism that operates based on a control signal output from the inclination angle detection control means It also includes a ballast transfer motor that applies a transfer force in a predetermined direction.
The inclination angle detection control means has a slight inclination tolerance control function that immediately detects when the inclination angle of the hull in the longitudinal direction exceeds a predetermined amount and outputs a predetermined control signal. The structure is as follows. This aims to achieve the above-mentioned purpose.

[Effect]

When the hull tilts, this tilt angle is detected, and a control signal based on this detected value is output from the tilt angle detection control means as necessary. In response to this output, the ballast in the ballast movement and holding means automatically moves in a predetermined direction to offset the above-mentioned inclination, thereby maintaining the balance of the ship. In this case, since the ballast is configured to also serve as a battery as a power source for the ship, there is no need to separately equip heavy items as ballast, and the hull space can be used effectively for ultra-small ships. . In addition, it is a reliable device that does not react to changes in slope due to slight pitching.

[Example of idea]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

In FIG. 1, reference numeral 2 indicates a marine balancer device. The balancer device 2 includes a tilt angle detection control means 2A that detects that the hull is tilted in a predetermined direction and outputs a control signal, and a tilt angle detection control means 2A that outputs a control signal when the hull is tilted in a predetermined direction. The structure includes a ballast moving and holding means 2B that performs inclination angle control as one of the functions. In this embodiment, the marine balancer device 2 is wirelessly operated from a remote location by remote control, and is used, for example, when lifting heavy objects and loading them onto the ship using a winch 6 provided at the front of the hull 4. It is effectively used for

Further, reference numeral 5 denotes a propeller for propulsion, which is rotated by a propulsion motor (not shown) that is wirelessly controlled.

Specifically, the tilt angle detection control means 2A
It is configured as shown in the figure. In this tilt angle detection control means 2A, reference numeral 8 indicates a tilt angle sensor. The tilt angle sensor 8 is composed of a magnet as a weight, a Hall sensor using an IC, etc., and the effect of the magnetic field changes depending on the degree of tilt, and the output of the Hall sensor changes, so that it outputs an output corresponding to the tilt angle. It's on. The output of the inclination sensor 8 is detected as a positive value or a negative value corresponding to the inclination angle of the hull 4 in the forward direction and backward direction.

Furthermore, the output of the tilt angle sensor 8 reaches a comparison input terminal of a comparison section 10. In this comparison section 10,
A reference level signal V _R is applied to the reference input terminal from a setting device (not shown), and comparison with the detection level signal V _S sent from the tilt angle sensor 8 is performed at any time. As a result, when the detection level signal V _S becomes larger than the reference level signal V _R , the output of the comparator 10 becomes a logic H level (for example, +15V), and the motor driver amplifier 1
2. If an on/off contact 16A (described later) is closed, the amplified output moves the DC motor 14 as a ballast transfer motor in a predetermined direction (for example, clockwise).
The ballast moving and holding means 2B, which will be described later, is operated.

Also, the detection level signal V _S is the reference level signal V _R
If it is smaller, the output of the comparator 10 becomes logic L.
level (for example, -15V), the DC motor 14 is reversed by a reversal control means (not shown), and the entire ballast moving and holding means 2B is thereby operated in the opposite direction.

Here, the reference level signal V _R is set to a level value corresponding to the reference inclination angle when the boat 4 is running with the bow of the hull 4 slightly upward, for example, as shown in θ _R in FIG. However, this value can be set freely, and it is also possible to make it approximately the same angle as the water surface.

Further, the output of the tilt angle sensor 8 is configured to reach a tilt angle level detection section 16. In this tilt angle level detection section 16, the detection level signal
If the value of V _S changes from the reference tilt angle θ _R by more than the allowable range ±Δθ _n , the amplifier 12 and the DC motor 14
The on/off contact 16A inserted between the DC motor 14 and the DC motor 14 is turned on to control the DC motor 14. On the other hand, the detection level signal
If the value of V _S is very small within the above-mentioned θ _R ±Δθ _n , the on/off contact 16A is turned off, and the tilt angle control by the DC motor 14 is forcibly stopped.
As a result, the slight inclination tolerance control function of the inclination angle detection control means 2A is maintained. The constant width ±Δθ _n for turning on/off the on/off contact 16A can be adjusted by the tilt angle level detection section 16.

On the other hand, in the ballast holding means 2B, the code 2
0 indicates a battery which is a driving source for the hull 4 and is also a ballast for the ballast holding means 2B. As shown in FIG. 4, this battery 20 is placed and fixed on a box-shaped frame 22, and the lead wires from the positive terminal 20A and negative terminal 20B are expandable and retractable, so that the battery 20 can be placed in a predetermined position. It is designed so that there is no problem with power supply even when moving over long distances.

Further, rail portions 22A and 22B extend from both sides of the hull 4 of the frame 22 as shown in the drawing. These rail parts 22A, 22B are the bottom part of the hull 4C.
Concave guide portions 4A and 4B provided on both sides of the
It is configured such that it is fitted into the body 4 to be held at a predetermined height and is slidable over a predetermined range in the longitudinal direction of the hull 4.

