JPH0532397Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention uses an appropriate backing function instead of input when mooring a ship to automatically pay out the mooring line from the mooring machine to the side, and when winding up the mooring line. This invention relates to a mooring cable payout and retrieval device that adds tension to the rope to improve reeling performance.

[Prior Art] A mooring machine equipped with a drum that lets out and reels in mooring lines has conventionally been installed in the center of the upper deck of a ship, and is designed to pull out the mooring line in the ship's direction and guide it to the mooring hardware on the side. It is common that This is because the rope is guided at a certain angle depending on the width of the drum of the mooring machine and the mooring hardware. This is because if this angle becomes too large, the rope will not be wound in an orderly manner, so a mooring machine is installed in the center of the ship to prevent the angle of the mooring line from becoming too large.

Therefore, as shown in Fig. 8, in the past, when the mooring line b wound around the drum a of the mooring machine installed in the center of the ship was being fed out to the mooring hardware c, a worker had to input the line on the upper deck d. It was out at the.
Further, when winding the mooring line b onto the drum a, as shown in FIG. 9, the mooring line b is pulled by an input so that it is wound neatly on the drum a.

[Problems to be solved by the invention] However, with the conventional method, input is required to let out the mooring line b to the mooring hardware c on the side, and force is required to let it out, and the upper deck d is damaged by rain. There were problems with slips and other hazards when the work was wet, making the work dangerous. On the other hand, when winding up the rope, there is a risk of injury to the hands, especially with steel ropes, as the rope is pulled and slid by hand.

Therefore, the present invention aims to save labor by eliminating the need for auxiliary input work when manually letting out and reeling a mooring line, and also to make it easier and safer to let out and reel in the mooring line.

[Means for solving the problem] The present invention provides a guide rail that passes under the drum of the mooring machine on the upper deck of the ship and extends between the port and starboard sides,
a pair of horizontal or vertical rollers perpendicular to the guide rail, which is provided with a clamping part that can clamp the mooring line while freely adjusting the holding force; In the case of vertical rollers, a rope grasping robot is used which can reverse the direction of the end of the mooring line so that it faces either port or starboard using a rotating body that rotates a pair of horizontal rollers. , to be able to travel along the above guide rails, and to be able to automatically pay out the mooring lines;
On the other hand, when winding up the rope, a holding force is exerted on the rope by the rope clamping portion, so that the rope is automatically wound in an orderly manner on the drum.

[Operation] When the tip of the mooring line is clamped by the mooring line clamping part of the rope grabbing robot and the rope grabbing robot is run toward the side, the mooring line wound around the drum of the mooring machine is quickly paid out to the side. . Depending on the direction in which the ship is moored, the mooring line can be easily let out to starboard or port. In this case, by rotating the mooring line clamping device, the mooring line can be directed to port or starboard. It can also be directed to on the other hand,
At the time of winding, holding force can be exerted on the rope by pinching the rope with the clamping portion of the rope.

[Example] Hereinafter, an example of the present invention will be described based on the drawings.

1 to 4 show an embodiment of the present invention, in which the mooring hardware 4 on both sides is passed under the drum 3 of the mooring machine 2 installed in the center on the upper deck 1 of the hull. A guide rail 5 extending in the direction is laid, and a rope grasping robot 7 is self-propelled along the guide rail 5.
will be established.

As shown in FIG. 3, the rope grabbing robot 7 is equipped with wheels 9 at the bottom of a main body 8 that move along the guide rails 5, and the wheels 9 are moved by a drive motor (not shown) mounted on the main body 8. It can be driven and self-propelled. At the top of the main body 8, support stands 10 are provided on both left and right sides, and upper and lower rollers 11, 12 for holding the mooring line 6 are arranged horizontally, and both shaft ends of each roller 11, 12 are rotatable. The rotating body 13 to be supported is rotatably supported by the support stands 10 on both the left and right sides, and a drive motor 14 with a reduction gear is installed on the rotating body 13, and the output shaft 15 of the motor 14 and the upper roller 11 are connected to each other. One end of the shaft of the lower roller 12 is connected to one end of the shaft of the lower roller 12 through a power transmission mechanism 16 such as a bevel gear, and the upper and lower rollers 11 and 12 are rotated by the drive of the motor 14, so that the upper and lower rollers 11 and 12 are connected to each other. The clamped mooring line 6 can be sent out. The outer surface of the end of the rotating body 13 is provided with teeth 17 as shown in FIG. 18 rotates, so that the rotating body 13 can be rotated.

When the mooring line 6 is let out from the mooring machine 2 during mooring, the rope gripping robot 7 is placed below the mooring machine 2, and the tip of the mooring line 6 wound around the drum 3 of the mooring machine 2 is pulled out from the mooring machine 2. It is inserted and held between the upper and lower rollers 11 and 12 of the robot 7. (This operation can be omitted if the cable is stored while being held between the rollers.) Next, the cable grasping robot 7 is run along the guide rail 5 to the mooring hardware 4 on the side. As a result, the mooring rope 6 held by the rope gripping robot 7 is pulled out to the mooring hardware 4 on the side. Next, the mooring line 6 let out to the side,
The upper and lower rollers 11 and 12 are driven by the drive motor 14.
By rotating it, it is sent out from the gunwale side.

When changing the direction of the tip of the mooring line 6 depending on the direction in which the mooring line 6 is let out, the direction can be easily changed by rotating the rotating body 13 using the worm 18. Thereby, the direction of letting out the mooring line 6 can be changed from starboard to port, or from port to starboard.

