JP2003192274A - Crane type heave damper device - Google Patents

Abstract

(57) [Problem] To provide a crane-type heave damper device capable of reducing a storage height. A boom mechanism (20) supported on a deck so as to be able to pivot and descend on a deck, and the boom mechanism (20) is provided.
Cylinder 31 for raising and lowering, an accumulator 32 for pressurizing the inside of the heave cylinder 31, a sheave 9 supported by a boom mechanism 20, a wire 4 hanging on the sheave 9 and suspending the undersea device 2, and a winding of the wire 4 In the crane type heave damper device 3 which has a take-off winch and the heave cylinder 31 lowers the boom mechanism 20 by the pressure guided from the accumulator 32 to apply tension to the wire 4, the boom mechanism 20 can be extended and contracted from the main boom 21. With a protruding sub-boom 22;
A telescopic cylinder (telescopic driving means) 25 for telescopically operating the sub-boom 22; a catcher 41 swingably suspended from the sub-boom 22 via a joint 42;
A sheave 9 for suspending the underwater apparatus 2 is connected to the catcher 41 via a wire 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane for suppressing the shaking of an underwater device such as an underwater observation ship which is suspended from the mother ship such as an ocean observation ship into the sea by a wire or a water sampler for collecting ocean water. Type heave damper device.

[0002]

2. Description of the Related Art When an undersea device of this type is suspended from a mother ship into the sea by a wire, the movement of the mother ship caused by the sway of the sea surface is prevented from being transmitted to the undersea device through the wire. It is necessary to keep the tension of the device substantially constant.

As a heave damper device for this purpose, for example, a ram tensioner device is known in which sheaves are attached to both ends of a ram cylinder connected to an accumulator, and a wire connecting a mother ship and an undersea device is hung between the sheaves. (See JP-A-1-104596, JP-A-61-86392, JP-A-60-219192).

Conventionally, there has been a crane-type heave damper device having a function of a crane in addition to the function of the ram tensioner device. This type of crane-type heave damper device is a wire for suspending the undersea device, a winch for feeding and winding the wire, a sheave for guiding the wire, and a boom mechanism for rotating the sheave with respect to the hull,
A main cylinder that raises and lowers this boom mechanism and an accumulator that pressurizes the inside of the ram cylinder are provided, and the spacing between both ends of the sheave is set to a wire load by the pressure introduced from the accumulator by the ram cylinder. The shaking of the mother ship due to the shaking of the sea surface is prevented from being transmitted to the undersea device via the wire.

[0005]

However, in such a conventional crane type heave damper device, it is necessary to make the boom length of the boom mechanism as long as possible so that the undersea device does not collide with the hull during the work. By that amount, the boom mechanism has a large storage height and the center of gravity is high.
There was a problem that the stability of the mother ship deteriorates.

In order to solve this problem, a boom mechanism having two folded booms has been proposed, but it is difficult to reduce the retractable height of the boom mechanism to 1/2 or less of the boom length. There was a problem.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane-type heave damper device that can be reduced in storage height and is excellent in safety.

[0008]

SUMMARY OF THE INVENTION A first invention is a boom mechanism supported on a deck of a hull so that the boom mechanism can be swung and raised.
A heave cylinder that raises and lowers the boom mechanism, an accumulator that pressurizes the inside of the heave cylinder, a sheave supported by the boom mechanism, a wire that is hung on the sheave and that suspends an undersea device, and a winding winch of the wire, In the crane-type heave damper device in which the heave cylinder raises the boom mechanism by the pressure guided from the accumulator to apply tension to the wire, the boom mechanism includes a sub-boom that extends and contracts from the main boom. In addition to the drive means, the sub boom is provided with a catcher that is swingably suspended via a joint, and a sheave for suspending the undersea device is connected to the catcher via the wire.

A second aspect of the invention is characterized in that, in the first aspect of the invention, a sheave attached to an upper portion of the boom mechanism is provided, and a wire to be hung on the sheave is arranged above the boom mechanism.

