JPH115593A - Restoring device for ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a restoring device having high restoring ability by the device of relatively small size, capable of quickly restoring a capsized ship. SOLUTION: A restoring device 1 is mounted in the center of an upper part (deck side) of a ship 2. The restoring device 1 is a manipulator comprising three-shaft link, between the ship 2 and a root of a first link 3, between the first link 3 and a second link 4, and between the second link 4 and a third link 5, are respectively connected through joint parts 6, 7, 8. Each joint part 6, 7, 8 is respectively driven by a servo motor. By independently controlling the movement of each joint part 6, 7, 8 in accordance with an attitude (tilt angle) of the ship 2, moment overcoming moment caused by dead weight and buoyancy of the ship 2 is applied to the joint part 6 in a root of the manipulator, then the ship 2 can be restored from a capsized condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a restoring device for restoring a capsized boat to its original position.

[0002]

2. Description of the Related Art As a method of restoring an overturned boat to its original posture, a method of mounting a buoyant body on the upper side of the boat and a method of installing an air bag provided with a charging device are conventionally known. . However, since these methods use buoyancy, in order to generate a moment sufficient to restore a capsized boat, prepare a buoyant body with a large volume or use the upper center of the boat. It is necessary to dispose a buoyant body or the like at a position laterally away from the vehicle to extend the arm length of the moment.

[0003] On the other hand, one of the methods of paddling a kayak (skinned canoe used by an eskimo), a method such as that found in an eskimo roll (a technique of quickly restoring a posture using a paddle when the kayak is overturned). So far, no attempt has been made to apply a method of restoring a boat using recoil using a manipulator to a restoration device for a boat.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to replace a conventional restoring method using a buoyant body or the like with a relatively small device having a high restoring ability and quickly restoring a capsized boat. It is an object of the present invention to provide a restoring device capable of performing the above.

[0005]

SUMMARY OF THE INVENTION A restoring device for a boat according to the present invention is a restoring device for restoring an overturned boat to its original posture, which is mounted near the upper center of the boat and has a plurality of joints. And control means for independently controlling the movement of each joint of the manipulator according to a change in the inclination angle of the boat.

[0006] The inventor of the present application has focused on the method of an eskimo roll of a kayak on which a person rides, in particular, a long roll that performs a two-dimensional motion in a vertical plane, and observes and analyzes the motion in detail. went. Next, a mathematical model was created in which the man and paddle movements were replaced with a manipulator having three joints, and a simulation was performed using this mathematical model. As a result, a result almost coincident with the observation result was obtained. Furthermore,
A model experiment was performed based on the results, and it was confirmed that the entire kayak could be restored using a manipulator having a plurality of joints.

According to the boat restoring device of the present invention, the movement of each joint of the manipulator having a plurality of joints is controlled independently of each other in accordance with the attitude (tilt angle) of the boat, so that the weight and buoyancy of the boat are maintained. By acting on the joint at the base of the manipulator, a moment that overcomes the moment caused by the above can restore the boat from a capsized state.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an outline of a boat provided with a restoring device according to the present invention. (A) is an elevation view,
(B) is a side view thereof.

The restoring device 1 is attached to the center of the upper part (deck side) of the boat 2. The restoring device 1 is a manipulator including a three-axis link, and includes a boat 2 and a first link 3.
Between the first link 3 and the second link 4 and between the second link 4 and the third link 5,
They are connected via the joints 6, 7, 8. Each of the joints 6, 7, and 8 is provided with a servomotor, so that the movement (angle change) of each of the joints 6, 7, and 8 can be controlled independently of each other. Note that the first link 3 corresponds to the upper body of the human body during an eskimo roll, the second link 4 corresponds to an arm of the human body, and the third link 5 corresponds to a paddle.

Using the restoring device according to the present invention, a restoring experiment of a kayak model was performed in a water tank. FIG. 2 shows the external dimensions of the kayak model and the manipulator (recovery device) used in the experiment. (A) is an elevation view thereof, and (b) is a side view thereof. The weight of the kayak model 2 is 6.1 kg, the weight of the manipulator 1 in the air is 1.5 kg, and the weight of the underwater is 0.1 kg.
5 kg.

The experiment was conducted based on the analysis results of the movement of the human body and the paddle during the eskimo roll.
The movement of each of the servo motors provided in 7 and 8 was instructed at 0.05 second intervals, and proportional / differential control was performed based on data from an angle detector incorporated in the servo motors. FIG. 3 shows an example of the movement of the kayak model and the manipulator at each time.

As a result of the experiment, the movement of each of the joints 6, 7, 8 is controlled in accordance with the change in the attitude (inclination angle) of the kayak model 2, thereby reducing the kayak model 2's own weight and moment caused by buoyancy. It was confirmed that the kayak model 2 can be restored from the overturned state by applying the overcoming moment to the joint 6 at the base of the manipulator 1. In addition, when applying to the restoring device of an actual boat, the optimal shape of the manipulator and the movement of each joint can be obtained by using the mathematical model described above.

[0013]

According to the restoring apparatus of the present invention, a large restoring force (moment in the restoring direction) is generated by using a manipulator having a plurality of joints and controlling the movement of each joint according to the attitude of the boat. be able to. As a result, the capsized boat can be quickly restored using a small-scale device as compared with the conventional restoring method using a buoyant body or the like.

[Brief description of the drawings]

FIG. 1 is a diagram showing an outline of a boat equipped with a restoring device according to the present invention, (a) is an elevation view, and (b) is a side view.

FIGS. 2A and 2B show external dimensions of a kayak model and a manipulator used in the experiment, wherein FIG. 2A is an elevation view and FIG. 2B is a side view.

FIG. 3 is a diagram showing movement of a kayak model and a manipulator at each time.

[Explanation of symbols]

 1 ... restoration device (manipulator), 2 ... boat (kayak model), 3, 4, 5 ... link, 6, 7, 8 ... joint.

Claims (1)

[Claims] 1. A restoring device for restoring an overturned boat to its original position, comprising: a manipulator mounted near the upper center of the boat, having a plurality of joints; and controlling movement of each joint of the manipulator by the boat. Control means for controlling each of them independently according to a change in the inclination angle of the boat.