JPS62290697A - Marine cargo gear - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Detailed explanation of 'i,　＞１明 vinegar This article relates to marine cargo handling equipment.

[Prior Art] In general, at an offshore oil drilling base, a crane is mounted on the top floor of Plano 1, which is built to protrude above the sea surface from the seabed, and the crane is used to transport supplies to and from supply boats. Cargo handling operations such as unloading and unloading are carried out.

[Problems to be solved by the invention] Therefore, in the past, work could not be carried out when the supply boat was being shaken by waves; The platform is evacuated and the platform is unmanned, so even when it returns, it is not possible to immediately handle the crane. ■ The platform is located high above the sea (28
m), and even after the flames were extinguished, if workers were unable to approach them for a while due to heat, etc., 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-mentioned object, the present invention includes a base frame, a swivel table provided on the base frame so as to be horizontally swivelable, and a swivel table on the swivel table. A rocking table provided so as to be swingable in a vertical plane, a first arm provided on the rocking table so as to be tiltable in a direction perpendicular to the rocking direction of the rocking table, and the first arm a third arm connected to the tip of the second arm so as to be tiltable in the same plane as the tilting surface of the first arm; and a third arm connected to the tip of the second arm so as to be tiltable in the same plane as the tilting surface of the first arm. A manipulator consisting of an arm and a gripping device provided at the tip of the third arm so as to be rotatably driven in a plane orthogonal to the axial direction of the third arm is installed, and a total of six types of elements described above constituting the manipulator are installed. A detection circuit that detects each movement of the ship, and a ship motion detection circuit that detects ship motion by detecting the linear displacement components of heaving, surging, and swaying, and the angular displacement components of rolling, pitching, and yawing, respectively. The manipulator 3 includes a vibration compensation controller that issues a signal to regulate 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, based on the signal.
It is equipped with a dimensional attitude maintenance control device.

[Function] The manipulator is given six degrees of freedom by the swivel table, the rocking table, the first arm, the third arm, the third arm, and the gripping device, but when the ship shakes due to waves, the tip of the manipulator and the offshore platform The positional relationship with the top becomes unstable.

In this case, the manipulator three-dimensional posture 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.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

In Fig. 1, 1 is a platform built higher above the ocean floor, 2 is a floor provided on the platform 1, 3 is a Zaburai boat, and 4 is installed on the deck of a Zaburai boat 3 so that cargo handling operations can be carried out between the platforms 2 and 2. There is a manipulator.

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 disposed on a base frame 5 fixed on the deck of a supply boat 3, and A support base 8 is fixed on the swivel base 7, and the support base 8
A rocking table 9 is attached to the rocking table 9 via a horizontal shaft 12, and the rocking table 9
is configured to be able to swing about the horizontal shaft 12 as a fulcrum by the expansion and contraction of a hydraulic cylinder 11 installed between the brackets 1 to 10 protruding from the right and left sides of the swing table 9 and the swing table 7. Further, the rocking table 9 is provided with a support shaft 13 disposed perpendicular to the horizontal axis 12, and the lower end of a long first arm 14 is pivotally connected to the support shaft 13. One arm 14 is configured to be tiltable about the support shaft 13 as a fulcrum by the expansion and contraction movement of a hydraulic cylinder 15 installed obliquely between it and the rocking table 9. Further, the proximal end side of a third arm 17 having a required length is connected to the first arm 14 using a support shaft 16 arranged parallel to the bundle III 113, and the third arm 17 is The hydraulic cylinder 18 installed obliquely between the base end and the first arm 14 is extended and retracted so that it can be tilted about the support shaft 16 as a fulcrum. Further, at the tip of the third arm 17, a support shaft 20 arranged parallel to the support shaft 13 is used to connect the base end side of the third arm 21, so that the third arm 21 and the third arm 17 are connected to each other. The third arm 21 can be tilted by the expansion and contraction movement of the hydraulic cylinder 19 installed in between, and furthermore, at the tip of the third arm 21,
A gripping device 23 for gripping the cargo 22 is attached to the third arm so as to be pivotable in a plane perpendicular to the axial direction, and has six degrees of freedom.

Further, the third arm 21 is, as shown in detail in FIG.
A base plate 24 suspended from a pin 20, 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, and an inner cylinder 25 that cannot be rotated in the horizontal direction but slidable in the vertical direction with respect to the inner cylinder 25. An outer cylinder 2 is fitted with a stopper part 27 that corresponds to the stopper part 26 on the inner periphery of the upper end.
8, a lower plate 29 fixed to the lower end of the outer cylinder 28, and a shock absorber 30 disposed between the upper plate 24 and the lower plate 29 in the inner and outer cylinders 25 and 28. Note that a cylindrical or square tube 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,
When the gripping device 23 is removably attached, for example, by bolts, the plate 31 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 plate 31, and a drive motor 33 installed on the lower plate 29 is attached. pinion 3
4 is a gear 35 carved on the outer periphery of the outer race 32b.
It meshes with the

In FIG. 2, 36 is a television camera installed at the tip of the third arm 17 to monitor the floor 2 on the platform, and 37 is a television camera between the gripping device 23 and the floor 2 or baggage 22 on the platform. It has a distance sensor that detects relative distance.