[0010]

According to the first aspect of the invention, the boom mechanism is extended during the operation of the crane or the heave damper to ensure a sufficient operation stroke. On the other hand, by retracting the boom mechanism in the retracted state, the undersea device can be drawn closer to the swivel base and the retracted height of the boom mechanism can be kept low. In this way, by keeping the storage height of the boom mechanism low, the center of gravity of the device can be lowered, and the stability of the mother ship can be improved.

Further, by driving the winch during operation of the boom mechanism to hold the wire in the winding direction,
The wire suppresses the shaking of the catcher and the underwater device, and the underwater device can be prevented from interfering with the hull and the wire from interfering with the catcher.

According to the second aspect of the invention, since the wire is arranged above the boom mechanism, the wire does not interfere with the operator on the deck and is safe.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings.

In FIGS. 1A and 1B, 1 is a mother ship, 2 is an undersea device, and 3 is a crane type heave damper device. The undersea device 2 is, for example, an underwater observation ship or measuring instrument for ocean research or seabed exploration, a manipulator device, a water sampler for collecting ocean water, and the like.

The crane type heave damper device 3 includes a wire 4 for suspending the undersea device 2, a winch (not shown) for feeding and winding the wire 4, and sheaves 5, 6, 9 for guiding the wire 4. A telescopic boom mechanism 20 for moving the sheave 9 at the tip with respect to the hull is provided, and the boom mechanism 20 and the winch are operated to operate the undersea device 2
It has both the function of a crane that hangs a wire 4 from the mother ship 1 into the sea, and the function of a tensioner compensator that keeps the tension of the wire 4 approximately constant.
Is not transmitted to the subsea device 2 via the wire 4.

The boom mechanism 20 includes a frame 11 fixed to the hull, a swivel base 12 supported so as to swivel around a vertical axis with respect to the frame 11, a swivel motor 13 for driving the swivel base 12, and a swivel motor. A main boom 21 supported so as to be capable of being lifted up and down around a horizontal axis with respect to the base 12, a heave cylinder 31 for raising the main boom 21 and a sub-boom 22 which is capable of extending and contracting from the main boom 21.
A catcher 41 and the like for suspending the undersea device 2 are provided at the tip of the sub boom 22.

It is to be noted that the drive of the revolving base 12 is not limited to the revolving motor 13 and a hydraulic cylinder may be provided, for example.

The main boom 21 and the sub boom 22 are formed in a tubular shape having a quadrangular cross section so as to be slidably fitted to each other. When the sub boom 22 slides with respect to the main boom 21, the entire boom length is changed.

The boom mechanism 20 is provided with a telescopic cylinder 25 as a telescopic drive means for operating the sub-boom 22 to extend and retract. The telescopic cylinder 25 is housed inside the main boom 21 and the sub boom 22. The telescopic cylinder 25 has its cylinder base end connected to the base end of the main boom 21, and its rod tip end connected to the tip end of the sub boom 22. As the telescopic cylinder 25 telescopically operates, the sub boom 22 telescopically operates with respect to the main boom 21. The expansion / contraction drive means is not limited to the expansion / contraction cylinder 25, but a drive mechanism using a push-bull chain or a rack drive mechanism may be provided.

As shown in FIG. 1A, the boom mechanism 2
The swivel base 12 is 20 ° rearward from the center position where 0 is swung orthogonally from the port side, and 1 is also forward from the center position.
Turn in the range of 80 °.

A pair of arms 14 are erected on the swivel base 12, and the main boom 2 is attached to the arms 14 via pins 15.
The base end of 1 is rotatably connected.

A pair of heave cylinders 31 are provided side by side below the main boom 21. Each heave cylinder 31
The cylinder base end is rotatably connected to the swivel base 12, and the rod tip end is rotatably connected to the main boom 21. The main boom 21 rises when the heave cylinders 31 extend, while the main boom 21 descends when the heave cylinders 31 contract.

An accumulator 32 is provided side by side with each heave cylinder 31, and the pressure of the accumulator 32 is guided to the heave cylinder 31 via a hydraulic circuit described later, whereby the heave cylinder 31 keeps the tension of the wire 4 substantially constant. Acts as a tensioner compensator.

