KR100343021B1 - 6 degree of freedom movement measuring device - Google Patents

Abstract

PURPOSE: A 6 degree of freedom movement measuring device is provided to exactly measure the six directional movement of a model ship. CONSTITUTION: A frame(10) is loaded and fixed in a trailer(2) and has a guide(20). A main carrier(30) is moved or fixed left and right through the guide. A sub carrier(50) is installed in the main carrier to be moved or fixed forward and backward. A heave rod(70) is installed in the sub carrier to be moved or fixed up and down. A rotating member is connected with the lower part of the heave rod to rotate or fix the heave rod. A gimbal is fixed under the rotating member. A swaying instrument portion(100) contains two first pulleys(110) in the main carrier, a first wire(120) to be hung between the first pulleys and to transfer the movement of the main carrier to the first pulleys and a first sensor(130) to measure the linear movement of the main carrier by installing in one of the first pulleys. A heaving instrument portion(200) contains a second wire(210) to be connected with the heave rod, a second pulley(220) to be rotated according to the movement of the second wire and a second sensor(230) to measure the linear movement of the heave rod by installing in the second pulley. A surging instrument portion(300) contains a third wire(310) connected with the main carrier, a third pulley(320) rotated according to the movement of the sub carrier and a third sensor(330) to measure the movement of the sub carrier by installing in the third pulley. A yawing instrument portion contains a fourth sensor installed in the connected portion between the heave rod and the rotating member. A pitching and rolling instrument portion contains a fifth and a sixth sensors to measure a pitching and a rolling by installing in the gimbal. A connecting plate fixes the heave rod in a model ship(3) by installing under the gimbal. Thereby, the six directional movement characteristics of the model ship are measured exactly.

Description

6 degree of freedom exercise measuring device

(Technology)

The present invention relates to a six-degree-of-freedom motion measuring apparatus, and more particularly, to a device for measuring a motion received by a model ship in a towing tank test performed by using a model ship to grasp the motion characteristics of an anchored vessel. will be.

(Background)

In general, floating vessels (hereinafter referred to as vessels), such as anchored vessels or drilling vessels which function in the state of being anchored at sea, cause various movements by the action of seawater, such as blue, and anchored vessels, if possible It is desirable to be designed to be less affected by. In order to manufacture a ship with such conditions without trial and error, it is necessary to test a model ship's kinetic characteristics and performance by artificially applying a blue wave in a state in which it is manufactured and anchored before making a solid ship. For the purpose of the test, the towing tank for model ship test, which is mainly designed to grasp the movement characteristics of the sailing vessel, is used.

The towing device for a model ship test is provided with a device capable of forming an artificial blue wave, such as a sowing machine, in a towing tank having a length, a width, and a depth that can exhibit the same effect as a real sea area. Or floating bodies) with various towing equipment anchored to the towing device to obtain various test data values about the movement of the ship and to use them to realize the ship with optimal conditions. .

The movement of the vessel in berth includes: a surge of surging on the horizontal axis in the longitudinal direction of the hull, a roll on the horizontal axis in the longitudinal direction of the hull, a left and right moving along the transverse horizontal axis of the hull. Sway (swaying), rotational movement about the horizontal horizontal axis of the hull (pitch: pitching), heave (heaving) in the direction of the hull vertical axis, and yaw (yaw: yawing) in the direction of the hull vertical axis Can be divided into six-way movements.

In order to accurately measure the movement characteristics of the berthing vessel, not only should it be possible to measure the six kinds of movements that can occur while the vessel is stationary, but also allow for all six directions of movement and mutually interfering with each other. It should be such that there is no deformation or deformation, and a sensor with excellent precision and repeatability is used, and a calibration is convenient.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device capable of more accurately measuring all six-way motions of a model ship in testing the motion characteristics of a model ship anchored in a towing tank that reproduces an artificial wave by reducing the actual ocean state. It is.

1 is a perspective view of a six degree of freedom motion measuring apparatus according to the present invention,

2 is a side view of a six degree of freedom exercise measuring apparatus according to the present invention;

3 is a front view of the lower end of the heave rod;

Figure 4 is a side view of the lower end of the heave bar.

