JPH0442146B2

JPH0442146B2 -

Info

Publication number: JPH0442146B2
Application number: JP61131886A
Authority: JP
Inventors: Fumihiko Kawamata
Original assignee: Agency of Industrial Science and Technology
Current assignee: National Institute of Advanced Industrial Science and Technology AIST
Priority date: 1986-06-09
Filing date: 1986-06-09
Publication date: 1992-07-10
Also published as: JPS62290697A

Description

[Brief explanation of drawings]

第１図は本発明の海上荷役装置の全体説明図、
第２図はマニプレータの側面図、第３図はマニプ
レータの背面図、第４図はマニプレータの部分説
明図、第５図はマニプレータの３次元姿勢を保持
するための制御装置の説明図である。３…サプライボート、４…マニプレータ、５…
ベースフレーム、７…旋回台、９…揺動台、１２
…水平軸、１３…支軸、１４…第一アーム、１７
…第二アーム、２３…把持装置、３６…テレビカ
メラ、４１…手動操作盤、４２…直線変位センサ
ー、４３…角度変位センサー、４４…船体動揺検
出回路、４５…マニプレータ移動量検出回路、４
６……動揺補償制御器、４７…マニプレータ駆動
回路。 FIG. 1 is an overall explanatory diagram of the marine cargo handling device of the present invention;
FIG. 2 is a side view of the manipulator, FIG. 3 is a rear view of the manipulator, FIG. 4 is a partial explanatory diagram of the manipulator, and FIG. 5 is an explanatory diagram of a control device for maintaining the three-dimensional posture of the manipulator. 3... Supply boat, 4... Manipulator, 5...
Base frame, 7... Swivel base, 9... Rocking base, 12
...Horizontal axis, 13... Support shaft, 14... First arm, 17
... Second arm, 23... Gripping device, 36... Television camera, 41... Manual operation panel, 42... Linear displacement sensor, 43... Angular displacement sensor, 44... Hull vibration detection circuit, 45... Manipulator movement amount detection circuit, 4
6... Shake compensation controller, 47... Manipulator drive circuit.