The catcher 41 is hung from the tip of the sub boom 22 via a joint 42. The joint 42 has its upper end rotatably connected to the sub-boom 22 via a pin 43, and its lower end via a pin 44 to the catcher 41.
Is rotatably connected to the upper end of the. Pin 43 and pin 44
Are arranged so as to be orthogonal to each other, and the catcher 41 is suspended from the sub boom 22 so as to be swingable in two axial directions.

A wire 4 extending from a winch (not shown) is hung over sheaves 5, 6, 9 and connected to the undersea device 2. The sheave 5 is connected to the frame 11 and the sheave 6 is connected to the swivel base 12. The wire 4 that is stretched between the sheave 5 and the sheave 6 is arranged on the rotation axis of the swivel base 12,
The wire 4 is prevented from being pulled in along with the turning of the turning base 12.

A sheave 9 for suspending the undersea device 2 via a wire 4 is connected to a catcher 41. The wire 4 that is stretched between the sheave 6 and the sheave 9 is arranged below the boom mechanism 20.

Since the sheave 9 for suspending the undersea device 2 is connected to the catcher 41, the winch is attached to the wire 4
The catcher 41 is driven by driving in the winding direction.
In the state where the undersea device 2 is suspended, the wire 4 suppresses the sway of the catcher 41 and the undersea device 2, and the undersea device 2 is prevented from interfering with the hull and the interference between the wire 4 and the catcher 41 can be prevented. That is, the catcher 41
When the sway with the sheave 9 moves away from the sheave 6, tension is exerted on the wire 4 spanned between the sheave 6 and the sheave 9, and the undersea device 2 is prevented from significantly swaying in the port direction. On the other hand, when the sheave for suspending the undersea device is fixed to the sub-boom, the catcher is free to swing, and therefore the wire hung on the sheave cannot suppress the shaking of the catcher and the undersea device.

An expander 46 is suspended between the catcher 41 and the undersea device 2 so that the expander 46 abuts the two and expands and contracts. For example, the expander 46 extends until the undersea device 2 reaches the sea surface. The abutment of the underwater device 2 with respect to the catcher 41 is suppressed.

The expander 46 comprises a pair of scissor link mechanisms 47, a base 48 connected to the upper ends of the scissor link mechanisms 47, and a follower 49 connected to the lower ends of the scissor link mechanisms 47.

The base 48 is connected to the catcher 41 via four springs 45. When the expander 46 moves with respect to the catcher 41 together with the undersea device 2,
When each spring 45 contracts, the catcher 41
The shaking of the expander 46 and the undersea device 2 with respect to the above is suppressed.

The follower 49 is suspended via the scissors link mechanism 47, and as the undersea device 2 is lifted above the sea surface via the wire 4, the follower 49 is seated on the upper part of the undersea device 2, and conversely The follower 49 can move away from the upper surface of the subsea device 2 as it is submerged in the sea through 4.

The wire 4 connected to the undersea device 2 passes through the opening 55 in the follower 49 and each scissor link mechanism 47, the opening 56 in the base 48, and each spring 45 to the sheave 9. Extend. Wire 4 by these
The wire 4 is protected by being surrounded by.

The scissors link mechanism 47 is formed by connecting three X-shaped link mechanisms so as to be expandable and contractible, and the upper and lower ends of one link are rotatably connected to the base 48 and follower 49 via pins 50 and 51. The upper and lower ends of the other link are connected to the base 4 via the sliders 52 and 53.
8 and a follower 49 are slidably connected. The sliding direction of each slider 52 is arranged parallel to the boom mechanism 20.

As a result, the expander 46 is constructed so that each scissor link mechanism 47 extends due to gravity, so that when the undersea device 2 approaches the catcher 41 within a predetermined distance, the follower 49 moves to the undersea device 2. The scissor link mechanism 47 expands and contracts as it sits down and moves up and down on the sea surface of the undersea device 2. In this way, as the scissor link mechanism 47 expands and contracts, the follower 49 moves in parallel to the base 48 to suppress the shaking of the undersea device 2 on which the follower 49 is seated.