* Description of the symbols for the main parts of the drawings *

2: towing tank 10: frame

20: guide 30: main carrier

50: subcarrier 70: hive bar

80: rotating body 90: gimbal

100: swaging measurement part 500: pitching and rolling measurement part

600: connecting plate

The object of the present invention described above is a frame having a guide mounted and fixed to the towing tank and installed in parallel in the horizontal direction; A main carrier installed to be movable and fixed in a horizontal direction along the guide; A subcarrier installed to be movable and fixed to the main carrier in a forward and backward direction; A hib rod mounted to the sub carrier to be movable and fixed in a vertical direction; A rotating body connected to the lower end of the heave rod to be rotatable and fixed to the heave rod; A gimbal fixed to the lower end of the rotating body; Two first pulleys installed on both sides of the main carrier, a looped first wire which is caught between the two first pulleys and transfers the movement of the main carrier to the first pulley, and one of the two first pulleys A swaging measurement unit including a first sensor configured to measure a linear movement of the main carrier in a horizontal direction; A second wire connected to both ends of the hive bar, a second pulley which is bitten by the second wire and rotates according to the vertical movement of the second wire, and a second that is attached to the second pulley to measure the vertical movement of the hive bar. Hibing measuring unit including a sensor; A third wire connected to the main carrier in the front and rear direction, a third pulley which is bitten by the third wire and rotates according to the forward and backward movement of the subcarrier, and a third which is mounted on the third pulley and measures the forward and backward motion of the subcarrier Surging measuring unit including a sensor; A yawing measuring unit including a fourth sensor provided at a connecting portion of the hive bar and the rotating body; Pitching and rolling measuring unit comprising a fifth and a sixth sensor installed on the gimbal to measure the pitching and rolling: and a six-degree of freedom movement consisting of a connecting plate installed on the bottom of the gimbal to fix the hive bar to the model ship Achieved by a measuring device.

Hereinafter, a six degree of freedom exercise measuring apparatus according to the present invention with reference to the accompanying drawings will be described in detail. The following embodiments are merely illustrative of the six degree of freedom exercise measuring apparatus according to the present invention, it is not intended to limit the scope of the present invention.

1 is a perspective view of a six degree of freedom motion measuring apparatus according to the present invention, Figure 2 is a side view of a six degree of freedom motion measuring apparatus according to the present invention, Figure 3 is a front view of the lower end of the heave rod, Figure 4 is a side view of the lower end of the heave rod to be.

Measuring device 1 according to the present invention is the frame 10, the main carrier 30, the sub-carrier 50, the hive bar 70, the rotating body 80, the gimbal 90, the swaging measuring unit 100 And a heaving measurement unit 200, a surging measurement unit 300, a yawing measurement unit 400, a pitching and rolling measurement unit 500, and a connecting plate 600.

Frame 10 is a skeletal member for supporting the measuring device 1 according to the present invention and mounting and fixing it on a towing tank (specifically, a rail of a sub towing tank). The frame 10a is connected to the second floor by the connector 12, and the guides 20 are respectively installed inside the two steel bars 11 positioned in the left and right directions (arrows A) of the frame 10. It is. In addition, four corners of the frame 10 are provided with clamps 13 for fixing the apparatus 1 of the present invention to the towing tank 2.

The guide 20 is provided with a main carrier 30 in the front-rear direction (arrow B direction), and the main carrier 30 has a sliding part 31 in contact with the guide 20 and a connecting member connecting the two sliding parts. It consists of 32. The main carrier 30 is installed to be movable and fixed in the left and right directions along the guide 20, and is provided with a stopper (fixing bolt 33) for fixing the main carrier to the sliding part 31.

Two circular guide bars 40 are installed between the two sliding parts 31 of the guide 20 in the front and rear directions, and the guide bars 40 are moved to the left and right together with the main carrier 30. The guide bar 40 is a movement path in which the subcarrier 50 inserted therein is moved in the front-rear direction, and the subcarrier 50 has a stopper 51 for fixing it to the guide bar 40 selectively. ) Is formed.

The dual configuration of the guide bar 40 is to minimize the unintended flow that can occur in connection with the movement of the model ship 3 with the subcarrier 50 supported and guided therein.

In addition, the subcarrier 50 is formed with a guide hole 60 for guiding the movement of the rod 70 in the up and down direction (arrow C direction), and the guide hole 60 also has the guide rod 60. A stopper 61 (fixing bolt) capable of selectively fixing the vertical movement is provided.

The rotating terminal 80 is connected to the connecting terminal 71 at the lower end of the heave bar 70 so as to rotate clockwise and counterclockwise about the heave bar 70 by the bearing 81. The connection terminal 71 is provided with a stopper 82 (fixing bolt) for selectively fixing the rotation of the rotor 80. The bearing 81 is accommodated in the connection terminal 71.