Claims

[Claims] 1. A base frame on the hull, a swivel table provided on the base frame so as to be able to rotate horizontally, and a support plate installed on the swivel table that connects a vertical plane via a horizontal axis. a first arm provided on the rocking table so as to be tiltable via a horizontal support shaft so as to be tiltable in a direction orthogonal to the direction of rocking of the rocking table; a second arm connected to the tip of the first arm so as to be tiltable in the same plane as the tilting surface of the first arm; A manipulator consisting of a third arm that is tiltable and a gripping device that is rotatable in a plane perpendicular to the axial direction of the third arm on a plate attached to the tip of the third arm via a shock absorber. set up,
In addition, a detection circuit that detects the momentum of each of the above six elements that constitute the manipulator, and a linear displacement component of heaving, surging, and swaying, and an angular displacement component of rolling, pitching, and yawing of the hull, are used to detect the hull. The vessel includes a motion compensation controller that issues a signal to regulate the movement of each component of the manipulator to cancel the movement of the gripping device at the tip of the manipulator due to the motion of the ship, based on a signal from a hull motion detection circuit that detects motion of the ship. A marine cargo handling device comprising a manipulator three-dimensional posture holding control device. [Industrial Field of Application] The present invention relates to a marine cargo handling device used for offshore oil drilling support work and the like. [Prior Art] Generally, at an offshore oil drilling base, a crane is mounted on the top floor of a platform built to protrude from the seabed to the sea surface, and the crane is used to unload and unload materials to and from a supply boat. Cargo handling work is carried out. [Problems to be solved by the invention] For this reason, in the past, workers could not carry out work when the supply boat was being shaken by waves, and if there was a risk of explosion due to a fire on a offshore structure, workers As the platform was evacuated and the platform was left unmanned, it was not possible to immediately handle the crane even when it returned.As the platform is located high above the sea (approximately 28m), even after the flames were extinguished, workers could not approach the platform for a while due to heat etc. If not, there were problems such as the inability to grasp the situation. The present invention seeks to solve these problems. [Means for Solving the Problems] In order to achieve the above object, the present invention includes a base frame on a hull, a swivel table provided on the base frame so as to be horizontally swivelable, and a swivel table installed on the swivel table. A rocking table is installed on a support base that can be driven to swing in a vertical plane via a horizontal axis, and a horizontal rocking table is installed on the rocking table so that it can be tilted in a direction perpendicular to the rocking direction of the rocking table. a first arm that can be tilted and driven via a support shaft; a second arm that is connected to the tip of the first arm so that it can be tilted in the same plane as the tilting surface of the first arm; A plate is attached to the tip of the third arm, which is provided at the tip of the third arm so as to be tiltable in the same plane as the tilting plane of the first arm, through a shock absorber. A manipulator consisting of a gripping device that can be rotated in a plane is installed, and
A detection circuit that detects the momentum of each of the above-mentioned six types of elements that make up the manipulator, and a linear displacement component of heaving, surging, and swaying, and an angular displacement component of rolling, pitching, and yawing of the hull, respectively. Based on the signal from the hull motion detection circuit that detects motion,
As a configuration equipped with a manipulator three-dimensional posture holding control device comprising a vibration compensation controller that generates a signal that regulates the movement of each component of the manipulator so as to cancel the movement of the gripping device at the tip of the manipulator due to the vibration of the ship body. There is. [Function] The manipulator consists of a swivel table, a rocking table, a first arm, a second arm, a third arm, and a gripping device.
Although a degree of freedom is provided, if the ship is shaken by waves, the positional relationship between the tip of the manipulator and the surface of the offshore platform becomes unstable. In this case, the manipulator three-dimensional attitude maintenance control device moves each part of the manipulator in accordance with the movement of the ship, so the gripping device at the tip of the manipulator can remain stationary in space, just like when the ship is stationary. This makes it possible to perform stable work similar to [Example] Hereinafter, an example of the present invention will be described with reference to the drawings. In Fig. 1, 1 is a platform built higher above the seabed, 2 is a floor provided on the platform 1, 3 is a supply boat, and 4 is a supply boat 3 that is capable of carrying out cargo handling operations between it and the platform 2. This is a manipulator installed on the deck of a ship. The manipulator 4 has the following configuration. That is, as shown in FIGS. 2 and 3, a swivel platform 7 that is horizontally swiveled by the operation of a swivel drive device 6 is arranged on a base frame 5 fixed on the deck of the supply boat 3. , and the swivel base 7
A support stand 8 is fixed on top, and a horizontal axis 1 is attached to the support stand 8.
The rocking table 9 is attached through the rocking table 2, and the rocking table 9 is moved horizontally by the expansion and contraction of the hydraulic cylinder 11 installed between the swing table 7 and the bracket 10 extending from the left and right sides of the rocking table 9. It is configured to be able to swing about the shaft 12 as a fulcrum. The rocking table 9 also has the horizontal axis 1
A support shaft 13 is disposed perpendicularly to the support shaft 13, and the lower end of a long first arm 14 is pivotally connected to the support shaft 13, so that the first arm 1 is connected between the swing table 9 and the swing table 9. The structure is such that it can be tilted using the support shaft 13 as a fulcrum by the expansion and contraction movement of the hydraulic cylinder 15 installed at an angle. Further, the base end side of a second arm 17 having a required length is connected to the first arm 14 using a support shaft 16 arranged parallel to the support shaft 13, and the second arm 17 is connected to the second arm 17. base end and first arm 1
The hydraulic cylinder 18 installed at an angle between the support shaft 16 and the support shaft 16 can be tilted using the support shaft 16 as a fulcrum. Further, a support shaft 20 arranged parallel to the support shaft 13 is used at the tip of the second arm 17,
The proximal end sides of the third arm 21 are connected, and the third arm 21 can be tilted by the expansion and contraction movement of a hydraulic cylinder 19 installed between the third arm 21 and the second arm 17. A gripping device 23 for gripping the baggage 22 is attached to the tip of the third arm 21 so as to be rotatable in a plane perpendicular to the axial direction of the third arm, and has six degrees of freedom. Further, the third arm 21 has a base plate 24 suspended from a pin 20, as shown in detail in FIG.
an inner cylinder 25 fixed to the lower surface of the base plate 24 and having a stopper part 26 on the outer periphery of the lower end; The above-mentioned stopper part 26
an outer cylinder 28 having a stopper portion 27 corresponding to the outer cylinder 28;
Lower plate 29 fixed to the lower end of the outer cylinder 28
and the upper plate 24 inside the inner and outer cylinders 25 and 28.