The expander 46 is not limited to the scissor link mechanism 47, but may be a follower 49 with respect to the base 48.
Other mechanisms for translating may be used.

FIG. 3 shows a hydraulic circuit and a pneumatic circuit provided in the crane type heave damper device 3.

In the hydraulic circuit, a manual switching valve 61 for switching the rotary operation of the hydraulic motor 13, an electromagnetic switching valve 62 for switching the expansion / contraction operation of each pinning cylinder 54, and the expansion / contraction cylinder 2 are provided.
A manual switching valve 63 for switching the expansion / contraction operation of No. 5 and a manual switching valve 64 for switching the expansion / contraction operation of each heave cylinder 31 are provided.

The canning cylinder 54 drives a canning device (not shown) that detachably connects the undersea device 2 to the catcher 41.

As shown in FIG. 4, each heave cylinder 3
1, a ram-type hydraulic cylinder is used, and its oil chamber has supply / discharge passages 65 for supplying / discharging hydraulic oil via respective manual switching valves 64.
Are connected.

When the manual switching valve 64 is switched to the position a, the pressurized hydraulic oil from the hydraulic unit is supplied to each heave cylinder 31, and each heave cylinder 31 is extended.

When the manual switching valve 64 is switched to the position b, the working oil pressure from the hydraulic unit is introduced as a pilot pressure for opening the counter balance valve 66, and the working oil of each heave cylinder 31 is returned to the hydraulic unit. , Each heave cylinder 31 contracts.

The oil chamber of each heave cylinder 31 is connected to the hydraulic chamber of the accumulator 32 via the opening / closing valve 60, and is urged in the extending direction by the oil pressure introduced from the accumulator 32 when the opening / closing valve 60 is opened. A predetermined air pressure is introduced from the air pressure supply unit 70 into the air pressure chamber of the accumulator 32.

During operation of the heave damper, when the boom mechanism 20 reaches a predetermined depression / elevation angle, the manual switching valve 64 is switched to the neutral position. Along with this, each counterbalance valve 66 is closed, and each supply / discharge passage 65 is shut off.
Thus, after the elevation operation of the boom mechanism 20 is stopped,
When the open / close valve 60 is opened and in the communicating state, the hydraulic pressure in the heave cylinder 31 is kept substantially constant by the accumulator 32, so that the heave cylinder 31 is always directed to push up the main boom 21 under the set load pressure. Energize. That is, the heave cylinder 31 contracts when the tension (load) of the wire 4 increases, and expands when the tension (load) of the wire 4 decreases. As a result, the wire 4 is sent out and taken in in response to the change in tension, and the sway of the mother ship 1 due to the sway of the sea surface is prevented from being transmitted to the undersea device 2 via the wire 4.

FIG. 2 shows the operating state of the crane type heave damper device 3. (A) The figure shows the range in which the boom mechanism 20 is elevated when the crane operates. In this case, by fully extending the sub-boom 22, a sufficient working stroke is secured and the undersea device 2 can be moved. (B) The figure shows the boom mechanism 2 when the heave damper is operating.
0 indicates the range of depression. Also in this case, by fully extending the sub-boom 22, a sufficient working stroke is ensured, and the boom mechanism 20 raises and lowers following the sway of the mother ship 1 due to the sway of the sea surface. The tension of the wire 4 can be adjusted to be constant by offsetting h.

Figures (c) and (d) show the storage state. When the sub-boom 22 is contracted most and the underwater device 2 is placed on the deck in the retracted state of FIG. (C), the underwater device 2 is drawn near the swivel base 12 and the retracted height H of the boom mechanism 20 is increased. ₁ can be kept low. (D)
The figure shows the expander 46 after the undersea device 2 is stored in the ship.
Is stored on the deck and is retracted, and in this case, the boom mechanism 20 is further lowered to make the storage height H ₂ equal to the height H ₀ of the swivel base 12 as compared with FIG. It can be kept low. In this way, the telescopic boom mechanism 20 can keep the storage heights H _{1 and} H ₂ low, thereby lowering the position of its center of gravity and improving the stability of the mother ship 1.