The aforementioned DC motor 14 serves as the operating source for sliding the battery 20 serving as the ballast. That is, the output shaft 1 of this DC motor 14
As shown in the figure, 4A has an elongated rod shape, and its tip is rotatably supported by a shaft support member 24 fixed to the bottom 4C. A threaded lead screw portion 14Aa is formed in a predetermined range of the extended output shaft 14A. Also,
As shown in FIG. 5, this lead screw portion 14Aa is threaded through a driven member 22C provided at the bottom of the frame 22. As a result, when the output shaft 14A of the DC motor 14 rotates clockwise or counterclockwise, the lead screw portion 14
Due to the interaction between Aa and the driven member 22C, eventually,
The battery 20 and the frame 22 move forward or backward as shown by arrow C. The lead screw portion 14Aa and the driven member 22C constitute a ballast transfer mechanism.

Next, the overall operation of this embodiment will be explained.

If the hull 4 is damaged by, for example, using the winch 6,
Assume that the vehicle is tilted forward as indicated by arrow A in FIG. In this case, if the inclination is slight within the allowable range -Δθ _n , there is no need to perform inclination angle control.
As mentioned above, the tilt angle detection control means 2A does not operate due to the action of the tilt angle level detection section 16 in the tilt angle detection control means 2A, thereby preventing inconveniences such as unnecessary chattering to the DC motor 14. There is.

However, when this inclination reaches a value lower than the allowable angle range -Δθ _n , the inclination angle detection means 2A is activated, and the DC motor 14 is rotated, for example, in a counterclockwise direction for the duration of this activation. . As a result, the battery 20 as a ballast moves rearward, for example as shown by the phantom line _C1 in FIG.
In other words, the center of gravity of the hull is moved rearward by this amount, and the overall attitude is automatically maintained substantially constant.

On the contrary, when the hull 4 is tilted backwards as indicated by arrow B in FIG. 1, the same operation occurs. That is, only when the DC motor 14 is tilted backward by the aforementioned predetermined tilt angle θ _R +Δθ _n or more, the DC motor 14 rotates, for example, clockwise, and the battery 20 moves forward as shown by C ₂ in FIG. will maintain the balance.

In this way, one of the heavy objects essential for the hull 4 to sail is also used as ballast,
Moreover, since the tilt angle detection control means 2A automatically moves in a direction to offset the tilt of the hull and controls the attitude, the control operation is quick and reliable. Also,
Since there is no need to install ballast separately for each ship, space is saved, and the buoyancy can be reduced to the extent that unnecessary heavy items are not loaded as ballast, allowing the hull to be made smaller.

In this embodiment, control of the hull 4 in the longitudinal direction has been described, but the present invention is not necessarily limited to this, and for example, attitude control of the hull 4 in the left-right direction may also be performed. Further, the circuit configuration of the inclination angle detection control means 2A that controls the ballast control holding means 2B is not necessarily limited to that described above, and for example,
A separate tilt angle sensor may be used for each tilt direction in the rearward direction, and a separate control path may be configured. Furthermore, depending on the capacity of the DC motor 14, a system may be used in which the drive current is directly received from the battery 20.

[Effects of the invention] As described above, according to the invention, the battery, which is essential for the vessel to sail, can be used for its original purpose as well as ballast, and the movement of this ballast can be automated. This makes it possible to eliminate the need for separate ballast equipment, and, especially for small vessels with small hulls, makes effective use of hull space and enables quick and reliable attitude control of the hull.
Since a predetermined operating angle is provided for pitching or tilting of the hull in the longitudinal direction, it will not react to slight tilting, which can significantly improve the reliability of the device's operation. It is possible to provide an unprecedented and practical balancer device for a ship that can effectively operate and maintain balance even when it is tilted due to flooding or unexpected external force.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the overall configuration of an embodiment of the present invention, Fig. 2 is an electrical block diagram showing the embodiment of Fig. 1, and Fig. 3 shows the allowable inclination angle range of the hull. 4 is a partially omitted perspective view showing the ballast moving and holding means in FIG. 1, and FIG. 5 is an explanatory view showing the vicinity of the bottom of the ship of the ballast moving and holding means in FIG. 4. 2...Marine balancer device, 2A...Inclination angle detection control means, 2B...Ballast holding means, 14
Aa...Lead screw part forming the main part of the ballast transfer mechanism, 20...Battery serving as the ballast and drive source.

Claims (1)

[Claims for Utility Model Registration] A ballast moving and holding means that is installed on a small boat that uses a battery as a propulsion power source and that holds the battery as ballast so as to be movable in the longitudinal direction of the boat, and an inclination of the boat in the longitudinal direction. an inclination angle detection control means for detecting an angle and setting the amount of movement of the ballast by the ballast movement and holding means in accordance with the magnitude thereof; and a ballast transfer motor that applies a transfer force in a predetermined direction via a ballast transfer mechanism, and the inclination angle detection control means is configured to detect when the inclination angle of the hull in the longitudinal direction exceeds a predetermined amount. 1. A balancer device for a ship, characterized in that it is equipped with a slight tilt tolerance control function that immediately detects when a tilt occurs and outputs a predetermined control signal.