and a shock absorber 30 disposed between the lower plate 29 and the lower plate 29. Note that a cylinder or a rectangular cylinder is used as the inner cylinder 25 and the outer cylinder 28, but in the case of a cylinder, it is necessary to provide a rotation prevention mechanism such as a spline or a key. Further, on the lower surface of the third arm 21, that is, on the lower surface of the lower plate 29, a mounting plate 31 to which the gripping device 23 is removably mounted, for example, with bolts, is supported via a slewing ring bearing 32. Specifically, an inner race 32a constituting the swing ring bearing 32 is fixed to the lower plate 29, an outer race 32b is fixed to the mounting plate 31, and a drive motor 33, which is installed on the lower plate 29, is connected to the inner race 32a. A pinion 34 meshes with a gear 35 carved on the outer periphery of the outer race 32b. In FIG. 2, 36 is a television camera installed at the tip of the second arm 17 to monitor the floor 2 on the platform, and 37 is the gripping device 2.
3 and floor 2 or luggage 22 on the platform
This is a distance sensor that detects the relative distance between the Also, although not shown, a rotating table 7 and a horizontal axis 1
2. Each of the supporting points such as the support shaft 13, the supporting shaft 16, the supporting shaft 20, and the swivel ring bearing 32 is provided with a displacement sensor that detects the rotation angle of the manipulator component attached to each of these supporting points. FIG. 5 shows a control device that maintains the three-dimensional posture of the manipulator configured as described above, and 38 is an image display 3 that displays images taken by the television camera 36.
9, a relative distance display 40 that displays the distance between the object detected by the distance sensor 37, and a manual operation panel 41. Further, 42 is a linear displacement sensor that detects linear displacements of the supply boat 3 such as front and back, left and right, and up and down; 43 is an angular displacement sensor that detects angular displacements such as pitching, rolling, and yawing of the supply boat 3; 44
Reference numeral 45 indicates a hull vibration detection circuit that detects the movement of the supply boat based on signals from these displacement sensors 42 and 43, and 45 detects the overall movement of the manipulator 4 by signals 48 from each displacement sensor provided at each fulcrum of the manipulator 4. A manipulator movement amount detection circuit 46 detects the movement amount of the manipulator, and numeral 46 indicates the manipulator movement amount detection circuit 45 and the hull vibration detection circuit 44.
Manual operation panel 4 based on the values respectively detected by
This is an oscillation compensation controller that corrects the command signal from 1 and sends the corrected drive command to the manipulator drive circuit 47 that drives each actuator. The actuators mentioned above include the swing drive device 6, the hydraulic cylinders 11, 15, 18, 19, and the drive motor 3.
Collectively refers to 3. Next, the operation will be explained. The manipulator 4 is a manual operation panel 4 operated by an operator while looking at an image display 39 and a relative distance display 37.
It is operated by the operation of 1. That is, the gripping device 23 mounted in accordance with the type of cargo 22 is rotated by the drive of the motor 33, and the third arm 21 supporting the gripping device 23 is tilted by the expansion and contraction movement of the hydraulic cylinder 19, and the third arm 23 is rotated by the drive of the motor 33. The second arm 17 that supports the third arm 21 rotates by the expansion and contraction movement of the hydraulic cylinder 18, and the first arm 1 that supports the second arm 17 rotates.
4 is tilted by the expansion and contraction movement of the hydraulic cylinder 15,
The swing table 9 that supports the first arm 14 swings by the expansion and contraction of the hydraulic cylinder 11, and the support stand 8 that supports the swing table 9 swings through the swing table 7 by the drive of the swing drive device 6. Turn horizontally. In this way, the manipulator 4 has six degrees of freedom on the supply boat 3, so that cargo handling operations can be carried out efficiently between the platform 2 and the supply boat 3. Here, when the supply boat 3 is shaken due to waves, as shown in FIG. Angular displacements such as pitching, rolling, and yawing of the supply boat 3 are detected by the angular displacement sensor 43, and these detection signals are sent to a hull oscillation detection circuit 44 to detect the oscillation of the hull. On the other hand, a signal 48 indicating the operating position of each manipulator component is sent to the manipulator movement amount detection circuit 45 by a displacement sensor provided at each fulcrum. Then, the signal from the manipulator movement amount detection circuit and the signal from the hull vibration detection circuit 44 are sent to the vibration compensation controller 46, which corrects the command given from the manual operation panel 41 to the manipulator drive circuit 47. is performed, and each actuator is driven by the corrected command. That is, the ever-changing movement of the ship's body is detected, and an action (see FIG. 1) that cancels the movement is given to the manipulator 4 by automatic control. Therefore, even if the supply boat 3 is shaken by waves, the tip of the manipulator 4 can perform cargo handling operations smoothly by operating in the same manner as when the supply boat 3 is not shaken. Become. Furthermore, since a shock absorber 30 is inserted between the gripping device 23 that grips the baggage 22 and the third arm 21, even if an impact occurs when the baggage 22 is exchanged, the impact force will be absorbed by the shock absorber. 30, the second arm 17 side is not affected and is safe. Furthermore, in the above, since the television camera 36 is installed at the tip of the second arm 17, the platform 1 can be monitored at any time, so even if workers cannot approach the platform 1 due to fire etc. , the situation can be easily checked from on the supply boat 3. It should be noted that the present invention is not limited to the above-mentioned embodiments, but can be used for any offshore cargo handling work other than offshore oil drilling support work, and various changes may be made without departing from the gist of the present invention. Of course. [Effects of the Invention] As explained above, according to the marine cargo handling device of the present invention, (i) a support stand is provided on a swivel stand provided on a base plate on the hull, and the support stand is oscillated about a horizontal axis; A rocking table is mounted so as to be movable, and a first arm is mounted on the rocking table via a support shaft so as to be tiltable in a direction perpendicular to the rocking direction of the rocking table. Even if the ship is shaken, the manipulator can be operated to counteract it, so cargo handling operations can be carried out smoothly even in waves. (ii) Even if the platform is left unmanned due to a fire or other disaster, the necessary materials can be supplied from the supply boat. (iii) Additionally, if workers cannot approach due to heat or other reasons even after a fire has been extinguished, it will be possible to dispatch an exploration robot from the supply boat to assess the situation. (iv) Since the plate is supported at the tip of the third arm via a shock absorber, and the gripping device is rotatably attached to the plate, there is no chance that a shock will occur when the baggage gripped by the gripping device is exchanged. However, since it is alleviated by the shock absorber, the influence on the second arm side can be eliminated and work can be done safely. As a result of the above, the cargo handling device is extremely suitable for use in offshore oil drilling support work. It can produce excellent effects such as