JPH0735830Y2 - Tug - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to improvement of a tugboat for maneuvering a large vessel.

[Prior art] Recently, tugboats for large-scale vessel maneuvering are not only for towing work on vessels to be operated, but also for transferring people such as pilots, escort work, and multi-functions such as equipping fire pumps. While increasing the output of the main engine, improving the performance of the propulsion device, remote control of the main engine, propulsion device and winch, general control, automation,
Further, labor saving has been achieved by enhancing various communication functions.

In addition, on the side of the target ship that is the target of maneuvering of a tugboat, along with the increase in size, equipment for auxiliary thrusters such as side thrusters for steering vessels, high-performance rudder such as flap ladders, or high-performance propulsion devices such as variable-pitch propellers are used. There are things that are moving in the direction of improving the ship's own maneuverability and reducing the need for tugboats.

[Problems to be solved by the device]

By the way, when transferring a tugboat's occupant from the tugboat to the target ship to confirm the work, etc., it has been a conventional practice to climb up the rope ladder attached to the target ship from the tugboat. However, there is considerable danger in stormy weather, and since pilots are often elderly people because of the need for long experience, the risk is compounded by the transfer using a rope ladder.

Also, in the original task of tugboating, when the tugboat enters the tugboating operation, rope pulling of the towed rope is performed from the tugboat to the target ship to be operated. A large-diameter towline is pulled up via a rope and hoisted by a winch on the side of the target ship to be operated, and the labor burden on the operator is large in this work.

Therefore, if a towboat is equipped with a crane and a person such as a pilot can be transferred using this crane, or the towed line can be lifted and lowered to the specified mounting position on the target ship to be operated, the towed line can be used. It is possible to save labor in taking work and improve safety when transferring people. However, the target ship to be operated is generally larger than the towed ship, and the target ship to be operated is not always limited. May be hindered.

The present invention has been made in view of the above point, and provides a tugboat equipped with a foldable jib crane and functioning as a three-dimensional elevator or manipulator to improve the added value of the tugboat. With the goal.

[Means for Solving the Problems]

The gist of the present invention for achieving the above-mentioned object is that a swing shaft is supported along a main mast via a bearing, and a swing shaft is attached to the upper end of the swing shaft near the top of the main mast so that it can be lifted and lowered. The jib crane has a jib that is folded when not in use and is placed along the main mast, a servo motor that is installed between the swivel axis and the jib, and that hoists the jib, and is installed in an appropriate place on the hull to prevent the hull from shaking. An inclinometer for measurement, an inclinometer installed in a proper place on the jib crane to measure the undulation angle of the jib, and a control device for controlling the operation of the winch of the servo motor and the jib crane by signals from these inclinometers. It is on a tugboat.

[Action]

In the above configuration, the jib is folded and the main mast maintains the conventional height during normal running of the tugboat or during maneuvering, and there is no problem. When a jib crane is used, a jib is caused on the main mast to move a person to the target ship to be operated or a moving body such as disembarking. Here, a control device controls a servo motor for hoisting the jib and a winch of the jib crane by a signal from an inclinometer provided on the hull and the jib crane, so that the moving body is smoothly moved to land without shock.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

Figure 1 is a side view of a tugboat with the jib folded.
FIG. 2 is a rear view of the tugboat with the jib crane in use.

In the figure, reference numeral 1 denotes a tugboat, which is of a typical tugboat type. One main mast 2 is equipped with a navigation light, an antenna, a radar and the like, as well as a fire nozzle and the like.

Reference numeral 3 is a bearing provided on the main mast 2 so as to be vertically separated from each other, and one of them is provided with a thrust bearing for supporting the weight of the jib crane and a lifting load, which will be described later.

Reference numeral 4 denotes a swing shaft which is supported by a main bearing 3 so as to swing freely along the main mast 2. The swing shaft 4 is connected to a swing drive source such as a hydraulic motor or an electric motor so as to swing.

Reference numeral 5 denotes a hinge projecting above the top of the main mast 2 at the upper end of the swivel shaft 4, and 6 denotes a jib that supports the base of the hinge 5 so that the base can move up and down. It is eccentric from the center axis of rotation, and the tip of the jib 6 is lowered to the vicinity of the base of the main mast 2 and fixed along the main mast 2 with the jib 6 lying down and folded.

Numeral 7 is a winch arranged at the base of the jib 6, which has a drive source such as a hydraulic motor or an electric motor, and a wire rope 8 is hung over a pulley attached to the end of the jib 6.
The moving body is lifted and moved via the.