A gimbal 90 has a flange 91 connected to a lower end of the rotating body 80, and the rotating body 80 and the gimbal 90 rotate the heave bar 70 integrally with the shaft. The gimbal 90 is a well-known structure allowing rotation of the front, rear, left, and right, and the description thereof will be omitted. The gimbal 90 is also provided with stoppers 92 for fixing the rotation in one or both directions.

At the bottom of the gimbal 90, a connecting plate 600 for fixing it to the model ship 3 is formed in a flange type, and the connecting plate 600 is an adapter 610 attached to the inner bottom of the model ship 3. Bolt 620 is fastened to.

Hereinafter, the measurement part of the 6 degree of freedom movement of the measuring apparatus 1 which concerns on this invention is demonstrated.

The main carrier 30 measures the left-right direction (arrow A direction) movement of the main carrier 30 with respect to the swiveling measurement part 100 which measures the movement along the horizontal horizontal axis of a ship body, and the guide 20 mentioned above. Two first pulleys 110 are installed on both sides of the wire, and a loop-type first wire 120 is hooked between the two first pulleys 110 to connect one point of the first wire 120 to the connector 34. It is a structure in which a sensor (first sensor: 130) such as a potentio meter, which is fixed to the carrier 30 and electrically measures the rotation of the pulley on one of the first pulleys 110, is provided. .

According to this configuration, when the model ship is swiveling by the blue, the main carrier 30 moves from side to side along the guide 20, and this movement is performed through the first wire 120 to the first pulley 110. ) Is rotated, and the amount of rotation of the first pulley is measured by the swiveling motion by the first sensor 130. When it is not necessary to measure the swaying motion or need to remove it, the main carrier 30 may be fixed to the sliding part 21 by the stopper 23.

The hebbing measuring unit 200 which measures the vertical motion of the hull in the vertical axis direction measures the shanghai movement of the heave bar 70 with respect to the subcarrier 50 described above, and the heave between the both ends of the heave bar 70. A second wire 210 is moved up and down with a rod, and a second pulley 220 is installed on the subcarrier 50 to hook the wire 210 and a sensor such as a potentiometer on the second pulley 220. (230: 2nd sensor) is attached.

According to this configuration, when the model ship moves by the blue wave, the shanghai-dong of the heave rod 70 rotates the second pulley 220 through the wire 210, and the rotation amount is measured by the second sensor. It measures the moving motion. When it is not necessary to measure the moving motion or need to remove it, the stop bar 61 may be fixed to the guide rod 60 by fixing the hive bar 70.

The surging measuring unit 300 which measures forward and backward fluctuation along the horizontal axis of the hull in the longitudinal direction measures the forward and backward movement of the subcarrier 50 with respect to the main carrier 30 described above. The third wire 310 is connected between the two sliding parts 21 in the front-rear direction, and the third pulley 320 that is rotated by the third wire is installed in the subcarrier 50, and the third pulley 320 In this configuration, a sensor (a third sensor) such as a potentiometer is provided.

Therefore, when the model ship is surging by the blue wave, the forward and backward motion of the subcarrier 50 is transmitted through the wire 310 to rotate the third pulley 320, and the rotation is performed by the third sensor 330. By measuring, surging motion is measured. If it is not necessary to measure the surging motion or need to remove it, the subcarrier 50 may be fixed to the guide bar 40 with the stopper 51.

The yaw measuring unit 400 that measures the rotational movement in the vertical axis direction of the hull measures the rotational movement of the rotating body 80 with respect to the above-described moving bar 70, and the moving bar 70 and the rotating body 80. Yaw of the model ship 3 is measured by the sensor (4th sensor) such as a potentiometer provided in the connection part of this. Reference numeral 420 denotes a sensor housing. When it is not necessary to measure the yawing motion or need to remove it, the stopper 82 may fix the rotating body 80 to the heave rod 70.

Pitching and rolling measuring unit 500 is for measuring the rotational movement about the horizontal axis of the hull and the horizontal movement of the horizontal axis of the hull, a sensor such as a potentiometer on the gimbal 90 is connected to the bottom of the hive bar 70 ( 510, 520: the fifth and sixth sensors) measure the pitching and rolling of the model ship. When it is not necessary to measure the pitching or the rolling motion or need to remove it, the stoppers 92 may suppress the rotation of one or both directions of the gimbal 90.