Next, FIG. 5 shows another embodiment of the present invention, in which the rollers serving as the mooring cable clamping portion of the rope grasping robot 7 are arranged vertically instead of horizontally and arranged vertically in the previous embodiment. It was designed to be used as a mold by placing it on the left and right. That is, upper deck 1
A roller 2 whose surface is covered with an elastic body is placed on the upper part of the main body 8 which can run on its own along the upper guide rail 5.
A rotating body 22 that rotatably supports 0 and 21 vertically.
is attached so as to be freely rotatable in the horizontal direction about a shaft 23 at the center of the lower surface, and the left and right rollers 20 and 21 on the rotating body 22 are rotatable in the horizontal direction by a drive motor 24 attached to the rotating body 22. In addition, teeth serving as a worm gear are carved on one side of the rotating body 22 to mesh with the worm 18 installed on the top surface of the main body 8, and the worm 18 is rotated in the same manner as in the case of FIG. This allows the rotating body 22 to rotate around the shaft 23. Components with the same reference numerals as in FIG. 3 indicate the same components.

In this embodiment, the tip of the mooring rope 6 is clamped between the left and right vertical rollers 20, 21. When the direction of the tip of the mooring rope 6 is changed, the worm 1 is rotated.
The operation of paying out the mooring rope 6 to the mooring hardware 4 and letting it out from there to the outside is performed in the same manner as in the previous embodiment.

FIG. 6 shows still another embodiment of the present invention, which is an alternative to the system in which the rotating body 22 is rotated by a worm mechanism. That is, the ends of the wire 28 wound around the winding drum 27 are respectively tied to the brackets 25 and 26 provided on the rotary body 22, and by rotating the winding drum 27 forward and backward, one bracket 25 or 26 side is connected. The rotating body 22 can be rotated by winding the wire 28 of the bracket 28 and unwinding the wire 28 of the other bracket 26 or 25 at the same time.

FIG. 7 shows still another example of a rope gripping robot, in which the distance between the upper and lower rollers 11 and 12 can be freely adjusted to adjust the holding force of the rope. That is, the upper roller 1
Both shaft ends of the cable 6 can be moved up and down by a hydraulic cylinder 29, and by adjusting the downward pressure of the hydraulic cylinder 29, an appropriate back tension can be applied to the cable 6.
Of course, even in the example shown in FIG. 5, it is possible to provide the function of generating back tension when winding up the rope in the same manner, simply by changing the pressing of the rope from the vertical direction to the horizontal direction.

Note that the present invention is not limited to the embodiments described above, and the upper and lower rollers 1 shown in FIG.
1 and 12 may also be made of highly elastic materials, and the rotating body may be rotated by a flat gear mechanism instead of a worm gear mechanism, and various other changes may be made without departing from the gist of the present invention. Of course, it can be added.

[Effects of the invention] As described above, according to the mooring line payout and take-up device of the present invention, instead of the conventional manual payout and take-up of the mooring line, the mooring line is paid out and taken up automatically by a robot. Because of this, it has the following excellent effects:

(i) Labor savings can be achieved as no human labor is required.

(ii) Since the work is performed by robots, there is no danger involved.

(iii) The mooring line can be quickly paid out and retracted, resulting in high operating efficiency, and the mooring line can be wound neatly around the drum during reeling.

(iv) Since the mooring line holding part of the robot can be rotated to change the direction of the mooring line, the direction in which the line is paid out can be freely changed.

(v) A guide rail extending between the left and right sides is provided, and a rope grasping robot that runs along the guide rail is provided, and the rope grasping robot is attached to the rope grasping robot.
A pair of horizontal or vertical rollers that are orthogonal to the guide rail, and a pair of rollers that rotate vertically in the case of horizontal rollers and horizontally in the case of vertical rollers about an axis parallel to the rollers. The rotating body that moves the mooring line can be turned 180 degrees so that the tip of the mooring line faces either port or starboard, so when the rotating body rotates around an axis parallel to the pair of rollers, The pair of rollers are always kept perpendicular to the guide rail, preventing the mooring rope from coming off the pair of rollers. Therefore, a single rope gripping robot can secure the mooring ropes on both port and starboard sides. The feeding and winding can be performed automatically.

[Brief explanation of drawings]

Fig. 1 is a side view schematically showing an embodiment of the present invention, Fig. 2 is a plan view of Fig. 1, and Fig. 3 is a front view showing an example of a rope grasping robot in the mooring line payout device of the present invention. , FIG. 4 is a side view of the rotating body rotation mechanism, FIG. 5 is a front view showing another example of the rope gripping robot, FIG. 6 is a schematic diagram showing another example of the rotating body rotating mechanism, and FIG. Fig. 7 is a diagram showing still another example of a rope grabbing robot, Fig. 8 is a schematic side view showing the procedure for letting out a conventional mooring cable, and Fig. 9 is a schematic side view showing the procedure for winding up the conventional mooring cable. be. 2 is a mooring machine, 5 is a guide rail, 6 is a mooring line,
7 is a cable gripping robot, 8 is a main body, 11 is an upper roller, 12 is a lower roller, 13 is a rotating body, 20, 21
indicates a roller, and 22 indicates a rotating body.

Claims (1)

[Scope of utility model registration request] A guide rail is provided that passes under the drum of the mooring machine on the upper deck of the ship and extends between both sides, and a pair of horizontal or vertical rollers perpendicular to the guide rail allows the mooring line to be held while freely adjusting the holding force. The mooring line is attached to a mooring line by a rotary body that has a clamping part as shown in FIG. A mooring cable payout and winding device comprising: a cable grasping robot capable of reversing the direction of the tip of the cable so as to face either the port side or the starboard side so as to be able to travel along the guide rail.