A servomotor 9 is interposed between the swivel shaft 4 and the jib 6, and the servomotor 9 is composed of a hydraulic cylinder device or the like, and the jib 6 is moved up and down by the expansion and contraction of the piston rod.

Reference numeral 10 is an inclinometer provided at an appropriate position on the hull, and this inclinometer 10 is mounted for rolling on a plane perpendicular to the longitudinal direction of the hull. This inclinometer 10 is, as shown in FIG.
For example, to measure the swing of the tugboat 1 by the gravity of the weight, that is, the tilt angle θ when rolling, the inclinometer 10
For example, the potentiometer 11 is incorporated and the tilt angle θ when rolling is converted into an electric signal and input to the control device.

Reference numeral 12 is an inclinometer provided between the jib 6 and a hinge 5 supporting the base portion thereof. The inclinometer 12 measures the undulation angle (elevation angle) of the jib 6, and the inclinometer 12 includes, for example, a potentiometer. It is incorporated so that the measured value is converted into an electric signal and input to the control device.

The control device is separately provided and the inclinometers 10 and 12 described above are provided.
The signal from the servomotor 9 controls the operation of the servomotor 9 and the winch 7 of the jib crane.

Next, a case where the moving body is lifted and moved from the tugboat to the target ship to be operated by using the jib crane having the above configuration will be described with reference to FIG.

This FIG. 3 shows that when the jib 6 is raised from the folded position and the moving body W is lifted and moved, the turning shaft 4 is turned 90 degrees to swing the jib 6 to the side of the tugboat, and the winch 7 is placed on the target ship A to be operated. Shows a state in which the moving body W is being lowered.

When the moving body W is unloaded on the target ship A to be operated, there is no particular problem when neither the tugboat 1 nor the target ship A to be operated is swinging at all. Not only is the person uncomfortable when the sway of the tugboat 1 is added,
There is a risk of shock when landing, which is dangerous. Here, it is desirable that the jib 6 has a sufficient lift for safe transfer of people.

A case where the tugboat 1 is shaken will be described. Here, in order to simplify the explanation, consider a case where only the tugboat 1 is rolling, the target ship A to be operated is stationary, and the tip of the jib 6 swings in the vertical direction.

Now, assuming that the tugboat 1 has been rolled (tilted) from the normal state shown by the solid line in FIG. 3, the tip of the jib 6 moves from the point a ′ to the point a, and the moving body W moves It will descend by the distance l. Therefore, a signal from the potentiometer 11 incorporated in the inclinometer 10 that measures the tilt angle θ when rolling is input to the control device to cause the servo motor 9 to rotate.
Is operated to quickly increase the elevation angle of the jib 6 by α degrees to move the tip of the jib 6 to the point b, and control is performed to eliminate the vertical displacement of the distance l.

As described above, in the control for the vertical shaking when the tugboat 1 rolls, as shown in FIG. 3, the jib 6 actually moves at a position where the tip of the jib 6 should move a distance s with respect to the lateral direction and with respect to the elevation angle. By increasing the α degree, the tip of the jib 6 is displaced laterally by a distance s ′.

In order to eliminate this lateral displacement s', the elevation angle of the jib 6 is further increased by α'degree as shown in FIG. 6 based on the signal from the potentiometer incorporated in the inclinometer 12, and The winch 7 is controlled to be unwound by a distance l '.

When the moving body W is lowered onto the target ship A to be operated while performing such control, the moving body W is smoothly moved to a planned place and landed without a shock, as in the case where the tugboat 1 is not rolling. Is something that can be done.

FIG. 5 shows a block diagram showing the basic control functions for this control.

In the figure, for example, when the operator inputs the height (while stationary) HN of the tip of the jib 6 into the control device via the operating device, this value is simply a function F1 (HN) determined by the geometrical dimensions. It is converted to a βN signal by the generator.

This signal βN is input to the servomotor 9 via the control valve and gives the real angle βA of β. At this time, if βA ≠ βN, it is corrected by the feedback circuit. However, if the inclination angle θ when the tugboat 1 rolls is further added to β set here, this is also a function F2 (βA, θ) generator (geometrically determined only by βA and θ). The inclinometer 10) outputs the actual tip height HA of the jib 6.

If HA ≠ HN, this is fed back and correction is performed according to the above-described signal flow, and control is automatically performed so that the tip of the jib 6 is kept constant.