As described above, the six degree of freedom exercise measuring apparatus 1 according to the present invention mounts the frame 10 on the towing tank 2 of the towing tank and connects the connecting plate 600 to the bottom of the model ship 3. It is installed by fixing to the installed adapter 610, it is possible to measure the six-way motion of the model ship (3) due to the artificial wave applied according to the test plan, and also if there is a movement that does not need or should be measured As described above, the movement required by the stopper can be precisely measured by the stopper to restrain the portion measuring the movement, thereby minimizing the interference of other movements.

According to the six degree of freedom motion measuring apparatus according to the present invention described above, there is an effect that can accurately measure the six-way motion characteristics of the model ship anchored in the towing tank reproduced the artificial wave.

Claims (9)

A frame 10 having a guide 20 mounted and fixed to the towing tank 2 and installed in parallel in the horizontal direction; A main carrier 30 installed to be movable and fixed in left and right directions along the guide 20; A sub-carrier 50 installed on the main carrier 30 so as to be movable and fixed in the front-rear direction; A hib rod 70 mounted to the sub carrier 50 so as to be movable and fixed in a vertical direction; A rotating body (80) connected to the lower end of the heave bar (70) so as to be rotatable and fixable about the heave bar (70); A gimbal 90 fixed to the lower end of the rotating body 80; Loop between the two first pulleys 110, the two first pulleys 110 installed on both sides of the main carrier 30, and transfers the movement of the main carrier 30 to the first pulley 110 Swaging measuring unit 100 including a first wire 120, and a first sensor 130 mounted on one of the two first pulleys 110 to measure the linear movement of the main carrier 30 in the horizontal direction ); A second wire 210 connected to both ends of the hib rod 70, a second pulley 220 that is rotated by vertical movement of the second wire by being bitten by the second wire 210, and the second pulley ( A hiving measurement unit 200 mounted to the 220 and including a second sensor 230 for measuring a vertical linear motion of the hib rod 70; A third wire 310 connected to the main carrier 30 in the front-rear direction, a third pulley 320 and the third pulley 320 which are rotated in response to the forward and backward movement of the subcarrier 30 by the third wire. Surging measuring unit 300 is mounted to the) including a third sensor (330) for measuring the forward and backward movement of the sub-carrier; A yawing measuring unit 400 including a fourth sensor 410 provided at a connecting portion of the heave rod 70 and the rotating body 80; Pitching and rolling measuring unit 500 is installed on the gimbal (90) and includes a fifth and sixth sensors (510, 520) for measuring pitching and rolling: and the bottom of the gimbal (90) is installed 6 degrees of freedom exercise measurement device, characterized in that consisting of a connecting plate 600 for fixing the 70 to the model ship (3). According to claim 1, wherein the frame 10 is configured to connect the rectangular frame (10a) in two layers by the connector 12, the guide 20 is in the left and right inward direction of the frame (10) Each of the six degrees of freedom movement measurement device, characterized in that the four corners of the frame (10) is provided with a clamp (13) for fixing to the tug (2). [6] The six degree of freedom exercise measuring apparatus according to claim 1, wherein the guide bar has a double structure. According to claim 1, wherein the main carrier 30 is made of a sliding portion 31 in contact with the two guides 20 and the connecting member 32 connecting the two sliding portions, the sliding portion 31 is 6 degrees of freedom exercise measurement device characterized in that the stopper 33 for fixing the main carrier (30) is provided. According to claim 1, wherein the sub-carrier 50 is moved along the guide bar 40, the sub-carrier 50 is provided with a stopper 51 for fixing it to the guide bar (40). 6 degree of freedom exercise measurement device. According to claim 1, The sub-carrier 50 is formed with a guide hole 60 for guiding the vertical movement of the hive bar 70 in the vertical direction, The hive bar 70 in the guide hole 60 6) The freedom of movement measurement device characterized in that the stopper (61) for fixing. According to claim 1, The lower end of the hive bar (70) is provided with a connection terminal 71 for receiving a bearing 81, the rotating body 80 is connected to the connection terminal 71, the connection terminal The six degree of freedom exercise measuring device, characterized in that 71 is provided with a stopper (82) for fixing the rotating body (80). 6. The six degree of freedom motion measuring apparatus according to claim 1, wherein the gimbal (310) is provided with stoppers (92) for fixing the rotation in one or both directions. The six degree of freedom motion measuring apparatus according to any one of claims 1 to 8, wherein the sensors are potentiometers.