Next, another embodiment of the crane type heave damper device 3'shown in FIGS. 5 (a) and 5 (b) will be described. The same components as those in the above embodiment are designated by the same reference numerals.

A wire 4 extending from a winch (not shown) is hung on sheaves 5, 6, 7, 8, 9 and connected to the undersea device 2. That is, the sheaves 7 and 8 are additionally provided as compared with the above embodiment. The sheave 7 is connected to the upper portion of the main boom 21, and the sheave 8 is connected to the tip of the sub boom 22. The wire 4 wound between the sheave 7 and the sheave 8 is arranged above the boom mechanism 20.

FIG. 6 shows an operating state of the crane type heave damper device 3 '. The figure (a) shows the range in which the boom mechanism 20 is elevated when the crane is operating, and the figure (b) shows the range in which the boom mechanism 20 is elevated when the heave damper is operated. In either case, as in the previous embodiment, by extending the sub-boom 22, a sufficient working stroke is secured.

Figures (c) and (d) show the storage state. When the sub-boom 22 is contracted most and the underwater device 2 is placed on the deck in the retracted state of FIG. (C), the underwater device 2 is drawn near the swivel base 12 and the retracted height H of the boom mechanism 20 is increased. It is kept low ₁ '.
(D) The figure shows a retracted state in which the expander 46 is placed on the deck and contracted after the undersea device 2 is stored in the ship,
In this case, the boom height 20 can be further lowered and the storage height H ₂ ′ can be suppressed lower than in the case of FIG.

As described above, when the boom mechanism 20 is on the deck, the wire 4 is arranged above the boom mechanism 20 so that it does not interfere with the operator on the deck and is most preferable in terms of safety. . On the other hand, in the case of the previous embodiment, since the wire 4 is arranged below the boom mechanism 20, there is an undeniable possibility that it will be an obstacle to the operator on the deck.

It is obvious that the present invention is not limited to the above-mentioned embodiments and various modifications can be made within the scope of the technical idea thereof.

[Brief description of drawings]

FIG. 1 shows a crane-type heave damper device according to an embodiment of the present invention, in which (a) is a plan view and (b) is a front view.

FIG. 2 is an operation explanatory diagram of the same.

FIG. 3 is a hydraulic circuit diagram of the same.

FIG. 4 is a hydraulic circuit diagram in which a part of FIG. 3 is also enlarged.

FIG. 5 shows a crane-type heave damper device of another embodiment, (a) is a plan view and (b) is a front view.

FIG. 6 is an explanatory view of the same operation.

[Explanation of symbols]

1 mother ship 2 Undersea device 3,3 'Crane type heave damper device 4 wires 5-9 sheaves 12 swivel base 13 Swing motor 20 Boom mechanism 21 Main Boom 22 Sub-boom 25 Telescopic cylinder 31 heave cylinder 32 Accumulator 41 Catcher 42 joint 50 expanders 67 on-off valve

Claims (2)

[Claims] Claim: What is claimed is: 1. A boom mechanism supported on a deck of a hull so that the boom mechanism can be swung and raised, a heave cylinder that raises the boom mechanism, an accumulator that pressurizes the inside of the heave cylinder, and a sheave supported by the boom mechanism. A crane-type heave damper device that includes a wire that is hung on the sheave and that suspends the undersea device and a winding winch of the wire, and that the heave cylinder raises the boom mechanism by the pressure guided from the accumulator to apply tension to the wire. The boom mechanism includes a sub-boom that expands and contracts from the main boom, has a telescopic drive means for operating the sub-boom to extend and retract, and has a catcher that is suspended from the sub-boom through a joint so that the wire can be suspended. The sea that suspends the subsea device through Crane type Hibudanpa apparatus characterized by the concatenation of. 2. The crane-type heave damper device according to claim 1, further comprising a sheave attached to an upper portion of the boom mechanism, wherein the wire wound around the sheave is arranged above the boom mechanism.