Note that, in reality, control that completely follows the rolling of the tugboat 1 is not always easy, so a differential compensation circuit or the like in ordinary control technology is inserted to minimize the shock when the moving body W lands. To do so.

When the target ship A to be operated is shaking like the tugboat 1, it is difficult to control the moving body W to move smoothly with respect to the target ship A to be operated, and a shock occurs when the moving body W lands. Sometimes, in order to reduce this shock as much as possible,
As shown in FIG. 7, a radio wave or ultrasonic altimeter 13 that can measure the distance to the landing point of the target ship A to be operated is provided at the lower end of the moving body W, and this can be added to the control element. Is.

Although not shown in the figure, if the extension function is incorporated in the swivel shaft 4, the position of the hinge 5 can be raised to obtain a larger lift and span as a jib crane.

Further, although not shown, the jib 6 can also be increased in lift by incorporating an extension function.

Further, when the tugboat 1 causes pitching, the same pitching inclinometer as that shown in FIG. 4 is mounted in a plane parallel to the longitudinal direction of the hull, and this is used as the rolling inclinometer 10 described above. Similarly, it can be added to the control element.

FIG. 8 is a configuration diagram of a main part showing another embodiment.

When there are many opportunities to work on the bow side of the tugboat 1, for example, the front deck, it is desirable that the jib 6 can be swung toward the front deck.

Therefore, in this embodiment, in order to prevent the main motor mast 2 from interfering with the servo motor 9 that raises and lowers the jib 6, the servo motor 9 is incorporated in the turning shaft 4 and fixed to the servo motor 9 and the jib base. The connected loop 14 is connected with a rope 15 such as a wire rope or a chain, and the servo motor 9
The jib 6 rises up when the piston of (1) contracts, and the jib 6 falls down by its own weight when it expands. Regarding the undulation of the jib 6, other than this, for example,
Various methods are conceivable, such as mounting a torque motor directly on the shaft supporting the jib 6 base with respect to the hinge 5, and these are selected according to the purpose.

〔effect〕

According to this invention configured as described above, the following effects can be obtained.

(1) The base of the jib is supported up and down near the top of the main mast of the tugboat so that the jib can be folded and fixed along the main mast when not in use, so the original function of the tug is almost impaired. Never be done. Also, a relatively large lift as a jib crane equipped on a tugboat,
Since the span can be obtained, it is easy to move a moving body such as transferring a person or pulling up a towed rope to a predetermined place on the ship to be operated, and there are many opportunities to contact the ship to be operated. As a tugboat, new added value will be improved.

(2) When using a jib crane to suspend and move a moving body between target vessels, operate the servo motor and the winch of the jib crane to oscillate the jib while constantly measuring the sway of the tug with an inclinometer. Since the moving body is moved under control, smooth movement can be realized and a shock at the time of landing can be minimized, and there is no danger and no danger when a person such as a pilot transfers.

[Brief description of drawings]

Figure 1 is a side view of a tugboat with the jib folded.
Figure 2 is a rear view of a tugboat with the jib crane in use,
FIG. 3 is an operation explanatory view, FIG. 4 is a block diagram of the inclinometer, FIG. 5 is a block diagram showing a basic control function, FIGS. 6 and 7 are operation explanatory views, and FIG. 8 is another. 3 is a configuration diagram of a main part showing an embodiment of FIG. 1 ... Tug, 2 ... Main mast, 3 ... Bearing, 4 ...
Swivel axis, 5 ... Hinges, 6 ... Jibs, 7 ... Winches,
8 ... Wire rope, 9 ... Servo motor, 10 ... Inclinometer, 11, 12 ... Potentiometer, 13 ... Ultrasonic altimeter, 14 ... Wheel, 15 ... Rope.

Claims (1)

[Scope of utility model registration request] 1. A swivel shaft supported along a main mast via a bearing and a swivel shaft upper and lower hinged near the top of the main mast via a hinge. The swivel shaft is folded when not in use and is mounted along the main mast. A jib crane having a jib that can be set, a servomotor that is installed between the swivel shaft and the jib, and oscillates the jib, an inclinometer that is provided at an appropriate position on the hull, and an inclinometer that measures the vibration of the hull, and that is provided at the appropriate position on the jib crane A tugboat equipped with an inclinometer for measuring the undulation angle of a jib, and a control device for controlling the operation of a winch of a jib crane and a servomotor by signals from the inclinometer.