Also, although not shown, the swivel base 7, horizontal shaft 12, and support shaft 13
, the support shaft 16, the support shaft 20, the swing ring bearing 32, etc., are provided with displacement sensors that detect the rotation angle of the manipulator component attached to each of these support 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 39 that displays an image captured by the television camera 36, and a distance measuring sensor 3.
This operation panel includes a relative distance display 40 that displays the distance to the object detected in step 7, and a manual operation panel 41. Further, 42 is a linear displacement sensor that detects linear displacement 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 displacement such as pitching, rolling, and yawing of the supply boat 3, and 44 is a displacement sensor for these. 42. A hull vibration detection circuit that detects the vibration of the supply boat based on signals from 43, and 45 is a signal 4 from each displacement sensor provided at each fulcrum of the manipulator.
8 is a manipulator movement amount detection circuit that detects the overall movement amount of the manipulator 4, and 46 is a command from the manual operation panel 41 based on the values detected by the manipulator movement amount detection circuit 45 and the hull vibration detection circuit 44, respectively. This is an oscillation compensation controller that corrects the signal and sends the corrected drive command to the manipulator drive circuit 47 that drives each actuator.

The above-mentioned actuators collectively refer to the swing drive device 6, the hydraulic cylinders 11, 15, 18, 19, and the drive motor 33.

Next, the operation will be explained.

The manipulator 4 includes an image display 39 and a relative distance display 3.
It is operated by the operator operating the manual operation panel 41 while looking at 7. That is, the gripping device 23 mounted in accordance with the type of baggage 22 is rotated by the drive of the motor 33, and the third arm 21 supporting the gripping device 23 is connected to the hydraulic cylinder 1.
The third arm 17, which supports the third arm 21, is tilted by the extension and contraction movement of the hydraulic cylinder 15, and the first arm 14, which supports the second arm 17, is tilted by the extension and contraction movement of the hydraulic cylinder 15. Tilting, the first arm 14
The rocking table 9 supporting the rocking table 9 swings by the expansion and contraction of the hydraulic cylinder 11, and the support table 8 supporting the rocking table 9 horizontally turns via the turning table 7 by the drive of the turning drive device 6. In this way, the manipulator 4 has six degrees of freedom on the supply boat 3, so that cargo handling operations can be efficiently performed 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 displacement sensor 43, and these detection signals are sent to a hull vibration detection circuit 44 to detect hull vibration. 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 detection circuit and the hull vibration detection circuit 4
4 is sent to the oscillation compensation controller 46, the command given from the manual operation panel 41 to the manipulator drive circuit 47 is corrected, 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 moving due to 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 moving. 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 a shock occurs when the baggage 22 is exchanged, the impact force will be absorbed by the shock absorber 30. Since it is buffered by the absorber 30, the second arm 17
It is safe with no side effects.

In addition, in the above, since the television camera 36 is installed at the tip of the third arm 17, it is possible to monitor the platform 1 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.

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 invention. ) Even if the ship is shaking, 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 the like and workers are evacuated, the necessary materials can be supplied from the Zaburai boat.

(iii) In addition, even after a fire has been extinguished, if workers cannot approach due to heat, etc., it is also possible to follow the search engine deeply from the supply boat to understand the situation.

Particularly, as a result of the above, this cargo handling device is extremely suitable for use in support work for offshore oil drilling.

It can produce excellent effects such as

[Brief explanation of drawings]

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 a three-dimensional diagram of the manipulator. FIG. 2 is an explanatory diagram of a control device for maintaining a dimensional posture. 3... Supply boat, 4... Manipulator, 5...
...Base frame, 7... Swivel table, 9... Rocking table, 12... Horizontal axis, 13... Support shaft, 14... First arm, 17... Second arm, 23...gripping device,
36...TV camera, 41...Manual operation panel, 42
. . . Linear displacement sensor, 43 . . . Angular displacement sensor, 44 .
...Manipulator drive circuit.

Claims (1)

[Claims] 1) A base frame on the hull, a swivel table provided on the base frame so that it can be driven horizontally, a rocking table installed on the swivel table so that it can swing in a vertical plane, and the rocking table. A first arm provided on the table so as to be tiltable in a direction perpendicular to the rocking direction of the rocking table, and 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 second arm; a third arm provided at the tip of the second arm so as to be tiltable in the same plane as the tilting plane of the first arm; and a third arm provided at the tip of the third arm in a plane perpendicular to the axial direction of the third arm. A manipulator consisting of a gripping device that can be rotated is installed,
In addition, a detection circuit that detects the momentum of each of the above-mentioned six types of elements that constitute the manipulator, linear displacement components of heaving, surging, and swaying of the hull, and rolling,
Each component of the manipulator is configured to cancel the movement of the gripping device at the tip of the manipulator due to the vibration of the ship based on a signal from a ship vibration detection circuit that detects vibration of the ship by detecting the angular displacement components of pitching and yawing. What is claimed is: 1. A marine cargo handling device comprising a manipulator three-dimensional attitude maintenance control device comprising a vibration compensation controller that issues a signal for regulating the movement of the manipulator.